142 results about "Body roll" patented technology

The invention discloses a sliding-mode adaptive vehicle roll stability control method based on deep reinforcement learning, which is applied to an active suspension vehicle and comprises the following steps: establishing a six-degree-of-freedom steering-roll vehicle dynamics model by combining a Doguff tire model, and calculating a target vehicle body roll angle based on a reverse roll mechanism. A sliding mode controller comprising a linear sliding mode surface and an exponential approaching rate is designed, an intelligent agent based on a soft behavior strategy gradient algorithm (SAC) is constructed, and the intelligent agent adaptively outputs optimal sliding mode parameters by sensing the vehicle state and the roll angle tracking condition. And finally, the sliding mode controller combines the optimal sliding mode parameters and the vehicle state to calculate the active roll-over moment and distributes the active roll-over moment to the main power of the left and right side suspensions, so that the precise regulation and control of the vehicle body posture are realized. According to the method, the roll stability domain during high-speed steering can be remarkably expanded, the lateral sensing acceleration of passengers is reduced, the high-robustness tracking effect is kept under complex disturbance, and meanwhile sliding mode buffeting is restrained.

The invention discloses an intelligent vehicle maintenance management system and method based on big data analysis, and relates to the technical field of intelligent vehicle maintenance, and the method comprises the following steps: collecting various kinds of vehicle driving data in real time in the vehicle driving process through a data collection device, and providing a reliable basis for subsequent analysis and decision making. Through real-time analysis of vehicle driving data and combination of a machine learning model, the system can dynamically adjust the detection frequency and the maintenance strategy, and it is ensured that maintenance better fits the actual use environment. For a rugged road surface, the system accurately recognizes a high-risk state according to the impact load, the vehicle body rolling acceleration and other characteristics, early warning is conducted in time, the maintenance frequency is optimized, excessive maintenance is avoided, meanwhile, the safety is improved, and the maintenance cost is reduced.

The multi-directional controllable suspension system comprises a linear electromagnetic vibration reduction assembly and an arc-surface electromagnetic vibration reduction assembly, when the multi-directional controllable suspension system is used, when a vehicle frame at the lower end vibrates vertically, a first guide rod moves in the axial direction of an outer cylinder, and a cylindrical electromagnetic coupling unit fixed to the first guide rod moves between an outer permanent magnet array and an inner permanent magnet array; when the vehicle body inclines laterally or twists, the outer cylinder rotates around the hinged point of the outer cylinder and the lower end vehicle frame, the cambered surface electromagnetic coupling unit is driven to deflect between the upper permanent magnet array and the lower permanent magnet array, the gradient magnetic field is cut to generate resistance moment, and vibration is reduced. The first elastic piece and the second elastic piece provide elastic restoring force for the upper permanent magnet array and the lower permanent magnet array correspondingly to cooperatively inhibit side inclination and torsion, so that multi-dimensional vibration reduction in the horizontal direction is achieved, and the dynamic stability of the vehicle is improved.

The invention discloses a motorcycle self-adaptive vehicle lamp system based on an inertial element, and relates to the technical field of self-adaptive vehicle lamps, the system comprises an inertial sensing module, a vehicle lamp angle control module, a brightness adjusting module and a single chip microcomputer control unit; the inertia sensing module obtains the roll angle delta phi of a vehicle body, the y-axis acceleration and the vehicle speed through a gyroscope and a speed sensor. The vehicle lamp angle control module drives a vehicle lamp to rotate around an x axis and a y axis by using double steering engines, and dynamically adjusts the light axis of the vehicle lamp; the brightness adjusting module senses the environment illumination intensity by means of a light sensor and linearly adjusts the vehicle lamp brightness; the single-chip microcomputer control unit integrates inertia sensing data and illumination data and outputs a steering engine control signal and a brightness adjusting signal, self-adaptive adjustment of the motorcycle lamp along with the posture of a motorcycle body and ambient illumination is achieved, and the safety and the illumination effect of the motorcycle during night driving are improved.

