Mine vehicle control system, method and electronic device based on internet of vehicles

Abstract

This invention discloses a control system, method, and electronic device for mining vehicles based on the Internet of Vehicles (IoV). The system includes: a first image acquisition module, a lidar module, a detection module, a communication module, a second image acquisition module, a cloud platform, a processing module, and a vehicle controller. The cloud platform identifies the road conditions ahead of the vehicle based on the first and second image information. When it determines that there is a water accumulation area ahead of the vehicle, it sends a water accumulation handling command to the second image acquisition module. Based on the water depth and / or load status, it assesses the impact of the water accumulation area on vehicle operation and sends the generated assessment result to the vehicle controller via the communication module. The vehicle controller receives the assessment result and sends control commands to the processing module and the vehicle itself to control their operating status. This invention improves vehicle driving safety and stability and reduces the risk of vehicle rollover.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a control system, method, and electronic equipment for mining vehicles based on the Internet of Vehicles. Background Technology

[0002] With the continuous development and application of intelligent driving technology, autonomous mining trucks are increasingly used in mining area transportation. However, the complex environment and poor road conditions in mining areas, coupled with the lack of clear lane markings, make it difficult for autonomous mining trucks to change lanes or adjust their driving trajectories as flexibly as they can on structured roads.

[0003] Therefore, in related technologies, autonomous mining trucks in mining areas generally adopt a fixed-point-to-point path planning method, that is, to carry out repetitive transportation operations according to a preset route. However, although this fixed-track driving mode improves the predictability and efficiency of the operation, when faced with complex and changing environmental factors, such as sudden road conditions like rain and water accumulation, mining roads often have water accumulation areas. Since autonomous mining trucks rely on preset routes, they often drive directly into water accumulation areas when the system does not recognize or cannot detour. Water accumulation may lead to reduced tire adhesion, loss of steering control, or even safety accidents such as vehicle rollover. Summary of the Invention

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

[0005] Therefore, one objective of this invention is to propose a vehicle control system for mining areas based on the Internet of Vehicles (IoV). This system can avoid the risk of vehicle rollover caused by water accumulation and potholes on the road surface, and ensure 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.

[0006] Therefore, the second objective of this invention is to propose a control method for mining vehicles based on the Internet of Vehicles.

[0007] Therefore, a third objective of the present invention is to provide an electronic device system.

[0008] Therefore, a fourth object of the present invention is to provide a computer-readable storage medium.

[0009] To achieve the above objectives, a first aspect of the present invention discloses a control system for mining vehicles based on the Internet of Vehicles (IoV), comprising: a first image acquisition module, disposed on one or both sides of a mining road, for acquiring first image information of the front of the vehicle under a first ambient light intensity; a lidar module, disposed on one or both sides of the mining road, for 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; a detection module, disposed on one or both sides of the mining road, for detecting the water depth at a target location in a water accumulation area in front of the vehicle, and sending the water depth to a cloud platform; a communication module, for realizing data transmission between the cloud platform, the second image acquisition module, and the vehicle controller; and a second image acquisition module, disposed in the vehicle's compartment, for receiving data from the cloud platform via... After receiving the water accumulation handling command from the communication module, the system acquires the load status of the vehicle compartment and feeds back the load status to the cloud platform via the communication module. The cloud platform is used to identify the road surface conditions in front of the vehicle based on 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 conditions, the platform sends the water accumulation handling command to the second image acquisition module and evaluates the impact of the water accumulation area on the vehicle's driving based on the water depth and / or the load status. The generated evaluation result is sent to the vehicle controller via the communication module. The processing module is used to process the water accumulation area. The vehicle controller, located in the vehicle, is used to receive the evaluation result and send control commands to the processing module and the vehicle itself based on the evaluation result to control the operating status of the processing module and the vehicle.

[0010] According to an embodiment of the vehicle-to-everything (V2X) mining vehicle control system of the present invention, a first image acquisition module and a lidar module respectively acquire first image information and second image information of the front of the vehicle under different ambient light intensities, and transmit the first image information and second image information to a cloud platform through a communication module. After receiving the first image information and second image information, the cloud platform identifies the road conditions in front of the vehicle based on the first image information and second image information. When it determines that there is a water accumulation area in front of the vehicle based on the road conditions, it sends a water accumulation handling command to the second image acquisition module. At the same time, it receives the load status of the vehicle compartment sent by the second image acquisition module and the water accumulation depth obtained by the detection module. Then, the cloud platform evaluates the impact of the water accumulation area on the vehicle's driving based on the water accumulation depth and / or load status, and transmits the evaluation result to the vehicle controller through the communication module. The vehicle controller sends control commands 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, avoiding the risk of rollover caused by water accumulation and potholes on the road surface, ensuring that the vehicle can drive safely without changing the vehicle's 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 embodiments of the present invention may also have the following additional technical features:

[0012] In some embodiments, the detection module includes a depth detector and a spiral lifter; the spiral lifter is connected to the depth detector and is used to drive the depth detector to the target location to perform the water depth detection.

[0013] In some embodiments, the processing module includes: a drive motor, a water tank, a telescopic suction pipe, a telescopic delivery pipe, a water pump, a rotary motor, and a sandbag box; the drive motor is disposed at the bottom of the vehicle and connected to the vehicle controller, for receiving control commands and driving the telescopic suction pipe and the telescopic delivery pipe to extend and retract according to the control commands; the water tank is disposed 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 installed at the bottom of the vehicle and is filled 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 accumulated water area; the rotary motor is installed in the sandbag box, used to receive the control command and drive the sandbag box to open according to the control command, and at the same time drive the telescopic conveying pipe to extend so as to transport the filling material to the accumulated water area through the telescopic conveying pipe to fill the accumulated water area.

[0014] In some embodiments, when assessing the impact of water accumulation in the waterlogged area on the vehicle's driving based on the water depth and the load status, and sending the generated assessment result to the vehicle controller via the communication module, the cloud platform is configured to: obtain the vehicle's tire radius; when the vehicle compartment is empty and the water depth is less than a first safe passage threshold set based on the tire radius, determine that the waterlogged area will not affect the vehicle's normal driving, and send the first assessment result to the vehicle controller via the communication module; or, when the vehicle compartment is fully loaded and the water depth is less than or greater than a second safe passage threshold set based on the tire radius, determine that the waterlogged area will not affect the vehicle's normal driving, and send the first assessment result to the vehicle controller via the communication module.

[0015] In some embodiments, when the cloud platform sends the generated assessment result, based on the water depth and the load status, to the vehicle controller after evaluating the impact of water accumulation in the waterlogged area on the vehicle's operation, the cloud platform is further configured to: determine that the waterlogged area affects the normal operation of the vehicle when the vehicle compartment is in the empty state and the water depth is greater than the first passage safety threshold, and send a second assessment result to the vehicle controller via the communication module; or, determine that the waterlogged area affects the normal operation of the vehicle when the vehicle compartment is in the fully loaded state and the water depth is greater than the second passage safety threshold, and send the second assessment result to the vehicle controller via the communication module.

