88 results about "Cross slope" patented technology

The utility model discloses a steel wedge slope adjusting device in a capping beam supporting system, which comprises a lower wedge block and an upper wedge block, the lower wedge block and the upper wedge block are both right trapezoid blocks, the inclined plane of the upper wedge block and the inclined plane of the lower wedge block are attached to each other, a screw rod is inserted among a first notch, a second notch, a third notch and a fourth notch, and the screw rod is connected with the lower wedge block. The outer side of the screw rod is connected with two nuts in a threaded mode, and the two nuts are located on the left side of the upper wedge block and the right side of the lower wedge block respectively. According to the steel wedge slope adjusting device in the bent cap supporting system, the steel wedge device for fine adjustment of the elevation and the cross slope is arranged in the structure supporting system, and the elevation of the device is adjusted up and down by screwing a screw rod in the device and extruding and releasing a wedge-shaped block. Corresponding cross slope bolt holes are selected synchronously according to designed cross slope parameter values, long and short bolts penetrate into the holes, the top face of the device rotates around a rotating shaft, and cross slope matching of the device is achieved.

The invention relates to the technical field of agricultural machinery, in particular to a rotary gravity center regulating crawler platform for hills and mountains, which sequentially comprises a crawler chassis assembly, a gravity center regulating assembly and a functional module mounting platform from bottom to top, the gravity center adjusting layer is installed on the chassis rack and located in the space between the crawler belts on the two sides, the gravity center adjusting layer is composed of a supporting base, a slewing bearing module, a linear lead screw module, a battery balancing weight and a machine shell, and the balancing weight is preferably a power battery pack; and the functional module mounting platform is fixed at the upper end of the gravity center adjusting assembly. By adjusting the angular and radial distribution of the counterweights, the center-of-gravity position of the whole machine under the working conditions of cross slopes, longitudinal slopes and obstacle crossing is changed, the stability and driving safety of the crawler belt platform in complex terrains of hills and mountains are improved, and the crawler belt platform can be provided with different functional modules according to operation objects. The method is suitable for various hilly and mountainous region agriculture and engineering application scenes.

The invention discloses a road construction paving quality detection method, system equipment and a medium, and relates to the technical field of road construction quality detection.The method comprises the steps that laser point cloud data, infrared thermal imaging data and vibration frequency spectrum data of a road paving layer are collected through a multi-mode sensor set carried by a vehicle-mounted mobile platform, and the laser point cloud data, the infrared thermal imaging data and the vibration frequency spectrum data are obtained; performing data preprocessing to obtain a standardized engineering data set; calculating the pavement flatness, the transverse gradient variation coefficient and the tectonic depth variation of the to-be-detected area to obtain geometrical characteristic parameters; identifying a void area of the road pavement layer, and calculating a thermal anomaly parameter to obtain a thermodynamic parameter; establishing a vibration response feature library; determining a weight coefficient by adopting an analytic hierarchy process based on the geometrical characteristic parameters, the thermodynamic parameters and the vibration response characteristic library; in the target quality comprehensive evaluation model, determining a quality index of the to-be-detected area, and generating a pavement quality detection result in combination with a quality grading standard; according to the invention, the detection accuracy of road construction pavement quality detection is improved.

The invention discloses a prefabricated T-beam formwork suitable for large transverse and longitudinal slopes and small radius and a construction method. A road small radius and same span beam length change is large, and the small radius is accompanied by a large transverse slope and a large longitudinal slope. The T-beam bottom formwork is provided with a longitudinal slope adjuster capable of changing positions at will; length adjusting section templates are designed on the beam body middle uniform-section section and the beam end uniform-section section; the reasonable positions of the side mold and the wing mold are divided and hinged, and a screw rod is arranged at the end part of a wing plate, so that free and flexible adjustment of a large cross slope of the wing plate is realized; the bottom die and the end plate of the beam middle diaphragm plate are arranged in the side die and are of a cross slope adjustable structure; beam end diaphragm plates are cast in place on an axle after a beam body is hoisted in place, only oblique crossing steel bars are reserved on the end diaphragm plates, and it is guaranteed that the central axes of the beam end diaphragm plates of all beams of the same span are collinear; the beam end formwork is of a side wing end wrapping type and is divided into a lower fixed formwork body and an upper movable formwork body, the end face of the lower fixed formwork body is perpendicular to the axis of a beam body, the tensioning requirement is met, and the upper movable formwork body can achieve trapezoid design and cross slope adjustment of the beam body. The template is easy to demould, can realize all alignment of diaphragm plates at corresponding positions of same-span beam pieces, and has good adaptability to small radiuses.

