504 results about "Turning radius" patented technology

A teleoperations system may be used to generate virtual paths of travel for an autonomous vehicle based upon teleoperations system-provided suggestions, and virtual path suggestion constraints, e.g., based upon physical constraints associated with an autonomous vehicle such as minimum turning radius, trailer sweep, and the like, may be used assist in guiding a teleoperations system operator during generation of virtual path suggestions.

The invention discloses a self-balancing type light steering wheel for complex terrains. The self-balancing type light steering wheel comprises a wheel carrier, a steering assembly, a driving assembly and a suspension system. The steering assembly drives tires to steer through a motor via a three-stage gear pair. The driving assembly drives tires through a motor and a speed reducer; the suspension system is connected between the driving mounting plate and the wheel carrier and comprises a parallel connecting rod mechanism and symmetrically arranged spring suspension units, self-adaptive buffering is achieved through a compression spring and a fisheye knuckle bearing, and it is ensured that the tire continuously touches the ground on a rugged road surface; the driving speed reducer is integrated in the tire, the driving motor is arranged between the wheel carrier and the tire, and the whole steering assembly does not exceed the turning radius of the tire. The device is compact in structure, has good terrain adaptability and motion stability, and is suitable for an outdoor mobile robot system.

The invention discloses an excavation roadway turning construction method and a roadway construction method. According to the method, the turning track is accurately controlled through geological parameter pre-research and surveying and setting-out, and the problems of relaxation and damage caused by track deviation and long surrounding rock exposure time of a traditional turning section are effectively solved in combination with pilot tunnel advanced excavation and dynamic collaborative supporting. Pilot tunnel advanced excavation reserves a space for subsequent expanded excavation, a cutting head of the integrated equipment can horizontally rotate to adapt to curve excavation, and supporting force is dynamically adjusted in cooperation with real-time scanning of surrounding rock deformation data, so that the surrounding rock exposure time in turning section construction is shortened to 5-8 minutes from 40-60 minutes of a traditional process, and the construction efficiency is improved. The wall caving and roof caving risks caused by long-time support-free exposure of the surrounding rock in the turning area are remarkably reduced, meanwhile, it is ensured that the turning radius and the turning angle are matched with the design height through a parameter correction program, and the accuracy and safety of turning section construction are improved.

A method and apparatus for planning a vehicle driving path, and an intelligent vehicle and a storage medium, which relate to the field of autonomous driving. The method comprises operations such as acquiring a first pre-planned path, generating a first path on the basis of the first pre-planned path and the turning capability of a vehicle, and controlling the vehicle to travel along the first path, wherein the first pre-planned path is a pre-planned path between a road entrance and a road exit in a target intersection, the first path is a travelling path between the road entrance and the road exit, the first path comprises at least two arc-shaped road sections, and the distance between the road entrance and the road exit is less than twice the turning radius of the vehicle. Therefore, a vehicle can complete a one-time U-turn operation along a first path, thereby achieving the effect of improving the capability of autonomous driving in terms of U-turn scenarios at intersections.

An embodiment locking apparatus for a seat includes a side frame rotatably coupled to a rear end of a cushion part and having an arc-shaped slot hole disposed thereon along a turning radius of the cushion part, a locking protrusion disposed on the cushion part, fitted into the slot hole, and configured to move along the slot hole in a state in which the cushion part is rotated to be changed to a seating mode or a tip-up mode, and a latch rotatably coupled to the side frame and configured to be locked and fixed by the locking protrusion in a state in which the cushion part is in the seating mode or the tip-up mode.

The invention discloses a long-distance maneuvering path planning method and system fused with DOP information, and belongs to the technical field of path planning and navigation. The method comprises the following steps: collecting special vehicle information, GNSS DOP information, geographic information and traffic information; based on the DOP value and the traffic condition, the roads are preliminarily screened, and the gradient, the slope direction, the height limit, the load bearing, the turning radius and DOP information are integrated; road condition information is converted into constraint conditions, and DOP information serves as an optimization target and is fused into a heuristic cost function of an improved algorithm; a path with the best navigation effect is obtained through path searching, visual display is carried out on a geographic information system map, and DOP information changes of all key points on the path are displayed in real time. According to the method, a GNSS signal blind area can be effectively avoided, the feasibility and navigation precision of path planning are improved in combination with vehicle dynamics constraints, and the method is suitable for long-distance maneuvering tasks of special vehicles.

