2161 results about "Tractor trailer" patented technology

The invention discloses a motor-driven tractor-semitrailer driving stability control method which comprises the following steps: firstly, establishing a tractor-semitrailer three-degree-of-freedom dynamic model, and solving yaw velocity expected values and side slip angle expected values of a tractor and a semitrailer according to driver input and actual vehicle states; secondly, according to the deviation between the expected value and the actual value of the vehicle state quantity, an upper-layer controller outputs the expected additional yaw moment, and the adaptive capacity to the parameter change of the semitrailer is achieved; the lower layer controller then outputs a torque on each wheel according to the desired additional yaw moment and the vehicle state, including a driving torque on the driving wheel and a braking torque on all wheels. By the adoption of the method for controlling the running stability of the motor-driven tractor-semitrailer, unstable working conditions such as rollover and folding of the tractor-semitrailer in the running process can be avoided, the running stability is improved, and meanwhile the method has the self-adaptive capacity for load changes of the semitrailer.

The invention provides a tractor semitrailer full-working-condition active stability control system and method, and belongs to the technical field of vehicle engineering. The system comprises a kinetic model module, a reference quantity determination module and an active stability controller module. The dynamic model module constructs a linear three-degree-of-freedom tractor semitrailer model, a hub motor model and a longitudinal driver model. The reference quantity determination module generates an ideal state value according to the steady state condition of the system and corrects the ideal state value in combination with the road attachment condition. The active stability controller module is divided into three layers, an MIMO-IMFAC controller calculates additional yawing moment, a torque optimization controller optimizes tire load distribution through a quadratic programming algorithm, and a driving / braking torque distribution controller preferentially uses regenerative braking and dynamically adjusts braking torque of the semitrailer according to the yawing moment. By adopting the control system and the control method, the stability and the dynamic response capability of the vehicle under complex working conditions are remarkably improved.

A combination vehicle includes a tractor including a steered wheel and a trailer towed by the tractor. A control device for the combination vehicle includes a control unit. The control unit is configured to, when a reverse operation of the combination vehicle is performed, assist a reverse operation of the trailer by causing a controlled variable to follow a target value of reverse control that is set through a specific operation by an operator. The control unit is configured to execute a process of limiting the target value and a process of limiting a time rate of change in the target value from a viewpoint of suppressing occurrence of a jackknife phenomenon.

A system is operable for controlling a force applied on a trailer being towed by a vehicle is described to a desired force Fd. The trailer has brakes and an optional motor for providing a propelling force to the trailer. A force sensor senses fore-aft forces between the vehicle and trailer at all times while the trailer is being towed. A controller receives signals from the force sensor and is operatively connected to the trailer brakes and the motor. The system controls the force between a towing vehicle and a trailer to the desired force Fd, by any one of: (a) operating the brakes to apply a braking force to the trailer; (b) activating the motor to apply a propelling force to the trailer; and (c) operating the brakes and activating the motor to apply both a braking and a propelling force to the trailer.

The invention discloses an electric tractor with a power suspension and an endurance control system and method, and relates to the technical field of electric tractors, and the endurance control system comprises a data acquisition module used for acquiring target data; the control module is used for determining the distribution proportion of the driving torque of the tractor and the driving torque of the power trailer according to the driving torque required by the whole vehicle and the driving working condition of the whole vehicle when the ratio of the electric quantity of the power battery pack of the tractor to the electric quantity of the power battery pack of the power trailer is within a set proportion range; when the ratio is greater than the upper limit of the set proportion range, reducing the driving torque of the power trailer and increasing the driving torque of the tractor; when the ratio is smaller than the lower limit of the set proportion range, the driving torque of the power trailer is increased, and the driving torque of the tractor is reduced. The endurance mileage of the electric tractor is increased, and the power performance of the electric tractor is enhanced.

The invention provides a power-interruption-free gear shifting control method for an electric tractor and an electric trailer. A signal collecting and preprocessing unit, a gear shifting mode decision-making unit, an inter-axle torque dynamic distribution unit and a self-adaptive learning unit are included. The signal acquisition and preprocessing unit is used for receiving vehicle state information acquired by the sensor in real time; the gear shifting mode decision-making unit is used for judging a whole vehicle gear shifting mode signal, adjusting a gear shifting compensation coefficient and dynamically dividing and switching a gear shifting mode; the inter-axle torque dynamic distribution unit is used for dynamically adjusting the distribution proportion of the driving torque of an electric drive axle carried by a second axle of the electric tractor, the driving torque of an electric drive axle carried by a third axle of the electric tractor and the driving torque of an electric drive axle carried by the electric trailer in the gear shifting process. And the adaptive learning unit is used for calculating a compensation factor and realizing online updating of the mode switching rule base.

