109results about How to "Guaranteed lateral stability" patented technology

The invention relates to a virtual constraint-based automatic driving vehicle path planning method. The method comprises the following steps that: a lane center line course under a vehicle body coordinate system is obtained according to a lane line detection result; the course of a vehicle is corrected through using a Kalman filter and the obtained lane center line course; a path point in an original path is corrected through using the corrected vehicle course; a relative lateral position relationship between the automatic driving vehicle and a road is obtained based on a three-dimensional laser radar grid map; virtual constraints are generated; and a desired path is generated according to the decision-making instruction of an automatic driving system. According to the method of the invention, GPS, vision and laser radar information is integrated to complete the precise positioning of the relative lateral position relationship of the vehicle and the road, and high-precision positioning equipment and high-precision maps are not required, the improvement of the lane maintaining capability and lane changing capability of the automatic driving vehicle under a structuralized urban or highway environment with clear lane lines can be facilitated, and the method is of great significance for the safe, stable and smooth driving of the automatic driving vehicle.

Provided is a four-wheel steering control method for maintaining the lateral stability of an automobile under an extreme working condition. The method is characterized by involving a reference model,a tire lateral force and cornering stiffness processor, an MPC controller and an automobile model. The reference model is used for determining the desired automobile yaw rate; the tire lateral force and cornering stiffness processor is used for determining side slip angle, lateral force and cornering stiffness of tires; the automobile model is used for outputting the actual motion state information of the automobile, and the actual motion state information includes automobile longitudinal velocity, yaw rate, centroid side slip angle and road adhesion coefficient; the MPC controller combines the desired automobile yaw rate and the actual motion state information of the automobile for optimization solution to obtain rotation angle of rear wheels of the automobile and outputting to the automobile model to control the lateral stability of the automobile under the extreme working condition.

The invention discloses an elastic vibration-reduction ballast bed system, which comprises a concrete ballast bed and a low-frequency vibration isolator installed in the concrete ballast bed. An elastic mechanism in the low-frequency vibration isolator consists of a positive stiffness elastic element made of metal rubber or the positive stiffness elastic element and a negative stiffness elastic element which are connected in parallel. The positive stiffness elastic element is a disc spring, a spiral spring, the metal rubber, a metal rubber-spring armour, a metal rubber-lead core composite spring or any series-parallel combination of the disc spring, the spiral spring, the metal rubber, the metal rubber-spring armour and the metal rubber-lead core composite spring. The negative stiffness elastic element is a disc spring or a diaphragm spring. The elastic vibration-reduction ballast bed system can meet requirements of middle-high-grade vibration reduction and has a simple structure. The site construction process is simple and convenient, and consumed materials of the ballast bed are relatively reduced. Therefore, the elastic vibration-reduction ballast bed system is low in construction cost and suitable for popularization and application in the whole line.

An intelligent electric vehicle ACC/ESC integrated control system and method thereof are provided with an information acquisition module, a monitor, a decision controller and a coordinated actuator. The information acquisition module comprises a vehicle-vehicle communication module, a radar and a vehicle sensor module; the monitor comprises a state parameter estimation module, a prediction moduleand a driving state judgment module. The vehicle-vehicle communication module, a radar module and a vehicle-mounted sensor module are connected with a state parameter estimation module, a prediction module and a running state judgment module, and an output end of the state parameter estimation module is connected with an input end of the prediction module; the decision controller includes a control mode selection module and an ACC/ESC integrated controller. An input end of the control mode selection module is connected with an output end of a prediction module and a driving state judgment module, and an output end of the control mode selection module is connected with an input end of an ACC/ESC integrated controller. The coordinating actuator includes a drive system and an active braking system.

The invention discloses vehicle seat sponge, a manufacturing method, a module and a vehicle seat. The vehicle seat sponge comprises a main functional area, wherein a left supporting area and a right supporting area are respectively arranged on the two sides of the main functional area, the main functional area sequentially comprises a front area, a middle area and a back area from the front to the back, the density of the middle area is 60-70 gram per cubic meter, the density of the front area is 45-55 gram per cubic meter, and the density of each of the left supporting area, the right supporting area and the back area is 40-50 gram per cubic meter. The vehicle seat sponge has the characteristics of being multiple in density and hardness, the position which needs to be supported has better supporting performance, the position which needs to be soft has good buffering performance and attaching performance, when a vehicle swerves, the area with the two sides being hard can reduce horizontal accelerated speed borne by a human body, so that the hip and the thighs of the human body can lightly bear the body, the horizontal stability of the human body is guaranteed, and the comfort and the safety are good.

