88 results about "Wheel sizing" patented technology

The invention provides an equivalent taper correction calculation method and system based on wheel rail profile data, and relates to the technical field of motor train unit application and maintenance, and the method comprises the steps: collecting profile coordinate data of wheels, wheel diameters and distance measurement in wheel pairs through machine tool measurement equipment, and obtaining standard rail profile coordinate data and a rail gauge according to the type of a steel rail; carrying out secondary interpolation and smoothing processing on the wheel rail profile coordinates by adopting a spline function to generate wheel rail profile data; the equivalent taper is calculated through a nonlinear differential equation integral algorithm, and a relation curve of the equivalent taper and the transverse movement amount is finally solved; interpolation processing is conducted on the relation curve of the equivalent taper and the transverse movement amount, final correction is conducted on the nominal equivalent taper through an origin symmetry correction algorithm, and a corrected equivalent taper value is obtained. The method has the beneficial effects that the measurement precision of the equivalent taper is improved, the wheel turning repair strategy is optimized, the operation safety and stability of the motor train unit are guaranteed, and the maintenance cost is reduced.

The invention discloses a wheel diameter adjustable trolley with sensing-deformation composite spokes and a control method. Each wheel of the trolley is composed of a wheel axle and a plurality of wheel spokes distributed in a circumferential array mode, and the wheel spokes are of a three-layer composite structure: a driving layer composed of a liquid crystal elastomer is responsible for generating deformation under thermal stimulation; the rigidity-variable layer formed by a rigidity-adjustable polymer realizes hardening locking through ultraviolet irradiation, and realizes reversible adjustment of rigidity through heating; the sensing layer is formed by a multi-walled carbon nanotube grid, can be integrally formed with the driving layer and is used for monitoring the wheel diameter change in real time; according to the control method, the trolley can be switched between the high obstacle crossing ability of the large wheel form and the high load stability of the small wheel form. According to the method, the motion performance under the complex terrain is remarkably improved, and the method has wide application prospects in the field of adaptive mobile robots.

This invention relates to the field of clean energy power generation technology, and proposes a three-source coupled synergistic power generation device based on hydropower, gravity, and kinetic energy. The device includes a water storage tank, a wheel, an upper water tank, an upper water baffle, a closed-loop water tank pump system, a main shaft, counterweight grooves, counterweight blocks, high-pressure spherical bearings, buffer springs, and a dual-start transmission power generation assembly. The wheel diameter is unlimited and can be arbitrarily enlarged according to actual power demand. The wheel size is directly proportional to the output torque and power generation. The upper water tank is circularly arranged on the wheel. The closed-loop water tank pump system is installed on the upper side of the water storage tank. Multiple counterweight grooves are arranged in a circular array on both sides of the top water tank of the wheel. Multiple high-pressure spherical bearings are respectively installed at the bottom of each counterweight block. Multiple buffer springs are symmetrically installed on the upper and lower sides of each counterweight groove. This technical solution solves the problems of limited power output, single starting method, low energy conversion efficiency, and inability to operate with zero carbon emissions in traditional power generation equipment.

The application discloses a kind of track wheel wheel diameter hot state detection device, specifically relates to track wheel detection technical field, including mounting seat, further include supporting device, clamping assembly and adjusting assembly.The present application is set by adjusting assembly, on the one hand, it can keep the same clamping force to track wheel when the diameter of wheel changes and can further push the clamping block to clamp the track wheel when the diameter of wheel is reduced due to cooling, compensate the change of wheel diameter, improve the stability and detection accuracy of device, on the other hand, after scanning is completed, the gas in the telescopic cylinder in compression state pushes the clamping block to further slide on the support frame, and the oxide skin and impurities on the track wheel on the support frame are scraped off, so that the oxide skin and impurities are avoided to accumulate, so that the supporting environment of track wheel remains clean and consistent, the variable introduced by impurity accumulation is eliminated, and the reliability and accuracy of detection are improved.

