Obstacle ultrasonic ranging system for mining new energy vehicle

Abstract

The invention discloses an obstacle ultrasonic ranging system for a mining new energy automobile, relates to the field of automobile engineering, and solves the problem that an existing obstacle ultrasonic ranging system for the mining new energy automobile is poor in ranging effect. Comprising an environment monitoring module used for obtaining an area humidity monitoring coefficient, an area temperature monitoring coefficient and an area air monitoring coefficient to obtain engineering area environment monitoring data, and an environment analysis module used for dividing an engineering monitoring area to obtain engineering area type division data, the radar test module is used for carrying out signal analysis on the mining new energy automobile ultrasonic radar in the second type of engineering area to obtain radar signal test data, and the ultrasonic distance measurement module is used for carrying out obstacle distance measurement according to the radar signal test data and the engineering area type division data. According to the invention, the environmental applicability of the ultrasonic ranging method and the accuracy of the ranging result can be effectively improved.

Description

Technical Field

[0001] The invention belongs to the field of automobile engineering, relates to ultrasonic technology, and specifically is an ultrasonic obstacle ranging system for mining new energy vehicles. Background Art

[0002] The existing ultrasonic distance measurement system for obstacles of new energy vehicles used in mining has the following specific defects when performing ultrasonic distance measurement:

[0003] 1. The existing ultrasonic ranging system for obstacles of new energy vehicles in mining cannot perform environmental analysis on the engineering area, and adopts different ultrasonic ranging methods according to the environmental analysis results of different areas, which easily leads to the lack of pertinence in the ranging process, resulting in a waste of ranging resources;

[0004] 2. The existing ultrasonic ranging system for obstacles of new energy vehicles in mining usually uses a fixed ultrasonic propagation speed for ranging. It is unable to collect the ultrasonic propagation speed in real time in different engineering environments, and perform ultrasonic ranging based on the real-time collected ultrasonic propagation speed, resulting in a lack of accuracy in the ranging results.

[0005] To this end, we propose an ultrasonic obstacle ranging system for mining new energy vehicles. Summary of the invention

[0006] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an ultrasonic ranging system for obstacles of new energy vehicles used in mines, and the present invention aims to improve the pertinence and accuracy of ultrasonic ranging of obstacles of new energy vehicles used in mines.

[0007] In order to achieve the above purpose, the present invention adopts the following technical solution: an ultrasonic ranging system for obstacles of mining new energy vehicles, and the specific working process of each module is as follows:

[0008] Environmental monitoring module: used to obtain the regional humidity monitoring coefficient by monitoring the environmental humidity of the project monitoring area, obtain the regional temperature monitoring coefficient by monitoring the environmental temperature of the project monitoring area, obtain the regional air monitoring coefficient by monitoring the particle concentration of the project monitoring area, and obtain the project area environmental monitoring data;

[0009] Environmental analysis module: used to divide the project monitoring area into a first type of project area and a second type of project area by analyzing the project area environmental monitoring data, and obtain project area type division data;

[0010] Radar test module: used to monitor the signal strength of the ultrasonic radar of the mining new energy vehicle in the second type of engineering area according to the engineering area type classification data to obtain the ultrasonic signal attenuation distance ratio, and monitor the signal speed of the ultrasonic radar of the mining new energy vehicle in the second type of engineering area to obtain the signal measured speed value and obtain radar signal test data;

[0011] Ultrasonic ranging module: used to measure the obstacle distance for the first type of engineering area and the second type of engineering area according to the radar signal test data and the engineering area type classification data.

[0012] Further, the environmental monitoring module includes a humidity monitoring unit, an air monitoring unit and a temperature monitoring unit;

[0013] In the process of ultrasonic obstacle ranging for mining new energy vehicles, a circular area with the mining new energy vehicle as the center and the preset detection distance as the radius is marked as the engineering monitoring area;

[0014] In the process of environmental monitoring of the project monitoring area, the time value corresponding to the current moment is marked as the first environmental monitoring time point, and a second environmental monitoring time point is marked in the period before the first environmental monitoring time point, wherein the interval time between the first environmental monitoring time point and the second environmental monitoring time point is the first characteristic monitoring duration;

[0015] Marking the period between the first environmental monitoring time point and the second environmental monitoring time point as a regional environmental real-time monitoring period;

[0016] The humidity monitoring unit monitors the environmental humidity of the engineering monitoring area in the regional environmental real-time monitoring period to obtain the regional humidity monitoring coefficient;

[0017] The temperature monitoring unit monitors the ambient temperature of the engineering monitoring area in the regional environmental real-time monitoring period to obtain the regional temperature monitoring coefficient;

[0018] The air monitoring unit monitors air particles in the engineering monitoring area that is in the regional environment real-time monitoring cycle to obtain the regional air monitoring coefficient;

[0019] The regional humidity monitoring coefficient, regional temperature monitoring coefficient and regional air monitoring coefficient are defined as the project area environmental monitoring data.

[0020] Furthermore, the humidity monitoring unit obtains the regional humidity monitoring coefficient as follows:

[0021] Several humidity monitoring devices are set up in the engineering monitoring area, and each humidity monitoring device is connected to the mining new energy vehicle through a wireless terminal;

[0022] Mark a number of humidity monitoring time points in the regional environment real-time monitoring cycle, and name the marked humidity monitoring time points in chronological order as W1 humidity monitoring time point to Wm humidity monitoring time point;

[0023] Obtain the humidity monitoring value corresponding to each humidity monitoring device at the W1 humidity monitoring time point respectively, and obtain multiple humidity monitoring values;

[0024] The average of the multiple humidity monitoring values ​​obtained is calculated to obtain the W1 humidity monitoring average value;

[0025] The variance of the obtained multiple humidity monitoring values ​​is calculated to obtain the W1 humidity monitoring variance;

[0026] The humidity monitoring stability coefficient corresponding to the W1 humidity monitoring time point is obtained by calculating the W1 humidity monitoring average value and the W1 temperature monitoring variance, and is named the W1 humidity stability coefficient;

[0027] Calculate the W1 humidity stability coefficient, the specific formula is as follows:

[0028] Sww1=Wpw1+Wpw1×(1+Wfw1);

[0029] Among them, Sww1 is the W1 humidity stability coefficient, Wpw1 is the W1 humidity monitoring average value, and Wfw1 is the W1 temperature monitoring variance;

[0030] Repeat the process of obtaining the W1 humidity monitoring average value, respectively obtain the humidity monitoring average values ​​corresponding to the W1 humidity monitoring time point to the Wm humidity monitoring time point, and obtain the W1 humidity monitoring average value to the Wm humidity monitoring average value;

[0031] Repeat the process of obtaining the W1 humidity stability coefficient, respectively obtain the humidity stability coefficients corresponding to the W1 humidity monitoring time point to the Wm humidity monitoring time point, and obtain the W1 humidity stability coefficient to the Wm humidity stability coefficient;

[0032] Obtain the monitoring humidity benchmark value corresponding to the mining new energy vehicle;

[0033] The regional humidity monitoring coefficient is obtained by calculating the W1 humidity stability coefficient to the Wm humidity stability coefficient, the W1 humidity monitoring average value to the Wm humidity monitoring average value and the monitoring humidity reference value;

[0034] Calculate the regional humidity monitoring coefficient, the specific formula is as follows:

[0035]

[0036] Among them, Swx is the regional humidity monitoring coefficient, Wpwi is the Wi humidity monitoring average value, Wpj is the monitoring humidity baseline value, Swwi is the Wi humidity stability coefficient, and m is the quantity value corresponding to the humidity monitoring time point.

