688 results about "Wheelbase" patented technology

The invention provides a loading safety monitoring method and system for a rear-loading vehicle and the vehicle. The method comprises the following steps that the arc height variable quantity of a plate spring of the vehicle in the current loading state is collected; based on the arc height variable quantity, a vehicle total weight estimated value is obtained through calculation; based on the axle load estimation values of the front axle and the rear axle and the axle distance of the vehicle, estimating the current gravity center height of the vehicle, and dynamically compensating the gravity center height according to the dynamic state parameters; and calculating a stability risk coefficient of the vehicle according to the total weight estimated value of the vehicle and the compensated gravity center height so as to carry out early warning. Displacement sensors are arranged on a front plate spring and a rear plate spring of a vehicle to collect arc height variation in real time, an axle load and a vehicle total weight estimated value are calculated based on a pre-calibrated plate spring rigidity coefficient, the gravity center height of the vehicle is estimated to evaluate the stability of the vehicle, and meanwhile the gravity center height is dynamically compensated based on dynamic parameters in the driving process. The evaluation precision under complex working conditions is improved, and the transportation safety is guaranteed.

The invention provides a double-lamp projection self-adaptive correction method and system based on suspension height adjustment, and belongs to the technical field of intelligent automobile illumination control. Comprising the steps that the real-time height difference between a front suspension and a rear suspension of a vehicle is calculated; calculating the angle difference of the vehicle suspension based on the real-time height difference and the vehicle wheelbase; calculating a vehicle lamp projection downward inclination angle after the vehicle body height is changed based on the angle difference and the vehicle lamp module parameters; correcting the vehicle lamp height according to the updated vehicle lamp projection downward inclination angle; according to the corrected height of the vehicle lamp, updating the initial projection distance of the vehicle lamp, and calculating the projection width of a single lamp; according to the single lamp projection width and the distance between the left and right vehicle lamps, calculating the number of pixel points in a vehicle lamp projection overlapping area; calculating the number of offset pixel points according to the number of pixel points in the vehicle lamp projection overlapping area and the vehicle lamp module parameters; and controlling the projection state of the pixel points in the vehicle lamp module based on the offset pixel point number. And under the condition of different suspension heights, the projection of the double lamps can keep consistent light and shadow effects.

This invention is applicable to the field of vehicle stability control technology and provides a coordinated stability control method and system for distributed, drive-by-wire vehicles. The method comprises the following steps: constructing a vehicle dynamics model; collecting vehicle state information based on a state recognition layer and a driving intention recognition layer, calculating and correcting the ideal yaw rate and ideal center-of-mass sideslip angle; allocating control variable weights using a KDPC algorithm; calculating the values ​​of the vehicle's control variables, namely, the rear wheel angle and the additional yaw moment; and allocating wheel drive torque based on the vehicle force, the additional yaw moment, the ratio of front and rear axle loads, the wheel radius, and the wheelbase. Through its electronic and dynamic control strategy, the invention achieves multi-dimensional advantages in flexibility, stability, energy efficiency, and intelligence, extending the vehicle chassis' extreme performance and vehicle handling stability.

An electric vehicle (e.g., a tricycle, or a car) includes a frame portion having a first side and a second side. A first rear wheel is disposed rearward relative to the frame portion at the first side. A second rear wheel is disposed rearward relative to the frame portion at the second side, the second rear wheel being spaced from the first rear wheel with a wheel base width therebetween (e.g., in a range from 260 mm to 900 mm). A first swing arm is pivotably coupled to the frame portion at the first side and operably coupled to the first rear wheel and extending between the frame portion and the first rear wheel. A second swing arm pivotably coupled to the frame portion at the second side and operably coupled to the second rear wheel and extending between the frame portion and the second rear wheel.

The invention relates to the technical field of electric digital data processing, in particular to a shock absorber data processing method and system based on digital twinning, and the method comprises the steps: obtaining a multi-channel data signal of a shock absorber, and constructing a panoramic vibration data tensor; extracting a discrete digital sequence on a panoramic vibration data tensor time dimension, executing a variational mode decomposition algorithm, and separating and extracting a transient impact feature vector flow; constructing a double-time-axis sliding mapping window, and mapping the transient impact feature vector flow to a future node of a prediction response time axis based on a front and rear wheel preview mechanism of a vehicle wheelbase; operating the time sequence recurrent neural network model, and predicting and generating a target state data matrix of future nodes; and in the numerical constraint space, a prediction type damping adjustment instruction data packet is solved and generated through a rolling optimization algorithm. Through prospective state prediction and optimization solution, the problem of data timeliness caused by calculation delay in digital twinning is solved, and real-time, predictive and safe adjustment of the shock absorber is realized.