The utility model relates to the technical field of wheel machining, and discloses a shot blasting machine lifting frame for wheel machining, which comprises a lifting frame connecting rod, a hook is arranged at the top of the lifting frame connecting rod, a plurality of supporting plates are arranged below the lifting frame connecting rod, a sliding chute is formed in the top of each supporting plate, a limiting column is arranged in each sliding chute in a sliding manner, and a plurality of limiting holes are formed in the limiting columns. An adjusting column is arranged at the bottom of the lifting frame connecting rod, and a driving assembly is arranged in the adjusting column. The driving assembly comprises a driving conical tooth, the driving conical tooth is rotationally arranged in the adjusting column, a lead screw is rotationally arranged in each supporting plate, one side of each lead screw extends into the adjusting column and is connected with a driven conical tooth, the driven conical tooth is meshed with the driving conical tooth, and the bottom of the limiting column is connected with a rod sleeve. And each rod sleeve is in threaded connection with the screw rod. The wheel lifting device is convenient to operate, the distance between the limiting columns on the supporting plate can be adjusted according to different sizes of wheels, the wheels of different sizes can be lifted, and practicability is high.

The invention discloses a grinding and polishing tool system capable of adjusting the size of a contact wheel along with the shape and a control method thereof, and belongs to the technical field of grinding and polishing. The grinding and polishing tool system comprises a grinding head mechanism, and the grinding head mechanism comprises an abrasive belt grinding and polishing assembly, a similar contact wheel assembly and a tensioning assembly; an abrasive belt of the abrasive belt grinding and polishing assembly bypasses the tensioning assembly and is connected with the similar contact wheel assembly; the similar contact wheel assembly comprises a rubber roll radius adjusting mechanism, a rubber belt position adjusting mechanism, a bearing belt tightness adjusting mechanism, a rubber belt and a bearing belt. A rubber belt is wound on the rotating part of the rubber roll radius adjusting mechanism to form a rubber roll, and the free end of the rubber roll is fixed on the rotating part of the rubber belt position adjusting mechanism; the bearing belt is connected end to end to form a rotary structure, and is in rolling connection with a rotating part of the rubber belt position adjusting mechanism and the rubber roll at the same time; the rubber roll radius adjusting mechanism is installed on the moving part of the bearing belt tightness adjusting mechanism, and the rubber roll radius is adjusted through the rubber roll radius adjusting mechanism.

The invention provides a whole vehicle wheel diameter correction system and method of a rail train, which is applied to the technical field of rail transit, and comprises a first speed measurement unit, a second speed measurement unit, a third speed measurement unit, a fourth speed measurement unit, a fourth speed measurement unit and a fifth speed measurement unit, and the first speed measurement unit is arranged on a head train and used for correcting the wheel diameter based on the distance between two wheel diameter correction transponders and the trigger time difference between the two wheel diameter correction transponders; the corrected wheel diameter of each shaft of the head car is determined; the second speed measuring unit is arranged on the middle vehicle and is used for determining the corrected wheel diameter of each non-reference shaft of the middle vehicle based on the pulse data of each shaft of the middle vehicle and the preset reference shaft wheel diameter; the corrected wheel diameter of each non-reference shaft of the middle vehicle is sent to the central control unit; and the central control unit is used for visually displaying the corrected wheel diameter of each shaft of the head vehicle and the corrected wheel diameter of each non-reference shaft of the middle vehicle on a human-computer interaction interface. The control precision of railway vehicle wheel diameter correction can be improved, and manual intervention is reduced.

