Mining area vehicle control system and method based on Internet of Vehicles, and electronic equipment

Abstract

The invention discloses a mining area vehicle control system and method based on the Internet of Vehicles, and an electronic device, and the system comprises a first image collection module, a laser radar module, a detection module, a communication module, a second image collection module, a cloud platform, a processing module, and a vehicle controller. The cloud platform identifies the road condition in front of the vehicle according to the first image information and the second image information, sends a ponding processing instruction to the second image acquisition module when judging that a ponding area exists in front of the vehicle according to the road condition, and evaluates the influence of the ponding area on vehicle driving according to the ponding depth and / or the load state. The generated evaluation result is sent to a vehicle controller through a communication module; and the vehicle controller receives the evaluation result and sends a control instruction to the processing module and the vehicle according to the evaluation result so as to control the operation states of the processing module and the vehicle. According to the invention, the driving safety and stability of the vehicle are improved, and the rollover risk of the vehicle is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a control system, method and electronic device for mine vehicles based on Internet of Vehicles. BACKGROUND

[0002] With the continuous development and application of intelligent driving technology, automatic driving mine vehicles are increasingly widely used in mine transportation. However, the mine environment is complex, the road conditions are poor, and there is usually a lack of clear lane line markings, making it difficult for automatic driving mine vehicles to flexibly change lanes or adjust the driving trajectory as on structured roads.

[0003] Therefore, in the related art, mine automatic driving mine vehicles generally adopt a fixed point-to-point path planning mode, i.e., repetitive transportation operations according to a preset path. However, although this fixed trajectory driving mode improves the predictability and efficiency of operations, when facing complex and variable environmental factors, such as sudden road conditions like rainwater, mine roads often have water accumulation areas. Since automatic driving mine vehicles rely on preset routes, they often directly drive into water accumulation areas when the system fails to identify or cannot bypass, and water accumulation may cause a decrease in tire adhesion, loss of control, and even safety accidents such as vehicle rollover. SUMMARY

[0004] The present application aims to at least solve one of the technical problems existing in the prior art.

[0005] To this end, one object of the present application is to propose a control system for mine vehicles based on Internet of Vehicles, which can avoid the rollover risk caused by water accumulation and potholes on the road, ensure the safe driving of the vehicle without changing the driving trajectory of the vehicle, and thus improve the driving safety and stability of the vehicle and reduce the occurrence of vehicle rollover risk.

[0006] To this end, a second object of the present application is to propose a control method for mine vehicles based on Internet of Vehicles.

[0007] To this end, a third object of the present application is to propose an electronic device system.

[0008] To this end, a fourth object of the present application is to propose a computer readable storage medium.

[0009] To achieve the above object, the first aspect of the present application discloses a mine vehicle control system based on Internet of Vehicles, comprising: a first image acquisition module arranged on one side or both sides of a mine road, used to acquire first image information of a front of the vehicle under a first ambient light intensity; a laser radar module arranged on one side or both sides of the mine road, used to acquire second image information of the front of the vehicle under a second ambient light intensity, wherein the first ambient light intensity is greater than the second ambient light intensity; a detection module arranged on one side or both sides of the mine road, used to detect a water depth of a target position in a water accumulation area in front of the vehicle and send the water depth to a cloud platform; a communication module used to realize data transmission between the cloud platform, a second image acquisition module and a vehicle controller; the second image acquisition module arranged in a vehicle compartment of the vehicle, used to acquire a load state of the vehicle compartment after receiving a water treatment instruction sent by the cloud platform through the communication module, and feed back the load state to the cloud platform through the communication module; the cloud platform used to identify a road surface condition in front of the vehicle according to the first image information and the second image information, send the water treatment instruction to the second image acquisition module when judging that the water accumulation area exists in front of the vehicle according to the road surface condition, and evaluate an influence of the water accumulation area on driving of the vehicle according to the water depth and / or the load state, and send the generated evaluation result to the vehicle controller through the communication module; a processing module used to process the water accumulation area; and a vehicle controller arranged in the vehicle, used to receive the evaluation result and send control instructions to the processing module and the vehicle itself according to the evaluation result, so as to control the running state of the processing module and the vehicle.

[0010] According to the control system for mining vehicles based on the Internet of Vehicles (IoV) according to an embodiment of the present invention, a first image acquisition module and a lidar module respectively acquire first and second image information of the vehicle in front of the vehicle under different ambient light intensities, and transmit the first and second image information to a cloud platform via a communication module. After receiving the first and second image information, the cloud platform identifies the road condition in front of the vehicle based on the first and second image information. When it determines that there is a waterlogged area in front of the vehicle based on the road condition, it sends a waterlogging processing instruction to the second image acquisition module. At the same time, the cloud platform receives the load status of the vehicle compartment sent by the second image acquisition module and the waterlogging depth acquired by the detection module. The cloud platform then evaluates the impact of the waterlogging area on vehicle driving based on the waterlogging depth and / or load status, and transmits the evaluation result to the vehicle controller via the communication module. The vehicle controller sends control instructions to the vehicle itself and the processing module based on the evaluation result to control the operating status of the processing module and the vehicle itself, thereby avoiding the risk of rollover caused by waterlogged potholes on the road surface and ensuring that the vehicle can drive safely without changing its driving trajectory, thereby improving the driving safety and stability of the vehicle and reducing the risk of vehicle rollover.

[0011] In addition, the control system for mining vehicles based on the Internet of Vehicles according to the above embodiment of the present invention may also have the following additional technical features: In some embodiments, the detection module includes: a depth detector and a spiral elevator; the spiral elevator is connected to the depth detector and is used to drive the depth detector to fly to the target location to detect the depth of the accumulated water.

[0012] In some embodiments, the processing module includes: a drive motor, a water storage tank, a telescopic suction pipe, a telescopic delivery pipe, a water pump, a rotating motor, and a sandbag box; the drive motor is arranged at the bottom of the vehicle and is connected to the vehicle controller, and is used to receive the control instructions and drive the telescopic suction pipe and the telescopic delivery pipe to extend and retract according to the control instructions; the water storage tank is arranged at the bottom of the vehicle, one end of the water storage tank is connected to the telescopic suction pipe, and the other end of the water storage tank is connected to the water pump, and is used to store the accumulated water extracted by the water pump through the telescopic suction pipe; The water pump is used to pump the accumulated water into the water storage tank through the telescopic suction pipe; the sandbag box is arranged at the bottom of the vehicle, and the inside of the sandbag box is loaded with filling material; one end of the telescopic conveying pipe is connected to the sandbag box, and the other end of the telescopic conveying pipe can extend to the water accumulation area; the rotating motor is arranged in the sandbag box, for receiving the control instruction, and driving the sandbag box to open according to the control instruction, and at the same time driving the telescopic conveying pipe to extend, so as to convey the filling material to the water accumulation area through the telescopic conveying pipe to fill the water accumulation area.

[0013] In some embodiments, when the cloud platform evaluates the influence of the accumulated water in the accumulated water area on the vehicle driving according to the accumulated water depth and the load state, and sends the generated evaluation result to the vehicle controller through the communication module, the cloud platform is configured to: obtain the tire radius of the vehicle; when the vehicle compartment is in the empty load state and the accumulated water depth is less than a first traffic safety threshold value set based on the tire radius, determine that the accumulated water area will not affect the normal driving of the vehicle, and send a first evaluation result to the vehicle controller through the communication module; or when the vehicle compartment is in the full load state and the accumulated water depth is less than or greater than a second traffic safety threshold value set based on the tire radius, determine that the accumulated water area will not affect the normal driving of the vehicle, and send the first evaluation result to the vehicle controller through the communication module.

