63 results about "Forward speed" patented technology

The shutdown of a compressor (10) installed in a refrigerant circuit (2) in air conditioning or refrigeration system is controlled so as to prevent unpowered reverse rotation of the compressor. Prior to terminating electric power to the compressor drive motor (24), the pressure within the system is relieved and substantially equalized across the compressor, thereby eliminating the possibility of unpowered reverse rotation of the compressor at shutdown. Pressure relief and equalization may be achieved by reducing the operating speed of the compressor to a low forward speed for a period of time prior to deenergizing the compressor drive motor. Pressure equalization may also be achieved by driving the compressor in reverse rotation prior to deenergizing the drive motor.

The invention discloses a pepper harvester advancing speed two-stage regulation and control method based on a multi-source prediction model, and mainly relates to the field of pepper harvesters. The method comprises the steps that a high-speed camera and a torque sensor collect image information and a torque signal, the image information and the torque signal are preprocessed and then input into a machine vision model and a torque prediction model to obtain a predicted torque value corrected by an image processing technology, and after the predicted roller load condition is obtained through a mechanical model, the forward speed is preliminarily adjusted to enable the load to be in a normal value interval; load data on an upper conveyor belt and a lower conveyor belt of a separation device are collected, after the impurity rate is calculated, the impurity rate is input into a CNN-LSTM neural network model constructed by fusion time and space features improved by an ant colony algorithm to obtain the harvesting impurity rate condition, and after the advancing speed is further adjusted according to the predicted impurity rate, the load condition is monitored in real time. The speed regulation of the load condition in the two-stage speed regulation is prior to the speed regulation of the impurity rate condition. According to the invention, the forward speed of the harvester can be adjusted in real time according to the conditions of the roller load and the harvesting impurity rate.

The invention discloses a self-balancing bicycle software control method and system capable of achieving zero sample migration. The method comprises the steps that bicycle body posture information of a self-balancing bicycle and a motion instruction from the outside are obtained in real time; the trained self-balancing neural controller receives vehicle body attitude information, a motion instruction, a current steering motor position fed back by a control layer and a vehicle body linear speed, forward reasoning calculation is carried out once, and a neural network directly outputs two control variables including a target steering angle instruction and a driving accelerator instruction; generating a steering control signal based on the target steering angle instruction according to a servo motor communication protocol, wherein the steering control signal is used for driving a steering servo motor to accurately rotate to a target angle; based on the accelerator driving instruction, the accelerator driving instruction is converted into an accelerator control command for the hub brushless motor, and the accelerator control command adjusts the forward speed of the vehicle. The technical problems of simulation-reality gaps, poor robustness and low development efficiency of existing self-balancing bicycle control are solved.

A method for controlling an aircraft with a rotary wing provided with a power plant comprising a plurality of engines, the aircraft comprising a human-machine interface controlling a control member capable of acting on a longitudinal acceleration of the aircraft. During the economy operating mode during which one of the engines does not supply power, the method comprises measuring a forward speed of the aircraft, and adjusting an authority of the human-machine interface over the longitudinal acceleration with a flight control computer as a function of the forward speed.

This invention relates to a fishtail-type propeller propeller, comprising a base for fixing to a hull, a rotating shaft vertically supported on the base and rotatable relative to the base, and a vertically mounted propeller plate. A laterally extending connecting rod is fixed to the rotating shaft. The invention is characterized by: a limiting seat fixed to the connecting rod, the limiting seat having a vertically extending shaft hole in which a pin is installed; the propeller plate being fixed to the pin and located below the limiting seat; a limiting member also being provided on the pin; and an arc-shaped movable space centered on the pin and a limiting part inserted into the arc-shaped movable space between the limiting member and the limiting seat. The propeller plate rotates relative to the limiting seat within the range defined by the arc-shaped movable space via the pin. This invention allows the propulsion of the hull to come from the combined force of the flexible connection between the water flow and the propeller plate and the rigid connection between the rotating shaft and the propeller plate, which, under the same conditions, helps to increase the forward speed of the hull and is easy to operate.

