阅读说明：本技术 机车行驶控制方法、装置和终端设备 (Locomotive running control method and device and terminal equipment ) 是由 佘建煌 王爱东 唐浩 石达顺 杨鹏伟 杨雕 李昆徽 张一飞 赖悦 邢增可 杨玲 于 2021-10-14 设计创作，主要内容包括：本申请实施例适用于道路监控技术领域,提供了一种机车行驶控制方法、装置和终端设备,所述方法包括：确定机车的行驶路径,所述行驶路径上包括至少一个道口；获取安装于所述道口的多个监控设备分别采集的多个监控图像；在所述机车的显示设备上显示所述多个监控图像,所述多个监控图像用于供驾驶员了解所述道口的路况信息；接收所述驾驶员针对所述路况信息输入的控制指令,以控制所述机车安全地通过所述道口。采用上述方法,可以提高机车行驶的安全性,降低驾驶员在机车行驶过程中作业观察的劳动强度。(The embodiment of the application is suitable for the technical field of road monitoring, and provides a locomotive running control method, a locomotive running control device and terminal equipment, wherein the method comprises the following steps: determining a driving path of a locomotive, wherein the driving path comprises at least one crossing; acquiring a plurality of monitoring images respectively acquired by a plurality of monitoring devices installed at the road junction; displaying the plurality of monitoring images on a display device of the locomotive, wherein the plurality of monitoring images are used for a driver to know road condition information of the crossing; and receiving a control instruction input by the driver aiming at the road condition information so as to control the locomotive to safely pass through the crossing. By adopting the method, the running safety of the locomotive can be improved, and the labor intensity of a driver for operation observation in the running process of the locomotive is reduced.)

1. A method for controlling running of a locomotive, comprising:

determining a driving path of a locomotive, wherein the driving path comprises at least one crossing;

acquiring a plurality of monitoring images respectively acquired by a plurality of monitoring devices installed at the road junction;

displaying the plurality of monitoring images on a display device of the locomotive, wherein the plurality of monitoring images are used for a driver to know road condition information of the crossing;

and receiving a control instruction input by the driver aiming at the road condition information so as to control the locomotive to safely pass through the crossing.

2. The method of claim 1, further comprising, prior to displaying the plurality of monitoring images on a display device of the locomotive:

determining a distance between the locomotive and the crossing;

when the distance is less than a preset distance threshold, performing the step of displaying the plurality of monitoring images on a display device of the locomotive.

3. The method of claim 1, wherein the obtaining a plurality of monitoring images respectively collected by a plurality of monitoring devices installed at the crossing comprises:

and acquiring a plurality of monitoring images acquired by the plurality of monitoring devices through a high-speed data transmission channel, wherein the high-speed data transmission channel comprises a data transmission channel established based on a fifth generation mobile communication technology.

4. The method of any of claims 1, 2 or 3, wherein said displaying the plurality of monitoring images on a display device of the locomotive comprises:

determining monitoring angles of a plurality of monitoring devices for acquiring the plurality of monitoring images;

according to the monitoring angle, fusing the multiple monitoring images to obtain a panoramic image of the crossing;

displaying the panoramic image on the display device.

5. The method of claim 4, wherein determining a monitoring angle for a plurality of monitoring devices acquiring the plurality of monitoring images comprises:

determining a central point of the crossing, and establishing a coordinate system by taking the central point as an origin;

determining the maximum monitoring range of each monitoring device according to the image information of the monitoring image acquired by each monitoring device;

and converting the maximum monitoring range into a monitoring angle in the coordinate system to obtain the monitoring angle of each monitoring device.

6. The method of claim 4, wherein the fusing the plurality of monitoring images according to the monitoring angle to obtain a panoramic image of the crossing comprises:

respectively determining overlapped images in the plurality of monitoring images according to the monitoring angles;

and splicing the overlapped images in the plurality of monitoring images to obtain a panoramic image of the crossing.

7. The method of claim 6, wherein the stitching the overlapping images of the plurality of monitored images to obtain the panoramic image of the crossing comprises:

determining a direction of travel of the locomotive;

and splicing overlapped images in the plurality of monitoring images according to the driving direction so as to enable the view direction of the panoramic image to be the same as the driving direction.

