2750 results about "Tractor trailer" patented technology

The invention discloses an airport unmanned luggage tractor path planning method and system, and belongs to the technical field of unmanned vehicle autonomous navigation, and the method comprises the steps: obtaining an initial path and a final path of an airport unmanned luggage tractor; matching the global electronic map of the airport and the path information of the final path with the actual environment information, and judging whether abnormity exists or not; a local environment in an airport is divided into a plurality of two-dimensional grid units, various obstacles are identified in the two-dimensional grid units, potential energy values are given to the grid units corresponding to the obstacles respectively, when the potential energy values are larger than a preset potential energy maximum value, it is judged that abnormity occurs, and a driving path of the unmanned luggage tractor is re-planned and serves as a final path. The operation of judging whether the abnormity exists or not is executed again, and when the abnormity does not exist, the driving path of the unmanned luggage tractor is generated. The method can avoid local path planning of sudden dynamic obstacles.

The invention relates to a commercial vehicle electric drive axle and a vehicle, and relates to the technical field of vehicle power systems. An electric drive axle of a commercial vehicle comprises a main speed reducer assembly connected with the output end of a motor assembly, one output end of the main speed reducer assembly is connected with the input end of a power takeoff assembly, and the motor assembly drives the power takeoff assembly to output power through the main speed reducer assembly. The power takeoff assembly is integrated on the main speed reducer assembly, the functions of parking power takeoff and traveling power takeoff can be achieved, the power takeoff assembly is particularly suitable for a 6 * 4 tractor pulling coal, and the application cost of an electric power takeoff system can be greatly reduced; meanwhile, the electric drive axle is compact in overall structure, small in occupied chassis space, low in design and manufacturing cost and beneficial to development of new energy tractors.

In various examples, a trailer angle may be estimated using one or more machine learning models to predict one or more keypoints on the center axis of the trailer drawbar (e.g., a keypoint representing the drawbar junction around which the drawbar pivots, one or more other keypoints along the center axis), back-projecting the predicted keypoint(s) onto a three-dimensional (3D) representation of the ground, and calculating the angle between the longitudinal axis of the towing vehicle and a line or ray formed by or fitted to the projected keypoints. The trailer angle may be estimated at any frame rate. For each frame, keypoints may be predicted from that frame and / or optical flow or some other type of feature tracking may be used to propagate predicted keypoint(s) from a preceding frame in lieu of predicting keypoint(s), and the resulting keypoint(s) may be used to estimate the trailer angle for that frame.

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.

A self contained battery and slide frame houses a pair of trailer axles and an electrical vehicle storage battery secured by parallel slide frame rails adapted for attachment to an underside of a standard tractor trailer (Class 8) trailer frame. The slide frame attaches to an underside of a trailer using perforated frame beams used to vary a position of the wheel / axle assemblies relative to the trailer body and payload. The slide frame rails provide self contained support for a storage battery, e-axle, control electronics and connecting wires for charging and running a vehicle load from the storage battery. Vehicle loads powered by the storage battery include transport refrigeration units (TRUs) and electrical vehicle (EV) tractors.

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.

A method for ascertaining a coupling state of a trailer coupling between a towing vehicle and a trailer, wherein a pivotal connection between a towing-vehicle coupling element on the towing vehicle and a trailer coupling element on the trailer is established in a locked state of the trailer coupling, the method including ascertaining coupling information, wherein, depending on a position of a locking mechanism of the trailer coupling and / or a jolt of the towing vehicle and / or trailer, the coupling information indicates whether the trailer coupling might be in the locked state. The method further includes ascertaining positioning information, wherein, depending on sensor signals of a wave-based sensor device, the positioning information indicates whether the trailer coupling might be in the locked state. The method further includes ascertaining a coupling outcome, depending on the coupling information and also depending on the positioning information.

The invention relates to the technical field of tractor chassis, in particular to a pure electric tractor chassis structure and a tractor, the pure electric tractor chassis structure comprises a frame and cross beams, and further comprises a horizontal adjusting assembly, a vertical adjusting assembly, a battery pack, a push switch and a reinforcing plate, the horizontal adjusting assembly is installed between the two cross beams, the vertical adjusting assembly is connected with the horizontal adjusting assembly, and the push switch is connected with the battery pack. The battery pack is installed between the inner side of the vertical adjusting assembly and the surfaces of the cross beams, the reinforcing plate is installed between the two cross beams, the pressing switch is installed on the side, close to the battery pack, of the reinforcing plate, and the horizontal adjusting assembly drives the vertical adjusting assembly to move horizontally. By lowering the gravity center and moving the gravity center forward when climbing a steep slope and ensuring the road holding force of the front wheels of the tractor, the problems of steering failure and insufficient driving caused by insufficient friction force due to the fact that the gravity center deviates backwards when a traction carriage of an existing tractor climbs a slope and turns are solved.

