210 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.

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.

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.

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.

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

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.

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, 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.

The invention discloses a wheel hub motor vehicle stability control method and system, and belongs to the technical field of automobile engineering. The method comprises the steps that a fuzzy super-spiral sliding mode observer is designed to estimate longitudinal tire force; designing a super-spiral sliding-mode observer of lateral tire force to estimate the lateral tire force of the front axle and the rear axle; a sliding mode surface is defined according to the slip rate error, sliding mode gain is adjusted based on the correction obstacle function, and braking torque is obtained; according to the yaw velocity and the side slip angle error, generating additional yaw moment by adopting a fuzzy super-spiral sliding mode control law, and distributing four-wheel driving moment under motor torque constraint and longitudinal lateral tire force constraint by taking minimum yaw moment deviation and longitudinal tire force deviation as objective functions, so as to obtain a four-wheel driving moment; and the operation of the hub motor is controlled according to the braking torque and the four-wheel driving torque. And the control stability and safety of the hub motor vehicle under complex working conditions are improved.

The utility model provides a wheel base and axle base adjustable wheel type chassis, the left side and the right side of the front end and the rear end of a bridge frame are respectively connected with a rotating arm steering assembly, and the lower end of the rotating arm steering assembly is further connected with a driving walking assembly. The rotating arm steering assembly is provided with a rotating arm, the tail end of the rotating arm is hinged to the bridge frame, the head end of the rotating arm is hinged to a motor base connecting shaft, a rotating arm oil cylinder is arranged to drive the rotating arm to horizontally deflect, and a steering oil cylinder is further arranged to drive the motor base connecting shaft to rotate through a push-pull rod. The driving walking assembly is provided with a motor base, a hydraulic motor and walking wheels, the hydraulic motor drives the walking wheels to walk, and the steering oil cylinder drives the walking wheels to steer by driving a motor base connecting shaft to rotate. According to the chassis, the wheel distance of the walking wheels can be adjusted according to the sugarcane planting line spacing of a sugarcane plot, so that the wheel distance is matched with the sugarcane line spacing, and to-be-harvested sugarcanes in adjacent lines are prevented from being pressed. In addition, the chassis adopts the design of four-wheel driving and four-wheel steering, the overall turning radius is small, and the passing performance is good.

The application discloses a multi-module fusion vehicle state estimation model and a control method thereof, relates to the technical field of vehicle engineering and intelligent vehicle control, and comprises a tire force estimation module, a vehicle pose estimation module, an adhesion coefficient calculation module, a slip rate calculation module, a road surface friction coefficient identification module and a yaw angular acceleration calculation module; the tire force estimation module acquires four-wheel speeds, four-wheel driving torques, four-wheel braking torques, a vehicle speed, longitudinal acceleration, lateral acceleration, vertical acceleration, yaw angular velocity, pitch angular velocity and roll angular velocity, performs tire rotation dynamics calculation and axle load transfer calculation, and obtains longitudinal forces and vertical forces of each wheel. The application adopts a layered module architecture and multi-parameter fusion calculation, realizes accurate estimation of vehicle states, optimizes calculation logic and constraint mechanisms in different scenes through a working condition self-adaptive strategy, and improves overall estimation accuracy, system stability and engineering adaptation capability.

The invention discloses a stair-climbing anti-explosion inspection robot which comprises an anti-explosion box body, a four-wheel drive system, a stair-climbing mechanism, a sliding table distance adjusting device and a multifunctional detection module. The four-wheel driving system is arranged in the anti-explosion box body and is connected with the stair climbing mechanism; the stair climbing mechanism comprises a wheel assembly, and the wheel assembly is in transmission connection with the four-wheel drive system through a spline structure. The sliding table distance adjusting device is used for driving the spline structure to move axially and adjusting the relative distance between a stair climbing gear and a guide wheel in the wheel assembly. The walking wheels on the road drive the trolley to move, and the stair climbing gears drive the trolley to go upstairs and downstairs during stair climbing. The multifunctional detection module comprises a plurality of functional units. According to the stair-climbing anti-explosion inspection robot, the structural arrangement of motor full built-in and shaft seal dual protection is adopted, and the safety of the stair-climbing anti-explosion inspection robot is greatly improved; a wheel track self-adaptive mechanism is adopted, so that the adaptability is improved; according to the data collected by the multifunctional detection module, AI multi-mode diagnosis and multi-sensor data fusion diagnosis can be combined, so that the intelligence is greatly improved.

In general, this disclosure relates to a system and method of control for driveline actuators (DLAs) in the powertrain of an electric vehicle to perform shifting between two-wheel drive (2WD) and four-wheel drive (4WD) configurations. Sequential and overlapping shift process is used. The first disconnect is instructed by a vehicle control system to begin its shift, which takes approximately 100 milliseconds to complete. A short period of time after the first disconnect is instructed to begin its shift, but before it has completed the shift, the second disconnect is instructed to begin.

