Travel warning control system for electric locomotive

Abstract

The present application provides a driving warning control system for a locomotive, which relates to the technical field of rail transit. The driving warning control system for the locomotive includes a locomotive, an environmental information acquisition module, and a server. The first track image is obtained through the first image acquisition module arranged at the front end of the locomotive, the meteorological information and the second track image are obtained through the environmental information acquisition module, and the server predicts the length and starting position of the ice-covered track based on the first track image, the second track image, and the meteorological information. By predicting the starting position and length of the ice-covered section, preheating preparation for the sand grains is carried out in advance, and efficient sand blasting can be achieved at the initial stage of entering the ice-covered section, reducing the energy consumption during the preheating process. Since the sand blasting temperature can be stabilized when entering the ice-covered section, the situation of increasing the sand blasting amount to increase the friction coefficient at the initial stage can be avoided, thereby improving the utilization rate of the sand grains, and the situation of high-power heating of the sand grains can be avoided, improving the resource utilization rate.

Description

Technical Field

[0001] This application relates to the technical field of rail transit, and particularly to a driving warning control system for a locomotive. Background Art

[0002] Under harsh weather conditions such as rain and snow, due to the icing of the track, the adhesion between the wheels of the locomotive and the track will be significantly reduced, resulting in wheel slip or idling. This not only increases the braking distance of the locomotive, but also may cause unnecessary wear to the wheels and rails, affecting the smooth operation of the locomotive and the comfort of passengers. Currently, sanding is generally used to improve the problem of the reduced friction coefficient between the wheels and the rails.

[0003] In the related art, generally, sanding measures are taken as an emergency when traveling on an icy track, which is prone to problems of low resource utilization rate and high energy consumption. Summary of the Invention

[0004] This application provides a driving warning control system for a locomotive, which can predict the icing condition of the road section ahead of the train, preheat the sand grains in advance, and realize efficient sandblasting at the initial stage of entering the icy section, reducing the energy consumption during the preheating process; in addition, since the sandblasting temperature can be stabilized when entering the icy section, the situation of increasing the sandblasting amount to improve the friction coefficient at the initial stage can be avoided, thereby improving the utilization rate of sand grains, avoiding the situation of high-power heating of sand grains, and improving the resource utilization rate.

[0005] A driving warning control system for a locomotive provided by this application includes:

[0006] A locomotive, an environmental information collection module, and a server;

[0007] The locomotive travels on the track, and a first image collection module and a sandblasting preheating module are arranged at the front end of the locomotive. Both the first image collection module and the sandblasting preheating module are connected to the server. The first image collection module is used to collect the first track image in front of the locomotive and upload the first track image to the server. The sandblasting preheating module is used to receive the preheating start instruction sent by the server to preheat the sand grains according to the preheating start instruction;

[0008] The environmental information collection module is installed at a preset position beside the track in front of the locomotive. The environmental information collection module is used to collect meteorological information and a second track image, and upload the meteorological information and the second track image to the server; the meteorological information includes humidity, temperature, wind direction, and wind force; the second track image is the track image collected by the environmental information collection module at the preset position facing the locomotive;

[0009] The server is used to receive the first track image, meteorological information, and the second track image; determine the length and starting position of the icing track based on the meteorological information, the first track image, and the second track image; determine the preheating time and sand blasting amount based on the length of the icing track; determine the time interval for the locomotive to reach the starting position of the icing track based on the current position of the locomotive, the starting position of the icing track, and the current traveling speed of the locomotive; when the time interval is greater than the preheating time, send a preheating start instruction to the sand blasting preheating module after the waiting time, so that the sand blasting preheating module preheats the sand grains based on the sand blasting amount, and the waiting time is the difference between the time interval and the preheating time; when the time interval is less than or equal to the preheating time, send a preheating start instruction to the sand blasting preheating module.

[0010] Optionally, the server is further used to determine the icing thickness based on the meteorological information and the second track image; determine the target sand blasting strategy based on the icing thickness and the preset sand blasting strategy, and send the target sand blasting strategy to the sand blasting control module.

[0011] The locomotive further includes a sand blasting control module, which is used to receive the target sand blasting strategy sent by the server to perform sand blasting based on the target sand blasting strategy when the locomotive reaches the starting position of the icing track.