The invention discloses a vehicle kinetic parameter identification method based on constrained nonlinear optimization, which comprises the following steps: establishing a vehicle two-degree-of-freedom transverse kinetic model based on a small-slip-angle tire and a road cross slope, acquiring a vehicle historical driving data measurement value, acquiring a to-be-estimated vehicle kinetic parameter, and identifying the to-be-estimated vehicle kinetic parameter according to the to-be-estimated vehicle kinetic parameter. Constructing a constrained nonlinear optimization problem about the yaw velocity, solving to obtain an estimated value sequence of the kinetic parameters of the vehicle, carrying out statistics on the sequence, and taking a statistical median as a final estimated value; on one hand, a vehicle transverse dynamics model including a road cross slope is adopted; on the other hand, the constraint of vehicle parameters is considered, a nonlinear optimization problem is constructed, and the vehicle front axle distance (the longitudinal distance from a front axle to the vehicle mass center), the vehicle rear axle distance (the longitudinal distance from a rear axle to the vehicle mass center), the front wheel cornering stiffness, the rear wheel cornering stiffness and the vehicle total mass are identified at the same time.

The invention discloses a method and system for calculating the longitudinal torsional rigidity effective rate of a rectangular pipe-jacking tunnel under combined acting force and a storage medium. The method comprises the following steps that S1, the bending-pressing-twisting combined acting force on a calculation unit of the rectangular pipe-jacking tunnel is obtained according to the stress condition of the rectangular pipe-jacking tunnel; s2, the stress state of the pipe jacking lining structure is judged according to the relation between the bending moment and the axial force, and the stress state of the structure is divided into two different conditions according to the position of a neutral axis; s3, for different stress states, according to deformation coordination conditions and mechanical equilibrium conditions, calculating the distance between a neutral axle on the section and the center of the section; s4, according to the torque balance condition and further according to the two different conditions, the position of the torsion center and the anti-friction torque generated by the concrete in the pressed area are calculated; and S5, calculating a joint torsion angle and equivalent torsional rigidity, and further calculating the effective rate of the torsional rigidity. The longitudinal torsional rigidity effective rate of the rectangular pipe-jacking tunnel under the bending, pressing and twisting combined acting force can be rapidly and accurately obtained, and a basis is provided for structural safety analysis of the rectangular pipe-jacking tunnel.

The invention relates to the technical field of vehicle control, and discloses a method and device for vehicle linear tracking control and a vehicle. The vehicle linear tracking control method comprises the steps of obtaining first position information of a navigation receiver, a vehicle wheelbase and a first distance between the position of the navigation receiver and the center of a vehicle rear axle; determining a preview point on the target driving straight line according to the first position information of the navigation receiver and the current vehicle speed; based on a trigonometric function relationship, determining a target corner according to the first position information of the navigation receiver, the second position information of the preview point, the vehicle wheelbase and the first distance; and controlling the vehicle to run according to the target corner. According to the vehicle linear tracking control method provided by the invention, errors in linear tracking control can be reduced, and the control precision is improved.

The invention relates to a wall-climbing robot on a large metal structure surface, in particular to a variable-wheelbase magnetic wall-climbing robot which comprises a variable-wheelbase mechanism, a walking mechanism and a steering mechanism, the variable-wheelbase mechanism comprises a front fixing plate, a rear fixing plate, a supporting shaft and a variable-wheelbase power source, and the front fixing plate and the rear fixing plate are connected through the supporting shaft; one fixing plate is linked with the supporting shaft, and the other fixing plate is rotationally connected with the supporting shaft; walking mechanisms are mounted at the two ends of the front fixing plate and the two ends of the rear fixing plate, are connected through a steering mechanism mounted on the front fixing plate, and synchronously adsorb and walk on a metal wall surface; the walking mechanisms at the two ends of the rear fixing plate are connected through a steering mechanism installed on the rear fixing plate and synchronously adsorb and walk on the metal wall face. The invention has the characteristics of modularization, compact, simple and light structure, flexible movement, wide adaptability, easy installation and high control precision.