The utility model discloses a cross-country terrain prop which comprises a Z-shaped crossing slope, and the Z-shaped crossing slope comprises a first slope body, a second slope body and an arched bridge. The first end of the first slope body is a driving-in end, the first side of the second end of the first slope body is connected with the first end of the arched bridge, the second end of the arched bridge is connected with the first side of the first end of the second slope body, and the second end of the second slope body is a driving-out end. The first side of the first slope body is higher than the second side of the first slope body. The first side of the second slope body is higher than the second side of the second slope body. Compared with the prior art, the cross-country terrain prop provided by the utility model can simulate suspension of a single-side wheel and driving conditions of an SUV fork lock and a single wheel in an actual cross-country process.

The method of differential height modification of the surface of the traffic area, in which the surface of the traffic area before modification is measured and a digital model of the surface of the traffic area before modification is calculated. The design of the target surface of traffic area after modification is determined. The differential model of the height adjustments is calculated from the differences in the heights of these surfaces. During modification, the X, Y position of the right and left working part of the working tool of the construction machine is then determined, which creates a new surface by modifying, and the appropriate target height adjustment Ft (X, Y) from the unmodified surface of the traffic area is determined from the differential model of the height adjustments. This information is transmitted to the control computer of the construction machine, which makes the necessary adjustments to the construction machine to achieve the desired height and cross slope of the modification. To determine the X, Y position of the right and left working part of the working tool, data from a total station arranged stationary outside the construction machine is used and then the height of the adjustments Ft (X, Y) is determined from the differential model of the height adjustments. A device for carrying out such a method is further described.

The invention relates to the technical field of road detection, and discloses an asphalt pavement rut depth image detection and cross section reconstruction method and system, and the method comprises the steps: fusing vehicle-mounted laser, binocular images, mileage positioning and design cross slope data; a deep learning stereo matching network is adopted to densely reconstruct a road surface three-dimensional morphology point cloud; extracting a cross section curve and performing cross slope correction; calculating the depth, the area and the width of the rut by adopting a virtual ruler method; calibrating, correcting, feeding back and updating network parameters based on measured data; the system comprises a multi-source data fusion module, a deep learning stereo matching module, a cross section extraction module, a rut feature extraction module, a calibration correction module and a disease grading module, the measurement precision reaches plus or minus 1 mm, the detection speed reaches 80 kilometers per hour, and the accuracy rate reaches 95% or above.

The application discloses a vehicle control method and device on a transverse slope road, equipment and medium, relates to the field of advanced driving assistance, and comprises the following steps: acquiring the vehicle speed, yaw angular velocity and first lateral acceleration of a vehicle, determining the second lateral acceleration based on the vehicle speed and yaw angular velocity; high-order filtering the first lateral acceleration and the second lateral acceleration respectively; determining the target acceleration based on the filtered first lateral acceleration and the filtered second lateral acceleration, and high-order filtering the target acceleration; determining the transverse slope compensation torque through the filtered target acceleration and a torque compensation coefficient, so as to control the vehicle. The vehicle speed, yaw angular velocity and first lateral acceleration and other information in the application are information that can be acquired in a low-cost manner, therefore, the application reduces the calculation cost of the transverse slope compensation torque, and through high-order filtering of the lateral acceleration and the target acceleration, the application improves the smoothness of the vehicle in a curve and reduces oscillation.

