Slope measuring device, system and vehicle operation control method

Abstract

The application relates to a first slope measuring device, a first slope measuring system and a vehicle operation control method, and also relates to a second slope measuring device, a second slope measuring system and another vehicle operation control method, the first slope measuring device is applied to a first auxiliary device, the first slope measuring system comprises the first slope measuring device and the first auxiliary device, the second slope measuring device is applied to a second auxiliary device, the second slope measuring system comprises the second slope measuring device and the second auxiliary device, in the application, the slope angle value of a road can be effectively measured and the operation state of a vehicle can be detected during the operation of the rail transit vehicle on a large slope section, so that the vehicle can be speed-limited and safely protected according to the slope angle value, and the traction control strategy and the braking control strategy can be timely adjusted according to the operation state and the slope angle value.

Description

Technical Field

[0001] This application belongs to the field of transportation technology, and in particular relates to slope measurement devices, systems and vehicle operation control methods. Background Technology

[0002] Rail transit vehicles such as cogwheel vehicles, maglev vehicles, monorail suspension vehicles, and rubber-tired vehicles need to operate on steep slopes, such as mountainous sections.

[0003] Currently, most rail transit vehicles operating on steep gradient sections are not equipped with gradient measurement devices. This prevents the vehicles from obtaining timely gradient information for the current operating section, thus hindering gradient-based control. They can only rely on the position information from the signal system for judgment. In manual downgrade mode, control can only be achieved by manually visually inspecting the track conditions and switching modes. This prevents the automatic and precise control of vehicle operation, making it impossible to provide effective safety protection.

[0004] Therefore, how to effectively measure the slope of a road when rail transit vehicles are operating on a steep gradient is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a first slope measuring device and a second slope measuring device. The first slope measuring device and the second slope measuring device provided by this application can effectively measure the slope angle value of the road and detect the operating status of the vehicle when the rail transit vehicle is running on a steep slope section. This enables the vehicle to perform speed limit safety protection based on the slope angle value, and to adjust the traction control strategy and braking control strategy in a timely manner based on the operating status and slope angle value.

[0006] The technical solution provided in this application is as follows:

[0007] A first slope measuring device is applied to a first auxiliary device, the first auxiliary device comprising: a first mounting beam, a conductive swing rod, a first support member, and a first conductive guide rail;

[0008] The first mounting beam is fixedly mounted on the vehicle and is parallel to the vehicle's direction of travel;

[0009] The first end of the conductive swing rod is oscillatingly connected to the first mounting beam. The first end of the conductive swing rod is provided with a first electrode, which is electrically connected to a first voltage source. The second end of the conductive swing rod is slidably connected to the first conductive rail.

[0010] The first support member is fixedly installed below the first mounting beam, with its two ends symmetrically located on both sides of the swing axis of the conductive swing rod, and the two ends having a first included angle.

[0011] The first conductive rail includes a first sub-conductive rail and a second sub-conductive rail. A second electrode is provided between the first end of the first sub-conductive rail and the first end of the second sub-conductive rail, and is connected by a first insulating block. The second end of the first sub-conductive rail is fixedly connected to the first end of the first support member. A third electrode is provided at the second end of the first sub-conductive rail. The second end of the second conductive rail is fixedly connected to the second end of the first support member. A fourth electrode is provided at the second end of the second conductive rail.

[0012] The first slope measuring device includes a level detection module, a first determination module, a current detection module, and a first calculation module, wherein:

[0013] The level detection module is electrically connected to the second electrode, the third electrode, and the fourth electrode respectively, and the level detection module is used to collect the level signals of the second electrode, the third electrode, and the fourth electrode;

[0014] The first determination module is used to determine the operating status of the vehicle based on the level signal;

[0015] A current detection module is used to detect the current value of the third electrode or the fourth electrode according to the operating state;

[0016] The first calculation module is used to obtain the slope angle value based on the first included angle, the voltage value of the first voltage source, the current value of the third electrode or the fourth electrode, the resistance value of the conductive pendulum, and the resistance value of the first sub-conductive rail or the second sub-conductive rail.

[0017] Preferably, the second end of the first sub-conductive guide rail is close to the head of the vehicle, the operating state includes uphill operation and downhill operation, and the current detection module includes a first current detection module and a second current detection module;

[0018] The first electrode is electrically connected to the first terminal of the first current detection module and the first terminal of the second current detection module, respectively.

[0019] The third electrode is electrically connected to the second terminal of the first current detection module;

[0020] The fourth electrode is electrically connected to the second terminal of the second current detection module;

[0021] The first determination module is specifically used to: determine that the vehicle is running downhill when the third electrode is at a high level, and determine that the vehicle is running uphill when the fourth electrode is at a high level;

[0022] The first current detection module is used to detect the current value of the third electrode when the vehicle is running downhill;

[0023] The second current detection module is used to detect the current value of the fourth electrode when the vehicle is running uphill;

[0024] The first calculation module is specifically used to: when the vehicle is running downhill, obtain the downhill angle value based on the first included angle, the voltage value of the first voltage source, the current value of the third electrode, the resistance value of the conductive swing rod, and the resistance value of the first sub-conductive rail; and when the vehicle is running uphill, obtain the uphill angle value based on the first included angle, the voltage value of the first voltage source, the current value of the fourth electrode, the resistance value of the conductive swing rod, and the resistance value of the second sub-conductive rail.

[0025] This application also provides a first slope measurement system, including the first slope measurement device and the first auxiliary device described above;

[0026] The level detection module of the first slope measuring device is electrically connected to the second electrode, the third electrode and the fourth electrode of the first auxiliary device, respectively.

[0027] The first electrode of the first auxiliary device and the first terminal of the first current detection module of the first current detection module of the first slope measuring device are electrically connected.

[0028] The first electrode and the first terminal of the second current detection module of the current detection module are electrically connected;

[0029] The third electrode is electrically connected to the second terminal of the first current detection module;

[0030] The fourth electrode is electrically connected to the second terminal of the second current detection module.

[0031] Preferably, the first auxiliary device further includes: a first connecting rod disposed between the first mounting beam and the conductive swing rod;

[0032] The first end of the conductive pendulum rod and the first end of the first connecting rod are connected by a first rotary bearing, and the conductive pendulum rod is able to swing in a first direction;

[0033] The second end of the first connecting rod and the first mounting beam are connected by a second rotary bearing, and the first connecting rod can rotate around the first mounting beam.

[0034] The middle part of the first support member is fixedly connected to the first rotating bearing.

[0035] Preferably, a first conductive slider is fixedly provided at the second end of the conductive rocker arm, and the first conductive slider can slide on the first conductive guide rail.

[0036] Preferably, the first auxiliary device further includes: a second insulating block, a lower swing rod, and a first steel ball;

[0037] The second insulating block is disposed between the second end of the conductive pendulum rod and the first end of the lower pendulum rod;

[0038] The first steel ball is disposed at the second end of the lower swing arm.

[0039] This application also provides a vehicle including the first slope measurement system described in any of the preceding claims.