The invention discloses a hydrofoil ship with a displacement boat function, which comprises a main hull, a propulsion device and a stern rudder, wherein a deep-wetted hydrofoil and a movable sliding hydrofoil which can achieve lift adjustment are arranged at the bottom of the main hull, the deep-wetted hydrofoil is arranged at the rear portion of the gravity of the main hull while the movable sliding hydrofoil is arranged on the head portion of the main hull, and the distance between the deep-wetted hydrofoil and the main hull is longer than that between the movable sliding hydrofoil and the main hull. The hydrofoil ship has the advantages of fast route speed, sound dynamic stability, high safety, energy-saving and low production cost.

The invention belongs to the technical field of temporary supports for underground fully mechanized excavation faces of coal mines, and particularly relates to an automatic bolt mesh laying step type temporary support for fully mechanized excavation faces, which solves the current problem that the efficiency of high-performance excavators cannot be sufficiently exerted because excavation, temporary supporting and bolting cannot be carried out synchronously. The automatic bolt mesh laying step type temporary support for fully mechanized excavation faces comprises an inner support assembly and an outer support assembly, the inner support assembly and the outer support assembly respectively comprise a left support and a right support, the left support and right support of the inner support assembly are arranged at the inner sides of the left support and right support of the outer support assembly, a height difference exists between the tops of crossbeams and the bottoms of longitudinal beams of one set of support assembly, and carrier rollers are arranged at positions where the tops of the crossbeams correspond to the bottoms of longitudinal beams of the other set of support assembly. Excavation, temporary supporting, bolt mesh laying, bolt mesh connection and bolting can be carried out synchronously, the labor intensity of workers is decreased greatly, the efficiency of excavation is increased, a working face can be supported in time, and a powerful guarantee is provided for the safety of operating personnel.

The invention discloses an open-cut station body structure and a construction method thereof. A station body is of a two-layer double-column three-span box-shaped structure. The construction method includes the steps that a site is leveled, a precipitation well is dug, precipitation is carried out, foundation pit drainage measures are taken, and cast-in-situ bored piles are arranged; a foundationpit is dug to the depth 0.7 m below a first support, pile top crown beams are arranged, and the first steel support is erected; the foundation pit continues to be dug downwards to the bottom of the foundation pit, a second support and a third support are sequentially erected, and waist rails are put in time; a bottom plate concrete structure is poured, side wall waterproof layers are arranged, andpart of side walls are poured; inverted supports are arranged, the third steel support is detached, and a remaining side wall structure on the second floor underground and a middle plate structure onthe first floor underground are poured; and the second steel support is detached, a side wall and top plate structure on the first layer underground is poured, a top plate waterproof layer is arranged, timely backfill is carried out, backfill is carried out to the position of the first steel support, the first steel support and the inverted supports are detached after a soil layer is compacted, backfill is carried out to the ground, and a station plate structure and other internal components are arranged.

The invention belongs to the technical field of temporary supports for underground fully mechanized excavation faces of coal mines, and particularly relates to an automatic bolt mesh laying and connection excavation temporary support device, which solves the current problem that the efficiency of high-performance excavators cannot be sufficiently exerted due to the frequent occurrence of injuries caused by waste rocks dropping from roofs. The automatic bolt mesh laying and connection excavation temporary support device comprises a front support assembly and a rear support assembly, the front support assembly and the rear support assembly respectively comprise a left support and a right support, an automatic bolt mesh laying mechanism and an automatic bolt mesh connection device are arranged on the front ends of longitudinal beams of the front support assembly, the left and right bases and left and right top beams of the front support assembly and the rear support assembly are respectively connected through push-pull cylinders, a height difference exists between the tops of crossbeams and the bottoms of the longitudinal beams of one set of support assembly fixedly connected with the crossbeams, and liftable carrier rollers are arranged at positions where the tops of the crossbeams correspond to the bottoms of the longitudinal beams of the other set of support assembly. Supporting and bolt mesh laying can be carried out synchronously, the labor intensity of workers is decreased greatly, the efficiency of excavation is increased, a working face can be supported in time, and a powerful guarantee is provided for the safety of operating personnel.

