Locomotive control method and device

Abstract

The present application provides a locomotive control method and device, which includes: when a target locomotive is moving on a preset track, adjusting the real-time gear position of the target locomotive in real time to keep the speed of the target locomotive within a preset speed range; when detecting that the target locomotive has entered a ramp on the preset track, unloading the traction force of the target locomotive to reduce the speed of the target locomotive; when detecting that the target locomotive has entered the center area of the preset track through the ramp, determining the brake position of the target locomotive; and controlling the target locomotive to brake in advance at the brake position so that the slopes on both sides of the preset track assist the target locomotive in stopping in the center area. It can be seen that this method and device can achieve the effect of precise locomotive alignment, thereby reducing the difficulty of precise alignment, improving the efficiency of precise alignment, and improving applicability, which is conducive to improving control effect and control efficiency.

Description

Technical Field

[0001] The present application relates to the field of automatic control technology, and in particular to a locomotive control method and device. Background Art

[0002] Currently, a key task of rail locomotives within steel mills is to precisely align molten iron ladle cars in areas such as under blast furnaces and at ladle dumping stations. Locomotive drivers often need years of extensive work experience and a deep familiarity with the locomotive's characteristics to achieve precise alignment within ±5CM. To achieve unmanned molten iron transportation within steel mills, replacing the driver with this precise alignment task poses a significant challenge. Existing solutions typically rely on complex locomotive control models, simulating manual locomotive operation in different scenarios to complete alignment tasks. Practice has shown that existing methods require the control model to be highly adapted to the locomotive's conditions, requiring significant time and manpower to develop. Control effectiveness and efficiency are difficult to stabilize, and there is a certain probability of task execution failure and timeout. Consequently, existing methods have poor applicability, and unstable control effectiveness and efficiency. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a locomotive control method and device that can achieve the effect of precise positioning of the locomotive, thereby reducing the difficulty of precise positioning, improving the efficiency of precise positioning, and improving applicability, which is conducive to improving the control effect and control efficiency.

[0004] A first aspect of an embodiment of the present application provides a locomotive control method, comprising:

[0005] When the target locomotive moves on the preset track, adjusting the real-time gear position of the target locomotive in real time so that the speed of the target locomotive is within a preset speed range;

[0006] before detecting that the target locomotive enters the ramp of the preset track, unloading the traction force of the target locomotive to reduce the speed of the target locomotive;

[0007] When detecting that the target locomotive passes through the ramp and enters the central area of the preset track, determining the brake position of the target locomotive;

[0008] The target locomotive is controlled to brake in advance at the braking position so that the slopes on both sides of the preset track assist the target locomotive to stop in the central area.

[0009] In the above implementation process, the method can adjust the real-time gear position of the target locomotive in real time when the target locomotive is moving on the preset track so that the speed of the target locomotive is within the preset speed range; then, before detecting that the target locomotive enters the ramp of the preset track, the traction force of the target locomotive is unloaded to reduce the speed of the target locomotive; then, when detecting that the target locomotive enters the center area of the preset track through the ramp, the brake position of the target locomotive is determined; finally, the target locomotive is controlled to brake in advance at the brake position so that the slopes on both sides of the preset track assist the target locomotive to stop in the center area. It can be seen that this method can achieve the effect of precise locomotive alignment, thereby reducing the difficulty of precise alignment, improving the efficiency of precise alignment, and improving applicability, which is conducive to improving control effect and control efficiency.

[0010] Furthermore, the central area of the preset track includes a smooth track of a preset length, both sides of the smooth track extend outward according to the preset track slope, and the preset slope value is reduced every preset slope length until it is horizontal.

[0011] Furthermore, the real-time adjustment of the real-time gear position of the target locomotive includes:

[0012] Obtaining the current speed and real-time position of the target locomotive;

[0013] determining a real-time gear position of the target locomotive according to the current travel speed and the real-time position;

[0014] The gear position of the target locomotive is adjusted to the real-time gear position.

[0015] Furthermore, the determining the brake position of the target locomotive includes:

[0016] detecting current speed data of the target locomotive;

[0017] dynamically calculating a braking distance based on the current speed data;

[0018] A braking position is determined based on the braking distance.

