49results about How to "Avoid setbacks" patented technology

The invention provides a double-clutch coasting downshift control method. The method comprises the steps that whether clutches are in an oil charging stage or not is judged in the coasting downshift process of a vehicle; if the clutches are not in the oil charging stage, whether accelerator opening degree is larger than accelerator limit value or not is detected; if the accelerator opening degreeis larger than the accelerator limit value, whether the power mode of the vehicle is in a power state or not is continuously judged; if the power mode of the vehicle is in the power state, the operation of switching coasting downshift to power downshift and simultaneously controlling rotating speed and torque is executed; and when the sliding downshift is converted into the power downshift and therotating speed and the torque are simultaneously controlled, first torque of the high-gear clutch is equal to max { first minimum torque of the high-gear clutch, first total torque of the clutch * first coefficient}, and first torque of the low-gear clutch is equal to first total torque of the clutch * (1-the first coefficient). According to the embodiment, the torque of the high-gear clutch is controlled not to be smaller than the minimum torque of the high-gear clutch in the coasting downshift stage, so that the smoothness of the vehicle in the shifting process is ensured.

The invention discloses a realization method for running of a hexapod robot. The realization method comprises the following steps: a camera module is controlled to rotate to be aligned with a target end point, and a translation path of the body centre of the robot is calculated by virtue of the coordinates of the target end point; a corresponding relationship between a foot coordinate system of each foot and a body coordinate system is established by virtue of a transform algorithm, and a translation path of the tail end of each foot is calculated; through a movement track of the tail end of each foot on the vertical plane of the translation path of the tail end of the foot, a corresponding rotation angle of each joint of the tail end of the foot on different coordinate points of the movement track is obtained, and a preset rotation angle of the joint is configured; and the robot is controlled to lift up two non-adjacent feet, run along the translation path of the tail end of each foot at the beginning, and always keep four feet touching the ground during running, wherein the two non-adjacent feet are lifted up, each joint of each foot is periodically rotated to the corresponding preset angle, and the tail end of each foot is lifted up and down on the translation path thereof. The hexapod robot disclosed by the invention is smooth and stable in gait, the head is rotated only and the body is fixed during steering, and the front surface of the robot is kept always straight forward, without angle distortion.

The invention discloses a six-freedom-degree adjusting platform which comprises a fixed platform. A fixed seat is arranged on the upper surface of the fixed platform. A feed lead screw is mounted on the fixed seat. A first coupling is arranged at one end of the feed lead screw. A first planetary reducer is arranged at one end of the first coupling. One end of the first planetary reducer is connected with the output end of a front-and-back feed servo motor. The feed lead screw is sleeved with a first feed nut. A sliding platform is arranged at the upper end of the first feed nut. The platform does not require high adjusting precision but requires bearing capacity, and therefore all above screw pairs adopt trapezoidal lead screws capable of achieving self locking, and positions can be kept and the load rate can be improved conveniently during shutdown; and posture adjustment of six freedom degrees of a workpiece can be achieved, the posture of the workpiece can be rapidly adjusted in position, efficiency is high, labor intensity is small, and a mechanism is safe and reliable.

The invention provides a torque distribution method and a torque distribution device for a hybrid electric vehicle, and belongs to the technical field of vehicles. The technical problem of how to improve the working efficiency of an engine when an existing hybrid electric vehicle runs on an urban road is solved. The method comprises the steps: starting an engine according to the opening degree ofan accelerator pedal, making the engine work under a steady-state high-efficiency working condition, and executing the engine steady-state torque under the working condition; setting a parameter tableof the engine target torque: when the driver demand torque is less than or equal to the engine steady-state torque, using the engine basic torque as the engine steady-state torque, otherwise, using the engine basic torque as the driver demand torque; looking up the parameter table to obtain the engine target torque, taking the negative torque of the motor as the execution torque of the motor whenthe steady-state torque of the engine is kept, and enabling the motor to be in a power generation mode to enable the engine to keep working under steady-state and high-efficiency working conditions.The working efficiency of the engine during urban road driving is improved.