The invention relates to an ultra-silent treadmill belt and a manufacture method thereof. Fabrics are used as base materials, and a bottom coating and a surface coating are coated on the fabrics; the fabrics are formed by knitting through a 3/1 twill knitting method, the warp direction adopts a low-shrinkage terylene polyester multifilament, the weft direction adopts a low-shrinkage polyester monofilament, and a conducting thread is added in the warp direction of the fabrics, wherein the bottom coating is pasty polyvinyl chloride resin with the viscosity of 9,000-10,000CP. The manufacture method sequentially comprises the following steps of kitting the fabrics, pressurizing by a roller for heating, ironing and molding, coating the bottom coating on the fabrics, coating the surface coating on the fabrics, rolling patterns by rubber and finally welding joints. The invention has the characteristic of ultra-silence and overcomes the phenomena of small thickness, easy slipping and deflection when in use, and the like of the traditional treadmill belt; by the improvement of fabric materials and the knitting method, the transverse stabilizing force of the fabrics is ensured, the fabrics are more flat and abrasion-resistant, the safety of use is improved, and the service life is prolonged; and the invention has excellent static electricity preventing effect.

The invention discloses a construction method for underground building combining a rotary jet grouting open caisson method and a semi-inverse method, which relates to the building construction technical field. An underground structure outer wall is integrally preformed on the ground, and the construction method comprises the following construction steps: firstly, a groove is dug, and a guide wall is constructed; secondly, prestress is applied to a preformed underground structure outer wall: after the concrete strength of the preformed wall reaches 70 percent, the prestress is applied and the preformed underground structure outer wall is locked with a prestressed anchorage device; thirdly, jet grouting open caisson is performed to the whole preformed outer wall; fourthly, when the preformed outer wall is sunk to a set depth, mortar is changed to perform the mortar solidifying at the groove bottom and on the groove wall; fifthly, the underground structure is constructed through the semi-inverse method. The construction method adopts the integral jet grouting open caisson method to perform the underground structure, which not only saves a great amount of construction investment and guarantees the security and the quality, but also accelerates the construction progress and shortens the construction period. The construction method is particularly suitable for the rapid construction of underground buildings, such as the basement of a large-scale civil architecture, a public underground garage and a subway station.

The invention provides a vehicle steering control method and device, a storage medium and equipment. The method comprises the steps of obtaining a target steering angle; if the controlled vehicle is not located in the expected driving track, determining the steering angle correction amount through an active front wheel steering system; detecting whether the difference value between the actual yaw velocity and the ideal angular velocity of the vehicle is within the deviation range or not; if the difference value is not within the deviation range, determining a first torque and a second torque based on a difference torque control strategy; the first torque is not equal to the second torque. According to the target steering angle and the steering angle correction amount, controlling a steering wheel to steer, and controlling a first hub motor and a second hub motor of the controlled vehicle to output a first torque and a second torque respectively so as to obtain the additional yawing moment. When the actual yaw velocity is too large, the torque output by the hub motor is further adjusted, the actual yaw velocity of the vehicle is reduced through the additional yaw moment, and the effect of keeping the transverse stability of the vehicle under the non-linear working condition is achieved.

The invention provides a swaging and limiting device for a track board of a ballastless track of a railway. The device comprises a swaging body of which both ends are respectively swaged on an upper base plate and an lower base plate, and a pull rod which is used for fixing the swaging body, wherein a penetrating hole is formed in the swaging body, a curve groove is formed in the upper end of the penetrating hole, and an opening of which the inner diameter is extended is formed in the lower end of the through hole; the device further comprises a rotating component which is used for matching with the curve groove in a rotary manner, and the pull rod penetrates through an upper hole site of the rotating component and the penetrating hole of the swaging body to be connected with the track board or a base board; and the swaging body is locked by the upper end of the pull rod through a bolt. The swaging and limiting device disclosed by the invention is mounted outside a structure without damaging the track structure, the stress is clear, synergistic reaction between the track board and the base board is ensured, and the mounting, the checking and the exchange of all components are convenient; and after upwarp defect of the ballastless track structure is repaired, the limiting device can also be dismantled to enable the ballastless track structure to restore an original state, and the security and the ride comfort of high-speed railways and the lateral stability of lines are ensured.

