An ultrasonic obstacle ranging system for mining new energy vehicles

Abstract

The invention discloses an ultrasonic obstacle ranging system for mining new energy vehicles, relates to the field of automobile engineering, and solves the problem of poor ranging effect of existing ultrasonic obstacle ranging systems for mining new energy vehicles. The invention comprises an environmental monitoring module for obtaining a regional humidity monitoring coefficient, a regional temperature monitoring coefficient, and a regional air monitoring coefficient to obtain environmental monitoring data of a project area; an environmental analysis module for dividing a project monitoring area to obtain project area type division data; a radar testing module for performing signal analysis on an ultrasonic radar of a mining new energy vehicle in a second type of project area to obtain radar signal test data; and an ultrasonic ranging module for measuring the obstacle distance based on the radar signal test data and the project area type division data. The invention can effectively improve the environmental applicability of an ultrasonic ranging method and the accuracy of ranging results.

Description

Technical Field

[0001] The present invention belongs to the field of automotive engineering and relates to ultrasonic technology, in particular to 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 used in mining cannot perform environmental analysis of the project area, and adopts different ultrasonic ranging methods according to the environmental analysis results of different areas. This easily leads to a 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 existing technology, the purpose of the present invention is to provide an ultrasonic ranging system for obstacles of new energy vehicles used in mines. 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 objectives, the present invention adopts the following technical solutions: an ultrasonic obstacle ranging system for mining new energy vehicles, 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, and obtain the regional air monitoring coefficient by monitoring the particulate matter concentration of the project monitoring area, thereby obtaining the environmental monitoring data of the project area;

[0009] Environmental analysis module: used to divide the project monitoring area into first type project area and second type project area by analyzing the environmental monitoring data of the project area, and obtain project area classification 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 based on radar signal test data and engineering area type classification data.

[0012] Furthermore, 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] During environmental monitoring of the project monitoring area, the time value corresponding to the current moment is marked as a 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 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 particulate matter 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 several humidity monitoring time points in the regional environment real-time monitoring period, and name the marked humidity monitoring time points W1 humidity monitoring time point to Wm humidity monitoring time point in chronological order;

[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 average value of the W1 humidity monitoring, and obtain the average values of the humidity monitoring corresponding to the W1 humidity monitoring time point to the Wm humidity monitoring time point, to obtain the average values of the W1 humidity monitoring to the Wm humidity monitoring;

[0031] Repeat the process of obtaining the W1 humidity stability coefficient, and 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 mining new energy vehicles;

[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 period, 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] Calculate the variance of the multiple temperature monitoring values obtained 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] Calculate the S1 temperature stability coefficient. The specific formula is as follows:

[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 value 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, and 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] Acquire the monitoring concentrations of the first type of particulate matter to the ath type of particulate matter in the engineering monitoring area respectively, and obtain the first particulate matter concentration value to the ath particulate matter concentration value;

[0061] Analyzing the signal attenuation of the ultrasonic signal in the first type of particulate matter environment to obtain a first signal attenuation;

[0062] The details are as follows:

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

[0064] When no first type of particulate matter enters the experimental space, an ultrasonic signal is transmitted from the signal transmitting plane to the signal reflecting plane by the ultrasonic radar, and an intensity value of the ultrasonic signal during transmission is obtained to obtain a first transmission signal strength value; an ultrasonic signal transmitted from the signal transmitting plane to the signal transmitting plane is received by the ultrasonic radar, and an intensity value of the received transmission ultrasonic signal is obtained to obtain a first reception signal strength 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 transmitted from the signal transmitting plane to the signal reflecting plane by the ultrasonic radar, and an intensity value of the ultrasonic signal during transmission is obtained to obtain a second transmission signal strength value; the ultrasonic signal transmitted from the signal transmitting plane to the signal transmitting plane is received by the ultrasonic radar, and an intensity value of the received transmission ultrasonic signal is obtained to obtain a second reception signal strength 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 using the following formula:

[0068]

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

[0070] Repeat the process of obtaining the first signal attenuation to obtain the signal attenuations corresponding to the second type of particles to the a-th type of particles, respectively, to 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 using the following formula:

[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 and quantity value corresponding to the suspended particulate matter.

