376 results about "Four-wheel drive" patented technology

This invention disclosed a full-space intelligent detection method and system for underground drainage networks, as well as storage media, including the following steps: image acquisition, intelligent image denoising, internal pipe defect segmentation, concealed defect detection around the pipe, 3D reconstruction with volume quantification, and pipeline life prediction. This invention introduced a bionic four-wheel-drive, all-terrain detection robot that can effectively navigate through mud and flowing water-challenges that hinder traditional detection devices. By leveraging deep learning algorithms as well as various techniques of computing vision, 3D reconstruction, and point cloud processing, the system thoroughly analyzed collected data to determine defect types and precise locations. Utilizing this analysis, precise location of different defect type and quantitative measurement of their dimensions can be realized. Based on the data analysis results, a deep-learning driven model was developed for predicting pipeline longevity to support maintenance staff with timely information on pipe defects and operational lifespan.

The invention discloses a chassis coordination control method and system based on tire side deviation state evaluation, and relates to the technical field of four-wheel steering four-wheel drive vehicle dynamics control. The method comprises the steps that an expected front wheel rotation angle is determined based on an expected steering wheel rotation angle input by a driver, and a front wheel rotation angle is determined; further determining a feed-forward front wheel steering angle, a feed-forward rear wheel steering angle and an additional yaw moment based on feed-forward control and feedback control, determining a first tire slip angle and a second tire slip angle based on a road adhesion coefficient, and further determining a wheel torque control weight, a feedback front wheel steering angle control weight and a feedback rear wheel steering angle control weight; and further determining a driving yaw moment, a feedback front wheel steering angle and a feedback rear wheel steering angle, determining a total longitudinal force based on an expected longitudinal acceleration input by a driver, and performing four-wheel torque distribution based on the total longitudinal force and the driving yaw moment to obtain a four-wheel driving torque. The driving stability of the vehicle under the limiting working condition can be improved.

The invention discloses a distributed driving electric vehicle path tracking control method, system and device, and relates to the technical field of vehicle chassis control. The method comprises the steps that vehicle parameter information is received, a vehicle dynamics model and a magic formula tire model are constructed according to the vehicle parameter information, and a vehicle-road system model used for trajectory tracking control is constructed based on the vehicle dynamics model and the magic formula tire model. According to the method, various uncertain disturbances in the vehicle driving process are comprehensively considered, a model predictive control framework based on minimum-maximum robustness is designed, and the robustness of a path tracking control system is enhanced; meanwhile, an online observer based on a minimum robust positive invariant set is designed, real-time and accurate obtaining of key parameters of the vehicle is achieved without increasing hardware cost, meanwhile, an active front wheel steering and torque vector cooperative control method is designed, and coordinated operation between a steering system and a four-wheel drive system is achieved.

A lawn mower includes a housing (1), a push rod connected with the housing, at least one front wheel mounted in front of the housing, at least one rear wheel mounted at the rear of the housing, a first electric motor driving the front wheel, a second electric motor driving the rear wheel, and a controller electrically connected to the first electric motor and the second electric motor, the controller is configured to turn-on or turn-off the first electric motor and / or the second motor. The lawn mower can be driven in two-wheel drive or four-wheel drive as required, which is convenient to operate and maintain.

A coaxial asynchronous motor drive system, including a speed reducer, an electric motor and a main housing, and further including a motor controller, wherein the electric motor and the speed reducer are connected to form a motor reducer assembly and mounted inside the main housing, and the motor controller is fixed to the main housing and connected to the motor reducer assembly. The system reduces parasitic loss of an auxiliary motor drive system of a battery electric four-wheel-drive vehicle and increases the range per charge of the vehicle, and the compact and integrated coaxial motor drive system facilitates maximum utilization of available space of the vehicle.

