745results about "Non-deflectable wheel steering" patented technology

An electric power assisted steering assembly comprises a steering mechanism which operatively connects a steering wheel to the roadwheels of a vehicle, a torque sensing means adapted to produce a first output signal indicative of the torque carried by a portion of the steering mechanism, a means for producing a second output signal indicative from a signal indicative of the angular velocity of the portion of the steering mechanism, an electric motor operatively connected to the steering mechanism, a signal processing unit adapted to receive the two output signals and to produce therefrom an overall torque demand signal representative of a torque to be applied to the steering mechanism by the motor, and a motor drive stage adapted to provide a drive current to the motor responsive to the torque demand signal. The overall torque demand signal includes a damping component that is dependent upon the second output signal. The means for producing the yaw damping component includes a filter having one pole and one zero, and in use the second signal is passed through the filter to produce the damping component, the frequency of the pole and zero being selected such that the filter provides a band between the pole and zero within which the phase of the filtered second signal and the velocity signal are further out of phase or in phase than within the band.

Tracked vehicles include a track assembly, a powertrain assembly to power the track assembly, and a steering assembly configured to provide a torque to the track assembly. A steering motor is operably coupled to the powertrain assembly to effectuate a steering of the vehicle. A backup steering assembly is configured to provide backup steering capability to the tracked vehicle. The tracked vehicle also includes a plurality of steering modes, as well as a plurality of suspension components configured to increase rider comfort.

The invention relates to the technical field of orchard automatic navigation deviation correction, in particular to an automatic navigation deviation correction system for an orchard track power platform. Comprising a chassis, a vehicle control unit, a navigation system vehicle-mounted computer, a laser radar, a navigation control box, a navigation antenna, a steering motor, a differential planetary mechanism, a rotating speed sensor, an edge architecture control box, a driving wheel assembly, a servo valve and a steering pump. The mode that the whole vehicle controller regulates and controls the servo valve to conduct deviation rectification is adopted, the deviation rectification response speed is high, the control precision is high, the high-speed operation working condition of the orchard power platform can be adapted, and the operation efficiency is improved; the swash plate plunger steering pump is adopted to drive the steering motor, the driving power is small, the heat balance stability is good, and the cost is low; the differential steering mechanism is adopted as a deviation rectifying executing mechanism, the transmission efficiency of the power platform is not affected, the steering line type is controllable, steering is stable, the overcorrection phenomenon is effectively avoided, the automatic navigation operation precision is effectively improved, and the automatic navigation deviation rectifying stability of the orchard power platform is improved.

The invention discloses a universal multifunctional obstacle crossing vehicle body system for a deep-sea mining vehicle. The universal multifunctional obstacle crossing vehicle body system comprises a main vehicle frame, a hydraulic suspension system and an independent driving system. The hydraulic suspension system comprises a main supporting hydraulic push rod, an upper vehicle body and lower vehicle body connecting frame, an L-shaped driving system connecting frame, hydraulic steering push rods on the two sides, a steering wheel, a steering wheel bottom fixing piece, a spherical higher pair connecting shaft, a driving system universal connector and a corresponding hydraulic control loop. The independent driving system comprises a track system, a box body, a pitching hydraulic motor, a driving motor, an auxiliary bearing wheel and an auxiliary tensioning wheel set. Compared with a traditional crawler-type chassis, the universal obstacle crossing chassis provided by the invention has better obstacle crossing ability and flexibility, and can cope with more complex seabed conditions. And meanwhile, the universal chassis can adapt to different types of working environments by replacing different types of independent driving modules, so that the universal chassis has excellent multi-terrain adaptability. By means of the universal vehicle chassis, the passing rate and the working efficiency of various deep-sea mining devices in the complex seabed environment can be well improved.

Provided are a deformable tracked pipeline robot, and a differential turning method thereof. The deformable tracked pipeline robot includes a robot main body. Three tracked foot modules in a circular array are arranged on an outer side surface of the robot main body, each tracked foot module is connected to the robot main body through a center variable-diameter module. A spacing between the tracked foot module and the robot main body can be adjusted through the center variable-diameter module, making all three tracked foot modules in contact with an inner wall of a pipeline. According to a differential turning method based on space curve measurement, the pipeline robot can pass through pipelines with various curvature radii. A pipeline axis is measured by a Charge Coupled Device camera module as a bending curvature of a space curve. The accuracy of space curve fitting is improved by a recursive algorithm.