[0075] Furthermore, the environmental analysis module obtains engineering area 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 based on the project area environmental monitoring data;

[0077] The regional humidity monitoring coefficient, regional temperature monitoring coefficient and regional air monitoring coefficient are calculated to obtain the monitoring area division 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, thereby obtaining project area type division data;

[0082] Obtain the regional humidity monitoring coefficient threshold, regional temperature monitoring coefficient threshold and regional air monitoring coefficient threshold respectively, and obtain the monitoring area division coefficient threshold through 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 value of the monitoring area division coefficient is calculated 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 project monitoring area is divided into the first type of project area;

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

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

[0090] Acquire engineering area classification data, and acquire engineering areas 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 on the outer walls of fixed buildings within the second type of engineering area. When the mining new energy vehicle drives into the test designated emission area, the mining new energy vehicle ultrasonic radar transmits an ultrasonic signal to the radar signal test area, obtains an emission intensity value of the ultrasonic signal to obtain a first ultrasonic signal intensity value, and obtains an 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 to obtain the second ultrasonic signal strength value, and obtains the receiving time value of the ultrasonic signal to obtain the receiving characteristic time value;

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

[0094] The signal measured 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 using the following formula:

[0096]

[0097] Wherein, Vsc is the measured velocity 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 using the following formula:

[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 ranging module measures the obstacle distances for the first type engineering area and the second type engineering area respectively, as follows:

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

[0105] The mining new energy vehicle is used to measure the distance to obstacles 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 a first sample obstacle through an on-board ultrasonic radar, acquires a transmission time point of the ultrasonic signal to obtain an actual transmission time value of the first signal, and acquires a reception time point of the ultrasonic signal to obtain an 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 a 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 measured 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;

[0115] Mining new energy vehicles measure the distance to obstacles 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 obtain the signal measured velocity value and 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 baseline intensity 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 intensity of the radar reflection signal, obtain the reflection signal intensity value, and obtain the reflection signal reference intensity 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] Calculate the distance to the second sample obstacle.

[0131] Furthermore, the ultrasonic ranging module measures the distance to 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 actual receiving time value of the second signal, the actual transmitting time value of the second signal, and the actual measured speed value of the signal are calculated to obtain a measured distance value between the first sample obstacle and the mining new energy vehicle;

[0135] The measured distance values between the second sample obstacle and the mining new energy vehicle are obtained as follows:

[0136]

[0137] Among them, Csj2 is the measured 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 classifies engineering monitoring areas by respectively obtaining regional humidity monitoring coefficients, regional temperature monitoring coefficients, and regional air monitoring coefficients, 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] 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 a block diagram of the overall system of the present invention;

[0144] Figure 2 Schematic diagram of the experimental space of the present invention;

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

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

[0147] Example 1

[0148] See also Figure 1 The present invention provides a technical solution: an ultrasonic obstacle ranging system for mining new energy vehicles, comprising an environmental monitoring module, an environmental analysis module, a radar test module, an ultrasonic ranging module and a server, wherein the environmental monitoring module, the environmental analysis module, the radar test module and the ultrasonic ranging module are respectively connected to the server, and the server controls the environmental monitoring module, the environmental 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 ambient humidity of the project monitoring area, obtains the regional temperature monitoring coefficient by monitoring the ambient temperature of the project monitoring area, and obtains the regional air monitoring coefficient by monitoring the particulate matter concentration of the project monitoring area, thereby obtaining the environmental monitoring data of the project area;

[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 this application, the engineering monitoring area involved here changes with the movement of the mining new energy vehicles.