[0012] Optionally, the preset sand blasting strategy includes:

[0013] When the icing thickness is less than 1 mm, the sand grain type is fine sand, and the sand blasting method is pulse injection; the diameter of the fine sand is any value from 0.3 mm to 0.5 mm.

[0014] When the icing thickness is greater than or equal to 1 mm and less than 3 mm, the sand grain type is a mixture of sand grains with a diameter of 0.5 mm and sand grains with a diameter of 1 mm, and the sand blasting method is pulse injection.

[0015] When the icing thickness is greater than or equal to 3 mm and less than 10 mm, the sand grain type is coarse sand, and the sand blasting method is continuous injection; the diameter of the coarse sand is any value from 1 mm to 1.5 mm.

[0016] When the icing thickness is greater than or equal to 10 mm, the sand grain type is a sand-salt mixture, and the sand blasting method is pulse injection.

[0017] Optionally, determining the length and starting position of the icing track based on the meteorological information, the first track image, and the second track image includes:

[0018] Based on the meteorological information, the first track image, the second track image, and a pre-trained icing recognition model, obtain the length and starting position of the icing track. The icing recognition model is used to output the length and starting position of the icing track based on the input meteorological information, the first track image, and the second track image.

[0019] Optionally, determining the preheating time and the sandblasting amount based on the length of the icing track includes:

[0020] Determining the preheating time and the sandblasting amount based on the mapping relationship among the icing thickness, the length of the icing track, the sandblasting amount, and the preheating time.

[0021] Optionally, when the arrival time is less than or equal to the preheating time, sending a preheating start instruction to the sandblasting preheating module, including:

[0022] When the arrival time is less than the preheating time, sending a preheating start instruction to the sandblasting preheating module, generating a warning message, and sending the warning message to the warning module of the locomotive.

[0023] Optionally, the locomotive further includes a communication module, and the first image acquisition module and the sandblasting preheating module are connected to the server through the communication module.

[0024] Optionally, cameras are installed at both the front end and the rear end of the locomotive to obtain real-time monitoring images of the front and rear of the locomotive. The cameras are connected to the cloud, and the cameras upload the real-time monitoring images to the server;

[0025] The server is used to receive the real-time monitoring images uploaded by the cameras and store the real-time monitoring images.

[0026] Optionally, ultrasonic radars are installed at both the front end and the rear end of the locomotive. The ultrasonic radars are used to detect objects within a preset distance in front of or at the rear end of the locomotive.

[0027] Optionally, an alarm module is installed in the cab of the locomotive. When an object exists within the preset distance in front of or at the rear end of the locomotive, the ultrasonic radar sends an alarm activation message to the alarm module in the cab of the locomotive;

[0028] The alarm module is used to receive the alarm activation message and give an alarm warning.

[0029] As described above, a driving warning control system for a battery locomotive provided by the present application has the following beneficial effects:

[0030] A driving warning control system for a motor vehicle in this application. The driving warning control system for the motor vehicle includes a locomotive, an environmental information collection module, and a server. The first track image is obtained through the first image collection module arranged at the front end of the locomotive, the meteorological information and the second track image are obtained through the environmental information collection module, and the server predicts the length and starting position of the icing track based on the first track image, the second track image, and the meteorological information. The sending time of the preheating start instruction is determined based on the current position of the locomotive, the current driving speed of the locomotive, and the starting position of the icing track, so that the sand blasting preheating module on the locomotive preheats the sand grains after receiving the preheating start instruction. By predicting the starting position and length of the icing section and preparing for sand preheating in advance, efficient sand blasting can be achieved at the initial stage of entering the icing section, reducing the energy consumption during the preheating process; in addition, since the sand blasting temperature can be stabilized when entering the icing section, the situation of increasing the sand blasting amount to increase the friction coefficient at the initial stage can be avoided, thereby improving the utilization rate of sand grains and avoiding the situation of high-power heating of sand grains, and improving the resource utilization rate.

[0031] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this application. Brief Description of the Drawings

[0032] The drawings here are incorporated into the specification and constitute a part of this specification, showing the embodiments in line with this application, and are used together with the specification to explain the principles of this application. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the drawings:

[0033] Figure 1 is a schematic diagram of the driving warning control system of the motor vehicle shown in an exemplary embodiment of this application;

[0034] Figure 2 is a schematic diagram of the driving warning control system of the motor vehicle shown in another exemplary embodiment of this application.