The invention discloses a four-wheel drive lifting type agricultural universal chassis with an adjustable wheel tread. The four-wheel drive lifting type agricultural universal chassis comprises a frame and four groups of leg-wheel assemblies, the vehicle leg-wheel assembly comprises a vehicle leg assembly, the vehicle leg assembly comprises a vehicle leg support and a wheel assembly, and a lifting adjusting mechanism is arranged between the vehicle leg support and a wheel; the vehicle leg support is in running fit with the vehicle frame through a fixed shaft, wheel track adjusting driving mechanisms are arranged on the vehicle frame in one-to-one correspondence with the vehicle leg assemblies, and the wheel track adjusting driving mechanisms are used for adjusting the wheel track between the wheel assemblies; the lifting adjusting mechanism comprises an electric cylinder and a sliding square tube guide structure, the sliding square tube guide structure comprises an outer square tube fixedly connected to the vehicle leg support and an inner square tube capable of sliding in the outer square tube, one end of the electric cylinder is connected with the vehicle leg support, and the other end of the electric cylinder is connected with a welding plate integrally welded with the inner square tube; a steering execution mechanism is arranged in the inner square tube; the wheel assembly comprises a wheel support and wheels installed on the wheel support, and hub motors are integrated in the wheels to achieve four-wheel independent driving.

An electric drive assembly includes a first electric motor, a second electric motor, a first speed reducer, a second speed reducer, and an electric motor controller. The first speed reducer is connected between the first electric motor and a first wheel, the second speed reducer is connected between the second electric motor and a second wheel, one of the first wheel and the second wheel is a left wheel, and the other one of the first wheel and the second wheel is a right wheel. The first electric motor, the second electric motor, the first speed reducer, and the second speed reducer are disposed in a U-shape, and form an electric motor controller mounting space configured to mount the electric motor controller.

The invention provides a steer-by-wire fault processing method and device based on distributed driving and a vehicle, and relates to the technical field of chassis control, the method can activate a distributed driving system to serve as a cross-system redundant execution unit in an extreme fault scene that a steer-by-wire system is completely invalid and loses steering execution capability, and the steer-by-wire fault processing efficiency is improved. The steering intention of a driver is converted into differential distribution of four-wheel driving torque, so that needed additional yawing torque is generated, the traditional mechanical or electric control steering function is effectively replaced, and active control over vehicle steering is achieved. According to the method, the function safety and controllability of the steer-by-wire vehicle when a key system fails are remarkably improved, the advantage of cooperation of multiple actuators of the electric chassis is fully utilized, high-reliability fault degradation processing is achieved, and the safety of a driver and passengers is guaranteed.

The invention provides a four-wheel unmanned mower system. The four-wheel unmanned mower system comprises a power supply module, a central control system, an environment detection system, a four-wheel driving system, a mowing driving system and a man-machine interaction system, the power supply module comprises a power supply and a power supply conversion module and is responsible for supplying power to the whole system; the central control system comprises a central controller, an ARM controller and an FPGA controller, the central controller is connected with the ARM controller and the FPGA controller through data lines, and the central controller is connected with the laser radar, the GPS and the camera through data lines for data transmission. The position of the mower is determined through the environment detection system, autonomous navigation is carried out, the surrounding obstacle environment is detected at the same time, environment information is fed back to the central control system for data analysis and processing, the central control system controls the four-wheel drive system to change the motion state of the mower, and therefore normal work of the mower is guaranteed.

A vehicle control method for improving a driving stability of a vehicle includes: obtaining road information and determining a friction coefficient of road surface according to the road information; obtaining first vehicle parameters and a first yaw rate of the vehicle, the first vehicle parameters including a turning angle of steering wheel, and a longitudinal speed, and a lateral speed; determining a second yaw rate of the vehicle according to the first vehicle parameters, the first yaw rate, and the friction coefficient of road surface; determining a yaw moment of the vehicle according to a difference value between the first yaw rate and the second yaw rate; and distributing the yaw moment to a four-wheel driver, the four-wheel driver including four independent drivers for driving wheels. A computing device and a non-transitory storage medium are also provided.