The invention relates to the technical field of intelligent control of fitness equipment, and provides a power roller training intensity intelligent matching method based on elastic resistance self-adaptive adjustment. The method comprises the following steps: acquiring motion state data of a user during abdominal wheel training in real time through a sensor module; the motion state data and the physiological state data are input into a training intensity matching model, and the training intensity matching model calculates the matching degree of the current training intensity and the target training intensity according to preset training target parameters in combination with basic body parameters input by the user; when the matching degree is lower than a preset matching threshold value, a resistance adjusting instruction is generated according to the training intensity matching model, and the resistance adjusting instruction correspondingly controls the deformation degree or the meshing tooth number of an elastic element in the elastic resistance adjusting device so as to change the elastic resistance moment when the power roller body rolls. The technical blank in the aspects of training intensity dynamic matching, nonlinear resistance adjustment and closed-loop feedback control provides a brand new thought for the design of intelligent fitness equipment.

The invention discloses a forest fire prevention monitoring emergency alarm device, which comprises a monitoring alarm assembly and a mobile carrier for bearing the monitoring alarm assembly, and is characterized in that the mobile carrier comprises a case and two rolling bodies located on the two sides of the case respectively. According to the forest ground surface instinctive device, the machine box is arranged, then the rolling bodies are arranged on the two sides of the machine box, the steering tailstock is arranged on the outer wall of the machine box, the stability of the instinctive device placed on the forest ground surface is improved through the steering tailstock and the two rolling bodies, and the rolling bodies can roll ground surface obstacles when rolling and are not affected by the complex obstacles on the forest ground surface; the two rolling bodies are located on the two sides of the machine box, the machine box can be directly driven to move forwards when the rolling bodies roll, and therefore the moving smoothness of the device can be improved, the arranged steering tailstock can reliably control the device to steer and move, and the device can conveniently shuttle on obstacles in the forest space; therefore, the device has the function of carrying the monitoring and alarming assembly in a forest with a complex landform to efficiently develop shuttling.

The invention relates to the technical field of vehicle active suspension control systems, in particular to a vehicle roll-forward control method for an active suspension, which comprises the following steps of: constructing a roll state prediction unit, deducing a roll moment for causing roll of a vehicle body during steering of the vehicle, and predicting the roll degree of the vehicle body; constructing a control moment calculation unit, calculating the deformation resistance moment of the vehicle suspension, and determining the moment generated by the ground friction force on the vehicle chassis; a torque distribution calculation unit is constructed, and the total torque borne by the chassis during vehicle steering and the distribution proportion of the total torque between the front chassis and the rear chassis are determined; constructing a control force calculation unit, calculating active suspension target acting forces at four wheels required for realizing the front and rear suspension control moment, converting the target control moment into a target control force, and providing a specific control instruction for rear-end execution; according to the method, the roll degree of the vehicle body can be quickly predicted, the control target can be calculated in time, the control instruction is sent out before the vehicle body actually has large roll, and the stable control effect is achieved.

This invention discloses a method, system, and vehicle for adjusting body roll in crosswinds during oncoming traffic. The method acquires full-dimensional parameters and inputs them into a crosswind impact timing prediction model to predict the impact timing in advance. Based on this, it divides the adjustment into three stages: pre-tensioning, precise attitude control, and recovery, overcoming the inherent lag of existing passive feedback control's post-event intervention and achieving a leap from post-event compensation to pre-event control. The pre-tensioning stage uses a non-full pre-tensioning target value, and the recovery stage smoothly restores the vehicle according to the calibrated slope. This avoids the comfort degradation caused by existing on / off pre-adjustment technologies that apply full pre-tension throughout the entire process without a smooth recovery, effectively suppressing crosswind impact while significantly improving the driving experience. Differential adjustment of the damping / stiffness of the left and right suspensions is performed based on the bidirectional impact characteristics, overcoming the shortcomings of existing technologies that apply a one-size-fits-all approach and cannot differentiate adjustments based on the impact direction, resulting in a significant improvement in attitude control accuracy.