[0035] Description of the Reference Numerals:

[0036] 110 - Locomotive; 111 - First Image Collection Module; 112 - Sand Blasting Preheating Module; 113 - Sand Blasting Control Module; 114 - Communication Module; 115 - Camera; 116 - Ultrasonic Radar; 117 - Alarm Module; 120 - Environmental Information Collection Module; 121 - Humidity Sensor; 122 - Temperature Sensor; 123 - Wind Direction Sensor; 124 - Anemometer; 125 - Second Image Collection Module; 130 - Server; 200 - Track. Detailed Embodiments

[0037] The embodiments of the present application will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, rather than for limiting the protection scope of the present application.

[0038] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner. Therefore, only the components related to the present application are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in its actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0039] In the following description, a large number of details are explored to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.

[0040] Please refer to Figure 1 , Figure 1 which is a schematic diagram of the driving warning control system of a motor vehicle shown in an exemplary embodiment of the present application. Referring to Figure 1 it can be seen that the driving warning control system of the motor vehicle may include:

[0041] a locomotive 110, an environmental information collection module 120, and a server 130.

[0042] Among them, each module of the locomotive 110 and the environmental information collection module 120 can be connected to the server 130. Figure 1 As shown, the locomotive 110 and the environmental information collection module 120 are wirelessly connected to the server 130. The server 130 can be a single server, a server cluster, or the cloud. The modules provided on the locomotive 110 can be connected to the server 130 to upload relevant data collected during the locomotive's driving to the server 130. The environmental information collection module 120 can be connected to the server 130 and upload the collected meteorological information and the second track image to the server 130. The server 130 can execute relevant processes based on the data uploaded by the locomotive 110 and the environmental information collection module 120.

[0043] The locomotive 110 travels on the track 200, and a first image acquisition module and a sand blasting and preheating module ( Figure not shown) are provided at the front end of the locomotive 110. Both the first image acquisition module and the sand blasting and preheating module are connected to the server. The first image acquisition module is used to acquire a first track image in front of the locomotive and upload the first track image to the server, and the sand blasting and preheating module is used to receive a preheating start instruction sent by the server to preheat the sand grains according to the preheating start instruction.

[0044] In an embodiment of the present application, the locomotive 110 can travel on the track 200. In low-temperature rain and snow weather, the track 200 may be covered with ice. At this time, it is necessary to use sand blasting on the icy track of the track 200. By embedding the sand grains into the ice surface, the friction between the wheel and the rail is increased to prevent wheel spin or braking failure.

[0045] The first image acquisition module can be installed at the front end of the locomotive 110, and the orientation of the first image acquisition module is the same as the forward direction of the locomotive 110. The first image acquisition module can be a camera. The sand blasting and preheating module can be used to heat the sand grains to increase the temperature of the sand grains and avoid the situation that the sand grains cannot be ejected due to freezing in rain and snow weather.

[0046] It should be noted that ice layers may adhere to the surface of the low-temperature sand grains, and the friction coefficient between the ejected sand grains and the track ice surface is relatively low. Preheating the sand grains can melt the frost on the surface of the sand grains, ensure that the sand grains contact the track in a dry state, directly provide a higher friction coefficient, and in rain and snow weather, the sand grains may absorb moisture and freeze into blocks, and if not preheated, the frozen sand blocks in the sand box will block the pipeline or nozzle, resulting in the paralysis of the sand blasting function. After preheating, the sand grains are relatively dry and can be evenly sprayed through air pressure or mechanical mechanisms to avoid local accumulation or interruption. In addition, when the preheated sand grains contact the ice surface, the heat can slightly melt the surface ice layer, prompting the sand grains to embed into the ice surface rather than slide, which can strengthen the anchoring effect of the sand grains and extend the anti-slip duration.

[0047] The environmental information acquisition module 120 is installed at a preset position beside the track 200 in front of the locomotive 110. The environmental information acquisition module 120 is used to acquire meteorological information and a second track image, and upload the meteorological information and the second track image to the server 130. Among them, the meteorological information includes humidity, temperature, wind direction and wind force; the second track image is the track image acquired by the environmental information acquisition module at the preset position facing the locomotive. [[ID=!6]]

[0048] During rainy or snowy weather, the length of the icing track is affected by humidity, temperature, wind direction, and wind speed. When the humidity is high, the frozen length of the track is longer. Especially under the condition of long-term low temperature accompanied by precipitation or humid air, the ice layer will extend farther along the track. Low temperature will extend the icing length of the track. A single wind direction may cause the ice layer to extend farther along one side of the track. Strong winds may blow snow, ice, or freezing rain far onto the track, expanding the icing area, that is, the stronger the wind, the longer the icing length on the track.