The invention relates to a heavy-load locomotive wheel remaining service life prediction method based on an abrasion rule, and relates to the technical field of heavy-load locomotive operation and maintenance, and the method comprises the steps: collecting wheel basic data, turning repair data, operation data and line data; analyzing the linear correlation between the continuous variable and the abrasion loss by adopting a Pearson's correlation coefficient, carrying out hypothesis testing, and outputting a significance degree factor influencing the wheel abrasion; the wheel diameter average ten thousand kilometer abrasion loss and the wheel flange average ten thousand kilometer abrasion loss corresponding to all the working conditions are obtained; in each iteration, according to the current wheel state and the working condition, calling the average ten thousand kilometer abrasion loss of the wheel diameter and the average ten thousand kilometer abrasion loss of the wheel flange corresponding to each working condition; and training the random forest model by taking the running mileage, the abrasion loss and the line condition as input characteristics, and outputting a corrected accumulated running mileage prediction result. Scientific basis is provided for operation and maintenance management of heavy-duty locomotive wheels, and safety and economical efficiency of heavy-duty railway transportation are improved.

The application relates to the technical field of robot motion control, and discloses a high-precision control method and system for robot motion and a storage medium. The method comprises the following steps: after receiving an original instruction, performing encoder calibration processing based on the angle position information recorded by an encoder and the target position deviation, generating a basic control signal quantity of the rotation angle of a motor, converting a distance to be walked into a control signal quantity of the rotation angle of left and right wheels through calibrated wheel diameter parameters and wheelbase parameters, and outputting a driving control signal for controlling the rotation of the left and right wheels after superimposing an error compensation control quantity generated through a filtering algorithm. The application improves the motion control precision and self-adaptability of a robot in a dynamic environment.

The invention provides a rail transit vehicle wheel diameter calculation method and system, a terminal and a medium, and relates to the technical field of rail vehicle operation safety monitoring, and the method comprises the steps: obtaining sample data obtained through rotating speed tracking sampling; calculating a first-order theoretical shaft solidification characteristic spectrum number according to the sample data and the bearing parameters; according to the sample data and the first-order theoretical axis solidification characteristic spectrum number, fault spectral line searching is carried out to obtain an actual fault spectral line meeting a preset condition; according to a first-order fault spectral line searched in the actual fault spectral line, determining a first fault spectral number; according to the first fault spectrum number, carrying out spectrum refinement analysis to obtain a second fault spectrum number; and the wheel diameter of the rotating speed wheel is obtained, and the wheel diameter of the non-rotating-speed wheel is calculated according to the wheel diameter of the rotating speed wheel, the first-order theoretical shaft solidification characteristic spectrum number and the second fault spectrum number. According to the method, automatic correction of each wheel diameter of the wheel can be realized, and meanwhile, the accuracy of non-rotating-speed wheel diameter calculation is improved.

The utility model discloses a cart with a replaceable large wheel assembly, which comprises a cart body, a first wheel assembly, a second wheel assembly and a dismounting structure, the dismounting structure is arranged on the cart body, the first wheel assembly and the second wheel assembly, the wheel diameter of the first wheel assembly is larger than that of the second wheel assembly, and the dismounting structure is arranged on the cart body. The first wheel assembly can be detachably installed on the vehicle body through the disassembly and assembly structure, the second wheel assembly can be detachably installed on the vehicle body through the disassembly and assembly structure, and when one of the first wheel assembly and the second wheel assembly is installed on the vehicle body, the other is not installed on the vehicle body. The first wheel assembly and the second wheel assembly can be replaced on the cart body, the first wheel assembly is large in wheel diameter, good in passing performance and more stable, the second wheel assembly is small in wheel diameter and more flexible in walking, a user can replace the cart according to needs, the cart is suitable for more scenes, different carts do not need to be purchased, and the use cost is low.

A wheel fitment tool is disclosed. The wheel fitment tool includes a hub plate, a wheel diameter measurement portion adjustably coupled to the hub plate using a hub standoff, a wheel width measurement portion adjustably coupled to the wheel diameter measurement portion, and a wheel offset measurement portion adjustably coupled to the wheel width measurement portion. In operation, a user may set the wheel diameter measurement portion, wheel width measurement portion, and wheel offset measurement portion to desired settings and attach the wheel fitment tool to a wheel hub, enabling a user to determine if certain wheel sizes are usable on a desired vehicle.