[0040] This application also provides a vehicle operation control method, applied to the first slope measurement system described in any of the above claims, the method comprising:

[0041] Acquire the level signals of the second, third, and fourth electrodes;

[0042] The vehicle's operating status is determined based on the aforementioned level signal;

[0043] Based on the operating status, detect the current value of the third electrode or the fourth electrode;

[0044] The slope angle value is obtained based on the first included angle, the voltage value of the first voltage source, the current value of the third electrode or the fourth electrode, the resistance value of the conductive pendulum, and the resistance value of the first sub-conductive rail or the second sub-conductive rail.

[0045] Record the slope angle value, and set a speed limit based on the speed limit value corresponding to the slope angle value;

[0046] Based on the operating status and the slope angle value, adjust the traction control strategy and braking control strategy.

[0047] This application provides a second slope measuring device, which is applied to a second auxiliary device. The second auxiliary device includes: a second mounting beam, an insulating swing rod, a second support member, a second conductive guide rail, and a second conductive slider.

[0048] The second mounting beam is fixedly mounted on the vehicle and is parallel to the vehicle's direction of travel;

[0049] The first end of the insulating swing rod and the second mounting beam are oscillatingly connected. The second conductive slider is fixedly mounted on the insulating swing rod. The second conductive slider can slide on the second conductive rail. A fifth electrode is provided on the second conductive slider.

[0050] The second support member is fixedly installed below the second mounting beam, with both ends symmetrically located on both sides of the swing axis of the insulating swing rod, and the two ends having a second included angle;

[0051] The two ends of the second conductive rail are fixedly connected to the two ends of the second support member, the first end of the second conductive rail is provided with a sixth electrode, the sixth electrode is electrically connected to a second voltage source which is a negative voltage source, the second end of the second conductive rail is provided with a seventh electrode, the seventh electrode is electrically connected to a third voltage source which is a positive voltage source, and the middle part of the second conductive rail is grounded.

[0052] The second slope measuring device includes a voltage detection module, a second determination module, and a second calculation module, wherein:

[0053] The voltage detection module includes a first voltage detection module and a second voltage detection module. The fifth electrode is electrically connected to the first terminal of the first voltage detection module and the first terminal of the second voltage detection module, respectively. The sixth electrode is electrically connected to the second terminal of the first voltage detection module, and the seventh electrode is electrically connected to the second terminal of the second voltage detection module. The voltage detection module is used to detect the voltage value of the fifth electrode.

[0054] The second determination module is used to determine the operating status of the vehicle based on the voltage value of the fifth electrode;

[0055] The second calculation module is used to obtain the slope angle value based on the second included angle, the voltage value of the fifth electrode, the voltage value of the second voltage source, or the voltage value of the third voltage source.

[0056] Preferably, the first end of the second conductive rail is close to the head of the vehicle, and the operating states include uphill operation and downhill operation;

[0057] The second determination module is specifically used to: determine that the vehicle is running downhill when the voltage value of the fifth electrode is negative, and determine that the vehicle is running uphill when the voltage value of the fifth electrode is positive;

[0058] The second calculation module is specifically used to: obtain the downhill angle value based on the second included angle, the absolute value of the voltage value of the fifth electrode, and the absolute value of the voltage value of the second voltage source when the vehicle is running downhill; and obtain the uphill angle value based on the second included angle, the voltage value of the fifth electrode, and the voltage value of the third voltage source when the vehicle is running uphill.

[0059] This application also provides a second slope measurement system, including the second slope measurement device and the second auxiliary device described above;

[0060] The fifth electrode of the second auxiliary device and the first terminal of the first voltage detection module of the voltage detection module of the second slope measuring device are electrically connected;

[0061] The sixth electrode of the second auxiliary device is electrically connected to the second terminal of the first voltage detection module;

[0062] The fifth electrode of the second auxiliary device is electrically connected to the first terminal of the second voltage detection module of the voltage detection module;

[0063] The seventh electrode of the second auxiliary device is electrically connected to the second terminal of the second voltage detection module.

[0064] Preferably, the second auxiliary device further includes: a second connecting rod disposed between the second mounting beam and the insulating swing rod;

[0065] The first end of the insulating pendulum rod and the first end of the second connecting rod are connected by a third rotary bearing, and the insulating pendulum rod can swing in a first direction;

[0066] The second end of the second connecting rod and the second mounting beam are connected by a fourth rotary bearing, and the second connecting rod can rotate around the second mounting beam;

[0067] The middle part of the second support member is fixedly connected to the third rotating bearing.

[0068] Preferably, the second auxiliary device further includes a second steel ball fixedly disposed at the second end of the insulating swing arm.

[0069] This application also provides a vehicle including the second slope measurement system described in any of the preceding claims.

[0070] This application also provides a vehicle operation control method, applied to the second slope measurement system described in any of the above claims, the method comprising:

[0071] Detect the voltage value of the fifth electrode;

[0072] The vehicle's operating status is determined based on the voltage value of the fifth electrode;

[0073] The slope angle value of the vehicle is obtained based on the second included angle, the voltage value of the fifth electrode, the voltage value of the second voltage source, or the voltage value of the third voltage source.

[0074] Record the slope angle value, and set a speed limit based on the speed limit value corresponding to the slope angle value;

[0075] Based on the operating status and the slope angle value, adjust the traction control strategy and braking control strategy.

[0076] Compared with the prior art, the first slope measuring device provided in this application is applied to a first auxiliary device, which includes: a first mounting beam, a conductive swing rod, a first support member, and a first conductive rail; the first mounting beam is fixedly mounted on the vehicle and parallel to the vehicle's running direction; the first end of the conductive swing rod is swayably connected to the first mounting beam, the first end of the conductive swing rod is provided with a first electrode, the first electrode is electrically connected to a first voltage source, and the second end of the conductive swing rod is slidably connected to the first conductive rail; the first support member is fixedly mounted below the first mounting beam, with its two ends symmetrically located on both sides of the swing axis of the conductive swing rod, and the two ends having a first included angle; the first conductive rail includes a first sub-conductive rail and a second sub-conductive rail, a second electrode connected by a first insulating block is provided between the first end of the first sub-conductive rail and the first end of the second sub-conductive rail, the second end of the first sub-conductive rail is fixedly connected to the first end of the first support member, the second end of the first sub-conductive rail is provided with a third electrode, and the second end of the second sub-conductive rail is fixedly connected to the second end of the first support member; the second sub-conductive rail includes a first sub-conductive rail and a second sub-conductive rail, the second sub-conductive rail is fixedly connected to the second end of the first support member, and the second sub-conductive rail is slidably connected to the first conductive rail. A fourth electrode is provided at the second end of the guide rail; the first slope measuring device includes a level detection module, a first judgment module, a current detection module, and a first calculation module, wherein: the level detection module is electrically connected to the second electrode, the third electrode, and the fourth electrode respectively, and the level detection module is used to collect the level signals of the second electrode, the third electrode, and the fourth electrode; the first judgment module is used to determine the vehicle's operating status based on the level signals; the current detection module is used to detect the current value of the third electrode or the fourth electrode based on the operating status; the first calculation module is used to obtain the slope angle value based on the first included angle, the voltage value of the first voltage source, the current value of the third electrode or the fourth electrode, the resistance value of the conductive swing rod, and the resistance value of the first sub-conductive guide rail or the second sub-conductive guide rail. In this application, when the rail transit vehicle is running on a steep slope section, the slope angle value of the road can be effectively measured and the vehicle's operating status can be detected, thereby enabling the vehicle to perform speed limit safety protection based on the slope angle value, and to adjust the traction control strategy and braking control strategy in a timely manner based on the operating status and the slope angle value.

