Intelligent switching control method for power sources of internal and electric dual-source locomotive

Abstract

The invention relates to the field of locomotive intelligent control, and provides an internal and electric double-source locomotive power source intelligent switching control method, which comprises the following steps of: capturing an image in front of a running locomotive; performing feature extraction on the image and determining marker features; and controlling a power supply system to switch a power supply to supply power to a power grid or a generator driven by an internal combustion engine according to the marker characteristics, and enabling a traction motor to obtain power supply from the power supply system so as to pull the locomotive to run. According to the method, intelligent automatic switching of the locomotive power modes can be achieved, the workload of operators can be reduced, and the operability of power source switching of the motor vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of locomotive intelligent control, and in particular to an intelligent switching control method for power sources of an internal and electric dual-source locomotive. Background Art

[0002] Traditional internal and electric dual-source locomotives use a dual-engine external coupling of a diesel-powered vehicle and an electric-powered vehicle to form external coupling control. For example, in patent CN115503766A "A dual-source power centralized EMU power source conversion control method", the power source conversion control method includes: collecting two feedback signals from the operating end and the EMU running speed; determining whether there is a power mode conversion request by monitoring whether the two feedback signals from the operating end have changed; determining whether the EMU running speed is zero speed when it is determined that there is a power mode conversion request; when the EMU running speed is zero speed, unconditionally and directly perform power mode conversion according to the two collected feedback signals, and when the EMU running speed is non-zero speed, perform the pantograph lowering or machine disconnection control switch operation according to the power mode before the conversion, and then perform power mode conversion. The traditional external coupling method has the following disadvantages: 1. Failure to truly integrate internal and external components; 2. The driver is required to manually operate the power vehicle to switch the power source according to the line conditions, which requires a high level of driver attention and can easily cause driver fatigue. Summary of the invention

[0003] In order to improve the safety of locomotive operation and reduce the driver's energy consumption, the present invention proposes an intelligent switching control method for internal and electric dual-source locomotive power sources, the method comprising: capturing an image in front of the locomotive; extracting features from the image and determining marker features; controlling the power supply system to switch the power supply to the grid or a generator driven by an internal combustion engine according to the marker features, and allowing the traction motor to obtain power from the power supply system to pull the locomotive.

[0004] In one or more embodiments, feature extraction is performed on the image and marker features are determined, including: extracting rectangular frame features of objects in the image; calculating adjacent spatial distances between a plurality of similar rectangular frame features; in response to a difference in adjacent spatial distances between a plurality of similar rectangular frame features being less than a first preset threshold, determining that the plurality of similar rectangular frame features are marker features and determining that the route ahead of the locomotive is an electrified route.

[0005] In one or more embodiments, extracting features from the image and determining landmark features further includes: determining that the locomotive is travelling on a non-electrified route ahead in response to the number of landmark features in the image being less than a second preset threshold.

[0006] In one or more embodiments, the power supply system is controlled to switch the power supply source to the grid or the generator driven by the internal combustion engine according to the marker characteristics, including: judging the pre-travel route after a preset distance ahead of the locomotive according to the marker characteristics; in response to the pre-travel route being switched to an electrified route, sequentially controlling the pantograph to be raised from lowered to connected to the grid, the main break to be closed from open so that the power supply system is electrically connected to the pantograph, the internal combustion engine to be stopped from started, and the generator to disconnect power to the power supply system; in response to the pre-travel route being switched to a non-electrified route, sequentially controlling the internal combustion engine to be started from stopped, the generator to resume power supply to the power supply system, the pantograph to be lowered from raised to exit the grid, and the main break to be opened from closed so that the power supply system is disconnected from the pantograph.

[0007] In one or more embodiments, the intelligent switching control method for the power source of an internal and electric dual-source locomotive of the present invention also includes: during the starting and generating process of the internal combustion engine, controlling the internal combustion engine to increase its speed to a first speed and then stimulating the excitation of the generator; obtaining the high-temperature water temperature of the internal combustion engine in real time, and in response to the high-temperature water temperature being greater than a preset temperature threshold, sequentially controlling the pantograph to be raised and lowered to exit the power grid, and the main breaker to be closed and opened to disconnect the power supply system from the pantograph.