8. A running control apparatus for a locomotive, comprising:

the system comprises a running path determining module, a judging module and a control module, wherein the running path determining module is used for determining a running path of a locomotive, and the running path comprises at least one crossing;

the monitoring image acquisition module is used for acquiring a plurality of monitoring images respectively acquired by a plurality of monitoring devices installed at the road junction;

the monitoring image display module is used for displaying the monitoring images on display equipment of the locomotive, and the monitoring images are used for a driver to know road condition information of the crossing;

and the locomotive running control module is used for receiving a control instruction input by the driver aiming at the road condition information so as to control the locomotive to safely pass through the crossing.

9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the locomotive running control method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements the locomotive running control method according to any one of claims 1 to 7.

Technical Field

The embodiment of the application belongs to the technical field of road monitoring, and particularly relates to a locomotive running control method, a locomotive running control device and terminal equipment.

Background

After the underground ore is mined to the ground, the ore is generally transported by using a locomotive. For example, ore may be transported by a pilot-driven locomotive along a fixed track to a designated location.

Generally, in order to ensure the safety of transportation, each locomotive needs to be equipped with a main driver and a secondary driver. The main driver is responsible for operating the locomotive, and for observing signals in front of the locomotive and at the side where the driver is located and road conditions at the road junction; the signals at the rear and the other side of the locomotive and the road conditions at the crossing are taken charge of by the assistant driver. In the ore transportation process, two drivers need to observe the road conditions of the positions in which the drivers are responsible all the time, and the heavy operation observation seriously increases the labor intensity of the drivers. Moreover, because the primary driver operates the locomotive all the time in the whole transportation process, when the secondary driver observes a dangerous condition, the secondary driver needs to orally remind the primary driver, and the primary driver is not facilitated to timely react to the dangerous condition.

Disclosure of Invention

In view of this, the embodiment of the present application provides a method, an apparatus and a terminal device for controlling the driving of a locomotive, so as to improve the safety of the driving of the locomotive and reduce the labor intensity of a driver for operation observation during the driving of the locomotive.

A first aspect of an embodiment of the present application provides a method for controlling a locomotive, including:

determining a driving path of a locomotive, wherein the driving path comprises at least one crossing;

acquiring a plurality of monitoring images respectively acquired by a plurality of monitoring devices installed at the road junction;

displaying the plurality of monitoring images on a display device of the locomotive, wherein the plurality of monitoring images are used for a driver to know road condition information of the crossing;

and receiving a control instruction input by the driver aiming at the road condition information so as to control the locomotive to safely pass through the crossing.

Optionally, before displaying the plurality of monitoring images on the display device of the locomotive, further comprising:

determining a distance between the locomotive and the crossing;

when the distance is less than a preset distance threshold, performing the step of displaying the plurality of monitoring images on a display device of the locomotive.

Optionally, the acquiring a plurality of monitoring images respectively collected by a plurality of monitoring devices installed at the road junction includes:

and acquiring a plurality of monitoring images acquired by the plurality of monitoring devices through a high-speed data transmission channel, wherein the high-speed data transmission channel comprises a data transmission channel established based on a fifth generation mobile communication technology.

Optionally, the displaying the plurality of monitoring images on a display device of the locomotive comprises:

determining monitoring angles of a plurality of monitoring devices for acquiring the plurality of monitoring images;

according to the monitoring angle, fusing the multiple monitoring images to obtain a panoramic image of the crossing;

displaying the panoramic image on the display device.

Optionally, the determining the monitoring angles of the plurality of monitoring devices acquiring the plurality of monitoring images includes:

determining a central point of the crossing, and establishing a coordinate system by taking the central point as an origin;

determining the maximum monitoring range of each monitoring device according to the image information of the monitoring image acquired by each monitoring device;

and converting each maximum monitoring range into a monitoring angle in the coordinate system to obtain the monitoring angle of each monitoring device.

Optionally, the fusing the multiple monitoring images according to the monitoring angle to obtain a panoramic image of the crossing includes:

respectively determining overlapped images in the plurality of monitoring images according to the monitoring angles;

and splicing the overlapped images in the plurality of monitoring images to obtain a panoramic image of the crossing.

