阅读说明：本技术 坡度测量的方法、装置、存储介质及平衡车 (Method and device for measuring gradient, storage medium and balance car ) 是由 蔡优飞 龙乐坪 肖俊 张彬 于 2021-07-13 设计创作，主要内容包括：本发明提供了一种坡度测量的方法、装置、存储介质及平衡车,应用于设置于行驶在路面上的交通工具之上的测距装置,该方法具体包括：获取第一距离信息；第一距离信息为：在测距装置的第一方向上,测距装置与路面坡道之间的距离；获取第二距离信息；第二距离信息为：在测距装置的第二方向上,测距装置与路面坡道之间的距离；第一方向与第二方向均朝向交通工具所在路面；获取角度信息集合；角度信息集合包括：测距装置的第一方向与测距装置的第二方向之间的夹角；将第一距离信息、第二距离信息、角度信息集合代入坡度测量公式,计算交通工具所行驶的路面坡度。由此当交通工具无法使用IMU、姿态传感器等进行坡度测量时,可以通过测距间接测量坡度。(The invention provides a method and a device for measuring gradient, a storage medium and a balance car, which are applied to a distance measuring device arranged on a vehicle running on a road surface, and the method specifically comprises the following steps: acquiring first distance information; the first distance information is: the distance between the distance measuring device and the road surface ramp in the first direction of the distance measuring device; acquiring second distance information; the second distance information is: the distance between the distance measuring device and the road surface ramp in the second direction of the distance measuring device; the first direction and the second direction both face the road surface where the vehicle is located; acquiring an angle information set; the set of angle information includes: an included angle between a first direction of the distance measuring device and a second direction of the distance measuring device; and substituting the first distance information, the second distance information and the angle information set into a gradient measurement formula to calculate the gradient of the road surface on which the vehicle runs. Thus, when the vehicle cannot use the IMU, attitude sensor, etc. for the gradient measurement, the gradient can be indirectly measured through the distance measurement.)

1. A gradient measurement method is characterized by being applied to a distance measurement device, wherein the distance measurement device is arranged on a vehicle running on a road surface, and the method specifically comprises the following steps:

acquiring first distance information; the first distance information is: a distance between the distance measuring device and a road surface ramp in a first direction of the distance measuring device;

acquiring second distance information; the second distance information is: a distance between the distance measuring device and the road ramp in a second direction of the distance measuring device; the first direction and the second direction both face the road surface where the vehicle is located;

acquiring the angle information set; the set of angle information includes: an included angle between a first direction of the distance measuring device and a second direction of the distance measuring device;

and substituting the first distance information, the second distance information and the angle information set into a gradient measurement formula to calculate the gradient of the road surface driven by the vehicle.

2. The slope measuring method according to claim 1, wherein the distance measuring device is mounted to a shock-absorbing mount of the vehicle; the acquiring of the second distance information includes:

estimating a contact point of the vehicle with a road surface on which the vehicle is located;

estimating the expansion and contraction trend of the shock absorption frame;

and calculating the second distance information according to the contact point of the vehicle and the road surface where the vehicle is located and the expansion trend of the shock absorption frame.

3. The gradient measurement method according to claim 1 or 2, wherein the second distance information is: in the gravity direction, the distance information between the distance measuring device and the road surface where the vehicle is located, and the gradient measurement formula is a first gradient measurement formula, which is specifically as follows:

wherein α is a road surface gradient to be measured, L is the first distance information, H is the second distance information, and β is an included angle between the first direction of the distance measuring device and the second direction of the distance measuring device.

4. The slope measurement method according to claim 1, wherein the set of angle information further includes: an included angle between the second direction and a reference direction of the distance measuring device; the reference direction of the distance measuring device is as follows: the gravity direction or the horizontal direction of the distance measuring device;

substituting the first distance information, the second distance information and the angle information set into a gradient measurement formula to calculate the gradient of the road surface driven by the vehicle, wherein the calculating comprises the following steps:

substituting the first distance information, the second distance information, the included angle between the first direction of the distance measuring device and the second direction of the distance measuring device, and the included angle between the second direction of the distance measuring device and the reference direction of the distance measuring device into a second gradient measurement formula, and calculating the gradient of the road surface where the vehicle runs.