[0008] In one or more embodiments, the intelligent switching control method for the internal and electric dual-source locomotive power source of the present invention further includes: in response to the main breaker being disconnected, controlling the internal combustion engine to slow down to a second speed.

[0009] In one or more embodiments, the intelligent switching control method for the power source of an internal and electric dual-source locomotive of the present invention also includes: controlling the start of the four-quadrant rectifier unit in the power supply system before the internal combustion engine stops, and gradually increasing the grid power introduced by the pantograph through the four-quadrant rectifier unit control; controlling the generator to gradually reduce the load, cut off the excitation and stop the internal combustion engine.

[0010] In one or more embodiments, the intelligent switching control method for the power source of an internal and electric dual-source locomotive of the present invention also includes the following manual switching process: before determining the marker characteristics and preparing to automatically switch the power source, a power mode switching prompt is displayed on the host interface pop-up screen and the power source switching is automatically controlled after a preset delay, and the control of the host operating handle is locked; in response to the pole position change of the host operating handle within the preset delay, the automatic switching mode of the power source is exited and converted to manual switching mode; when the power mode switching is successful or converted to manual switching mode, the control of the host operating handle is restored.

[0011] In one or more embodiments, the intelligent switching control method for internal and electric dual-source locomotive power sources of the present invention also includes: when the automatic switching mode fails, forcibly switching to manual switching mode through a hardware soft switch; when the manual switching mode fails, the software switch on the main control screen starts the instruction forced input function to force switching to automatic switching mode.

[0012] In one or more embodiments, the manual switching mode further includes: controlling a hybrid power supply of internal combustion power supply and grid power supply at the same time.

[0013] The beneficial effects of the present invention include: the method of the present invention can realize the intelligent automatic switching of the locomotive power mode, can reduce the workload of operators, improve the operability of the power source switching of the power vehicle, and greatly improve productivity; and the method of the present invention can realize the power source conversion of the locomotive without stopping, and does not affect the locomotive's driving speed to achieve power mode conversion under high traction power performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other embodiments can be obtained based on these drawings without paying creative work.

[0015] Figure 1 This is a working flow chart of an intelligent switching control method for a power source of an internal and electric dual-source locomotive according to an embodiment of the present invention; Figure 2 The image processing workflow diagram of the embodiment of the present invention; Figure 3 A schematic diagram of the power source switching control logic of an embodiment of the present invention; Figure 4 A circuit structure diagram of a power supply system of the present invention according to an embodiment of the present invention; Figure 5 A schematic diagram of the connection relationship between the main control system and the visual recognition system, the pantograph system, the main breaker control system and the diesel generator set control system according to an embodiment of the present invention; Figure 6 Schematic diagram of the state of the pantograph during the power switching process of an embodiment of the present invention. DETAILED DESCRIPTION

[0016] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the embodiments of the present invention are further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0017] It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are for distinguishing two non-identical entities with the same name or non-identical parameters. It can be seen that "first" and "second" are only for the convenience of expression and should not be understood as limitations on the embodiments of the present invention. The subsequent embodiments will not explain this one by one.

[0018] In order to improve the safety of locomotive driving, the present invention proposes an intelligent switching control method for internal and electric dual-source locomotive power sources, and its working process is as follows: Figure 1 As shown, it includes: step S1, capturing an image in front of the locomotive; In an optional embodiment, in order to capture images, the locomotive will be equipped with one or more cameras, such as a conventional camera and a night vision camera for capturing images in front of the locomotive, wherein the two cameras can work simultaneously, and the processing system automatically selects any one of the image data according to the image quality; in addition, the two cameras can also work in different time periods, such as the conventional camera for daytime work and the night vision camera for nighttime work, so that the method of the present invention can be used both day and night.