A train open-top wagon measurement and inspection system and method. The system comprises: a LiDAR group, which is used for generating a laser to scan a train and collecting profile information of the train, wherein the profile information is point cloud data; a wagon identification apparatus, which is used for measuring the wheelbase of the train, determining the wagon type of each wagon of the train on the basis of the wheelbase and the point cloud data, and generating a coupler signal between wagons of the train; and a detection module, which is used for segmenting, on the basis of the coupler signal, the profile information of the train into wagon profile information taking a wagon as a unit, calculating the volume of loaded objects in the wagon on the basis of the wagon profile information when the wagon is an open-top wagon, and identifying foreign matters in the loaded objects.

The invention discloses a new energy vehicle chassis with variable wheel track torque and height, and relates to the technical field of new energy vehicle chassis. According to the new energy vehicle chassis with the variable wheel track torque and height, a positioning sliding plate and an adjusting frame can be driven to slide in the horizontal direction through operation of an adjusting cylinder body II, and then hubs and tires can be driven to horizontally move along with the positioning sliding plate and the adjusting frame, so that adjustment of a single set of wheel tracks is achieved; and meanwhile, the first adjusting cylinder body runs to drive the adjusting frame to slide in the vertical direction, the hub and the tire can be driven to slide up and down along with the positioning sliding plate and the adjusting frame, the height between the hub and the ground is adjusted, and the adjusting convenience and the using effect of the vehicle chassis are effectively improved.

A non-powered bogie and a railway vehicle, the non-powered bogie comprising a frame, a wheel set (2), a primary suspension device (3), a secondary suspension device (4) and a traction device (5), wherein the frame comprises a cross beam (12), side beams (11) and a primary mounting seat (13); the two side beams (11) are arranged in parallel to each other, and the cross beam (12) is connected between middle portions of the two side beams (11); the primary mounting seat (13) is disposed at end portions of the side beams (11); each side beam (11) comprises a side beam body (11a) and an air spring mounting portion (11b), with the air spring mounting portion (11b) being disposed on an outer side of a middle portion of the side beam body (11a); the cross beam (12) is provided with a central pin hole (1241); the wheel set (2) comprises an axle (21), wheels (22) and an axle box (23), with the axle box (23) being located on inner sides of the wheels (22); the primary suspension device (3) is arranged between the axle box (23) and the primary mounting seat (13); the secondary suspension device (4) is disposed on the air spring mounting portion (11b); and the bottom end of the traction device (5) is inserted into the central pin hole (1241) of the cross beam (12). In the non-powered bogie and the railway vehicle, the stability of supporting and buffering a vehicle body can be improved, and the primary mounting seat (13) as an independent component is assembled with the side beams (11) and can be suitable for bogies with various wheelbases, thereby reducing the production cost.

The invention discloses a blocking device for a railway flatcar. The blocking device comprises a connecting unit, a wheel chock and a guide unit, the wheel chock is arranged on the connecting unit; the connecting unit is detachably connected with the guide unit; the guide unit is arranged on the side portion of the flatcar and is used for fixing the connecting unit and the chock and driving the connecting unit and the chock to move longitudinally. According to the covering and blocking device, the floor cannot be damaged, the reinforcing mode is firmer and more reliable, and longitudinal adjustment can be conducted within a certain range so as to adapt to reinforcing of vehicle types with different axle distances. Meanwhile, the structure is simple, operation is easy, cyclic utilization can be achieved, and cost is saved.

The invention provides a whole vehicle axle load generation method and device, terminal equipment and a storage medium, and the method comprises the steps: obtaining the whole vehicle mass of a target vehicle model, and dividing the whole vehicle mass into a servicing mass module, a passenger mass module and a rated load mass module according to the mass distribution of the vehicle in different states; calculating a servicing mass front axle load of an equivalent mass center of the servicing mass module under the first whole vehicle axle distance based on an association relationship between each part in the servicing mass module and the whole vehicle axle distance; a passenger mass front axle load of the passenger mass module under the first vehicle axle distance is generated according to the distance between the passenger mass center and the front wheel center; generating a rated load mass front axle load of the rated load mass module under the first vehicle axle distance according to the distance from the center point of the trunk to the center of a front wheel; and according to the curb mass front axle load, the passenger mass front axle load and the rated load mass front axle load, the whole vehicle axle load of the target vehicle model is generated. According to the method, the whole vehicle axle load calculation efficiency and flexibility of different vehicle types can be improved.