[0019] Furthermore, the obtaining of the current speed and real-time position of the target locomotive includes:

[0020] The current speed and real-time position of the target locomotive are obtained according to a pre-set mobile inertial navigation RTK device and a pre-set laser ranging device, wherein the laser ranging device is set at one end of the pre-set track.

[0021] A second aspect of an embodiment of the present application provides a locomotive control device, the locomotive control device comprising:

[0022] an adjusting unit, configured to adjust a real-time gear position of the target locomotive in real time when the target locomotive moves on a preset track, so that the speed of the target locomotive is within a preset speed range;

[0023] an unloading unit, configured to unload the traction force of the target locomotive to reduce the speed of the target locomotive before detecting that the target locomotive enters the ramp of the preset track;

[0024] a determining unit, configured to determine a brake position of the target locomotive when detecting that the target locomotive passes through the ramp and enters the central area of the preset track;

[0025] The control unit is configured to brake the target locomotive in advance at the braking position so that the slopes on both sides of the preset track assist the target locomotive in stopping in the central area.

[0026] In the above implementation process, the device can adjust the real-time gear position of the target locomotive in real time when the target locomotive moves on the preset track through the adjustment unit, so that the speed of the target locomotive is within the preset speed range; unload the traction force of the target locomotive before detecting that the target locomotive enters the ramp of the preset track through the unloading unit to reduce the speed of the target locomotive; determine the brake position of the target locomotive when detecting that the target locomotive enters the central area of the preset track through the determination unit; and then control the target locomotive to brake in advance at the brake position through the control unit, so that the slopes on both sides of the preset track assist the target locomotive to stop in the central area. It can be seen that the device can achieve the effect of precise positioning of the locomotive, thereby reducing the difficulty of precise positioning, improving the efficiency of precise positioning, and improving applicability, which is conducive to improving the control effect and control efficiency.

[0027] Furthermore, the central area of the preset track includes a smooth track of a preset length, both sides of the smooth track extend outward according to the preset track slope, and the preset slope value is reduced every preset slope length until it is horizontal.

[0028] Furthermore, the adjustment unit includes:

[0029] an acquisition subunit, configured to acquire the current speed and real-time position of the target locomotive when the target locomotive moves on a preset track;

[0030] a first determining subunit, configured to determine a real-time gear position of the target locomotive according to the current travel speed and the real-time position;

[0031] The adjusting subunit is configured to adjust the gear position of the target locomotive to the real-time gear position.

[0032] Furthermore, the determining unit includes:

[0033] a detection subunit, configured to detect current speed data of the target locomotive when detecting that the target locomotive passes through the ramp and enters the central area of the preset track;

[0034] a calculation subunit, configured to dynamically calculate a braking distance based on the current speed data;

[0035] The second determining subunit is configured to determine a braking position according to the braking distance.

[0036] Furthermore, the acquisition subunit is specifically used to obtain the current travel speed and real-time position of the target locomotive when the target locomotive moves on the preset track based on a preset mobile inertial navigation RTK device and a preset laser ranging device; wherein the laser ranging device is set at one end of the preset track.

[0037] A third aspect of an embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the locomotive control method described in any one of the first aspects of the embodiment of the present application.

[0038] A fourth aspect of the embodiments of the present application provides a computer-readable storage medium storing computer program instructions. When the computer program instructions are read and executed by a processor, the locomotive control method described in any one of the first aspects of the embodiments of the present application is executed. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A schematic flow chart of a locomotive control method provided in an embodiment of the present application;

[0041] Figure 2 A flow chart of another locomotive control method provided in an embodiment of the present application;

[0042] Figure 3 A schematic structural diagram of a locomotive control device provided in an embodiment of the present application;

[0043] Figure 4 A schematic structural diagram of another locomotive control device provided in an embodiment of the present application;

[0044] Figure 5A schematic diagram of a special track for applying a locomotive control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0046] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0047] Example 1

[0048] Please see Figure 1 , Figure 1 A flow chart of a locomotive control method is provided for this embodiment. The locomotive control method includes:

[0049] S101. When a target locomotive moves on a preset track, a real-time gear position of the target locomotive is adjusted in real time to ensure that the speed of the target locomotive is within a preset speed range.

[0050] S102: before detecting that the target locomotive enters the ramp of the preset track, unloading the traction force of the target locomotive to reduce the speed of the target locomotive.