[0019] In another optional embodiment, the locomotive can also be equipped with a laser radar to assist night driving, wherein the laser radar data will be used to assist in screening the image data captured by the night vision camera and to interpolate the missing image data. For example, in a foggy section at night, the night vision camera may not be able to capture a clear image, and in the subsequent feature extraction process, the features of the landmarks in some electrified sections may be misjudged. At this time, if the radar data has relevant data, it can be used for screening or interpolation supplementation.

[0020] Step S2, extract features from the image and determine the features of the markers; the feature extraction in this step can be achieved by conventional image processing methods, and the important thing is to quickly determine the features of the markers; for this purpose, this step will be implemented in combination with the characteristics of uniform distribution of markers in the electrical section.

[0021] In an optional embodiment, the present invention extracts rectangular frame features of objects in an image; calculates adjacent spatial distances between multiple similar rectangular frame features; and in response to the difference in adjacent spatial distances between multiple similar rectangular frame features being less than a first preset threshold, determines that multiple similar rectangular frame features are landmark features and determines that the route ahead of the locomotive is an electrified route. Specifically, in this embodiment, the category of the rectangular frame feature can be determined by calculating the length and width ratio of the rectangular frame, and when the difference in the length and width ratio of two rectangular frame features is less than a second threshold, determines that they are similar rectangular frame features.

[0022] Specifically, this embodiment combines image feature recognition and the regularity of the appearance of markers in electrified sections to achieve rapid confirmation of marker features. Once multiple similar features with similar spatial distances appear, the forward driving section is judged to be an electrified section. Among them, the spatial distance in this embodiment is the actual distance between objects, which needs to be calculated in combination with the software and hardware parameters of the camera. If necessary, a binocular camera or a depth camera that is convenient for image ranging can be used to capture the image. Among them, the rectangular frame feature is a rectangular frame formed by the maximum length and width of the object to enclose the object.

[0023] In another optional embodiment, the present invention will extract high-voltage contact network features, high-voltage wire pole features and / or high-voltage connecting component features in the image; and determine whether to enter an electrified railway section by accurately identifying electrification features.

[0024] In one embodiment, the relatively complete image processing process of the present invention can be found in Figure 2 , including: video stream acquisition; data preprocessing, the purpose of which is to remove unclear images or interpolate missing frames, and this process can be performed using lidar data; feature extraction, which can use conventional image recognition methods to distinguish objects in the image; amplification weights, which are used to screen out target objects from a large number of image objects; roadbed object recognition, and using the prediction rules of the present invention to judge electrified lines, where roadbed objects include but are not limited to power cables, utility poles, tunnels, bridges and railways; deep learning of the judgment results and updating of the amplification weights, this process can determine whether the judgment results are accurate based on whether manual operation intervenes in the automatic switching, thereby performing deep learning.

[0025] In another optional embodiment, in order to achieve faster feature recognition, this embodiment does not perform feature comparison on high-voltage contact network features, high-voltage wire pole features and / or high-voltage connecting component features to accurately determine what the specific feature objects are, but only defines the scope of the feature object through a rectangular frame, and determines whether it is a high-voltage contact network line, a high-voltage wire pole or a high-voltage connecting component by the size and shape (such as the aspect ratio) of the rectangular frame, and then quickly determines whether it is a marker feature based on whether the appearance of the identified object is regular.

[0026] In a further embodiment, extracting features from the image and determining the features of the markers further includes: in response to the number of the features of the markers in the image being less than a second preset threshold, determining that the locomotive is travelling on a non-electrified route ahead. Specifically, when the number of features of the markers in the image decreases, it indicates that there is a problem with the continuity of the markers, that is, it indicates that the locomotive is about to enter a non-electrified section.

[0027] Specifically, the second preset threshold in this embodiment needs to be determined based on the maximum number of markers that can be captured in a normal image. For example, when the number of markers in an image is only 50% or less of the maximum number of markers in a normal image, it is considered that the vehicle is about to enter a non-electrified section. A normal image refers to an image captured in a straight section with good visual conditions.

[0028] Step S3, according to the characteristics of the marker, control the power supply system to switch the power supply source to the power grid or the generator driven by the internal combustion engine, and enable the traction motor to obtain power from the power supply system to pull the locomotive.