The invention discloses a gait planning method for improving the walking stability of a hexapod robot. The method comprises the steps of walking: raising two non-adjacent feet, starting walking along a translational path of the tail end of each foot, parallel to a connecting line of the center of a robot body and a terminal point, always keeping four feet in contact with the ground during walking, raising the two non-adjacent teeth, periodically rotating each joint of each foot to a corresponding preset angle, and raising or putting down the tail end of each foot along the translational path; and turning: rotating a camera module at the head of the robot to a direction over against a target terminal point and executing basic walking actions. According to the method, jerking and stiff actions and robot body inclination are avoided, so that gaits are fluent and stable; and during rotation, only the head is rotated, the robot body is fixed, and the front surface of the robot is always kept forward linearly, so that the angle distortion is not caused and the front surface orientation can be quickly changed or the robot moves in a specified direction without moving limbs.

The invention discloses a sliding working condition torque control method. The sliding working condition torque control method comprises the following steps of judging whether a whole vehicle is in asliding working condition or not; if the whole vehicle is in a sliding condition, TCU sends a torque raising request signal and a preset torque request value to ECU; after receiving the torque raisingrequest signal and the preset torque request value from the TCU, the ECU controls the torque of the flywheel end of an engine to be raised to the preset torque request value; judging whether a driving intention is changed or not; if the driving intention is changed, the TCU sends a torque raising request signal and a desired torque request value to the ECU according to a torque desired by a driver; and the ECU controls the torque of the flywheel end of the engine to the desired torque request value according to the desired torque request value. By means of the sliding working condition torquecontrol method, because the torque of the engine in the sliding working condition is adjusted to the preset torque request value, when the driving intention is changed, the torque of the flywheel endof the engine is not changed greatly or rapidly, and impacts or setback can be effectively avoided.

The invention discloses a control method and a control system of a hybrid vehicle, the vehicle and a medium. The method comprises the steps of detecting an accelerator pedal treading action, and outputting an acceleration signal; in response to the acceleration signal, controlling an engine to increase the rotating speed, and controlling a motor to output the whole vehicle required torque to the wheel end; when detecting that the rotating speed of the engine reaches the rotating speed of the clutch input shaft corresponding to the target gear, controlling the clutch corresponding to the targetgear to be combined; distributing engine target torque according to the whole vehicle operating parameters and the whole vehicle required torque, and controlling engine output torque according to theengine target torque; and adjusting the motor output torque according to the engine output torque, so that the wheel end outputs the whole vehicle required torque. According to the control method ofthe hybrid vehicle, the rotating speed and the output torque of the engine can be controlled under the refueling working condition of the vehicle, the target gear clutch is combined, and the vehicle pause phenomenon caused by inconsistency of the rotating speed of the engine and the rotating speed of the target gear input shaft is avoided.

The invention discloses a drive control circuit, a drive control method, a circuit board and an air conditioner. The drive control circuit comprises a switch assembly, a first inversion module and a switching transition assembly. When a three-phase winding is switched between a star connection state and a triangular connection state, the states of a first switch group and a second switch group need to be switched respectively; a switching transition assembly is arranged; before the first switch group and the second switch group are switched, a second drive voltage for keeping the three-phase winding running is provided for the three-phase winding; after the first switch group and the second switch group are switched, the working state of the three-phase winding is not changed; the motor can still maintain stable operation, and smooth switching is ensured; the three-phase winding is prevented from being impacted by voltage to generate pause or brake when the motor is switched; and the connection state of the motor is switched without shutdown.