[0016] In some embodiments, when assessing the impact of water accumulation in the water accumulation area on the vehicle's driving based on the water depth, and sending the generated assessment result to the vehicle controller via the communication module, the cloud platform is used to: determine that the water accumulation area affects the normal driving of the vehicle when the water depth is less than or equal to a third traffic safety threshold set based on the tire radius, and send the third assessment result to the vehicle controller via the communication module.

[0017] In some embodiments, when sending control commands to the processing module and the vehicle itself based on the evaluation result to control the operating state of the processing module and the vehicle, the vehicle controller is configured to: when receiving the first evaluation result, send a first control command to the processing module and the vehicle itself to control the vehicle to maintain a driving state and control the processing module to remain in a closed state.

[0018] In some embodiments, when sending control commands to the processing module and the vehicle itself based on the evaluation result to control the operating state of the processing module and the vehicle, the vehicle controller is further configured to: when receiving the second evaluation result, send a second control command 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 drive motor to start, drive the telescopic suction pipe to extend towards the water accumulation area, and control the water pump to start, pumping the water accumulation into the water storage tank for storage through the telescopic suction pipe.

[0019] In some embodiments, when sending control commands to the processing module and the vehicle itself based on the evaluation results to control the operating state of the processing module and the vehicle, the vehicle controller is further configured to: when receiving the third evaluation result, send a third control command 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 rotary motor to turn on, drive the sandbag box to rotate in a preset direction by a first preset angle, and control the drive motor to turn on, 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.

[0020] In some embodiments, the communication module includes: a roadside unit and a vehicle-mounted unit; the roadside unit is disposed on one or both sides of the mining area road, for receiving the water accumulation treatment instruction and sending the water accumulation treatment instruction to the vehicle-mounted unit; the vehicle-mounted unit is disposed at the bottom of the vehicle, for receiving the water accumulation treatment instruction and sending the water accumulation treatment instruction to the second image acquisition module.

[0021] In some embodiments, the second image acquisition module is further configured to: remain in a dormant state when no water accumulation treatment instruction is received; and after receiving the water accumulation treatment instruction, acquire third image information of the carriage, identify the load status of the carriage based on the third image information, and feed back the load status to the cloud platform through the communication module.

[0022] To achieve the above objectives, a second aspect of the present invention discloses a control method for mining vehicles based on the Internet of Vehicles (IoV), comprising: acquiring first image information of the 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 the water depth at a target location in a water accumulation area in front of the vehicle; acquiring the load status of the vehicle compartment after receiving a water accumulation treatment instruction; identifying the road surface condition in front of the vehicle based on the first image information and the second image information; when determining that a water accumulation area exists in front of the vehicle based on the road surface condition, sending the water accumulation treatment instruction; evaluating the impact of the water accumulation area on the vehicle's driving based on the water depth and / or the load status, and generating an evaluation result; and sending a control instruction based on the evaluation result to control the vehicle's operating state and / or treat the water accumulation area.

[0023] According to an embodiment of the present invention, the control method for mining vehicles based on the Internet of Vehicles (IoV) acquires first and second image information of the front of the vehicle under different ambient light intensities. Based on the first and second image information, the road surface conditions in front of the vehicle are identified. When it is determined that there is a water accumulation area in front of the vehicle based on the road surface conditions, a water accumulation treatment command is sent. At the same time, the load status of the vehicle compartment and the water depth are received. Then, the impact of the water accumulation area on the vehicle's driving is evaluated based on the water depth and / or load status. Based on the evaluation results, control commands are sent to the vehicle itself and the processing module to control the operating status of the processing module and the vehicle itself. This avoids the risk of vehicle rollover caused by water accumulation and potholes on the road surface, 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.

[0024] To achieve the above objectives, an embodiment of the third aspect of the present invention discloses an electronic device system, comprising: a control system for mining vehicles based on vehicle-to-everything (V2X) as described in any embodiment of the first aspect of the present invention, or a processor, a memory, and a control program for mining vehicles based on V2X stored in the memory and executable on the processor, wherein the control program for mining vehicles based on V2X, when executed by the processor, implements the control method for mining vehicles based on V2X as described in any embodiment of the second aspect of the present invention.

[0025] According to the electronic device system of the present invention, a first image acquisition module and a lidar module respectively acquire first image information and second image information of the front of the vehicle under different ambient light intensities, and transmit the first image information and second image information to a cloud platform through a communication module. After receiving the first image information and second image information, the cloud platform identifies the road surface conditions in front of the vehicle based on the first image information and second image information. When it determines that there is a water accumulation area in front of the vehicle based on the road surface conditions, it sends a water accumulation treatment command to the second image acquisition module. At the same time, it receives the load status of the vehicle compartment sent by the second image acquisition module and the water accumulation depth acquired by the detection module. Then, the cloud platform evaluates the impact of the water accumulation area on the vehicle's driving based on the water accumulation depth and / or load status, and transmits the evaluation result to the vehicle controller through the communication module. The vehicle controller sends control commands 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, avoiding the risk of rollover caused by water accumulation and potholes on the road surface, ensuring that the vehicle can drive safely without changing the vehicle's driving trajectory, thereby improving the driving safety and stability of the vehicle and reducing the risk of vehicle rollover.

[0026] To achieve the above objectives, a fourth aspect of the present invention discloses a computer-readable storage medium storing a control program for mining vehicles based on a vehicle-to-everything (V2X) network. When the V2X-based control program for mining vehicles is executed by a processor, it implements the control method for mining vehicles based on a V2X network as described in the second aspect of the present invention.

[0027] According to an embodiment of the present invention, when the control program for a mining vehicle based on a vehicle-to-everything (V2X) network stored on the computer-readable storage medium is executed by a processor, it acquires first and second image information of the front of the vehicle under different ambient light intensities, identifies the road surface conditions in front of the vehicle based on the first and second image information, and sends a water accumulation handling command when it is determined that there is a water accumulation area in front of the vehicle based on the road surface conditions. At the same time, it receives the load status of the vehicle compartment and the water depth, and then evaluates the impact of the water accumulation area on the vehicle's driving based on the water depth and / or load status. Based on the evaluation results, it sends control commands to the vehicle itself and the processing module to control the operating status of the processing module and the vehicle itself, avoids the risk of rollover caused by water accumulation and potholes on the road surface, and ensures 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 rollover.