[0029] Specifically, the power traction of the internal and electric dual-source locomotive is realized by the electric motor. In the internal combustion engine working mode, it is also necessary to generate electricity through the internal combustion engine generator set to drive the electric motor to achieve locomotive traction. Among them, the commonly used internal combustion engine generator set is the diesel generator set. The advantage of this working mode is that it can not only be powered by the power grid or the internal combustion engine generator set alone, but also by both of them at the same time to cope with changing situations.

[0030] In an optional embodiment, step S3 further includes: step S31, determining a predicted travel route of the locomotive after a preset distance ahead according to the characteristics of the marker; Among them, the condition of the preset distance in front of the locomotive can be adjusted by adjusting the focus position of the camera or the angle of the laser radar. The purpose of this step S31 is to reserve sufficient process operation time for the power source switching.

[0031] Step S32, in response to the pre-driving route being switched to the electrified route, sequentially controlling the pantograph to be raised from being lowered to access the power grid, the main breaker to be closed from being opened so that the power supply system is electrically connected to the pantograph, the internal combustion engine to be stopped from being started, and the generator to disconnect the power supply to the power supply system; Among them, in the process of switching from power supply by internal combustion engine generator set to power supply by power grid, it is necessary to first connect the locomotive's power supply system to the power grid for a short period of grid-connected operation (power supply by the power grid and the internal combustion engine generator set at the same time) and then stop the internal combustion engine generator set; among them, the process of connecting the locomotive's power supply system to the power grid can be roughly divided into two processes. First, the pantograph contacts the power grid to introduce electric energy into the locomotive, and then the main breaker is closed to truly realize the introduction of electric energy from the power grid into the locomotive's power supply system.

[0032] In an optional embodiment, before the internal combustion engine is shut down in step S32, the four-quadrant rectifier unit in the power supply system is controlled to start and the grid power introduced by the pantograph is gradually increased through the four-quadrant rectifier unit control; the generator is controlled to gradually reduce the load, cut off the excitation and stop the internal combustion engine.

[0033] Specifically, in this embodiment, the process of introducing grid power and the process of reducing the load of the generator are carried out simultaneously, and the power gap after the generator is reduced is supplemented by the grid power. This embodiment can ensure the smooth speed reduction of the internal combustion engine generator set to achieve safe shutdown.

[0034] Step S33, in response to the pre-driving route being switched to a non-electrified route, the internal combustion engine is sequentially controlled to start from shutdown and the generator to resume power supply to the power supply system, the pantograph is controlled to be ...

[0035] Among them, in the process of switching from power supply of the grid to power supply of the internal combustion engine generator set, it is necessary to start the internal combustion generator set first and perform a short grid-connected operation (power supply of the grid and the internal combustion engine generator set at the same time), and then lower the pantograph and disconnect the main breaker; among them, the method of lowering the pantograph first and then disconnecting the main breaker helps to disconnect the main breaker normally and avoid arcing, burning and other problems on the main breaker side.

[0036] In an optional embodiment, step S33 further includes: during the process of starting and generating electricity of the internal combustion engine, controlling the internal combustion engine to increase its speed to a first speed and then stimulating the generator excitation; obtaining the high-temperature water temperature of the internal combustion engine in real time, and in response to the high-temperature water temperature being greater than a preset temperature threshold, sequentially controlling the pantograph to be raised and lowered to exit the power grid, and the main breaker to be opened and closed to disconnect the power supply system from the pantograph; in response to the main breaker being opened, controlling the internal combustion engine to slow down to a second speed.

[0037] Specifically, in order to achieve safe grid connection in this embodiment, the internal combustion engine needs to be increased to a first speed to adapt to the grid frequency, and then reduced to a second speed for long-term operation. The high-temperature water temperature is used to determine whether the working state of the internal combustion engine is stable, and the grid power supply is cut off after the internal combustion engine is stable.