The invention discloses a dual-mode steering cooperative control method and system for a five-axis heavy-load AGV, and the method comprises the following steps: obtaining the state information of the five-axis heavy-load AGV, including the vehicle speed, the path trajectory curvature and the obstacle distance; according to the obtained state information, a scene working condition is judged, a five-axis heavy-load AGV steering mode is decided according to the scene working condition, and a steering mode switching command is sent to a bottom layer controller; the steering mode comprises a pivot steering mode and a rear wheel active coordination steering mode; the bottom layer controller is used for controlling a hub motor and a steering motor; the bottom layer controller calculates the linear speed and the angular speed required by each wheel of the five-axis heavy-load AGV in the corresponding steering mode, and motion parameters are generated; the motion parameters are converted into reference control quantities to be sent to a bottom layer controller, the bottom layer controller adjusts the corresponding motor rotating speed in real time through IMU feedback and a PID control method, and the five-axis heavy-load AGV is driven to conduct steering motion coordination control.

A bulldozer includes a control unit for controlling left and right steering clutches and left and right steering brakes, thereby executing a turning control of the vehicle. The control unit switches between a clutch control and a brake control on the basis of a differential between an actual turning radius and a target turning radius.

The bulldozer has a right first oil channel, a right second oil channel, and a right third oil channel. The right first oil channel guides a portion of the lubricating oil discharged by a hydraulic pump to a right steering brake. The right second first oil channel guides a portion of the lubricating oil discharged by the hydraulic pump to a right planetary gear mechanism. The right third oil channel guides at least a portion of the lubricating oil that has passed through the right planetary gear mechanism to a right steering brake. At least a portion of the planetary gear mechanism is disposed further inside than the right steering brake in a radial direction perpendicular to the center axis of an input shaft.

A drivetrain assembly for a vehicle having a propulsion system configured to drive first and second half shafts is provided. In one example, the drivetrain assembly includes a gearbox assembly configured to couple to the propulsion system, a planetary gear set selectively coupled to an output of the gearbox assembly, and a differential having a differential case, the differential configured to operably couple to the first and second half shafts. The drivetrain assembly operates in a tank steer mode by selectively grounding the differential case and connecting the output of the gearbox assembly to the first half shaft via the planetary gear set, such that the propulsion system rotates the first half shaft in the first direction and, via the differential, rotates the second half shaft in the opposite second direction.

The invention relates to a steering device (19) comprising a steering gear (35) and an electric machine (39) which can be operated both as an electric motor and as a generator, the steering gear (35) having a first input shaft (36), a second input shaft (37) which is connected (39) to the electric machine, a neutral shaft (18), and a superposition stage (40) which has a first element (45), a second element (46), and a third element (47). At the superposition stage (40), a rotational movement of the first element (45) can be converted into a rotational movement of the third element (47) by superimposing a rotational movement of the second element (46), and by means of the superimposition in the steering gear (35), at least one steering ratio can be expanded to a continuously adjustable steering ratio range.In this case, the at least one steering ratio lies in terms of value between respective ends of the respective steering ratio range, wherein, during the superposition, starting from the at least one steering ratio, the widening takes place in the direction of one end of the respective steering ratio range in the generator operation of the electric machine (39) and in the direction of the other end of the respective steering ratio range in the electromotor operation of the electric machine (39).

Provided are a vehicle control method, a multi-purpose vehicle, and a garden work vehicle. The multi-purpose vehicle includes a drive mechanism, a control mechanism, and an auxiliary control mechanism. The auxiliary control mechanism includes: a control state sensing component, configured to determine a control state of a user with respect to the control mechanism; a traveling state sensing component, configured to determine the traveling state of the multi-purpose vehicle, the traveling state including a straight-line traveling state and a non-straight-line traveling state; and a calibration controller component, configured to determine that the multi-purpose vehicle is traveling abnormally in response to a mismatch between the traveling state and the control state. The calibration controller component is further configured to adjust, in response to determining that the multi-purpose vehicle is traveling abnormally, the operating state of the drive mechanism to match the traveling state with the control state.

A three-wheeled vehicle and a steering control method and apparatus therefor. In the control method, a target steering angle of a steerable wheel (5) during differential steering and a steering vehicle speed of a three-wheeled vehicle are acquired; the target steering angle and the steering vehicle speed are input into a speed calculation model, so as to obtain a first steering speed of a first driving wheel (102), a second steering speed of a second driving wheel (104) and an angular velocity of a vehicle chassis; on the basis of the angular velocity, a steering curve of the steerable wheel (5) is determined; and since the steering curve is a curve of a deflection angle of the steerable wheel (5) changing over steering time, and on the basis of the first steering speed and the second steering speed, the first driving wheel (102) and the second driving wheel (104) can be controlled to implement differential steering, and on the basis of the steering curve, the steerable wheel (5) can be controlled to deflect along with the differential steering .