[0077] Compared with the prior art, the second slope measuring device provided in this application is applied to a second auxiliary device, which includes: a second mounting beam, an insulating swing rod, a second support member, a second conductive rail, and a second conductive slider; the second mounting beam is fixedly mounted on the vehicle and parallel to the vehicle's running direction; the first end of the insulating swing rod is swayably connected to the second mounting beam, the second conductive slider is fixedly mounted on the insulating swing rod and can slide on the second conductive rail, and a fifth electrode is provided on the second conductive slider; the second support member is fixedly mounted below the second mounting beam, with its two ends symmetrically located on both sides of the swing axis of the insulating swing rod, and a second included angle between the two ends; the two ends of the second conductive rail are respectively fixedly connected to the two ends of the second support member, the first end of the second conductive rail is provided with a sixth electrode, which is electrically connected to a second voltage source that is a negative voltage source, the second end of the second conductive rail is provided with a seventh electrode, which is electrically connected to a third voltage source that is a positive voltage source, and the middle part of the second conductive rail is grounded; the second slope measuring device. The system includes a voltage detection module, a second determination module, and a second calculation module. The voltage detection module comprises a first voltage detection module and a second voltage detection module. A fifth electrode is electrically connected to the first terminal of both the first and second voltage detection modules. A sixth electrode is electrically connected to the second terminal of the first voltage detection module. A seventh electrode is electrically connected to the second terminal of the second voltage detection module. The voltage detection module is used to detect the voltage value of the fifth electrode. The second determination module is used to determine the vehicle's operating status based on the voltage value of the fifth electrode. The second calculation module is used to obtain a slope angle value based on a second included angle, the voltage value of the fifth electrode, the voltage value of a second voltage source, or the voltage value of a third voltage source. In this application, when a rail transit vehicle is operating on a steep slope, the slope angle value of the road can be effectively measured and the vehicle's operating status can be detected. This enables the vehicle to perform speed-limiting safety protection based on the slope angle value and to adjust traction control and braking control strategies in a timely manner based on the operating status and slope angle value. Attached Figure Description

[0078] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0079] Figure 1 This is a first structural block diagram of the first slope measuring device disclosed in the embodiments of this application;

[0080] Figure 2 This is a second structural block diagram of the first slope measuring device disclosed in the embodiments of this application;

[0081] Figure 3 This is a first structural schematic diagram of the first auxiliary device disclosed in the embodiments of this application;

[0082] Figure 4 This is a schematic diagram of the second structure of the first auxiliary device disclosed in the embodiments of this application;

[0083] Figure 5 for Figure 4 A magnified view of a portion of A1;

[0084] Figure 6 for Figure 4 A magnified view of a portion of A2;

[0085] Figure 7 The circuit diagram of the first auxiliary device when the vehicle is going downhill is shown in the embodiment of this application, with the second end of the first sub-conductive guide rail close to the head of the vehicle.

[0086] Figure 8 This is a circuit diagram of the level detection module, the current detection module, and the first to fourth electrodes disclosed in the embodiments of this application;

[0087] Figure 9 This is a structural block diagram of the first slope measurement system disclosed in the embodiments of this application;

[0088] Figure 10 This is a flowchart of a vehicle operation control method disclosed in an embodiment of this application;

[0089] Figure 11 This is a structural block diagram of the second slope measuring device disclosed in the embodiments of this application;

[0090] Figure 12 This is a first structural schematic diagram of the second auxiliary device disclosed in the embodiments of this application;

[0091] Figure 13 This is a schematic diagram of the second structure of the second auxiliary device disclosed in the embodiments of this application;

[0092] Figure 14 for Figure 13 A magnified view of a portion of A3 paper;

[0093] Figure 15 for Figure 13 A magnified view of a portion of an A4 sheet;

[0094] Figure 16 The circuit diagram of the second auxiliary device when the vehicle is going downhill is shown in the embodiment of this application, with the first end of the second conductive rail close to the head of the vehicle.

[0095] Figure 17 This is a circuit diagram of the voltage detection module and the fifth to seventh electrodes disclosed in an embodiment of this application;

[0096] Figure 18 This is a structural block diagram of the second slope measurement system disclosed in the embodiments of this application;

[0097] Figure 19 This is a flowchart of another vehicle operation control method disclosed in an embodiment of this application;

[0098] Reference numerals: 100 - First slope measuring device; 200 - First auxiliary device;

[0099] 110 - Level detection module; 120 - First judgment module; 130 - Current detection module; 140 - First calculation module;

[0100] 131 - First current detection module; 132 - Second current detection module;

[0101] 210 - First mounting beam; 220 - Conductive swing rod; 230 - First support member; 240 - First conductive guide rail; 250 - First connecting rod; 260 - First rotary bearing; 270 - Second rotary bearing;

[0102] 221-First electrode; 222-First voltage source; 223-First conductive slider; 224-Second insulating block; 225-Lower swing arm; 226-First steel ball;

[0103] 241-First sub-conductive rail; 242-Second sub-conductive rail; 243-First insulating block; 244-Second electrode; 245-Third electrode; 246-Fourth electrode;

[0104] 300 - Second slope measuring device; 400 - Second auxiliary device;

[0105] 310 - Voltage detection module; 320 - Second judgment module; 330 - Second calculation module;

[0106] 311 - First voltage detection module; 312 - Second voltage detection module;

[0107] 410 - Second mounting beam; 420 - Insulated swing rod; 430 - Second support member; 440 - Second conductive guide rail; 450 - Second conductive slider; 460 - Second connecting rod; 470 - Third rotary bearing; 480 - Fourth rotary bearing;

[0108] 421 - Second steel ball;

[0109] 451 - Fifth electrode;

[0110] 441 - Sixth electrode; 442 - Second voltage source; 443 - Seventh electrode; 444 - Third voltage source; 445 - Eighth electrode. Detailed Implementation

[0111] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0112] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on or indirectly set on the other component; when a component is referred to as "connected to" another component, it can be directly connected to or indirectly connected to the other component.

[0113] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0114] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" or "several" means two or more, unless otherwise explicitly specified.

[0115] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size should still fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce.