The invention discloses a bogie. The bogie comprises a framework, a gearbox, a traction motor, wheel pairs, a wheel axle, a six-connecting-rod hollow shaft and a suspension cross beam; the suspensioncross beam comprises a beam body, a through groove and a bearing seat, wherein the through groove is transversely formed in the beam body; and the bearing seat is transversely arranged in the groove opening of one end of the through groove in an overhanging manner and fixedly connected with the beam body; one end, with the through groove, of the beam body is fixedly connected with the tractor motor in a longitudinal manner; a sealed cavity formed after connecting one end, with the through groove, of the beam body with the tractor motor sleeves the external surface of the hollow shaft; the other end of the tractor motor is suspended on a middle cross beam of the framework; one end, without the through groove, of the beam body is hooked with a framework end beam through a lifting rod; and adriven gear of the gearbox is sleeved with the bearing seat through a bearing. The bogie has the advantages that a problem of cross instability of heavy-duty freight electric locomotive in the high speed running process is solved by using a driving device elastic suspension mode; and problems of complicated gearbox structure and heavy load on the gearbox are solved because the gearbox adopts a non-load structure.

The invention relates to a capsule endoscope based on IPMC (ionic polymer metal composite) driving and a driving method thereof. The capsule endoscope based on the IPMC driving comprises a capsule front cover, a capsule main body structure and a capsule tail structure, wherein a plurality of slice IPMCs are arranged on the outer side of the capsule main body structure and on the capsule tail structure along the axial direction of a capsule. Under normal moving status of the capsule endoscope based on the IPMC driving, the slice IPMCs on the outer side of the capsule main body structure can be folded along the capsule, and are unfolded outwards after control signals are applied onto the slice IPMCs on the outer side of the capsule main body structure, and thereby can be used to achieve a deceleration or clamping function. When the slice IPMCs on the outer side of the capsule main body structure are respectively controlled, a posture adjustment for the capsule can be achieved. One or two IPMCs can be installed at the tail end of the capsule, and are used to achieve an active driving function. The capsule endoscope based on the IPMC driving and the driving method thereof use IPMC artificial muscle smart materials good in biocompatibility to achieve movement and posture control of the capsule endoscope based on the IPMC driving in a human body.

The invention relates to an underpinning supporting system for storey-adding transformation of an existing building basement. The underpinning supporting system is characterized by comprising a reinforced original building structure, original building foundations, underpinning structures, bearing platforms, lateral supporting components, peripheral water stop structures used for excavating a newly-added basement and supporting structures, wherein each underpinning structure comprises a static pressure underpinning pile, a static pressure underpinning pile matched jack positioned at the top ofthe static pressure underpinning pile, a drilled steel pipe pile and a drilled steel pipe pile matched jack positioned at the top of the drilled steel pipe pile; the static pressure underpinning pileand the static pressure underpinning pile matched jack positioned at the top of the static pressure underpinning pile are connected with the reinforced original building structure, and are used for the primary underpinning of the original building structure; the drilled steel pipe pile and the drilled steel pipe pile matched jack positioned at the top of the drilled steel pipe pile are connected with a downward extending part of the original building structure through the bearing platforms and are used for the secondary underpinning of the original building structure; and the lateral supporting components are positioned between the drilled steel pipe piles or between the drilled steel pipe piles and the peripheral structures, and are used for guaranteeing the lateral stability of the drilled steel pipe piles.