The invention provides a method for calculating a static overturning limit angle of a bowing and twisting tractor, and aims to accurately evaluate the static stability of the bowing and twisting tractor in a complex posture. The core of the method is to construct a three-dimensional virtual simulation model of bowing and twisting degrees of freedom, and to set a target attitude of any combination. The gradient angle of the tractor reaching the overturning critical state is determined by simulating the iteration increasing process of a cross slope or a longitudinal slope and combining real-time geometric judgment on the position relation between front, rear and whole vehicle mass center projections and corresponding supporting polygons according to specific cross slope and longitudinal slope instability triggering conditions. The method provided by the invention can quantitatively calculate the static stability limit of the tractor in a complex attitude.

The invention relates to the technical field of tunnels, and provides a tunnel construction method for crossing an abrupt slope section landslide mass, which comprises the following steps of: constructing an anti-slide pile assembly on one side, close to a ground line, of the abrupt slope section landslide mass on a tunnel line; a first side pilot tunnel, close to one side of the slide-resistant pile, of the tunnel main hole is excavated, and then a first primary support and a lateral strengthening structure corresponding to the first side pilot tunnel are constructed; a second side pilot tunnel on the side, away from the slide-resistant pile, of the tunnel main hole is excavated, and then a second primary support corresponding to the second side pilot tunnel is constructed; a middle pilot tunnel located between the first side pilot tunnel and the second side pilot tunnel is excavated from top to bottom, and then a third primary support corresponding to the middle pilot tunnel is constructed; constructing a secondary lining of the tunnel main hole; according to the construction method, the primary support and the slide-resistant piles are connected, cooperative stress among the primary support, the secondary lining and the slide-resistant piles is constructed, the safety of construction and operation of the slope body tunnel at the abrupt slope section can be improved, and the risk of tunnel diseases caused by the slope body is effectively reduced.

The invention belongs to the technical field of vehicle sand spraying and cleaning control, and relates to a railway vehicle sand spraying and cleaning control system and a control method thereof. According to the method, whether a sanding signal and an ice surface distribution characteristic label are output or not is dynamically judged through clustering analysis based on an ice surface image of a front track section and a track cross slope angle; the sanding spraying angle is dynamically set by fusing the vehicle speed, the rail cross slope angle and the ice surface characteristics, the target sanding flow is set according to the air source pressure, and the sanding duration is determined; monitoring the deviation between the actual sanding flow and the target flow in real time, and triggering the compensation action when the deviation exceeds the limit; monitoring the pressure difference change rate of the nozzle during the sand spraying execution period and after the sand spraying is finished, and executing sand cleaning operation if the sand spraying deviates from the normal trend. The problems that an existing sanding system is inaccurate in control on an icing track, low in sanding efficiency and prone to blockage of a nozzle are effectively solved, and the effects of improving sanding accuracy and automation level, enhancing friction force between wheels and the track, guaranteeing driving safety and reducing maintenance cost are achieved.

A solid waste ecological concrete slope protection structure belongs to the technical field of slope ecological protection and comprises a slope, and a cross slope and a drainage channel are arranged above and below the slope respectively. A plurality of fence units, a first wire mesh and a second wire mesh are arranged on the slope surface of the slope, and the fence units define a solid waste filling groove on the slope surface of the slope; the second iron gauze and the first iron gauze are laid on the top face and the bottom face of the fence unit correspondingly, and the second iron gauze and the first iron gauze are connected with the fence unit through anti-disengaging nails correspondingly. A solid waste filling layer is arranged in the solid waste filling groove between the first iron gauze and the second iron gauze; a planting soil layer is laid on the top surface of the second iron gauze, and a grass seed mixture is arranged in the planting soil layer; fixing piles are further evenly distributed in the solid waste filling groove. The two layers of iron gauze restrain the solid waste filling layer, the solid waste filling grooves divide the surface area of the slope, the structure stability of the solid waste filling layer is improved through cooperation with the fixing piles, and supporting is provided for the planting soil layer.