The invention discloses an electric-control rotary lifting type steel platform integral lifting device and a construction method thereof, belongs to the technical field of super high-rise building construction, and aims at solving the problems that in the integral steel platform lifting process, a lifting device is large in self weight and discontinuous in lifting and needs artificial assistance.The device is composed of a rotary lifting system, a steel platform system and a bottom supporting system. The construction method comprises the steps that combined installation of the rotary liftingsystem, the steel platform system and the bottom support system is completed; a motor is started to enable a rotary lifting wheel to start forward rotation, and the gravity load of the whole steel platform system is completely borne by the rotary lifting system for lifting preparation; then the motor is operated to complete the whole lifting of one standard layer of the steel platform system; thenan electric control system of the rotary lifting system is closed, so that the gravity load of the whole steel platform system is completely borne by the bottom support system; then the constructionof a reinforced concrete structure of one standard layer is completed; and finally, the next standard layer is lifted.

The invention provides an energy management method and system based on a steady-state engine strategy, and belongs to the technical field of hybrid automobile energy management strategies. The problemof how to optimize energy management under various actual working conditions and dynamic change requirements is solved. The method comprises the steps: obtaining the current driving working conditionof a vehicle, and obtaining a dynamic SOC balance strategy, a self-adaptive start-stop strategy, a torque distribution strategy and an economical gear shifting line strategy corresponding to the current driving working condition according to the current driving working condition; and according to the self-adaptive start-stop strategy, the torque distribution strategy and the economical gear shifting line strategy corresponding to the current working condition, conducting engine start-stop, torque distribution and gear shifting control in combination with the dynamic SOC balance strategy. Thesystem comprises a vehicle control unit, a gearbox controller, a battery management system, a motor controller and an engine controller for realizing a dynamic SOC balance strategy, a self-adaptive start-stop strategy, a torque distribution strategy and an economical gear shifting line strategy. Energy management is optimized, and the economic fuel performance is improved.

The invention relates to a laryngeal mask and belongs to the technical field of medical apparatus. The laryngeal mask comprises a laryngeal mask inflation tube, an air sac and an air sac inflation tube. One end of the laryngeal mask inflation tube is provided with a connector. The air sac is combined at the other end of the laryngeal mask inflation tube. An air sac inflation valve is connected to one end of the air sac inflation tube. The other end of the air sac inflation tube is connected with the air sac and communicated with an air sac cavity of the air sac. The laryngeal mask is characterized in that the other end of the air sac inflation tube is integrated with the tube wall of the laryngeal mask inflation tube. Due to the fact that the other end of the air sac inflation tube is integrated with the tube wall of the laryngeal mask inflation tube in a parasitic manner, when the laryngeal mask inflation tube is inserted into a laryngeal cavity of a patient, the air sac inflation tube is inserted jointly, convenient operation is achieved, air sac inflation tube breakage can be avoided, the patient's pain can be relieved, and damage of a trachea wall of the patient can be avoided. In addition, the air sac inflation valve is simple in structure, good in seal performance and convenient to operate.

The invention discloses a safety device for preventing an accelerator from being mistaken as a brake. The safety device comprises an accelerator device and a brake device, the accelerator device comprises an accelerator pedal, a pedal supporting rod connected with the accelerator pedal and an accelerator accelerating device in linkage with the pedal supporting rod to control accelerating of a vehicle, and a resilience piece connected with the pedal supporting rod and capable of controlling the accelerator accelerating device to be in one-way press-down movement is arranged on the pedal supporting rod; an auxiliary braking mechanism capable of being in contact connection with one end of the pedal supporting rod to control the brake device to form a brake system is arranged on the brake device, and a gap for buffering speed of the vehicle is arranged between the end of the auxiliary brake mechanism and the end of the pedal supporting rod. The safety device is compact in structure, and the objective of emergent braking is achieved by adopting a pure mechanical touch mode, so that normal accelerating of the vehicle can be ensured, and the problem of safety accidents caused by sudden accelerating of the vehicle when the accelerator is mistaken as the brake can be avoided.

