Ultrasonic radar detection method and system for different-column obstacles

The invention discloses a different-column obstacle ultrasonic radar detection method and system. The method comprises the steps that S1, a first threshold value and a second threshold value are set based on ultrasonic echo intensity; s2, if the ultrasonic echo intensity is between the first threshold value and the second threshold value, executing the step S3; s3, a base point is selected on the obstacle to construct a spherical model, the base point is the sphere center of the spherical model, multiple feature points are preset on the surface of the spherical model, the actual echo time when ultrasonic waves reach all the feature points is obtained, the initial distance between the ultrasonic radar and the feature points is calculated based on the actual echo time, and the initial distance is obtained; correcting the spherical model based on the initial distance to obtain an initial obstacle shape; s4, correcting the initial distance between the ultrasonic radar and the feature point to obtain a final dista