[0028] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0029] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0030] Figure 1 This is a schematic diagram of the control system for mining vehicles based on the Internet of Vehicles according to an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the control system for mining vehicles based on the Internet of Vehicles according to another embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of a detection module according to an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the bottom left side of a vehicle according to an embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram of the bottom right side of a vehicle according to an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of a processing module according to an embodiment of the present invention;

[0036] Figure 7 This is a schematic diagram of a processing module according to an embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of a telescopic straw according to an embodiment of the present invention;

[0038] Figure 9 This is a schematic diagram of a telescopic conveying pipe according to an embodiment of the present invention;

[0039] Figure 10 This is a structural block diagram of a communication module according to an embodiment of the present invention;

[0040] Figure 11 This is a flowchart of a control method for mining vehicles based on the Internet of Vehicles according to an embodiment of the present invention;

[0041] Figure 12 This is a structural block diagram of an electronic device system according to an embodiment of the present invention;

[0042] Figure 13 This is a structural block diagram of an electronic device system according to another embodiment of the present invention. Detailed Implementation

[0043] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0044] The following is for reference. Figures 1-10 A control system for mining vehicles based on the Internet of Vehicles (IoV) is described according to an embodiment of the present invention.

[0045] like Figure 1 The diagram shown is a structural schematic of a vehicle-to-everything (V2X) control system for mining vehicles according to an embodiment of the present invention. The V2X control system 100 for mining vehicles includes: a first image acquisition module 110, a lidar 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.

[0046] The system comprises the following modules: a first image acquisition module 110 is located on one or both sides of the mining road to acquire first image information of the front of the vehicle under a first ambient light intensity; a lidar module 120 is located on one or both sides of the mining road 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 130 is located on one or both sides of the mining road to detect the water depth at a target location in the water accumulation area in front of the vehicle and send the water depth to the cloud platform 160; a 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; and the second image acquisition module 150 is located in the vehicle's cargo compartment to receive data from the cloud platform 160 via the communication module 140. After sending the water accumulation treatment command, the load status of the vehicle compartment is obtained and fed back to the cloud platform 160 through the communication module 140. The cloud platform 160 is used to identify the road conditions in front of the vehicle based on 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 conditions, it sends a water accumulation treatment command to the second image acquisition module 150 and evaluates the impact of the water accumulation area on the vehicle's driving based on the water depth and / or load status. The generated evaluation results are sent to the vehicle controller 180 through the communication module 140. The processing module 170 is used to process the water accumulation area. The vehicle controller 180 is installed in the vehicle to receive the evaluation results and send control commands to the processing module 170 and the vehicle itself based on the evaluation results to control the operating status of the processing module 170 and the vehicle.

[0047] The vehicle in question could be, for example, a mining truck capable of autonomous driving.

[0048] In the embodiments, combined with Figure 1 and Figure 2As shown, the first image acquisition module 110 is installed on a pole on one or both sides of the mining area road to have a good viewing angle. It can collect the road surface conditions in the mining area through continuous shooting or video streaming. It mainly collects the first image information under the first ambient light intensity. The first image acquisition module 110 is, for example, a mining area camera. It is mainly used to collect image data of the mining area road surface and is suitable for daytime or well-lit environmental conditions. It can identify the first image information on the mining area road surface, such as water stains and reflections, so as to determine whether there is a water accumulation area in front of the mining truck and transmit the first image information to the cloud platform 160.

[0049] The lidar module 120, for example, is a mining lidar, installed on poles on one or both sides of the mining road. It is suitable for use at night or in low-light conditions. Based on the second image information collected by the lidar module 150, such as the terrain elevation changes and reflection intensity of the road surface in front of the mining truck, the existence and extent of water accumulation areas are identified. The second image information is then transmitted to the cloud platform 160. The first image acquisition module 110 and the lidar module 120 complement each other, ensuring that the system can accurately perceive the road conditions ahead under all weather and all lighting conditions.

[0050] The cloud platform 160 uses the first image information acquired by the first image acquisition module 110 and the second image information acquired by the lidar module 120 to comprehensively identify whether there is a water accumulation area on the road in front of the mining truck.

[0051] Once a waterlogged area is identified, the system will further combine the water depth at the target location of the waterlogged area obtained by the detection module 130, such as the center of the waterlogged area, and transmit the obtained water depth to the cloud platform 160. At the same time, the second image acquisition module 150 set in the mine car compartment will collect the load status of the compartment, such as whether it is fully loaded or empty, and then transmit the load status of the compartment to the cloud platform 160. The cloud platform 160 will assess the safety impact of the waterlogged area on the driving of the autonomous mine car based on the water depth and load status, such as whether it may cause slippage, stalling or vehicle rollover.

[0052] The cloud platform 160 sends data to the vehicle controller 180 via the communication module 140. Based on the evaluation results, the vehicle controller 180 sends control commands to the vehicle itself, such as to the mine truck's control system (e.g., braking system, power system), to control the vehicle's operating status. Simultaneously, it can also control the road treatment module 17 to treat waterlogged areas, such as clearing or filling them, thus ensuring safe operation of the vehicle on waterlogged or potholed roads. In this way, the first image acquisition module 110 and the lidar module 120 enable all-weather road environment perception. The cloud platform 160 performs intelligent analysis and risk assessment, the vehicle controller 180 dynamically adjusts and intervenes in the vehicle's operating status, and the treatment of waterlogged areas by the processing module 170 avoids the risk of rollover caused by waterlogged or potholed roads, ensuring safe driving without altering the vehicle's trajectory. This improves vehicle safety and stability and reduces the risk of rollover.

[0053] Therefore, in the aforementioned vehicle-to-everything (V2X) based control system 100 for mining vehicles, the first image acquisition module 110 and the lidar module 120 respectively acquire first and second image information of the front of the vehicle under different ambient light intensities, and transmit the first and second image information to the cloud platform 160 through the communication module 140. After receiving the first and second image information, the cloud platform 160 identifies the road conditions in front of the vehicle based on the first and second image information. When it determines that there is a water accumulation area in front of the vehicle based on the road conditions, it sends a water accumulation handling command to the second image acquisition module 150. At the same time, it receives the command from the second image acquisition module 150. The cloud platform 160 sends the load status of the carriage and the water depth obtained by the detection module 130. Then, the cloud platform 160 assesses the impact of the water accumulation area on vehicle driving based on the water depth and / or load status, and transmits the assessment results to the vehicle controller 180 through the communication module 140. The vehicle controller 180 sends control commands to the vehicle itself and the processing module 170 based on the assessment results to control the operating status of the processing module 170 and the vehicle itself, so as to avoid the risk of vehicle rollover caused by water accumulation and potholes on the road surface, and ensure that the vehicle can drive safely without changing the vehicle's driving trajectory, thereby improving the driving safety and stability of the vehicle and reducing the risk of vehicle rollover.