[0037] Furthermore, the temperature monitoring unit obtains the regional temperature monitoring coefficient as follows:

[0038] Several temperature monitoring devices are set up in the engineering monitoring area, and each temperature monitoring device is connected to the mining new energy vehicle through a wireless terminal;

[0039] Mark several temperature monitoring time points in the regional environment real-time monitoring cycle, and name the marked temperature monitoring time points S1 temperature monitoring time point to Sn temperature monitoring time point in chronological order;

[0040] Obtain the temperature monitoring value corresponding to each temperature monitoring device at the S1 temperature monitoring time point respectively, and obtain multiple temperature monitoring values;

[0041] The average of the multiple temperature monitoring values ​​obtained is calculated to obtain the average value of S1 temperature monitoring;

[0042] The variance of the obtained multiple temperature monitoring values ​​is calculated to obtain the S1 temperature monitoring variance;

[0043] The temperature monitoring stability coefficient corresponding to the S1 temperature monitoring time point is obtained by calculating the S1 temperature monitoring average value and the S1 temperature monitoring variance, and is named the S1 temperature stability coefficient;

[0044] The S1 temperature stability coefficient is calculated using the following formula:

[0045] Wss1 = Spw1 + Spw1 × (1 + Sfw1);

[0046] Among them, Wss1 is the S1 temperature stability coefficient, Spw1 is the S1 temperature monitoring average value, and Sfw1 is the S1 temperature monitoring variance;

[0047] Repeat the process of obtaining the average temperature monitoring value of S1, and obtain the average temperature monitoring values ​​corresponding to the temperature monitoring time point of S2 to the temperature monitoring time point of Sn, to obtain the average temperature monitoring value of S2 to the average temperature monitoring value of Sn;

[0048] Repeat the process of obtaining the S1 temperature stability coefficient, respectively obtain the temperature stability coefficients corresponding to the S2 temperature monitoring time point to the Sn temperature monitoring time point, and obtain the S2 temperature stability coefficient to the Sn temperature stability coefficient;

[0049] Obtain the monitoring temperature reference value corresponding to the mining new energy vehicle;

[0050] The regional temperature monitoring coefficient is obtained by calculating the S1 temperature stability coefficient to the Sn temperature stability coefficient, the S1 temperature monitoring average value to the Sn temperature monitoring average value and the monitoring temperature reference value;

[0051] Calculate the regional temperature monitoring coefficient, the specific formula is as follows:

[0052]

[0053] Among them, Ssx is the regional temperature monitoring coefficient, Spwi is the Si temperature monitoring average value, Spj is the monitoring temperature reference value, Wssi is the Wi temperature stability coefficient, and n is the quantity value corresponding to the temperature monitoring time point.

[0054] Furthermore, the air monitoring unit obtains the regional air monitoring coefficient, as follows:

[0055] Several air monitoring devices are set up in the engineering monitoring area, and each air monitoring device is connected to the mining new energy vehicle through a wireless terminal, and a sample air monitoring device is selected from the several air monitoring devices set up;

[0056] Mark several air monitoring time points in the regional environment real-time monitoring cycle, and name the marked air monitoring time points as D1 temperature monitoring time point to Dj temperature monitoring time point in chronological order;

[0057] Analyze the air quality data detected by the sample air monitoring device to obtain the air quality coefficient corresponding to the sample air monitoring device;

[0058] The details are as follows:

[0059] The sample air monitoring equipment divides the suspended particulate matter monitored in the project monitoring area into several different types, and names them as type 1 particulate matter to type a particulate matter;

[0060] The monitoring concentrations of the first type of particles to the ath type of particles in the engineering monitoring area are respectively obtained to obtain the first particle concentration value to the ath particle concentration value;

[0061] Analyze the signal attenuation of the ultrasonic signal in the first type of particle environment to obtain a first signal attenuation;

[0062] The details are as follows:

[0063] A closed experimental space is set up, and two parallel spatial planes are set up in the experimental space, and the two parallel spatial planes are named as a signal transmission plane and a signal reflection plane respectively;

[0064] When the first type of particles are not introduced into the experimental space, an ultrasonic signal is transmitted from the signal transmitting plane to the signal reflecting plane by the ultrasonic radar, and the intensity value of the ultrasonic signal during transmission is obtained to obtain a first transmission signal intensity value, and an ultrasonic signal transmitted from the signal transmitting plane to the signal transmitting plane is received by the ultrasonic radar, and the intensity value of the received transmission ultrasonic signal is obtained to obtain a first reception signal intensity value;

[0065] When the first type of particulate matter is injected into the experimental space, when the concentration of the first type of particulate matter in the experimental space reaches a specified concentration, an ultrasonic signal is emitted from the signal emitting plane to the signal reflecting plane by the ultrasonic radar, and the intensity value of the ultrasonic signal during emission is acquired to obtain a second emission signal intensity value, and an ultrasonic signal emitted from the signal emitting plane to the signal emitting plane is received by the ultrasonic radar, and the intensity value of the received emission ultrasonic signal is acquired to obtain a second reception signal intensity value;

[0066] The first signal attenuation is obtained by calculating the first transmission signal strength value, the first reception signal strength value, the second transmission signal strength value and the second reception signal strength value;

[0067] The attenuation of the first signal is calculated, and the specific formula is as follows:

[0068]

[0069] Wherein, Xs1 is the first signal attenuation, Fs1 is the first transmission signal strength value, Js1 is the first reception signal strength value, Fs2 is the second transmission signal strength value, and Js2 is the second reception signal strength value;

[0070] Repeat the process of obtaining the first signal attenuation, respectively obtain the signal attenuations corresponding to the second type of particles to the a-th type of particles, and obtain the second signal attenuation to the a-th signal attenuation;

[0071] The regional air monitoring coefficient is obtained by calculating the first particle concentration value to the ath particle concentration value and the first signal attenuation to the ath signal attenuation;

[0072] The regional air monitoring coefficient is calculated as follows:

[0073]

[0074] Among them, Qkx is the regional air monitoring coefficient, Ndi is the i-th particle concentration value, Xsi is the i-th signal attenuation, and a is the type quantity value corresponding to the suspended particulate matter.

[0075] Furthermore, the environmental analysis module obtains engineering area type classification data, as follows:

[0076] Obtain the project area environmental monitoring data, and obtain the regional humidity monitoring coefficient, regional temperature monitoring coefficient and regional air monitoring coefficient respectively according to the project area environmental monitoring data;

[0077] The monitoring area division coefficient is obtained by calculating the regional humidity monitoring coefficient, the regional temperature monitoring coefficient and the regional air monitoring coefficient;

[0078] The monitoring area division coefficient is calculated as follows:

[0079] Hfx=lnSwx+3lnQkx+2lnSsx;

[0080] Among them, Hfx is the monitoring area division coefficient, Qkx is the regional air monitoring coefficient, Ssx is the regional temperature monitoring coefficient, and Swx is the regional humidity monitoring coefficient;

[0081] Obtaining a monitoring area division coefficient threshold, performing numerical comparison between the monitoring area division coefficient and the monitoring area division coefficient threshold, and dividing the project monitoring area into a first type of project area and a second type of project area according to the numerical comparison result, to obtain project area type division data;

[0082] The regional humidity monitoring coefficient threshold, the regional temperature monitoring coefficient threshold and the regional air monitoring coefficient threshold are respectively obtained, and the monitoring area division coefficient threshold is obtained by calculation;

[0083] The regional humidity monitoring coefficient threshold, the regional temperature monitoring coefficient threshold and the regional air monitoring coefficient threshold are calculated to obtain the monitoring area division coefficient threshold;

[0084] The threshold of the monitoring area division coefficient is calculated, and the specific formula is as follows:

[0085] Hfxz=lnSwxz+3lnQkxz+2lnSsxz;

[0086] Among them, Hfxz is the monitoring area division coefficient threshold, Qkxz is the regional air monitoring coefficient threshold, Ssxz is the regional temperature monitoring coefficient threshold, and Swxz is the regional humidity monitoring coefficient threshold;

[0087] If 0<Hfx≤Hfxz, the engineering monitoring area is divided into the first type engineering area;

[0088] If Hfxz<Hfx, the engineering monitoring area is divided into the second type engineering area.