The invention provides a multi-steering-wheel robot motion chassis rudder angle compensation calibration method and system, and the method comprises the steps: controlling a chassis to sequentially execute calibration actions in a segmented manner, and collecting the wheel rotating speed, the rudder angle and the chassis positioning pose of each steering wheel i at the n moment of each stage; according to the installation position and the wheel diameter of each steering wheel, calculating the relative pose change of the chassis at the moment before and after the calibration action of each stage is executed so as to determine a corresponding rudder angle compensation value; compensating the rudder angles of the steering wheels, sequentially executing the calibration actions in sections again, and respectively calculating the position offset between the front calibration action and the rear calibration action so as to determine the compensation value of the rudder angles of all the steering wheels of the rear calibration action; and compensating the lower rudder angle of each steering wheel when the chassis moves according to a constructed steering wheel difference compensator. Therefore, the applicability of the multi-steering-wheel mobile robot in a complex high-precision scene is improved.

The logistics transport vehicle comprises a cargo box body and a vehicle frame box, a first variable-diameter wheel is arranged on the outer side of the vehicle frame box, a second variable-diameter wheel is arranged on the outer side of the vehicle frame box, a third variable-diameter wheel is arranged on the outer side of the vehicle frame box, and a fourth variable-diameter wheel is arranged on the outer side of the vehicle frame box. The first variable-diameter wheel and the second variable-diameter wheel are rotationally connected to the two sides of the front end of the frame box respectively. The first to fourth variable-diameter wheels are arranged, and each variable-diameter wheel adopts a single-drive variable-diameter mechanism formed by matching a shear fork rod group with a middle rod group, so that the diameter of the wheel can be changed in real time, the wheel diameter can be increased to increase the obstacle crossing height when the vehicle encounters a higher obstacle, and the wheel diameter can be reduced to reduce the height of the whole vehicle when the vehicle needs to pass through a narrow space; and the trafficability and maneuverability of the logistics transport vehicle in complicated terrains such as warehouse thresholds, stairs and uneven road surfaces are obviously enhanced.

The invention discloses a method and device for predicting the grade of A-type inclusions in a wheel, and the method comprises the steps: sampling on the cross section of a round casting blank for wheel production, and manufacturing a cylindrical sample with a flat surface; determining a detection area of the cylindrical sample based on the ratio of the wheel diameter to the casting blank diameter and the ratio of the wheel diameter to the rim thickness; detecting the length of the A-type inclusions in the detection area, and determining the position and length of the A-type inclusions with the longest length in the detection area; and estimating the length of the corresponding A-type inclusions on the wheel based on the position of the A-type inclusions with the longest length in the detection area, and determining the grade of the A-type inclusions of the wheel. By analyzing the characteristics of the inclusions in the casting blank and combining the metal rheological law in the process of rolling the wheel by the casting blank, the grade of the A-type inclusions in the wheel is predicted, unnecessary rolling and heat treatment of unqualified casting blanks are avoided, meanwhile, waste of the production cycle is reduced, and the production cost is reduced. Therefore, the purposes of reducing the rolling process cost and the rolling time are achieved.

This invention provides a method and system for calibrating the rudder angle compensation of a multi-rudder robot chassis. The method includes the following steps: controlling the chassis to sequentially execute calibration actions in segments; collecting the wheel speed, rudder angle, and chassis positioning pose of each rudder wheel i at time n in each stage; calculating the relative pose change of the chassis before and after each stage of calibration actions based on the installation position and wheel diameter of each rudder wheel to determine the corresponding rudder angle compensation value; using the compensated rudder angles of each rudder wheel, executing the calibration actions again in segments sequentially, calculating the positional offset between the preceding and following calibration actions to determine the overall rudder angle compensation value for the subsequent calibration actions; and constructing a rudder wheel difference compensator to compensate for the downward rudder angle of each rudder wheel during chassis movement. This improves the applicability of multi-rudder mobile robots in complex and high-precision scenarios.