The invention belongs to the technical field of vehicle differential mechanisms, and discloses a vehicle differential mechanism device integrated with a gear shifting function, which comprises a shell, a basin gear, a rotating shaft, a forward gear, a reverse gear, a planetary gear set and a gear shifting mechanism. The basin teeth serve as power input ends, and rotating shafts are symmetrically arranged on two sides; the forward gear is connected with a basin gear ring fixed on the basin gear through a one-way bearing, and the backward gear is meshed with the forward gear through a planetary gear set; the gear shifting mechanism can select one of the rotating shaft and the forward gear or the backward gear to be combined so as to achieve forward movement or backward movement. When the wheels on one side of the vehicle are suspended and lose adhesive force, the one-way bearing on the side automatically overruns and idles to cut off power transmission, torque is completely transferred to the wheels on the landing side, and automatic escape is achieved; during normal steering, differential speed of left and right wheels is realized through locking and overrunning characteristics of the one-way bearing. The differential function and the forward and reverse gear function are integrated, the structure is compact, transmission is efficient, and the transmission is suitable for two-wheel drive vehicles, four-wheel drive vehicles and crawler-type vehicles.

A driving force control apparatus (1) is configured to determine a front and rear wheel drive distribution which is a ratio of driving force between front wheels (21) and rear wheels (22) in a four-wheel drive vehicle, and configured to calculate positive or negative standard driving acceleration (XG) obtained based on an input amount from a driving force instruction device (42) of the vehicle and a vehicle speed, and based on the standard driving acceleration (XG), switch between and perform dynamic load ratio distribution control that determines the front and rear wheel drive distribution in accordance with a dynamic load ratio distribution curve (L1) which is a curve of a dynamic load ratio applied to the front wheels and the rear wheels with respect to the standard driving acceleration (XG), and rear wheel-biased distribution control that determines the front and rear wheel drive distribution in accordance with a rear wheel-biased distribution curve (L2) which increases a rear wheel drive distribution compared to the dynamic load ratio distribution curve.

The application relates to a smart chassis domain control method, system, vehicle and medium considering random interference. The chassis control domain method comprises the following steps: calculating a working condition expected value of a vehicle according to a reference track. A state equation with random disturbance is constructed, an information exchange mode of four subsystems of the vehicle is set, an optimal output sequence of a subsystem perturbation vector is solved through quadratic programming, an actual control amount is obtained, and finally, front and rear wheel steering angles, four-wheel driving torques and active suspension forces are obtained by distributing the actual control amount. Through the dynamic modeling of a two-freedom vehicle under a compound working condition, the theoretical reference value of the smart chassis is solved, the influence of external random disturbance on the execution subsystem of the smart chassis is considered, the dynamic state equation of the smart chassis is constructed, the actual control amount of the smart chassis is solved based on the cooperative game idea, and the driving stability and safety of the smart chassis are greatly improved.

The invention relates to a speed changer gear box between the motor (2) output and the wheel drive connection in electric vehicles. The invention relates to controllable four-wheel drive output and external power output in electric vehicles.

The present invention relates to a front and rear torque distribution control device for a four-wheel drive vehicle, which improves the degree of freedom of selection of a front and rear wheel torque distribution ratio to maintain the driving performance of the four-wheel drive vehicle as good as possible. Rotor shafts of front and rear drive motors are rotatably supported by rolling bearings, and a resonance region, which is a predetermined bandwidth including a resonance point determined by the rigidity of the rolling bearings, of a drive system including the rolling bearings varies in accordance with the torque of the rotor shafts. A controller for controlling a drive torque borne by a drive motor for front wheels and a drive torque borne by a drive motor for rear wheels among drive torques required for traveling of a four-wheel drive vehicle is provided with a drive torque setting unit. The drive torque setting unit sets the drive torque generated by the drive motor for the front wheel and the drive motor for the rear wheel at a predetermined vehicle speed to a torque that has a resonance region in a vibration band deviating from the vibration band at the predetermined vehicle speed and that satisfies the torque required for the vehicle to travel.

1.The name of the design product: four-wheel drive off-road telescopic forklift. 2.The use of the design product: four-wheel drive off-road telescopic forklift, four-wheel drive, can meet various complex working conditions such as field, pothole, muddy road, etc., carry goods and objects, at the same time, the large arm can be extended for high-altitude operation, and can carry goods in the deep place of container where ordinary forklifts cannot reach, etc. 3.The design points of the design product: the combination of shape and pattern. 4.The picture or photo that best indicates the design points: perspective view, in use state, Fig.2. 5.The design for which protection is sought contains color.