The invention discloses a prefabricating platform and prefabricating method for an anti-collision wall of a large-overhang-wing box girder, which is characterized in that the box girder is fixed on a cross slope support and an anti-sliding support, one end of the box girder is fixed on a supporting upright post, and the other end of the box girder is connected with a box girder pedestal through a pre-stress component, so that the anti-collision wall of the large-overhang-wing box girder is prefabricated under the condition that the cross slope gradient of the box girder is kept; the box girder is obliquely pulled through the prestress assembly, the box girder is prevented from overturning and rollover due to the fact that the weight of concrete and an anti-collision wall formwork is too heavy in the anti-collision wall pouring process, meanwhile, the accuracy of the axis of the anti-collision wall can be guaranteed, and then the building quality of the whole prefabricated box girder is guaranteed.

This invention proposes a method for calculating the dynamic stability limit of articulated tractors under cross slope conditions, aiming to accurately assess the lateral stability of articulated tractors under complex terrain and dynamic operating conditions. This method first obtains parameters such as the tractor's geometry, mass, and dynamic acceleration; then, a spatial attitude model is established based on the rear body, transforming the articulation and torsional axes in the local coordinate system of the rear body to the global space, and causing the front body to move relative to the spatial articulation and torsional axes; the spatial coordinates of the four wheel points, articulation points, and centers of mass are calculated, constructing a four-wheel horizontal projection support quadrilateral, and obtaining the dynamic equivalent projection points based on longitudinal and lateral accelerations; by determining the positional relationship of the projection points relative to the left and right rollover boundaries, the critical stability angle of the cross slope is determined. This invention can be used to assess the lateral rollover risk of articulated tractors under different articulation, torsional, terrain undulation, and acceleration / deceleration conditions.

The utility model discloses a bridge padstone prefabricating pedestal convenient to adjust a cross slope, which comprises a pedestal body, a plurality of template groups used for prefabricating bridge padstones are arranged on the pedestal body, and a cross slope adjusting component is arranged below the pedestal body; supporting seats are arranged on the two sides of the bottom of the pedestal body, mounting holes are formed in the supporting seats on the two sides, positioning rod assemblies are inserted between the mounting holes on the two sides, and the positioning rod assemblies are arranged at the two ends of each supporting seat; according to the utility model, the cross slope adjustment is realized through the cross slope adjustment assembly, so that the cross slope adjustment of the pedestal body is realized; the positioning rod assembly can secondarily fix the prefabricated pedestal after the cross slope is adjusted, and it is guaranteed that the cross slope can be kept stable in the prefabrication process of the bridge padstone; the adjusting rods are controlled to move through stretching and retracting of the telescopic rods, so that the height of one end of the upper pedestal is changed, the adjusting range is larger and finer through the two sets of adjusting rods, and prefabrication tasks with different cross slope requirements can be better met.

The utility model discloses an automobile test field oscillation road which comprises a base layer and a surface layer, the top of the base layer is covered with the surface layer, and the top of the surface layer is further provided with a left lane and a right lane. The base layer comprises a granular material base layer and a semi-rigid base layer which are arranged from bottom to top; the right lane is internally provided with a same-direction washboard road and a reverse-direction washboard road, the same-direction washboard road and the reverse-direction washboard road are each provided with a plurality of wave forms which are evenly spaced, and the wave forms on the two roads are arranged in a peak staggering mode; according to the utility model, through unique equidirectional and reverse washboard road waveform peak staggering arrangement, complex vibration working conditions can be simulated; the right lane is provided with a two-percent left-high right-low cross slope, which is beneficial to drainage and prevents accumulated water from influencing the test and damaging the road; the device is simple in structure, small in waveform indirect direction and high in frequency, synchronous construction of the two sides of the washboard road surface can be guaranteed during construction, coordinates and elevation errors of wave crest and wave trough positions of the road surface are effectively reduced, and flatness quality deviation caused by manual control is avoided.

This application provides a method, apparatus, electronic device, and storage medium for slope offset suppression, relating to the field of automotive technology. The method includes: calculating and acquiring multiple judgment parameters of a target vehicle, determining the real-time integral switch state according to a preset integral switch rule, and updating the compensation integral in real-time based on the target vehicle's real-time operating conditions, lateral deviation, and integral gain coefficient to determine the lane-keeping control command and thus control the target vehicle's steering mechanism for lane keeping. This method determines the real-time integral switch state of the target vehicle through judgment parameters corresponding to the target vehicle's lane-keeping control parameters, and dynamically updates the compensation integral based on the vehicle's real-time operating conditions. It then determines the lane-keeping control command based on the dynamically updated compensation integral, achieving implicit compensation for the impact of slope without relying on slope sensors or explicit estimation of the slope angle. This improves the compatibility and accuracy of slope offset suppression, better ensuring driving safety.