[0038] See also Figure 3 , which shows the complete control logic of the automatic switching power source of the present invention, including: The section ahead is identified as an electrified railway section through image recognition; the power source is switched to control the pantograph to be raised, the main breaker to be closed, the diesel engine to be stopped, and the generator to be powered off; it is confirmed that the operation is in the internal combustion traction mode; the section ahead is determined to be switched to a non-electrified railway section through image recognition; the power source is switched to control the pantograph to be lowered, the main breaker to be opened, the diesel engine to be started, and the generator to be powered on; it is confirmed that the operation is in the internal combustion traction mode; if there is no need to switch the power source, the working state is maintained unchanged; and the operation is repeated in this way.

[0039] In a further embodiment, the above-mentioned intelligent power source switching process can also be linked with manual operation. The manual operation process and the linkage process include: step 100, before determining the marker characteristics and preparing to automatically switch the power source, the power mode switching prompt is displayed on the host interface pop-up screen and the power source switching is automatically controlled after a preset delay, and the control of the host operating handle is locked; step 200, in response to the extreme position change of the host operating handle within the preset delay, the automatic switching mode of the power source is exited and converted to manual switching mode; step 300, when the prompt of successful power mode switching or conversion to manual switching mode is obtained, the control of the host operating handle is restored.

[0040] Specifically, take the locomotive in the diesel engine starting and excitation input state as an example: ① The main engine operating handle is at position "0", the power mode is in the dual power allowed operation state, the pantograph is raised, and the main breaker is closed (that is, it automatically switches to the grid power supply). At this time, the four-quadrant rectifier unit starts to work and gradually takes over the power supply. The microcomputer display prompts the driver to "switch to the power mode"; ② When the host operating handle returns to zero, the generator is controlled to automatically reduce load and cut off excitation, and the diesel engine is stopped, and the post-lubrication will automatically start; ③ After confirming that it is in power mode, the main control microcomputer system exits the automatic mode and then exerts pure electric power according to the level of the host operating handle; ④ If the excitation is not cut off and the diesel engine is stopped, and the power source is forced to be non-automatically changed through the main engine operating handle, such as turning the power switch to the power position, the excitation will be cut off and the engine will be shut down. The main breaker and pantograph will remain in the current state, and the locomotive traction will be blocked until the system recognizes that the traction handle has returned to zero for confirmation.

[0041] In an optional embodiment, in the internal combustion generator power supply mode, the host operating handle is used to control the internal combustion engine speed and thus control the generator output power. At this time, the output intermediate DC voltage can be controlled by controlling the excitation current. Specifically, the host operating handle gear position, diesel engine speed and main power voltage comparison table is as follows: Main engine operating handle gear position, diesel engine speed and main generator power voltage comparison table

[0042] In a further embodiment, in order to avoid failures in the automatic or manual switching of power sources, the method of the present invention also includes: when the automatic switching mode fails, forcibly switching to the manual switching mode through a hardware soft switch; when the manual switching mode fails, the software switch on the main control screen starts the instruction to force the function to switch to the automatic switching mode.

[0043] Specifically, the power mode switching conditions of the present invention include: only the operating end (i.e., the main control microcomputer) can perform mode conversion. When the locomotive has no operating faults, the main control microcomputer is triggered according to the power mode requirements and maintains an effective activation state. After the mode recognition is effective, the main control display unit will pop up a screen prompt "Power mode conversion", and the pop-up screen disappears after 3 seconds, locking the control of the main control handle, waiting for the mode conversion to be completed; if the driver's manual operation handle changes within 3 seconds, the automatic conversion is exited. When the new power mode conversion is successful, the driver can re-operate the driver controller handle to the traction area and electric brake area to control the vehicle operation.