[0054] In one embodiment of the present invention, such as Figure 3 As shown, the detection module 130 includes a depth detector 131 and a spiral lift 132; the spiral lift 132 is connected to the depth detector 131 and is used to drive the depth detector 131 to the target position to detect the depth of the water accumulation.

[0055] In an embodiment, such as Figure 3As shown, the detection module 130 consists of a depth detector 131 and a jack 132, which are connected, for example, by a mechanical structure. The jack 132 can move the depth detector 131 vertically, allowing it to move precisely to a target location in front of the vehicle within the water accumulation area. This target location is, for example, the center of the water accumulation area, thus enabling accurate measurement of the water depth and avoiding detection errors caused by large water accumulation areas or positional shifts.

[0056] Specifically, the detection module 130 is installed on one or both sides of the road in the mining area. For example, the water depth detector 131 is mounted on a pole, and a screw lift 132 is integrated on its top or outside. When the cloud platform 160 identifies a water accumulation area on the road ahead based on the first and second image information, the vehicle controller 180 will issue a detection command to activate the screw lift 132, causing it to lift the depth detector 131 into the air and fly to the center of the water accumulation area. After reaching the center, the depth detector 131 performs a non-contact depth measurement of the water accumulation area, for example, using ultrasonic detection technology, to obtain the actual depth data of the water accumulation. The obtained water depth is then fed back to the cloud platform 160 through the communication module 140. This not only improves the accuracy of the detection but also enhances the system's environmental adaptability.

[0057] In one embodiment of the present invention, combined with Figures 4-7 As shown, the processing module 170 includes: a drive motor 171, a water tank 172, a telescopic suction pipe 173, a telescopic delivery pipe 174, a water pump 175, a rotary motor 176, and a sandbag box 177. The drive motor 171 is located at the bottom left side of the vehicle and is connected to the vehicle controller 180. It receives control commands and drives the telescopic suction pipe 173 and the telescopic delivery pipe 174 to extend and retract according to the control commands. The water tank 172 is located at the bottom of the vehicle. One end of the water tank 172 is connected to the telescopic suction pipe 173, and the other end of the water tank 172 is connected to the water pump 175. It is used to store water collected by the water pump 175 through the telescopic suction pipe 176. The water pump 175 pumps out the accumulated water; the water pump 175 is used to pump the accumulated water to the water storage tank 172 through the telescopic suction pipe 173; the sandbag box 177 is set at the bottom of the vehicle, and the sandbag box 177 is filled with filling material; one end of the telescopic delivery pipe 174 is connected to the sandbag box 177, and the other end of the telescopic delivery pipe 174 can extend to the water accumulation area; the rotary motor 176 is set in the sandbag box 177, and is used to receive control commands and drive the sandbag box 177 to open according to the control commands, and at the same time drive the telescopic delivery pipe 174 to extend, so as to transport the filling material to the water accumulation area through the telescopic delivery pipe 174 to fill the water accumulation area.

[0058] In this embodiment, the processing module 170 is located at the bottom of the vehicle, and the control components are a drive motor 171 and a rotary motor 176, both of which are connected to the vehicle controller 180, receive control commands and drive the corresponding components to move.

[0059] Specifically, combined Figure 8 and Figure 9 As shown, after receiving the control command, the drive motor 171 controls the telescopic suction pipe 173 and the telescopic conveying pipe 174 to extend and retract, so that the telescopic suction pipe 173 and the telescopic conveying pipe 174 can adjust their length and direction according to the operation requirements, thereby adapting to the road conditions in front of the vehicle.

[0060] A telescopic suction pipe 173 is connected at one end to a water storage tank 172, and the other end extends into the waterlogged area. A water pump 175 is installed on the water storage tank 172, pumping water into the tank via the telescopic suction pipe 173 to collect and temporarily store the water. Simultaneously, a sandbag box 177 is located at the bottom of the vehicle, filled with filling material (such as fine sand), and connected to it via a telescopic delivery pipe 174. The other end of the delivery pipe 174 extends into the waterlogged area to deliver the filling material to the area requiring filling. A rotary motor 176 is installed on the sandbag box 177 to drive it to open and simultaneously control the extension of the telescopic delivery pipe 174, ensuring the filling material can be smoothly delivered to the target location via the pipe, thus completing the filling operation of the waterlogged area. In this way, the entire processing module 170, through the coordinated control of its components, achieves automated operation from water pumping and storage to material delivery and filling, improving the efficiency and flexibility of waterlogging treatment.

[0061] In one embodiment of the present invention, when assessing the impact of water accumulation on vehicle driving based on water depth and load status, and sending the generated assessment result to vehicle controller 180 via communication module 140, cloud platform 160 is used to: obtain the vehicle's tire radius; when the vehicle compartment is empty and the water depth is less than a first passage 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 assessment result to vehicle controller 180 via communication module 140; or, when the vehicle compartment is fully loaded and the water depth is less than or equal to a second passage 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 assessment result to vehicle controller 180 via communication module 140.

[0062] The water depth is denoted as H, the tire radius is denoted as R, the first safe passage zone is equal to the tire radius, and the second safe passage threshold is half the tire radius and denoted as 0.5R.

[0063] In this embodiment, the cloud platform 160 first obtains the tire radius R of the vehicle, and sets a first passage safety threshold R and a second passage safety threshold 0.5R based on the tire radius R. These two thresholds are used to determine whether the water depth H is within the allowable range for safe passage of the vehicle.

[0064] Specifically, when the vehicle is empty, if the detected water depth H is less than the first safe passage threshold R (H≤R), the waterlogged area is considered not to affect vehicle operation, and the vehicle can pass normally. In this case, the cloud platform 160 generates a first evaluation result and sends it to the vehicle controller 180 via the communication module 140. Similarly, when the vehicle is fully loaded, considering the lower center of gravity and improved wading ability under full load, a second safe passage threshold of 0.5R is used as the judgment standard. If the water depth H is less than or equal to this second safe passage threshold of 0.5R (H≤0.5R), the waterlogged area is also determined not to affect the vehicle's normal driving safety. The cloud platform 160 also generates and sends a first evaluation result to the vehicle controller 180 to achieve dynamic control and safety assurance of the vehicle's driving status. By fully considering the impact of vehicle load and tire parameters on wading safety, the accuracy and adaptability of the evaluation results are improved, thereby ensuring the reliability of safe passage of vehicles in complex mining environments (such as waterlogged and pitted environments).