The invention relates to the technical field of automobile chassis tests, in particular to a torque accurate control method and device for an intelligent chassis active transverse stabilizer bar. According to the accurate torque control method, by presetting a target roll angle, multi-dimensional operation data of a vehicle and a motor are collected in real time, generation of an anti-roll torque instruction is accurately triggered, and the torque instruction is dynamically corrected in combination with a least square estimation algorithm so as to adapt to the response requirement of the roll angle of the vehicle body. And then current closed-loop control of a three-ring nested structure is utilized to realize rapid and accurate output of torque of the permanent magnet synchronous motor, excitation current and torque current are effectively decoupled, the torque response speed and control precision are greatly improved, the vehicle body roll risk can be inhibited in time, the driving stability and safety of the intelligent chassis are remarkably optimized, and the driving safety of the intelligent chassis is improved. And meanwhile, the torque control requirements under different working conditions are met, and the high anti-interference capability and the high adaptability are achieved.

The utility model relates to the technical field of retainers, and discloses a bearing retainer which is characterized in that the effect of continuous lubrication is realized by arranging a sealing cover, an oil cavity, a lubricating groove and the like, the sealing cover is opened, lubricating oil is filled into the oil cavity through a through hole, and after the oil cavity is filled with the lubricating oil, the sealing cover is used for blocking the through hole; due to the fact that the friction force drives the rolling body to rotate, when the rolling body rotates, the inner wall of the lubricating groove and the inner wall of the oil cavity are located on the same horizontal line, lubricating oil in the oil cavity flows into the lubricating groove, and due to the fact that friction can be generated between the lubricating oil and the inner ferrule, the outer ferrule and the retainer when the rolling body rolls, part of the lubricating oil can be evaporated. And by arranging the oil cavity, lubricating oil is continuously provided for the rolling body, and the continuous lubricating effect is achieved.

The utility model belongs to the technical field of edge cutting machines, and particularly relates to an edge cutting machine for end socket machining, the edge cutting machine comprises an end socket body, a machine base and an edge cutting assembly, a lifting shaft is rotatably mounted at the top of the machine base, a bearing plate is fixedly mounted at the top end of the lifting shaft, and the end socket body is placed at the top of the bearing plate; the trimming assembly is composed of a moving groove, a sliding base, a first driving motor and a trimming cutter. According to the edge cutting device, a to-be-machined end socket body is fixed, the first driving motor and the second driving motor work during edge cutting, the end socket body is clamped by the pressing plate and the bearing plate, when the second driving motor drives the pressing plate to rotate, the end socket body rotates along with the pressing plate, and the side face of the end socket body makes rolling contact with the positioning shaft, so that the loss is reduced, and the edge cutting efficiency is improved. And the end socket body can be limited, so that the end socket body cannot deviate in the machining process, then the lower end of the end socket body can be subjected to edge cutting through the rotating edge cutting knife, the machining quality is improved, and operation is easy.

The present invention discloses a system and method for improving a vehicle's crosswind resistance through an active stabilizer bar. The adaptive cruise control system is used to measure the longitudinal distance, lateral distance, relative speed, and real-time speed of the vehicle and the oncoming vehicle, and calculate the time of meeting based on the relative speed and longitudinal distance between the vehicle and the oncoming vehicle; calculate the time period of meeting based on the real-time speed of the vehicle and the relative speed between the vehicle and the oncoming vehicle; calculate the torsional torque value required for the stabilizer bar during the meeting based on the relative speed, lateral distance, and maximum speed of the vehicle and the oncoming vehicle; and control the torsional torque of the stabilizer bar during the meeting process based on the meeting time, meeting time, and required torsional torque value. The present invention can automatically measure the meeting time and relative speed, adjust the relative position of the active stabilizer bar in advance, and increase the torsional stiffness preload to reduce the interference of crosswind on vehicle body roll during the meeting.