[0049] In an embodiment of the present application, the environmental information acquisition module 120 may include a humidity sensor, a temperature sensor, a wind direction sensor, and an anemometer. The humidity sensor can be used to collect the humidity of the environment, the temperature sensor can be used to collect the temperature of the environment, the wind direction sensor can be used to detect the wind direction of the environmental wind, and the anemometer can be used to collect the wind speed of the environmental wind. After the environmental information acquisition module 120 collects the meteorological information, the meteorological information can be uploaded to the server 130.

[0050] It should be noted that multiple environmental information acquisition modules 120 can be set beside the track at preset intervals.

[0051] The server 130 is configured to receive the first track image, meteorological information, and the second track image; determine the length and starting position of the icing track based on the meteorological information, the first track image, and the second track image; determine the preheating time and the amount of sandblasting based on the length of the icing track; determine the time interval for the locomotive to reach the starting position of the icing track based on the current position of the locomotive, the starting position of the icing track, and the current traveling speed of the locomotive; when the time interval is greater than the preheating time, when the time interval is equal to the preheating time, send a preheating start instruction to the sandblasting preheating module so that the sandblasting preheating module preheats the sand grains based on the amount of sandblasting, and the waiting time is the difference between the time interval and the preheating time; when the time interval is less than or equal to the preheating time, send a preheating start instruction to the sandblasting preheating module.

[0052] In an embodiment of the present application, a wheel axle speed sensor may be provided on the locomotive 110 to obtain the current traveling speed of the locomotive through the wheel axle speed sensor. The current traveling speed of the locomotive can also be obtained through the Global Positioning System.

[0053] Optionally, after receiving the meteorological information, the first orbital image, and the second orbital image, the server 130 may determine the length and starting position of the icing track based on the meteorological information, the first orbital image, and the second orbital image. Based on the length of the icing track, the preheating time and the sandblasting amount may be determined. The first mapping relationship among the icing length, the sandblasting amount, and the preheating time may be set in advance according to expert experience. After the server determines the length of the icing track, the sandblasting amount and the preheating time may be determined in the first mapping relationship based on the length of the icing track. The preheating time may indicate the time required to preheat the sand grains of the sandblasting amount. Based on the current position of the locomotive, the starting position of the icing track, and the current traveling speed of the locomotive, the time interval for the locomotive to reach the starting position of the icing track may be determined; this time interval may characterize the time required for the locomotive to reach the starting position of the icing track from the current position. The ratio of the difference between the starting position of the icing track and the current position of the locomotive to the current traveling speed of the locomotive may be determined as the time interval. When the time interval is greater than the preset time, a preheating start instruction may be sent to the sandblasting preheating module after a waiting time to preheat the sand grains based on the sandblasting amount; the time interval being greater than the preset time may characterize that the time required for the locomotive to reach the icing section is greater than the preheating time required for the sand grains. Taking the current moment as a reference, a preheating start instruction may be sent to the sandblasting preheating module after a waiting time. When the time interval is less than or equal to the preheating time, a preheating start instruction may be sent to the sandblasting preheating module; the time interval being less than or equal to the preheating time may characterize that the time required for the locomotive to reach the icing section is less than or equal to the preheating time required for the sand grains. At this time, a preheating start instruction may be sent to the sandblasting preheating module.

[0054] It should be noted that the operator may pre-model and label the track on which the locomotive travels to facilitate the determination of the locomotive position, the length of the icing track, and the starting position of the icing track.

[0055] Optionally, the environmental information acquisition module 120 further includes a second image acquisition module. The second image acquisition module is connected to the server. The orientation of the second image acquisition module is opposite to the traveling direction of the locomotive. The second image acquisition module is used to acquire the second orbital image and upload the second orbital image to the server.