[0065] In one embodiment of the present invention, when the cloud platform 160 sends the evaluation result generated by assessing the impact of water accumulation in the water accumulation area on vehicle driving based on the water accumulation depth and load status to the vehicle controller 180 via the communication module 140, the cloud platform 160 is further configured to: determine that the water accumulation area affects the normal driving of the vehicle when the vehicle compartment is empty and the water accumulation depth is greater than the first passage safety threshold, and send the second evaluation result to the vehicle controller 180 via the communication module 140; or, determine that the water accumulation area affects the normal driving of the vehicle when the vehicle compartment is fully loaded and the water accumulation depth is greater than the second passage safety threshold, and send the second evaluation result to the vehicle controller 180 via the communication module 140.

[0066] In this embodiment, during the process of the cloud platform 160 assessing whether the water accumulation area ahead affects vehicle driving based on the water depth H and the vehicle load status, when it detects that the vehicle compartment is empty and the water depth H is greater than the first safe passage threshold R (i.e., H > R), the cloud platform 160 determines that the water accumulation area exceeds the safe passage range of the vehicle in an empty state and may affect vehicle driving, such as causing risks like rollover, engine stalling, or reduced passability. At this time, the cloud platform 160 generates a second assessment result and sends it to the vehicle controller 180 through the communication module 140 to trigger the corresponding control strategy; In the case of a vehicle with a fully loaded compartment and a water depth H greater than the second safe passage threshold of 0.5R (i.e., H>0.5R), the cloud platform 160 also determines that the water accumulation area poses a potential threat to the normal operation of the vehicle. Although the vehicle's wading ability is relatively enhanced when fully loaded, once the water depth H exceeds the second safe passage threshold of 0.5R, it may still have an adverse effect on the vehicle's drive system, braking system, or chassis. Therefore, a second evaluation result is generated and sent to the vehicle controller 180 so that the vehicle controller 180 can control the operation status of the vehicle and the processing module 170 according to the second evaluation result.

[0067] In one embodiment of the present invention, when the impact of water accumulation in the water accumulation area on vehicle driving is assessed based on the water accumulation depth, and the generated assessment result is sent to the vehicle controller 180 through the communication module 140, the cloud platform 160 is used to: determine that the water accumulation area affects the normal driving of the vehicle when the water accumulation depth is less than or equal to a third traffic safety threshold set based on the tire radius, and send the third assessment result to the vehicle controller 180 through the communication module 140.

[0068] The third safety threshold for passage is, for example, one-tenth of the tire radius, i.e., 0.1R.

[0069] In this embodiment, when the detected water depth H is less than or equal to the third safe passage threshold 0.1R (i.e., H≤0.1R), although the water does not completely cover the tires or reach a severe wading state, it may still have a certain impact on the vehicle's handling and driving safety due to the water film effect and reduced road surface adhesion. Therefore, the cloud platform 160 determines that the water accumulation 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 the third evaluation result to the vehicle controller 180 through the communication module 140, so that the vehicle controller 180 can control the vehicle's operating status and start the processing module 180 to process the water accumulation area, thereby improving the active safety of mining vehicles when driving in wet or shallow water areas and further reducing the risk of vehicle rollover.

[0070] In one embodiment of the present invention, when sending control commands to the processing module 170 and the vehicle itself based on the evaluation results to control the operating state 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 command 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 remain in the off state.

[0071] In this embodiment, when the vehicle controller 180 receives the first evaluation result, the vehicle controller 180 generates and sends a first control command. On the one hand, it sends the first control command to the vehicle's own power system, braking system, and steering system to maintain the vehicle's current driving state, such as maintaining the current speed, driving path, and operating mode, without needing to take intervention measures such as deceleration, avoidance, or stopping. On the other hand, it sends the first control command to the processing module 170 to keep it in a closed state, ensuring that the processing module 170 does not perform actions unless necessary, avoiding unnecessary energy consumption, mechanical wear, and the risk of misoperation. This ensures safe vehicle operation while also improving the system's operating efficiency and reliability.

[0072] In one embodiment of the present invention, when sending control commands to the processing module 170 and the vehicle itself based on the evaluation results to control the operating state 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 command 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 drive motor 171 to start, drive the telescopic suction pipe 173 to extend towards the water accumulation area, and control the water pump 175 to start, and pump the water accumulation into the water storage tank 172 for storage through the telescopic suction pipe 173.

[0073] In this embodiment, when the vehicle controller 180 receives the second evaluation result, the vehicle controller 180 generates and sends a second control command to achieve coordinated control of the vehicle driving state and the processing module 170.

[0074] Specifically, the vehicle controller 180 sends first control commands to the vehicle's own power system, braking system, and steering system to control the vehicle to automatically decelerate and stop smoothly at a first preset distance in front of the water accumulation area (for example, within 10 to 20 meters from the water accumulation area, the specific value can be set according to vehicle speed, terrain, and safety redundancy), so as to avoid the vehicle directly driving into the water accumulation area, causing stalling, skidding, etc., which could lead to vehicle rollover and ensure the safety of the vehicle and personnel.

[0075] Simultaneously, the vehicle controller 180 sends a second control command to the processing module 170 to activate the module. This involves starting the drive motor 171, which extends the telescopic suction pipe 173 from its retracted state to accurately reach above or into the water surface. Simultaneously, the water pump 175 is activated, using the extended telescopic suction pipe 173 to pump water from the road surface into the storage tank 172 for temporary storage, preventing the water from continuously affecting road traffic. This achieves a dual response mechanism: automatic vehicle parking and drainage when there is potential risk in the waterlogged area. This fully demonstrates the system's proactive safety control and environmental adaptability in complex mining environments, effectively improving the vehicle's intelligent decision-making and execution capabilities in water-related scenarios, thereby enhancing vehicle safety and reducing the risk of rollover.

[0076] In one embodiment of the present invention, when sending control commands to the processing module 170 and the vehicle itself based on the evaluation results to control the operating state of the processing module 170 and the vehicle, the vehicle controller 180 is further configured to: when receiving the third evaluation result, send a third control command 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 rotary motor 176 to turn on, drive the sandbag box 177 to rotate in a preset direction by a first preset angle, and control the drive motor 171 to turn on, drive the telescopic conveying pipe 174 to extend to the water accumulation area, so that the filling material in the sandbag box 177 outputs the corresponding filling material according to the size of the water accumulation area, and transports the corresponding filling material to the water accumulation area through the telescopic conveying pipe 174 to fill the water accumulation area.

[0077] In this embodiment, when the vehicle controller 180 receives the third evaluation result, the vehicle controller 180 generates and sends a third control command to the vehicle's own power system and braking system to control the vehicle to automatically decelerate and stop smoothly at a second preset distance in front of the water accumulation area (for example, about 15 to 25 meters away from the water accumulation area, the specific distance can be dynamically adjusted according to the vehicle's driving speed, terrain features and response time), so as to ensure the safety and accuracy of subsequent processing operations.