5. The slope measurement method according to claim 4, wherein if the reference direction of the distance measurement device is the gravity direction of the distance measurement device, the second slope measurement formula is as follows:

wherein α is a road surface gradient to be measured, L is the first distance information, M is the second distance information, and β is an included angle between a second direction of the distance measuring device and a gravity direction of the distance measuring device; theta is an included angle between the first direction of the distance measuring device and the second direction of the distance measuring device.

6. The gradient measurement method according to claim 1, wherein the calculating the gradient of the road surface on which the vehicle travels includes:

substituting different first distance information, second distance information and the angle information set into a gradient measurement formula to calculate the gradient of a first road surface where a plurality of vehicles run;

and calculating a second road surface gradient of the vehicle according to the plurality of first road surface gradients and a preset average value calculation algorithm.

7. The gradient measuring method according to claim 4 or 5, characterized in that: the distance measuring device comprises a first sensor and a second sensor;

the acquiring of the first distance information includes: measuring the first distance information using the first sensor;

the acquiring of the second distance information includes: measuring the second distance information using the second sensor.

8. A slope measuring device applied to a distance measuring device provided above a vehicle traveling on a road surface, comprising:

the first measurement module is used for acquiring first distance information; the first distance information is: a distance between the distance measuring device and a road surface ramp in a first direction of the distance measuring device;

the second measurement module is also used for acquiring second distance information; the second distance information is: a distance between the distance measuring device and the road ramp in a second direction of the distance measuring device; the first direction and the second direction both face the road surface where the vehicle is located;

the angle analysis module is used for acquiring the angle information set; the set of angle information includes: an included angle between a first direction of the distance measuring device and a second direction of the distance measuring device;

and the calculation and analysis module is used for substituting the first distance information, the second distance information and the angle information set into a gradient measurement formula to calculate the gradient of the road surface on which the vehicle runs.

9. A storage medium, characterized by: the storage medium has stored therein a computer program which, when executed by at least one processor of a data storage device, the data storage device performs the gradient measurement method of any one of claims 1-7.

10. The utility model provides a balance car which characterized in that: a distance measuring device is installed, and the balance car uses the slope measuring method according to any one of claims 1 to 7.

Technical Field

The invention relates to the field of intelligent transportation, in particular to a method and a device for measuring gradient, a storage medium and a balance car.

Background

When the traditional road vehicle is used, the slope where the road vehicle is located needs to be judged manually, a corresponding gear is selected, and the power output mode of the road vehicle is changed, so that the vehicle can better run on the slope.

In the prior art, the road gradient of the traditional vehicles such as automobiles, electric bicycles, motorcycles and the like can be directly obtained by the posture reaction of the vehicle body, and the road gradient can be recognized only by using an IMU (inertial measurement Unit) to start slope assistance. However, if a vehicle such as a balance car is used, the body attitude and the ground gradient are different, and the gradient cannot be obtained by the body attitude.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: some vehicles in the prior art are not capable of performing grade measurements.

In order to solve the technical problems, the invention adopts the technical scheme that: the present application provides, in a first aspect, a method for measuring a gradient, which is characterized by being applied to a distance measuring device provided on a vehicle traveling on a road surface, the method specifically including:

acquiring first distance information; the first distance information is: a distance between the distance measuring device and a road surface ramp in a first direction of the distance measuring device;

acquiring second distance information; the second distance information is: a distance between the distance measuring device and the road ramp in a second direction of the distance measuring device; the first direction and the second direction both face the road surface where the vehicle is located;

acquiring the angle information set; the set of angle information includes: an included angle between a first direction of the distance measuring device and a second direction of the distance measuring device;

and substituting the first distance information, the second distance information and the angle information set into a gradient measurement formula to calculate the gradient of the road surface driven by the vehicle.

The second aspect of the present application provides a gradient measuring device, which is applied to a distance measuring device disposed on a vehicle traveling on a road surface, the device including:

the first measurement module is used for acquiring first distance information; the first distance information is: a distance between the distance measuring device and a road surface ramp in a first direction of the distance measuring device;

the second measurement module is also used for acquiring second distance information; the second distance information is: a distance between the distance measuring device and the road ramp in a second direction of the distance measuring device; the first direction and the second direction both face the road surface where the vehicle is located;

the angle analysis module is used for acquiring the angle information set; the set of angle information includes: an included angle between a first direction of the distance measuring device and a second direction of the distance measuring device;

and the calculation and analysis module is used for substituting the first distance information, the second distance information and the angle information set into a gradient measurement formula to calculate the gradient of the road surface on which the vehicle runs.