[0116] like Figure 1 , Figure 3 and Figure 8As shown, this application embodiment provides a first slope measuring device 100, applied to a first auxiliary device 200. The first auxiliary device 200 includes: a first mounting beam 210, a conductive swing rod 220, a first support member 230, and a first conductive guide rail 240. The first mounting beam 210 is fixedly mounted on the vehicle and parallel to the vehicle's running direction. The first end of the conductive swing rod 220 is swayably connected to the first mounting beam 210. A first electrode 221 is provided at the first end of the conductive swing rod 220, and the first electrode 221 is electrically connected to a first voltage source 222. The second end of the conductive swing rod 220 is connected to the first mounting beam 210. A conductive rail 240 is slidably connected; a first support member 230 is fixedly disposed below the first mounting beam 210, with its two ends symmetrically located on both sides of the swing axis of the conductive swing rod 220, and the two ends having a first included angle α1; the first conductive rail 240 includes a first sub-conductive rail 241 and a second sub-conductive rail 242, a second electrode 244 is disposed between the first end of the first sub-conductive rail 241 and the first end of the second sub-conductive rail 242 through a first insulating block 243, and the second end of the first sub-conductive rail 241 is fixedly connected to the first end of the first support member 230. A third electrode 245 is provided at the second end of the first sub-conductive guide rail 241. The second end of the second sub-conductive guide rail 242 is fixedly connected to the second end of the first support member 230. A fourth electrode 246 is provided at the second end of the second sub-conductive guide rail 242. The first slope measuring device 100 includes a level detection module 110, a first judgment module 120, a current detection module 130, and a first calculation module 140. The level detection module 110 is electrically connected to the second electrode 244, the third electrode 245, and the fourth electrode 246, respectively. The level detection module 110 is used to collect data from the second electrode. 244. Level signals of the third electrode 245 and the fourth electrode 246; First determination module 120, used to determine the operating status of the vehicle based on the level signals; Current detection module 130, used to detect the current value of the third electrode 245 or the fourth electrode 246 based on the operating status; First calculation module 140, used to obtain the slope angle value based on the first included angle a1, the voltage value of the first voltage source 222, the current value of the third electrode 245 or the fourth electrode 246, the resistance value of the conductive swing rod 220, and the resistance value of the first sub-conductive guide rail 241 or the second sub-conductive guide rail 242.

[0117] In this embodiment, the first mounting beam 210 can be fixed to the bottom of the vehicle, the inner surface of the top of the vehicle, or the lower surface of other parts of the vehicle, preferably fixed to the inner surface of the top of the vehicle.

[0118] like Figure 1 , Figure 4 and Figure 7As shown, in this embodiment, the first support member 230 is insulated. The first support member 230 can be a single support member with a first included angle α1, or it can include two insulated support rods forming the first included angle α1. Since the first end of the conductive swing rod 220 and the first mounting beam 210 are swayably connected, and the second end of the conductive swing rod 220 and the first conductive guide rail 240 are slidably connected, if the second end of the first sub-conductive guide rail 241 is close to the head of the vehicle, the conductive swing rod 220 can swing in the first direction in a plane parallel to the vehicle's running axis. During the horizontal movement of the vehicle, the second end of the conductive swing rod 220 is located in the middle of the first conductive guide rail 240, and the conductive swing rod 220 is in contact with the first electrode 221. At this time, the level detection module 110 collects a high-level signal from the second electrode 244. During the downhill movement of the vehicle, the second end of the conductive swing rod 220 slides from the middle of the first conductive guide rail 240 towards the head of the vehicle, that is, the second end of the conductive swing rod 220 is on the first sub-conductive guide rail 241. During the sliding motion, the level detection module 110 detects a high-level signal from the third electrode 245, and the current detection module 130 detects the current value of the third electrode 245. The first calculation module 140 calculates the downhill angle of the road based on the first included angle α1, the voltage value of the first voltage source 222, the current value of the third electrode 245, the resistance value of the conductive swing rod 220, and the resistance value of the first sub-conductive guide rail 241. During the uphill operation of the vehicle, the second end of the conductive swing rod 220 moves from the middle of the first conductive guide rail 240 towards... The vehicle slides towards the rear of the vehicle, that is, the second end of the conductive swing rod 220 slides on the second sub-conductive rail 242. At this time, the level detection module 110 collects a high-level signal from the fourth electrode 246, the current detection module 130 detects the current value of the fourth electrode 246, and the first calculation module 140 obtains the uphill angle of the road based on the first included angle a1, the voltage value of the first voltage source 222, the current value of the fourth electrode 246, the resistance value of the conductive swing rod 220, and the resistance value of the second sub-conductive rail 242.

[0119] In this embodiment, the level detection module 110, after being electrically connected to the second electrode 244 and the third electrode 245 respectively, can obtain the analog voltage signal of the third electrode 245. The internal analog-to-digital detection unit converts the analog voltage signal of the third electrode 245 into a digital level signal of the third electrode 245. The level detection module 110, after being electrically connected to the second electrode 244 and the fourth electrode 246 respectively, can obtain the analog voltage signal of the fourth electrode 246. The internal analog-to-digital detection unit converts the analog voltage signal of the fourth electrode 246 into a digital level signal of the fourth electrode 246.

[0120] Compared with the prior art, the first slope measuring device 100 provided in this application is applied to a first auxiliary device 200. The first auxiliary device 200 includes: a first mounting beam 210, a conductive swing rod 220, a first support member 230, and a first conductive guide rail 240. The first mounting beam 210 is fixedly mounted on the vehicle and parallel to the vehicle's running direction. The first end of the conductive swing rod 220 is swayably connected to the first mounting beam 210. A first electrode 221 is provided at the first end of the conductive swing rod 220, and the first electrode 221 is electrically connected to a first voltage source 222. The second end of the conductive swing rod 220 is slidably connected to the first conductive guide rail 240. The first support member 230 is fixed... Located below the first mounting beam 210, the first conductive rail 240 is symmetrically positioned on both sides of the swing axis of the conductive rocker arm 220, with a first included angle α1 between the two ends. The first conductive rail 240 includes a first sub-conductive rail 241 and a second sub-conductive rail 242. A second electrode 244, connected via a first insulating block 243, is disposed between the first end of the first sub-conductive rail 241 and the first end of the second sub-conductive rail 242. The second end of the first sub-conductive rail 241 is fixedly connected to the first end of the first support member 230. A third electrode 245 is disposed at the second end of the first sub-conductive rail 241. The second end of the second sub-conductive rail 242 is fixedly connected to the second end of the first support member 230. A fixed connection is established, and a fourth electrode 246 is provided at the second end of the second sub-conductive guide rail 242; the first slope measuring device 100 includes a level detection module 110, a first determination module 120, a current detection module 130, and a first calculation module 140, wherein: the level detection module 110 is electrically connected to the second electrode 244, the third electrode 245, and the fourth electrode 246 respectively, and the level detection module 110 is used to collect the level signals of the second electrode 244, the third electrode 245, and the fourth electrode 246; the first determination module 120 is used to determine the operating status of the vehicle based on the level signals; the current detection module 130 is used to detect the third electrode 244 based on the operating status. The first calculation module 140 is used to obtain the slope angle value based on the first included angle a1, the voltage value of the first voltage source 222, the current value of the third electrode 245 or the fourth electrode 246, the resistance value of the conductive swing rod 220, and the resistance value of the first sub-conductive rail 241 or the second sub-conductive rail 242. In this application, when the rail transit vehicle is running on a steep slope section, it can effectively measure the slope angle value of the road and detect the running status of the vehicle, thereby enabling the vehicle to perform speed limit safety protection based on the slope angle value, and to adjust the traction control strategy and braking control strategy in a timely manner based on the running status and slope angle value.