Optionally, the stitching the overlapped images in the multiple monitoring images to obtain a panoramic image of the crossing includes:

determining a direction of travel of the locomotive;

and splicing overlapped images in the plurality of monitoring images according to the driving direction so as to enable the view direction of the panoramic image to be the same as the driving direction.

A second aspect of the embodiments of the present application provides a locomotive running control apparatus including:

the system comprises a running path determining module, a judging module and a control module, wherein the running path determining module is used for determining a running path of a locomotive, and the running path comprises at least one crossing;

the monitoring image acquisition module is used for acquiring a plurality of monitoring images respectively acquired by a plurality of monitoring devices installed at the road junction;

the monitoring image display module is used for displaying the monitoring images on display equipment of the locomotive, and the monitoring images are used for a driver to know road condition information of the crossing;

and the locomotive running control module is used for receiving a control instruction input by the driver aiming at the road condition information so as to control the locomotive to safely pass through the crossing.

Optionally, the apparatus further comprises:

and the distance determining module is used for determining the distance between the locomotive and the crossing and calling the monitoring image display module when the distance is smaller than a preset distance threshold value.

Optionally, the monitoring image obtaining module is specifically configured to: and acquiring a plurality of monitoring images acquired by the plurality of monitoring devices through a high-speed data transmission channel, wherein the high-speed data transmission channel comprises a data transmission channel established based on a fifth generation mobile communication technology.

Optionally, the monitoring image display module is specifically configured to: determining monitoring angles of a plurality of monitoring devices for acquiring the plurality of monitoring images; according to the monitoring angle, fusing the multiple monitoring images to obtain a panoramic image of the crossing; displaying the panoramic image on the display device.

Optionally, the monitoring image display module is further configured to: determining a central point of the crossing, and establishing a coordinate system by taking the central point as an origin; determining the maximum monitoring range of each monitoring device according to the image information of the monitoring image acquired by each monitoring device; and converting each maximum monitoring range into a monitoring angle in the coordinate system to obtain the monitoring angle of each monitoring device.

Optionally, the monitoring image display module is further configured to: respectively determining overlapped images in the plurality of monitoring images according to the monitoring angles; and splicing the overlapped images in the plurality of monitoring images to obtain a panoramic image of the crossing.

Optionally, the monitoring image display module is further configured to: determining a direction of travel of the locomotive; and splicing overlapped images in the plurality of monitoring images according to the driving direction so as to enable the view direction of the panoramic image to be the same as the driving direction.

A third aspect of the embodiments of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the locomotive running control method according to the first aspect.

A fourth aspect of embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the locomotive running control method according to the first aspect described above.

A fifth aspect of embodiments of the present application provides a computer program product, which, when run on a terminal device, causes the terminal device to execute the locomotive running control method according to the first aspect.

Compared with the prior art, the embodiment of the application has the following advantages:

according to the embodiment of the application, the driving path of the locomotive is determined, the monitoring images acquired by the monitoring equipment of each crossing installed on the path are acquired, and after the monitoring images are displayed on the display equipment of the locomotive, a driver can know road condition information of the crossing, so that the driver can conveniently operate the locomotive to safely pass through the crossing according to specific road conditions. By adopting the method provided by the embodiment of the application, each locomotive can be provided with only one driver, so that the number of the drivers additionally arranged on the locomotive due to the need of respectively observing road conditions in different directions is reduced, the safety of the locomotive in the running process is improved, and the labor intensity of the driver for operation observation is reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

FIG. 1 is a schematic flow chart illustrating steps of a method for controlling the operation of a locomotive according to an embodiment of the present application;

FIG. 2 is a flow chart illustrating steps of another locomotive operation control method according to an embodiment of the present application;

FIG. 3 is a schematic view of a locomotive travel control device according to an embodiment of the present application;

fig. 4 is a schematic diagram of a terminal device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

The technical solution of the present application will be described below by way of specific examples.

Referring to fig. 1, a schematic flow chart illustrating steps of a method for controlling the driving of a locomotive according to an embodiment of the present application is shown, which may specifically include the following steps:

s101, determining a running path of the locomotive, wherein the running path comprises at least one crossing.