The invention relates to an automobile finite time path tracking fault-tolerant control method considering steering actuator faults. The method comprises the following steps: firstly, establishing a vehicle dynamics model and a steering execution mechanism dynamics model, designing a path tracking control strategy by applying a model prediction control method, and establishing an upper-layer path tracking controller; then, on the basis of a differential driving auxiliary steering principle, a preset performance control method of finite time convergence and a nonsingular fast terminal sliding mode control theory are combined, and a steering actuator fault-tolerant controller is established; and finally, designing a torque distribution controller by adopting an optimal control theory, and solving an optimal four-wheel driving torque control quantity through quadratic programming. According to the method, the influence caused by the failure of the steering actuator can be effectively compensated, the safety and the stability of the vehicle are remarkably improved, and a feasible solution is provided for the fault-tolerant control of the steering actuator in a future intelligent vehicle path tracking scene.

The utility model discloses a wheel side system of a four-wheel drive electric formula racing car. The wheel side system comprises a rim; the hub is arranged in the rim and is fixedly connected with the rim through a bolt; the planetary gear mechanism is arranged in the hub; the planetary gear mechanism comprises a sun gear, a planet gear, a planet carrier and a gear ring; wherein splines are arranged on the outer ring of the gear ring and the inner wall of the hub respectively, and the gear ring and the hub are connected through the splines; an output shaft of the AMK motor is coaxially and fixedly connected with one end of the sun gear; the ventilation valve is fixedly mounted on the hub and is communicated with an inner cavity of the hub; the stand column is fixedly connected with the planet carrier; the switching disc is arranged between the AMK motor and the stand column; wherein the AMK motor is connected with the stand column through the adapter plate; the brake disc is arranged on the outer side of the hub in a sleeving mode and connected with the hub through a bolt.

To effectively use heat generated in a transaxle for heating inside a cabin.SOLUTION: A vehicle is a four-wheel-drive vehicle based on front-wheel driving. A front-wheel transaxle includes a front-wheel motor, a reduction gear, and a differential gear, and transmits drive power of the front-wheel motor to front wheels. The front-wheel transaxle includes a disconnect mechanism. An air-conditioner uses heat (waste heat) that is generated in the front-wheel transaxle for heating inside a cabin. In a case where heating is requested (a positive determination at S10) and the disconnect mechanism is disconnected (a positive determination at S11) and if a first condition (a travel state with a heat dissipation to outside air from the front-wheel transaxle being equal to or higher than a given value) does not hold (a negative determination at S12), a control ECU requests connection of the disconnect mechanism. It is therefore possible to use the heat generated by co-rotation of the front-wheel transaxle for heating the inside of the cabin.SELECTED DRAWING: Figure 3

The brake control unit according to one embodiment serves to control, for example, a hydraulic brake capable of generating a hydraulic braking force on both the front and rear wheels of a four-wheel drive vehicle, and an electric parking brake capable of generating a parking braking force, different from the hydraulic braking force, on the front wheels or on the rear wheels, wherein the brake control unit is provided with: a detection unit for detecting an actuation of the parking brake in order to cause the electric parking brake to generate a parking braking force;and a control unit for reducing the hydraulic braking force generated on the front wheels and on the rear wheels, and adjusting the hydraulic braking force generated on the other from the front wheels or the rear wheels to a level that allows a steady state of the vehicle to be maintained before a parking brake force is generated by the electric parking brake when an actuation of the parking brake is detected, while a steady state is maintained solely by the hydraulic braking force generated on both the front and rear wheels.

The four-wheel drive industrial vehicle comprises a vehicle body, a front drive unit and a rear drive unit, the front drive unit and the rear drive unit are used for providing driving force and arranged at the two ends of the vehicle body respectively, the front drive unit comprises a front drive motor, and the rear drive unit comprises a rear drive motor. According to the four-wheel drive industrial vehicle, the cross-country and gradeability of the electric industrial vehicle can be improved; and dynamic feedback control is adopted, real-time driving of the driving wheels is kept, the driving force can be reasonably distributed, and the industrial vehicle can deal with different road surface working conditions and has real-time driving and escaping capabilities.

Methods and systems for configuring a four-wheel drive high gross weight vehicle are presented. In one non-limiting example, a traction battery covers a lateral expanse between a first frame rail and a second frame rail, thereby providing higher storage capacity for the traction battery even though the vehicle is configured for four-wheel drive.