[0078] Simultaneously, the vehicle controller 180 sends a third control command to the processing module 170, controlling the rotary motor 176 to start and drive the sandbag box 177 to rotate a first preset angle (e.g., 30°) in a preset direction (e.g., downward) to open the discharge port at the bottom of the sandbag box 177, allowing the filling material (e.g., fine sand and gravel) stored inside to slide out. The vehicle controller 180 controls the drive motor 171 to start, driving the telescopic conveying pipe 174 to extend outward from the retracted state and precisely extend to the area above or at the edge of the water accumulation area, serving as a channel for conveying the filling material to the target location.

[0079] Based on this, the vehicle controller 180 can also control the output of filling material in the sandbag box 177 according to the area and depth of the water accumulation area, so that it outputs the corresponding filling material according to actual needs, and evenly delivers it to the water accumulation area through the telescopic conveying pipe 174, thereby filling and leveling the potholes, improving road traffic conditions, and enhancing the safety and stability of vehicle passage.

[0080] In one embodiment of the present invention, such as Figure 10 As shown, the communication module 140 includes a roadside unit 141 and a vehicle-mounted unit 142. The roadside unit 141 is located on one or both sides of the mining area road and is used to receive water accumulation treatment instructions and send the water accumulation treatment instructions to the vehicle-mounted unit 142. The vehicle-mounted unit 142 is located at the bottom of the vehicle and is used to receive water accumulation treatment instructions and send the water accumulation treatment instructions to the second image acquisition module 150.

[0081] In this embodiment, the roadside unit 141 is installed above poles on one or both sides of the road in the mining area. It has wireless communication capabilities and is used to receive water accumulation treatment instructions from the cloud platform 160 and transmit the water accumulation treatment instructions to the vehicle-mounted unit 142 via wireless communication. Correspondingly, the vehicle-mounted unit 142 is installed at the bottom of the vehicle, receives the water accumulation treatment instructions sent by the roadside unit 141, and further transmits the water accumulation treatment instructions to the second image acquisition module 150 inside the vehicle to trigger it to start and execute the image acquisition task of the vehicle's load status. This ensures the efficient operation of the entire water accumulation identification and treatment process and the real-time response of the system, providing reliable data communication support for the control of mining vehicles.

[0082] In one embodiment of the present invention, the second image acquisition module 150 is further configured to: remain in a dormant state when no water accumulation treatment instruction is received; and after receiving the water accumulation treatment instruction, acquire third image information of the carriage, identify the load status of the carriage based on the third image information, and feed back the load status to the cloud platform 160 through the communication module 140.

[0083] In this embodiment, when the second image acquisition module 150 does not receive a water accumulation treatment instruction, it enters a low-power sleep state to reduce unnecessary energy consumption and system resource occupation, thereby improving the overall system's energy efficiency ratio and operating efficiency. However, upon receiving a water accumulation treatment instruction from the cloud platform 160 via the communication module 140, the second image acquisition module 150 powers on, wakes up, and initiates the image acquisition process to acquire images of the vehicle compartment area. This acquires third-party image information of the compartment, which is used to identify the current load status of the compartment. The identification result, i.e., the load status information, is then fed back to the cloud platform 160 in real time via the communication module 140, serving as a crucial basis for the cloud platform 160's subsequent risk assessment and control decisions. This design not only achieves intelligent and energy-efficient operation of the image acquisition module but also ensures that the system obtains accurate and real-time vehicle load data during critical decision-making stages, thereby improving the safety of water accumulation area treatment.

[0084] According to an embodiment of the vehicle-to-everything (V2X) mining vehicle control system 100, a first image acquisition module 110 and a lidar module 120 respectively acquire first and second image information of the front of the vehicle under different ambient light intensities. These images are then transmitted to a cloud platform 160 via a communication module 140. Upon receiving the first and second image information, the cloud platform 160 identifies the road conditions in front of the vehicle based on these images. If it determines that there is a water accumulation area in front of the vehicle, it sends a water accumulation handling command to the second image acquisition module 150. Simultaneously, it receives data from the second image acquisition module. The cloud platform 160 sends the load status of the carriage and the water depth obtained by the detection module 130. Then, the cloud platform 160 assesses the impact of the water accumulation area on vehicle driving based on the water depth and / or load status, and transmits the assessment results to the vehicle controller 180 through the communication module 140. The vehicle controller 180 sends control commands to the vehicle itself and the processing module 170 based on the assessment results to control the operating status of the processing module 170 and the vehicle itself, so as to avoid the risk of vehicle rollover caused by water accumulation and potholes, and ensure that the vehicle can drive safely without changing the vehicle's driving trajectory, thereby improving the driving safety and stability of the vehicle and reducing the risk of vehicle rollover.

[0085] A further embodiment of the present invention discloses a control method for mining vehicles based on the Internet of Vehicles.

[0086] like Figure 11 The diagram shown is a flowchart of a control method for mining vehicles based on the Internet of Vehicles according to an embodiment of the present invention.

[0087] like Figure 11 As shown, the control method for mining vehicles based on the Internet of Vehicles includes at least steps S1-S6.

[0088] Step S1: Acquire first image information of the front of the vehicle under the first ambient light intensity.

[0089] Step S2: Acquire first image information of the front of the vehicle under the first ambient light intensity.

[0090] Step S3: Detect the water depth at the target location in the water accumulation area in front of the vehicle.

[0091] Step S4: After receiving the water accumulation treatment instruction, obtain the load status of the carriage.

[0092] Step S5: Identify the road conditions in front of the vehicle based on 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 conditions, send a water accumulation treatment command, and evaluate the impact of the water accumulation area on the vehicle's driving based on the water depth and / or load status, and generate an evaluation result.

[0093] Step S6: Send control commands based on the evaluation results to control the vehicle's operating status and / or treat the waterlogged area.

[0094] In one embodiment of the present invention, when assessing the impact of water accumulation in a waterlogged area on vehicle driving based on water depth and load status, and sending the generated assessment result, the process includes: obtaining the tire radius of the vehicle; when the vehicle compartment is empty and the water depth is less than a first traffic safety threshold set based on the tire radius, determining that the waterlogged area will not affect the normal driving of the vehicle, and sending the first assessment result; 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, determining that the waterlogged area will not affect the normal driving of the vehicle, and sending the first assessment result.

[0095] In one embodiment of the present invention, when assessing the impact of water accumulation in a waterlogged area on vehicle driving based on water depth and load status, and sending the generated assessment result, the method includes: when the vehicle compartment is empty and the water depth is greater than a first safe passage threshold, determining that the waterlogged area affects the normal driving of the vehicle, and sending a second assessment result; or, when the vehicle compartment is fully loaded and the water depth is greater than a second safe passage threshold, determining that the waterlogged area affects the normal driving of the vehicle, and sending a second assessment result.