[0089] Furthermore, the radar test module acquires radar signal test data as follows:

[0090] Acquire engineering area classification data, and acquire the engineering area of ​​the second type according to the engineering area classification data;

[0091] A plurality of radar signal test areas and a plurality of test designated emission areas are set in the outer wall of a fixed building in the second type of engineering area. When the mining new energy vehicle drives to the test designated emission area, the mining new energy vehicle ultrasonic radar emits an ultrasonic signal to the radar signal test area, obtains the emission intensity value of the ultrasonic signal to obtain a first ultrasonic signal intensity value, obtains the emission time value of the ultrasonic signal to obtain an emission characteristic time value;

[0092] The ultrasonic radar of the mining new energy vehicle receives the ultrasonic signal reflected by the radar signal test area, obtains the received signal strength value, obtains the second ultrasonic signal strength value, obtains the receiving time value of the ultrasonic signal, and obtains the receiving characteristic time value;

[0093] The straight-line distance between the radar signal test area and the test designated emission area is obtained to obtain the radar test preset distance;

[0094] The signal actual speed value is obtained by calculating the transmission characteristic time value, the reception characteristic time value and the radar test preset distance;

[0095] The actual speed value of the signal is calculated, and the specific formula is as follows:

[0096]

[0097] Among them, Vsc is the actual measured speed value of the signal, Yhl is the preset distance of the radar test, Tjs is the receiving characteristic time value, and Tfs is the transmitting characteristic time value;

[0098] The ultrasonic signal attenuation distance ratio is obtained by calculating the first ultrasonic signal strength value, the second ultrasonic signal strength value and the radar test preset distance;

[0099] The ultrasonic signal attenuation distance ratio is calculated, and the specific formula is as follows:

[0100]

[0101] Wherein, Csv is the ultrasonic signal attenuation distance ratio, Yhl is the radar test preset distance, Cq1 is the first ultrasonic signal strength value, and Cq2 is the second ultrasonic signal strength value;

[0102] The measured signal velocity value and the ultrasonic signal attenuation distance ratio are defined as radar signal test data.

[0103] Furthermore, the ultrasonic distance measurement module measures obstacle distances for the first type of engineering area and the second type of engineering area respectively, as follows:

[0104] Acquire engineering area type classification data, and acquire first type engineering areas and second type engineering areas respectively according to the engineering area type classification data;

[0105] The mining new energy vehicle measures the obstacle distance in the first type of engineering area;

[0106] The details are as follows:

[0107] Selecting a first sample obstacle from a plurality of obstacles existing in the first type engineering area;

[0108] The mining new energy vehicle transmits an ultrasonic signal of a reference intensity value to the first sample obstacle through the on-board ultrasonic radar, obtains the emission time point of the ultrasonic signal to obtain the actual emission time value of the first signal, and obtains the reception time point of the ultrasonic signal to obtain the actual reception time value of the first signal;

[0109] Obtain the air propagation speed of ultrasonic signals;

[0110] The actual receiving time value of the first signal, the actual transmitting time value of the first signal and the air propagation speed of the ultrasonic signal are calculated to obtain the measured distance value between the first sample obstacle and the mining new energy vehicle;

[0111] The measured distance values ​​between the first sample obstacle and the mining new energy vehicle are obtained as follows:

[0112]

[0113] Among them, Csj1 is the calculated distance value between the first sample obstacle and the mining new energy vehicle, Sj1 is the actual reception time value of the first signal, Ss1 is the actual transmission time value of the first signal, and Kcs is the air propagation speed of the ultrasonic signal;

[0114] Calculate the distance to each obstacle in the first type of engineering area respectively;

[0115] Mining new energy vehicles measure obstacle distances in the second type of engineering areas.

[0116] Furthermore, the ultrasonic ranging module adjusts the radar transmission power of the vehicle-mounted ultrasonic radar as follows:

[0117] Selecting a second sample obstacle from a plurality of obstacles existing in the second type engineering area;

[0118] Acquire radar signal test data, and respectively acquire a signal measured velocity value and an ultrasonic signal attenuation distance ratio according to the radar signal test data;

[0119] Adjust the radar transmission power of the vehicle-mounted ultrasonic radar;

[0120] The details are as follows:

[0121] Obtain the reference strength value, effective detection distance and ultrasonic signal attenuation distance ratio of the vehicle-mounted ultrasonic radar;

[0122] The test intensity value is obtained by calculating the reference intensity value, the effective detection distance and the ultrasonic signal attenuation distance ratio;

[0123] The test intensity value is calculated using the following formula:

[0124] Cqd=(1+Ytj×Csv)×Pjq;

[0125] Among them, Cqd is the test intensity value, Ytj is the effective detection distance, Csv is the ultrasonic signal attenuation distance ratio, and Pjq is the reference intensity value;

[0126] The mining new energy vehicle transmits an ultrasonic signal of a test intensity value to the second sample obstacle through the on-board ultrasonic radar, and the on-board ultrasonic radar receives the radar signal reflected by the second sample obstacle to obtain a radar reflection signal;

[0127] Acquire the strength of the radar reflected signal, obtain the reflected signal strength value, and obtain the reflected signal reference strength value;

[0128] If the reflected signal strength value is less than the reflected signal reference strength value, the vehicle-mounted ultrasonic radar increases the transmission power of the ultrasonic signal.

[0129] If the reflected signal strength value is less than the reflected signal reference strength value, the vehicle-mounted ultrasonic radar reduces the transmission power of the ultrasonic signal;

[0130] The distance to the second sample obstacle is measured.

[0131] Furthermore, the ultrasonic distance measurement module measures the distance of the second sample obstacle as follows:

[0132] Acquire the emission time point of the ultrasonic signal to obtain the actual emission time value of the second signal, and acquire the reception time point of the ultrasonic signal to obtain the actual reception time value of the second signal;

[0133] Get the measured speed value of the signal;

[0134] The measured distance value between the first sample obstacle and the mining new energy vehicle is obtained by calculating the actual receiving time value of the second signal, the actual transmitting time value of the second signal and the measured speed value of the signal;

[0135] The calculated distance value between the second sample obstacle and the mining new energy vehicle is obtained as follows:

[0136]

[0137] Among them, Csj2 is the calculated distance value between the first sample obstacle and the mining new energy vehicle, Sj2 is the actual reception time value of the first signal, Ss2 is the actual transmission time value of the first signal, and Vsc is the air propagation speed of the ultrasonic signal;

[0138] The distance is measured for each obstacle in the second type of engineering area.

[0139] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0140] 1. The present invention divides the engineering monitoring area into types by respectively obtaining the regional humidity monitoring coefficient, the regional temperature monitoring coefficient and the regional air monitoring coefficient, and adopts different obstacle ranging methods for different types of engineering monitoring areas, which can effectively improve the pertinence of the obstacle ranging method;

[0141] 2. The present invention collects the propagation speed of ultrasound in different engineering environments in real time, and performs ultrasonic ranging based on the real-time collected ultrasonic propagation speed, which can effectively improve the environmental applicability of the ultrasonic ranging method and the accuracy of the ranging results. BRIEF DESCRIPTION OF THE DRAWINGS

[0142] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0143] Figure 1 is the overall system block diagram of the present invention;

[0144] Figure 2 It is a schematic diagram of the experimental space of the present invention;

[0145] Figure 3 This is a plan view of the second type of engineering area in the present invention. DETAILED DESCRIPTION

[0146] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0147] Embodiment 1

[0148] See also Figure 1 The present invention provides a technical solution: an ultrasonic ranging system for obstacles of mining new energy vehicles, comprising an environment monitoring module, an environment analysis module, a radar test module, an ultrasonic ranging module and a server, wherein the environment monitoring module, the environment analysis module, the radar test module and the ultrasonic ranging module are respectively connected to the server, and the server controls the environment monitoring module, the environment analysis module, the radar test module and the ultrasonic ranging module respectively;

[0149] The environmental monitoring module obtains the regional humidity monitoring coefficient by monitoring the environmental humidity of the project monitoring area, obtains the regional temperature monitoring coefficient by monitoring the environmental temperature of the project monitoring area, and obtains the regional air monitoring coefficient by monitoring the particle concentration of the project monitoring area, thereby obtaining the project area environmental monitoring data;

[0150] The environmental monitoring module includes a humidity monitoring unit, an air monitoring unit, and a temperature monitoring unit;

[0151] In the process of ultrasonic obstacle ranging for mining new energy vehicles, a circular area with the mining new energy vehicle as the center and the preset detection distance as the radius is marked as the engineering monitoring area;

[0152] It should be noted here that:

[0153] In this application, the preset detection distance involved here is the effective detection distance of the mining new energy vehicle using ultrasonic ranging. The effective detection here needs to be specifically set according to the real-time working conditions of the ultrasonic equipment;

[0154] In the present application, the engineering monitoring area involved here undergoes regional changes as the mining new energy vehicles move.