A third aspect of the present application provides a storage medium having stored therein a computer program which, when executed by at least one processor of a data storage device, the data storage device performs the gradient measurement method of the first aspect.

The fourth aspect of the present application provides a balance car, wherein the distance measuring device is installed, and the balance car uses the gradient measuring method in the first aspect.

The invention has the beneficial effects that: and taking the distance measuring device as a reference point, acquiring a first distance information set, a second distance information set and an angle information set, and then matching with a gradient measurement formula to calculate the gradient of the road surface on which the vehicle runs. Therefore, the gradient is not required to be determined according to the posture of the vehicle body, and more vehicles can measure the gradient.

Drawings

The detailed structure of the invention is described in detail below with reference to the accompanying drawings

Fig. 1 is an overall flowchart of a gradient measurement method according to a first embodiment of the present invention;

FIG. 2 is a flowchart of calculating second distance information according to the first embodiment of the present invention;

fig. 3 is a flowchart of calculating the second road surface gradient according to the first embodiment of the invention;

fig. 4 is a block diagram showing a procedure of a gradient measuring apparatus according to a second embodiment of the present invention;

fig. 5 is a schematic structural diagram of an electronic device according to a third embodiment of the invention.

Detailed Description

In order to explain technical contents, structural features, and objects and effects of the present invention in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.

First embodiment

Referring to fig. 1, fig. 1 is a flowchart illustrating an overall gradient measuring method according to a first embodiment of the invention. The present embodiment describes a gradient measurement method applied to a distance measurement device, which is disposed on a vehicle traveling on a road surface.

It should be noted that the distance measuring device is installed at a certain position or positions of the vehicle, so that the distance measuring device is not shielded by the vehicle from the direction measured by the distance measuring device, thereby ensuring that the distance measuring device detects the distance between the distance measuring device and the road surface.

The distance measuring device comprises at least one distance measuring sensor, and the direction monitored by one distance measuring sensor can be one or more. In a specific embodiment, the distance measuring device comprises only one distance measuring sensor, the distance measuring sensor only monitors one direction, and the one distance measuring sensor is used to acquire the first distance information; correspondingly, the second distance information can be acquired through the length information which is easily acquired between the distance measuring device and the vehicle body.

The method comprises the following steps:

and step S101, acquiring first distance information.

The first distance information is: the distance between the distance measuring device and the road surface ramp in the first direction of the distance measuring device. The first distance information may be obtained by one measurement performed by the distance measuring device, or may be obtained by other estimation methods.

And step S102, acquiring second distance information.

The second distance information is: the distance between the distance measuring device and the road surface ramp in the second direction of the distance measuring device; the first direction and the second direction both face the road surface where the vehicle is located.

In an alternative embodiment, the vehicle is not damped, or the variation in the expansion and contraction of the shock mounts is negligibly small. The installation height of the ranging apparatus may be considered fixed. At the moment, the first distance information is acquired through the distance measuring device; and the second distance information is: the mounting height of the distance measuring device. The mounting height of the distance measuring device is as follows: in the direction of gravity, the distance information between the distance measuring device and the road surface on which the vehicle is located, i.e. the vertical distance between the distance measuring device and the lowest point of the wheel. Therefore, the road surface gradient can be measured by monitoring the first direction by using only one sensor.

In an alternative embodiment, if the vehicle is cushioned and the mounting height of the distance measuring device is varied, when the height variation is large, the amount of variation needs to be measured or the measurement will be affected. Referring to fig. 2 in detail, fig. 2 is a flowchart of calculating second distance information according to a first embodiment of the present invention. If the distance measuring device is mounted on a shock-absorbing mount of a vehicle, the step S102 includes the steps of:

step S201, a contact point of the vehicle and the road surface where the vehicle is located is estimated.

In this embodiment, the contact point of the vehicle with the road surface on which the vehicle is located can be estimated in various ways. For example: the contact point of the vehicle and the road surface where the vehicle is located can be estimated through the rotation of the wheels; the contact point of the vehicle and the road surface can be estimated according to the position of the vehicle; sensing may also be performed by providing a pressure sensor or the like on the wheel. It should be noted that the wheel in this embodiment is actually the point of interaction between the vehicle and the road surface on which the vehicle is located. The balance car can be a wheel in the true sense, and can also be an acting point of the balance car generated in a certain place in other senses.

And S202, estimating the expansion and contraction trend of the shock absorption frame.