[0014] In some embodiments, when the cloud platform evaluates the influence of the accumulated water in the accumulated water area on the vehicle driving according to the accumulated water depth and the load state, and sends the generated evaluation result to the vehicle controller through the communication module, the cloud platform is further configured to: when the vehicle compartment is in the empty load state and the accumulated water depth is greater than the first traffic safety threshold value, determine that the accumulated water area affects the normal driving of the vehicle, and send a second evaluation result to the vehicle controller through the communication module; or when the vehicle compartment is in the full load state and the accumulated water depth is greater than the second traffic safety threshold value, determine that the accumulated water area affects the normal driving of the vehicle, and send the second evaluation result to the vehicle controller through the communication module.

[0015] In some embodiments, when the cloud platform evaluates the influence of the accumulated water in the accumulated water area on the vehicle driving according to the accumulated water depth, and sends the generated evaluation result to the vehicle controller through the communication module, the cloud platform is configured to: when the accumulated water depth is less than or equal to a third traffic safety threshold value set based on the tire radius, determine that the accumulated water area affects the normal driving of the vehicle, and send a third evaluation result to the vehicle controller through the communication module.

[0016] In some embodiments, when the cloud platform sends control instructions to the processing module and the vehicle itself according to the evaluation result to control the running state of the processing module and the vehicle, the vehicle controller is configured to: when the first evaluation result is received, send a first control instruction to the processing module and the vehicle itself to control the vehicle to remain in a driving state and control the processing module to remain in an off state.

[0017] In some embodiments, when sending control instructions to the processing module and the vehicle itself according to the evaluation results to control the running state of the processing module and the vehicle, the vehicle controller is further configured to: when receiving the second evaluation result, send second control instructions to the processing module and the vehicle itself to control the vehicle to stop driving at a first preset distance in front of the water accumulation area, control the driving motor to start, drive the telescopic suction pipe to extend to the water accumulation area, and control the water pump to start, and the water accumulation area is pumped into the water storage tank for storage through the telescopic suction pipe.

[0018] In some embodiments, when sending control instructions to the processing module and the vehicle itself according to the evaluation results to control the running state of the processing module and the vehicle, the vehicle controller is further configured to: when receiving the third evaluation result, send third control instructions to the processing module and the vehicle itself to control the vehicle to stop driving at a second preset distance in front of the water accumulation area, control the rotating motor to start, drive the sandbag box to rotate in a preset direction by a first preset angle, and control the driving motor to start, drive the telescopic conveying pipe to extend to the water accumulation area, so that the filling material in the sandbag box outputs corresponding filling material according to the size of the water accumulation area, and the corresponding filling material is conveyed to the water accumulation area through the telescopic conveying pipe to fill the water accumulation area.

[0019] In some embodiments, the communication module comprises: a road side unit and a vehicle-mounted unit; the road side unit is arranged on one side or both sides of the mine road, used for receiving the water treatment instruction and sending the water treatment instruction to the vehicle-mounted unit; the vehicle-mounted unit is arranged at the bottom of the vehicle, used for receiving the water treatment instruction and sending the water treatment instruction to the second image acquisition module.

[0020] In some embodiments, the second image acquisition module is further configured to: when not receiving the water treatment instruction, keep in a dormant state; after receiving the water treatment instruction, acquire third image information of the vehicle compartment, and identify the load state of the vehicle compartment according to the third image information, and feed back the load state to the cloud platform through the communication module.

[0021] To achieve the above object, the embodiment of the second aspect of the present application discloses a control method of a mine area vehicle based on vehicle networking, comprising: collecting first image information of a front of the vehicle under a first ambient light intensity; acquiring second image information of the front of the vehicle under a second ambient light intensity, wherein the first ambient light intensity is greater than the second ambient light intensity; detecting a water depth of a target position in a water accumulation area in front of the vehicle; after receiving a water accumulation processing instruction, acquiring a load state of the vehicle compartment; identifying a road surface condition in front of the vehicle according to the first image information and the second image information, when it is judged according to the road surface condition that the water accumulation area exists in front of the vehicle, sending the water accumulation processing instruction, and according to the water depth and / or the load state, evaluating an influence of the water accumulation area on the vehicle driving, and generating an evaluation result; according to the evaluation result, sending a control instruction to control an operating state of the vehicle and / or processing the water accumulation area.

[0022] The control method of the mine area vehicle based on vehicle networking according to the embodiment of the present application, by acquiring the first image information and the second image information of the front of the vehicle under different ambient light intensities, identifying the road surface condition in front of the vehicle according to the first image information and the second image information, when it is judged according to the road surface condition that the water accumulation area exists in front of the vehicle, sending the water accumulation processing instruction, receiving the load state of the vehicle compartment and the water depth, then according to the water depth and / or the load state, evaluating the influence of the water accumulation area on the vehicle driving, and according to the evaluation result, sending the control instruction to the vehicle itself and the processing module, to control the operating state of the processing module and the vehicle itself, avoiding the rollover risk of the vehicle caused by the water accumulation pothole road surface, ensuring the vehicle to drive safely without changing the driving track of the vehicle, thereby improving the driving safety and stability of the vehicle, and reducing the occurrence of the rollover risk of the vehicle.

[0023] To achieve the above object, the embodiment of the third aspect of the present application discloses an electronic device system, comprising: the control system of the mine area vehicle based on vehicle networking according to any one of the embodiments of the first aspect of the present application, or a processor, a memory, and a control program of the mine area vehicle based on vehicle networking stored in the memory and executable on the processor, when the control program of the mine area vehicle based on vehicle networking is executed by the processor, realizing the control method of the mine area vehicle based on vehicle networking according to any one of the embodiments of the second aspect of the present application.

[0024] According to the electronic device system, the first image acquisition module and the laser radar module acquire first image information and second image information of the front of the vehicle under different environmental light intensities, and transmit the first image information and the second image information to the cloud platform through the communication module. After the cloud platform receives the first image information and the second image information, the cloud platform identifies the road surface condition in front of the vehicle according to the first image information and the second image information. When it is determined that there is a water accumulation area in front of the vehicle based on the road surface condition, a water accumulation processing instruction is sent to the second image acquisition module. At the same time, the load state of the carriage and the water depth obtained by the detection module are received. Then, the cloud platform evaluates the influence of the water accumulation area on the vehicle driving according to the water depth and / or the load state, and transmits the evaluation result to the vehicle controller through the communication module. The vehicle controller sends a control instruction to the vehicle itself and the processing module according to the evaluation result, so as to control the running state of the processing module and the vehicle itself, avoid the rollover risk of the vehicle caused by the water accumulation and pothole road, and ensure the safe driving of the vehicle without changing the driving track of the vehicle, thereby improving the driving safety and stability of the vehicle and reducing the occurrence of the rollover risk of the vehicle.

[0025] In order to achieve the above-mentioned purpose, the fourth aspect of the present application discloses a computer readable storage medium, the computer readable storage medium stores a control program of a mine area vehicle based on Internet of Vehicles, and the control program of the mine area vehicle based on Internet of Vehicles is executed by a processor to realize the control method of the mine area vehicle based on Internet of Vehicles as described in the second aspect of the present application.

[0026] According to the computer readable storage medium of the present application, the control program of the mine area vehicle based on Internet of Vehicles stored on the computer readable storage medium is executed by a processor to acquire first image information and second image information of the front of the vehicle under different environmental light intensities, identify the road surface condition in front of the vehicle according to the first image information and the second image information, send a water accumulation processing instruction when it is determined that there is a water accumulation area in front of the vehicle based on the road surface condition, receive the load state of the carriage and the water depth, then evaluate the influence of the water accumulation area on the vehicle driving according to the water depth and / or the load state, and send a control instruction to the vehicle itself and the processing module according to the evaluation result, so as to control the running state of the processing module and the vehicle itself, avoid the rollover risk of the vehicle caused by the water accumulation and pothole road, and ensure the safe driving of the vehicle without changing the driving track of the vehicle, thereby improving the driving safety and stability of the vehicle and reducing the occurrence of the rollover risk of the vehicle.