A ratchet-type tensioner, comprising: a housing; a plunger supported by the housing for movement in opposite advancing and setback directions, the plunger having rack teeth provided thereon, and being arranged to advance with respect to the housing along the advancing direction for applying tension to a traveling transmission medium engaged with rotating members; and a ratchet mechanism capable of restricting the plunger from setting back due to a reaction force acting in a setback direction from the transmission medium; said ratchet mechanism comprising: a ratchet-receiving hole provided within the housing; a ratchet element slidable in the ratchet-receiving hole and movable in a sliding direction transverse to the advancing and setback directions; ratchet teeth on the ratchet element engageable with the rack teeth of the plunger; and a ratchet-biasing means for biasing the ratchet element in an engaging direction along the sliding direction so that the ratchet teeth engage with the rack teeth; said ratchet mechanism being capable of restricting the plunger from being set back by a reaction force acting in a setback direction from the transmission medium; said rack teeth having a concave-convex form and being composed of stop surfaces facing in the setback direction and sliding surfaces facing in the advance direction, said sliding surfaces being inclined relative to the sliding direction and facing in a disengaging direction opposite from the engaging direction; each of said sliding surfaces having an entry starting location which the ratchet teeth first engage when starting to enter the rack teeth, and an entry ending location where the engagement of the ratchet teeth with the rack teeth ends; each said sliding surface being a curved surface, all of said curved surface, between said entry starting location and said entry ending location of said sliding surface, bulging in the advancing direction of the plunger and in the disengaging direction of the ratchet element from an imaginary reference plane intersecting said entry starting location and said entry ending location of said sliding surface and perpendicular to another imaginary plane to which the advancing and setback direction of the plunger and the sliding direction of the ratchet element are parallel; and at least a part of said curve midway along said curve between the entry starting location and the entry ending location is convex.

The invention discloses an elevator car glass cleaning device which comprises a base, supporting frames symmetrically arranged on the base, an elevator taking box slidably connected with the supporting frames through connecting rods, and a glass protection plate arranged on one side of the elevator taking box. The device further comprises a first arc-shaped seat which is arranged on the side, away from the elevator taking box, of the glass protection plate; a second arc-shaped seat connected with the first arc-shaped seat through a first spring, a driving part used for driving the first arc-shaped seat and the second arc-shaped seat to be close to or away from each other, sliding rods which are symmetrically arranged at the two ends of the second arc-shaped base and are in sliding connection with the supporting frame, a linkage plate connected with the sliding rods and the connecting rod, an arc-shaped mounting plate in sliding connection with the first arc-shaped base through a rolling part, and a cleaning mechanism which is arranged on the face, facing the glass protection plate, of the arc-shaped mounting plate at interval. The cleaning mechanism can be tightly attached to the glass protection plate, and the cleaning effect is good.

The invention discloses a ramp parking control method, device and equipment and a storage medium, and the method comprises the steps that a vehicle drives into a ramp, and a parking control instruction is received; when it is determined that the vehicle meets the parking condition, the parking control instruction is sent to the control module; and the locking signal returned by the control module is received, and the first torque output by the driving motor is cancelled. Therefore, when the vehicle is driven into the ramp and the vehicle locking signal is determined to be received, the vehicle is locked, that is, the vehicle stably stays on the ramp, the torque output by the driving motor is cancelled, and the vehicle is prevented from sliding on the ramp. For example, the parking control instruction is a P-gear engaging instruction, torque is cancelled only when a vehicle locking signal is received, the NVH problem caused by knocking of a pawl and a ratchet wheel during P-gear engaging is avoided, or the situation that the vehicle slides on a slope when the pawl cannot be clamped into the ratchet wheel is avoided; the parking control instruction is an instruction generated when the electronic parking is started, the torque is cancelled only when the vehicle locking signal is received, and slope sliding and pause when locking of the electronic parking is not completed are avoided.