The invention relates to the technical field of steering control, in particular to a steering control method and system for auxiliary driving of a new energy automobile. The method comprises the following steps: acquiring a vehicle minimum turning radius parameter and road environment data; determining a road boundary, an obstacle position and a curve hardening area according to the road environment data; determining a minimum occupied area mechanism based on the minimum turning radius of the vehicle, the road boundary, the obstacle position and the curve hardening area; and planning a steering path according to a minimum occupied area mechanism. Original data are converted into operable boundary and risk information, and input is provided for a minimum occupied area mechanism, so that the safety and compliance of a steering path are improved. The problem of sweeping area accumulation is solved, the occupation in the steering process is minimized, and safety and high efficiency are achieved. The steering path is planned according to the minimum occupied area mechanism, efficient, safe and compliant borrowing steering operation is achieved, and the intelligent level of auxiliary driving is remarkably improved.

The utility model relates to the technical field of wheelchairs, and provides a front wheel driving type stair climbing chair which comprises a chair frame, and a seat plate and a backrest are arranged on the chair frame. Two groups of obliquely arranged track frames are fixedly mounted at the side rear part of the chair frame; a track is mounted on the track frame; the chair frame is further provided with a stair climbing motor used for driving the two crawler belts to rotate synchronously. Two front wheels are mounted at the front end of the chair frame; a rotating shaft is arranged on the chair frame; the two ends of the rotating shaft are fixedly connected with rear wheel legs respectively, and rear wheels are installed on the rear wheel legs. The front wheel is a driving wheel; and the rear wheel is a driven wheel. Therefore, the front wheels are arranged to be the driving wheels, the wheel tread width is small, and then the turning radius is reduced. The structure of the rear wheels is simplified, spacing is reduced, and access to the door frame is facilitated. When the stair climbing chair steers in a narrow space, one front wheel serves as a turning fulcrum, the back and the side faces of the stair climbing chair have enough space, steering operation is convenient and fast, and safety is good. The front wheel is a driving wheel, so that the risk that the stair climbing chair turns backwards during sudden acceleration is also avoided.

A steering model controller in a chassis dynamometer of the disclosure executes a turning determination process of determining whether a driving state of a vehicle is a steering / turning state or a driving straight state based on comparison results between a turning radius for determination and turning radii for comparison calculated based on left steering angle information and right steering angle information. Then, the steering model controller executes a turning control process as a roller control process to be executed in determining that the vehicle is in the steering / turning state. The turning control process is a process of outputting, to a roller driving mechanism, four roller driving commands at which four rollers adapt to the steering / turning state of the vehicle and are rotationally driven.

The invention discloses a four-wheel steering mining dump truck. The four-wheel steering mining dump truck comprises a steering mechanism, a steering hydraulic system, a driving wheel assembly and a frame, the frame is provided with a front axle and a rear axle, the front axle and the rear axle are respectively provided with two driving wheel assemblies, the two driving wheel assemblies of the front axle are connected and mounted on a steering mechanism of the front axle, the two driving wheel assemblies of the rear axle are connected and mounted on a steering mechanism of the rear axle, and a steering wheel of each driving wheel assembly participates in steering; the front axle and the rear axle are respectively provided with an axle support, the frame is provided with a frame support, and the steering mechanism comprises a steering crank, a steering pull rod, a steering arm, a steering cylinder and a steering support; the steering hydraulic system is used for providing pressure oil for the steering cylinder and pushing the telescopic rod to stretch out or retract back. The invention further discloses a steering method of the four-wheel steering mining dump truck. The four-wheel steering electric vehicle has a four-wheel steering function, so that the turning radius of the whole vehicle is smaller, and the vehicle can adapt to a narrower road environment.