It should be understood that the expansion and contraction tendency of the shock-absorbing mount can be determined by the movement of the vehicle and the road surface condition. If the vehicle passes over a small stone or other obstacle, the shock-absorbing mount will contract and then expand under the action of the obstacle, and possibly expand and contract many times in order to dissipate the potential energy in the process. The expansion and contraction trend of the shock absorption frame can be estimated in a way of observing the road surface in advance, and can also be estimated by estimating the height change generated when the shock absorption frame consumes potential energy.

And S203, calculating second distance information according to the contact point of the vehicle and the road surface where the vehicle is located and the expansion trend of the shock absorption frame.

Therefore, the second distance information can be calculated through a trigonometric function or other modes according to the contact point of the vehicle and the road surface where the vehicle is located and the expansion trend of the shock absorption frame. In this embodiment, only one distance measuring sensor is required, and the second distance information only needs to detect the first distance information.

In one embodiment, if the second distance information is: distance information between the distance measuring device and the road surface on which the vehicle is located in the direction of gravity.

Correspondingly, step S103, an angle information set is obtained.

The set of angle information includes: an included angle between a first direction of the distance measuring device and a second direction of the distance measuring device;

step S104, substituting the first distance information, the second distance information and the angle information set into a gradient measurement formula, and calculating the gradient of a road surface on which the vehicle runs; wherein, the slope measurement formula is a first slope measurement formula, specifically as follows:

wherein α is a road surface gradient to be measured, L is first distance information, H is second distance information, and β is an included angle between a first direction of the distance measuring device and a second direction of the distance measuring device.

In this embodiment, the second direction of the distance measuring device is set to the gravity direction, so that the process of calculating the second distance information can be simplified, and the calculation amount can be reduced. Wherein, the gravity direction can be the gravity direction of the distance measuring device to further reduce the calculated amount; the gravity direction can be the gravity direction of the vehicle, and the normal use of the vehicle can be ensured even if the distance measuring device is different from the gravity environment of the vehicle; the gravity direction can also be the gravity direction of the environment where any one of the transportation means, the shock absorption frame and the distance measuring device is located.

In an alternative embodiment, calculating the tendency of the shock mounts to telescope may be omitted to obtain a more accurate slope calculation. The angle information set further comprises: an included angle between the second direction and a reference direction of the distance measuring device; the reference directions of the distance measuring device are: the gravity direction or the horizontal direction of the distance measuring device.

Correspondingly, step S104, substituting the first distance information, the second distance information, and the angle information set into a gradient measurement formula, and calculating a gradient of a road surface on which the vehicle is traveling, includes:

substituting the first distance information, the second distance information, the included angle between the first direction of the distance measuring device and the second direction of the distance measuring device, and the included angle between the second direction and the reference direction of the distance measuring device into a second gradient measurement formula, and calculating the gradient of the road surface on which the vehicle runs.

In this embodiment, the first distance information and the second distance information are both obtained by the measuring device, so that the second distance information does not need to be estimated and calculated, and the obtained data is relatively accurate. In order to further improve the accuracy of the method, two ranging sensors with fixed postures and different central lines can be used for measuring from different directions so as to simultaneously acquire the first distance information and the second distance information; in order to further improve the reliability of the method, the technical scheme of the embodiment can be preferentially used, and when the first distance information and the second distance information cannot be simultaneously obtained, the first distance information or the second distance information is estimated according to the contact point of the vehicle and the road surface where the vehicle is located and the expansion trend of the shock absorption frame.

In a specific embodiment, if the reference direction of the distance measuring device is the gravity direction of the distance measuring device, the second slope measurement formula is as follows:

wherein alpha is the road surface gradient to be measured, L is first distance information, M is second distance information, and beta is an included angle between the second direction of the distance measuring device and the gravity direction of the distance measuring device; theta is an included angle between the first direction of the distance measuring device and the second direction of the distance measuring device.

It should be noted that in this embodiment, more accurate data can be obtained by performing the calculation using the cot function, but similar calculation results can also be obtained by using other trigonometric function formulas. And other trigonometric formulas may be used as equivalents.

In a further embodiment, with reference to fig. 3 based on any of the above embodiments, fig. 3 is a flowchart of calculating the second road surface gradient according to the first embodiment of the present invention. The above calculating the road surface gradient on which the vehicle travels includes:

and S301, substituting different sets of first distance information, second distance information and angle information into a gradient measurement formula, and calculating the gradient of a first road surface where a plurality of vehicles run.