[0051] S103: When it is detected that the target locomotive passes through the ramp and enters the central area of the preset track, the brake position of the target locomotive is determined.

[0052] In this embodiment, the central area of the preset track includes a smooth track of a preset length, and both sides of the smooth track extend outward according to the preset track slope, and the preset slope value is reduced every preset slope length until it is horizontal.

[0053] S104: Control the target locomotive to brake in advance at the braking position so that the slopes on both sides of the preset track assist the target locomotive to stop in the center area.

[0054] Please refer to Figure 5 , Figure 5A schematic diagram of the special track required for the application of this method is shown. In actual application, the tank car wheel stop position during precise alignment can be set at the center of the track, and the distance between the two sets of wheels of the molten iron tank car can be measured. Then, the center of the track is designed to be a smooth track with a length of this distance. Both sides of the smooth track extend outward according to the maximum slope allowed by the track (designed at 30‰, and specifically manufactured according to the regulations of different steel mills), and the slope is reduced by 15‰ every 2m until it is horizontal. Since the tank cars in steel mills are generally of uniform model and are roughly divided into torpedo tank cars or open tank cars, the track and method have high versatility. For some different models, the special track can also dynamically adjust the length and slope of each section according to the length of different models, thereby ensuring the smooth implementation of this method.

[0055] In this embodiment, the execution subject of the method may be a computing device such as a computer or a server, and this is not limited in this embodiment.

[0056] In this embodiment, the execution subject of the method may also be a smart device such as a smart phone, a tablet computer, etc., which is not limited in this embodiment.

[0057] It can be seen that the locomotive control method described in this embodiment can assist the locomotive in precise positioning through special tracks, thereby reducing the difficulty of precise positioning, improving the precise positioning efficiency, and improving applicability, which is conducive to improving the control effect and control efficiency.

[0058] Example 2

[0059] Please see Figure 2 , Figure 2 A flow chart of a locomotive control method is provided for this embodiment. The locomotive control method includes:

[0060] S201. When a target locomotive moves on a preset track, the current speed and real-time position of the target locomotive are obtained according to a preset mobile inertial navigation RTK device and a preset laser ranging device.

[0061] In this embodiment, the laser ranging device is arranged at one end of the preset track.

[0062] S202: Determine the real-time gear position of the target locomotive according to the current travel speed and real-time position.

[0063] S203: Adjust the gear position of the target locomotive to the real-time gear position so that the speed of the target locomotive is within a preset speed range.

[0064] S204: before detecting that the target locomotive enters the ramp of the preset track, unloading the traction force of the target locomotive to reduce the speed of the target locomotive.

[0065] S205 . When it is detected that the target locomotive passes through the ramp and enters the central area of the preset track, the current speed data of the target locomotive is detected.

[0066] S206. Dynamically calculate the braking distance based on the current speed data.

[0067] S207: Determine the braking position according to the braking distance.

[0068] In this embodiment, the central area of the preset track includes a smooth track of a preset length, and both sides of the smooth track extend outward according to the preset track slope, and the preset slope value is reduced every preset slope length until it is horizontal.

[0069] S208: Control the target locomotive to brake in advance at the braking position so that the slopes on both sides of the preset track assist the target locomotive to stop in the center area.

[0070] In this embodiment, the method can be implemented using a mobile inertial navigation RTK device and a laser ranging device placed at the end of the track. Specifically, when the locomotive moves on the track, the method can regard it as a one-dimensional motion. In the process of approaching the alignment point, the laser data of the tank car is stable and continuous when traveling in a horizontal area. On a sloped track, the laser data may be missing because the laser beam cannot hit the reflector. At this time, the method can use the position data of the mobile inertial navigation RTK device to guide the locomotive through the ramp area. At the same time, the data of the two devices are fused and verified with each other to accurately measure high-precision position data. The mobile inertial navigation RTK device can also provide the current speed of the locomotive and transmit the position data back through the wireless network.