The invention discloses a riding electro-tricycle which comprises a front steering wheel, a middle steering wheel and a rear driving wheel, and the three wheels are combined with a multi-directional triangular frame and are linearly arranged in a road row mode. A steering linkage mechanism is arranged between the front steering wheel and the middle steering wheel, so that the front steering wheel and the middle steering wheel deflect at different angles in the steering process and keep synchronous with the driving direction. The vehicle is provided with a brake synchronizing mechanism, and the three wheels evenly share brake force through a single brake source. And the three wheels are consistent in center height, wheel diameter and wheel base, so that a mutually supporting structure is formed. When passing through a low-lying road surface, the middle wheel and the rear wheel are used for sharing loads to achieve stepped shock absorption. Based on the principles of'three points and one line 'and'mutual assistance', the flexibility of the two-wheeled vehicle is kept, meanwhile, the road holding force, the sideslip prevention capacity and the running stability of the whole vehicle are remarkably improved, and the riding safety and comfort are effectively improved.

An estimating device for determining a new estimated movement value, which indicates the speed of a rail vehicle. A Kalman filter is supplied on the input side with at least torque values, vertical force values, wheel size values, and wheel speed values. Based on these values, and based on a Kalman filtering, the filter determines a Kalman estimated vehicle speed value. A slip module, which is supplied on the input side with the torque values, the wheel size values, the wheel speed values, and the respective previous estimated movement value of the estimating device, determines a wheel circumferential speed value and a sliding indication, which indicates any sliding of the respective axle. An evaluation module determines the new estimated movement value of the estimating device on the basis of the Kalman estimated vehicle speed value, the wheel circumferential speed value, and the sliding indications.

This utility model discloses a bidirectional track-and-ground walking chassis, belonging to the field of chassis technology. It includes a chassis body; a rotating base installed at the center of the chassis body; and at least two drive units, each including a bracket, a driver, a first drive wheel, and a second drive wheel. The bracket is connected to the rotating base via a telescopic push rod, and the driver is mounted on the bracket. The first and second drive wheels are coaxially arranged and driven by the driver, with the diameter of the first drive wheel being smaller than that of the second drive wheel. This utility model enables bidirectional movement with high stability. It reduces the turning radius through lateral movement, simplifies the turning and track-changing path of the bidirectional track-and-ground walking chassis in actual use, improves the chassis's applicability in confined areas, and makes it more suitable for use in ground environments.

A stabilizing unit for stabilizing a track has a vibration generator with rotating shafts that are orientated parallel to one another and have unbalanced masses for generating an impact force with an adjustable direction. Flange wheels and pressure rollers transmit the impact force onto a track panel, that has sleepers and rails secured thereon, of the track to be stabilized. Each flange wheel is rotatably mounted about a wheel axle and has a running surface with a wheel diameter. The rotating shafts are arranged to generate the impact force in a horizontal effective plane such that the horizontal effective plane of the impact force lies no more than 300 mm, in particular no more than 260 mm, above a rolling plane of the flange wheels. The sunken horizontal effective plane prevents interfering tilting torques during a stabilization process.

The utility model discloses a door frame hinge groove processing machine tool, and relates to the technical field of door frame processing equipment, the door frame hinge groove processing machine tool comprises an upper clamping mechanism, the upper clamping mechanism comprises a telescopic rod, a wheel carrier, a rotating shaft, a first clamping wheel, a second clamping wheel and a fixing assembly, the output end of the telescopic rod is provided with the wheel carrier, and the wheel carrier is rotatably connected with the rotating shaft; a first clamping wheel and a second clamping wheel are fixedly arranged on the rotating shaft, the wheel diameter of the first clamping wheel is smaller than that of the second clamping wheel, the axis of the first clamping wheel coincides with the axis of the rotating shaft, the second clamping wheel is eccentrically arranged on the rotating shaft, and a fixing assembly is arranged on the side portion of the wheel frame and used for fixing the rotating shaft. When the upper clamping mechanism is used for pressing the door frame, the upper clamping mechanism can adapt to the height difference between the first step face and the second step face of the door frame of different specifications, and use flexibility can be improved.