[0121] like Figure 1 , Figure 4 , Figure 7 and Figure 8As shown, in one embodiment of this application, the second end of the first sub-conductive guide rail 241 is close to the head of the vehicle, and the operating states include uphill operation and downhill operation; the current detection module 130 includes a first current detection module 131 and a second current detection module 132; the first electrode 221 is electrically connected to the first end of the first current detection module 131 and the first end of the second current detection module 132 respectively; the third electrode 245 is electrically connected to the second end of the first current detection module 131; the fourth electrode 246 is electrically connected to the second end of the second current detection module 132; the first determination module 120 is specifically used to: determine that the vehicle is running downhill when the third electrode 245 is at a high level, and determine that the vehicle is running uphill when the fourth electrode 246 is at a high level. The system operates as follows: a first current detection module 131 is used to detect the current value of the third electrode 245 when the vehicle is running downhill; a second current detection module 132 is used to detect the current value of the fourth electrode 246 when the vehicle is running uphill; the first calculation module 140 is specifically used to: obtain the downhill angle value based on the first included angle a1, the voltage value of the first voltage source 222, the current value of the third electrode 245, the resistance value of the conductive swing rod 220, and the resistance value of the first sub-conductive rail 241 when the vehicle is running downhill; and obtain the uphill angle value based on the first included angle a1, the voltage value of the first voltage source 222, the current value of the fourth electrode 246, the resistance value of the conductive swing rod 220, and the resistance value of the second sub-conductive rail 242 when the vehicle is running uphill. In this embodiment, the first current detection module 131, after being electrically connected to the first electrode 221 and the third electrode 245 respectively, can detect the current value of the third electrode 245. The second current detection module 132, after being electrically connected to the first electrode 221 and the fourth electrode 246 respectively, can detect the current value of the fourth electrode 246. In this embodiment, the resistance value of the first sub-conductive rail 241 can be the same as or different from the resistance value of the second sub-conductive rail 242. When the vehicle is running downhill, the first calculation module calculates the downhill angle value i1 based on the first included angle α1, the voltage value U1 of the first voltage source 222, the current value I1 of the third electrode 245, the resistance value R1 of the conductive swing rod 220, and the resistance value R2 of the first sub-conductive rail 241, using the first formula. The first formula is as follows:

[0122]

[0123] When the vehicle is running uphill, the first calculation module calculates the uphill angle i2 based on the first included angle a1, the voltage value U1 of the first voltage source 222, the current value I2 of the fourth electrode 246, the resistance value R1 of the conductive swing rod 220, and the resistance value R3 of the second sub-conductive rail 242, using the second formula. The second formula is as follows:

[0124]

[0125] Figure 9 As shown, this application also provides a first slope measurement system, including a first slope measurement device 100 and a first auxiliary device 200 as described above; the level detection module 110 of the first slope measurement device 100 is electrically connected to the second electrode 244, the third electrode 245 and the fourth electrode 246 of the first auxiliary device 200 respectively; the first electrode 221 of the first auxiliary device 200 is electrically connected to the first end of the first current detection module 131 of the current detection module 130 of the first slope measurement device 100; the first electrode 221 is electrically connected to the first end of the second current detection module 132 of the current detection module 130; the third electrode 245 is electrically connected to the second end of the first current detection module 131; and the fourth electrode 246 is electrically connected to the second end of the second current detection module 132.

[0126] like Figures 4 to 6 As shown, in one embodiment of this application, the first auxiliary device 200 further includes: a first connecting rod 250 disposed between the first mounting beam 210 and the conductive swing rod 220; the first end of the conductive swing rod 220 and the first end of the first connecting rod 250 are connected by a first rotating bearing 260, and the conductive swing rod 220 can swing in a first direction; the second end of the first connecting rod 250 and the first mounting beam 210 are connected by a second rotating bearing 270, and the first connecting rod 250 can rotate around the first mounting beam 210; the middle part of the first support member 230 is fixedly connected to the first rotating bearing 260. In this embodiment, the vehicle may tilt during operation. Since the first connecting rod 250 can drive the conductive swing rod 220 and the first support rod, as the vehicle tilts, the first connecting rod 250 rotates in a second direction around the first mounting beam 210 in a plane perpendicular to the vehicle's running axis, allowing the second end of the conductive swing rod 220 to slide freely on the first conductive guide rail 240 due to gravity, further ensuring the effectiveness and accuracy of the slope measurement.

[0127] like Figures 4 to 6 As shown, in one embodiment of this application, a first conductive slider 223 is fixedly provided at the second end of the conductive pendulum 220, and the first conductive slider 223 can slide on the first conductive guide rail 240. In this embodiment, the first conductive slider 223 can conduct electricity through frictional contact on the first sub-conductive guide rail 241 or the second sub-conductive guide rail 242, and the sliding effect of the slider on the conductive guide rail is better, further ensuring the effectiveness and accuracy of the slope measurement.

[0128] like Figures 4 to 6As shown, in one embodiment of this application, the first auxiliary device 200 further includes: a second insulating block 224, a lower swing rod 225, and a first steel ball 226; the second insulating block 224 is disposed between the second end of the conductive swing rod 220 and the first end of the lower swing rod 225; the first steel ball 226 is disposed at the second end of the lower swing rod 225. In this embodiment, by setting the first steel ball 226 through the lower swing rod 225, the conductive swing rod 220 can swing more rapidly due to the shorter reaction time of gravity swing when the vehicle is running uphill or downhill, thereby effectively improving the response speed of the slope measurement system for slope detection.

[0129] This application also provides a vehicle that includes the first slope measurement system described above.

[0130] like Figure 10 As shown, this application also provides a vehicle operation control method, applied to the slope measurement system of any of the above claims, the method comprising:

[0131] S101, Acquire the level signals of the second, third, and fourth electrodes;

[0132] S102. Determine the vehicle's operating status based on the voltage level signal;

[0133] S103. Detect the current value of the third or fourth electrode according to the operating status;

[0134] S104. Based on the first included angle, the voltage value of the first voltage source, the current value of the third or fourth electrode, the resistance value of the conductive rod, and the resistance value of the first or second sub-conductive rail, the slope angle value is obtained.

[0135] S105. Record the slope angle value and set a speed limit based on the speed limit value corresponding to the slope angle value.

[0136] S106. Adjust the traction control strategy and braking control strategy according to the operating status and slope angle value.