[0027] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following and / or can be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0028] The above and / or additional aspects and advantages of the present application will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the references to the following drawings, of which: Figure 1 is a structural schematic diagram of a control system of a mine area vehicle based on Internet of Vehicles according to one embodiment of the present application; Figure 2 is a structural schematic diagram of a control system of a mine area vehicle based on Internet of Vehicles according to another embodiment of the present application; Figure 3 is a schematic diagram of a detection module according to one embodiment of the present application; Figure 4 is a schematic diagram of a left side bottom of a vehicle according to one embodiment of the present application; Figure 5 is a schematic diagram of a right side bottom of a vehicle according to one embodiment of the present application; Figure 6 is a schematic diagram of a processing module according to one embodiment of the present application; Figure 7 is a schematic diagram of a processing module according to one embodiment of the present application; Figure 8 is a schematic diagram of a telescopic suction pipe according to one embodiment of the present application; Figure 9 is a schematic diagram of a telescopic conveying pipe according to one embodiment of the present application; Figure 10 is a structural block diagram of a communication module according to one embodiment of the present application; Figure 11 is a flow chart of a control method of a mine area vehicle based on Internet of Vehicles according to one embodiment of the present application; Figure 12 is a structural block diagram of an electronic device system according to one embodiment of the present application; Figure 13 is a structural block diagram of an electronic device system according to another embodiment of the present application. DETAILED DESCRIPTION

[0029] Embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary, and embodiments of the present application are described in detail below.

[0030] The following description with reference to the accompanying drawings describes a control system of a mine area vehicle based on Internet of Vehicles according to embodiments of the present application. Figures 1-10 The following description with reference to the accompanying drawings describes a control system of a mine area vehicle based on Internet of Vehicles according to embodiments of the present application.

[0031] As Figure 1As shown, it is a structural schematic diagram of a mine vehicle control system based on Internet of Vehicles, the mine vehicle control system based on Internet of Vehicles 100 comprises a first image acquisition module 110, a laser radar module 120, a detection module 130, a communication module 140, a second image acquisition module 150, a cloud platform 160, a processing module 170 and a vehicle controller 180.

[0032] The first image acquisition module 110 is arranged on one side or both sides of the mine road, and is used to acquire first image information of a front of the vehicle under a first ambient light intensity; the laser radar module 120 is arranged on one side or both sides of the mine road, and is used to acquire second image information of the front of the vehicle under a second ambient light intensity, wherein the first ambient light intensity is greater than the second ambient light intensity; the detection module 130 is arranged on one side or both sides of the mine road, and is used to detect a water depth of a target position in a water accumulation area in front of the vehicle, and send the water depth to the cloud platform 160; the communication module 140 is used to realize data transmission between the cloud platform 160, the second image acquisition module 150 and the vehicle controller 180; the second image acquisition module 150 is arranged in a vehicle compartment, and is used to acquire a load state of the vehicle compartment after receiving a water accumulation treatment instruction sent by the cloud platform 160 through the communication module 140, and feed back the load state to the cloud platform 160 through the communication module 140; the cloud platform 160 is used to identify a road surface condition in front of the vehicle according to the first image information and the second image information, send a water accumulation treatment instruction to the second image acquisition module 150 when judging that there is a water accumulation area in front of the vehicle according to the road surface condition, evaluate an influence of the water accumulation area on vehicle driving according to the water depth and / or the load state, and send the generated evaluation result to the vehicle controller 180 through the communication module 140; the processing module 170 is used to process the water accumulation area; and the vehicle controller 180 is arranged in the vehicle, and is used to receive the evaluation result, and send control instructions to the processing module 170 and the vehicle itself according to the evaluation result, so as to control the running state of the processing module 170 and the vehicle.

[0033] The vehicle is, for example, a mine car capable of automatic driving.

[0034] In the embodiments, the mine vehicle control system based on Internet of Vehicles 100 is combined with Figure 1 and Figure 2As shown, the first image acquisition module 110 is arranged on the mine area rod on one side or both sides of the mine area road to have a good view angle, and can acquire the mine area driving road surface condition through continuous shooting or video streaming, mainly acquiring the first image information under the first environment light intensity, wherein the first image acquisition module 110 is for example a mine area camera, mainly used for acquiring image data of the mine area road surface, and suitable for daytime or well-lit environment conditions, and can identify the first image information on the mine area road surface, such as water stains, reflections, etc., so as to judge whether there is a water accumulation area in front of the mine car driving, and transmit the first image information to the cloud platform 160.

[0035] The laser radar module 120 is for example a mine area laser radar, arranged above the rod on one side or both sides of the mine area road, suitable for the second environment light intensity of night or low light, and according to the second image information acquired by the laser radar module 150, such as including the information of the topographic height change and the reflection intensity of the road surface in front of the mine car, identifying the existence and range of the water accumulation area, and then transmitting the second image information to the cloud platform 160. The first image acquisition module 110 and the laser radar module 120 complement each other, ensuring that the system can accurately perceive the road condition in front under all-weather and all-light conditions.

[0036] The cloud platform 160 comprehensively identifies whether there is a water accumulation area in front of the mine car according to the first image information acquired by the first image acquisition module 110 and the second image information acquired by the laser radar module 120.

[0037] Once the water accumulation area is identified, the system will further combine the water accumulation depth of the target position of the water accumulation area acquired by the detection module 130, and the target position is for example the center position of the water accumulation area, and transmit the acquired water accumulation depth to the cloud platform 160, at the same time, the second image acquisition module 150 arranged in the mine car compartment acquires the load state of the compartment, for example full load state or empty load state, and then transmits the load state of the compartment to the cloud platform 160, and the cloud platform 160 evaluates the safety influence of the water accumulation area on the automatic driving mine car driving according to the water accumulation depth and the load state, for example whether it can cause skidding, engine stall or vehicle rollover, etc.

[0038] The cloud platform 160 sends the vehicle controller 180 through the communication module 140, and the vehicle controller 180 sends control instructions to the vehicle itself according to the evaluation result, for example, sends corresponding control instructions to the control system (such as the brake system and the power system) of the mine car to control the running state of the vehicle; at the same time, the road processing module 170 can also be controlled to process the water accumulation area, for example, to remove the water accumulation or to fill the water accumulation area, so as to ensure the safe running of the vehicle on the road surface with water accumulation or potholes. In this way, the first image acquisition module 110 and the laser radar module 120 can realize all-weather road environment perception, and the cloud platform 160 can be used for intelligent analysis and risk assessment, and the vehicle controller 180 can be used for dynamic adjustment and intervention of the running state of the vehicle, and the processing module 170 can be used for processing the water accumulation area, so as to avoid the rollover risk of the vehicle caused by the water accumulation and pothole road surface, ensure the safe running of the vehicle without changing the driving track of the vehicle, and improve the driving safety and stability of the vehicle and reduce the occurrence of the rollover risk of the vehicle.

[0039] Therefore, the above-mentioned control system 100 of the mine vehicle based on the Internet of Vehicles, the first image acquisition module 110 and the laser radar module 120 acquire the first image information and the second image information of the front of the vehicle under different environmental light intensities respectively, and transmit the first image information and the second image information to the cloud platform 160 through the communication module 140. After receiving the first image information and the second image information, the cloud platform 160 identifies the road surface condition in front of the vehicle according to the first image information and the second image information. When it is determined that there is a water accumulation area in front of the vehicle based on the road surface condition, a water accumulation processing instruction is sent to the second image acquisition module 150. At the same time, the load state of the vehicle compartment sent by the second image acquisition module 150 and the water depth acquired by the detection module 130 are received. Then, the cloud platform 160 evaluates the influence of the water accumulation area on the driving of the vehicle according to the water depth and / or the load state, and transmits the evaluation result to the vehicle controller 180 through the communication module 140. The vehicle controller 180 sends control instructions to the vehicle itself and the processing module 170 according to the evaluation result, so as to control the running state of the processing module 170 and the vehicle itself, avoid the rollover risk of the vehicle caused by the water accumulation and pothole road surface, ensure the safe running of the vehicle without changing the driving track of the vehicle, improve the driving safety and stability of the vehicle, and reduce the occurrence of the rollover risk of the vehicle.