Embodiments of the present application provide a method and device for correcting an IMU installation angle of a vehicle, an electronic device, a storage medium and a program product. The method comprises: obtaining a first speed collected by a front wheel speedometer on the vehicle, then obtaining a latest front wheel rotation angle, and decomposing the first speed based on the front wheel rotation angle to obtain a second speed. The second speed comprises a forward speed and a lateral speed of the vehicle. At the same time, a vehicle speed of the vehicle at a previous time is obtained by fusing the obtained multi-sensor data, and then the IMU installation angle at the current time is corrected according to the second speed and the obtained vehicle speed of the vehicle at the previous time to obtain a corrected IMU installation angle at the current time. The corrected IMU installation angle comprises an IMU pitch installation angle, an IMU roll installation angle and an IMU heading installation angle. The method can correct the three different installation angles in the IMU installation angle.

The utility model provides a novel mini-tiller which comprises a connecting shaft, a machine head part, a front wheel, a connecting plate, a connecting column, a gearbox, a transmission mechanism and a rear wheel. The mini-tiller is provided with the front wheel and the rear wheel, so that the working quality of the mini-tiller on hard soil or soft soil which is easy to sink is ensured; meanwhile, due to the installation of the rear wheels, the advancing speed of the front mini-tiller can be stabilized by pushing or pulling force in the using process of the mini-tiller, at the moment, the advancing speed does not need to be controlled manually, the physical strength of operators is saved to a great extent, and the comfort of the operators is improved.

The application discloses a dead reckoning method and device and electronic equipment, comprising: constructing a current state quantity corresponding to a filter according to forward speed information of a target vehicle at a current time, and predicting the current state quantity to obtain a state quantity prediction result of the filter; obtaining a residual error between a current observed vehicle speed value corresponding to the target vehicle and the state quantity prediction result, determining a residual error replacement quantity matched with the residual error, and updating the state quantity prediction result of the filter according to the residual error replacement quantity; and determining a dead reckoning result corresponding to the target vehicle according to the updated state quantity prediction result and steering information of the target vehicle. The technical scheme of the embodiment of the application can improve the reliability of the dead reckoning result.

A motorized module (4) for transporting products has a loading platform (6), at least a first axle (11) and at least a second axle (8, 9, 10), each provided with at least one respective rolling body (12) on the ground, a respective mechanical speed reducer (11R) (8R, 9R, 10R), a respective releasable angular connection coupling (11G), (8G, 9G, 10G) interposed between a respective hydraulic motor (11A), (8A, 9A, 10A) for driving the axle and the respective rolling body (12), and an electronic unit (20) for controlling the hydraulic motors (11A), (8A, 9A, 10A) and the angular connection couplings (11G), (8G, 9G, 10G) as a function of the forward speed of the module (4) and which are activated successively when the forward speed of the module (4) varies.

Adaptive speed control is specified for a work vehicle, e.g., a work vehicle without a global satellite navigation system or equivalent positioning components. Operating parameters of the work vehicle, corresponding to at least its orientation and forward speed, are monitored, as is the steering angle. At least while a speed control operating mode is activated, and the detected steering angle corresponds to forward travel of the work vehicle, a forward speed for the work vehicle is commanded to a first speed setting.If it is determined that the detected steering angle exceeds a specified sensitivity value, the feed rate for the work vehicle is ordered to a second speed setting, with at least one maximum value for the second speed setting being automatically determined based on at least one or more operating values ​​of the work vehicle corresponding to the orientation of the work vehicle.

The present invention comprises a base ring portion; a crank arm portion fixed to the front of the base ring portion; a chain ring portion fixed to the rear surface of the base ring portion; and a pedal portion connected to the other end of the crank arm portion to apply force to the crank arm portion, wherein the crank arm portion comprises: a crank arm; a first coupling portion located at one end of the crank arm and fixed to a certain area of ​​the base ring portion; and a second coupling portion located at the other end of the crank arm and to which the pedal portion is coupled, wherein the base ring portion comprises: a circular base ring; a first-1 straight support member extending from the inner circumference of a first area of ​​the base ring to the inner circumference of a second area of ​​the base ring; a first-2 straight support member arranged to intersect the first-1 straight support member and extending from the inner circumference of a third area of ​​the base ring to the inner circumference of a fourth area of ​​the base ring; and a crank arm first fixing portion located in the area where the first-1 straight support member and the first-2 straight support member intersect, to which one end of the crank arm is fixed. The invention relates to a bicycle crank set comprising a second crank arm fixing part disposed in a certain area of ​​the circular base ring, wherein the center area of ​​the crank arm is fixed, and wherein, when rotating the chain ring, the forward speed of the bicycle can be varied while the force applied by the user to the pedal remains the same.