[0155] In the process of environmental monitoring of the project monitoring area, the time value corresponding to the current moment is marked as the first environmental monitoring time point, and a second environmental monitoring time point is marked in the period before the first environmental monitoring time point, wherein the interval time between the first environmental monitoring time point and the second environmental monitoring time point is the first characteristic monitoring duration;

[0156] It should be noted here that:

[0157] In this application, the specific duration corresponding to the first characteristic monitoring duration involved here is set to 5 seconds;

[0158] Marking the period between the first environmental monitoring time point and the second environmental monitoring time point as a regional environmental real-time monitoring period;

[0159] It should be noted here that:

[0160] In the present application, as the time value corresponding to the current moment changes, the first environmental monitoring time point and the second environmental monitoring time point also change accordingly, thereby achieving dynamic update of the regional environmental real-time monitoring cycle;

[0161] The humidity monitoring unit monitors the environmental humidity of the engineering monitoring area in the regional environmental real-time monitoring period to obtain the regional humidity monitoring coefficient;

[0162] The details are as follows:

[0163] Several humidity monitoring devices are set up in the engineering monitoring area, and each humidity monitoring device is connected to the mining new energy vehicle through a wireless terminal;

[0164] It should be noted here that:

[0165] The humidity monitoring device involved here is specifically an environmental humidity sensor, and the wireless terminal involved here is specifically a ZigBee device;

[0166] Mark a number of humidity monitoring time points in the regional environment real-time monitoring cycle, and name the marked humidity monitoring time points in chronological order as W1 humidity monitoring time point to Wm humidity monitoring time point;

[0167] It should be noted here that:

[0168] In this application, W referred to herein is an identifier corresponding to a humidity monitoring time point, m is a quantity value corresponding to a humidity monitoring time point, and m is an integer greater than 0;

[0169] Obtain the humidity monitoring value corresponding to each humidity monitoring device at the W1 humidity monitoring time point respectively, and obtain multiple humidity monitoring values;

[0170] The average of the multiple humidity monitoring values ​​obtained is calculated to obtain the W1 humidity monitoring average value;

[0171] The variance of the obtained multiple humidity monitoring values ​​is calculated to obtain the W1 humidity monitoring variance;

[0172] The humidity monitoring stability coefficient corresponding to the W1 humidity monitoring time point is obtained by calculating the W1 humidity monitoring average value and the W1 temperature monitoring variance, and is named the W1 humidity stability coefficient;

[0173] Calculate the W1 humidity stability coefficient, the specific formula is as follows:

[0174] Sww1=Wpw1+Wpw1×(1+Wfw1);

[0175] Among them, Sww1 is the W1 humidity stability coefficient, Wpw1 is the W1 humidity monitoring average value, and Wfw1 is the W1 temperature monitoring variance;

[0176] Repeat the process of obtaining the W1 humidity monitoring average value, respectively obtain the humidity monitoring average values ​​corresponding to the W1 humidity monitoring time point to the Wm humidity monitoring time point, and obtain the W1 humidity monitoring average value to the Wm humidity monitoring average value;

[0177] Repeat the process of obtaining the W1 humidity stability coefficient, respectively obtain the humidity stability coefficients corresponding to the W1 humidity monitoring time point to the Wm humidity monitoring time point, and obtain the W1 humidity stability coefficient to the Wm humidity stability coefficient;

[0178] Obtain the monitoring humidity benchmark value corresponding to the mining new energy vehicle;

[0179] It should be noted here that:

[0180] The monitoring humidity benchmark value involved here is the ambient humidity value of the ultrasonic radar for mining new energy vehicles under the best working conditions;

[0181] The regional humidity monitoring coefficient is obtained by calculating the W1 humidity stability coefficient to the Wm humidity stability coefficient, the W1 humidity monitoring average value to the Wm humidity monitoring average value and the monitoring humidity reference value;

[0182] Calculate the regional humidity monitoring coefficient, the specific formula is as follows:

[0183]

[0184] Among them, Swx is the regional humidity monitoring coefficient, Wpwi is the Wi humidity monitoring average value, Wpj is the monitoring humidity baseline value, Swwi is the Wi humidity stability coefficient, and m is the quantity value corresponding to the humidity monitoring time point;

[0185] It should be noted here that:

[0186] In the present application, the Wi humidity monitoring average value involved here can be any humidity monitoring average value from the W1 humidity monitoring average value to the Wm humidity monitoring average value, and the m involved here is the quantity value corresponding to the humidity monitoring time point;

[0187] The temperature monitoring unit monitors the ambient temperature of the engineering monitoring area in the regional environmental real-time monitoring period to obtain the regional temperature monitoring coefficient;

[0188] The details are as follows:

[0189] Several temperature monitoring devices are set up in the engineering monitoring area, and each temperature monitoring device is connected to the mining new energy vehicle through a wireless terminal;

[0190] It should be noted here that:

[0191] The temperature monitoring device involved here is specifically an ambient temperature sensor, and the wireless terminal involved here is specifically a ZigBee device;

[0192] Mark several temperature monitoring time points in the regional environment real-time monitoring cycle, and name the marked temperature monitoring time points S1 temperature monitoring time point to Sn temperature monitoring time point in chronological order;

[0193] It should be noted here that:

[0194] In this application, S referred to herein is an identifier corresponding to a temperature monitoring time point, n is a quantity value corresponding to a temperature monitoring time point, and n is an integer greater than 0;

[0195] Obtain the temperature monitoring value corresponding to each temperature monitoring device at the S1 temperature monitoring time point respectively, and obtain multiple temperature monitoring values;

[0196] The average of the multiple temperature monitoring values ​​obtained is calculated to obtain the average value of S1 temperature monitoring;

[0197] The variance of the obtained multiple temperature monitoring values ​​is calculated to obtain the S1 temperature monitoring variance;

[0198] The temperature monitoring stability coefficient corresponding to the S1 temperature monitoring time point is obtained by calculating the S1 temperature monitoring average value and the S1 temperature monitoring variance, and is named the S1 temperature stability coefficient;

[0199] The S1 temperature stability coefficient is calculated using the following formula:

[0200] Wss1 = Spw1 + Spw1 × (1 + Sfw1);

[0201] Among them, Wss1 is the S1 temperature stability coefficient, Spw1 is the S1 temperature monitoring average value, and Sfw1 is the S1 temperature monitoring variance;

[0202] Repeat the process of obtaining the average temperature monitoring value of S1, and obtain the average temperature monitoring values ​​corresponding to the temperature monitoring time point of S2 to the temperature monitoring time point of Sn, to obtain the average temperature monitoring value of S2 to the average temperature monitoring value of Sn;

[0203] Repeat the process of obtaining the S1 temperature stability coefficient, respectively obtain the temperature stability coefficients corresponding to the S2 temperature monitoring time point to the Sn temperature monitoring time point, and obtain the S2 temperature stability coefficient to the Sn temperature stability coefficient;

[0204] Obtain the monitoring temperature reference value corresponding to the mining new energy vehicle;

[0205] It should be noted here that:

[0206] The monitoring temperature reference value involved here is the ambient temperature value of the ultrasonic radar of mining new energy vehicles under the best working conditions;

[0207] The regional temperature monitoring coefficient is obtained by calculating the S1 temperature stability coefficient to the Sn temperature stability coefficient, the S1 temperature monitoring average value to the Sn temperature monitoring average value and the monitoring temperature reference value;

[0208] Calculate the regional temperature monitoring coefficient, the specific formula is as follows:

[0209]

[0210] Among them, Ssx is the regional temperature monitoring coefficient, Spwi is the Si temperature monitoring average value, Spj is the monitoring temperature reference value, Wssi is the Wi temperature stability coefficient, and n is the quantity value corresponding to the temperature monitoring time point;

[0211] It should be noted here that:

[0212] In the present application, the Si temperature monitoring average value involved here may be any temperature monitoring average value from the S1 temperature monitoring average value to the Sn temperature monitoring average value, and the Wi temperature stability coefficient involved here may be any temperature stability coefficient from the W1 temperature stability coefficient to the Wn temperature stability coefficient;

[0213] The n involved here is the quantity value corresponding to the temperature monitoring time point;

[0214] The air monitoring unit monitors air particles in the engineering monitoring area that is in the regional environment real-time monitoring cycle to obtain the regional air monitoring coefficient;

[0215] The details are as follows:

[0216] Several air monitoring devices are set up in the engineering monitoring area, and each air monitoring device is connected to the mining new energy vehicle through a wireless terminal, and a sample air monitoring device is selected from the several air monitoring devices set up;

[0217] It should be noted here that:

[0218] The air monitoring device involved here is specifically an ambient temperature sensor, and the wireless terminal involved here is specifically a ZigBee device;

[0219] Mark several air monitoring time points in the regional environment real-time monitoring cycle, and name the marked air monitoring time points as D1 temperature monitoring time point to Dj temperature monitoring time point in chronological order;

[0220] It should be noted here that:

[0221] In this application, D referred to herein is an identifier corresponding to a temperature monitoring time point, j is a quantity value corresponding to a temperature monitoring time point, and j is an integer greater than 0;

[0222] Analyze the air quality data detected by the sample air monitoring device to obtain the air quality coefficient corresponding to the sample air monitoring device;

[0223] The details are as follows:

[0224] The sample air monitoring equipment divides the suspended particulate matter monitored in the project monitoring area into several different types, and names them as type 1 particulate matter to type a particulate matter;

[0225] It should be noted here that:

[0226] In this application, a referred to herein is the type quantity value corresponding to the suspended particulate matter, and a is an integer greater than 0;

[0227] In the present application, the first type of suspended particulate matter involved here may be PM10, the second type of suspended particulate matter involved here may be PM2.5, the third type of particulate matter involved here may be PM1, and the fourth type of particulate matter involved here may be black carbon particles in mining areas.