An electrical passenger car, the electrical passenger car including: a battery pack; motor control electronics; a communication control unit; at least one electrically driven motor; wheels, where the wheels are connected to the at least one electrically driven motor; and sensors, where the sensors are connected to at least the motor control electronics, where the wheels include a first wheel and a second wheel, where the second wheel has a radius at least 7% greater than a radius of the first wheel, where the battery pack is mounted in the electrical passenger car frame such that the battery pack could be moved forward or backward, where the communication control unit is designed to communicate the motor control electronics with a cloud AI server, and where the electrical passenger car is designed to be driven on a paved road.

A garden tool includes a control assembly, an operating mechanism, a first wheel and a second wheel. The operating mechanism is provided with a detection device for detecting a displacement of the operating mechanism. The calibration method of the disclosure includes: receiving a deviation correction command; comparing an extremum rotating speed of the first wheel with an extremum rotating speed of the second wheel; and when there is a difference between the extremum rotating speed of the first wheel and the extremum rotating speed of the second wheel, correcting a relationship between an output signal of the detection device and an output rotating speed of the control assembly to enable the extremum rotating speed of the first wheel to be the same as the extremum rotating speed of the second wheel.

The invention relates to the technical field of differential wheel sets, and discloses a differential wheel set and a transfer robot, the differential wheel set comprises a slewing bearing unit and a differential driving unit, the slewing bearing unit comprises a fixed gear ring and a rotary disc, and the rotary disc and the fixed gear ring are connected and can rotate relatively; the differential driving unit is connected with the rotary disc and is embedded into an inner cavity of the rotary disc; the differential driving unit drives the slewing bearing unit to move through the rotary disk; wherein the differential driving unit is electrically connected with a wire harness, and the wire harness is attached to the lower side surface of the rotary disc, extends out and then is arranged around the peripheral side of the rotary disc. By means of the design, the wire harness can be wound and unwound on the circumferential side of the rotary disc along with rotation of the rotary disc, and the wire harness can be prevented from being excessively twisted and damaged when the rotary disc rotates. Meanwhile, the wire harness is attached to the lower side surface of the rotary disc, extends out of the rotary disc through the lower side surface of the rotary disc and then is wound around the peripheral side of the rotary disc, and the adverse effect of the wire harness on the height of the differential wheel set can be avoided.

A method for controlling a work vehicle includes driving a first hydraulic pump and a second hydraulic pump by an engine to supply hydraulic fluid to a first hydraulic motor and a second hydraulic motor, respectively, to drive a first traveling device and a second traveling device, respectively. An operation state of a direction input device to operate a traveling direction of the work vehicle is detected. Based on the operation state detected, whether or not a traveling state of the work vehicle is a turning state. When it is determined that the traveling state is the turning state, a rotation command to decrease a target rotational speed of the engine from a first rotational speed to a second rotational speed is output.

A lawn mower includes: a wheel; a motor operably coupled to drive the wheel; a user input configured to receive a steering control input from a user; and a controller configured to operate in a steering assist mode in which the controller: receives information from the user input, the information including a position of the user input; comparing the location of the user input with a gain pattern stored in a memory of the controller; determining a scale factor from the gain mode based on the comparison; generating a command instruction for controlling the speed of the motor based on the position of the user input and the determined scale factor; and transmitting the command instruction to the motor to affect the speed of the motor.

The invention belongs to the technical field of agricultural machinery, and particularly relates to an intelligent hilly and mountain tractor which comprises a tractor body, a chassis and a suspension system, the chassis is rotatably arranged at the bottom of the tractor body, the suspension system is arranged at the rear end of the tractor body, and the tractor body is provided with a power system and a rocker type control system connected with the power system. The bottom of the framework is provided with a plurality of thrust wheels and tensioning wheels, the thrust wheels and the tensioning wheels are sleeved with variable crawler wheel sets, the framework is provided with a self-adaptive terrain stabilizing system, and the self-adaptive terrain stabilizing system comprises a tilt angle sensor arranged on the vehicle body and an independent hydraulic module used for controlling self-adaptive terrain of the thrust wheels, the tensioning wheels and the variable crawler wheel sets. Through the self-adaptive terrain stabilization system, multi-degree-of-freedom cooperative control can be achieved, the chassis height, the crawler grounding angle and the tensioning degree are dynamically adjusted, the adhesive force and the anti-rollover capacity are remarkably improved, and the problem of dynamic unbalance of agricultural machinery in hills and mountains is solved.