It should be understood that, in order to obtain the distance information more accurately, the technical solution of the present embodiment may be adopted. When the sensor in the distance measuring device only monitors one direction, multiple times of measurement can be carried out; when the sensors in the ranging device only monitor two directions, at least one angle information of the set of angle information may be used for the measurement. When the sensor in the distance measuring device monitors three or more directions, the different directions can be combined in pairs to form the first direction and the second direction, and therefore, the accuracy can be further increased.

And S302, calculating a second road surface gradient of the running vehicle according to the first road surface gradients and a preset average value calculation algorithm.

It should be noted that the preset average value calculation algorithm may be a result of averaging or weighting the above results, or may be some big data algorithm or self-learning algorithm. In this embodiment, one or more distance measuring sensors are used for calculation to obtain a first road surface gradient, and a plurality of first road surface gradients are fused to obtain a second road surface gradient; the second road slope is relatively more accurate.

Optionally, the distance measuring device comprises a first sensor and a second sensor;

correspondingly; step S101, acquiring the first distance information includes: measuring first distance information using a first sensor;

step S102, acquiring the second distance information includes: second distance information is measured using a second sensor.

In this embodiment, in order to improve the synchronization degree and accuracy of the acquisition of the first distance information and the second distance information, the sensors are divided into the first sensor and the second sensor. The first sensor and the second sensor are in relative relationship, the central lines of the first sensor and the second sensor should be in different positions, and when the first sensor and the second sensor are mounted on the same point or a certain circular arc, different relative relationships exist between different sensors. It is also understood that the first sensor may be one or more and the second sensor may be one or more.

Second embodiment

Referring to fig. 4, fig. 4 is a block diagram of a slope measuring device according to a second embodiment of the invention. This embodiment provides a slope measuring device, is applied to range unit, and range unit sets up on the vehicle of traveling on the road surface, and the device includes:

a first measurement module 100, configured to obtain first distance information; the first distance information is: the distance between the distance measuring device and the road surface ramp in the first direction of the distance measuring device;

the second measurement module 200 is further configured to obtain second distance information; the second distance information is: the distance between the distance measuring device and the road surface ramp in the second direction of the distance measuring device; the first direction and the second direction both face the road surface where the vehicle is located;

an angle analysis module 300, configured to obtain an angle information set; the set of angle information includes: an included angle between a first direction of the distance measuring device and a second direction of the distance measuring device;

and the calculation analysis module 400 is configured to substitute the first distance information, the second distance information, and the angle information set into a gradient measurement formula to calculate a gradient of a road surface on which the vehicle travels.

The second measurement module 200 is specifically configured to: estimating a contact point of the vehicle and a road surface where the vehicle is located;

estimating the expansion and contraction trend of the shock absorption frame;

and calculating second distance information according to the contact point of the vehicle and the road surface where the vehicle is located and the expansion trend of the shock absorption frame.

Wherein the second distance information is: in the direction of gravity, the distance information between distance measuring device and the road surface on which the vehicle is located, the slope measurement formula is a first slope measurement formula, and specifically as follows:

wherein α is a road surface gradient to be measured, L is first distance information, H is second distance information, and β is an included angle between a first direction of the distance measuring device and a second direction of the distance measuring device.

Further, the angle information set further includes: an included angle between the second direction and a reference direction of the distance measuring device; the reference directions of the distance measuring device are: the gravity direction or the horizontal direction of the distance measuring device; the angle analysis module 300 is specifically configured to:

substituting the first distance information, the second distance information, the included angle between the first direction of the distance measuring device and the second direction of the distance measuring device, and the included angle between the second direction and the reference direction of the distance measuring device into a second gradient measurement formula, and calculating the gradient of the road surface on which the vehicle runs.

Wherein, if the reference direction of range unit is range unit's gravity direction, then second slope measurement formula specifically as follows:

wherein alpha is the road surface gradient to be measured, L is first distance information, M is second distance information, and beta is an included angle between the second direction of the distance measuring device and the gravity direction of the distance measuring device; theta is an included angle between the first direction of the distance measuring device and the second direction of the distance measuring device.

The calculation analysis module 400 is specifically configured to: substituting different first distance information, second distance information and angle information sets into a gradient measurement formula to calculate the gradient of a first road surface where a plurality of vehicles run;

and calculating a second road surface gradient of the vehicle according to the plurality of first road surface gradients and a preset average value calculation algorithm.