[0228] The monitoring concentrations of the first type of particles to the ath type of particles in the engineering monitoring area are respectively obtained to obtain the first particle concentration value to the ath particle concentration value;

[0229] Analyze the signal attenuation of the ultrasonic signal in the first type of particle environment to obtain a first signal attenuation;

[0230] The details are as follows:

[0231] See also Figure 2 , set up a closed experimental space, set up two parallel space planes in the experimental space, and name the two parallel space planes as the signal transmission plane and the signal reflection plane respectively;

[0232] When the first type of particles are not introduced into the experimental space, an ultrasonic signal is transmitted from the signal transmitting plane to the signal reflecting plane by the ultrasonic radar, and the intensity value of the ultrasonic signal during transmission is obtained to obtain a first transmission signal intensity value, and an ultrasonic signal transmitted from the signal transmitting plane to the signal transmitting plane is received by the ultrasonic radar, and the intensity value of the received transmission ultrasonic signal is obtained to obtain a first reception signal intensity value;

[0233] When the first type of particulate matter is injected into the experimental space, when the concentration of the first type of particulate matter in the experimental space reaches a specified concentration, an ultrasonic signal is emitted from the signal emitting plane to the signal reflecting plane by the ultrasonic radar, and the intensity value of the ultrasonic signal during emission is acquired to obtain a second emission signal intensity value, and an ultrasonic signal emitted from the signal emitting plane to the signal emitting plane is received by the ultrasonic radar, and the intensity value of the received emission ultrasonic signal is acquired to obtain a second reception signal intensity value;

[0234] It should be noted here that:

[0235] The specified concentration involved here is the historical concentration value of the most frequent occurrence of the first type of particulate matter in the project monitoring area;

[0236] In the present application, the signal strengths corresponding to the first transmission signal strength value and the second transmission signal strength value are the same;

[0237] The first signal attenuation is obtained by calculating the first transmission signal strength value, the first reception signal strength value, the second transmission signal strength value and the second reception signal strength value;

[0238] The attenuation of the first signal is calculated, and the specific formula is as follows:

[0239]

[0240] Wherein, Xs1 is the first signal attenuation, Fs1 is the first transmission signal strength value, Js1 is the first reception signal strength value, Fs2 is the second transmission signal strength value, and Js2 is the second reception signal strength value;

[0241] Repeat the process of obtaining the first signal attenuation, respectively obtain the signal attenuations corresponding to the second type of particles to the a-th type of particles, and obtain the second signal attenuation to the a-th signal attenuation;

[0242] The regional air monitoring coefficient is obtained by calculating the first particle concentration value to the ath particle concentration value and the first signal attenuation to the ath signal attenuation;

[0243] The regional air monitoring coefficient is calculated as follows:

[0244]

[0245] Among them, Qkx is the regional air monitoring coefficient, Ndi is the i-th particle concentration value, Xsi is the i-th signal attenuation, and a is the type quantity value corresponding to the suspended particles;

[0246] It should be noted here that:

[0247] In the present application, the i-th particle concentration value involved here may be any particle concentration value from the first particle concentration value to the a-th particle concentration value, and the i-th signal attenuation involved here may be any one from the first signal attenuation value to the a-th signal attenuation value;

[0248] The regional humidity monitoring coefficient, regional temperature monitoring coefficient and regional air monitoring coefficient are defined as the project area environmental monitoring data;

[0249] The environmental monitoring module acquires environmental monitoring data of the project area and transmits it to the environmental analysis module;

[0250] The environmental analysis module divides the project monitoring area into a first type of project area and a second type of project area by analyzing the project area environmental monitoring data, thereby obtaining project area type division data;

[0251] The details are as follows:

[0252] Obtain the project area environmental monitoring data, and obtain the regional humidity monitoring coefficient, regional temperature monitoring coefficient and regional air monitoring coefficient respectively according to the project area environmental monitoring data;

[0253] The monitoring area division coefficient is obtained by calculating the regional humidity monitoring coefficient, the regional temperature monitoring coefficient and the regional air monitoring coefficient;

[0254] The monitoring area division coefficient is calculated as follows:

[0255] Hfx=lnSwx+3lnQkx+2lnSsx;

[0256] Among them, Hfx is the monitoring area division coefficient, Qkx is the regional air monitoring coefficient, Ssx is the regional temperature monitoring coefficient, and Swx is the regional humidity monitoring coefficient;

[0257] Obtaining a monitoring area division coefficient threshold, performing numerical comparison between the monitoring area division coefficient and the monitoring area division coefficient threshold, and dividing the project monitoring area into a first type of project area and a second type of project area according to the numerical comparison result, to obtain project area type division data;

[0258] The regional humidity monitoring coefficient threshold, the regional temperature monitoring coefficient threshold and the regional air monitoring coefficient threshold are respectively obtained, and the monitoring area division coefficient threshold is obtained by calculation;

[0259] It should be noted here that:

[0260] In the present application, the regional humidity monitoring coefficient threshold, regional temperature monitoring coefficient threshold and regional air monitoring coefficient threshold involved here are respectively the maximum regional humidity monitoring coefficient, the maximum regional temperature monitoring coefficient and the maximum regional air monitoring coefficient corresponding to the first type of engineering area;

[0261] The regional humidity monitoring coefficient threshold, the regional temperature monitoring coefficient threshold and the regional air monitoring coefficient threshold are calculated to obtain the monitoring area division coefficient threshold;

[0262] The threshold of the monitoring area division coefficient is calculated, and the specific formula is as follows:

[0263] Hfxz=lnSwxz+3lnQkxz+2lnSsxz;

[0264] Among them, Hfxz is the monitoring area division coefficient threshold, Qkxz is the regional air monitoring coefficient threshold, Ssxz is the regional temperature monitoring coefficient threshold, and Swxz is the regional humidity monitoring coefficient threshold;

[0265] If 0<Hfx≤Hfxz, the engineering monitoring area is divided into the first type engineering area;

[0266] If Hfxz<Hfx, the project monitoring area is divided into the second type of project area;

[0267] The environmental analysis module acquires the engineering area classification data and transmits it to the radar test module and the ultrasonic ranging module;

[0268] The radar test module monitors the signal strength of the ultrasonic radar of the mining new energy vehicle in the second type of engineering area according to the engineering area type classification data to obtain the ultrasonic signal attenuation distance ratio, and monitors the signal speed of the ultrasonic radar of the mining new energy vehicle in the second type of engineering area to obtain the signal measured speed value and obtain radar signal test data;

[0269] The details are as follows:

[0270] Acquire engineering area classification data, and acquire the engineering area of ​​the second type according to the engineering area classification data;

[0271] When the mining new energy vehicle drives to the second type of engineering area, the signal strength of the ultrasonic radar is monitored;

[0272] The details are as follows:

[0273] See also Figure 3 , multiple radar signal test areas and multiple test designated emission areas are set in the outer walls of fixed buildings in the second type of engineering area. When the mining new energy vehicle drives to the test designated emission area, the mining new energy vehicle ultrasonic radar emits an ultrasonic signal to the radar signal test area, obtains the emission intensity value of the ultrasonic signal, obtains the first ultrasonic signal intensity value, obtains the emission time value of the ultrasonic signal, and obtains the emission characteristic time value;