[0096] In one embodiment of the present invention, when assessing the impact of water accumulation in the water accumulation area on vehicle driving based on the water accumulation depth and sending the generated assessment result, the method includes: when the water accumulation depth is less than or equal to a third traffic safety threshold set based on the tire radius, determining that the water accumulation area affects the normal driving of the vehicle, and sending the third assessment result.

[0097] In one embodiment of the present invention, when sending a control command based on the evaluation result to control the vehicle's operating state and / or to process the water accumulation area, the method includes: when receiving the first evaluation result, sending a first control command to control the vehicle to maintain its driving state, and controlling the processing module to remain in a closed state, without processing the water accumulation area.

[0098] In one embodiment of the present invention, when sending control commands based on the evaluation results to control the vehicle's operating status and / or to process the water accumulation area, the method further includes: when receiving the second evaluation result, sending a second control command 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, controlling the drive motor to start, driving the telescopic suction pipe to extend towards the water accumulation area, and controlling the water pump to start, pumping the water accumulation into the water storage tank for storage through the telescopic suction pipe.

[0099] In one embodiment of the present invention, when sending control commands based on the evaluation results to control the vehicle's operating state and / or to treat the waterlogged area, the method further includes: when receiving the third evaluation result, sending a third control command to the processing module and the vehicle itself to control the vehicle to stop driving at a second preset distance in front of the waterlogged area, controlling the rotary motor to start, driving the sandbag box to rotate in a preset direction by a first preset angle, and controlling the drive motor to start, driving the telescopic conveying pipe to extend to the waterlogged area, so that the filling material in the sandbag box outputs the corresponding filling material according to the size of the waterlogged area, and the corresponding filling material is conveyed to the waterlogged area through the telescopic conveying pipe to fill the waterlogged area.

[0100] In one embodiment of the present invention, the control method for mining vehicles based on the Internet of Vehicles further includes: maintaining a dormant state when no water accumulation treatment instruction is received; and after receiving the water accumulation treatment instruction, acquiring third image information of the vehicle compartment, identifying the load status of the vehicle compartment based on the third image information, and feeding back the load status.

[0101] According to an embodiment of the present invention, the control method for mining vehicles based on the Internet of Vehicles (IoV) acquires first and second image information of the front of the vehicle under different ambient light intensities. Based on the first and second image information, the road surface conditions in front of the vehicle are identified. When it is determined that there is a water accumulation area in front of the vehicle based on the road surface conditions, a water accumulation treatment command is sent. At the same time, the load status of the vehicle compartment and the water depth are received. Then, the impact of the water accumulation area on the vehicle's driving is evaluated based on the water depth and / or load status. Based on the evaluation results, control commands are sent to the vehicle itself and the processing module to control the operating status of the processing module and the vehicle itself. This avoids the risk of vehicle rollover caused by water accumulation and potholes on the road surface, 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.

[0102] A further embodiment of the present invention discloses an electronic device system.

[0103] In some embodiments, such as Figure 12 As shown, the electronic device system 200 includes the vehicle network-based control system 100 for mining vehicles described in the above embodiments of the present invention.

[0104] In other embodiments, such as Figure 13 As shown, the electronic device system 200 includes a processor 201, a memory 202, and a vehicle-to-everything (V2X)-based control program for mining vehicles stored in the memory 202 and executable on the processor 201. When the V2X-based control program for mining vehicles is executed by the processor 201, it implements the vehicle-to-everything (V2X)-based control method for mining vehicles as described in the above embodiments of the present invention.

[0105] According to an embodiment of the electronic device system 200 of the present invention, the first image acquisition module 110 and the lidar module 120 respectively acquire first image information and second image information of the front of the vehicle under different ambient light intensities, and transmit the first image information and second image information to the cloud platform 160 through the communication module 140. After receiving the first image information and second image information, the cloud platform 160 identifies the road conditions in front of the vehicle based on the first image information and second image information. When it determines that there is a water accumulation area in front of the vehicle based on the road conditions, it sends a water accumulation handling command to the second image acquisition module 150. At the same time, it receives the command sent by the second image acquisition module 150. The cloud platform 160 detects the load status of the vehicle compartment and the water depth obtained by the detection module 130. Then, it assesses the impact of the water accumulation area on vehicle driving based on the water depth and / or load status, and transmits the assessment results to the vehicle controller 180 through the communication module 140. The vehicle controller 180 sends control commands to the vehicle itself and the processing module 170 based on the assessment results to control the operating status of the processing module 170 and the vehicle itself. This avoids the risk of vehicle rollover caused by water accumulation and potholes on the road surface, and ensures that the vehicle can drive safely without changing its driving trajectory. This improves the driving safety and stability of the vehicle and reduces the risk of vehicle rollover.

[0106] A further embodiment of the present invention discloses a computer-readable storage medium storing a control program for mining vehicles based on the Internet of Vehicles (IoV). When the control program for mining vehicles based on the IoV is executed by a processor, it implements the control method for mining vehicles based on the IoV as described in the above embodiments of the present invention.

[0107] According to an embodiment of the present invention, when the control program for a mining vehicle based on a vehicle-to-everything (V2X) network stored on the computer-readable storage medium is executed by a processor, it acquires first and second image information of the front of the vehicle under different ambient light intensities, identifies the road surface conditions in front of the vehicle based on the first and second image information, and sends a water accumulation handling command when it is determined that there is a water accumulation area in front of the vehicle based on the road surface conditions. At the same time, it receives the load status of the vehicle compartment and the water depth, and then evaluates the impact of the water accumulation area on the vehicle's driving based on the water depth and / or load status. Based on the evaluation results, it sends control commands to the vehicle itself and the processing module to control the operating status of the processing module and the vehicle itself, avoids the risk of rollover caused by water accumulation and potholes on the road surface, and ensures 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 rollover.