A drive-by-wire system can include pair of inputs and a controller configured to process signals from the inputs in a first mode and process the same signals differently in a second mode. The controller can be configured to, in the first mode, drive a first motor at a speed and direction that corresponds to the position of the first input and drive a second motor at a speed and direction that corresponds to the position of the second input and, in the second mode, drive the first motor and the second motor in the same direction and at the same speed using the first drive signal when the controller receives a second neutral signal from the second input, and drive the first motor and the second motor at different speeds and / or directions when the controller receives the first drive signal and the second drive signal.

The present disclosure relates to a vehicle control method, a vehicle control device, and a vehicle control system including same. Specifically, a vehicle control device according to the present disclosure includes: a vehicle travel route estimation unit which estimates a first travel route of a vehicle on the basis of the turn radius and traveled distance of the vehicle, when the speed of the vehicle is equal to or less than a preset speed; a target travel route predicter which confirms a target from periphery detection information about the periphery of the vehicle, and predicts a second travel route of the target; a collision determiner which determines whether there is a possibility of a collision between the vehicle and the target; and a vehicle control unit which controls to perform at least one among an alert control, a brake control, and an avoidance control, when there is a possibility of a collision between the vehicle and the target.

The invention provides an orchard robot collision avoidance track method based on a multi-modal algorithm, and aims to solve the problem of high vehicle branch collision risk caused by narrow fruit tree walkway channel and lateral invasion of tree crowns and branches, and the orchard robot collision avoidance track method based on the multi-modal algorithm is provided. Fusing a front sensing trail rectification strategy to generate a branch collision risk value, a danger direction mark and an avoidance sequence, and setting a risk threshold value associated with a safety transverse margin; the method comprises the following steps of: expanding according to a sequence under traffic constraint, rejecting over-threshold actions, generating a candidate track fitting a side line, selecting a main track according to a fitting degree threshold value, performing transverse correction in combination with a crown edge distance threshold value, finally forming a track, and outputting a steering and speed instruction. According to the method, the track which is continuous in curvature, meets the safety transverse allowance and does not enter the dangerous direction can be generated in the short-distance front range, the branch collision risk is reduced, and the traffic safety and trafficability of the orchard robot in the walkway are improved.

The invention provides an AGV four-steering-wheel automatic calibration system and a dynamic compensation method, and belongs to the field of mobile robots and automatic control. According to the method, the vehicle pose is detected in real time through laser ranging, and meanwhile, the steering wheel angle is automatically compensated by combining analysis and calculation of the turning radius, so that special errors are eliminated through 90-degree rotation and translation detection, and efficient and accurate calibration is achieved. The AGV four-steering-wheel automatic calibration system comprises a vehicle end device which comprises at least two sets of sensors installed on the head of a vehicle in parallel; the fixed end equipment comprises a receiving panel and a coordinate calibration module; the control unit is used for receiving the detection data of the sensor and the light spot coordinate data so as to complete vehicle pose calculation, trajectory analysis and dynamic adjustment of the steering wheel angle; the system interacts with the vehicle end device, the fixed end device and the steering wheel driving module in real time, and is internally provided with a pose calculation unit, a track fitting unit, a radius analysis unit, a dynamic compensation calculation unit and a rotation detection unit.

The invention provides a vehicle turning path planning method and device for irregular land parcels, and is applied to the technical field of path planning, and the method comprises the steps: carrying out the initialization of a pheromone field based on the boundary data of a geographic information system and internal obstacle data, and constructing a rasterized map for representing a passable region; based on the current state of the vehicle, determining the minimum distance of obstacles in the surrounding environment of the target vehicle; based on the real-time movement speed, the minimum turning radius of the target vehicle is determined; determining a dynamic corridor parameter of the target vehicle based on the minimum distance and the minimum turning radius of the surrounding obstacle; based on the dynamic corridor parameters and the pheromone field of the rasterized map, generating a turning point probability density field of the target vehicle, and sampling the turning point probability density field to obtain a turning point set; and constructing a turning path of the target vehicle based on the turning point set, and determining the turning cost of the turning path. According to the invention, Pareto optimization of energy consumption and efficiency in a complex scene can be realized.