It should be noted that the method may be applied to a terminal device, which may be configured on the locomotive and can control the running of the locomotive through interaction with a driver. The locomotive may be a locomotive used for transporting ore in a large mine.

Generally, during ore transportation, a locomotive may transport ore from a stope to a designated location, such as a concentrating mill or ore warehouse, etc., according to a predetermined travel path. In some scenarios, the travel path may be a track laid in a mine for a locomotive to travel.

In the embodiment of the application, the travel path in the mine and other information for indicating the azimuth and the position can be presented through a mine map. The mine map may be stored in a terminal device provided on the locomotive. When the locomotive is transporting ore, a particular travel path may be determined based on the mine map.

For example, a driver may operate on a terminal device to determine a current stope location and a designated location to receive ore. The terminal device can automatically plan a driving path according to the position determined by the driver.

In the embodiment of the present application, the crossing may be an intersection between the driving route and another road or another route. When the locomotive runs to a crossing, a driver needs to pay special attention to road conditions of all directions of the crossing, otherwise safety accidents are easy to happen.

S102, acquiring a plurality of monitoring images respectively acquired by a plurality of monitoring devices installed at the road junction.

In the embodiment of the application, because the locomotive runs according to the preset running path, the possibility of safety accidents on the non-crossing road section is low. Therefore, on non-crossing road sections, the locomotive can run under the operation of the driver. For the road sections near the crossing, in order to ensure that the driver can accurately know the road condition information of the crossing, monitoring equipment can be installed at each crossing to monitor the periphery of the crossing.

Generally, the monitoring range of one monitoring device is limited, and in order to completely monitor the road section near the whole road junction, a plurality of monitoring devices can be installed at the road junction, so that each monitoring device is respectively responsible for monitoring different areas. Therefore, in the running process of the locomotive, the monitoring image acquired by the crossing monitoring equipment can be acquired.

In a specific implementation, the terminal devices on the locomotive may establish data transmission channels with the monitoring devices of each crossing, respectively. The monitoring image requested by the terminal equipment can be transmitted to the locomotive through the data transmission channel.

S103, displaying the monitoring images on display equipment of the locomotive, wherein the monitoring images are used for a driver to know road condition information of the crossing.

In this embodiment, a display device may be further installed on the locomotive for displaying the acquired monitoring image. The display device may be an electronic device different from the terminal device, and the display device is connected to the terminal device in a wired or wireless manner and can display the monitoring image under the instruction of the terminal device. Alternatively, the display device may be a module or unit in the terminal device. For example, the terminal device may be an electronic device having a display screen through which the monitoring image can be displayed. Therefore, the driver can know the road condition information of the road junction according to the displayed monitoring image and operate the locomotive based on the real-time road condition information.

In a possible implementation manner of the embodiment of the application, the terminal device can display the monitoring image at a certain distance from the road junction, so that the power consumption of the terminal device is reduced, and the interference to a driver when the terminal device runs at a non-road junction road section is avoided.

Specifically, the terminal device may determine a distance between the locomotive and the crossing, and when the distance is less than a preset distance threshold, perform the above-described step of displaying the plurality of monitoring images on the display device of the locomotive. The preset distance may be set in consideration of a driver's sufficient time to respond to various road conditions. For example, the preset distance may be set to 50 meters or 100 meters, which is not limited in the embodiments of the present application.

And S104, receiving a control instruction input by the driver aiming at the road condition information so as to control the locomotive to safely pass through the crossing.

In the embodiment of the present application, the operation mode of the locomotive by the driver may be different for different road condition information. For example, when other locomotives or pedestrians pass through the crossing, the driver can control the locomotive to stop, and start the locomotive after other locomotives or pedestrians pass through the crossing. The driver's actions may be applied to the locomotive in the form of control commands to ensure that the locomotive passes safely through the crossing.

In the embodiment of the application, the driving path of the locomotive is determined, the monitoring images acquired by the monitoring equipment of each crossing installed on the path are acquired, and after the monitoring images are displayed on the display equipment of the locomotive, a driver can know the road condition information of the crossing, so that the driver can conveniently operate the locomotive to safely pass through the crossing according to the specific road condition. By adopting the method provided by the embodiment of the application, each locomotive can be provided with only one driver, so that the number of the drivers additionally arranged on the locomotive due to the need of respectively observing road conditions in different directions is reduced, the safety of the locomotive in the running process is improved, and the labor intensity of the driver for operation observation is reduced.