The invention provides a drive anti-skid control method applied to an automobile electric drive axle, aiming to overcome the defects of poor pavement adaptability, single control algorithm, dependenceon excessive vehicle parameters, poor control robustness and the like in the prior art, and belongs to an automobile control system. The drive anti-skid control method comprises the following steps:judging whether a vehicle is on a folio road surface or a uniform road surface with a low adhesion coefficient according to a difference value between a wheel real-time slip ratio and wheel real-timeslip ratios on two sides; adopting braking force logic threshold control to perform braking intervention on the sliding wheels located on the split road surface; and further judging the type of the road surface where the uniform low-adhesion-coefficient road surface gliding wheel is located in an initial braking mode, and controlling and adjusting the gliding wheel driving torque through a slidingmode variable structure. The drive anti-skid control method has the advantages that the type of the road surface can be judged in real time on the basis of standard road surface data, and different control algorithms are adopted to control the wheel slip rate to be close to the optimal value, and the road surface adaptability of a driving antiskid control system is improved, and the dynamic property, lateral stability and starting acceleration capacity of a vehicle are improved.

The invention discloses a single-mass vibration fuzzy image acquisition and vibration parameter visual measurement experiment platform. The platform comprises a single-mass vibrator and a camera. The single-mass vibrator is connected with a vibrator exciter, the vibration exciter is controlled through a frequency converter, the vibration exciter drives the single-mass vibrator to vibrate, the single-mass vibrator is connected with the camera, and an independently fixed visual scaling board is arranged below the lens of the camera. According to the invention, the single-mass vibrator vibrates under the effect of the vibration exciter, a binocular stereo camera connected with a timbre vibrator vibrates together, and fuzzy images during vibration can be acquired through the lens of the vibrating camera. The experiment platform provides an experiment means for realizing acquisition of the vibration fuzzy images and image restoration. Research data under different vibration conditions can be obtained by changing the frequency and amplitude of the vibration conveniently through the frequency converter. An ideal experiment means is provided for analysis of degradation causes of the vibration fuzzy images, restoration of the vibration fuzzy images and vision-based vibration parameter measurement.

The invention discloses an automotive lateral stability control device. According to the device, automotive lateral stability states can be estimated by the aid of body lateral acceleration speed, body heading angle speed and wheel lateral acting force information, components such as a hydraulic pump and a hydraulic cylinder of the automotive lateral stability control device are controlled, a rotation angle of a steering wheel is controlled, and automotive lateral stability is improved. According to the device, braking force of a brake system is not controlled in the improving process of the automotive lateral stability, so that the brake performance and lateral stability of an automobile can be simultaneously ensured.

The invention provides a device and method for implementing hoisting through a curtain wall embedded part. The device and method are used for hoisting a column body. The device comprises a handlebar system, a hoisting system and a portable frame. The handlebar system is arranged over a hoisting position, and comprises a main tripod. The main tripod comprises a vertically arranged vertical rod, a horizontally arranged bottom rod and a diagonal rod. The hoisting system comprises an overhung rod piece and a motor hoist. The overhung rod piece is horizontally placed, one end of the overhung rod piece is fixedly connected to the upper end of the vertical rod, the other end of the overhung rod piece is connected with the motor hoist, and the motor hoist is hoisted at the upper end of the column body. The portal frame is supported at the lower end of the column body. The handlebar system is arranged, the tail of the handlebar system is detachably connected with the curtain wall embedded part, the motor hoist is arranged at the end of the handlebar system, a steel column is hoisted through the motor hoist, after one steel column is hoisted, the handlebar system is overall moved to a next hoisting position, and the technical problem that hoisting of a truck-mounted crane is enslaved to the scene site condition is solved.

The invention discloses a ship structure and a vessel having the same. The ship structure disclosed by the invention comprises a ship body, wherein the ship body comprises a prow and a transom; the total length of the ship body is equal to the length from the prow to the prow; the ship body also comprises a keel, a ship shell and a main deck which is arranged above the ship shell; the ship shell comprises a ship bottom and ship sides; the ship bottom comprises a middle V-shaped bottom and concave-convex parts, wherein the concave-convex parts are arranged at the two sides and are used for improving the lateral stability of the ship body; the top end of the V-shaped bottom corresponds to the keel in position; the ship sides include a first ship side and a second ship side; a first inner bottom and a second inner bottom are respectively arranged above the ship bottom; the first inner bottom longitudinally extends from the lower end part of a sternpost to the middle part of a stempost; the second inner bottom longitudinally extends from the lower end part of the sternpost to the lower end part of the stempost. The ship structure disclosed by the invention has the advantages of guaranteeing relatively good lateral stability of the ship, reducing the risk of heeling and realizing more stable sailing.