This invention relates to the field of urban rail transit track construction technology, and provides a method for positioning and laying precast floating slabs in curved sections. The method includes: establishing the line benchmark and slab joint projection edge based on CPⅢ control points to determine the fan-shaped slab joint difference; determining the theoretical offset using the mid-vector method, superimposing the additional offset caused by superelevation, and incorporating the internal sliding compensation amount during slab lifting to obtain the comprehensive offset for theoretical positioning; after the slab is suspended and placed, fine-tuning it to within a threshold matching the specifications of the leveling shims in a non-lifting state; and installing lateral supports after fine-tuning to resist inward sliding during slab lifting. This invention upgrades traditional trial-and-error based experience to an active positioning control system with multi-factor coupled calculation, solving the millimeter-level positioning problem of rigid slabs under the coupled effects of curve constraints, cross slope projection, and slab lifting disturbances. It eliminates the inefficient cycle of fine-tuning, lifting, sliding, and readjustment, significantly improving construction efficiency and quality consistency.

The application discloses a kind of different types tunnel construction clearance automatic generation method, step (1), establish standard database, tunnel road grade, design speed, lane number and left side maintenance road width, right side maintenance road width, left side lateral width, right side lateral width, driving lane width, residual value one-to-one corresponding storage;Step (2), obtain the tunnel road grade, design speed, lane number input by user, and generate standard construction clearance basic parameters by matching with standard database;Step (3), receive the individualized parameter input by user, including left side widening value, right side widening value, emergency parking width, emergency parking lane cross slope value, maintenance road height;Step (4), set reference point three-dimensional coordinates, based on basic parameters and individualized parameters, the three-dimensional coordinates of each feature point of construction clearance are calculated by trigonometric function;Step (5), according to the feature point coordinates, tunnel construction clearance graphics are automatically drawn and layer, line type and color identification are completed, and the automation and intelligent level of tunnel engineering design is significantly improved.

The invention relates to a tension setting method applying a cross slope, which is characterized by comprising the following steps of: 1, carrying out range subdivision on the thickness and the width of strip steel according to a product outline; 2, querying four point values of a region boundary in two dimensions; and 3, setting a unit tension value by using a cross slope. According to the scheme, fluctuation of strip steel tension is reduced, the product quality is improved, and field production is more stable and smoother.

The application provides a lane keeping control method and system based on road surface transverse slope estimation and feedforward compensation, and relates to the technical field of automobile auxiliary driving, and the method comprises the following steps: acquiring vehicle state information; adopting a method of low-pass filtering and state observer fusion to estimate a road surface transverse slope angle in real time; calculating a feedforward compensation steering angle based on the estimated transverse slope angle, wherein a feedforward gain is adjusted online and adaptively according to a vehicle speed and a load; calculating a feedback control steering angle by adopting an LQR algorithm based on a transverse deviation and a yaw angle deviation; dynamically weighting and fusing the two by a feedforward-feedback coupling coordinator to generate a target front wheel steering angle and control vehicle steering. The application can effectively eliminate the steady-state transverse deviation caused by the road surface transverse slope, and significantly improve the lane keeping precision, system robustness and driving comfort.