To provide a road-surface friction coefficient estimation device, a road-surface friction coefficient estimation method, and program which can accurately estimate a road-surface friction coefficient and facilitate performing control adjustment.SOLUTION: A road-surface friction coefficient estimation device comprises: a lateral acceleration calculator configured to calculate a lateral acceleration using a wheel speed detected by a wheel speed sensor mounted in a vehicle, a vehicle-body roll angular velocity detected by an angular velocity sensor mounted in the vehicle, and vehicle-body lateral velocity and yaw rate calculated from a geometrical relationship; a coordinate converter configured to convert an acceleration detected by an acceleration sensor mounted in the vehicle to a measured lateral acceleration subjected to ground coordinate conversion; and a road-surface friction coefficient estimator configured to estimate a road-surface friction coefficient by using a road-surface friction model based on the calculated lateral acceleration and the converted lateral actual measurement acceleration.SELECTED DRAWING: Figure 2

The invention relates to the technical field of picking platforms, in particular to an orchard operation platform which comprises a jacking and supporting mechanism arranged on a vehicle body and used for supporting the platform to keep a horizontal state, a nail inserting mechanism arranged on the jacking and supporting mechanism and used for firmly grasping the ground and a material collecting mechanism arranged on the jacking and supporting mechanism and used for transferring fruits from the platform. The jacking mechanism comprises a supporting assembly which is arranged on the vehicle body and used for supporting platforms with different heights, a locking assembly which is arranged on the platform and used for fastening the supporting assembly, and an operation assembly which is arranged on the platform and used for opening the locking assembly so that the platform can fall down; according to the lifting platform, platforms of different heights can be dynamically supported, the supporting position can be automatically locked, the stability of the platform is improved, the platform is prevented from toppling, the safety performance is improved, and the technical problems that the stability of the lifting platform on one side of a vehicle body is poor, the platform is inclined due to uneven stress, the vehicle body rolls over, and the safety is not high are solved.

The invention relates to the technical field of mechanical engineering, and discloses a high-rigidity compact linear module of an embedded integrated guide mechanism and a driving method of the high-rigidity compact linear module. The method is applied to the high-rigidity compact linear module of the embedded integrated guide mechanism. The method comprises the steps that the steel raceway is embedded in the aluminum alloy body to serve as a guide mechanism, and the steel sliding base makes contact with the steel raceway through the rolling body; a ball screw is driven to rotate, a ball nut of a steel sliding seat drives the steel sliding seat to move in the length direction of the aluminum alloy body, and in the moving process, a corresponding rolling body rolls along a steel raceway to achieve guiding; the steel raceway, the ball screw and the steel sliding seat are sealed in the aluminum alloy main body through the sealing structure, so that a full-sealed transmission environment is formed; a motor stator and a steel sliding seat integrated mover assembly are installed in an aluminum alloy body, a steel sliding seat is driven to move through electromagnetic force, and a steel raceway serves as a guide mechanism to operate independently. The method is suitable for high-precision and space-limited scenes.

The application discloses a UAV recovery and take-off platform, and belongs to the field of shipborne UAV cross-domain recovery equipment, which comprises an upper table assembly, a posture adjusting mechanism and a bottom base, the upper table assembly is used for bearing a UAV, the posture adjusting mechanism is connected with the upper table assembly, the bottom base can be connected on a docking platform and is connected with the posture adjusting mechanism, the posture adjusting mechanism comprises three posture adjusting arms, the upper end of each posture adjusting arm is connected with the upper table assembly, the lower end of each posture adjusting arm is slidably connected with the bottom base, a driving mechanism is arranged on each posture adjusting arm, when the driving mechanism works, the posture adjusting arm can be moved, the upper table assembly is subjected to a force by the posture adjusting arm, and the horizontal state of the upper table assembly is adjusted; the posture of the upper table assembly can be adjusted through the structural arrangement of the posture adjusting mechanism, the three-dimensional sea wave disturbance of ship body roll, pitch and yaw is decoupled, the short board of the compound wing UAV landing without power posture adjustment can be made up in a targeted manner, and the shipborne recovery stability and the limit working condition fault tolerance capability are improved.