An automatic charging device is particularly suitable for automatically charging a heavy rail tractor, including a box body; a robotic arm, the robotic arm including a fixed arm and a retractable arm, the fixed arm is fitted in the box body, a driving screw assembly is fitted between the fixed arm and the retractable arm, and the retractable arm can be driven by the driving screw assembly to extend and retract relative to the fixed arm; a flexible unit; and a charging part, wherein the charging part is fitted to a retractable end of the retractable arm by means of the flexible unit, the charging part may be driven by the retractable arm to extend from the box body to implement charging, and after the charging is completed, the charging part may retract into the box body.

The utility model discloses a multifunctional electric farming machine which comprises a tractor, a rotary tillage mechanism and a lifting bracket mechanism arranged at the rear end of the tractor and used for lifting the rotary tillage mechanism. The upper supporting rod and the lower supporting rod are used for being connected with the supporting connecting frame in a buckled mode, and the left connecting plate and the right connecting plate are arranged at the two ends of the upper supporting rod and the two ends of the lower supporting rod in a sleeving mode and used for being connected with the lifting bracket mechanism in a pivoted mode. An upper buckling groove and a lower buckling groove which can be buckled to the upper supporting rod and the lower supporting rod are formed in the upper end and the lower end of the two sides of the supporting connecting frame correspondingly, and a bolt set or a plug pin penetrates through the supporting connecting frame to be locked and fixed to the left connecting plate and the right connecting plate.

A method and system accurately identify vehicles during transit and may be used for tracking the vehicle. Images of discrete distinguishing characteristics of a vehicle, respectively, are captured at an unmanned monitoring station. The images are collectively analyzed to produce an individualistic identifier. The individualistic identifier is correlated with data representative of a particular vehicle stored as part of a database of vehicles. Accordingly, the particular vehicle present at the monitoring station can be identified so that the vehicle can be tracked. Furthermore, key assets of the vehicle, such as the tractor, chassis, and cargo box of a truck, can be identified during the process and by the system so that they can be tracked independently of one another.

The invention discloses a heavy truck autonomous following prediction control method considering sweeping collision avoidance and double reference trajectories, and the method comprises the following steps: building separated double reference trajectories about a front vehicle tractor and a front vehicle trailer based on the real-time state of a front vehicle in a heavy truck formation driving process, based on a ray method, establishing a dynamic prediction algorithm of any unexpected outline position of the heavy truck at any moment, and performing real-time sweeping collision avoidance double-track car following control on the heavy truck according to the separated double-reference track and the dynamic prediction algorithm of any unexpected outline position of the heavy truck at any moment; according to the method, core problems of trajectory tracking distortion, insufficient obstacle avoidance capability and the like in autonomous following of the heavy truck can be systematically solved through double-trajectory modeling, dynamic sweeping prediction and a multi-target optimization mechanism, theoretical innovation and engineering practicability are integrated, and a breakthrough solution is provided for safe and efficient formation control of the unmanned heavy truck.

A weight measuring hitch ball assembly is described. The assembly can include a hitch ball and a body portion having an opening that slidably receives a lower portion of the hitch ball. Additionally, the assembly can include a retention coupling operable with the hitch ball and the body portion to secure the hitch ball to the body portion. The retention coupling can have a retention protrusion and a retention wall defining at least a portion of a retention opening operable to receive at least a portion of the retention protrusion therein. With the retention protrusion extending into the retention opening, the retention wall can provide a mechanical barrier to the retention protrusion that prevents removal of the hitch ball from the hitch ball opening, while allowing slidable movement of the hitch ball within the hitch ball opening sufficient to determine a magnitude of the force acting on the hitch ball.