Referring to fig. 2, a schematic flow chart illustrating steps of another locomotive running control method according to an embodiment of the present application is shown, which may specifically include the following steps:

s201, determining a running path of the locomotive, wherein the running path comprises at least one crossing.

The method may be applied to a terminal device, which may be a terminal device disposed on a locomotive. Namely, the execution subject of the embodiment of the present application is the terminal device.

In an embodiment of the present application, the travel path of the locomotive may be a path from one location to another location. For example, taking a locomotive transporting ore as an example, the travel path may be a stope to mill route. The locomotive driver may operate on the terminal device to configure the travel path before transporting the ore from the stope to the concentrating mill.

In some scenarios, the travel path may also be fixed if a locomotive is a fixed locomotive for transporting ore from a stope to a mill.

The crossing on the driving path can be a plurality of roads or intersections among the paths, and safety accidents are easy to happen.

S202, acquiring a plurality of monitoring images respectively acquired by a plurality of monitoring devices installed at the road junction.

In the embodiment of the application, each crossing can be provided with a plurality of monitoring devices, and the monitoring devices can monitor the crossing from different angles and acquire corresponding monitoring images. The monitoring image can be transmitted to terminal equipment on the locomotive for a driver to know road condition information of a road junction section.

In the embodiment of the application, a data transmission channel can be pre-established between each monitoring device and the terminal device on the locomotive, and the data transmission channel can be a high-speed data transmission channel capable of performing image transmission in real time and rapidly. The high-speed data transmission channel may be a data transmission channel established based on a fourth generation mobile communication technology (4G), a fifth generation mobile communication technology (5G), and the like.

Therefore, the terminal device can acquire a plurality of monitoring images acquired by a plurality of monitoring devices of the road junction through the high-speed data transmission channel.

S203, determining the monitoring angles of a plurality of monitoring devices for acquiring the plurality of monitoring images.

In the embodiment of the application, because the monitoring image acquired by each monitoring device can only cover a small area, in order to facilitate the locomotive driver to visually and accurately view the real-time road condition of the road junction, the terminal device can process a plurality of monitoring images after acquiring the plurality of monitoring images acquired by the plurality of monitoring devices.

Before processing the multiple monitoring images, the terminal device may first determine the monitoring angle of each monitoring device. Based on different monitoring angles, the monitoring images collected by the monitoring equipment are different, that is, the images of the areas or the ranges that can be shot by the monitoring equipment are different.

In this embodiment, a center point of the crossing may be determined first, and a coordinate system may be established with the center point as an origin. The center point may be a geometric center point of a plurality of monitoring devices installed at the crossing, or may be an intersection point of two or more roads and paths constituting the crossing or a position near the intersection point.

The coordinate system established with the central point as the origin may be a two-dimensional (x-y) planar coordinate system or a three-dimensional (x-y-z) stereo coordinate system.

When the monitoring angle of each monitoring device is determined, the terminal device can determine the maximum monitoring range of each monitoring device according to the image information of the monitoring image acquired by each monitoring device. This maximum monitoring range is the maximum area that can be captured by the camera of the monitoring device.

Then, the monitoring angle of each monitoring device can be obtained by converting each maximum monitoring range into the monitoring angle in the established coordinate system.

In a specific implementation, taking a two-dimensional plane coordinate system as an example, the maximum monitoring range of the monitoring device may be a sector-shaped area. The end points of the two edges of the fan shape are connected with the origin of the two-dimensional plane coordinate system, so that the monitoring angle of the monitoring equipment in the two-dimensional plane coordinate system can be calculated.

And S204, fusing the plurality of monitoring images according to the monitoring angle to obtain a panoramic image of the crossing.

After the monitoring angle of each monitoring device is calculated, the monitoring images collected by each monitoring device can be fused according to the monitoring angle, and the panoramic image of the crossing is obtained.

In the embodiment of the application, the overlapped images in the multiple monitoring images can be respectively determined according to the monitoring angles of the monitoring devices. In general, the overlapping image may be present in monitoring images taken by two adjacent monitoring devices.