Method for regulating the operation of a cleaning equipment on a self-propelled road cleaning vehicle. The invention relates to a method for regulating the operation of a cleaning equipment fitted to a self-propelled road cleaning vehicle, as a function of the forward speed Va of said vehicle, said comprising a rotating circular brush, means for vacuuming dust and / or waste, and means for spraying said brush with water, said equipment being capable of moving from an inactive position, raised relative to the ground, to an active working position in which it is lowered, said brush in contact with the ground, and vice versa.In this process, the positioning of the equipment and the rotation of the brush are managed according to a correlation with the vehicle speed Va, based on at least one speed threshold chosen from at least Vamin (minimum forward speed) and Vamax (maximum forward speed) previously defined. Figure for the abbreviation: Fig. 1.

Embodiments of the present application provide a sowing control method and device, a control device and a readable storage medium, and relate to the technical field of unmanned aerial vehicles. The method is applied to an unmanned aerial vehicle provided with a sowing mechanism, the sowing mechanism comprising a flail plate and a swing driving assembly, the swing driving assembly being connected with the flail plate, the swing driving assembly being used to drive the flail plate to swing back and forth on the left and right sides in the vertical direction, and the flail plate being used to sowing materials outward in the swing process. The method comprises the following steps: obtaining environmental wind information; determining whether the environmental wind will cause the sowing width of the sowing mechanism to be asymmetric according to the environmental wind information; and when yes, adjusting the forward speed and the return speed of the flail plate according to the environmental wind information to restore the symmetry of the sowing width. In this way, the influence of the environmental wind can be offset, the symmetry of the sowing width can be restored, and the missed sowing or the repeated sowing caused by the asymmetric sowing width can be reduced.

Systems and methods for controlling the motion, flight, and stability of vertical takeoff and landing (VTOL) aircraft are disclosed. These systems employ four or more stabilators with airfoil cross-sections to redirect airflow from rotor blades, allowing independent adjustment for hover, roll, yaw, pitch, and forward or reverse movement. In one configuration, the VTOL aircraft transitions between helicopter and fixed-wing modes during flight, with stabilators augmenting lift in fixed-wing mode. Additional yaw control surfaces redirect thrust from engines to enhance maneuverability. The design enables low-cost, easily maintained VTOL aircraft capable of achieving forward speeds greater than those of traditional helicopters.

The application is suitable for the technical field of metal processing, and particularly relates to a metal coil processing method, device, equipment and medium. The method comprises the following steps: determining whether the parking time length of a production line is greater than a preset time threshold value, and if yes, adjusting the forward speed value of a workpiece to a preset parking speed; storing the part of the workpiece passing through a first processing unit in the parking time length by a loop, and recording the range of the over-processed part and the over-processing time; and opening a normally closed second processing unit at a preset processing intensity during the time period when the over-processed part passes through the second processing unit. The application can homogenize the over-processing problem, and solve the coil accumulation problem in some sections caused by the difference in the forward speed of the workpiece in different parts of the production line by using the loop storage mode. On this basis, the second processing unit is introduced to eliminate defects in the over-processed part, which can eliminate defects to the greatest extent, ensure the processing quality of the material, and reduce waste.

An AGV positioning method based on improved unscented Kalman filtering includes the following steps: Step 1: First, the forward speed v of the AGV is detected using a motor incremental encoder and an angle encoder. k and steering speed ω k Step 2: Then, receive the information scanned by the LiDAR and generate the reflector coordinate sequence; Step 3: Establish an AGV kinematic model to estimate the AGV pose; Step 4: Transform the reflector coordinates scanned by the LiDAR to the world coordinate system and generate the AGV observation equation; Step 5: Perform an improved unscented Kalman filter based on the state-space equation to obtain the AGV vehicle pose after filtering. This invention, based on the proposed improved unscented Kalman filter algorithm, utilizes the reflector coordinate information to locate the vehicle's position; it boasts fast computation speed, effectively reduces hardware and labor costs, and better overcomes the impact of vehicle position shifts during driving, enhancing subsequent vehicle control.