The invention discloses an aluminum profile double-traction device, and relates to aluminum profile production and processing equipment. The first tractor and the second tractor are arranged on the same guide rail assembly in parallel; the guide roller assembly comprises a guide roller for bearing and conveying the aluminum profile; when the first tractor or the second tractor passes, the guide roller assembly swings downwards to prevent the guide roller from interfering with a clamp. Floating clamps are arranged on the first tractor and the second tractor, torque caused by guide roller retardation or initial stress of the aluminum profile is effectively absorbed and released through the floating clamps, torsional deformation in the horizontal plane is prevented, and the shape quality of the profile is ensured.

A modular structure supports elevated rail segments for delivering electrical power to a moving work machine, such as a hauler at a mining site. End portions of rail segments having narrower widths than body portions of the rail segments are joined within a split fishplate. Laterally opposing faces within the narrowed end portions form a longitudinal overlap, and connectors underneath the rail segments pull the split fishplate together against the end portions. In arrangements with parallel rails around a curvature, the rail segments are adjusted by sliding so that the longitudinal overlap is larger for rails on an inside of the curvature compared with rails on an outside of the curvature.

A relative angle detection device for a combination vehicle, the relative angle detection device being used in the combination vehicle in which a towing vehicle and a towed vehicle are connected by a towing-side connecting member and a towed-side connecting member. The relative angle detection device includes an imaging device that captures an image of one of the towing vehicle and the towed vehicle from the other, a radiation device that emits marker light to a position where the image is to be captured by the imaging device, and an image analysis device that analyzes the image captured by the imaging device to detect a relative angle of the towed vehicle with respect to the towing vehicle.

Systems, methods, and articulated vehicles which use sensor rails attached to trailers to provide improved control for autonomous articulated vehicles. An example vehicle can receive, at a computer system of a tractor operating in an autonomous mode, trailer sensor data from a plurality of trailer sensors located on at least one trailer, the at least one trailer being coupled to the tractor. The computer system can also receive road condition data from at least one sensor, the at least one sensor being located on at least one of the tractor and the at least one trailer. The computer system can then identify, based on the trailer sensor data and the road condition data, a physical condition of the at least one trailer to be modified, and modify, via an electrical signal transmitted from the computer system, the physical condition.

A mobile entertainment stage which when deployed has a stage floor size of approximately twenty feet by sixteen feet, a gross trailer weight of seven-thousand pounds, an overall trailered height of six feet, eight inches, and a standard bumper hitch coupler allowing for a broader range of vehicles for towing. The stage front can be on either side of the stage. The trailered length of the invention is twenty-six feet but includes a break away or fold away hitch to decrease the overall length to approximately twenty-three feet. The length, width and height of the invention allows it to be stored in many garages

The invention relates to a dynamic boundary expansion method applied to an airport automatic driving tractor, and belongs to the technical field of intelligent transportation, and the method comprises the steps: initial point cloud map construction: generating an airport point cloud map through a laser radar SLAM technology; real-time sensing and comparison: registering the current point cloud with a locally cached airport point cloud map, and extracting a difference region based on a grid map; and dynamically updating the map: receiving the difference areas reported by the plurality of vehicles, and dynamically updating the airport point cloud map by the cloud server according to the updating strategy. According to the method, through innovative designs such as space-time dimension dual verification, multi-modal data fusion and hierarchical progressive updating, the sub-second-level response capability to the dynamic environment of the airport is realized while the centimeter-level positioning precision is ensured, and through a sliding time window and a confidence coefficient accumulation mechanism, the positioning accuracy is improved. And the problem of invalid obstacles possibly caused by a single sensing error is effectively solved.

The invention discloses a butt joint positioning method between a tractor and airplane wheels, the tractor and a medium, and the method comprises the steps: obtaining the position description information of the tractor according to source point cloud data collected by a vehicle-mounted laser radar sensor, so as to control the tractor to move to a to-be-dragged airplane; according to the color image and the depth image shot by the vehicle-mounted depth camera, front wheel point cloud information of the front wheel to be dragged is calculated, so that the course angle of the front wheel to be dragged relative to the tractor is calculated, and course angle alignment operation is achieved; according to an alignment color image which is collected by the vehicle-mounted depth camera and contains the front airplane wheel to be dragged, the current pixel coordinate of the center point of the front airplane wheel to be dragged in the alignment color image is calculated, and the horizontal relative pose between the tractor and the front airplane wheel to be dragged is solved, so that horizontal alignment operation between the tractor and the front airplane wheel to be dragged is carried out. According to the technical scheme of the embodiment of the invention, the butt joint positioning accuracy, the environmental adaptability, the automation degree and the operation degree in the traction operation are improved.