The invention discloses a vehicle brake control method and equipment, a storage medium and a device. The method comprises the steps that obtaining the first speed of a target vehicle, the first distance between the target vehicle and an obstacle and the first relative speed of the target vehicle and the obstacle; determining the snub acceleration of the target vehicle according to the first speed,the first distance and the first relative speed, and controlling the target vehicle to brake according to the snub acceleration; obtaining a second speed of the target vehicle after braking, a seconddistance between the target vehicle and the obstacle, and a second relative speed of the target vehicle and the obstacle; and determining a brake grade according to the second speed, the second distance and the second relative speed, and braking the vehicle according to the brake grade. According to the method, the target vehicle is controlled to brake according to the snub acceleration, and thenthe vehicle is braked according to the brake grade, so that pause caused by high-acceleration braking of the vehicle is avoided, and the riding comfort is improved.

The invention relates to a pulseless connecting rod type continuously variable transmission which comprises a hollow shell. A power input shaft capable of rotating around the axis of itself and a power output shaft capable of rotating around the axis of itself are arranged in the shell in parallel. One end of each shaft stretches out of the shell. A support is arranged in the shell and provided with a connecting body, and the connecting body is driven by the power input shaft to rotate. The two ends of the connecting body are fixedly connected with diameter adjusting wheels respectively. Sliding grooves formed in the radial direction of the diameter adjusting wheels are processed in the diameter adjusting wheels. The sliding groove in one diameter adjusting wheel is perpendicular to the sliding groove in the other diameter adjusting wheel. A diameter adjusting mechanism is arranged in the connecting body and used for driving power transmission mechanisms. According to the continuously variable transmission, the pulsation phenomenon is thoroughly eliminated, it is guaranteed that the continuously variable transmission works stably and reliably, and pausing is prevented from happening during vehicle running. Meanwhile, steel cables wound on backstops are adopted as connecting transmission pieces, the phenomenon of slipping in the high-speed rotating process is avoided, and the stability of the transmission is further improved.

The invention provides a variable valve timing system, which comprises an electromagnet, a hydraulic valve and a camshaft adjuster, wherein the electromagnet comprises a valve core assembly, a substrate, a magnetic-isolating inner cover and an electromagnetic coil part which are coaxially arranged; the electromagnetic coil part comprises a skeleton and a coil; the skeleton sleeves the outside of the magnetic-isolating inner cover; the coil is wound on the skeleton; the valve core assembly and the substrate are arranged in the magnetic-isolating inner cover along the axial direction; the valve core assembly comprises a valve core and a post rod connected to the valve core; a conical part with an outer conical surface is arranged at one end, close to the valve core, of the substrate, and an accommodating part for accommodating the valve core is arranged at the end; a guide through hole is also arranged in the axis of the substrate; and the post rod is arranged in the guide through hole in a sliding manner. The variable valve timing system provided by the invention is stable in operation and high in reliability.

The invention relates to a clutch transmission torque self-learning method, device and equipment and a readable storage medium. The clutch transmission torque self-learning method comprises the steps that first displacement and first transmission torque of a clutch contact point and second displacement and second transmission torque of a complete combination point are obtained; when the working condition of a vehicle in the starting process meets the preset self-learning condition, a clutch is controlled to be slowly combined, and when the torque and the rotating speed are larger than the corresponding threshold values correspondingly and the torque change rate and the rotating speed change rate are located in the corresponding change rate ranges correspondingly, third displacement of the clutch is recorded, and third transmission torque is calculated; and when the difference value percentage of the calibrated transmission torque and the third transmission torque is greater than a threshold value, a calibrated transmission torque line is updated based on the first displacement, the first transmission torque, the second displacement, the second transmission torque, the third displacement and the third transmission torque to complete transmission torque self-learning. According to the method, learning of the transmission torque and updating of the transmission torque line can be automatically completed in the starting process of the vehicle, and the driving comfort is improved.