[0040] In an embodiment of the present application, as shown in Figure 3 The detection module 130 includes a depth detector 131 and a spiral elevator 132. The spiral elevator 132 is connected with the depth detector 131 and is used to drive the depth detector 131 to fly to a target position for water depth detection.

[0041] In an embodiment, as shown in Figure 3As shown, the detection module 130 is composed of a depth detector 131 and a spiral lifter 132, which are connected, for example, through a mechanical structure. The spiral lifter 132 can drive the depth detector 131 to move vertically or fly, so that it can accurately move to the target position of the water accumulation area in front of the vehicle, such as the center position of the water accumulation area, thereby achieving accurate measurement of the water accumulation depth and avoiding errors caused by a large water accumulation range or a position offset.

[0042] Specifically, the detection module 130 is arranged on one side or both sides of the mine road, for example, the water accumulation depth detector 131 is installed on a rod, and the spiral lifter 132 is integrated on the top or outside of the rod. When the cloud platform 160 identifies that there is a water accumulation area in front of the road according to the first image information and the second image information, the vehicle controller 180 will issue a detection instruction to start the spiral lifter 132, so that it drives the depth detector 131 to rise and fly to the center position of the water accumulation area. After reaching the center position, the depth detector 131 measures the depth of the water accumulation area by non-contact ultrasonic detection technology, obtains the actual depth data of the water accumulation, and feeds back the obtained water accumulation depth to the cloud platform 160 through the communication module 140. This not only improves the accuracy of detection, but also enhances the environmental adaptability of the system.

[0043] In one embodiment of the present application, the detection module 130 is arranged on one side or both sides of the mine road, for example, the water accumulation depth detector 131 is installed on a rod, and the spiral lifter 132 is integrated on the top or outside of the rod. When the cloud platform 160 identifies that there is a water accumulation area in front of the road according to the first image information and the second image information, the vehicle controller 180 will issue a detection instruction to start the spiral lifter 132, so that it drives the depth detector 131 to rise and fly to the center position of the water accumulation area. After reaching the center position, the depth detector 131 measures the depth of the water accumulation area by non-contact ultrasonic detection technology, obtains the actual depth data of the water accumulation, and feeds back the obtained water accumulation depth to the cloud platform 160 through the communication module 140. This not only improves the accuracy of detection, but also enhances the environmental adaptability of the system. Figures 4-7 As shown, the processing module 170 includes a driving motor 171, a water storage tank 172, a telescopic suction pipe 173, a telescopic conveying pipe 174, a water pump 175, a rotary motor 176, and a sandbag box 177. The driving motor 171 is arranged at the bottom of the left side of the vehicle and is connected with the vehicle controller 180, for receiving a control instruction and driving the telescopic suction pipe 173 and the telescopic conveying pipe 174 to perform telescopic action according to the control instruction. The water storage tank 172 is arranged at the bottom of the vehicle, one end of the water storage tank 172 is connected with the telescopic suction pipe 173, and the other end of the water storage tank 172 is connected with the water pump 175, for storing water accumulated by the water pump 175 through the telescopic suction pipe 173. The water pump 175 is used for pumping the water accumulated by the water pump 175 into the water storage tank 172 through the telescopic suction pipe 173. The sandbag box 177 is arranged at the bottom of the vehicle and is filled with filling materials. One end of the telescopic conveying pipe 174 is connected with the sandbag box 177, and the other end of the telescopic conveying pipe 174 can be extended to the water accumulation area. The rotary motor 176 is arranged in the sandbag box 177, for receiving a control instruction and driving the sandbag box 177 to open and driving the telescopic conveying pipe 174 to extend, so as to convey the filling materials to the water accumulation area through the telescopic conveying pipe 174 and fill the water accumulation area.

[0044] In an embodiment, the processing module 170 is disposed at the bottom of the vehicle, and the control components are a drive motor 171 and a rotation motor 176 , both of which are connected to a vehicle controller 180 , receive control instructions and drive corresponding components to operate.

[0045] Specifically, combined Figure 8 and Figure 9 As shown, after receiving the control instruction, the drive motor 171 controls the telescopic movement of the telescopic suction pipe 173 and the telescopic delivery pipe 174, so that the telescopic suction pipe 173 and the telescopic delivery pipe 174 can adjust the length and direction according to the operation requirements, thereby adapting to the road conditions in front of the vehicle.

[0046] One end of a telescopic suction pipe 173 is connected to a water storage tank 172, and the other end is designed to extend into the waterlogged area. A water pump 175 is mounted on the water storage tank 172 and pumps the accumulated water into the water storage tank 172 through the telescopic suction pipe 173, thereby collecting and temporarily storing the accumulated water. Simultaneously, a sandbag container 177 is located under the vehicle and is loaded with filling material (such as fine sand and gravel). This container is connected to the sandbag container via a telescopic delivery pipe 174, the other end of which can extend into the waterlogged area to deliver the filling material to the desired area. A rotary motor 176 is mounted on the sandbag container 177 to drive the opening of the sandbag container 177 and simultaneously control the extension of the telescopic delivery pipe 174, ensuring that the filling material can be smoothly transported through the telescopic delivery pipe 174 to the target location, thereby completing the filling operation of the waterlogged area. This coordinated control between the various components of the entire processing module 170 automates the entire process, from pumping and storing water to material delivery and filling, improving the efficiency and operational flexibility of waterlogged treatment.

[0047] In one embodiment of the present invention, when evaluating the impact of water accumulation in a water accumulation area on vehicle driving based on the water depth and load status, and sending the generated evaluation result to the vehicle controller 180 through the communication module 140, the cloud platform 160 is used to: obtain the tire radius of the vehicle; when the car body is in an unloaded state and the water accumulation depth is less than a first traffic safety threshold set based on the tire radius, determine that the water accumulation area will not affect the normal driving of the vehicle, and send the first evaluation result to the vehicle controller 180 through the communication module 140; or, when the car body is in a fully loaded state and the water accumulation depth is less than or equal to the second traffic safety threshold set based on the tire radius, determine that the water accumulation area will not affect the normal driving of the vehicle, and send the first evaluation result to the vehicle controller 180 through the communication module 140.

[0048] The water depth is recorded as H, the tire radius is recorded as R, the first traffic safety area is equal to the tire radius, and the second traffic safety threshold is half of the tire radius and is recorded as 0.5R.

[0049] In an embodiment, the cloud platform 160 first acquires the tire radius R of the vehicle, and sets a first passing safety threshold R and a second passing safety threshold 0.5R based on the tire radius R, where the two thresholds are used to determine whether the water depth H is within the allowable range for the vehicle to safely pass.