[0056] Optionally, the server 130 may also be used to determine the icing thickness based on the meteorological information and the second orbital image; determine the target sandblasting strategy based on the icing thickness and the preset sandblasting strategy, and send the target sandblasting strategy to the sandblasting control module. The locomotive 110 may further include a sandblasting control module, which is used to receive the target sandblasting strategy sent by the server to perform sandblasting based on the target sandblasting strategy when the locomotive reaches the starting position of the icing track.

[0057] In a possible implementation manner, the process of determining the icing thickness based on the meteorological information and the second orbital image may include:

[0058] Obtain a first training sample set. The first training sample set includes multiple first training samples. A first training sample includes meteorological information and a second orbital image. A first training sample may also include a corresponding sample label. The meteorological information may be data obtained by synchronizing, aligning, and normalizing original meteorological data. The second orbital image may be an image obtained by performing ROI cutting, normalization, and standardization processing on the original second orbital image. An initial dual-branch neural network can be trained based on the first training sample set to obtain a target dual-branch neural network. The initial dual-branch neural network may include an image feature extraction branch and a meteorological data branch. The image feature extraction branch may be a MobileNetV3 network, and the last classification layer of the MobileNetV3 network needs to be removed. The meteorological data branch may be a temporal convolutional network. Input the second orbital image into the image feature extraction branch and input the meteorological information into the meteorological data branch. Concatenate the image feature vector obtained by the image feature extraction branch and the meteorological feature vector output by the meteorological data branch to obtain a concatenated feature. Apply an activation function based on the concatenated feature to obtain a predicted icing thickness. Select the Huber Loss function and aim to minimize the loss function to obtain the target dual-branch neural network.

[0059] Optionally, the preset sandblasting strategy may include:

[0060] When the icing thickness is less than 1 mm, the sand grain type is fine sand and the sandblasting method is pulse injection; the fine sand diameter is any value from 0.3 mm to 0.5 mm;

[0061] When the icing thickness is greater than or equal to 1 mm and less than 3 mm, the sand grain type is a mixture of sand grains with a diameter of 0.5 mm and sand grains with a diameter of 1 mm, and the sandblasting method is pulse injection;

[0062] When the icing thickness is greater than or equal to 3 mm and less than 10 mm, the sand grain type is coarse sand and the sandblasting method is continuous injection, and the coarse sand diameter is any value from 1 mm to 1.5 mm;

[0063] When the icing thickness is greater than or equal to 10 mm, the sand grain type is a sand-salt mixture and the sandblasting method is pulse injection.

[0064] It should be noted that the dynamic matching of the icing thickness and the sand grain parameters can improve the safety of the system; the gradient material system reduces the energy consumption per unit thickness of treatment.

[0065] Optionally, determining the length and starting position of the icing track based on the meteorological information, the first orbital image, and the second orbital image may include: obtaining the length and starting position of the icing track based on the meteorological information, the first orbital image, the second orbital image, and a pre-trained icing recognition model.

[0066] In a possible implementation, a second training sample set can be obtained. The second training sample set can include multiple second training samples, and each second training sample includes meteorological information, a first orbital image, a second orbital image, and a corresponding sample label. Train an icing recognition model based on the second training sample set to obtain a pre-trained icing recognition model. The first orbital image can be subjected to feature extraction through a first branch (such as ResNet-50) to obtain a first orbital feature vector. The second orbital image can be subjected to feature extraction through a second branch (such as ResNet-50) to obtain a second orbital feature vector. The meteorological information can be subjected to feature extraction through a multi-layer perceptron to obtain a first feature vector. The first orbital feature vector, the second orbital feature vector, and the first feature vector are concatenated to obtain a fused feature. The fused feature is input into a first fully connected layer to obtain the starting position of the icing orbit, and the fused feature is input into a second fully connected layer to obtain the length of the icing orbit. The sum of the loss function corresponding to the starting position of the icing orbit (mean squared error loss function) and the loss function corresponding to the length of the icing orbit (mean squared error loss function) is determined as the joint loss function, and the pre-trained icing recognition model is obtained with the goal of minimizing the joint loss function.

[0067] Optionally, determining the preheating time and the sandblasting amount based on the length of the icing orbit can include: determining the preheating time and the sandblasting amount based on the mapping relationship between the icing thickness, the length of the icing orbit, the sandblasting amount, and the preheating time.