The invention discloses a low-speed control method and system for automatic parking of a vehicle, the vehicle and a storage medium. The method comprises the steps of obtaining parking space information in a driving process after a parking activation signal is received, and planning a parking path after a parking space is determined; setting a real-time target vehicle speed as a control target; acquiring the actual speed of the vehicle; looking up a corresponding relation table of the target vehicle speed and the vehicle speed difference threshold according to the target vehicle speed to obtain a corresponding vehicle speed difference threshold under the current target vehicle speed, and when the difference value of the target vehicle speed and the actual vehicle speed is smaller than or equal to the vehicle speed difference threshold, not adopting the braking action at the moment even if the ESP braking force is calculated through a PID control algorithm; and when the difference value between the target vehicle speed and the actual vehicle speed is larger than the vehicle speed difference threshold, calculating the ESP braking force through the PID control algorithm, and carrying out braking adjustment on the whole vehicle. According to the invention, the stability of the vehicle speed can be ensured when the vehicle speed is controlled to be low, and pause caused by frequent braking in the ESP braking process can be reduced.

The invention relates to a dual-power input pure electric transmission which comprises a transmission shell. A first input shaft, a second input shaft and an output shaft are arranged in the transmission shell, a three-gear driving gear is arranged on the first input shaft in a matched manner through a bearing and is connected with a gear-shifting gear capable of moving in the axial direction through a flange, one end of the gear-shifting gear is provided with combination teeth, and the other end is provided with first-gear driving teeth; the second input shaft is provided with a second-gear driving gear and a fourth-gear driving gear through bearings in a matched manner, and a second gear and fourth gear synchronizer is arranged between the second-gear driving gear and the fourth-gear driving gear; a second gear and third gear driven gear, a fourth gear driven gear and a first-gear driving gear are fixedly connected to the output shaft sequentially in the circumferential direction, the second gear and third gear driven gear is in constant meshing with the third-gear driving gear and the second-gear driving gear, and the fourth gear driven gear is in constant meshing with the fourth-gear driving gear; and the gear-shifting gear moves in the axial direction to enable the combination teeth of the gear-shifting gear to be meshed with the three-gear driving gear, or the first-gear driving teeth of the gear-shifting gear are meshed with the first-gear driven gear.

A gait planning method for improving the walking stability of a six-legged robot. The method comprises: moving: lifting two non-adjacent legs, and initiating movement of the two legs along translation paths of the terminal ends of the legs, the translation paths being parallel to a line connecting a center of a body of the robot and a destination point, wherein during moving, there are always four legs contacting the ground and two non-adjacent legs being lifted, and joints of each leg are periodically rotated to corresponding predetermined angles, such that the terminal end of each leg is lifted up and lands on the translation path thereof; and turning: rotating a camera module of a head portion of the robot to a direction directly facing a target destination, and then performing the basic moving operation. By employing the method, the present invention prevents the robot from moving in a staggering, rigid or leaning manner, and enables a smooth and stable gait. In addition, upon rotating, only the head portion needs to be rotated rather than the body, thus enabling the robot to always move in a straight line facing forwards without twisting, and achieving fast change of the forward direction without moving the legs or fast movement toward a specified direction.

The present invention provides a presser foot mechanism and a sewing machine with the same. The presser foot mechanism is used for enabling a presser foot assembly on the sewing machine to press cloth; the presser foot mechanism comprises a presser foot rod assembly, a presser foot arm and the presser foot assembly; the pressing foot rod assembly pushes the presser foot assembly to press the cloththrough the presser foot arm; the presser foot rod assembly is provided with an arc-shaped pressing surface; and the pressing foot rod assembly is in moving contact with the presser foot arm throughthe arc-shaped pressing surface to reduce the wear of the presser foot rod assembly and / or the presser foot arm. The presser foot mechanism solves the problem that parts of the sewing machine part areeasy to wear in the prior art.