[0108] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0109] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which 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: The first image acquisition module is set on one or both sides of the road in the mining area and is used to acquire first image information of the front of the vehicle under the first ambient light intensity. A lidar module is installed on one or both sides of the road in the mining area 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 is set on one or both sides of the road in the mining area to detect the water depth at a target location in the water accumulation area in front of the vehicle and send the water depth to the cloud platform. The communication module is used to realize data transmission between the cloud platform, the second image acquisition module and the vehicle controller; The second image acquisition module is installed in the vehicle compartment and is used to obtain the load status of the compartment after receiving the water accumulation treatment instruction sent by the cloud platform through the communication module, and to feed back the load status to the cloud platform through the communication module. The cloud platform is used to identify the road conditions in front of the vehicle based on 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 conditions, the platform sends the water accumulation processing instruction to the second image acquisition module and evaluates the impact of the water accumulation area on the vehicle's driving based on the water depth and the load status. The generated evaluation result is then sent to the vehicle controller through the communication module. A processing module is used to process the water accumulation area; A vehicle controller, installed in the vehicle, is used to receive the evaluation results and send control commands to the processing module and the vehicle itself based on the evaluation results, so as to control the operating status of the processing module and the vehicle. Specifically, when assessing the impact of water accumulation in the waterlogged area on the vehicle's operation based on the water depth and load status, and sending the generated assessment results to the vehicle controller via the communication module, the cloud platform is used for: Obtain the tire radius of the vehicle; When the vehicle compartment is empty and the water depth is less than a first safe passage threshold set based on the tire radius, it is determined that the water accumulation area will not affect the normal operation of the vehicle, and a first evaluation result is sent to the vehicle controller via the communication module; or, When the vehicle compartment is fully loaded and the water depth is less than or equal to the second safe passage 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 the first evaluation result is sent to the vehicle controller through the communication module.

2. The control system for mining vehicles based on vehicle-to-everything (V2X) communication according to claim 1, 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 the target location to detect the depth of the accumulated water.

3. The control system for mining vehicles based on vehicle-to-everything (V2X) as described in claim 1, characterized in that, The processing module includes: a drive motor, a water storage tank, a telescopic suction pipe, a telescopic delivery pipe, a water pump, a rotary motor, and a sandbag box; The drive motor is located at the bottom of the vehicle and connected to the vehicle controller. It is used to receive the control command and drive the telescopic suction tube and the telescopic delivery tube to extend and retract according to the control command. The water storage tank is located 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. It is used to store 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 located at the bottom of the vehicle, and the inside of the sandbag box is filled 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 rotary motor is installed in the sandbag box to receive the control command and drive the sandbag box to open according to the control command. At the same time, it drives the telescopic conveying pipe to extend so as to transport 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 vehicle-to-everything (V2X) communication according to claim 3, characterized in that, When assessing the impact of water accumulation in the waterlogged area on the vehicle's operation based on the water depth and load status, and sending the generated assessment results to the vehicle controller via the communication module, the cloud platform is also used for: When the vehicle compartment is in an empty state and the water depth is greater than the first passage safety threshold, it is determined that the water accumulation area affects the normal operation of the vehicle, and a second evaluation result is sent to the vehicle controller via the communication module; or, When the carriage is fully loaded and the water depth is greater than the second passage 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.

5. The control system for mining vehicles based on vehicle-to-everything (V2X) as described in claim 4, characterized in that, When assessing the impact of water accumulation in the waterlogged area on the vehicle's operation based on the water depth, and sending the generated assessment results to the vehicle controller via the communication module, the cloud platform is used for: When the depth of the accumulated water is less than or equal to the third passage safety threshold set based on the tire radius, it is determined that the accumulated water area affects the normal driving of the vehicle, and the third evaluation result is sent to the vehicle controller through the communication module.

6. The control system for mining vehicles based on vehicle-to-everything (V2X) as described in claim 1, characterized in that, When sending control commands to the processing module and the vehicle itself based on the evaluation results to control the operating state of the processing module and the vehicle, the vehicle controller is used to: Upon receiving the first evaluation result, a first control command is sent to the processing module and the vehicle itself to control the vehicle to maintain its driving state and to control the processing module to remain in a closed state.

7. The control system for mining vehicles based on vehicle-to-everything (V2X) as described in claim 4, characterized in that, When sending control commands to the processing module and the vehicle itself based on the evaluation results 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 command is sent 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 drive motor to start, drive the telescopic suction pipe to extend to the water accumulation area, and control the water pump to start, so as to pump the water accumulation into the water storage tank through the telescopic suction pipe for storage.

8. The control system for mining vehicles based on vehicle-to-everything (V2X) as described in claim 5, characterized in that, When sending control commands to the processing module and the vehicle itself based on the evaluation results to control the operating state of the processing module and the vehicle, the vehicle controller is further configured to: Upon receiving the third evaluation result, a third control command 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 rotary motor to start, drive the sandbag box to rotate in a preset direction by a first preset angle, and control the drive 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 the corresponding filling material according to the size of the water accumulation area, and the corresponding filling material is transported to the water accumulation area through the telescopic conveying pipe to fill the water accumulation area.

9. The control system for mining vehicles based on vehicle-to-everything (V2X) communication according to claim 1, characterized in that, The communication module includes: a roadside unit and a vehicle-mounted unit; The roadside unit is installed on one or both sides of the road in the mining area, and is used to receive the water accumulation treatment command and send the water accumulation treatment command to the vehicle-mounted unit; The vehicle-mounted unit is located at the bottom of the vehicle and is used to receive the water accumulation treatment command and send the water accumulation treatment command to the second image acquisition module.

10. The control system for mining vehicles based on the Internet of Vehicles as described in claim 1, characterized in that, The second image acquisition module is also used for: It remains in a dormant state when no water accumulation treatment instruction is received; Upon receiving the water accumulation treatment instruction, the system acquires third image information of the carriage and identifies the load status of the carriage based on the third image information. The load status is then fed back to the cloud platform through the communication module.

11. A control method for mining vehicles based on vehicle-to-everything (V2X) communication, characterized in that, include: Acquire first image information of the front of the vehicle under the first ambient light intensity; 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; Detect the depth of water at a target location in the water accumulation area in front of the vehicle; After receiving the water accumulation handling instruction, obtain the load status of the carriage; The road conditions in front of the vehicle are identified based on 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 conditions, the water accumulation handling command is sent. The impact of the water accumulation area on the vehicle's driving is evaluated based on the water depth and the load status, and an evaluation result is generated. Based on the evaluation results, control commands are sent to control the vehicle's operating status and to treat the waterlogged area; The process of assessing the impact of the flooded area on vehicle operation based on the water depth and load status, and generating assessment results, includes: Obtain the tire radius of the vehicle; When the vehicle compartment is empty and the water depth is less than a first safe passage threshold set based on the tire radius, it is determined that the water accumulation area will not affect the normal operation of the vehicle, and a first assessment result is sent; or, When the vehicle is fully loaded and the water depth is less than or equal to the second safe passage 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 the first evaluation result is sent.

12. An electronic device system, characterized in that, include: The control system for mining vehicles based on the Internet of Vehicles as described in any one of claims 1-10; or, A processor, a memory, and a vehicle-to-everything (V2X) based mining vehicle control program stored in the memory and executable on the processor, wherein the V2X-based mining vehicle control program, when executed by the processor, implements the V2X-based mining vehicle control method as described in claim 11.

13. A computer-readable storage medium storing a vehicle-to-everything (V2X) control program for mining vehicles, wherein the V2X control program, when executed by a processor, implements the V2X control method for mining vehicles as described in claim 11.

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