The invention provides a vehicle escape control method and device, electronic equipment and a storage medium, and relates to the technical field of vehicle control. The method comprises the following steps: when a vehicle enters an out-of-trap mode, acquiring a preset forward speed and a preset reverse speed set for driving wheels of the vehicle; if the accelerator opening degree of the vehicle is larger than the preset threshold value, the vehicle is controlled to run forwards. And when the forward speed of the driving wheel of the vehicle reaches the preset forward speed and the forward speed difference value of the driving wheel and the driven wheel of the vehicle is larger than a preset first difference value, the vehicle is controlled to run in the reverse direction. And when the reverse speed of the driving wheel of the vehicle reaches the preset reverse speed and the reverse speed difference value of the driving wheel and the driven wheel of the vehicle is larger than a preset second difference value, the vehicle is controlled to run in the forward direction. And the above process is repeatedly executed until the speed difference value of the driving wheel and the driven wheel of the vehicle is smaller than or equal to the corresponding preset difference value, and it is determined that the vehicle gets out of order and enters normal driving. The method and the device can improve the escape efficiency of the vehicle.

The invention relates to the field of vehicle control, in particular to a vehicle braking force distribution method and device, a vehicle controller and a vehicle. The vehicle braking force distribution method comprises the steps that passenger dynamic posture parameters are obtained, wherein the passenger dynamic posture parameters comprise the trunk inclination angle and the gravity center forward moving speed of a passenger in a vehicle; a front axle braking force attenuation coefficient matched with the passenger dynamic posture parameters is determined; the total required braking force of the vehicle and the basic braking force of a front axle are obtained, and the basic braking force of the front axle is the braking force distributed for the front axle of the vehicle under the condition that no passenger dynamic posture intervention exists; attenuation adjustment is conducted on the front axle basic braking force based on the front axle braking force attenuation coefficient, and front axle target braking force is obtained; a rear axle target braking force is determined based on the total demand braking force and the front axle target braking force. The safety and comfort of the vehicle can be improved in the vehicle braking process.

Method for regulating the operation of a cleaning equipment on a self-propelled road cleaning vehicle. The invention relates to a method for regulating the operation of a cleaning equipment fitted to a self-propelled road cleaning vehicle, as a function of the forward speed Va of said vehicle, said comprising a rotating circular brush, means for vacuuming dust and / or waste, and means for spraying said brush with water, said equipment being capable of moving from an inactive position, raised relative to the ground, to an active working position in which it is lowered, said brush in contact with the ground, and vice versa.In this process, the positioning of the equipment and the rotation of the brush are managed according to a correlation with the vehicle speed Va, based on at least one speed threshold chosen from at least Vamin (minimum forward speed) and Vamax (maximum forward speed) previously defined. Figure for the abbreviation: Fig. 1.

This invention provides a control method and control device for a steering chassis of a new energy vehicle. The control method includes: S1, acquiring the current forward speed of the vehicle, the steering requirement angle, and the actual rotation angle sensed by an angle sensor component, wherein the actual rotation angle is the angle of rotation of the front frame and the rear frame around a rotation point; S2, determining the speed difference between the drive wheels in the current driving mode based on the vehicle's current driving mode, pre-configured vehicle steering parameters, and the vehicle speed and steering requirement angle obtained in S1, or determining the speed difference between the drive wheels in the current driving mode based on the steering requirement angle; S3, controlling the rotational speed of the drive motor in the current driving mode according to the speed difference determined in S2 and the actual rotation angle obtained in S1. This invention can reduce the complexity of the steering chassis, save energy consumption during steering, and improve the vehicle's steering response speed and steering angle.

The invention relates to a device for controlling the airflow in front of the windshield (10) of a motor vehicle (1), comprising a deflector panel (110) adapted to be movably mounted by pivoting on said vehicle along a transverse axis between, a retracted position in which it is housed flush in a first opening (31) provided in the front panel (30) of said vehicle, and a raised position where it protrudes above the upper face of this panel; said device also comprising an actuating flap (120), pivotally fixed to said deflector panel, and extending below the latter at the level of the front facade (40) of said vehicle, said device being configured so that the rotational moment exerted by the airflow striking said actuating flap is sufficient to cause said deflector panel to pivot in the raised position when the forward speed of said vehicle reaches a predetermined threshold speed.Figure to be published with the abbreviation: Fig. 1.