[0071] In this embodiment, the method sets the speed according to the distance to the alignment point (e.g., the speed is kept within 1.5 km / h in the range of 0m-20m to the alignment point, and the speed is kept within 4 km / h in the range of 20m-50m to the alignment point), and improves the efficiency of completing the alignment task while ensuring the alignment success rate as much as possible. Specifically, the method can adjust the locomotive gear in real time according to the position and speed data provided by the data acquisition module, so that the locomotive speed is controlled within the set speed range, and unload the locomotive traction before entering the ramp to reduce the speed as much as possible, so that the tank car can slide smoothly to the center area of the track, and when the tank car enters the center area of the track, the data processing module will continuously and dynamically calculate the braking distance according to the speed data and brake in advance at the appropriate position; at the same time, the slopes on both sides will assist the tank car to stop stably and accurately in the center area.

[0072] In this embodiment, the execution subject of the method may be a computing device such as a computer or a server, and this is not limited in this embodiment.

[0073] In this embodiment, the execution subject of the method may also be a smart device such as a smart phone, a tablet computer, etc., which is not limited in this embodiment.

[0074] It can be seen that the locomotive control method described in this embodiment can assist the locomotive in precise positioning through special tracks, thereby reducing the difficulty of precise positioning, improving the precise positioning efficiency, and improving applicability, which is conducive to improving the control effect and control efficiency.

[0075] Example 3

[0076] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of a locomotive control device provided in this embodiment. Figure 3 As shown, the locomotive control device includes:

[0077] an adjustment unit 310 for adjusting the real-time gear position of the target locomotive in real time when the target locomotive moves on the preset track so that the speed of the target locomotive is within a preset speed range;

[0078] an unloading unit 320 for unloading the traction force of the target locomotive to reduce the speed of the target locomotive before detecting that the target locomotive enters a ramp of a preset track;

[0079] a determination unit 330 for determining a brake position of the target locomotive when detecting that the target locomotive enters the central area of the preset track through the ramp;

[0080] The control unit 340 is configured to brake the target locomotive in advance at the braking position so that the slopes on both sides of the preset track assist the target locomotive to stop in the center area.

[0081] In this embodiment, the explanation of the locomotive control device can refer to the description in embodiment 1 or embodiment 2, and will not be further elaborated in this embodiment.

[0082] It can be seen that the locomotive control device described in this embodiment can assist the locomotive in precise positioning through special tracks, thereby reducing the difficulty of precise positioning, improving precise positioning efficiency, and improving applicability, which is conducive to improving control effect and efficiency.

[0083] Example 4

[0084] Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of a locomotive control device provided in this embodiment. Figure 4 As shown, the locomotive control device includes:

[0085] an adjustment unit 310 for adjusting the real-time gear position of the target locomotive in real time when the target locomotive moves on the preset track so that the speed of the target locomotive is within a preset speed range;

[0086] an unloading unit 320 for unloading the traction force of the target locomotive to reduce the speed of the target locomotive before detecting that the target locomotive enters a ramp of a preset track;

[0087] a determination unit 330 for determining a brake position of the target locomotive when detecting that the target locomotive enters the central area of the preset track through the ramp;

[0088] The control unit 340 is configured to brake the target locomotive in advance at the braking position so that the slopes on both sides of the preset track assist the target locomotive to stop in the center area.

[0089] In this embodiment, the central area of the preset track includes a smooth track of a preset length, and both sides of the smooth track extend outward according to the preset track slope, and the preset slope value is reduced every preset slope length until it is horizontal.

[0090] As an optional implementation, the adjustment unit 310 includes:

[0091] An acquisition subunit 311 is used to acquire the current speed and real-time position of the target locomotive when the target locomotive moves on the preset track;

[0092] A first determining subunit 312 is configured to determine a real-time gear position of the target locomotive based on the current travel speed and real-time position;

[0093] The adjusting subunit 313 is configured to adjust the gear position of the target locomotive to the real-time gear position.

[0094] As an optional implementation manner, the determining unit 330 includes:

[0095] The detection subunit 331 is configured to detect current speed data of the target locomotive when it is detected that the target locomotive passes through the ramp and enters the central area of the preset track;

[0096] a calculation subunit 332 for dynamically calculating the braking distance based on the current speed data;

[0097] The second determining subunit 333 is configured to determine the braking position according to the braking distance.

[0098] As an optional embodiment, the acquisition subunit 311 is specifically used to obtain the current speed and real-time position of the target locomotive when the target locomotive moves on the preset track based on a preset mobile inertial navigation RTK device and a preset laser ranging device; wherein the laser ranging device is set at one end of the preset track.

[0099] In this embodiment, the explanation of the locomotive control device can refer to the description in embodiment 1 or embodiment 2, and will not be further elaborated in this embodiment.