Embodiments of the present disclosure relate to a vehicle gear shifting method, device, and vehicle; wherein, the vehicle gear shifting method includes: when the vehicle is in a driving state, when a gear shift command is received, judging whether the current torque of the motor is greater than preset torque; if the current torque of the motor is greater than the preset torque, control the motor to perform a torque reduction operation within a preset duration; according to the result information of the motor performing a torque reduction operation within a preset duration, the The vehicle's current gear shifts to the target gear. The technical solution provided by the embodiments of the present disclosure solves the problem that the existing vehicle is prone to stuttering during gear shifting.

The invention discloses a torsion buffering driver for a passenger car. The torsion buffering driver comprises an input shaft, the left side of the input shaft is symmetrically provided with input shaft left bosses, the right side of the input shaft is symmetrically provided with input shaft right bosses, and a first roller bearing is arranged on the left side of the input shaft left bosses; and asecond roller bearing and a third roller bearing are sequentially arranged between the input shaft left bosses and the input shaft right bosses, and a fourth roller bearing is arranged on the right side of the input shaft right bosses; and a clamping spring groove is formed in the outer side of the fourth roller bearing, a clamping spring body for preventing the fourth roller bearing from exitingis arranged in the clamping spring groove, and a ball bearing is arranged on the right side of the clamping spring groove. According to the torsion buffering driver, the problem that when vehicle starting and gear shifting are performed, the pause can be effectively solved; meanwhile, due to the fact that a lot of semi-clutch working states are reduced, the abrasion of a clutch is greatly reducedso that the consumed slipping work on the clutch can be greatly reduced, the working temperature of the clutch can be effectively reduced, and the fuel consumption during vehicle crawling and the gear shifting when in driving can be reduced.

The invention is suitable for the technical field of meal box stacking and transporting equipment, and provides an automatic meal box conveying device which comprises a feeding conveying belt, a second conveying mechanism, a driving transmission roller and a driven transmission roller, wherein the tail end of the feeding conveying belt is rotationally connected with a transition plate; the second conveying mechanism comprises a main frame body, a conveying belt is arranged at the top of the main frame body, the top face of the conveying belt is lower than the top face of the feeding conveying belt, a stacking area is arranged on the top face of the end, close to the transition plate, of the conveying belt, and a baffle in the running direction of the conveying belt can be pulled up and down; and the driving transmission roller and the driven transmission roller are arranged at the top of the main frame body, and the driving transmission roller comprises a transmission inner wheel and a transmission outer wheel. Therefore, automatic stacking and transportation of meal boxes are achieved through an automatic stacking mechanism, meanwhile, a novel transportation transmission roller structure is arranged, the starting and stopping states are switched for buffering, movement starting and stopping are smoother, a novel damping mechanism is additionally arranged, the buffering effect in the vertical direction is optimized, and impact on the meal boxes at the bottom during stacking during transportation and toppling and damage of the stacked meal boxes are prevented.

The invention discloses a hybrid vehicle control method and device. The method comprises the steps that the road type of a current driving road of a target vehicle is obtained; if the road type is uphill, the generator and the engine are controlled to be in a working state; and if the road type is downhill, the threshold value of the accelerator pedal is increased. When the target vehicle climbs a slope, the generator and the engine are always in a working state, so that the hybrid power system is always in a hybrid mode, and the phenomenon that the operation modes of the hybrid power system are frequently switched in the climbing process of the vehicle is avoided; moreover, when the target vehicle goes downhill, the threshold value of the accelerator pedal is increased, so that the engine can be started only when a driver needs to control the accelerator pedal to reach the threshold value of the accelerator pedal, and therefore the phenomenon that the operation mode of the hybrid power system is frequently switched in the downhill process of the target vehicle is avoided; therefore, the problems of whole vehicle jerking and fuel consumption increase caused by frequent switching of system operation modes can be avoided, the drivability is improved, and the energy consumption is reduced.