[0068] It should be noted that by combining the icing thickness and the length of the icing orbit to determine the preheating time and the sandblasting amount, a relatively accurate sandblasting amount can be obtained, which can improve the efficiency of sand grain preheating and avoid energy loss caused by too little or too much preheating energy.

[0069] Optionally, when the arrival time is less than or equal to the preheating time, sending a preheating start instruction to the sandblasting preheating module can include: when the arrival time is less than the preheating time, sending a preheating start instruction to the sandblasting preheating module, generating a warning message and sending the warning message to the warning module of the locomotive 110. A warning module can also be set on the locomotive 110. The warning module can be a terminal, and the warning message can be used to prompt the driver of the locomotive 110 that the time required to drive to the starting position of the icing section is less than the preheating time of the sand grains, and the driver needs to adjust the heating power. The warning message is used to prompt the driver to adjust the preheating power.

[0070] Optionally, the locomotive further includes a communication module, and the first image acquisition module and the sandblasting preheating module are connected to the server through the communication module. By using the communication module as a relay, the stability of data transmission and the operation stability of each module can be ensured. The sandblasting control module can be connected to the server through the communication module, and the sandblasting control module can also be directly connected to the server.

[0071] Optionally, cameras are installed at both the front end and the rear end of the locomotive to obtain real-time monitoring images of the front and rear of the locomotive. The cameras are connected to the cloud, and the cameras upload the real-time monitoring images to the server; the server is used to receive the real-time monitoring images uploaded by the cameras and store the real-time monitoring images. By storing the monitoring images, it is convenient for the operator to query later. The real-time monitoring images can also be displayed on the terminal of the locomotive so that the driver of the locomotive can observe the road conditions in front of and behind the locomotive, ensuring the safety of personnel and driving.

[0072] Optionally, ultrasonic radars are installed at both the front end and the rear end of the locomotive. The ultrasonic radars are used to detect objects within a preset distance in front of or at the rear end of the locomotive.

[0073] Optionally, an alarm module is installed in the cab of the locomotive. The ultrasonic radar is connected to the alarm module in the cab of the locomotive. When there is an object within the preset distance in front of or at the rear end of the locomotive, an alarm activation message is sent to the alarm module; the alarm module is used to receive the alarm activation message and give an alarm warning. The alarm warning can be used to prompt the driver of the locomotive to take deceleration or stop operations, thus achieving the effect of timely anti-collision and safe driving.

[0074] Exemplarily, please refer to ​ , which is a schematic diagram of the driving warning control system of the electric locomotive shown in another exemplary embodiment of the present application. The driving warning control system of the electric locomotive may include a locomotive 110, an environmental information acquisition module 120, and a server 130. The locomotive 110 may include a first image acquisition module 111, a sandblasting preheating module 112, a sandblasting control module 113, a communication module 114, a camera 115, an ultrasonic radar 116, and an alarm module 117. The first image acquisition module 111, the sandblasting preheating module 112, and the sandblasting control module 113 are connected to the server 130 through the communication module 114, and the camera 115 can also be connected to the server 130.

[0075] The environmental information acquisition module 120 includes a humidity sensor 121, a temperature sensor 122, a wind direction sensor 123, an anemometer 124, and a second image acquisition module 125.

[0076] In the embodiments of the present application, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. The terms "comprising" and "including" mentioned throughout the specification and claims are open-ended terms and should be construed as "including but not limited to".

[0077] The above embodiments are only illustrative of the principles and effects of the present application, and are not intended to limit the present application. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present application should still be covered by the claims of the present application.

Claims

1. A driving warning control system for a motor vehicle, characterized in that, Including: A locomotive, an environmental information acquisition module, and a server; The locomotive runs on a track. A first image acquisition module and a sand blasting preheating module are arranged at the front end of the locomotive. Both the first image acquisition module and the sand blasting preheating module are connected to the server. The first image acquisition module is used to acquire a first track image in front of the locomotive and upload the first track image to the server. The sand blasting preheating module is used to receive a preheating start instruction sent by the server to preheat the sand grains according to the preheating start instruction; The environmental information acquisition module is installed at a preset position beside the track in front of the locomotive. The environmental information acquisition module is used to acquire meteorological information and a second track image, and upload the meteorological information and the second track image to the server; the meteorological information includes humidity, temperature, wind direction, and wind force; the second track image is a track image acquired by the environmental information acquisition module at the preset position facing the locomotive; The server is used to receive the first track image, meteorological information, and the second track image; Based on the meteorological information, the first track image, and the second track image, determine the length and starting position of the icy track; determine the preheating time and sand blasting volume based on the length of the icy track; based on the current position of the locomotive, the starting position of the icy track, and the current traveling speed of the locomotive, determine the time interval for the locomotive to reach the starting position of the icy track; when the time interval is greater than the preheating time, send a preheating start instruction to the sand blasting preheating module after a waiting time, so that the sand blasting preheating module preheats the sand grains based on the sand blasting volume, and the waiting time is the difference between the time interval and the preheating time; when the time interval is less than or equal to the preheating time, send a preheating start instruction to the sand blasting preheating module.