The invention relates to the technical field of aerial work equipment, in particular to an aerial work platform and a traction walking control method thereof. The power unit is fixedly arranged in the middle of the chassis; the auxiliary walking mechanism is connected with the chassis through a bolt, a first connecting piece and a self-lubricating shaft sleeve; the control oil cylinder acts to realize the angle swing of the coupling auxiliary wheel; the supporting legs are arranged on the periphery of the chassis, and supporting leg oil cylinders and supporting leg control valves are arranged on the supporting legs. The problem that a dragging type aerial work platform is difficult to move in a working place is solved, so that the labor intensity of an operator is relieved, and the purpose of walking freely is achieved.

A work machine includes: a pair of drive wheels that is either front wheels or rear wheels; a pair of non-driving wheels that is the other of the front wheels and the rear wheels; a work device disposed between the front wheels and the rear wheels; a machine body; and a control device including an automatic turn-execution unit configured to execute an automatic turn in a U shape. The automatic-turn execution unit is configured to execute: a gentle turn operation in which the work machine makes a gentle turn; and a counter-rotation turn operation in which the work machine makes a counter-rotation turn after the gentle turn operation.

A new tracked vehicle arrangement with a main vehicle and a trailer, where each of the main vehicle and the trailer have a track assembly on either side, and the tracks of the trailer are driven by the prime mover of the main vehicle. In the longitudinal direction of the main vehicle, only a small fraction (less than 25%) of the length of the main vehicle's cab, which is mounted above the frame, overlies the main vehicle's track assemblies, whereas the fuel tank is located between the cab and the prime mover. In a widthwise direction of the tracked vehicle, the fuel tank at least partly overlies the right and left track assemblies. This provides a counterbalance for the trailer, which has a platform attached by a first pivotable connection to the frame of the main vehicle and by a second pivotable connection to the frame of the trailer.

A personal mobility / utility system includes a housing, first and second dual-shaft electric motors within the housing with each having respective inboard and outboard shafts, first and second traction wheels rotatably attached to the first and second output shafts via first and second wheel clutches, first and second module gears rotatably attached to the first and second inboard shafts via respective first and second module clutches, first and second vertical apertures having respective top openings at a top of the housing and respective bottom openings adjacent the first and second module gears, a sensor array, and a controller for controlling the electric motors and clutches to provide propulsion, steering and braking of the system, extension, retraction and / or rotation of a module inserted into one or both of the vertical apertures, and maintaining the system in an upright position.

A crawler drive for an agricultural work machine, comprising front and rear main wheels, front and rear main frames associated with each respective main wheel, two support wheels, a running belt surrounding the two main wheels, and an articulation point through which the crawler drive is pivotably connected to a body of the agricultural work machine. The two main frames are coupled to one another to pivot about a common pivot axle, the support wheels are arranged on a common support frame, and the support frame is pivotably connected to the front main frame via a support wheel swing arm. The crawler drive further comprises a damping device with at least one piston-cylinder unit and hydraulically acting pressure device. The piston-cylinder unit is coupled at a swing arm end to the support wheel swing arm and at a frame end to the rear main frame.

The invention discloses a self-propelled hydraulic riveting pump station which comprises a movable platform, a hydraulic power system and a control system. The moving platform comprises two groups of moving tracks which are independently driven by hydraulic motors and a platform of the moving tracks; the hydraulic power system is arranged on the moving platform and comprises a riveting hydraulic power system and a driving hydraulic power system; the riveting hydraulic power system and the driving hydraulic power system comprise eight hydraulic pumps in two groups directly driven by the same engine; wherein the two hydraulic pumps are connected in parallel to supply oil to a first hydraulic motor of a first driving oil way to drive a first moving crawler belt, the two hydraulic pumps are connected in parallel to the first driving oil way through a first electromagnetic reversing valve to enhance oil supply to the first hydraulic motor, meanwhile, the two hydraulic pumps are reversed through the first electromagnetic reversing valve to supply oil to a first riveter of a first riveting oil way, and the other set is the same; the control system comprises a wireless driving control system and an electric control system; the walking and riveting device meets various requirements of walking and riveting, can provide power for riveting of short-tail type pulling rivets, pulling-breaking type pulling rivets and the like, and is safe and reliable.