The invention provides a target vehicle pose detection method and system based on a single-line laser radar point cloud, and relates to the technical field of vehicle positioning, and the method comprises the following steps: S1, carrying out the preprocessing of point cloud data collected by a laser radar based on a DBSCAN algorithm, screening out noise points, and generating an effective cluster; s2, performing L-shaped feature fitting on each cluster, and calculating a tire center point coordinate; s3, calculating vehicle pose data according to the at least three tire center points, wherein the vehicle pose data comprises a wheelbase, a vehicle center coordinate and a parking angle; and S4, transmitting the vehicle pose data to a parking AGV control system through a communication protocol. The method has the beneficial effects that by adopting the positioning method integrating the laser radar and AGV four-wheel positioning, the vehicle navigation and positioning precision is further improved; a laser radar point cloud is combined with an L-shaped feature fitting algorithm, the pose of a target vehicle is obtained in the walking process of the parking AGV, the pose detection efficiency of the parking AGV is improved, and the walking fluency of the parking AGV is improved.

The invention belongs to the field of intelligent transportation, and discloses a large transport vehicle violation detection method and system based on multi-dimensional data matching, and the method comprises the steps: carrying out the data segmentation of the data information of the axle load and axle distance of a special multi-axle large vehicle measured by a dynamic weighing system, and forming a one-dimensional discrete data graph, and according to the formed one-dimensional discrete data graph, establishing a mapping relation between the axle load wheelbase and the total load of the large transport vehicle, and judging whether the large transport vehicle is overloaded or not based on the relation. An image of a large transport vehicle is collected through a highway camera, a point cloud model of the large transport vehicle is generated by adopting an SLAM algorithm, geometric parameters of the large transport vehicle are extracted, and the obtained point cloud model is matched with a preset contour template so as to judge whether the large transport vehicle is loaded illegally or not. According to the invention, one-dimensional data and two-dimensional data are fused in detection of overweight and illegal loading of the vehicle, so that violation detection of the large transport vehicle is realized.

A four-rod type pull rod gear engaging control assembly relates to the technical field of gearbox tools and comprises a side control shell, a gear selecting shell is fixedly connected to the side control shell, a main gear selecting shaft and an auxiliary gear selecting shaft are rotatably arranged on the opposite side walls of the gear selecting shell respectively, and a main rod sliding rod and an auxiliary rod sliding rod are rotatably arranged at the end of the side control shell side by side; a main control seat with a fixed position is fixedly arranged above the side control shell, a main gear selecting adjusting seat which is arranged in a longitudinal swinging mode is hinged to the main control seat, a main gear selecting pull rod is hinged to the main gear selecting adjusting seat, a main gear selecting rocker arm is vertically and fixedly connected to the main gear selecting shaft, and the lower end of the main gear selecting pull rod is hinged to the swinging end of the main gear selecting rocker arm. The gear shifting control mechanism solves the problems that in the prior art, the lower end of an operating rod is directly connected to a gear shifting mechanism, so that due to the fact that tractors of different models are different in wheel track and limited by different positions of metal plates, an existing gear shifting control mechanism is low in flexibility in the using process, and the using range is limited.

The invention provides a parking path planning method and device of a semitrailer and terminal equipment. The method comprises the steps that the initial vehicle state, the target parking position and the parking area of the semitrailer are obtained; converting the semitrailer system model corresponding to the semitrailer into an equivalent single vehicle model; wherein the trailer rear axle center of the semitrailer is determined as the rear axle center of the single-vehicle model, the center distance between the hinged point of the tractor of the semitrailer and the trailer and the rear axle center of the trailer is determined as the single-vehicle axle distance in the single-vehicle model, and the tractor is determined as the single-vehicle wheel of the single-vehicle model; determining a model node path of the single vehicle model in the parking area based on a mixed A * algorithm by using the initial vehicle state and the target parking position; and determining the parking path of the tractor according to the model node path, the corresponding relationship between the semitrailer system model and the single vehicle model and the kinematics relationship between the tractor and the trailer. According to the method, the parking safety and efficiency of the semitrailer can be improved.

The disclosure notably relates to computer-implemented method for localization of a moving vehicle. The method comprises, at a time period in which the moving vehicle moves above a predetermined speed, obtaining vehicle motion data stemming from four vehicle wheel sensors, and / or a IMU sensor, and / or a Steering sensor. The method also comprises computing a wheelbase parameter and a track width parameter of the moving vehicle from the vehicle motion data. After the time period, the method also comprises using the computed wheelbase parameter and the track width parameter for computing the position and orientation of the moving vehicle. The method also comprises computing a wheelbase parameter of trailer if attached to the vehicle from the vehicle and trailer motion data.