[0044] When a fault occurs in the internal power mode selection, the hardware soft switch can be manually selected to switch to the manual mode. When the manual hardware switch fails, the main control display unit power mode software switch can be selected to perform the command forced input function. The specific functions are as follows: 1) Set the "Internal Power Mode Command Force" interface on the device control interface of the display screen; 2) The interface includes: forced activation and cancellation of the internal power mode software switch. After selecting activation, you can select the internal power mode, including electric power, internal combustion, and hybrid; 3) After selecting a new location, a pop-up screen will appear to prompt the selection and you need to click to confirm. The pop-up screen includes two buttons: "Confirm" and "Cancel". After activation, the display screen should continue to prompt "Internal power mode has been forced through the display screen"; 4) The mandatory function of the display screen takes precedence over the operating function of the transfer switch and is not restricted by whether the transfer switch is faulty; 5) This function is only valid in the master car setting; 6) It is recommended to select this function when the manual switch hardware fails and the automatic conversion function fails.

[0045] Through the above-mentioned implementation manner, the present invention realizes redundancy of the power source switching process by manual operation and automatic operation, thereby better ensuring the safety of locomotive driving.

[0046] In a further embodiment, the manual switching mode of the present invention further includes: controlling the mixed power supply of internal combustion power supply and grid power supply at the same time. Specifically, this embodiment can be controlled by controlling the extreme position of the host operating handle.

[0047] See also Figure 4 , which shows the circuit structure of the power supply system of the present invention, wherein the internal and electric dual-source power integrated locomotive traction system of the present invention adopts a main-auxiliary integrated structure, and the traction, auxiliary, and train supply share the intermediate DC link. The rectifier unit includes two types: electric four-quadrant rectifier unit and internal combustion diode uncontrolled rectifier, which can be powered by electric power alone, internal combustion power alone, or hybrid power.

[0048] Specifically, in the electric mode, the K1-K3 (i.e., main breaker) contactors are closed, the CV1-CV3 four-quadrant rectifier unit is in working state, and the K4 (internal combustion generator power supply control switch) contactor is disconnected; in the internal combustion power supply mode, the K1-K3 contactors are disconnected, the K4 contactors are closed, and the CV4 excitation control unit is in working state; in the hybrid mode, the K1-K4 contactors are closed, and the CV1-CV3 four-quadrant rectifier unit and the CV4 excitation control unit are both in working state. The power supply system of the present invention realizes the integrated control of internal and electric power sources, which is helpful to realize intelligence and hybrid power output.

[0049] See also Figure 5 , which shows the communication control relationship between the main control system of the present invention and the visual recognition system, pantograph system, main breaker control system (included in the power supply system) and diesel generator set system; wherein the main control system communicates with the visual recognition system, pantograph system and diesel generator set system respectively, and is used to send control commands to each system, thereby realizing control integration.

[0050] See also Figure 6 , which shows a schematic diagram of the state of the power switching pantograph of the present invention. In the electrified section, the pantograph is in a raised state, and in the non-electrified section, the pantograph is in a lowered state.

[0051] The above are exemplary embodiments disclosed in the present invention, but it should be noted that various changes and modifications may be made without departing from the scope disclosed in the embodiments of the present invention as defined in the claims. The functions, steps and / or actions of the method claims according to the disclosed embodiments described herein do not need to be performed in any particular order. In addition, although the elements disclosed in the embodiments of the present invention may be described or required in individual form, they may also be understood as multiple unless explicitly limited to the singular.

[0052] It should be understood that, as used herein, the singular forms "a", "an" are intended to include the plural forms as well, unless the context clearly supports an exception. It should also be understood that, as used herein, "and / or" refers to any and all possible combinations including one or more of the associated listed items.

[0053] The serial numbers of the embodiments disclosed in the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0054] A person skilled in the art should understand that the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the disclosure of the embodiments of the present invention (including the claims) is limited to these examples; under the concept of the embodiments of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and there are many other changes in different aspects of the above embodiments of the present invention, which are not provided in detail for the sake of simplicity. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present invention should be included in the protection scope of the embodiments of the present invention.

Claims

1. An intelligent switching control method for internal and electric dual-source locomotive power sources, characterized in that: The method comprises: Capturing images ahead of the locomotive; Extracting features from the image and determining landmark features; According to the characteristics of the marker, the power supply system is controlled to switch the power supply source to the power grid or the generator driven by the internal combustion engine, and the traction motor obtains power from the power supply system to pull the locomotive.