[0155] During environmental monitoring of the project monitoring area, the time value corresponding to the current moment is marked as a 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 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 feature 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 this 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 several humidity monitoring time points in the regional environment real-time monitoring period, and name the marked humidity monitoring time points W1 humidity monitoring time point to Wm humidity monitoring time point in chronological order;

[0167] It should be noted here that:

[0168] In this application, W 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 average value of the W1 humidity monitoring, and obtain the average values of the humidity monitoring corresponding to the W1 humidity monitoring time point to the Wm humidity monitoring time point, to obtain the average values of the W1 humidity monitoring to the Wm humidity monitoring;

[0177] Repeat the process of obtaining the W1 humidity stability coefficient, and 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 mining new energy vehicles;

[0179] It should be noted here that:

[0180] The monitoring humidity benchmark value involved here is the ambient humidity value of the mining new energy vehicle ultrasonic radar under the optimal 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 average value of Wi humidity monitoring, 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, where 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 period, 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 is an identifier corresponding to a temperature monitoring time point, and n is a number 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] Calculate the variance of the multiple temperature monitoring values obtained 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] Calculate the S1 temperature stability coefficient. The specific formula is as follows:

[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 value 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, and 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 mining new energy vehicle ultrasonic radar under the optimal 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 average value of Si temperature monitoring, 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 herein 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 herein 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 particulate matter 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 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 and 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] Acquire the monitoring concentrations of the first type of particulate matter to the ath type of particulate matter in the engineering monitoring area respectively, and obtain the first particulate matter concentration value to the ath particulate matter concentration value;

[0229] Analyzing the signal attenuation of the ultrasonic signal in the first type of particulate matter 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 spatial planes in the experimental space, and name the two parallel spatial planes as the signal transmission plane and the signal reflection plane respectively;

[0232] When no first type of particulate matter enters the experimental space, an ultrasonic signal is transmitted from the signal transmitting plane to the signal reflecting plane by the ultrasonic radar, and an intensity value of the ultrasonic signal during transmission is obtained to obtain a first transmission signal strength value; an ultrasonic signal transmitted from the signal transmitting plane to the signal transmitting plane is received by the ultrasonic radar, and an intensity value of the received transmission ultrasonic signal is obtained to obtain a first reception signal strength 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 transmitted from the signal transmitting plane to the signal reflecting plane by the ultrasonic radar, and an intensity value of the ultrasonic signal during transmission is obtained to obtain a second transmission signal strength value; the ultrasonic signal transmitted from the signal transmitting plane to the signal transmitting plane is received by the ultrasonic radar, and an intensity value of the received transmission ultrasonic signal is obtained to obtain a second reception signal strength value;

[0234] It should be noted here that:

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

[0236] In this application, the first transmit signal strength value and the second transmit signal strength value correspond to the same signal strength;

[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 using the following formula:

[0239]

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

[0241] Repeat the process of obtaining the first signal attenuation to obtain the signal attenuations corresponding to the second type of particles to the a-th type of particles, respectively, to 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 using the following formula:

[0244]

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

[0246] It should be noted here that:

[0247] In the present application, the i-th particle concentration value involved herein may be any particle concentration value between the first particle concentration value and the a-th particle concentration value, and the i-th signal attenuation involved herein may be any one between the first signal attenuation value and 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 environmental monitoring data of the project area, thereby obtaining project area classification 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 based on the project area environmental monitoring data;

[0253] The regional humidity monitoring coefficient, regional temperature monitoring coefficient and regional air monitoring coefficient are calculated to obtain the monitoring area division 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, thereby obtaining project area type division data;

[0258] Obtain the regional humidity monitoring coefficient threshold, regional temperature monitoring coefficient threshold and regional air monitoring coefficient threshold respectively, and obtain the monitoring area division coefficient threshold through calculation;

[0259] It should be noted here that:

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

[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 value of the monitoring area division coefficient is calculated 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 project monitoring area is divided into the first type of project 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 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 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 engineering areas of the second type according to the engineering area classification data;

[0271] When the mining new energy vehicle drives into the second type of engineering area, the ultrasonic radar signal strength 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 on 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 transmits 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;

[0274] It should be noted here that:

[0275] In this application, multiple radar signal test areas are set up in the second type engineering area, and each of the multiple radar signal test areas is set up with a corresponding test designated transmission area, and the straight-line distance between the radar signal test area and the test designated transmission 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 to obtain the second ultrasonic signal strength value, and obtains the receiving time value of the ultrasonic signal to obtain the receiving characteristic time value;

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

[0278] The signal measured 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 using the following formula:

[0280]

[0281] Wherein, Vsc is the measured velocity 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 using the following formula:

[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 ranging module calculates the obstacle distance 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 classification data;

[0289] The details are as follows:

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

[0291] The mining new energy vehicle is used to measure the distance to obstacles 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 a first sample obstacle through an on-board ultrasonic radar, acquires a transmission time point of the ultrasonic signal to obtain an actual transmission time value of the first signal, and acquires a reception time point of the ultrasonic signal to obtain an actual reception time value of the first signal;

[0295] It should be noted here that:

[0296] In this 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 a 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 measured 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;

[0304] Mining new energy vehicles are used to measure obstacle distances 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 obtain the signal measured velocity value and 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 baseline intensity 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 intensity of the radar reflection signal, obtain the reflection signal intensity value, and obtain the reflection signal reference intensity 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 to 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 this 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 actual receiving time value of the second signal, the actual transmitting time value of the second signal, and the actual measured speed value of the signal are calculated to obtain a measured distance value between the first sample obstacle and the mining new energy vehicle;

[0328] The measured distance values between the second sample obstacle and the mining new energy vehicle are obtained as follows:

[0329]

[0330] Among them, Csj2 is the measured 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 a corresponding calculation formula appears, the above calculation formula is dimensionless and its numerical calculation is performed. The weight coefficient, proportional coefficient and other coefficients in the formula are set to a result value obtained by quantifying each parameter. Regarding the size of the weight coefficient and the proportional coefficient, as long as it does not affect the proportional relationship between the parameter and the result value, it is acceptable.

[0333] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to specific embodiments. Obviously, many modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. 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, and obtain the regional air monitoring coefficient by monitoring the particulate matter concentration of the project monitoring area, thereby obtaining the environmental monitoring data of the project area; Environmental analysis module: used to divide the project monitoring area into first type project area and second type project area by analyzing the environmental monitoring data of the project area, and obtain project area classification 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 respectively according to the radar signal test data and the engineering area classification data; The environmental analysis module obtains the project area 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 based on the project area environmental monitoring data; The regional humidity monitoring coefficient, regional temperature monitoring coefficient and regional air monitoring coefficient are calculated to obtain the monitoring area division coefficient; The monitoring area division coefficient is calculated as follows: ； 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, thereby obtaining project area type division data; Obtain the regional humidity monitoring coefficient threshold, regional temperature monitoring coefficient threshold and regional air monitoring coefficient threshold respectively, and obtain the monitoring area division coefficient threshold through 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 project monitoring area is divided into the first type of project 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 Hfxz is the monitoring area division coefficient threshold; The ultrasonic ranging 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 classification data, and acquire first-type engineering areas and second-type engineering areas respectively according to the engineering area classification data; The mining new energy vehicle is used to measure the distance to obstacles 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 a first sample obstacle through an on-board ultrasonic radar, acquires a transmission time point of the ultrasonic signal to obtain an actual transmission time value of the first signal, and acquires a reception time point of the ultrasonic signal to obtain an 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 a measured distance value between the first sample obstacle and the mining new energy vehicle; Calculate the distance to each obstacle in the first type of engineering area; Mining new energy vehicles measure the distance to obstacles in the second type of engineering areas.