Thus, in a particular implementation, each monitoring device may be pre-configured with a location code when the monitoring device is installed. The monitoring image acquired by the terminal device may carry the position code. Therefore, when the terminal equipment determines the overlapped images in each image, the terminal equipment can only process the monitoring images collected by the adjacent monitoring equipment according to the adjacent position relation indicated in the position code, the data amount of image processing is reduced, and the image processing efficiency is improved.

Then, the terminal device can splice the overlapped images in the multiple monitoring images to obtain a panoramic image of the crossing. The stitching may be to perform deduplication processing on overlapping images of the multiple monitoring images. For example, if the monitoring device a and the monitoring device B respectively shoot a road junction, the monitoring image a and the monitoring image B are obtained. The monitoring image A comprises a first crossing area part and a second crossing area part, and the monitoring image B comprises a second crossing area part and a third crossing area part. When the monitoring image a and the monitoring image B are spliced, images of the second area in the monitoring image a or images of the second area in the monitoring image B may be removed, so that the spliced images include images of the first area, the second area and the third area.

In the embodiment of the application, when the terminal device splices the multiple monitoring images, the driving direction of the locomotive can be determined, and the overlapped images in the multiple monitoring images are spliced according to the driving direction, so that the view direction of the spliced panoramic image is the same as the driving direction. Therefore, the visual field of the spliced panoramic image is consistent with that of the driver, the driver can know road conditions of the crossing more favorably, and the driving safety of the locomotive is improved.

And S205, displaying the panoramic image on the display equipment, wherein the panoramic image is used for a driver to know road condition information of the crossing.

In the embodiment of the application, the spliced panoramic image can be displayed on a locomotive for a driver to know road condition information of a road junction.

It should be noted that, since the embodiments of the present application may adopt technologies such as 4G and 5G to transmit the monitoring image, when the panoramic image is displayed on the locomotive, the image content of the panoramic image is continuously changed along with the continuous advance of the locomotive, and it is ensured that the image content is consistent with the view direction of the locomotive driver.

And S206, receiving a control instruction input by the driver aiming at the road condition information so as to control the locomotive to safely pass through the crossing.

In the embodiment of the present application, the operation mode of the locomotive by the driver may be different for different road condition information. For example, when other locomotives or pedestrians pass through the crossing, the driver can control the locomotive to stop, and start the locomotive after other locomotives or pedestrians pass through the crossing. The driver's actions may be applied to the locomotive in the form of control commands to ensure that the locomotive passes safely through the crossing.

In the embodiment of the application, the monitoring angles of the monitoring devices are determined, so that a plurality of monitoring images acquired by the monitoring devices can be spliced to obtain panoramic images consistent with the visual field direction of a locomotive driver, the locomotive driver can be helped to visually know road condition information of a road junction, and the running safety of the locomotive is further improved.

It should be noted that, the sequence numbers of the steps in the foregoing embodiments do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation on the implementation process of the embodiments of the present application.

Referring to fig. 3, a schematic diagram of a locomotive running control apparatus according to an embodiment of the present application is shown, and may specifically include a running path determining module 301, a monitoring image obtaining module 302, a monitoring image displaying module 303, and a locomotive running control module 304, where:

the driving path determining module 301 is configured to determine a driving path of a locomotive, where the driving path includes at least one crossing;

a monitoring image obtaining module 302, configured to obtain a plurality of monitoring images respectively collected by a plurality of monitoring devices installed at the road junction;

a monitoring image display module 303, configured to display the multiple monitoring images on a display device of the locomotive, where the multiple monitoring images are used for a driver to know road condition information of the crossing;

and the locomotive running control module 304 is configured to receive a control instruction input by the driver for the road condition information, so as to control the locomotive to safely pass through the crossing.

In an embodiment of the present application, the apparatus further includes a distance determining module, and the distance determining module is configured to determine a distance between the locomotive and the crossing, and invoke the monitoring image displaying module 303 when the distance is smaller than a preset distance threshold.