2. The intelligent switching control method for internal and electric dual-source locomotive power sources according to claim 1 is characterized in that: Extracting features from the image and determining landmark features include: Extracting rectangular frame features of objects in the image; Calculate the adjacent space distance between multiple similar rectangular frame features; In response to the difference in adjacent spatial distances between a plurality of similar rectangular frame features being less than a first preset threshold, the plurality of similar rectangular frame features are determined to be landmark features and the route ahead of the locomotive is determined to be an electrified route.

3. The intelligent switching control method for internal and electric dual-source locomotive power sources according to claim 2 is characterized in that: Extracting features from the image and determining the features of the markers also includes: In response to the number of landmark features in the image being less than a second preset threshold, it is determined that the route ahead of the locomotive is a non-electrified route.

4. The intelligent switching control method for internal and electric dual-source locomotive power sources according to claim 3 is characterized in that: Controlling the power supply system to switch the power supply source to the grid or the generator driven by the internal combustion engine according to the characteristics of the marker includes: Determining a predicted travel route of the locomotive after a preset distance ahead according to the characteristics of the marker; In response to the pre-driving route being switched to an electrified route, sequentially controlling the pantograph to be raised from being lowered to access the power grid, the main breaker to be closed from being opened so that the power supply system is electrically connected to the pantograph, the internal combustion engine to be stopped from being started, and the generator to disconnect the power supply to the power supply system; In response to the fact that the pre-driving route will be switched to a non-electrified route, the internal combustion engine is controlled in sequence to start from shutdown and the generator to resume power supply to the power supply system, the pantograph is controlled to be lowered from raised to exit the power grid, and the main breaker is controlled to be opened from closed to disconnect the power supply system from the pantograph.

5. The intelligent switching control method for internal and electric dual-source locomotive power sources according to claim 4 is characterized in that: The method further comprises: During the process of starting and generating electricity of the internal combustion engine, controlling the internal combustion engine to increase its speed to a first speed and then exciting the generator excitation; The high-temperature water temperature of the internal combustion engine is acquired in real time, and in response to the high-temperature water temperature being greater than a preset temperature threshold, the pantograph is controlled to be raised and lowered to exit the power grid, and the main breaker is controlled to be opened and closed to disconnect the power supply system from the pantograph.

6. The intelligent switching control method for internal and electric dual-source locomotive power sources according to claim 5 is characterized in that: The method further comprises: In response to the main breaker being opened, the internal combustion engine is controlled to reduce speed to operate at a second speed.

7. The intelligent switching control method for internal and electric dual-source locomotive power sources according to claim 5 is characterized in that: The method further comprises: Before the internal combustion engine stops, the four-quadrant rectifier unit in the power supply system is controlled to start and the grid power introduced by the pantograph is gradually increased through the four-quadrant rectifier unit control; The generator is controlled to gradually reduce load, cut off excitation and stop the internal combustion engine.

8. The intelligent switching control method for internal and electric dual-source locomotive power sources according to any one of claims 1 to 7, characterized in that: The switching control method also includes the following manual switching process: Before determining the characteristics of the marker and preparing to automatically switch the power source, the host interface pops up a power mode switching prompt and automatically controls the power source switch after a preset delay, and locks the control of the host operating handle; In response to the change in the polarity of the host operating handle within the preset delay, exiting the automatic switching mode of the power source and switching to the manual switching mode; When the power mode is successfully switched or converted to manual switching mode, the control of the host operating handle is restored.

9. The intelligent switching control method for internal and electric dual-source locomotive power sources according to claim 8 is characterized in that: The method further comprises When the automatic switching mode fails, the hardware soft switch is used to force the switch to the manual switching mode; When the manual switching mode fails, the software switch on the main control screen starts the command forced input function to force switching to automatic switching mode.

10. The intelligent switching control method for internal and electric dual-source locomotive power sources according to claim 8, characterized in that: The manual switching mode also includes: Control the hybrid power supply of internal combustion power supply and grid power supply at the same time.

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