An auxiliary driving apparatus of a four-wheel drive (4WD) hybrid electric vehicle is provided. The auxiliary driving apparatus is a series-type driving apparatus to which a longitudinal engine is applied, and a driving mechanism including an engine, a motor, and a plurality of clutches is applied to the front wheel side of a hybrid electric vehicle with a motor applied to the rear wheel side as a main driving source, so that the series mode can be implemented in the rear wheel 2WD mode, and the 4WD (AWD) EV mode can be driven when the engine is stopped.

According to the underground cable tunnel inspection robot based on dynamic PT symmetric tuning and the wireless charging system, a honeycomb-shaped aluminum alloy antimagnetic waterproof shell and an integrated omnidirectional four-wheel drive system are adopted for a movable chassis, and double permanent magnet synchronous motors and a stainless steel waterproof structure are arranged, so that high maneuverability in a humid multi-obstacle environment is ensured. And the inspection module integrates multispectral imaging, non-contact infrared temperature measurement and UWB positioning beacons to realize cable surface defect detection and environmental parameter analysis. The dynamic energy cabin cooperates with the PT symmetric wireless charging tuning unit through a three-degree-of-freedom adaptive compensation mechanism, and supports all-weather contactless energy supply in combination with a double-circuit power supply management module. The electromagnetic waterproof shell adopts a three-layer composite shielding structure and a waterproof ventilation valve, so that high-frequency magnetic field interference and moisture erosion are effectively resisted. And the control communication module realizes precise operation through multi-modal data fusion and master control decision. The self-cleaning device is provided with a 360-degree rotating spray head and a miniature high-pressure air pump, and pollutants on the surfaces of a lens, an infrared window and a coil can be rapidly removed. Dynamic PT tuning, electromagnetic barrier and intelligent compensation technologies are integrated through modular design, the inspection precision and safety in high-humidity, strong-magnetic interference and complex terrain environments are remarkably improved, the system has the characteristics of self-cleaning maintenance, efficient wireless charging and low manual intervention, and an all-weather autonomous intelligent operation and maintenance solution is provided for an underground cable tunnel.

The present invention provides a method for estimating the longitudinal speed of a four-wheel drive hub motor vehicle, ensuring that the longitudinal speed can be estimated stably and accurately under complex nonlinear working conditions where the wheels slip or lock. The method first collects vehicle state parameters, uses an extended sensor data method, improves the volumetric Kalman filter method, adds a balance weighting factor, and obtains the longitudinal speed observation value through weighted fusion; secondly, four driving wheel speed signals are used for comprehensive discrimination, the current driving state of the vehicle is identified in real time, fuzzy logic rules are formulated to obtain the similarity coefficient of each driving wheel, and the longitudinal speed estimation value is obtained through fusion integration; finally, a comprehensive analysis is performed based on the longitudinal speed observation value and the estimated value, and the final longitudinal speed is obtained through weighted fusion by introducing a working condition adaptation factor. The method has good adaptability and strong stability in a nonlinear strongly coupled system, and improves the robustness of the longitudinal speed estimation under complex working conditions.

The invention discloses a remote control four-wheel drive power chassis, and relates to the technical field of agricultural machinery, the remote control four-wheel drive power chassis comprises a rack and four drive wheels, the four drive wheels are hinged to the rack through a vertical shaft, a steering motor is arranged on the rack, the steering motor is connected with a steering gear, and the steering gear is connected with a vertical shaft component. According to the remote control four-wheel drive power chassis, steering can be controlled through four wheels at the same time, in-situ 360-degree folding line steering at any angle is achieved, the turning radius is greatly reduced, the steering operation problem of irregular land parcels is solved, meanwhile, remote control is adopted, an operator does not need to walk along with a machine, operation can be controlled in fields, and the working efficiency is improved. And the device can be popularized and applied in vast hilly and mountainous areas, and has important significance for improving the production mechanization level of the hilly and mountainous areas in China.