[0137] like Figure 11 , Figure 12 and Figure 17As shown, the second slope measuring device 300 provided in this application is applied to the second auxiliary device 400. The second auxiliary device 400 includes: a second mounting beam 410, an insulating swing rod 420, a second support member 430, a second conductive guide rail 440, and a second conductive slider 450. The second mounting beam 410 is fixedly mounted on the vehicle and parallel to the vehicle's running direction. The first end of the insulating swing rod 420 is swayably connected to the second mounting beam 410. The second conductive slider 450 is fixedly mounted on the insulating swing rod 420 and can be swayed at the first end of the second mounting beam 410. The second conductive guide rail 440 slides on the second conductive slider 450, and a fifth electrode 451 is provided on the second conductive slider 450. The second support member 430 is fixedly provided below the second mounting beam 410, with its two ends symmetrically located on both sides of the swing axis of the insulating swing rod 420, and the two ends having a second included angle α2 between them. The two ends of the second conductive guide rail 440 are respectively fixedly connected to the two ends of the second support member 430. A sixth electrode 441 is provided at the first end of the second conductive guide rail 440. The sixth electrode 441 is electrically connected to a second voltage source 442, which is a negative voltage source. The second end of the 0 is provided with a seventh electrode 443, which is electrically connected to a third voltage source 444, which is a positive voltage source. The middle part of the second conductive rail 440 is grounded. The second slope measuring device 300 includes a voltage detection module 310, a second judgment module 320, and a second calculation module 330. The voltage detection module 310 includes a first voltage detection module 311 and a second voltage detection module 312. The fifth electrode 451 is electrically connected to the first end of the first voltage detection module 311 and the first end of the second voltage detection module 312, respectively. The sixth electrode 441 is electrically connected to the second end of the first voltage detection module 311, and the seventh electrode 443 is electrically connected to the second end of the second voltage detection module 312. The voltage detection module 310 is used to detect the voltage value of the fifth electrode 451. The second determination module 320 is used to determine the operating status of the vehicle based on the voltage value of the fifth electrode 451. The second calculation module 330 is used to obtain the slope angle value based on the second included angle a2, the voltage value of the fifth electrode 451, the voltage value of the second voltage source 442, or the voltage value of the third voltage source 444.

[0138] In this embodiment, the second mounting beam 410 can be fixed to the bottom of the vehicle, the inner surface of the top of the vehicle, or the lower surface of other parts of the vehicle, preferably fixed to the inner surface of the top of the vehicle; the eighth electrode 445 can be provided in the middle of the second conductive rail 440 and then grounded.

[0139] In this embodiment, the first voltage detection module 311, after being connected to the fifth electrode 451 and the sixth electrode 441 respectively, can detect the voltage value of the fifth electrode 451 during the sliding process from the middle of the second conductive rail 440 to the first end; the second voltage detection module 312, after being connected to the fifth electrode 451 and the seventh electrode 443 respectively, can detect the voltage value of the fifth electrode 451 during the sliding process from the middle of the second conductive rail 440 to the second end.

[0140] like Figure 11 , Figure 13 and Figure 16 As shown, in this embodiment, the second support member 430 is insulated. The second support member 430 can be a single support member with its own second included angle a2, or it can include two insulated support rods constituting the second included angle a2. Since the first end of the insulated swing rod 420 and the second mounting beam 410 are swayably connected, and the second end of the insulated swing rod 420 and the second conductive rail 440 are slidably connected, if the first end of the second conductive rail 440 is close to the head of the vehicle, the insulated swing rod 420 can swing in the first direction in a plane parallel to the vehicle's running axis. During the downhill operation of the vehicle, the second end of the insulated swing rod 420 swings from the middle of the second conductive rail 440 toward the direction closer to the head of the vehicle, causing the second conductive slider 450 to slide from the middle of the second conductive rail 440 toward the first end. Since the sixth electrode 441 set at the first end of the second conductive rail 440 is connected to... When the voltage detection module 310 detects a negative voltage source, the voltage value of the fifth electrode 451 is negative. The second calculation module 330 obtains the downhill angle value based on the second included angle a2, the absolute value of the voltage value of the fifth electrode 451, and the absolute value of the voltage value of the second voltage source 442. During the uphill operation of the vehicle, the second end of the insulating swing rod 420 swings from the middle of the second conductive rail 440 towards the rear of the vehicle, causing the second conductive slider 450 to slide from the middle of the second conductive rail 440 towards the second end. Since the seventh electrode 443 at the first end of the second conductive rail 440 is connected to a positive voltage source, the voltage value of the fifth electrode 451 detected by the voltage detection module 310 is positive. The second calculation module 330 obtains the uphill angle value based on the second included angle a2, the voltage value of the fifth electrode 451, and the voltage value of the third voltage source 444.

[0141] Compared with the prior art, the second slope measuring device 300 provided in this application is applied to a second auxiliary device 400. The second auxiliary device 400 includes: a second mounting beam 410, an insulating swing rod 420, a second support member 430, a second conductive guide rail 440, and a second conductive slider 450. The second mounting beam 410 is fixedly mounted on the vehicle and parallel to the vehicle's running direction. The first end of the insulating swing rod 420 is swayably connected to the second mounting beam 410. The second conductive slider 450 is fixedly mounted on the insulating swing rod 420 and can slide on the second conductive guide rail 440. A fifth electrode 451 is provided; a second support member 430 is fixedly disposed below the second mounting beam 410, with its two ends symmetrically located on both sides of the swing axis of the insulating swing rod 420, and the two ends having a second included angle α2; the two ends of the second conductive rail 440 are fixedly connected to the two ends of the second support member 430 respectively, the first end of the second conductive rail 440 is provided with a sixth electrode 441, the sixth electrode 441 is electrically connected to a second voltage source 442 which is a negative voltage source, the second end of the second conductive rail 440 is provided with a seventh electrode 443, the seventh electrode 443 is electrically connected to a third voltage source 444 which is a positive voltage source, and the second conductive rail 440... The middle part is grounded; the second slope measuring device 300 includes a voltage detection module 310, a second judgment module 320 and a second calculation module 330, wherein: the voltage detection module 310 includes a first voltage detection module 311 and a second voltage detection module 312, the fifth electrode 451 is electrically connected to the first end of the first voltage detection module 311 and the first end of the second voltage detection module 312 respectively, the sixth electrode 441 is electrically connected to the second end of the first voltage detection module 311, and the seventh electrode 443 is electrically connected to the second end of the second voltage detection module 312. The voltage detection module 310 is used to detect the voltage value of the fifth electrode 451; The second determination module 320 is used to determine the vehicle's operating status based on the voltage value of the fifth electrode 451; the second calculation module 330 is used to obtain the slope angle value based on the second included angle a2, the voltage value of the fifth electrode 451, the voltage value of the second voltage source 442, or the voltage value of the third voltage source 444. In this application, when the rail transit vehicle is running on a steep slope section, the slope angle value of the road can be effectively measured and the operating status of the vehicle can be detected, thereby enabling the vehicle to perform speed limit safety protection based on the slope angle value, and to adjust the traction control strategy and braking control strategy in a timely manner based on the operating status and slope angle value.