The invention relates to an ATO (automatic train operation) time adjustment speed online calculation method and device and a medium, the method is used for time adjustment speed online calculation of a city motor train unit train in an interval temporary speed limit scene, and the method comprises the following steps: an online planning stage of a close running speed curve is used for calculating a most limited speed area of a train body range, obtaining a tight running speed curve by integrating the results of the forward speed planning and the backward speed planning; and in the online adjustment stage of the real-time running speed of the train, based on the planned close running speed curve, the real-time position of the train head is used as a starting point, and the time adjustment speed meeting the expected running time constraint is iteratively searched. Compared with the prior art, the method has the advantages of solving the problem of arrival morning and evening of the urban motor train unit train in the temporary speed limit scene and the like.

An arrangement for the automatic control of the forward speed of a harvesting machine (10) comprises a control device (80) with a device (98) for setting up an optimization problem and a cost function, and with a solution device (100), wherein the device (98) for setting up the optimization problem and the cost function is configured to set up a cost function and an associated optimization problem in successive steps, taking into account a location-dependent prediction of expected and measured crop throughputs, and the solution device (100) is configured to provide successive sequences (154) of control variables for specifying the forward speed, which solve the respective optimization problem and minimize the associated cost function.A control device (114) for controlling an actuator (104) influencing the forward speed of the harvester (10) based on the first actuation command of each sequence (154), a device (92, 94) for determining the expected rate of crop intake by the harvester (10) as a function of the harvester's (10) position, and a sensor (140) for measuring the throughput in the harvester (10). A parameter (164) regarding an uncertainty in the expected throughput can be supplied to the device (98), and it is configured to generate a first sequence (154) based on the throughput prediction and a second sequence (166) calculated taking into account the expected throughput and the parameter such that the second sequence (166) incorporates this uncertainty, with the first value of both sequences (154, 166) being identical.

The application discloses a kind of underactuated unmanned ship track tracking control methods based on adaptive sliding mode, steps are as follows: step 1: according to model parameter uncertainty and external disturbance influence factor, the motion equation of the mathematical model of describing underactuated unmanned ship in horizontal plane three degrees of freedom is established;Step 2: the tracking error dynamic equation is established by tangential trajectory coordinate system;Step 3: based on Lyapunov stability theory, according to tracking error dynamic equation, trajectory tracking guidance law is designed;Step 4: barrier function and super-torsion integral sliding mode method are used, according to the expected bow angle and expected forward speed in trajectory tracking guidance law, motion equation, the sliding mode controller of forward speed and bow angle is designed, and unmanned ship is controlled by the sliding mode controller of forward speed and bow angle.The application obtains expected forward speed and expected bow angle by designing track tracking guidance law, based on Lyapunov stability theory, and then guarantees the convergence of tracking error.

The application discloses a biped robot step time regulation method, device, terminal and storage medium, comprising: simulating the motion of the biped robot by using an equivalent reduced order model, and establishing an equivalent reduced order model based on a foot end Cartesian coordinate system; calculating the actual position of the current time centroid relative to the landing foot and the actual system angular momentum according to the current state of the system; obtaining the expected forward speed and the expected lateral speed at the current time based on the robot motion path, and calculating the expected angular momentum according to the equivalent reduced order model; solving the remaining step time according to the actual angular momentum and the expected angular momentum values; determining the final step time according to the system step time constraint, and analytically calculating the final landing point position according to the final step time. The step time regulation method can prevent the step deviation of the biped robot, and improve the tracking reliability and stability of the biped robot along the given motion path.

The invention belongs to the technical field of AUV (Autonomous Underwater Vehicle) navigation control, and particularly relates to an AUV hovering to navigation mode switching process control method, which comprises the following steps of: determining a forward navigation speed switching interval of a rudder effect of an AUV horizontal rudder from basically invalid to obvious action effect; respectively constructing a first vertical plane controller for a rudder control mode and a second vertical plane controller for a vertical auxiliary propeller control mode; designing a thrust weight distribution function based on the forward speed; in actual navigation of the AUV, output instructions of the two vertical plane controllers are fused and dynamically distributed and compound control actions of a horizontal rudder and a vertical auxiliary propeller are executed according to forward speed collected in real time and combined with a thrust weight distribution function, and smooth switching control from a hovering mode to a navigation mode is achieved. According to the method, smooth and stable control over the sailing mode switching process is achieved on the basis of changing the use mode of the executing mechanism and combining dynamic distribution of force and torque of the executing mechanism, and the sailing control precision in the task executing process is improved.