[0050] Specifically, when the vehicle cabin is in an empty state, if the detected water depth H is less than the first passing safety threshold R, i.e., H≤R, it is considered that the water area will not affect the vehicle driving, and the vehicle can pass normally. At this time, the cloud platform 160 generates a first evaluation result and sends it to the vehicle controller 180 through the communication module 140; similarly, when the vehicle cabin is in a full load state, considering that the vehicle center of gravity is lowered and the water crossing ability is relatively improved under the full load condition, the second passing safety threshold 0.5R is used as the judgment standard at this time, if the water depth H is less than or equal to the second passing safety threshold 0.5R, i.e., H≤0.5R, it is also determined that the water area will not affect the normal driving safety of the vehicle, and the cloud platform 160 also generates and sends the first evaluation result to the vehicle controller 180 to realize the dynamic control and safety guarantee of the vehicle driving state. By fully considering the influence of the vehicle load state and tire parameters on the water crossing driving safety, the accuracy and adaptability of the evaluation result are improved, thereby ensuring the reliability of the safe passing of the vehicle in complex mine area environment (such as water pit and depression environment).

[0051] In an embodiment of the present application, when the evaluation result of the influence of the water in the water area on the vehicle driving is generated according to the water depth and the load state, and is sent to the vehicle controller 180 through the communication module 140, the cloud platform 160 is also used for: when the vehicle cabin is in an empty state and the water depth is greater than the first passing safety threshold, it is determined that the water area affects the normal driving of the vehicle, and a second evaluation result is sent to the vehicle controller 180 through the communication module 140; or when the vehicle cabin is in a full load state and the water depth is greater than the second passing safety threshold, it is determined that the water area affects the normal driving of the vehicle, and a second evaluation result is sent to the vehicle controller 180 through the communication module 140.

[0052] In an embodiment, in the process of evaluating whether the front waterlogged area affects the vehicle driving according to the water depth H and the vehicle load state, when it is detected that the vehicle cabin is in an empty load state and the water depth H is greater than the first passing safety threshold R, i.e. H>R, the cloud platform 160 determines that the waterlogged area has exceeded the safe passing range of the vehicle in the empty load state, and may affect the vehicle driving, such as causing risks of rollover, engine stall or passing ability reduction, etc. At this time, the cloud platform 160 generates a second evaluation result and sends it to the vehicle controller 180 through the communication module 140 to trigger the corresponding control strategy. Similarly, when the vehicle cabin is in a full load state and the water depth H is greater than the second passing safety threshold 0.5R, i.e. H>0.5R, the cloud platform 160 also determines that the waterlogged area will pose a potential threat to the normal driving of the vehicle. Although the water wading ability of the vehicle in the full load state is relatively enhanced, once the water depth H exceeds the second passing safety threshold 0.5R, it may still cause adverse effects on the drive system, brake system or chassis of the vehicle. Therefore, the second evaluation result is also generated and sent to the vehicle controller 180, so that the vehicle controller 180 controls the running state of the vehicle and the operation state of the processing module 170 according to the second evaluation result.

[0053] In an embodiment of the present application, when the influence of water in the waterlogged area on the vehicle driving is evaluated according to the water depth, and the generated evaluation result is sent to the vehicle controller 180 through the communication module 140, the cloud platform 160 is configured to: when the water depth is less than or equal to a third passing safety threshold set based on the tire radius, determine that the waterlogged area affects the normal driving of the vehicle, and send a third evaluation result to the vehicle controller 180 through the communication module 140.

[0054] The third passing safety threshold is, for example, one tenth of the tire radius, i.e. 0.1R.

[0055] In an embodiment, when the detected water depth H is less than or equal to the third passing safety threshold 0.1R, i.e. H≤0.1R, although the water does not completely cover the tire or does not reach a serious wading state, due to water film effect, road adhesion reduction, etc., it may still have certain influence on the controllability and driving safety of the vehicle. Therefore, the cloud platform 160 determines that the waterlogged area will cause a certain degree of interference to the normal driving of the vehicle. At this time, the cloud platform 160 generates a third evaluation result and sends it to the vehicle controller 180 through the communication module 140, so as to control the running state of the vehicle and start the processing module 180 to process the waterlogged area through the vehicle controller 180, thereby improving the active safety of the mine vehicle when driving in a wet and slippery or shallow water area, and further reducing the risk of vehicle rollover.

[0056] In an embodiment of the present application, when sending control instructions to the processing module 170 and the vehicle itself according to the evaluation results to control the running states of the processing module 170 and the vehicle, the vehicle controller 180 is configured to: when receiving the first evaluation result, send a first control instruction to the processing module 170 and the vehicle itself to control the vehicle to maintain the driving state and control the processing module 170 to maintain the closed state.

[0057] In an embodiment, when the vehicle controller 180 receives the first evaluation result, the vehicle controller 180 generates and sends the first control instruction, on the one hand, sends the first control instruction to the power system, braking system, steering system and the like of the vehicle itself, so that the vehicle maintains the current driving state, for example, including maintaining the current speed, driving path and running mode, without taking intervention measures such as deceleration, avoidance or parking; on the other hand, sends the first control instruction to the processing module 170, so that it maintains the closed state, ensuring that the processing module 170 does not perform actions in unnecessary cases, avoiding unnecessary energy consumption, mechanical wear and risk of misoperation, thereby ensuring the safe driving of the vehicle while improving the running efficiency and reliability of the system.

[0058] In an embodiment of the present application, when sending control instructions to the processing module 170 and the vehicle itself according to the evaluation results to control the running states of the processing module 170 and the vehicle, the vehicle controller 180 is further configured to: when receiving the second evaluation result, send a second control instruction to the processing module 170 and the vehicle itself to control the vehicle to stop driving at a first preset distance in front of the water accumulation area, control the driving motor 171 to start, drive the telescopic suction pipe 173 to extend to the water accumulation area, and control the water pump 175 to start, so that the water accumulation area is pumped into the water storage tank 172 through the telescopic suction pipe 173 for storage.

[0059] In an embodiment, when the vehicle controller 180 receives the second evaluation result, the vehicle controller 180 generates and sends the second control instruction to realize the coordinated control of the driving state of the vehicle and the processing module 170.

[0060] Specifically, the vehicle controller 180 sends the first control instruction to the power system, braking system and steering system of the vehicle itself, controls the vehicle to automatically decelerate and smoothly stop at the first preset distance in front of the water accumulation area (for example, within 10-20 meters from the water accumulation area, the specific value can be set according to the speed, terrain and safety redundancy), to avoid the vehicle directly driving into the water accumulation area, causing stalling, skidding and the like, causing the vehicle to roll over, and ensuring the safety of the vehicle and personnel.

[0061] Meanwhile, the vehicle controller 180 sends a second control instruction to the processing module 170 to control the processing module 170 to start, that is, to control the driving motor 171 to start, drive the telescopic suction pipe 173 to extend from the retracted state, and accurately extend to above the water accumulation area or contact the water surface; at the same time, control the water pump 175 to start, and suck the accumulated water on the road into the water storage tank 172 through the telescopic suction pipe 173 which has been extended, for temporary storage, to prevent the accumulated water from continuously affecting the road traffic, realize the dual response mechanism of automatic parking and starting the drainage processing mechanism when there is a potential risk in the water accumulation area, fully embody the active safety control ability and environmental adaptability processing ability of the system to the automatic driving mine car in the complex mine environment, effectively improve the intelligent decision and execution level of the vehicle in the water scene, thereby improve the vehicle driving safety and reduce the risk of rollover.

[0062] In an embodiment of the present application, when the vehicle controller 180 sends a control instruction to the processing module 170 and the vehicle itself according to the evaluation result to control the running state of the processing module 170 and the vehicle, the vehicle controller 180 is further configured to: when receiving a third evaluation result, send a third control instruction to the processing module 170 and the vehicle itself to control the vehicle to stop driving at a second preset distance in front of the water accumulation area, control the rotating motor 176 to start, drive the sandbag box 177 to rotate in a preset direction by a first preset angle, and control the driving motor 171 to start, drive the telescopic conveying pipe 174 to extend to the water accumulation area, so that the filling material in the sandbag box 177 outputs corresponding filling material according to the size of the water accumulation area, and the corresponding filling material is conveyed to the water accumulation area through the telescopic conveying pipe 174 to fill the water accumulation area.