The utility model provides a purple sand green body roller press, which belongs to the technical field of purple sand green bodies, and comprises a die cylinder and a bottom seat, the bottom of the die cylinder is provided with a butt joint block, the lower surface of the butt joint block is matched with a mounting groove, the side surface of the mounting groove is provided with the bottom seat, the lower surface of the bottom seat is connected with angle teeth in an embedded manner, and the angle teeth are matched with the butt joint block. A vertical rod is installed on the upper surface of the bottom base, a top plate is fixedly connected to the top of the vertical rod, a connecting rod is arranged on the top plate, a rolling ball is installed on the lower surface of the connecting rod in a matched mode, and a gap is reserved between the surface of the rolling ball and the inner wall face of the mold cylinder; through meshing transmission of angle teeth and straight gears, the bottom base can continuously and stably rotate, meanwhile, basic conditions are created for stable rolling of the purple sand materials, through cooperative arrangement of vertical rods, a top plate and a connecting rod, the purple sand materials are repeatedly and evenly pressed on the inner side face of the mold cylinder, and the coating effect is better.

The utility model provides a bearing structure of a scroll compressor, and relates to the technical field of bearings. The bearing inner ring is arranged in the bearing outer ring, a first groove and a second groove are formed in the bearing outer ring and the bearing inner ring respectively, a rolling body rolls between the first groove and the second groove, two sets of retainers are installed on the rolling body, the rolling body is located between the two sets of retainers, and a taking and placing hole is formed in the bearing outer ring. A clamping groove and an insertion hole are formed in the inner wall of the pick-and-place hole; when the rolling body is oiled and lubricated, an oiler is inserted into the barrel rod and applies pressure to the barrel rod, so that the oil outlet hole is ejected out of the barrel cover, lubricating oil can flow out of the oil outlet hole to the rolling body, the rotating handle is pinched and the baffle is shaken to rotate, and the lubricating oil on the rolling body can be uniformly smeared through the smearing roller. The problem of uneven distribution of lubricating oil is solved.

The invention relates to a self-adaptive gravity center adjusting two-wheeled vehicle balance control method and system, and the method comprises the steps that an active gravity center control unit is arranged on a two-wheeled vehicle, and the active gravity center control unit comprises a counterweight structure and an adjusting motor for driving the counterweight structure to rotate; the control method comprises the steps of constructing an affine nonlinear dynamic model based on the two-wheeled vehicle and the counterweight structure, establishing a self-adaptive sliding mode controller based on the affine nonlinear dynamic model and disturbance, and solving the affine nonlinear dynamic model through the self-adaptive sliding mode controller so as to output an input torque for driving the counterweight structure. The adjusting motor drives the balance weight structure to incline by a certain angle based on the input torque so as to generate aligning torque to enable the two-wheeled vehicle to recover the balance state. The gravity center of the two-wheeled vehicle is automatically adjusted according to the change of the roll angle of the vehicle body of the two-wheeled vehicle by utilizing the weight of the two-wheeled vehicle, so that the self-balance of the two-wheeled vehicle under the static and interference conditions is realized.

The invention relates to a floating type crawler chassis for complex terrains, and belongs to the technical field of crawler chassis. Comprising a main frame used for being connected with a loading vehicle body; the floating type walking chassis is in pivot connection with the main frame through a central pivot point and can make side-tipping movement relative to the main frame; the magnetic eddy current damping assembly is used for inhibiting the rolling motion, and the magnetic eddy current damping assembly comprises a magnetic field generating element connected to one of the main frame or the floating type walking chassis; and a conductive element fixed to the other one and at least partially immersed in the magnetic field generated by the magnetic field generating element. Non-contact field force damping is introduced between the main frame and the floating type walking chassis through the magnetic eddy current damping assembly. The damping force can be instantly generated only when the vehicle body rolls and generates relative motion, and the size of the damping force is in direct proportion to the roll speed. And during stable driving, no unnecessary interference force is generated.

The present invention provides an anti-rollover stabilization base and method for a pole holding group, relating to the technical field of pole holding bases, the base comprises a base body and a pole holding body, a movable frame is fixedly connected to the lower surface of the base body, a connecting ring is rotatably connected to the annular side surface of the base body, fixing rods are provided on the front and rear sides of the base body, two spiral drill bits are rotatably connected to the lower surfaces of the two fixing rods, a first motor is provided above the two fixing rods, the base body is movably sleeved with the pole holding body, and the rotation of the two pairs of spiral drill bits enables them to cut into the ground, and as the spiral drill bits continue to rotate, they gradually penetrate into the ground, relying on the interaction force between the spiral blades and the soil to stably anchor the base body to the ground, and by forming a larger friction force and anchoring force with the soil, compared with the traditional surface anchoring method, the risk of the base body rolling over is greatly reduced, and the stability and safety of the entire pole holding group are improved.