An autonomous travelling robot switches between a straight running and turning according to a rotation speed difference between a pair of drive wheels driven by individual electric actuators supplied electric power from a battery, along a target trajectory. The autonomous travelling robot is controlled by monitoring a running restriction that includes an electric power restriction of the battery; and restricting a maximum turning speed, which is a maximum speed when turning with a minimum turning radius, to be smaller than a maximum straight-running speed, which is a maximum speed when straight-running, according to an establishment of a condition in the running restriction.

Methods and systems are described herein for generating travel trajectories for uncrewed vehicles. In particular, a navigation system may receive (e.g., from an operator) a travel velocity for moving a fleet of uncrewed vehicles. The navigation system may then identify whether any aerial uncrewed vehicles have a minimum speed that is higher than the travel velocity. Based on the identifying one or more aerial uncrewed vehicles with minimum speed that is higher than the travel velocity, the navigation system may generate a travel trajectory for each aerial uncrewed vehicle. The travel trajectory may take into account vehicle parameters such as minimum turn radius.

The present invention relates to an underwater hyper-redundant robotic sea eel, comprising a control compartment, two flexible joints, a battery compartment and a functional compartment. The control compartment is connected to a side of the battery compartment by means of one flexible joint, and the functional compartment is connected to the other side of the battery compartment by means of the other flexible joint. The control compartment and the functional compartment comprise propellers that are equal in quantity and are evenly distributed. When the underwater hyper-redundant robotic sea eel is in a straightened state, each propeller of the control compartment has a corresponding propeller of the functional compartment, for which two propellers the connecting line is parallel to the central axis of the underwater hyper-redundant robotic sea eel. The rotation direction of each propeller of the control compartment is opposite to that of an adjacent propeller of the control compartment and that of the corresponding propeller of the functional compartment. Compared with the prior art, the present invention has the advantages of multiple dimensions of motion, a small turning radius, high trafficability, and high stability.

The invention discloses an unmanned engineering machinery steer-by-wire system and a control method in the technical field of vehicle chassis and steering systems. The unmanned engineering machinery steer-by-wire system comprises four wheels and steering modules, wherein the steering modules are in one-to-one correspondence with the four wheels, are completely independent and have the same structure; the corner deflection of the four wheels is cooperatively controlled through a distributed electronic control system; and each wheel is driven by a hub motor. Through four-wheel steering, the minimum turning radius can be 0 m, the trafficability in narrow roadways, sidewalks and obstacle dense areas is improved, meanwhile, four-wheel steering is independently controlled, special movement forms such as transverse translation and oblique advancing are supported, and the four-wheel steering robot is particularly suitable for high-precision operation requirements such as urban road edge stone attaching and sweeping; four-wheel independent main pin steering is combined with a hub motor and distributed redundancy control, so that the reliability, the function safety and the maintainability of the system are remarkably improved, and the system is particularly suitable for unmanned engineering machinery to work for a long time in narrow, complex and severe environments.

An agricultural vehicle includes a steering input device configured to steer the agricultural vehicle to perform a turn. The agricultural vehicle includes a steering control system configured to operate the steering input device. The steering control system includes processing circuitry. The processing circuitry is configured to receive a steering input indicating a curvature to be performed by the agricultural vehicle. The processing circuitry is configured to operate the steering input device using a primary curvature model of the agricultural vehicle and the steering input. The primary curvature model of the agricultural vehicle is configured to predict a steering condition of the steering input device to perform the steering input. The primary curvature model comprising a non-linear relationship between curvatures and steering conditions of the steering input device.

The invention relates to the technical field of road early warning, and discloses an intelligent traffic risk early warning device and method.The intelligent traffic risk early warning device comprises a vehicle type recognition module, a vehicle meeting conflict judgment module and a conflict isolation protection module, the vehicle type recognition module recognizes and collects vehicle images through a YOLOv7 method based on fusion CBAM enhancement, outputs various kinds of information of vehicles passing through a curve, and sends the information to the collision isolation protection module; the collision isolation and protection module is used for receiving a collision signal and outputting the collision signal to the meeting collision judgment module, establishing a summarized data set of meeting actual conditions and executing a meeting safety control method, and the collision isolation and protection module is used for controlling the lifting of a plurality of flexible warning columns arranged at the entrances of the curves on the two sides based on the meeting collision judgment module. According to the device, the minimum vehicle turning radius is dynamically calculated in combination with the vehicle meeting conflict judgment module and compared with the same type of a vehicle meeting critical model, and signal early warning dynamic isolation dual protection is matched, so that the problems that a traditional convex mirror depends on subjective judgment of a driver, and an existing early warning device is manually operated and poor in environmental adaptability are solved; and the safety of vehicle meeting at the mountain road curve is improved.