The invention discloses a double-vehicle linkage AGV (Automatic Guided Vehicle) capable of keeping a distance by utilizing laser radars, which comprises an AGV front vehicle and an AGV rear vehicle, and is characterized in that a reflector is arranged at the tail part of the AGV front vehicle, a 3D distance adjusting laser sensor is arranged at the front part of the AGV rear vehicle, and a yaw angle error of the AGV front vehicle relative to the AGV rear vehicle and a distance error between the two vehicles are calculated through a three-dimensional point cloud algorithm; and after the rear AGV obtains the error value and the speed angle value, sent by the front AGV, of the front AGV, the X-direction speed and the Y-direction speed, needing to be corrected, of the front AGV and the rear AGV are obtained, and according to the double-vehicle linkage type AGV, through the 3D distance adjusting laser sensor, the reflector, the AGV navigation controller and the chassis controller, the speed of the front AGV and the Y-direction speed, needing to be corrected, of the rear AGV are obtained. The AGV front vehicle and the AGV rear vehicle are enabled to always run at the same distance and in the same direction, so that the efficiency is higher when the two vehicles transport long workpieces, and the traditional scheme that the long workpieces are used as rigid structural parts to enable the AGV front vehicle and the AGV rear vehicle to be rigidly connected is avoided.

The invention discloses a steering-by-wire fault degradation processing method and system, a vehicle, equipment and a medium, and relates to the technical field of vehicle control. The steering-by-wire fault degradation processing method comprises the following steps that the fault state of a steering-by-wire system of a vehicle is obtained; according to the fault state of the steer-by-wire system, whether a braking system of the vehicle needs to provide steering capacity is judged; if the braking system needs to provide the steering capacity, the needed front wheel steering angle is determined according to the steering angle signal and the vehicle speed; four-wheel braking force needed by the vehicle is determined according to the needed front wheel rotation angle; and controlling the braking system to execute the braking force of each wheel according to the required four-wheel braking force so as to realize front wheel steering. Under the condition that the steer-by-wire system breaks down and loses part of or all steering capacity, extra steering capacity can be provided through four-wheel braking force distribution of the braking system, cross-system redundancy safety is achieved, and the safety of the steer-by-wire vehicle is improved.

The invention relates to the field of vehicle steering control, in particular to a distributed electric drive electronic differential control method and device, electronic equipment and a medium. The distributed electric drive electronic differential control method comprises the steps that according to four-wheel reference steering angles and additional factors, four-wheel actual steering angles are determined; the additional factors comprise a road adhesion coefficient and / or a tire slip rate; determining a steering mode according to the reference vehicle speed and the preset vehicle speed; according to the actual steering angles of the four wheels, the reference vehicle speed, the steering modes, the vehicle mass center steering radius expressions in different steering modes and the steering radius expressions of the four wheels in different steering modes, the target wheel speeds of the four wheels are determined; and correcting the four-wheel speed according to the four-wheel target wheel speed and the four-wheel reference wheel speed. According to the invention, the wheel speed of four wheels can be accurately calculated and corrected, so that the actual motion trail of the vehicle is more consistent with the ideal target trail.

The invention discloses a fan blade crack detection robot and a detection method. The fan blade crack detection robot comprises a robot overall frame, a negative pressure adsorption mechanism, a detection mechanism and a camera. A negative pressure adsorption mechanism is arranged in the robot overall frame, four differential motors and rubber wheels are arranged on the two sides of a vehicle body, and a detection mechanism and a camera are arranged on the front side and the upper side of the vehicle body correspondingly. The negative pressure adsorption mechanism is composed of a large sealing cavity and four small sealing cavities, the large sealing cavity is fixedly installed on the upper side of the frame bottom plate, the four small sealing cavities are fixedly installed on one side of the differential motor and connected with the large sealing cavity through corrugated pipes, and meanwhile the lower sides of the large sealing cavity and the small sealing cavities are each provided with a sealing gasket and a square sealing piece. The sealing cavity is tightly attached to the wall face, and crawling of the robot is achieved. According to the invention, a feasible solution is provided for automatic detection of the blades of the power generation fan, and the method has high applicability.

A number of variations may include a system, method, a non-transitory computer readable medium having instructions thereon executable by an electronic processor to implement functionality comprising enhancing the curvature capability of a tertiary rack and pinion actuator by using brake-to-steer while the tertiary rack and pinion actuator is operating.

A lawnmower including: a wheel; a motor operably coupled to drive the wheel; a user input configured to receive a steering control input from a user; and a controller configured to operate in a steering assist mode where the controller: receives information from the user input, the information including a position of the user input; compares the position of the user input to a gain profile saved in a memory of the controller; determines a scale factor from the gain profile based on the comparison; generates a command instruction to control a speed of the motor based on the position of the user input and the determined scale factor; and transmits the command instruction to the motor to affect a speed of the motor.