The invention relates to the technical field of vehicles, and discloses a method and device for dealing with abnormal disconnection of a trailer, electronic equipment and a vehicle. The method comprises the steps that based on a preset judgment strategy, the connection state of the trailer and a tractor is monitored and judged through a multi-mode sensor; when it is judged that the connection state is abnormal unhooking, a trailer unhooking signal is generated and sent to a vehicle-mounted bus to trigger a corresponding safety mechanism, and the safety mechanism comprises an acousto-optic self-starting mechanism and a self-adaptive driving control mechanism; the self-adaptive driving control mechanism is used for executing a corresponding safe driving strategy through an intelligent driving function in combination with current environment information; and when an instruction that the driver takes over the control right of the tractor is received, the control right of the tractor is returned to the driver. According to the invention, the monitoring function of the multi-mode sensor is combined with the intelligent driving function, so that the potential safety hazard caused by abnormal disconnection of the trailer is effectively solved, and the driving safety and reliability in the transportation process are obviously improved.

Various verification systems are disclosed. A tractor-to-trailer verification system includes a tractor driver smart device and a trailer device in the trailer. The trailer device includes a trailer transceiver and a trailer controller. The tractor-to-trailer verification system is configured to execute, on the tractor driver smart device, a driver-side software application displaying trailer verification instructions to the tractor driver, the trailer verification instructions received by the driver-side software application from a customer device, the trailer verification instructions including a trailer ID of the trailer and a tractor owner ID of the tractor, transmit, from the trailer transceiver to the tractor driver smart device, the trailer ID of the trailer, and confirm, via the driver-side software application, a match between the trailer ID and the tractor owner ID

The present invention relates to a garlic planter, which comprises a sowing box, a garlic-taking unit, a garlic-receiving chute, a garlic-tip turning mechanism and a sowing assembly; the sowing box, the garlic-taking unit, the garlic-receiving chute, the garlic-tip turning mechanism and the sowing assembly are all arranged on a frame; and it further comprises a transmission unit for driving the garlic-taking unit and the sowing assembly. The present invention is towed by a tractor or other towing vehicle to move on the ground, the walking wheels drive the garlic-taking unit to sequentially convey the garlic seeds in the sowing box into the garlic-tip turning mechanism and the sowing assembly, and finally the furrow opener assembly sends them into the soil, greatly improving the mechanization degree of garlic sowing. At the same time, the garlic-tip turning mechanism can effectively identify and adjust the direction of the garlic tips, solving the technical problem of the garlic tips facing upwards during the mechanized planting of garlic.

The utility model discloses a fuel cell tractor, and relates to the technical field of vehicles. The fuel cell tractor comprises a frame, a cab and a hydrogen cylinder, the cab and the hydrogen cylinder are arranged above the frame, the hydrogen cylinder is arranged behind the cab, a driving system, a fuel cell engine and a power cell module are arranged at the bottom of the frame, the fuel cell engine, the power cell module and the driving system are electrically connected in sequence, and the hydrogen cylinder transmits hydrogen to the fuel cell engine. The fuel cell engine converts hydrogen into electric energy and transmits the electric energy to the power cell module, the power cell module transmits the electric energy to the driving system, a fuel cell cooling system is arranged above the hydrogen bottle, and the fuel cell cooling system dissipates heat of the fuel cell engine. The chassis layout of the fuel cell tractor can be simplified.

A tractor unit is disclosed for transporting an elongated load such as a wind turbine blade or wind turbine tower segment. The unit comprises a tractor unit body with a longitudinal axis, a wheel set comprising at least three ground-engaging wheels, one or more of which is driven, said wheel set supporting, driving and steering the tractor unit body, and a load engagement mechanism for engaging with and supporting the elongated load, the load engagement mechanism being mounted on said tractor unit body. The load engagement mechanism is moveable along the longitudinal axis on the tractor unit body from a central location to a periphery of the tractor unit body. The load engagement mechanism is configured to be raised and lowered when positioned at the periphery of the tractor unit body.