[0142] like Figure 11 , Figure 13 and Figure 16As shown, in one embodiment of this application, the first end of the second conductive rail 440 is close to the head of the vehicle, and the operating states include uphill operation and downhill operation. The second determination module 320 is specifically used to: determine that the vehicle is running downhill when the voltage value of the fifth electrode 451 is negative, and determine that the vehicle is running uphill when the voltage value of the fifth electrode 451 is positive. The second calculation module 330 is specifically used to: obtain the downhill angle value based on the second included angle α2, the absolute value of the voltage value of the fifth electrode 451, and the absolute value of the voltage value of the second voltage source 442 when the vehicle is running downhill; and obtain the uphill angle value based on the second included angle α2, the voltage value of the fifth electrode 451, and the voltage value of the third voltage source 444 when the vehicle is running uphill. In this embodiment, during the downhill operation of the vehicle, the second calculation module 330 calculates the downhill angle value i1 based on the second included angle α2, the absolute value of the voltage value u of the fifth electrode 451, and the absolute value of the voltage value U2 of the second voltage source 442, using a third formula, as follows:

[0143]

[0144] During the uphill operation of the vehicle, the second calculation module 330 calculates the uphill angle value i2 based on the second included angle a2, the voltage value u of the fifth electrode 451, and the voltage value U3 of the third voltage source 444 using the fourth formula, as follows:

[0145]

[0146] like Figure 18 As shown, the second slope measurement system provided in this application includes a second slope measurement device 300 and a second auxiliary device 400 as described above; the fifth electrode 451 of the second auxiliary device 400 and the first terminal of the first voltage detection module 311 of the voltage detection module 310 of the second slope measurement device 300 are electrically connected; the sixth electrode 441 of the second auxiliary device 400 and the second terminal of the first voltage detection module 311 are electrically connected; the fifth electrode 451 of the second auxiliary device 400 and the first terminal of the second voltage detection module 312 of the voltage detection module 310 are electrically connected; the seventh electrode 443 of the second auxiliary device 400 and the second terminal of the second voltage detection module 312 are electrically connected.

[0147] like Figures 13 to 15As shown, in one embodiment of this application, the second auxiliary device 400 further includes: a second connecting rod 460 disposed between the second mounting beam 410 and the insulating swing rod 420; the first end of the insulating swing rod 420 and the first end of the second connecting rod 460 are connected by a third rotary bearing 470, and the insulating swing rod 420 can swing in a first direction; the second end of the second connecting rod 460 and the second mounting beam 410 are connected by a fourth rotary bearing 480, and the second connecting rod 460 can rotate around the second mounting beam 410; the middle part of the second support member 430 is fixedly connected to the third rotary bearing 470. In this embodiment, the vehicle may tilt during operation. Since the second connecting rod 460 can drive the insulating swing rod 420 and the second support rod, as the vehicle tilts, the second end of the insulating swing rod 420 can slide freely on the second conductive guide rail 440 due to gravity, further ensuring the effectiveness and accuracy of the slope measurement.

[0148] like Figure 13 As shown, in one embodiment of this application, the second auxiliary device 400 further includes a second steel ball 421 fixedly disposed at the second end of the insulating swing rod 420.

[0149] This application also provides a vehicle that includes the second slope measurement system described above.

[0150] In this embodiment, by setting a second steel ball 421 at the second end of the insulating pendulum 420, the insulating pendulum 420 can swing more quickly due to the shorter reaction time of gravity swing when the vehicle is running uphill or downhill, thereby effectively improving the response speed of the slope measurement system for slope detection.

[0151] like Figure 19 As shown, another vehicle operation control method provided in this application, applied to the slope measurement system of any of the above claims, includes:

[0152] S201, Detect the voltage value of the fifth electrode;

[0153] S202. Determine the vehicle's operating status based on the voltage value of the fifth electrode;

[0154] S203. Based on the second included angle, the voltage value of the fifth electrode, the voltage value of the second voltage source, or the voltage value of the third voltage source, the slope angle value of the vehicle is obtained.

[0155] S204. Record the slope angle value and set a speed limit based on the speed limit value corresponding to the slope angle value.

[0156] S205. Adjust the traction control strategy and braking control strategy according to the operating status and slope angle value.

[0157] It should be understood that the use of terms such as "system," "device," "unit," and / or "module" in this application is merely one method of distinguishing different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they may be replaced by other expressions.

[0158] The embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other.

[0159] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A first slope measuring device, characterized in that, It is applied to a first auxiliary device, which includes: a first mounting beam, a conductive swing rod, a first support member, and a first conductive guide rail; The first mounting beam is fixedly mounted on the vehicle and is parallel to the vehicle's direction of travel; The first end of the conductive swing rod is oscillatingly connected to the first mounting beam. The first end of the conductive swing rod is provided with a first electrode, which is electrically connected to a first voltage source. The second end of the conductive swing rod is slidably connected to the first conductive rail. The first support member is fixedly installed below the first mounting beam, with its two ends symmetrically located on both sides of the swing axis of the conductive swing rod, and the two ends having a first included angle. The first conductive rail includes a first sub-conductive rail and a second sub-conductive rail. A second electrode is provided between the first end of the first sub-conductive rail and the first end of the second sub-conductive rail, and is connected by a first insulating block. The second end of the first sub-conductive rail is fixedly connected to the first end of the first support member. A third electrode is provided at the second end of the first sub-conductive rail. The second end of the second conductive rail is fixedly connected to the second end of the first support member. A fourth electrode is provided at the second end of the second conductive rail. The first slope measuring device includes a level detection module, a first determination module, a current detection module, and a first calculation module, wherein: The level detection module is electrically connected to the second electrode, the third electrode, and the fourth electrode respectively, and the level detection module is used to collect the level signals of the second electrode, the third electrode, and the fourth electrode; The first determination module is used to determine the operating status of the vehicle based on the level signal, wherein the operating status includes uphill operation and downhill operation; A current detection module is used to detect the current value of the third electrode when the vehicle is going downhill, and to detect the current value of the fourth electrode when the vehicle is going uphill. The first calculation module is used to obtain a downhill angle value based on the first included angle, the voltage value of the first voltage source, the current value of the third electrode, the resistance value of the conductive swing rod, and the resistance value of the first sub-conductive rail when the vehicle is running downhill, and to obtain an uphill angle value based on the first included angle, the voltage value of the first voltage source, the current value of the fourth electrode, the resistance value of the conductive swing rod, and the resistance value of the second sub-conductive rail when the vehicle is running uphill.

2. The first slope measuring device according to claim 1, characterized in that, The second end of the first sub-conductive guide rail is close to the head of the vehicle, and the current detection module includes a first current detection module and a second current detection module; The first electrode is electrically connected to the first terminal of the first current detection module and the first terminal of the second current detection module, respectively. The third electrode is electrically connected to the second terminal of the first current detection module; The fourth electrode is electrically connected to the second terminal of the second current detection module; The first determination module is specifically used to: determine that the vehicle is running downhill when the third electrode is at a high level, and determine that the vehicle is running uphill when the fourth electrode is at a high level; The first current detection module is used to detect the current value of the third electrode when the vehicle is running downhill; The second current detection module is used to detect the current value of the fourth electrode when the vehicle is running uphill.