2. The driving warning control system of the battery locomotive according to claim 1, characterized in that, The server is further used to determine the ice thickness based on the meteorological information and the second track image; determine a target sand blasting strategy based on the ice thickness and a preset sand blasting strategy, and send the target sand blasting strategy to the sand blasting control module; The locomotive further includes a sand blasting control module, which is used to receive the target sand blasting strategy sent by the server to perform sand blasting based on the target sand blasting strategy when the locomotive reaches the starting position of the icy track.

3. The driving warning control system for a battery locomotive according to claim 2, characterized in that, The preset sand blasting strategy includes: When the ice thickness is less than 1 mm, the sand grain type is fine sand, and the sand blasting method is pulse spraying; the diameter of the fine sand is any value from 0.3 mm to 0.5 mm; When the ice thickness is greater than or equal to 1 mm and less than 3 mm, the sand grain type is a mixed sand of sand grains with a diameter of 0.5 mm and sand grains with a diameter of 1 mm, and the sand blasting method is pulse spraying; When the ice thickness is greater than or equal to 3 mm and less than 10 mm, the sand grain type is coarse sand, and the sand blasting method is continuous spraying. The diameter of the coarse sand is any value from 1 mm to 1.5 mm; When the ice thickness is greater than or equal to 10 mm, the sand grain type is a sand-salt mixture, and the sand blasting method is pulse spraying.

4. The driving warning control system of the electric locomotive according to claim 1, characterized in that, Based on the meteorological information, the first track image, and the second track image to determine the length and starting position of the icy track, including: Based on the meteorological information, the first track image, the second track image, and a pre-trained ice recognition model, obtain the length and starting position of the icy track. The ice recognition model is used to output the length and starting position of the icy track based on the input meteorological information, first track image, and second track image.

5. The driving warning control system of the electric locomotive according to claim 2, wherein, Determine the preheating time and sandblasting volume based on the length of the icing track, including: Determine the preheating time and sandblasting volume based on the mapping relationship among the icing thickness, the length of the icing track, the sandblasting volume, and the preheating time.

6. The driving warning control system of the battery locomotive according to claim 1, characterized in that, When the arrival time is less than or equal to the preheating time, send a preheating start instruction to the sandblasting preheating module, including: When the arrival time is less than the preheating time, send a preheating start instruction to the sandblasting preheating module, generate a warning message and send the warning message to the warning module of the locomotive.

7. The driving warning control system of the electric locomotive according to claim 1, characterized in that, The locomotive further includes a communication module, and the first image acquisition module and the sandblasting preheating module are connected to the server through the communication module.

8. The driving warning control system of the electric locomotive according to any one of claims 1-7, characterized in that, Video cameras are installed at both the front end and the rear end of the locomotive to obtain real-time monitoring images of the front and rear of the locomotive. The video cameras are connected to the cloud, and the video cameras upload the real-time monitoring images to the server; The server is used to receive the real-time monitoring images uploaded by the video cameras and store the real-time monitoring images.

9. The driving warning control system of the battery locomotive according to any one of claims 1-7, characterized in that Ultrasonic radars are installed at both the front end and the rear end of the locomotive, and the ultrasonic radars are used to detect objects within a preset distance in front of or behind the locomotive.

10. The driving warning control system of the battery locomotive according to claim 9, wherein, An alarm module is installed in the cab of the locomotive. The ultrasonic radar is connected to the alarm module in the cab of the locomotive. When there is an object within the preset distance in front of or behind the locomotive, send an alarm start message to the alarm module; The alarm module is used to receive the alarm start message and give an alarm warning.

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