[0274] It should be noted here that:

[0275] In the present application, a plurality of radar signal test areas are set in the second type engineering area, and each of the plurality of radar signal test areas is provided with a corresponding test designated emission area, and the straight-line distance between the radar signal test area and the test designated emission area is a fixed value;

[0276] The ultrasonic radar of the mining new energy vehicle receives the ultrasonic signal reflected by the radar signal test area, obtains the received signal strength value, obtains the second ultrasonic signal strength value, obtains the receiving time value of the ultrasonic signal, and obtains the receiving characteristic time value;

[0277] The straight-line distance between the radar signal test area and the test designated emission area is obtained to obtain the radar test preset distance;

[0278] The signal actual speed value is obtained by calculating the transmission characteristic time value, the reception characteristic time value and the radar test preset distance;

[0279] The actual speed value of the signal is calculated, and the specific formula is as follows:

[0280]

[0281] Among them, Vsc is the actual measured speed value of the signal, Yhl is the preset distance of the radar test, Tjs is the receiving characteristic time value, and Tfs is the transmitting characteristic time value;

[0282] The ultrasonic signal attenuation distance ratio is obtained by calculating the first ultrasonic signal strength value, the second ultrasonic signal strength value and the radar test preset distance;

[0283] The ultrasonic signal attenuation distance ratio is calculated, and the specific formula is as follows:

[0284]

[0285] Wherein, Csv is the ultrasonic signal attenuation distance ratio, Yhl is the radar test preset distance, Cq1 is the first ultrasonic signal strength value, and Cq2 is the second ultrasonic signal strength value;

[0286] The measured signal velocity value and the ultrasonic signal attenuation distance ratio are defined as radar signal test data;

[0287] The radar test module acquires radar signal test data and transmits it to the ultrasonic ranging module;

[0288] The ultrasonic distance measurement module measures obstacle distances for the first type of engineering area and the second type of engineering area respectively according to the radar signal test data and the engineering area type classification data;

[0289] The details are as follows:

[0290] Acquire engineering area type classification data, and acquire first type engineering areas and second type engineering areas respectively according to the engineering area type classification data;

[0291] The mining new energy vehicle measures the obstacle distance in the first type of engineering area;

[0292] The details are as follows:

[0293] Selecting a first sample obstacle from a plurality of obstacles existing in the first type engineering area;

[0294] The mining new energy vehicle transmits an ultrasonic signal of a reference intensity value to the first sample obstacle through the on-board ultrasonic radar, obtains the emission time point of the ultrasonic signal to obtain the actual emission time value of the first signal, and obtains the reception time point of the ultrasonic signal to obtain the actual reception time value of the first signal;

[0295] It should be noted here that:

[0296] In the present application, the actual reception time value of the first signal involved here is the time value of the vehicle-mounted ultrasonic radar receiving the ultrasonic signal reflected by the first sample obstacle;

[0297] Obtain the air propagation speed of ultrasonic signals;

[0298] The actual receiving time value of the first signal, the actual transmitting time value of the first signal and the air propagation speed of the ultrasonic signal are calculated to obtain the measured distance value between the first sample obstacle and the mining new energy vehicle;

[0299] The measured distance values ​​between the first sample obstacle and the mining new energy vehicle are obtained as follows:

[0300]

[0301] Among them, Csj1 is the calculated distance value between the first sample obstacle and the mining new energy vehicle, Sj1 is the actual reception time value of the first signal, Ss1 is the actual transmission time value of the first signal, and Kcs is the air propagation speed of the ultrasonic signal;

[0302] The air propagation speed of the ultrasonic signal involved here is specifically 343 meters per second;

[0303] Calculate the distance to each obstacle in the first type of engineering area respectively;

[0304] The mining new energy vehicle measures the obstacle distance in the second type of engineering area;

[0305] The details are as follows:

[0306] Selecting a second sample obstacle from a plurality of obstacles existing in the second type engineering area;

[0307] Acquire radar signal test data, and respectively acquire a signal measured velocity value and an ultrasonic signal attenuation distance ratio according to the radar signal test data;

[0308] Adjust the radar transmission power of the vehicle-mounted ultrasonic radar;

[0309] The details are as follows:

[0310] Obtain the reference strength value, effective detection distance and ultrasonic signal attenuation distance ratio of the vehicle-mounted ultrasonic radar;

[0311] The test intensity value is obtained by calculating the reference intensity value, the effective detection distance and the ultrasonic signal attenuation distance ratio;

[0312] The test intensity value is calculated using the following formula:

[0313] Cqd=(1+Ytj×Csv)×Pjq;

[0314] Among them, Cqd is the test intensity value, Ytj is the effective detection distance, Csv is the ultrasonic signal attenuation distance ratio, and Pjq is the reference intensity value;

[0315] The mining new energy vehicle transmits an ultrasonic signal of a test intensity value to the second sample obstacle through the on-board ultrasonic radar, and the on-board ultrasonic radar receives the radar signal reflected by the second sample obstacle to obtain a radar reflection signal;

[0316] Acquire the strength of the radar reflected signal, obtain the reflected signal strength value, and obtain the reflected signal reference strength value;

[0317] It should be noted here that:

[0318] The reference strength value of the reflected signal involved here is the minimum signal reflection strength that can maintain the normal working state of the vehicle-mounted ultrasonic radar;

[0319] If the reflected signal strength value is less than the reflected signal reference strength value, the vehicle-mounted ultrasonic radar increases the transmission power of the ultrasonic signal.

[0320] If the reflected signal strength value is less than the reflected signal reference strength value, the vehicle-mounted ultrasonic radar reduces the transmission power of the ultrasonic signal;

[0321] Calculate the distance of the second sample obstacle;

[0322] The details are as follows:

[0323] Acquire the emission time point of the ultrasonic signal to obtain the actual emission time value of the second signal, and acquire the reception time point of the ultrasonic signal to obtain the actual reception time value of the second signal;

[0324] It should be noted here that:

[0325] In the present application, the actual receiving time value of the second signal involved here is the time value of the vehicle-mounted ultrasonic radar receiving the ultrasonic signal reflected by the second sample obstacle;

[0326] Get the measured speed value of the signal;

[0327] The measured distance value between the first sample obstacle and the mining new energy vehicle is obtained by calculating the actual receiving time value of the second signal, the actual transmitting time value of the second signal and the measured speed value of the signal;

[0328] The calculated distance value between the second sample obstacle and the mining new energy vehicle is obtained as follows:

[0329]

[0330] Among them, Csj2 is the calculated distance value between the first sample obstacle and the mining new energy vehicle, Sj2 is the actual reception time value of the first signal, Ss2 is the actual transmission time value of the first signal, and Vsc is the air propagation speed of the ultrasonic signal;

[0331] The distance is measured for each obstacle in the second type of engineering area.

[0332] In this application, if corresponding calculation formulas appear, the above calculation formulas are all dimensionless and take their numerical calculations. The weight coefficients, proportional coefficients and other coefficients in the formulas are set to a result value obtained by quantifying each parameter. The size of the weight coefficient and the proportional coefficient can be determined as long as it does not affect the proportional relationship between the parameter and the result value.

[0333] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An ultrasonic obstacle ranging system for mining new energy vehicles, characterized in that: include: Environmental monitoring module: used to obtain the regional humidity monitoring coefficient by monitoring the environmental humidity of the project monitoring area, obtain the regional temperature monitoring coefficient by monitoring the environmental temperature of the project monitoring area, obtain the regional air monitoring coefficient by monitoring the particle concentration of the project monitoring area, and obtain the project area environmental monitoring data; Environmental analysis module: used to divide the project monitoring area into a first type of project area and a second type of project area by analyzing the project area environmental monitoring data, and obtain project area type division data; Radar test module: used to monitor the signal strength of the ultrasonic radar of the mining new energy vehicle in the second type of engineering area according to the engineering area type classification data to obtain the ultrasonic signal attenuation distance ratio, and monitor the signal speed of the ultrasonic radar of the mining new energy vehicle in the second type of engineering area to obtain the signal measured speed value and obtain radar signal test data; Ultrasonic ranging module: used to measure the obstacle distance for the first type of engineering area and the second type of engineering area according to the radar signal test data and the engineering area type classification data.