A method for controlling a vehicle train, having a towing vehicle and at least one trailer vehicle. The towing vehicle includes a continuous deceleration device for performing a continuous deceleration. The method includes the steps: determining a trailer mass of the trailer vehicle in the prevailing vehicle configuration of the vehicle train; determining a towing vehicle trailer mass of the towing vehicle in the prevailing vehicle configuration; determining a mass ratio of the prevailing vehicle configuration based on the trailer mass and the towing vehicle mass; and limiting a maximum permissible continuous deceleration power of the continuous deceleration device based on the mass ratio. A driver assistance system is configured to perform the method. A commercial vehicle includes the driver assistance system. A computer program product is configured to perform the method.

A braking system includes drive circuitry configured to communicate a brake signal from a towing vehicle to a towed vehicle connected to the towing vehicle, an output node configured to carry the brake signal, and a switch electrically interposing the drive circuitry and the output node. A current detector is in series with the switch and is configured to detect a current through the drive circuitry. The switch is configured to electrically connect and electrically disconnect the drive circuitry from the output node in response to the current.

The invention provides a full-process unmanned transfer system and method based on multi-robot collaboration.The full-process unmanned transfer system comprises a multi-robot collaboration system and a robot control system.The multi-robot collaboration system at least comprises an unmanned tractor, a jacking automatic guiding vehicle, a trailer and a material frame; the robot control system sends task instructions to the unmanned tractor and the jacking automatic guide vehicle and controls the unmanned tractor and the jacking automatic guide vehicle to complete automatic loading and unloading and unmanned transfer work; the unmanned tractor is used for receiving the scheduling task sent by the robot control system, dragging the trailer and the material rack by adopting fusion positioning, and realizing autonomous navigation and operation of the vehicle dragging the material rack and the trailer on a planned route of an indoor and outdoor scene through radar sensing obstacle avoidance; the jacking automatic guide vehicle is used for loading and unloading the materials on the back, adopting radar for navigation and sensing obstacle avoidance, and autonomously running and working on a planned route; the trailer is used as a transport carrier to load the material frame.

A transmission arrangement for a drivetrain of an agricultural towing vehicle includes an input shaft, an output shaft, a transmission device, a transmission unit, and an electric machine. The transmission device includes a mechanical transmission branch and a variable transmission branch with a magnetic-electrical epicyclic transmission stage having an internal rotor, an external stator, and an interposed rotatable magnetic modulation ring being rotationally conjointly connectable to a clutch drive shaft. The transmission unit is arranged downstream in the power flow and includes a first clutch and a second clutch connected to the clutch drive shaft and at least four gear sets for establishing at least four gear ratio stages. The electric machine is coupled to the input shaft and configured to transmit electrical power to the external stator, which is configured to rotate the modulation ring.

The invention relates to the field of trailer assemblies, in particular to an adjustable trailer assembly which comprises a trailer arm connecting rod used for installing a traction vehicle and a traction ball connecting rod used for installing a trailer, the traction ball connecting rod is fixedly connected with the trailer arm connecting rod through an adjusting assembly, and a traction ball seat is fixed to the end of the traction ball connecting rod. The trailer traction device has the advantages that the trailer traction device has the function of connecting a traction vehicle and a trailer, the vertical height of the traction ball connecting rod and the vertical height of the trailer arm connecting rod can be conveniently adjusted, and therefore the trailer traction device can be well suitable for different trailer traction operations and is wide in application range; and the traction ball is convenient to assemble and suitable for popularization and use.

The invention relates to the technical field of tractor power system fault diagnosis, and discloses a method and system for remotely diagnosing a power system fault of a tractor, and the method comprises the steps: monitoring a vibration signal, a sound signal and a temperature signal of a transmission gear of the tractor; extracting a frequency domain feature, a Mel frequency cepstrum coefficient feature and a temperature change trend feature of the vibration signal; carrying out weighted fusion on the signal features by adopting a dynamic weighting mechanism; constructing a fault prediction model based on an XGBoost algorithm, and outputting the gear wear degree and the fault occurrence time; and generating a fault early warning and transmitting the fault early warning to a mobile terminal APP and a cloud platform through an LTE or 5G network. Compared with a traditional fault diagnosis method in the prior art, particularly under the condition of dynamic working conditions, the technical problem that efficient and accurate fault diagnosis of the tractor power system is difficult to realize is solved, and the accuracy and response efficiency of fault diagnosis are improved by combining the convolutional neural network and the XGBoost algorithm.