A cooling control device for an electrified vehicle comprising: a first electric oil pump for supplying oil to a first motor for driving a front wheel; and a second electric oil pump for supplying oil to a second motor for driving a rear wheel, wherein the device is capable of switching between a four-wheel drive travel mode and a two-wheel drive travel mode in which a second motor is used as a driving force source; wherein when a two-wheel drive travel mode is selected, the device starts operating the first electric oil pump when only the second electric oil pump is driven and it is predicted to run in a four-wheel drive travel mode.

The invention relates to the field of vehicle automatic driving, and discloses an automatic driving vehicle state estimation method and a fault detection method, comprising the following steps: S1, firstly establishing a four-wheel independent drive electric vehicle dynamics model and a steer-by-wire system model, the method is used for accurately reflecting dynamic response behaviors of the four-wheel drive electric vehicle under different working conditions. S2, establishing a CAN bus delay fault dynamic model based on the reference model obtained in the step S1; s3, fusing the vehicle dynamic state and the camera measurement information based on an algorithm so as to obtain accurate vehicle state information; and S4, timely and accurate detection of the CAN communication delay fault is realized through the vehicle state information obtained in the step S3 and by using a strategy. According to the method, the dynamic model of the four-wheel independent drive electric vehicle and the visual information of the camera are fused through the unscented Kalman filtering algorithm, and the state estimation precision and robustness are remarkably improved.

A hybrid electric vehicle (HEV) includes a front driveline configured to drive front wheels, a rear driveline configured to drive rear wheels, and an electrically variable transmission (EVT) including a power splitting gear set. An internal combustion engine is selectively connected to an input member of the EVT to provide drive torque to the front driveline. A first electric machine is coupled to the EVT via a connecting member to selectively provide drive torque to the front driveline. A second electric machine is configured to selectively provide drive torque to the rear driveline. A battery is electrically coupled to the first and second electric machines for powering thereof. The internal combustion engine, the EVT, and the first and second electric machines are configured to provide the HEV with four-wheel drive or all-wheel drive capability.

To provide a disconnector apparatus with a limited slip differential function, which enables switching of power between two-wheel drive and four-wheel drive, and performs differential limitation through the action of frictional force of a friction member on both side gears when a rotational resistance difference in both drive wheels occurs during vehicle travel.SOLUTION: A disconnector apparatus includes: a casing; first and second pressure rings provided at two opposite sides while opposing each other at an interval in the casing and having first dog portions provided on outer-diameter portions thereof; and a clutch ring coupled to an outer-diameter portion of the casing and connected to a sleeve configured to be operated by an operation of an actuator device, in which the clutch ring moves in a meshing direction when the sleeve is operated by the actuator device, such that second dog portions provided on an inner-diameter portion of one end positioned in the casing mesh with first dog portions of the first and second pressure rings, such that four-wheel drive is implemented.SELECTED DRAWING: Figure 3

To provide a control device for a 4WD vehicle, capable of maintaining 4WD traveling and stabilizing vehicle behavior even when an abnormality occurs in a wheel speed sensor for detecting a wheel rotational speed.SOLUTION: While a vehicle is traveling in a 4WD state, when an abnormality occurs in a wheel speed sensor 86, and when a high-friction road determination unit 74 determines that the vehicle is traveling on a high-friction road, and an automatic driving control unit 76 is performing automatic driving control, a drive control unit 72 performs torque distribution control without using a wheel speed Nw output from the wheel speed sensor 86. As a result, it is possible to provide a control device 70 for a 4WD vehicle, capable of maintaining 4WD traveling and stabilizing vehicle behavior even when there occurs the abnormality in the wheel speed sensor 86, making it impossible to detect a slip, in a case where the vehicle is traveling on the high-friction road unlikely to cause the slip and is being automatically driven such that an occurrence frequency of requests for sudden acceleration / deceleration is low.SELECTED DRAWING: Figure 2