This disclosure provides a steering control method and a vehicle steering system, relating to the field of vehicle steering. The steering control method includes: acquiring the vehicle's forward speed u. i According to the forward speed u i Determine the current driving condition of the vehicle, which includes low-speed, medium-speed, and high-speed conditions; if the vehicle is in a low-speed condition, set the transmission ratio i of the vehicle's steering system. a Equal to the first target value; if the vehicle is in a medium-speed operating condition, the transmission ratio i of the vehicle steering system a Determined by formula (1); if the vehicle is in high-speed operation, the transmission ratio i of the vehicle steering system is... a The formula (1) is used to determine the steering performance. This disclosure achieves the requirements of flexible steering at low speeds and stable steering at medium and high speeds. At high speeds, it reduces the yaw rate gain and lateral acceleration gain, ensuring good emergency avoidance capabilities of the vehicle at high speeds while maintaining steering stability.

The invention discloses an inspection robot and electric passenger car traffic control method and system. The method comprises the following steps: S1, collecting laser ranging data of an axle section of a wheel set of an electric passenger car; s2, carrying out large-step sliding median filtering; s3, screening effective data segments containing axle data; s4, intercepting effective data segments, and performing small-step sliding median filtering on the effective data segments; s5, calculating the mode of the amplitude in the effective data segment, and replacing the abnormal amplitude exceeding the preset threshold value with the mode; s6, identifying abrupt change points of the contour of the wheel set in the effective data segments; s7, screening the mutation points; s8, calculating the position and the forward speed of the electric passenger car; s9, the position and the forward speed of the electric passenger car are transmitted to a robot dispatching system; and S10, making a traffic control decision according to the real-time position of the electric passenger car, the speed prediction result and the real-time task path of the robot. The method has the advantages of improving operation efficiency and safety and the like.

A multi-speed transmission including a plurality of planetary gearsets and a plurality of selective couplers to achieve at least eight forward speed ratios is disclosed. The plurality of planetary gearsets may include a first planetary gearset, a second planetary gearset, a third planetary gearset, and a fourth planetary gearset. The plurality of selective couplers may include a number of clutches and a number of brakes. The multi-speed transmission may have four planetary gearsets and six selective couplers. The six selective couplers may include two clutches and four brakes. A planetary transmission controller may be used to control the plurality of selective couplers and monitor a health condition of the plurality of selective couplers. Speed sensors on select rotating components is sufficient to monitor slip speeds across all of the plurality of selective couplers.

The present invention relates to an apparatus (1) for coating a medical invasive component (100) having a longitudinal axis (101) and a side surface (102) that is rotationally symmetric with respect to the longitudinal axis (101) and extends linearly in the longitudinal direction, comprising: a rotating device (10) configured to clamp the invasive component (100) and to drive the invasive component (100) to rotate at a specified rotational speed (U) about its longitudinal axis (101); a coating device (20, 20a) that is immovable in the rotational direction with respect to the longitudinal axis (101) and configured to apply a specified amount (R) of a viscous coating solution (S) to the side surface (102) of the rotating invasive component (100); and the longitudinal axis (101 The system comprises a linear motion device (30) configured to move relatively linearly between a coating device (20, 20a) and a rotating device (10) at a predetermined forward speed (V) along the longitudinal axis (101) by a drive mechanism, and a control device (40) configured to control the rotational speed (U) of the rotating device (10), the coating amount (R) of the coating device (20, 20a), and the forward speed (V) of the linear motion device (30), wherein the control device (40) is configured to control the rotational speed (U), the coating amount (R), and the forward speed (V) in a cooperative manner according to the viscosity (C) of the viscous coating solution (S), so that the viscous coating solution (S) can be applied to the entire surface of the side surface (102) in the form of a spiral (H) that overlaps along the longitudinal axis (101).