The present invention discloses a precast capping beam formwork system for a super-high transition section, a method for precasting a capping beam, and an installation method. The system includes side formworks and a bottom formwork. A structure form of clamping the bottom formwork with the side formworks is adopted between the side formworks and the bottom formwork. The bottom formwork includes a fixed bottom formwork and a movable bottom formwork which are connected left and right. The movable bottom formwork corresponds to the connection position between the bottom of the capping beam and the pier column, and its movable formwork can correspondingly adjust the inclination angle according to the change of the cross slope at the top of the capping beam, so that a wedge-shaped convex platform with an angle consistent with but opposite to the designed cross slope angle of the capping beam is formed at the connection position between the capping beam and the pier column. When the capping beam is connected to the pier column, the wedge-shaped convex platform is adjusted reversely to make the cross slope of the top surface of the capping beam consistent with the designed value, and the on-site assembly of the capping beam and the pier column is simple and fast. By adjusting the slope of the movable bottom formwork to form wedge-shaped convex platforms with different slopes at the bottom of the capping beam, the system can complete the precasting of capping beams with various cross slope angles. The fixed bottom formwork is designed according to the standard cross slope of the capping beam, so that the steel cage jig and the positioning tooling of the capping beam can be shared with the capping beam with the standard cross slope, reducing the construction cost.

The application belongs to the technical field of municipal road design, and provides a municipal road cross section intelligent optimization design method based on BIM, which comprises the following steps: performing sub-expansion section division, obtaining cross slope default interpolation generated by a BIM default interpolation algorithm in the sub-expansion section, judging whether the cross slope default interpolation is valid, and identifying a to-be-optimized sub-expansion section; determining a cross slope interpolation reconstruction mode of the to-be-optimized sub-expansion section according to the proportion and distribution of invalid cross slope default interpolations in the to-be-optimized sub-expansion section; performing change trend analysis on the existing cross slope data in the to-be-optimized sub-expansion section, determining the type of the to-be-optimized sub-expansion section, selecting an adaptive model, and reconstructing the cross slope interpolation in combination with the cross slope interpolation reconstruction mode of the to-be-optimized sub-expansion section to obtain a stake number-cross slope data table; and replacing the cross slope default interpolation of the to-be-optimized sub-expansion section by BIM reverse assignment according to the stake number-cross slope data table, thereby improving the one-time compliance rate and overall design efficiency of the cross slope design of a complex expansion section.

A method (200) for determining, based on vehicle information, a roadway cross slope, the method (200) comprising the following steps: Obtaining (210) vehicle information from at least one vehicle (12), wherein the vehicle information is obtained from at least one of a global navigation satellite system, GNSS, receiver (48) and one or more vehicle-mounted sensors (42-46), and the GNSS receiver (48) and the one or more vehicle-mounted sensors (42-46) are installed in the at least one vehicle (12); performing (220) a roadway cross slope determination method using the obtained vehicle information to obtain a roadway cross slope; and Updating (230) a representative roadway cross slope based on the roadway cross slope, wherein the roadway cross slope determination method is a vehicle dynamics-based roadway cross slope determination method and the step of obtaining (210) vehicle information includes obtaining vehicle-side sensor data from one or more vehicle-side sensors (42-46) of the at least one vehicle (12), and the vehicle-side sensor data includes suspension sensor data from a plurality of suspension sensors (42) installed on the at least one vehicle (12); wherein the vehicle dynamics-based road bank determination method includes determining a frictional acceleration of the at least one vehicle (12) based on the suspension sensor data.

The present application relates to the technical field of steel arch bridge hoisting construction, and particularly relates to a steel arch bridge arch rib hoisting posture multidirectional adjusting device and adjusting method. The present application changes the arch rib hoisting posture from air adjustment to land adjustment, and realizes the automatic adjustment of the arch rib hoisting posture and the hanger lug position through an automatic adjusting system, which can greatly improve the construction efficiency and hoisting precision. The device has a simple structure, is convenient to transport and manufacture, and is convenient to use. The device does not need a large-tonnage crane, has no aerial operation, has high construction efficiency, greatly improved safety factor, and greatly reduced construction cost. The automatic electric control oil pressure machine hoisting posture device and adjusting method can adjust the hoisting posture of different spatial posture components, need not replace the equipment, only need to replace the relative position of the front and rear adjusting bases and the base cross slope value, and can be repeatedly used. The construction device composed of higher generality materials such as steel pipes and I-beams has safety and reliability, simple structure, low cost, and is convenient to install, can be disassembled, and can be repeatedly used.