The application discloses a train wheel diameter value updating method and device, relates to the train control technical field, and mainly aims at improving system operation efficiency. The main technical scheme of the application is as follows: a first linking distance and a first speed sensor pulse number of a train in a first balise section are acquired; a new wheel diameter value is obtained according to the first linking distance and the first speed sensor pulse number; a second linking distance and a second speed sensor pulse number of the train in a second balise section are acquired; a new predicted running distance and a current predicted running distance are determined based on the new wheel diameter value and a current wheel diameter value respectively in combination with the second speed sensor pulse number; a check feature corresponding to the new wheel diameter value is generated according to the relationship between the new predicted running distance and the second linking distance and the relationship between the current predicted running distance and the second linking distance; and the current wheel diameter value is updated according to a preset correction strategy when it is judged that the current wheel diameter value needs to be updated based on the check feature and a preset correction condition.

The application provides a method for correcting kinematic parameters based on odometer error, and the method comprises the following steps: establishing a double-wheel differential motion model based on vehicle parameters, calculating the linear speed of the left wheel and the linear speed of the right wheel of the double-wheel differential motion model, and calculating the corresponding motor encoder position value according to the linear speed of the left wheel and the linear speed of the right wheel; combining the motor encoder position value to calculate the motion change of the vehicle odometer; combining the motion change to correct the wheel diameter ratio of the vehicle; combining the motion change and the corrected wheel diameter ratio to correct the wheel diameter of the vehicle; combining the motion change to correct the wheel spacing of the vehicle; and bringing the corrected wheel diameter and wheel spacing of the vehicle into step S2 to verify the motion change. The application solves the problem that the wheel diameter and the wheel spacing affect each other in the mainstream calibration method of the double-wheel differential robot model, separates the calibration of the wheel diameter and the wheel spacing, and has high robot positioning accuracy under comprehensive working conditions.

1. Name of the product in this design: Graphical User Interface for Parameter Configuration of Electronic Equipment. 2. Purpose of this design: For configuring parameters of forklift instruments. 3. The key design features of this product are the graphical user interface content. 4. The image or photo that best illustrates the design points: Interface change state diagram 1. 5. Human-Computer Interaction Method of Graphical User Interface: The main view is the power-on display screen. The interface change state diagram 1 shows the status interface. The top of the interface includes the battery level, working hours count, and parking status; the left side includes the main control TR1 fault display, slave control TR2 fault display, main steering STE1 display, and slave steering STE2 display; the right side includes the vehicle's forward / reverse gear display and vehicle speed display; the middle of the interface displays the current vehicle speed mode and wheel angle status; the bottom of the interface contains the system menu; clicking the system menu leads to the interface change state diagram 2, which is the system menu page, including password modification "Pwd cfg", system settings "System Set", parameter monitoring "monitor", and a return icon; clicking "System" in interface change state diagram 2... The "Set" button leads to Interface Change 3, which is Parameter Configuration 1 and includes driving acceleration, maximum driving speed, driving deceleration rate, and slow speed. Clicking the button at the bottom right of Interface Change 3 leads to Interface Change 4, which is Parameter Configuration 2 and includes the distance between the right drive wheel and the center, the wheelbase between the front and drive wheels, the distance between the left drive wheel and the center, and the drive wheel diameter. Clicking the button at the bottom right of Interface Change 4 leads to Interface Change 5, which is Parameter Configuration 3 and includes emergency reverse acceleration, emergency reverse duration, emergency reverse deceleration rate, and emergency reverse speed. Clicking the button at the bottom right of Interface Change 5 leads to Interface Change 6, which is Parameter Configuration 4 and includes the minimum and maximum values ​​of the driving accelerator analog quantity, transmission ratio, driving accelerator analog quantity, and braking rate. Clicking the button at the bottom right of Interface Change 6 leads to Interface Change 7, which is Parameter Configuration 5 and includes the minimum and maximum values ​​of the steering potentiometer analog quantity.