The invention discloses engineering machinery, a vehicle body roll evaluation method and device thereof and a medium, and relates to the field of vehicle control. The method comprises the steps that pressure values of suspensions on the left side and the right side of a vehicle at all axles are obtained; according to the pressure values of the suspensions on the left side and the right side, the vehicle body roll risk is evaluated. According to the embodiment, the vehicle body roll risk is evaluated based on the suspension pressure value, accurate early warning of the vehicle body roll risk is guaranteed, implementation is easy, the scheme is reliable, early warning is timely, and safety accidents can be fully avoided.

There is provided a drone comprising, a main body which is elongated and having a longitudinal axis, the main body being rotatable attached at one end of the elongated body to a propeller body with a shaft so that the main body and the propeller body are arranged to rotate in relation to each other, so that the propeller provides thrust in the direction of the shaft, where the main body rotates around its longitudinal axis, the drone comprising driving means mechanically connected to the shaft, the driving means driving rotation of the bodies in relation to each other, the drone comprising a control device arranged to control the speed of rotation of the driving means to control the thrust and further arranged to control the flight direction of the drone, where the drone is configured to rotate the propeller body at a first rotation speed that is greater than a second rotation speed of the main body in relation to an external frame of reference, the second rotation speed being referred to as roll speed, where the drone is configured such that the longitudinal axis of the main body has, during flight, an angle of attack greater than zero to the flight direction of the drone, said longitudinal axis rotating around the flight direction of the drone, the flight direction being in relation to the external frame of reference, where the rotation around the flight direction occurs with the same angular speed as the main body rolls around the longitudinal axis (roll speed), where the control device is arranged to determine the orientation of the longitudinal axis of the main body in relation to the external frame of reference with a frequency that is higher than the roll speed and adjust the thrust during a subsection of a complete revolution of the main body in relation to the external frame of reference in order to adjust the angle of attack, thereby adjusting the flight direction of the drone.

An independent suspension relates to the field of suspension technology. The technical solution comprises two frame longitudinal beams connected by a crossbeam, with suspension assemblies fixed to opposite sides of the two frame longitudinal beams. The suspension assembly comprises an elastic component, a transverse arm support, and a longitudinal arm support. The transverse arm support and the longitudinal arm support are located on either side of the elastic component. The transverse arm support is provided with a transverse arm assembly, and the transverse arm assembly is provided with a transverse arm ball head. The beneficial effects of this technical solution are: achieving vertical jump of the tire, maintaining unchanged wheel alignment parameters, wheelbase, and wheelbase. When the vehicle body rolls, the tire remains substantially perpendicular to the ground, effectively reducing tire wear, providing stable straight-line driving capability, obtaining a greater ultimate lateral force, and improving vehicle handling stability. The technical solution can also be applied to different frames, expanding its scope of use.

The present application relates to a kind of parallel front wheel active roll chassis, belong to vehicle chassis technical field, especially to the category of vehicle roll drive and control technology, by a group of front wheel steering roll mechanism and a group of rear wheel active roll mechanism on the same vehicle according to given wheelbase front and rear arrangement, share the same vehicle vertical plane, rear wheel track is far greater than front wheel track, through the linkage roll mode of vehicle body and wheel, rear wheel active roll mechanism controls vehicle body roll, front wheel steering roll mechanism adaptive roll, realize vehicle steering and vehicle body roll independent control, by parallel front wheel steering, adaptive roll, double rear wheel drive, active roll, form the parallel front wheel active roll chassis with positive tricycle characteristics;Small wheel track parallel front wheel steering, roll technical measures, retain the single wheel adaptive roll characteristics, have the effect of small power consumption of roll drive and control, improve the adhesion and carrying capacity of active roll positive tricycle vehicle.