[0063] In an embodiment, when the vehicle controller 180 receives the third evaluation result, the vehicle controller 180 generates and sends a third control instruction to the power system and the braking system of the vehicle itself, controls the vehicle to automatically slow down and stop smoothly at a second preset distance in front of the water accumulation area (for example, about 15-25 meters away from the water accumulation area, the specific distance can be dynamically adjusted according to the vehicle speed, terrain characteristics and response time), to ensure the safety and accuracy of subsequent processing operations.

[0064] Meanwhile, the vehicle controller 180 sends a third control instruction to the processing module 170 to control the rotating motor 176 to start, drive the sandbag box 177 to rotate in a preset direction (for example, downward) by a first preset angle (such as 30°), to open the discharge port at the bottom of the sandbag box 177, so that the filling material (such as fine sand) stored inside has the condition of sliding; the vehicle controller 180 controls the driving motor 171 to start, drive the telescopic conveying pipe 174 to extend outward from the retracted state, and accurately extend to above the water accumulation area or the edge area, as a channel for filling material to be delivered to the target position.

[0065] On this basis, the vehicle controller 180 can also control the output amount of the filling material in the sandbag box 177 according to the area, depth, etc. of the water accumulation area, so that the corresponding filling material is output according to the actual demand, and is uniformly delivered to the water accumulation area through the telescopic delivery pipe 174, so as to realize the filling and leveling of the pit and depression area, thereby improving the road traffic conditions and improving the safety and stability of the vehicle passing.

[0066] In an embodiment of the present application, as shown in Figure 10 The communication module 140 includes a roadside unit 141 and a vehicle-mounted unit 142. The roadside unit 141 is arranged on one side or both sides of the mine road, used to receive the water accumulation treatment instruction, and send the water accumulation treatment instruction to the vehicle-mounted unit 142. The vehicle-mounted unit 142 is arranged at the bottom of the vehicle, used to receive the water accumulation treatment instruction, and send the water accumulation treatment instruction to the second image acquisition module 150.

[0067] In an embodiment, the roadside unit 141 is arranged above the pole on one side or both sides of the mine road, has wireless communication capability, is used to receive the water accumulation treatment instruction from the cloud platform 160, and transmit the water accumulation treatment instruction to the vehicle-mounted unit 142 by wireless communication. Correspondingly, the vehicle-mounted unit 142 is arranged at the bottom of the vehicle, receives the water accumulation treatment instruction sent by the roadside unit 141, and further transmits the water accumulation treatment instruction to the second image acquisition module 150 inside the vehicle, so as to trigger the start and execute the image acquisition task of the load state of the vehicle compartment, so as to guarantee the efficient operation and real-time system response of the whole water accumulation identification and treatment process, and provide reliable data communication guarantee for the control of the mine vehicle.

[0068] In an embodiment of the present application, the second image acquisition module 150 is further used to: maintain a dormant state when no water accumulation treatment instruction is received; after receiving the water accumulation treatment instruction, acquire the third image information of the vehicle compartment, and identify the load state of the vehicle compartment according to the third image information, and feed back the load state to the cloud platform 160 through the communication module 140.

[0069] In the embodiment, when no water accumulation treatment instruction is received, the second image acquisition module 150 is in a low-power sleep state to reduce unnecessary energy consumption and system resource occupation, and improve the energy efficiency ratio and operation efficiency of the overall system; when receiving the water accumulation treatment instruction issued by the cloud platform 160 through the communication module 140, the second image acquisition module 150 is powered on and awakened and starts the image acquisition process, performs image acquisition on the vehicle compartment area, obtains third image information of the compartment, identifies the current load state of the compartment according to the third image information, and feeds back the identification result, i.e., the load state information, to the cloud platform 160 in real time through the communication module 140 as an important basis for subsequent risk assessment and control decision of the cloud platform 160. The design not only realizes intelligent and energy-saving operation of the image acquisition module, but also ensures that the system can obtain accurate and real-time vehicle load data in the key decision-making link, thereby improving the safety of water accumulation area treatment.

[0070] According to the control system 100 of the mine vehicle based on the Internet of Vehicles in the embodiment of the present application, the first image acquisition module 110 and the laser radar module 120 respectively obtain the first image information and the second image information of the front of the vehicle under different environmental light intensities, and transmit the first image information and the second image information to the cloud platform 160 through the communication module 140. After receiving the first image information and the second image information, the cloud platform 160 identifies the road surface condition in front of the vehicle according to the first image information and the second image information. When it is determined that there is a water accumulation area in front of the vehicle based on the road surface condition, a water accumulation treatment instruction is sent to the second image acquisition module 150. At the same time, the load state of the compartment sent by the second image acquisition module 150 and the water depth obtained by the detection module 130 are received. Then, the cloud platform 160 evaluates the influence of the water accumulation area on the vehicle driving according to the water depth and / or the load state, and transmits the evaluation result to the vehicle controller 180 through the communication module 140. The vehicle controller 180 sends control instructions to the vehicle itself and the treatment module 170 according to the evaluation result, so as to control the running state of the treatment module 170 and the vehicle itself, avoid the rollover risk of the vehicle caused by the water accumulation pothole road surface, and ensure the safe driving of the vehicle without changing the driving track of the vehicle, thereby improving the driving safety and stability of the vehicle and reducing the occurrence of the rollover risk of the vehicle.

[0071] A control method of a mine vehicle based on the Internet of Vehicles is further disclosed in a further embodiment of the present application.

[0072] As shown in Figure 11 , it is a flowchart of the control method of the mine vehicle based on the Internet of Vehicles in the embodiment of the present application.

[0073] As shown in Figure 11 , the control method of the mine vehicle based on the Internet of Vehicles at least includes steps S1-S6.

[0074] Step S1, collect first image information of the front of the vehicle under the first ambient light intensity.

[0075] Step S2, collect first image information of the front of the vehicle under the first ambient light intensity.

[0076] Step S3, detect the water depth of the target position in the water accumulation area in front of the vehicle.

[0077] Step S4, after receiving the water treatment instruction, obtain the load state of the vehicle cabin.

[0078] Step S5, according to the first image information and the second image information, identify the road surface condition in front of the vehicle, when it is judged that there is a water accumulation area in front of the vehicle according to the road surface condition, send a water treatment instruction, and according to the water depth and / or the load state, evaluate the influence of the water accumulation area on the vehicle driving, and generate an evaluation result.

[0079] Step S6, according to the evaluation result, send a control instruction to control the running state of the vehicle and / or process the water accumulation area.

[0080] In one embodiment of the present application, when the influence of the water accumulation area on the vehicle driving is evaluated according to the water depth and the load state, and the generated evaluation result is sent, it includes: obtaining the tire radius of the vehicle; when the vehicle cabin is in an empty state, and the water depth is less than a first passing safety threshold set based on the tire radius, it is determined that the water accumulation area will not affect the normal driving of the vehicle, and a first evaluation result is sent; or when the vehicle cabin is in a full load state, and the water depth is less than or greater than a second passing safety threshold set based on the tire radius, it is determined that the water accumulation area will not affect the normal driving of the vehicle, and a first evaluation result is sent.

[0081] In one embodiment of the present application, when the influence of the water accumulation area on the vehicle driving is evaluated according to the water depth and the load state, and the generated evaluation result is sent, it includes: when the vehicle cabin is in an empty state, and the water depth is greater than the first passing safety threshold, it is determined that the water accumulation area affects the normal driving of the vehicle, and a second evaluation result is sent; or when the vehicle cabin is in a full load state, and the water depth is greater than the second passing safety threshold, it is determined that the water accumulation area affects the normal driving of the vehicle, and a second evaluation result is sent.