In this embodiment of the application, the monitoring image obtaining module 302 is specifically configured to: and acquiring a plurality of monitoring images acquired by the plurality of monitoring devices through a high-speed data transmission channel, wherein the high-speed data transmission channel comprises a data transmission channel established based on a fifth generation mobile communication technology.

In this embodiment of the present application, the monitoring image display module 303 is specifically configured to: determining monitoring angles of a plurality of monitoring devices for acquiring the plurality of monitoring images; according to the monitoring angle, fusing the multiple monitoring images to obtain a panoramic image of the crossing; displaying the panoramic image on the display device.

In this embodiment of the present application, the monitoring image display module 303 is further configured to: determining a central point of the crossing, and establishing a coordinate system by taking the central point as an origin; determining the maximum monitoring range of each monitoring device according to the image information of the monitoring image acquired by each monitoring device; and converting each maximum monitoring range into a monitoring angle in the coordinate system to obtain the monitoring angle of each monitoring device.

In this embodiment of the present application, the monitoring image display module 303 is further configured to: respectively determining overlapped images in the plurality of monitoring images according to the monitoring angles; and splicing the overlapped images in the plurality of monitoring images to obtain a panoramic image of the crossing.

In this embodiment of the present application, the monitoring image display module 303 is further configured to: determining a direction of travel of the locomotive; and splicing overlapped images in the plurality of monitoring images according to the driving direction so as to enable the view direction of the panoramic image to be the same as the driving direction.

For the apparatus embodiment, since it is substantially similar to the method embodiment, it is described relatively simply, and reference may be made to the description of the method embodiment section for relevant points.

Referring to fig. 4, a schematic diagram of a terminal device according to an embodiment of the present application is shown. As shown in fig. 4, the terminal device 400 of the present embodiment includes: a processor 410, a memory 420, and a computer program 421 stored in the memory 420 and executable on the processor 410. The processor 410, when executing the computer program 421, implements the steps of the locomotive running control method in various embodiments, such as the steps S101 to S104 shown in fig. 1. Alternatively, the processor 410, when executing the computer program 421, implements the functions of the modules/units in the above device embodiments, such as the functions of the modules 301 to 304 shown in fig. 3.

Illustratively, the computer program 421 may be partitioned into one or more modules/units, which are stored in the memory 420 and executed by the processor 410 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which may be used to describe the execution process of the computer program 421 in the terminal device 400. For example, the computer program 421 may be divided into a driving path determining module, a monitoring image obtaining module, a monitoring image displaying module, and a locomotive driving control module, and the specific functions of the modules are as follows:

the system comprises a running path determining module, a judging module and a control module, wherein the running path determining module is used for determining a running path of a locomotive, and the running path comprises at least one crossing;

the monitoring image acquisition module is used for acquiring a plurality of monitoring images respectively acquired by a plurality of monitoring devices installed at the road junction;

the monitoring image display module is used for displaying the monitoring images on display equipment of the locomotive, and the monitoring images are used for a driver to know road condition information of the crossing;

and the locomotive running control module is used for receiving a control instruction input by the driver aiming at the road condition information so as to control the locomotive to safely pass through the crossing.

The terminal device 400 may include, but is not limited to, a processor 410, a memory 420. Those skilled in the art will appreciate that fig. 4 is only one example of a terminal device 400 and does not constitute a limitation of the terminal device 400 and may include more or less components than those shown, or combine certain components, or different components, for example, the terminal device 400 may also include input and output devices, network access devices, buses, etc.

The Processor 410 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 420 may be an internal storage unit of the terminal device 400, such as a hard disk or a memory of the terminal device 400. The memory 420 may also be an external storage device of the terminal device 400, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and so on, provided on the terminal device 400. Further, the memory 420 may also include both an internal storage unit and an external storage device of the terminal device 400. The memory 420 is used for storing the computer program 421 and other programs and data required by the terminal device 400. The memory 420 may also be used to temporarily store data that has been output or is to be output.

The embodiment of the application also discloses a terminal device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the locomotive running control method according to the foregoing embodiments.

The embodiment of the application also discloses a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the locomotive running control method according to the previous embodiments.

The embodiment of the application also discloses a computer program product, and when the computer program product runs on the terminal device, the terminal device is enabled to execute the locomotive running control method of the previous embodiment.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.