The utility model relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle surveying and mapping stabilizing mechanism which comprises a vehicle body, fixing plates are integrally arranged at the four ends of the vehicle body, propellers are arranged at one ends of the four fixing plates, supporting rods are installed at the four corners of the bottom end of the vehicle body, and bottom plates are arranged at the bottom ends of the two supporting rods on the same side. A pair of mounting plates is mounted at the bottom ends of the two bottom plates, and a plurality of steel wire ropes are arranged in the middles of the two pairs of mounting plates. According to the utility model, the bottom ends of the two bottom plates are respectively provided with a pair of mounting plates, and the middle parts of the two pairs of mounting plates are respectively provided with a plurality of steel wire ropes, so that when the unmanned aerial vehicle lands on the ground, the supporting plates at the bottoms of the mounting plates are firstly in contact with the ground, and the plurality of annular steel wire ropes are compressed by the contact stress of the supporting plates and the ground for buffering; the situation that the machine body rolls over due to the fact that the contact stress between the supporting plates and the ground is too large is avoided, the stable structure of the machine body is improved, and the safety performance of the unmanned aerial vehicle is enhanced.

The utility model discloses a shower room ghost door which comprises a door frame which comprises a side door frame and a bottom door frame, and a bottom rail is arranged on the bottom door frame. The door body comprises an upper door frame and a lower door frame, the upper door frame is concaved inwards to form a containing groove, the lower door frame is provided with a lower pulley, and the lower pulley slides along the bottom rail; the guide wheel assembly comprises an assembly part and a roller body, the roller body is rotationally assembled on the assembly part, the axis of the roller body is perpendicular to the horizontal plane, the rolling face of the roller body rolls along the vertical inner wall in the containing groove, and the assembly part is used for being fixed to the side door frame or the wall. The guide wheel assembly is hidden in the containing groove above the door body, so that any mechanical structure cannot be seen from the inner side or the outer side of the door body when the door body moves, meanwhile, when the door body is opened, an upper door frame does not exist in an entrance and an exit, the height of the door body is not limited by the door frame any more, and the selectable range is wider; and the manufacturing cost and the installation complexity caused by the limitation of the door frame are reduced.

The present application discloses a method for preventing the rear section from rolling over during the path tracking process of a two-section vehicle. The method takes into account the vehicle's dynamic performance and prevents the vehicle from rolling over during the path tracking process. The method comprises: establishing a front section model and a rear section model of a multi-section vehicle to ensure effective tracking of the front section and accurate tracking of the rear section; determining the driving condition through an advanced driver assistance system module based on road information acquired by a visual sensor, and determining whether the vehicle has deviated; obtaining the actual vehicle body roll angle through an unscented Kalman filter estimation module; inputting the theoretical vehicle body roll angle into a rollover condition determination module, and outputting the wheel braking force to achieve the effect of differential braking; the present invention designs a rear section trajectory error model based on a front section preview error model, and designs a rollover warning system logic flow based on a dynamic model prediction, effectively improving the vehicle driving stability and safety during the path tracking process of the two-section vehicle.

The application discloses a bogie, a regulating method and a transport vehicle. The bogie comprises a frame, a wheel pair assembly installed on the frame and used for rolling cooperation with a track, a spring, a support connected with the frame through the spring, the support and the frame having a first vertical interval, a positioning wheel assembly installed on the support and used for rolling cooperation with a track beam, a vertical limiting assembly installed on the frame or the support and located in the first vertical interval, and the vertical limiting assembly and the frame or the support having a second vertical interval. When the body roll is greater than a design value, one side of the frame is lifted, the second vertical interval is gradually reduced after the frame is lifted, and the second vertical interval is reduced to 0. When the second vertical interval is reduced to 0, the vertical limiting assembly is in abutment with the frame and the support, so that overturning of the body is prevented. When the wheel climbs upward along the track, the climbing height of the wheel rim along the track is less than the minimum height of the wheel rim under the action of the vertical limiting assembly, so that climbing of the vehicle is avoided. In addition, when the wheel rim further increases the lateral displacement along the track if the vertical limiting assembly fails, the lateral limiting assembly is used, so that derailment of the vehicle is avoided. Therefore, the two measures are used to avoid derailment of the vehicle.