3. A first slope measurement system, characterized in that, Includes the first slope measuring device and the first auxiliary device as described in claim 1 or 2; The level detection module of the first slope measuring device is electrically connected to the second electrode, the third electrode and the fourth electrode of the first auxiliary device, respectively. The first electrode of the first auxiliary device and the first terminal of the first current detection module of the first current detection module of the first slope measuring device are electrically connected. The first electrode and the first terminal of the second current detection module of the current detection module are electrically connected; The third electrode is electrically connected to the second terminal of the first current detection module; The fourth electrode is electrically connected to the second terminal of the second current detection module.

4. The first slope measurement system according to claim 3, characterized in that, The first auxiliary device further includes: a first connecting rod disposed between the first mounting beam and the conductive swing rod; The first end of the conductive pendulum rod and the first end of the first connecting rod are connected by a first rotary bearing, and the conductive pendulum rod is able to swing in a first direction; The second end of the first connecting rod and the first mounting beam are connected by a second rotary bearing, and the first connecting rod can rotate around the first mounting beam. The middle part of the first support member is fixedly connected to the first rotating bearing.

5. The first slope measurement system according to claim 3 or 4, characterized in that, The second end of the conductive rocker arm is fixedly provided with a first conductive slider, which can slide on the first conductive rail.

6. The first slope measurement system according to claim 5, characterized in that, The first auxiliary device further includes: a second insulating block, a lower swing arm, and a first steel ball; The second insulating block is disposed between the second end of the conductive pendulum rod and the first end of the lower pendulum rod; The first steel ball is disposed at the second end of the lower swing arm.

7. A vehicle, characterized in that, Includes the first slope measurement system as described in any one of claims 3-6.

8. A vehicle operation control method, characterized in that, Applied to the first slope measurement system as described in any one of claims 3 to 6, the method comprises: Acquire the level signals of the second, third, and fourth electrodes; The vehicle's operating status is determined based on the level signal, including uphill operation and downhill operation. The current value of the third electrode is detected when the vehicle is going downhill, and the current value of the fourth electrode is detected when the vehicle is going uphill. When the vehicle is running downhill, the downhill angle value is obtained based on the first included angle, the voltage value of the first voltage source, the current value of the third electrode, the resistance value of the conductive swing rod, and the resistance value of the first sub-conductive rail. When the vehicle is running uphill, the uphill angle value is obtained based on the first included angle, the voltage value of the first voltage source, the current value of the fourth electrode, the resistance value of the conductive swing rod, and the resistance value of the second sub-conductive rail. Record the uphill angle value and the downhill angle value, and set a speed limit based on the speed limit value corresponding to the uphill angle value and the downhill angle value; Based on the operating status, the uphill angle value, and the downhill angle value, adjust the traction control strategy and the braking control strategy.

9. A second slope measuring device, characterized in that, It is applied to a second auxiliary device, which includes: a second mounting beam, an insulating swing rod, a second support member, a second conductive rail, and a second conductive slider; The second mounting beam is fixedly mounted on the vehicle and is parallel to the vehicle's direction of travel; The first end of the insulating swing rod and the second mounting beam are oscillatingly connected. The second conductive slider is fixedly mounted on the insulating swing rod. The second conductive slider can slide on the second conductive rail. A fifth electrode is provided on the second conductive slider. The second support member is fixedly installed below the second mounting beam, with both ends symmetrically located on both sides of the swing axis of the insulating swing rod, and the two ends having a second included angle; The two ends of the second conductive rail are fixedly connected to the two ends of the second support member, the first end of the second conductive rail is provided with a sixth electrode, the sixth electrode is electrically connected to a second voltage source which is a negative voltage source, the second end of the second conductive rail is provided with a seventh electrode, the seventh electrode is electrically connected to a third voltage source which is a positive voltage source, and the middle part of the second conductive rail is grounded. The second slope measuring device includes a voltage detection module, a second determination module, and a second calculation module, wherein: The voltage detection module includes a first voltage detection module and a second voltage detection module. The fifth electrode is electrically connected to the first terminal of the first voltage detection module and the first terminal of the second voltage detection module, respectively. The sixth electrode is electrically connected to the second terminal of the first voltage detection module, and the seventh electrode is electrically connected to the second terminal of the second voltage detection module. The voltage detection module is used to detect the voltage value of the fifth electrode. The second determination module is used to determine the operating status of the vehicle based on the voltage value of the fifth electrode, wherein the operating status includes uphill operation and downhill operation. The second calculation module is used to obtain a downhill angle value based on the second included angle, the absolute value of the voltage value of the fifth electrode, and the absolute value of the voltage value of the second voltage source when the vehicle is running downhill, and to obtain an uphill angle value based on the second included angle, the voltage value of the fifth electrode, and the voltage value of the third voltage source when the vehicle is running uphill.

10. The second slope measuring device according to claim 9, characterized in that, The first end of the second conductive rail is close to the front of the vehicle; The second determination module is specifically used to: determine that the vehicle is running downhill when the voltage value of the fifth electrode is negative, and determine that the vehicle is running uphill when the voltage value of the fifth electrode is positive.

11. A second slope measurement system, characterized in that, Includes the second slope measuring device and the second auxiliary device as described in claim 9 or 10; The fifth electrode of the second auxiliary device and the first terminal of the first voltage detection module of the voltage detection module of the second slope measuring device are electrically connected; The sixth electrode of the second auxiliary device is electrically connected to the second terminal of the first voltage detection module; The fifth electrode of the second auxiliary device is electrically connected to the first terminal of the second voltage detection module of the voltage detection module; The seventh electrode of the second auxiliary device is electrically connected to the second terminal of the second voltage detection module.

12. The second slope measurement system according to claim 11, characterized in that, The second auxiliary device further includes: a second connecting rod disposed between the second mounting beam and the insulating swing rod; The first end of the insulating pendulum rod and the first end of the second connecting rod are connected by a third rotary bearing, and the insulating pendulum rod can swing in a first direction; The second end of the second connecting rod and the second mounting beam are connected by a fourth rotary bearing, and the second connecting rod can rotate around the second mounting beam; The middle part of the second support member is fixedly connected to the third rotating bearing.

13. The second slope measurement system according to claim 11 or 12, characterized in that, The second auxiliary device further includes a second steel ball fixedly disposed at the second end of the insulating swing arm.

14. A vehicle, characterized in that, Includes the second slope measurement system as described in any one of claims 11-13.

15. A vehicle operation control method, characterized in that, Applied to the second slope measurement system as described in any one of claims 11 to 13, the method comprises: Detect the voltage value of the fifth electrode; The vehicle's operating status is determined based on the voltage value of the fifth electrode, including uphill and downhill operation. When the vehicle is running downhill, the downhill angle value is obtained based on the second included angle, the absolute value of the voltage value of the fifth electrode, and the absolute value of the voltage value of the second voltage source. When the vehicle is running uphill, the uphill angle value is obtained based on the second included angle, the voltage value of the fifth electrode, and the voltage value of the third voltage source. Record the uphill angle value and the downhill angle value, and set a speed limit based on the speed limit value corresponding to the uphill angle value and the downhill angle value; The traction control strategy and braking control strategy are adjusted based on the operating status, the uphill angle value, and the downhill angle value.

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