This invention discloses a grinding and polishing tool system and its control method with a contact wheel size that can be adjusted according to its shape, belonging to the field of grinding and polishing technology. The grinding and polishing tool system includes a grinding head mechanism, which comprises a belt grinding and polishing assembly, a contact wheel assembly, and a tensioning assembly. The belt of the belt grinding and polishing assembly passes over the tensioning assembly and connects to the contact wheel assembly. The contact wheel assembly includes a rubber roll radius adjustment mechanism, a rubber belt position adjustment mechanism, a bearing belt tension adjustment mechanism, a rubber belt, and a bearing belt. The rubber belt is wound around the rotating component of the rubber roll radius adjustment mechanism to form a rubber roll, and the free end of the rubber roll is fixed to the rotating component of the rubber belt position adjustment mechanism. The bearing belt is connected end-to-end to form a rotary structure, and it is simultaneously in rolling contact with the rotating component of the rubber belt position adjustment mechanism and the rubber roll. The rubber roll radius adjustment mechanism is mounted on the moving component of the bearing belt tension adjustment mechanism, and the rubber roll radius is adjusted through the rubber roll radius adjustment mechanism.

The invention discloses a railway comprehensive detection vehicle speed control method based on distance and anti-slip compensation, which comprises the following steps: starting a railway comprehensive detection vehicle, and loading operation parameters; the method comprises the steps of periodically collecting operation data and geometric parameters; obtaining a load torque estimated value, an adhesion coefficient, a creep rate and an optimal creep rate through a state observation algorithm based on the operation data; obtaining original mileage data through periodic calculation based on the operation data and the geometric parameters; the mileage data is updated through a wheel diameter compensation strategy and a slip compensation strategy based on the operation data and the geometric parameters, the current wheel diameter value and the calibrated mileage data are updated through an absolute calibration strategy, and a mileage compensation coefficient is obtained through curve data query based on the mileage position of the railway comprehensive detection vehicle to obtain final mileage data; and vehicle speed control parameters are adjusted based on the final mileage data, the adhesion coefficient and the optimal creep rate, a motor control instruction is output through an anti-skid control algorithm based on the working condition state, and wheel rail skid is prevented.

To provide an electric vehicle capable of protecting a machine-electricity integrated unit and an auxiliary machine from impact caused by a front collision.SOLUTION: The electrically-driven vehicle 30 includes a mechanically and electrically integrated unit 300 in which a motor 350 as a power source for driving the front wheels 31 and an electric power control device 310 for supplying electric power of the battery 33 to the motor 350 are integrated. The electrically-driven vehicle 30 is provided with a thermal-integrated unit 400 which is an auxiliary machine. The machine-electricity integrated unit 300 and the thermal-integration unit 400 are arranged between the front wheel 31 on the right side of the vehicle and the front wheel 31 on the left side of the vehicle and inside a wheel diameter of the front wheel 31 in a side view of the vehicle.SELECTED DRAWING: Figure 2

The invention discloses a wheel set measurement and motion detection method. The method comprises the steps of S10, wheel diameter calculation; s20, carrying out quantitative analysis on abrasion; s30, detecting the displacement and the speed of the train; and S40, measuring the horizontal deflection angle of the wheel set. Through real-time displacement, speed and angle measurement, the precision of structured light splicing can be further improved, and the detection robustness under the conditions of non-uniform-speed running, snakelike running, shaking caused by strong wind and the like of a train is improved.