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 ranging of obstacles 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 particulate matter 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 ultrasonic obstacle 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 humidity monitoring time point W1 respectively to 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 mean value and the W1 humidity monitoring variance, and is named the W1 humidity stability coefficient; Calculate the W1 humidity stability coefficient. The specific formula is as follows: ； Among them, Sww1 is the W1 humidity stability coefficient, Wpw1 is the W1 humidity monitoring average value, and Wfw1 is the W1 humidity 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 W1 humidity monitoring time point to the Wm humidity monitoring time point are obtained respectively, and the W1 humidity stability coefficient to the Wm humidity stability coefficient are obtained; Obtain the monitoring humidity benchmark value corresponding to mining new energy vehicles; 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 ultrasonic obstacle 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; Calculate the variance of the multiple temperature monitoring values obtained 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; Calculate the S1 temperature stability coefficient. The specific formula is as follows: ； 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 S2 temperature monitoring time point to the Sn temperature monitoring time point are respectively obtained to obtain the S2 temperature monitoring average value to the Sn temperature monitoring average value; The temperature stability coefficients corresponding to the S2 temperature monitoring time point to the Sn temperature monitoring time point are obtained respectively, and the S2 temperature stability coefficient to the Sn temperature stability coefficient 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 ultrasonic obstacle 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 1 particulate matter to type a particulate matter; Acquire the monitoring concentrations of the first type of particulate matter to the ath type of particulate matter in the engineering monitoring area respectively, and obtain the first particulate matter concentration value to the ath particulate matter concentration value; Analyzing the signal attenuation of the ultrasonic signal in the first type of particulate matter environment to obtain a first signal attenuation; The details are as follows: Set up a closed experimental space, and set up a signal transmission plane and a signal reflection plane in the experimental space; When no first type of particulate matter enters the experimental space, an ultrasonic signal is transmitted from the signal transmitting plane to the signal reflecting plane by the ultrasonic radar, and an intensity value of the ultrasonic signal during transmission is obtained to obtain a first transmission signal strength value; an ultrasonic signal transmitted from the signal transmitting plane to the signal transmitting plane is received by the ultrasonic radar, and an intensity value of the received transmission ultrasonic signal is obtained to obtain a first reception signal strength 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 transmitted from the signal transmitting plane to the signal reflecting plane by the ultrasonic radar, and an intensity value of the ultrasonic signal during transmission is obtained to obtain a second transmission signal strength value; the ultrasonic signal transmitted from the signal transmitting plane to the signal transmitting plane is received by the ultrasonic radar, and an intensity value of the received transmission ultrasonic signal is obtained to obtain a second reception signal strength 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 using the following formula: ； Wherein, Xs1 is the first signal attenuation, Fs1 is the first transmit signal strength value, Js1 is the first receive signal strength value, Fs2 is the second transmit signal strength value, and Js2 is the second receive signal strength value; Acquire the signal attenuation corresponding to the second type of particles to the a-th type of particles respectively, and 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 using the following formula: ； 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 and quantity value corresponding to the suspended particulate matter.

6. The ultrasonic obstacle 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 engineering areas 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 on the outer walls of fixed buildings within the second type of engineering area. When the mining new energy vehicle drives into the test designated emission area, the mining new energy vehicle ultrasonic radar transmits an ultrasonic signal to the radar signal test area, obtains an emission intensity value of the ultrasonic signal to obtain a first ultrasonic signal intensity value, and obtains an 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 to obtain the second ultrasonic signal strength value, and obtains the receiving time value of the ultrasonic signal to obtain the receiving characteristic time value; Obtain the straight-line distance between the radar signal test area and the test designated emission area to obtain the radar test preset distance; The signal measured 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 using the following formula: ； Wherein, Vsc is the measured velocity 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 using the following formula: ； 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.

7. The ultrasonic obstacle ranging system for mining new energy vehicles according to claim 1 is characterized in that: The measured distance values between the first sample obstacle and the mining new energy vehicle are obtained as follows: ； Among them, Csj1 is the measured 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.

8. The ultrasonic obstacle 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 obtain the signal measured velocity value and 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 baseline intensity 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: ； 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 intensity of the radar reflection signal, obtain the reflection signal intensity value, and obtain the reflection signal reference intensity 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 greater than the reflected signal reference strength value, the vehicle-mounted ultrasonic radar reduces the transmission power of the ultrasonic signal; Calculate the distance to the second sample obstacle.

9. The ultrasonic obstacle ranging system for mining new energy vehicles according to claim 1 is characterized in that: The ultrasonic ranging module measures the distance to 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 actual receiving time value of the second signal, the actual transmitting time value of the second signal, and the actual measured speed value of the signal are calculated to obtain a measured distance value between the second sample obstacle and the mining new energy vehicle; The measured distance values between the second sample obstacle and the mining new energy vehicle are obtained as follows: ； Among them, Csj2 is the measured distance value between the second sample obstacle and the mining new energy vehicle, Sj2 is the actual reception time value of the second signal, Ss2 is the actual transmission time value of the second signal, and Vsc is the actual measured speed value of the signal; The distance is measured for each obstacle in the second type of engineering area.

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