[0082] In one embodiment of the present application, when the influence of the water accumulation area on the vehicle driving is evaluated according to the water depth, and the generated evaluation result is sent, it includes: when the water depth is less than or equal to a third passing safety threshold set based on the tire radius, it is determined that the water accumulation area affects the normal driving of the vehicle, and a third evaluation result is sent.

[0083] In an embodiment of the present application, when sending control instructions according to the evaluation results to control the running state of the vehicle and / or the treatment of the water accumulation area, it includes: when receiving the first evaluation result, sending the first control instruction to control the vehicle to keep the driving state, and control the processing module to keep the closed state and not to treat the water accumulation area.

[0084] In an embodiment of the present application, when sending control instructions according to the evaluation results to control the running state of the vehicle and / or the treatment of the water accumulation area, it further includes: when receiving the second evaluation result, sending the second control instruction to the processing module and the vehicle itself to control the vehicle to stop driving at a first preset distance in front of the water accumulation area, control the driving motor to start, drive the telescopic suction pipe to extend to the water accumulation area, and control the water pump to start, and the water accumulation area is pumped to the storage tank through the telescopic suction pipe.

[0085] In an embodiment of the present application, when sending control instructions according to the evaluation results to control the running state of the vehicle and / or the treatment of the water accumulation area, it further includes: when receiving the third evaluation result, sending the third control instruction to the processing module and the vehicle itself to control the vehicle to stop driving at a second preset distance in front of the water accumulation area, control the rotating motor to start, drive the sandbag box to rotate in a preset direction by a first preset angle, and control the driving motor to start, drive the telescopic conveying pipe to extend to the water accumulation area, so that the filling material in the sandbag box is output according to the size of the water accumulation area, and the corresponding filling material is conveyed to the water accumulation area through the telescopic conveying pipe to fill the water accumulation area.

[0086] In an embodiment of the present application, the control method of the mine area vehicle based on the Internet of Vehicles further includes: keeping the dormant state when no water accumulation treatment instruction is received; and collecting third image information of the vehicle compartment and identifying the load state of the vehicle compartment according to the third image information and feeding back the load state after receiving the water accumulation treatment instruction.

[0087] According to the control method of the mine area vehicle based on the Internet of Vehicles, the first image information and the second image information in front of the vehicle under different environmental light intensities are obtained, the road surface condition in front of the vehicle is identified according to the first image information and the second image information, when it is determined that there is a water accumulation area in front of the vehicle based on the road surface condition, a water accumulation treatment instruction is sent, at the same time, the load state of the vehicle compartment and the water depth are received, then the influence of the water accumulation area on the vehicle driving is evaluated according to the water depth and / or the load state, and control instructions are sent to the vehicle itself and the processing module according to the evaluation results to control the running state of the processing module and the vehicle itself, so as to avoid the rollover risk of the vehicle caused by the water accumulation pit and bump road, and ensure the safe driving of the vehicle without changing the driving track of the vehicle, thereby improving the driving safety and stability of the vehicle and reducing the occurrence of the rollover risk of the vehicle.

[0088] The electronic device system further comprises the control system 100 of the mine area vehicle based on the Internet of Vehicles according to the above-mentioned embodiments of the present application.

[0089] In some embodiments, as shown in Figure 12 The electronic device system 200 comprises the control system 100 of the mine area vehicle based on the Internet of Vehicles according to the above-mentioned embodiments of the present application.

[0090] In some embodiments, as shown in Figure 13 The electronic device system 200 comprises a processor 201, a memory 202, and a control program of the mine area vehicle based on the Internet of Vehicles stored in the memory 202 and executable on the processor 201, and the control program of the mine area vehicle based on the Internet of Vehicles is executed by the processor 201 to realize the control method of the mine area vehicle based on the Internet of Vehicles according to the above-mentioned embodiments of the present application.

[0091] According to the electronic device system 200 of the embodiments of the present application, the first image acquisition module 110 and the laser radar module 120 acquire the first image information and the second image information of the front of the vehicle under different ambient light intensities, respectively, and transmit the first image information and the second image information to the cloud platform 160 through the communication module 140, the cloud platform 160 receives the first image information and the second image information, identifies the road surface condition in front of the vehicle according to the first image information and the second image information, sends the water accumulation processing instruction to the second image acquisition module 150 when it is determined that there is a water accumulation area in front of the vehicle based on the road surface condition, receives the load state of the vehicle compartment sent by the second image acquisition module 150 and the water depth acquired by the detection module 130, then the cloud platform 160 evaluates the influence of the water accumulation area on the vehicle driving according to the water depth and / or the load state, and transmits the evaluation result to the vehicle controller 180 through the communication module 140, the vehicle controller 180 sends the control instruction to the vehicle itself and the processing module 170 according to the evaluation result, so as to control the running state of the processing module 170 and the vehicle itself, avoid the rollover risk of the vehicle caused by the water accumulation and pothole road, and ensure the safe driving of the vehicle without changing the driving track of the vehicle, thereby improving the driving safety and stability of the vehicle and reducing the occurrence of the rollover risk of the vehicle.

[0092] The further embodiments of the present application further disclose a computer readable storage medium, and the control program of the mine area vehicle based on the Internet of Vehicles is stored on the computer readable storage medium, and the control program of the mine area vehicle based on the Internet of Vehicles is executed by the processor to realize the control method of the mine area vehicle based on the Internet of Vehicles according to the above-mentioned embodiments of the present application.

[0093] The computer readable storage medium according to the embodiment of the present application, the control program of the mine vehicle based on the Internet of Vehicles stored thereon is executed by the processor, when the first image information and the second image information of the front of the vehicle under different ambient light intensities are acquired, the road surface condition in front of the vehicle is identified according to the first image information and the second image information, when it is determined that there is a water accumulation area in front of the vehicle based on the road surface condition, a water accumulation processing instruction is sent, at the same time, the load state of the vehicle compartment and the water depth are received, then the influence of the water accumulation area on the vehicle driving is evaluated according to the water depth and / or the load state, and control instructions are sent to the vehicle itself and the processing module according to the evaluation results, so as to control the running state of the processing module and the vehicle itself, avoid the rollover risk of the vehicle caused by the water accumulation and uneven road surface, and ensure that the vehicle can safely drive without changing the driving track of the vehicle, thereby improving the driving safety and stability of the vehicle and reducing the occurrence of the rollover risk of the vehicle.

[0094] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily mean the same embodiment or example.

[0095] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A control system for mining vehicles based on the Internet of Vehicles, characterized in that: include: A first image acquisition module is provided on one side or both sides of the mining area road, and is used to acquire first image information in front of the vehicle under a first ambient light intensity; a laser radar module, disposed on one side or both sides of the mining road, for acquiring second image information in front of the vehicle under a second ambient light intensity, wherein the first ambient light intensity is greater than the second ambient light intensity; a detection module, disposed on one or both sides of the mining road, for detecting the depth of water at a target location in the water area in front of the vehicle and sending the water depth to a cloud platform; A communication module, used to realize data transmission between the cloud platform, the second image acquisition module and the vehicle controller; The second image acquisition module is provided in the vehicle compartment, and is used to obtain the load status of the vehicle compartment after receiving the water accumulation treatment instruction sent by the cloud platform through the communication module, and feed back the load status to the cloud platform through the communication module; The cloud platform is configured to identify a road condition in front of the vehicle based on the first image information and the second image information, and when it is determined that a waterlogged area exists in front of the vehicle based on the road condition, send the waterlogging processing instruction to the second image acquisition module, and evaluate the impact of the waterlogged area on the vehicle's travel based on the water depth and / or the load status, and send the generated evaluation result to the vehicle controller via the communication module; A processing module, used for processing the waterlogged area; A vehicle controller is provided in the vehicle and is used to receive the evaluation result and send a control instruction to the processing module and the vehicle itself according to the evaluation result to control the operating state of the processing module and the vehicle.