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 erroneous start suppression device equipped with an electronic control unit that controls a drive device that generates a driving force of a vehicle, and the electronic control unit determines whether or not an accelerator operation of a driver is an erroneous operation based on whether or not a predetermined determination condition is satisfied; limits a driving force generated by the drive device when the electronic control unit determines that the accelerator operation of the driver is an erroneous operation; determines whether or not the vehicle is towing a towed vehicle; and changes the predetermined determination condition so that it becomes difficult to determine that the predetermined determination condition is satisfied when it is determined that the vehicle is towing a towed vehicle.

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.

A virtual assist apparatus assists moving a tractor loader relative to a target item for mutually engaging the loader with the target item. An image sensor device generates target image data representative of a target item image. Based on the target image data, tractor heading data representative of a tractor heading of the tractor, and target alignment guidance data representative of a target approach path providing access to a target attachment feature of the target item that is mutually engageable with a corresponding loader attachment feature of the loader are determined. A display unit displays viewable images of tractor heading and the target approach path for assisting the movement of the tractor to position the loader relative to the target item for mutually engaging the loader with the target item. The target item may be an implement couplable with a tool carrier or a load engagable with the implement.

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.

The invention relates to a road paver (1) comprising a towing vehicle (2), at least one drawbar (4), a screed assembly (3) which is attached to a towing point (5) of the towing vehicle (2) via the at least one drawbar (4), a leveling cylinder (8) which is configured to adjust a position, in particular a height, of the towing point (5), a screed lifting cylinder (10) which is configured to adjust a contact pressure of the screed assembly (3), a first measuring device (59) which is configured to determine a screed height (55) of the screed assembly (3), a second measuring device (61) which is configured to determine an angle of attack (14) of the screed assembly (3), and a control device (50) which is configured to control the leveling cylinder (8) and the screed lifting cylinder (10).The invention further relates to a method for controlling the position of a plank assembly (3) and the use of a control device (50) for controlling an angle of attack (14) and a plank height (55) of a plank assembly (3).

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.

The invention relates to a compressed air system (1) of a motor vehicle, in particular of a towing vehicle of a towing vehicle-trailer combination, comprising a compressed air supply system (2), wherein the compressed air supply system (2) includes a compressor connection (10) for a compressor (9) and, as separate units: an air dryer unit (3) with a replaceable air dryer cartridge (4) and a base (5) for the air dryer cartridge (4), a pressure control unit (6) with a first valve assembly (7) and a first control or regulating electronics unit (8) which includes routines for pressure regulation, and with at least one supply air outlet (11), wherein the first control or regulating electronics unit (8) controls the first valve assembly (7) at least in the sense of a pressure regulating function.to generate a pressure-controlled supply of compressed air for at least one compressed air reservoir (12) from the compressed air supplied through the compressor connection (10) at the at least one supply air outlet (11), wherein a compressed air connection is provided between the air dryer assembly (3) and the compressed air control and distribution assembly (6), which includes or is formed by at least one pneumatic line (13).

The invention discloses a wheel folding and unfolding mechanism applied to a power-assisted tractor and a using method. The wheel folding and unfolding mechanism comprises a chassis shell. The upper bearing is connected with the chassis shell; the folding device is arranged on the chassis shell; and the wheels are connected with the folding device. An original welding mode is upgraded into a foldable mechanism, rapid folding and storage of the power-assisted tractor are achieved, the storage size of the whole tractor is reduced, and single-person operation is facilitated. When the motor extends, the gear and the rack act to tighten the tractor, when the motor retracts, the wheels are opened, and folding storage of the power-assisted tractor is automatically achieved. And linear motion of the electric cylinder is converted into rotation of folding storage through the gear and the rack, manual operation is not needed, and only one-key folding is needed. The folding storage mechanism has the advantages that the folding storage function of the upper half vehicle and the folding function of the wheels are achieved, the overall storage size is further reduced, carrying and mounting are convenient, and the practicability and portability of the mechanism are improved.

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.