The present application belongs to the field of vehicle sanding control technology, and relates to a rail vehicle sanding control system and a control method thereof. The present application dynamically determines whether to output a sanding signal and an ice surface distribution characteristic label based on clustering analysis of the front track section ice surface image and the track cross slope angle; dynamically sets the sanding spray angle by fusing the vehicle speed, the track cross slope angle and the ice surface characteristics, sets the target sanding flow according to the air source pressure and determines the sanding duration; monitors the actual sanding flow and the target flow deviation in real time, and triggers the compensation action when the deviation exceeds the limit; monitors the nozzle pressure difference change rate during and after the sanding execution, and performs the sanding operation when the change rate deviates from the normal trend. The present application effectively solves the problems of inaccurate control, low sanding efficiency and nozzle blockage of the existing sanding system on the icy track, and achieves the effects of improving the sanding accuracy and automation level, enhancing the friction between the wheels and the track, ensuring the driving safety and reducing the maintenance cost.

A system and method for predictive vehicle road bank control on an unmapped road. A sensor within a vehicle, based on received sensor data, determines upcoming cross-slope roadway characteristics of an unmapped road, where the unmapped road comprises an absence of known cross-slope roadway characteristics. The vehicle creates a road model map based on the upcoming cross slope roadway characteristics of the unmapped road and predicts, based on the road model map, one or more bank angles at multiple look-ahead points of the upcoming roadway. The vehicle, based on the predicting of one or more bank angles, generates one or more steering control signals to compensate for the one or more bank angles at the multiple look-ahead points.

The present invention relates to a mobile grading machine having an improved grade control system. In particular, a mobile work machine is provided that includes a first grade control system that receives external reference position signals from a geopositioning system and generates blade control signals to control the orientation of a blade when grading a work site. The mobile work machine also includes a second grade control system that uses blade primary pitch and cross slope and chassis (or main frame) primary pitch and cross slope to control the orientation of the blade relative to the frame of the work machine to form a flat grade having a desired primary pitch and cross slope. When the functionality of the first grade control system is interrupted, the mobile work machine automatically switches to using the second grade control system to perform the grading operation until the interruption to the functionality of the first grade control system is restored.

The invention discloses a design method of a hexapod robot, and belongs to the field of robot design. The problems that an existing robot is unstable, slips or fails in obstacle crossing under complex terrains such as slopes, cross slopes and gullies are solved. Systematic size-terrain constraint analysis is lacked, and the trafficability of the robot under the limit working condition cannot be guaranteed. According to the method, based on the spatial layout of a robot body and supporting legs of the to-be-designed hexapod robot, the geometric dimension parameters of the hexapod robot and the working space of the supporting legs, the analytic constraint relation between the geometric dimension parameters and terrain parameters of the hexapod robot is established according to the walking working conditions of the hexapod robot; and designing geometric dimension parameters of the hexapod robot based on the analysis constraint relation. And it is ensured that the hexapod robot has stable movement trafficability in the complex terrain. According to the hexapod robot designed based on the method, the terrain adaptability to the complex field environment can be remarkably enhanced while the structural strength and the overall stability are maintained.

The invention provides a cross slope offset suppression method and device, electronic equipment and a storage medium, and relates to the technical field of automobiles. The method comprises the following steps: calculating and obtaining a plurality of judgment parameters of a target vehicle, determining a real-time integral switching state according to a preset integral switching rule, and determining an integral switching state according to a real-time working condition, a transverse deviation and an integral gain coefficient of the target vehicle; and updating the compensation integral in real time to determine a lane keeping control instruction so as to control a steering mechanism of the target vehicle to perform lane keeping. According to the method, the real-time integral on-off state of the target vehicle is judged through the judgment parameter corresponding to the lane keeping control parameter of the target vehicle, and the compensation integral is dynamically updated in combination with the real-time working condition of the vehicle, so that the lane keeping control instruction is determined based on the dynamically updated compensation integral. The implicit compensation on the influence of the cross slope is realized on the premise of not depending on a cross slope sensor and not carrying out explicit estimation on the cross slope angle, so that the compatibility and the accuracy of cross slope offset suppression are improved, and the driving safety is better guaranteed.