2. The control system for mining vehicles based on the Internet of Vehicles according to claim 1 is characterized in that: The detection module includes: a depth detector and a spiral lifter; The spiral lift is connected to the depth detector and is used to drive the depth detector to fly to the target position to detect the depth of the accumulated water.

3. The control system for mining vehicles based on the Internet of Vehicles according to claim 1 is characterized in that: The processing module includes: a driving motor, a water storage tank, a telescopic suction pipe, a telescopic delivery pipe, a water pump, a rotating motor and a sandbag box; The driving motor is disposed at the bottom of the vehicle and is connected to the vehicle controller, and is used to receive the control instruction and drive the telescopic suction pipe and the telescopic delivery pipe to extend and retract according to the control instruction; The water tank is provided at the bottom of the vehicle, one end of the water tank is connected to the telescopic suction pipe, and the other end of the water tank is connected to the water pump, for storing the accumulated water pumped by the water pump through the telescopic suction pipe; The water pump is used to pump the accumulated water into the water storage tank through the telescopic suction pipe; The sandbag box is arranged at the bottom of the vehicle, and the interior of the sandbag box is loaded with filling materials; One end of the telescopic delivery pipe is connected to the sandbag box, and the other end of the telescopic delivery pipe can extend to the water accumulation area; The rotating motor is arranged in the sandbag box, and is used to receive the control instruction and drive the sandbag box to open according to the control instruction, and at the same time drive the telescopic conveying pipe to extend, so as to convey the filling material to the water accumulation area through the telescopic conveying pipe to fill the water accumulation area.

4. The control system for mining vehicles based on the Internet of Vehicles according to claim 3 is characterized in that: When evaluating the impact of the accumulated water in the accumulated water area on the driving of the vehicle based on the accumulated water depth and the load state, and sending the generated evaluation result to the vehicle controller via the communication module, the cloud platform is used to: Obtaining the tire radius of the vehicle; When the vehicle compartment is in an unloaded state and the water depth is less than a first traffic safety threshold set based on the tire radius, it is determined that the water area will not affect the normal driving of the vehicle, and a first evaluation result is sent to the vehicle controller through the communication module; or When the vehicle compartment is fully loaded and the water depth is less than or greater than a second traffic safety threshold set based on the tire radius, it is determined that the water area will not affect the normal driving of the vehicle, and the first evaluation result is sent to the vehicle controller through the communication module.

5. The control system for mining vehicles based on the Internet of Vehicles according to claim 4 is characterized in that: When evaluating the impact of the accumulated water in the accumulated water area on the driving of the vehicle based on the accumulated water depth and the load state, and sending the generated evaluation result to the vehicle controller via the communication module, the cloud platform is further configured to: When the vehicle compartment is in the empty state and the water depth is greater than the first traffic safety threshold, it is determined that the water area affects the normal driving of the vehicle, and a second evaluation result is sent to the vehicle controller through the communication module; or When the carriage is in the fully loaded state and the water depth is greater than the second traffic safety threshold, it is determined that the water accumulation area affects the normal driving of the vehicle, and the second evaluation result is sent to the vehicle controller through the communication module.

6. The control system for mining vehicles based on the Internet of Vehicles according to claim 5, characterized in that: When evaluating the impact of the accumulated water in the accumulated water area on the driving of the vehicle based on the accumulated water depth and sending the generated evaluation result to the vehicle controller via the communication module, the cloud platform is used to: When the water depth is less than or equal to a third traffic safety threshold set based on the tire radius, it is determined that the water area affects the normal driving of the vehicle, and a third evaluation result is sent to the vehicle controller through the communication module.

7. The control system for mining vehicles based on the Internet of Vehicles according to claim 4 is characterized in that: When sending control instructions to the processing module and the vehicle itself according to the evaluation result to control the operating state of the processing module and the vehicle, the vehicle controller is used to: When the first evaluation result is received, a first control instruction is sent to the processing module and the vehicle itself to control the vehicle to maintain a driving state and control the processing module to maintain a closed state.

8. The control system for mining vehicles based on the Internet of Vehicles according to claim 5, characterized in that: When sending control instructions to the processing module and the vehicle itself according to the evaluation result to control the operating state of the processing module and the vehicle, the vehicle controller is further configured to: When the second evaluation result is received, a second control instruction is sent to the processing module and the vehicle itself to control the vehicle to stop at a first preset distance in front of the water accumulation area, control the drive motor to start, drive the telescopic suction pipe to extend toward the water accumulation area, and control the water pump to start to pump the accumulated water into the water tank through the telescopic suction pipe for storage.

9. The control system for mining vehicles based on the Internet of Vehicles according to claim 6, characterized in that: When sending control instructions to the processing module and the vehicle itself according to the evaluation result to control the operating state of the processing module and the vehicle, the vehicle controller is further configured to: When the third evaluation result is received, a third control instruction is sent to the processing module and the vehicle itself to control the vehicle to stop at a second preset distance in front of the water accumulation area, control the rotating motor to start, drive the sandbag box to rotate in a preset direction by a first preset angle, and control the driving motor to start, drive the telescopic conveying pipe to extend to the water accumulation area, so that the filling material in the sandbag box outputs corresponding filling material according to the size of the water accumulation area, and conveys the corresponding filling material to the water accumulation area through the telescopic conveying pipe to fill the water accumulation area.

10. The control system for mining vehicles based on the Internet of Vehicles according to claim 1, characterized in that: The communication module includes: a roadside unit and a vehicle-mounted unit; The roadside unit is arranged on one side or both sides of the mining road, and is used to receive the water accumulation treatment instruction and send the water accumulation treatment instruction to the vehicle-mounted unit; The vehicle-mounted unit is arranged at the bottom of the vehicle, and is used to receive the water accumulation processing instruction and send the water accumulation processing instruction to the second image acquisition module.

11. The control system for mining vehicles based on the Internet of Vehicles according to claim 1, characterized in that: The second image acquisition module is further configured to: When the water accumulation processing instruction is not received, the system remains in a dormant state; After receiving the water accumulation treatment instruction, the third image information of the carriage is collected, and the load status of the carriage is identified based on the third image information, and the load status is fed back to the cloud platform through the communication module.

12. A method for controlling mining vehicles based on vehicle networking, characterized in that: include: collecting first image information in front of the vehicle under a first ambient light intensity; Acquire second image information of a scene in front of the vehicle under a second ambient light intensity, wherein the first ambient light intensity is greater than the second ambient light intensity; detecting a water depth at a target location in the water area in front of the vehicle; After receiving the water accumulation processing instruction, obtaining the load status of the carriage; identifying a road condition in front of the vehicle based on the first image information and the second image information, and when it is determined that a waterlogged area exists in front of the vehicle based on the road condition, sending the waterlogging treatment instruction, and evaluating the impact of the waterlogged area on the driving of the vehicle based on the water depth and / or the load state, and generating an evaluation result; A control instruction is sent according to the evaluation result to control the operating state of the vehicle and / or to treat the waterlogged area.

13. An electronic equipment system, characterized in that: include: The control system for mining vehicles based on the Internet of Vehicles according to any one of claims 1 to 11; or, A processor, a memory, and a vehicle networking-based mining vehicle control program stored in the memory and executable on the processor, wherein the vehicle networking-based mining vehicle control program, when executed by the processor, implements the vehicle networking-based mining vehicle control method as claimed in claim 12.

14. A computer-readable storage medium, on which a control program for a mining vehicle based on the Internet of Vehicles is stored, wherein when the control program for a mining vehicle based on the Internet of Vehicles is executed by a processor, the control method for a mining vehicle based on the Internet of Vehicles as claimed in claim 12 is implemented.

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