2. The ultrasonic obstacle ranging system for mining new energy vehicles according to claim 1 is characterized in that: The environmental monitoring module includes a humidity monitoring unit, an air monitoring unit and a temperature monitoring unit; In the process of ultrasonic obstacle ranging for mining new energy vehicles, the engineering monitoring area and the regional environment real-time monitoring period are marked respectively; The humidity monitoring unit monitors the environmental humidity of the engineering monitoring area in the regional environmental real-time monitoring period to obtain the regional humidity monitoring coefficient; The temperature monitoring unit monitors the ambient temperature of the engineering monitoring area in the regional environmental real-time monitoring period to obtain the regional temperature monitoring coefficient; The air monitoring unit monitors air particles in the engineering monitoring area that is in the regional environment real-time monitoring cycle to obtain the regional air monitoring coefficient; The regional humidity monitoring coefficient, regional temperature monitoring coefficient and regional air monitoring coefficient are defined as the project area environmental monitoring data.

3. The obstacle ultrasonic ranging system for mining new energy vehicles according to claim 2 is characterized in that: The humidity monitoring unit obtains the regional humidity monitoring coefficient, as follows: Several humidity monitoring devices are set up in the engineering monitoring area, and each humidity monitoring device is connected to the mining new energy vehicle through a wireless terminal; Mark the humidity monitoring time point W1 to the humidity monitoring time point Wm within the regional environment real-time monitoring cycle; Obtain the humidity monitoring value of each humidity monitoring device at the W1 humidity monitoring time point respectively, and obtain multiple humidity monitoring values; The average of the multiple humidity monitoring values ​​obtained is calculated to obtain the W1 humidity monitoring average value; The variance of the obtained multiple humidity monitoring values ​​is calculated to obtain the W1 humidity monitoring variance; The humidity monitoring stability coefficient corresponding to the W1 humidity monitoring time point is obtained by calculating the W1 humidity monitoring average value and the W1 temperature monitoring variance, and is named the W1 humidity stability coefficient; Calculate the W1 humidity stability coefficient, the specific formula is as follows: Sww1=Wpw1+Wpw1×(1+Wfw1); Among them, Sww1 is the W1 humidity stability coefficient, Wpw1 is the W1 humidity monitoring average value, and Wfw1 is the W1 temperature monitoring variance; The humidity monitoring average values ​​corresponding to the W1 humidity monitoring time point to the Wm humidity monitoring time point are obtained respectively, and the W1 humidity monitoring average value to the Wm humidity monitoring average value are obtained; The humidity stability coefficients corresponding to the humidity monitoring time point W1 to the humidity monitoring time point Wm are obtained respectively, and the humidity stability coefficients W1 to Wm are obtained; Obtain the monitoring humidity benchmark value corresponding to the mining new energy vehicle; The regional humidity monitoring coefficient is obtained by calculating the W1 humidity stability coefficient to the Wm humidity stability coefficient, the W1 humidity monitoring average value to the Wm humidity monitoring average value and the monitoring humidity reference value; Calculate the regional humidity monitoring coefficient, the specific formula is as follows: Among them, Swx is the regional humidity monitoring coefficient, Wpwi is the Wi humidity monitoring average value, Wpj is the monitoring humidity baseline value, Swwi is the Wi humidity stability coefficient, and m is the quantity value corresponding to the humidity monitoring time point.

4. The obstacle ultrasonic ranging system for mining new energy vehicles according to claim 2 is characterized in that: The temperature monitoring unit obtains the regional temperature monitoring coefficient, as follows: Several temperature monitoring devices are set up in the engineering monitoring area, and each temperature monitoring device is connected to the mining new energy vehicle through a wireless terminal; Mark the temperature monitoring time point S1 to the temperature monitoring time point Sn within the regional environment real-time monitoring cycle; Obtain the temperature monitoring value corresponding to each temperature monitoring device at the S1 temperature monitoring time point respectively, and obtain multiple temperature monitoring values; The average of the multiple temperature monitoring values ​​obtained is calculated to obtain the average value of S1 temperature monitoring; The variance of the obtained multiple temperature monitoring values ​​is calculated to obtain the S1 temperature monitoring variance; The temperature monitoring stability coefficient corresponding to the S1 temperature monitoring time point is obtained by calculating the S1 temperature monitoring average value and the S1 temperature monitoring variance, and is named the S1 temperature stability coefficient; The S1 temperature stability coefficient is calculated using the following formula: Wss1 = Spw1 + Spw1 × (1 + Sfw1); Among them, Wss1 is the S1 temperature stability coefficient, Spw1 is the S1 temperature monitoring average value, and Sfw1 is the S1 temperature monitoring variance; The temperature monitoring average values ​​corresponding to the temperature monitoring time point S2 to the temperature monitoring time point Sn are obtained respectively, and the temperature monitoring average values ​​S2 to Sn are obtained; The temperature stability coefficients corresponding to the temperature monitoring time point of S2 to the temperature monitoring time point of Sn are obtained respectively, and the temperature stability coefficient of S2 to the temperature stability coefficient of Sn are obtained; Obtain the monitoring temperature reference value corresponding to the mining new energy vehicle; The regional temperature monitoring coefficient is obtained by calculating the S1 temperature stability coefficient to the Sn temperature stability coefficient, the S1 temperature monitoring average value to the Sn temperature monitoring average value and the monitoring temperature reference value; Calculate the regional temperature monitoring coefficient, the specific formula is as follows: Among them, Ssx is the regional temperature monitoring coefficient, Spwi is the Si temperature monitoring average value, Spj is the monitoring temperature reference value, Wssi is the Wi temperature stability coefficient, and n is the quantity value corresponding to the temperature monitoring time point.

5. The obstacle ultrasonic ranging system for mining new energy vehicles according to claim 2 is characterized in that: The air monitoring unit obtains the regional air monitoring coefficient, as follows: Several air monitoring devices are set up in the engineering monitoring area, and each air monitoring device is connected to the mining new energy vehicle through a wireless terminal, and a sample air monitoring device is selected from the several air monitoring devices set up; In the regional environment real-time monitoring cycle, the temperature monitoring time points D1 to Dj are marked in chronological order; Analyze the air quality data detected by the sample air monitoring device to obtain the air quality coefficient corresponding to the sample air monitoring device; The details are as follows: The sample air monitoring equipment classifies the suspended particulate matter monitored in the project monitoring area into type I particulate matter to type a particulate matter; The monitoring concentrations of the first type of particles to the ath type of particles in the engineering monitoring area are respectively obtained to obtain the first particle concentration value to the ath particle concentration value; Analyze the signal attenuation of the ultrasonic signal in the first type of particle environment to obtain a first signal attenuation; The details are as follows: A closed experimental space is set up, and a signal transmitting plane and a signal reflecting plane are set up in the experimental space; When the first type of particles are not introduced into the experimental space, an ultrasonic signal is transmitted from the signal transmitting plane to the signal reflecting plane by the ultrasonic radar, and the intensity value of the ultrasonic signal during transmission is obtained to obtain a first transmission signal intensity value, and an ultrasonic signal transmitted from the signal transmitting plane to the signal transmitting plane is received by the ultrasonic radar, and the intensity value of the received transmission ultrasonic signal is obtained to obtain a first reception signal intensity value; When the first type of particulate matter is injected into the experimental space, when the concentration of the first type of particulate matter in the experimental space reaches a specified concentration, an ultrasonic signal is emitted from the signal emitting plane to the signal reflecting plane by the ultrasonic radar, and the intensity value of the ultrasonic signal during emission is acquired to obtain a second emission signal intensity value, and an ultrasonic signal emitted from the signal emitting plane to the signal emitting plane is received by the ultrasonic radar, and the intensity value of the received emission ultrasonic signal is acquired to obtain a second reception signal intensity value; The first signal attenuation is obtained by calculating the first transmission signal strength value, the first reception signal strength value, the second transmission signal strength value and the second reception signal strength value; The attenuation of the first signal is calculated, and the specific formula is as follows: Wherein, Xs1 is the first signal attenuation, Fs1 is the first transmission signal strength value, Js1 is the first reception signal strength value, Fs2 is the second transmission signal strength value, and Js2 is the second reception signal strength value; The signal attenuations corresponding to the second type of particles to the a-th type of particles are respectively acquired to obtain the second signal attenuation to the a-th signal attenuation; The regional air monitoring coefficient is obtained by calculating the first particle concentration value to the ath particle concentration value and the first signal attenuation to the ath signal attenuation; The regional air monitoring coefficient is calculated as follows: Among them, Qkx is the regional air monitoring coefficient, Ndi is the i-th particle concentration value, Xsi is the i-th signal attenuation, and a is the type quantity value corresponding to the suspended particulate matter.