[0100] It can be seen that the locomotive control device described in this embodiment can assist the locomotive in precise positioning through special tracks, thereby reducing the difficulty of precise positioning, improving precise positioning efficiency, and improving applicability, which is conducive to improving control effect and efficiency.

[0101] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the locomotive control method in embodiment 1 or embodiment 2 of the present application.

[0102] An embodiment of the present application provides a computer-readable storage medium storing computer program instructions. When the computer program instructions are read and executed by a processor, the locomotive control method in embodiment 1 or embodiment 2 of the present application is executed.

[0103] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0104] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0105] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0106] The foregoing is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures.

[0107] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

[0108] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

Claims

1. A locomotive control method, characterized in that: include: When the target locomotive moves on the preset track, adjusting the real-time gear position of the target locomotive in real time so that the speed of the target locomotive is within a preset speed range; before detecting that the target locomotive enters the ramp of the preset track, unloading the traction force of the target locomotive to reduce the speed of the target locomotive; When detecting that the target locomotive passes through the ramp and enters the central area of the preset track, determining the brake position of the target locomotive; Controlling the target locomotive to brake in advance at the braking position so that the slopes on both sides of the preset track assist the target locomotive to stop in the central area; The central area of the preset track includes a smooth track of a preset length, both sides of the smooth track extend outward according to the preset track slope, and the preset slope value is reduced to horizontal every preset slope length; the preset length is the distance between the front and rear sets of wheels of the locomotive.

2. The locomotive control method according to claim 1, characterized in that: The real-time adjustment of the real-time gear position of the target locomotive includes: Obtaining the current speed and real-time position of the target locomotive; determining a real-time gear position of the target locomotive according to the current travel speed and the real-time position; The gear position of the target locomotive is adjusted to the real-time gear position.

3. The locomotive control method according to claim 1, characterized in that: Determining the brake position of the target locomotive includes: detecting current speed data of the target locomotive; dynamically calculating a braking distance based on the current speed data; A braking position is determined based on the braking distance.

4. The locomotive control method according to claim 2, characterized in that: The obtaining of the current speed and real-time position of the target locomotive includes: The current speed and real-time position of the target locomotive are obtained according to a pre-set mobile inertial navigation RTK device and a pre-set laser ranging device, wherein the laser ranging device is set at one end of the pre-set track.

5. A locomotive control device, characterized in that: The locomotive control device comprises: an adjusting unit, configured to adjust a real-time gear position of the target locomotive in real time when the target locomotive moves on a preset track, so that the speed of the target locomotive is within a preset speed range; an unloading unit, configured to unload the traction force of the target locomotive to reduce the speed of the target locomotive before detecting that the target locomotive enters the ramp of the preset track; a determining unit, configured to determine a brake position of the target locomotive when detecting that the target locomotive passes through the ramp and enters the central area of the preset track; a control unit, configured to brake the target locomotive in advance at the braking position so that the slopes on both sides of the preset track assist the target locomotive in stopping in the central area; The central area of the preset track includes a smooth track of a preset length, both sides of the smooth track extend outward according to the preset track slope, and the preset slope value is reduced to horizontal every preset slope length; the preset length is the distance between the front and rear sets of wheels of the locomotive.

6. The locomotive control device according to claim 5, characterized in that: The adjustment unit includes: an acquisition subunit, configured to acquire the current speed and real-time position of the target locomotive when the target locomotive moves on a preset track; a first determining subunit, configured to determine a real-time gear position of the target locomotive according to the current travel speed and the real-time position; The adjusting subunit is configured to adjust the gear position of the target locomotive to the real-time gear position.

7. The locomotive control device according to claim 5, characterized in that: The determining unit includes: a detection subunit, configured to detect current speed data of the target locomotive when detecting that the target locomotive passes through the ramp and enters the central area of the preset track; a calculation subunit, configured to dynamically calculate a braking distance based on the current speed data; The second determining subunit is configured to determine a braking position according to the braking distance.

8. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to perform the locomotive control method according to any one of claims 1 to 4.

9. A readable storage medium, characterized in that: The readable storage medium stores computer program instructions, and when the computer program instructions are read and executed by a processor, the locomotive control method according to any one of claims 1 to 4 is executed.

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