The present application relates to the technical fields of control arm bushing used in rear suspension system, in particular to a control arm bushing used in rear wheel steering, comprising a first plastic limiting ring, an outer sleeve, a rubber body, an inner sleeve and a second plastic limiting ring; the outer sleeve, the rubber body and the inner sleeve are coaxially arranged from outside to inside; the first plastic limiting ring is coaxially arranged at one end of the inner sleeve; the second plastic limiting ring is coaxially arranged at the other end of the outer sleeve, and the two ends of the inner sleeve are flush with the outer end of the first plastic limiting ring and the outer end of the second plastic limiting ring; the two ends of the rubber body are connected with the inner end of the first plastic limiting ring and the inner end of the second plastic limiting ring. The control arm bushing used in rear wheel steering solves the problem that the ordinary bushing with low static stiffness, large deflection and large durability load cannot meet, and at the same time ensures the comfort of the whole vehicle, and makes a great contribution to reducing the turning radius during vehicle driving.

The invention relates to the technical field of path planning, in particular to an automobile part cutting robot operation path planning method, which comprises the following steps: determining segmentation point pairs between adjacent contours; in response to the fact that the direction mutation factor between the segmentation point pairs is larger than or equal to an abnormal threshold value, the deceleration duration between the segmentation point pairs is calculated; obtaining the total path length between the segmentation point pairs according to the product of the direction transformation angle between the segmentation point pairs and the actual turning radius; based on the total path length and the deceleration duration between the segmentation point pairs, obtaining the constant speed duration between the segmentation point pairs, and calculating a time cost factor; continuously acquiring time cost factors of segmentation point pairs between other adjacent contours; in the multiple cutting routes of the automobile part contour generated by the heuristic algorithm, the working path of the cutting robot is optimized, and the efficiency of planning the working path by the automobile part cutting robot is effectively improved.

A zero turning radius mower park brake system 100 includes a pair of steering levers (101, fig 1) attached to steering arm brackets 102 that are pivotable forward and reverse on a first axis 112 for r

An engine oil pan capable of being installed on a front axle relates to the technical field of oil pans and comprises an oil pan body, the oil pan body comprises a shallow box part extending in the longitudinal direction, one end of the shallow box part is fixedly connected with a deep box part which extends in the transverse direction and is communicated with the shallow box part, and the top of the shallow box part and the top of the deep box part are jointly provided with a top installation edge. A plurality of engine cylinder block mounting holes are formed in the top mounting edge in a shape-following parallel penetrating mode, an end mounting edge is arranged at the end, away from the deep box part, of the shallow box part, and an engine cylinder block connecting plate mounting hole and a flywheel shell mounting hole are formed in the end mounting edge. The utility model solves the problems in the prior art that the space utilization rate of an oil pan is low, the occupied space below a chassis is large due to the independent installation of a front axle and the oil pan, the ground clearance of a vehicle, the layout of a front bracket and the minimum turning radius are limited, and the trafficability and practicability of the vehicle are influenced.

To provide a simulator capable of appropriately reproducing acceleration acting on a user.SOLUTION: The control unit of the simulator receives the squaring angle detected by the first detecting unit or the squaring angle calculated from the angular velocity detected by the first detecting unit and the angle of attack detected by the second detecting unit, calculating an inertial force generated in the support plate in the turn action from an equation of motion related to a gravity of the user acting on the support plate, a frictional force between the support plate and the reference surface, and an air resistance acting on the user in the turn action, using a friction coefficient between the support plate and the reference surface in the turn action as a sum of a first friction coefficient between the support plate and the reference surface in a carving turn action in which the turn action is performed in a state of being inclined in the roll direction and a second friction coefficient between the support plate and the reference surface in a squatting turn action in which the turn action is performed so as to rotate in the yaw direction; The turning radius of the support plate in the turn operation is calculated, and the driving part is controlled based on the calculation result.SELECTED DRAWING: Figure 1