Optionally, the distance measuring device includes a first sensor and a second sensor;

the first measurement module 100 is specifically configured to: measuring first distance information using a first sensor;

the second measurement module 200 is specifically configured to: second distance information is measured using a second sensor.

In this embodiment, the device may be implemented in other manners by using the device carrying method. For example, the above-described apparatus embodiments are illustrative, and for example, a division of modules is merely a logical division, and an actual implementation may have another division, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.

The functional modules in the embodiments of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.

The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

Third embodiment

The present embodiment provides an electronic device, as shown in fig. 5, which includes a processor 501, a memory 502 and a communication bus 503, wherein: the communication bus 503 is used for realizing connection communication between the processor 501 and the memory 502; the processor 501 is configured to execute one or more computer programs stored in the memory 502 to implement at least one step of the gradient measurement method in the first embodiment.

The present embodiments also provide a computer-readable storage medium including volatile or non-volatile, removable or non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, computer program modules or other data. Computer-readable storage media include, but are not limited to, RAM (Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash Memory or other Memory technology, CD-ROM (Compact disk Read-Only Memory), Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer.

The computer-readable storage medium in this embodiment may be used for storing one or more computer programs, and the stored one or more computer programs may be executed by a processor to implement at least one step of the method in the first embodiment.

The present embodiment also provides a computer program, which can be distributed on a computer readable medium and executed by a computing device to implement at least one step of the method in the first embodiment; and in some cases at least one of the steps shown or described may be performed in an order different than that described in the embodiments above.

The present embodiments also provide a computer program product comprising a computer readable means on which a computer program as shown above is stored. The computer readable means in this embodiment may include a computer readable storage medium as shown above.

It will be apparent to those skilled in the art that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software (which may be implemented in computer program code executable by a computing device), firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit.

In addition, communication media typically embodies computer readable instructions, data structures, computer program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to one of ordinary skill in the art. Thus, the present invention is not limited to any specific combination of hardware and software.

In order to implement the above embodiments, an electronic device is further provided in the embodiments of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices.

Fourth embodiment

The embodiment provides a balance car which is provided with a distance measuring device and uses the gradient measuring method in any one or more of the embodiments.

The balance vehicle comprises a monocycle, a two-wheel vehicle, a multi-wheel vehicle, a scooter and the like.

In this embodiment, the distance measuring device includes one or more distance measuring sensors. If it only includes two ranging sensors, it is the best solution after balancing cost and effectiveness. The distance measuring device comprises a plurality of distance measuring sensors, and a certain angle is formed between central measuring lines of at least two distance measuring sensors. Wherein, the "central measuring line" represents the measuring direction of the distance measuring sensor.

The distance measuring sensor includes, but is not limited to, a TOF sensor, a laser distance measuring sensor, and other ultrasonic sensors as long as the distance measuring function can be achieved. The TOF is called "Time of Flight", the chinese name is "Time of Flight", and the TOF sensor uses Time-of-Flight techniques, including timing pulses, phase shift of amplitude modulated waves, and other related techniques.

If a timing pulse is used, the target is first illuminated with light, then the reflected light is measured with a scanner, and then the distance of the object is calculated using the speed of light, thereby accurately calculating the distance traveled. In addition, the difference in laser return time and wavelength is then used to make an accurate digital 3D representation of the target and surface features, and to visually map its various features. If the phase shift of the amplitude modulated wave is used, the phase shift of the reflected light needs to be detected using the continuous wave to determine depth and distance.

By means of the measured values of the sensors, the relative angle between the ground and one or more sensors can be estimated, and if the sensor position is known, the ground gradient can be deduced, and correspondingly, if the ground gradient is known, the sensor position can be deduced. The sensor attitude in this embodiment is: the included angle between the distance measuring sensor and the reference surface. Wherein, the reference surface is the gravity direction or the horizontal direction.

Thereby, a gradient measurement in the key characteristic of the road is achieved. And compared with the scheme through 3D vision, even the most complicated technical scheme has the advantage of low cost, can be applied to a balance car to measure the ground gradient, so that the feedback control algorithm actively assists a user in going up and down a slope, can automatically adjust the light angle, and can also be used for identifying the ground angle in an aircraft. Furthermore, these solutions can be used simultaneously in some order, for example: the method is characterized in that the aircraft is used for recognizing the ground angle, the sensor attitude of the balance car is calculated through the ground slope, and then the balance car is calculated to measure the ground slope, so that the separation control is realized.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.