6. The obstacle ultrasonic ranging system for mining new energy vehicles according to claim 1 is characterized in that: The environmental analysis module obtains the engineering area type classification data as follows: Obtain the project area environmental monitoring data, and obtain the regional humidity monitoring coefficient, regional temperature monitoring coefficient and regional air monitoring coefficient respectively according to the project area environmental monitoring data; The monitoring area division coefficient is obtained by calculating the regional humidity monitoring coefficient, the regional temperature monitoring coefficient and the regional air monitoring coefficient; The monitoring area division coefficient is calculated as follows: Hfx=lnSwx+3lnQkx+2lnSsx; Among them, Hfx is the monitoring area division coefficient, Qkx is the regional air monitoring coefficient, Ssx is the regional temperature monitoring coefficient, and Swx is the regional humidity monitoring coefficient; Obtaining a monitoring area division coefficient threshold, performing numerical comparison between the monitoring area division coefficient and the monitoring area division coefficient threshold, and dividing the project monitoring area into a first type of project area and a second type of project area according to the numerical comparison result, to obtain project area type division data; The regional humidity monitoring coefficient threshold, the regional temperature monitoring coefficient threshold and the regional air monitoring coefficient threshold are respectively obtained, and the monitoring area division coefficient threshold is obtained by calculation; The regional humidity monitoring coefficient threshold, the regional temperature monitoring coefficient threshold and the regional air monitoring coefficient threshold are calculated to obtain the monitoring area division coefficient threshold; If 0<Hfx≤Hfxz, the engineering monitoring area is divided into the first type engineering area; If Hfxz<Hfx, the project monitoring area is divided into the second type of project area; Among them, Hfx is the monitoring area division coefficient, and Hfxy is the monitoring area division coefficient threshold.

7. The obstacle ultrasonic ranging system for mining new energy vehicles according to claim 1 is characterized in that: The radar test module acquires radar signal test data, as follows: Acquire engineering area classification data, and acquire the engineering area of ​​the second type according to the engineering area classification data; A plurality of radar signal test areas and a plurality of test designated emission areas are set in the outer wall of a fixed building in the second type of engineering area. When the mining new energy vehicle drives to the test designated emission area, the mining new energy vehicle ultrasonic radar emits an ultrasonic signal to the radar signal test area, obtains the emission intensity value of the ultrasonic signal to obtain a first ultrasonic signal intensity value, obtains the emission time value of the ultrasonic signal to obtain an emission characteristic time value; The ultrasonic radar of the mining new energy vehicle receives the ultrasonic signal reflected by the radar signal test area, obtains the received signal strength value, obtains the second ultrasonic signal strength value, obtains the receiving time value of the ultrasonic signal, and obtains the receiving characteristic time value; The straight-line distance between the radar signal test area and the test designated emission area is obtained to obtain the radar test preset distance; The signal actual speed value is obtained by calculating the transmission characteristic time value, the reception characteristic time value and the radar test preset distance; The actual speed value of the signal is calculated, and the specific formula is as follows: Among them, Vsc is the actual measured speed value of the signal, Yhl is the preset distance of the radar test, Tjs is the receiving characteristic time value, and Tfs is the transmitting characteristic time value; The ultrasonic signal attenuation distance ratio is obtained by calculating the first ultrasonic signal strength value, the second ultrasonic signal strength value and the radar test preset distance; The ultrasonic signal attenuation distance ratio is calculated, and the specific formula is as follows: Wherein, Csv is the ultrasonic signal attenuation distance ratio, Yhl is the radar test preset distance, Cq1 is the first ultrasonic signal strength value, and Cq2 is the second ultrasonic signal strength value; The measured signal velocity value and the ultrasonic signal attenuation distance ratio are defined as radar signal test data.

8. The obstacle ultrasonic ranging system for mining new energy vehicles according to claim 1 is characterized in that: The ultrasonic distance measurement module measures the obstacle distances for the first type of engineering area and the second type of engineering area respectively, as follows: Acquire engineering area type classification data, and acquire first type engineering areas and second type engineering areas respectively according to the engineering area type classification data; The mining new energy vehicle measures the obstacle distance in the first type of engineering area; The details are as follows: Selecting a first sample obstacle from a plurality of obstacles existing in the first type engineering area; The mining new energy vehicle transmits an ultrasonic signal of a reference intensity value to the first sample obstacle through the on-board ultrasonic radar, obtains the emission time point of the ultrasonic signal to obtain the actual emission time value of the first signal, and obtains the reception time point of the ultrasonic signal to obtain the actual reception time value of the first signal; Obtain the air propagation speed of ultrasonic signals; The actual receiving time value of the first signal, the actual transmitting time value of the first signal and the air propagation speed of the ultrasonic signal are calculated to obtain the measured distance value between the first sample obstacle and the mining new energy vehicle; The measured distance values ​​between the first sample obstacle and the mining new energy vehicle are obtained as follows: Among them, Csj1 is the calculated distance value between the first sample obstacle and the mining new energy vehicle, Sj1 is the actual reception time value of the first signal, Ss1 is the actual transmission time value of the first signal, and Kcs is the air propagation speed of the ultrasonic signal; Calculate the distance to each obstacle in the first type of engineering area respectively; Mining new energy vehicles measure obstacle distances in the second type of engineering areas.

9. The obstacle ultrasonic ranging system for mining new energy vehicles according to claim 1 is characterized in that: The ultrasonic ranging module adjusts the radar transmission power of the vehicle-mounted ultrasonic radar as follows: Selecting a second sample obstacle from a plurality of obstacles existing in the second type engineering area; Acquire radar signal test data, and respectively acquire a signal measured velocity value and an ultrasonic signal attenuation distance ratio according to the radar signal test data; Adjust the radar transmission power of the vehicle-mounted ultrasonic radar; The details are as follows: Obtain the reference strength value, effective detection distance and ultrasonic signal attenuation distance ratio of the vehicle-mounted ultrasonic radar; The test intensity value is obtained by calculating the reference intensity value, the effective detection distance and the ultrasonic signal attenuation distance ratio; The test intensity value is calculated using the following formula: Cqd=(1+Ytj×Csv)×Pjq; Among them, Cqd is the test intensity value, Ytj is the effective detection distance, Csv is the ultrasonic signal attenuation distance ratio, and Pjq is the reference intensity value; The mining new energy vehicle transmits an ultrasonic signal of a test intensity value to the second sample obstacle through the on-board ultrasonic radar, and the on-board ultrasonic radar receives the radar signal reflected by the second sample obstacle to obtain a radar reflection signal; Acquire the strength of the radar reflected signal, obtain the reflected signal strength value, and obtain the reflected signal reference strength value; If the reflected signal strength value is less than the reflected signal reference strength value, the vehicle-mounted ultrasonic radar increases the transmission power of the ultrasonic signal. If the reflected signal strength value is less than the reflected signal reference strength value, the vehicle-mounted ultrasonic radar reduces the transmission power of the ultrasonic signal; The distance to the second sample obstacle is measured.

10. The obstacle ultrasonic ranging system for mining new energy vehicles according to claim 1 is characterized in that: The ultrasonic distance measurement module measures the distance of the second sample obstacle as follows: Acquire the emission time point of the ultrasonic signal to obtain the actual emission time value of the second signal, and acquire the reception time point of the ultrasonic signal to obtain the actual reception time value of the second signal; Get the measured speed value of the signal; The measured distance value between the first sample obstacle and the mining new energy vehicle is obtained by calculating the actual receiving time value of the second signal, the actual transmitting time value of the second signal and the measured speed value of the signal; The calculated distance value between the second sample obstacle and the mining new energy vehicle is obtained as follows: Among them, Csj2 is the calculated distance value between the first sample obstacle and the mining new energy vehicle, Sj2 is the actual reception time value of the first signal, Ss2 is the actual transmission time value of the first signal, and Vsc is the air propagation speed of the ultrasonic signal; The distance is measured for each obstacle in the second type of engineering area.

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