To provide a disconnector apparatus, in which a clutch ring engages with a support ring in a casing main body, such that four-wheel drive may be implemented.SOLUTION: A disconnector apparatus includes: a casing including a casing main body and a cover coupled to the casing main body; a support ring provided in the casing main body; and a clutch ring having a first clutch part provided on an outer-diameter portion thereof, and a second clutch part provided on an inner-diameter portion thereof. The clutch ring can be moved toward the support ring by being pushed by a sleeve. The first clutch part engages with a third clutch part provided on an inner-diameter portion of the casing main body at ordinary times, and the second clutch part can engage with a fourth clutch part provided on an outer-diameter portion of one side of the support ring.SELECTED DRAWING: Figure 1

The present invention discloses a waterproofing construction equipment and method for high-speed railway tracks, including a coating and rolling machine, a spraying composite paving vehicle, and a spraying edge banding vehicle. The coating and rolling machine is used to perform waterproofing construction on the base plate in the middle part of the high-speed railway track, and includes a four-wheel drive system, an electric control system, a frame, a feeding device, and a compacting device. The compacting device can automatically adjust its height in the vertical direction according to the undulations of the base plate pavement. The spraying composite paving vehicle is used to perform waterproofing construction on the base plate on the side of the high-speed railway track, and includes a frame, a spraying device, and a pressure roller. The length of the pressure roller can be adjusted according to the width of the side base plate. The spraying edge banding vehicle is used to perform waterproofing construction on the inner corner of the high-speed railway track, and includes a frame, a spraying pipe, and a spraying window. The discharge direction of the spraying pipe is toward the spraying window. By using different vehicle bodies to perform construction on different positions of the high-speed railway ballastless track, the coating is sprayed evenly and stably, and the coil is laid firmly, which greatly improves the construction quality.

The invention relates to the technical field of automobile control, in particular to an anti-skid control method and device for a four-wheel-drive electric automobile and the automobile, and the method comprises the steps that the driving torque, the four-wheel positive pressure and the resultant pressure after rolling torque distribution of the four-wheel-drive electric automobile during wheel speed slipping are obtained, and the friction coefficient of the automobile is estimated according to the three parameters; and judging the friction working condition of the four-wheel-drive electric vehicle based on the friction coefficient. Under the friction working condition, four-wheel gravity is calculated, and four-wheel driving force, a driver control signal and a vehicle body posture signal are obtained; and determining a front wheel resultant moment and a rear wheel resultant moment based on the four-wheel gravity, the four-wheel driving force, the driver control signal and the vehicle body posture signal. And under the slipping working condition of the four-wheel-drive electric automobile, anti-slip control is conducted on the automobile according to the front wheel resultant moment and the rear wheel resultant moment. Therefore, the problems of difficulty in timely and active inhibition of vehicle slipping and drifting under high torque on the ice and snow covered pavement, insufficient safety and the like in related technologies are solved.

The invention relates to the technical field of integrated collaborative optimization control, in particular to a driving path tracking and stability control method for a distributed driving electric vehicle, which comprises the following steps of: constructing a vehicle integrated dynamic model, fusing data driving transverse dynamics and other models, and carrying out dynamic control on the vehicle integrated dynamic model; front wheel steering and four-wheel driving coordination control of the distributed driving electric automobile is realized; discretizing the model to obtain a system state, output, control input and disturbance under discrete time; constructing a model prediction controller multi-objective optimization function containing a system output and control input weighting matrix; the speed tracking weight in the system output weighting matrix is adaptively adjusted according to the vehicle running state, and the longitudinal force distribution weight in the input weighting matrix is controlled according to the wheel slip rate and the like; applying a control input constraint containing a first moment rate limit and a system output constraint introducing a slack variable; and the optimization function and the constraint are converted into a quadratic programming problem with a slack term to be solved, and a front wheel rotation angle and longitudinal traction control instruction of each driving wheel are obtained.

A lawn mower includes a housing (1), a push rod connected with the housing, at least one front wheel mounted in front of the housing, at least one rear wheel mounted at the rear of the housing, a first electric motor driving the front wheel, a second electric motor driving the rear wheel, and a controller electrically connected to the first electric motor and the second electric motor, the controller is configured to turn-on or turn-off the first electric motor and / or the second motor. The lawn mower can be driven in two-wheel drive or four-wheel drive as required, which is convenient to operate and maintain.