The invention discloses a steering control method and device and a vehicle. The method comprises the steps that the steering intention of the vehicle is obtained; when the steering intention indicates that the vehicle needs to turn around in the first rotation direction, front wheels of the vehicle are controlled to deflect by a first angle in the first rotation direction according to the first rotation direction, a first torque difference is controlled to exist between a first rear wheel and a second rear wheel of the vehicle, and the first torque difference is used for controlling the vehicle to turn around in the first rotation direction; wherein the first rear wheel is the rear wheel on the inner side of the first rotating direction, and the second rear wheel is the rear wheel on the outer side of the first rotating direction. The technical scheme can be applied to intelligent vehicles such as electric vehicles and new energy vehicles, the turning radius of the vehicle can be reduced according to an existing vehicle driving structure, and the vehicle development cost can be reduced. And the steering control scheme provided by the invention can be used for vehicles which are sold on the market through an over-the-air downloading technology, so that the vehicle use experience of the user is improved.

The present application relates to the technical field of unmanned aerial vehicle navigation, and relates to an unmanned aerial vehicle inspection path planning method, system, device and storage medium; wherein the unmanned aerial vehicle inspection path planning method comprises: obtaining a digital elevation model, a digital surface model of a plateau forest area and laser point cloud data of the plateau forest area; determining a three-dimensional voxel space of the plateau forest area based on the digital elevation model, the digital surface model and the laser point cloud data, and determining an unmanned aerial vehicle accessible region by performing accessibility determination on the three-dimensional voxel space based on a vertical safety margin; performing three-dimensional path search from a starting point to an ending point in the unmanned aerial vehicle accessible region by using an improved algorithm; performing smoothing processing on the searched three-dimensional path, and imposing a maximum turning radius constraint and a maximum climb rate constraint to generate a final three-dimensional track. The present application can improve the safety and executability of the planned route of the unmanned aerial vehicle.

The invention discloses an anti-rollover reversing mechanism of a carrying trolley. The anti-rollover reversing mechanism comprises a trolley frame body, four sets of wheel frames and a steering connecting frame used for connecting the four sets of wheel frames. The four groups of wheel frames are respectively pivoted to four corner ends of the bottom of the frame main body and are used for mounting wheels; a steering assembly is further pivoted to the front side of the frame main body, and the steering assembly is rotationally connected with the steering connecting frame; the steering connecting frame is a rectangular frame defined by two transverse rods and two longitudinal rods, and the four corner ends of the rectangular frame are connected with the four sets of wheel frames in a pivoted mode respectively. The steering assembly comprises a steering rod and a steering plate fixedly connected to the lower end of the steering rod, the tail end of the steering plate is pivoted to the middle of one transverse rod, and the lower end of the steering rod is pivoted to the front end of the bottom of the frame body. The four sets of wheel frames are directly and forcibly driven to rotate around the respective vertical axes or pivot points at the same time through movement of the rectangular frame, the vehicle can rotate around a smaller instantaneous center, and the turning radius is remarkably reduced.

This utility model discloses a folding device for the rear support wheel of a hooklift truck based on dual-cylinder drive, relating to the field of special vehicle technology. It includes a first part and a second part, with the first part located at the top of the second part. The first part consists of a longitudinal beam fixedly connected to the frame via U-bolts. A fixing frame is welded to one end of the longitudinal beam, and symmetrically arranged upper supports are welded to one side of the fixing frame. This utility model uses dual-cylinder synchronous control of the support wheel to avoid failure risks, resulting in more stable unfolding / folding actions. The dual cylinders can also distribute the force, making the ground pressure on the support wheel more uniform and improving safety during heavy-duty operations. The folded support wheel is close to the frame to reduce the turning radius and avoid interference with obstacles. It effectively solves the problems of uneven unfolding of traditional mechanical support wheels and frame deformation caused by uneven loading of hydraulic single cylinders, significantly improving the operating efficiency and reliability of hooklift trucks in scenarios such as garbage transfer and equipment loading / unloading.