The disclosures herein generally relate to a vehicle and more particularly, to an all-terrain utility vehicle which can perform multiple operations, in varied terrain and soil conditions, with precision and guidance. An all-terrain utility vehicle mainly includes wheel track and wheel base adjusting system, a height adjusting system, a plurality of vertical axle assemblies, a steering system, an implement position adjusting system, a master controller unit and a plurality of wheel drive motors. All the vehicle functions being controlled and guided with the help of an electronic master control module which enables optional manual, remote and autonomous operations. The electronic master control module utilizes externally acquired location data and digital maps with soil and plant information for enabling precision field operations.

The invention relates to the technical field of automobile detection, in particular to a wheel base difference vision measurement method based on a rim circle common tangent, which comprises the following steps: S1, image acquisition: acquiring projection images of two rims on one side of a vehicle through a monocular camera fixed on a bracket; s2, determining internal parameters of the camera and the circle center of the rim: carrying out edge detection and ellipse fitting on the rim image, and calculating the internal parameters of the camera by combining a circular point and absolute conic constraint; s3, determining external parameters of the camera: resolving a rotation matrix and a translation vector of the camera based on the geometrical relationship between the inner and outer common tangent of the ellipse and the image; s4, solving a wheelbase difference: obtaining the positions of the circle centers of the left and right rims in the world coordinate system, and calculating the spatial distance difference as the wheelbase difference; through image processing and geometric modeling, the method is low in cost and suitable for accurate measurement of the wheelbase difference of multiple vehicle types, and has the advantages of being easy and convenient to operate, small in error and low in equipment requirement.

The utility model discloses a tray for transporting a vehicle and a frame type container. The tray for transporting the vehicle comprises a main frame, at least two tire fixers and at least two forklift grooves, the tire fixer is arranged at the side part of the main frame and is used for limiting a front wheel or a rear wheel of a vehicle parked on the tray, and the fixing position of the tire fixer on the main frame can be adjusted along the length direction of the main frame; the two forklift grooves are formed in the main frame and spaced by a preset distance to be matched with forks of the forklift, and inlets and outlets of the forklift grooves are formed in the side portion or the end portion of the main frame and used for allowing the forks of the forklift to go in and out of the forklift grooves. According to the utility model, the tire fixer is arranged on the pallet, so that the pallet is suitable for fixing vehicles with different axle distances and wheel treads, and the forklift grooves are formed in the pallet, so that the pallet is suitable for a forklift to carry the pallet, the vehicles are convenient to load and unload in a container, and the container is used for railway transportation, thereby obviously reducing the cost of railway transportation vehicles.

A vehicle lift includes a platform having an adjustable length according to a wheelbase of the vehicle. A plurality of clamps are mounted on the platform, each clamp having an adjustable lateral position with respect to a width of the platform to mechanically engage a respective tire of the vehicle when the vehicle is located on the platform. A plurality of motorized lifts are located below the platform, each lift mechanically coupled to the platform, each motorized lift having an adjustable height to raise and lower the platform. Each motorized lift is moveable with respect to the first axis to vary the adjustable length of the platform and with respect to the second axis to adjust the lateral position of the respective clamp. When the platform is in a raised position, a service cavity is defined between the platform and a floor to receive a service robot.

The invention discloses a double-wheel magnetic wall-climbing robot adopting permanent magnet adsorption, and relates to the technical field of detection robot production, the double-wheel magnetic wall-climbing robot comprises a main frame, a wheel base adjusting mechanism, a front frame and a rear frame, and the wheel base adjusting mechanism is connected with the front frame and the rear frame; the vehicle further comprises deformation magnetic wheels, the deformation magnetic wheels are arranged on the front vehicle frame and the rear vehicle frame, the deformation magnetic wheels comprise permanent magnet wheels and supporting wheels, deformation driving mechanisms are arranged in the deformation magnetic wheels, and the deformation driving mechanisms drive the supporting wheels and the permanent magnet wheels to be separated and deformed. The axle distance adjusting mechanism drives the front frame and the rear frame to keep rotating, and the axle distance between the deformation magnetic wheels on the front frame and the rear frame is adjusted. According to the double-wheel magnetic wall-climbing robot adopting permanent magnet adsorption, the front frame and the rear frame are driven by the axle distance adjusting mechanism to keep rotating, and the axle distance between the front deformation magnetic wheel and the rear deformation magnetic wheel can be synchronously adjusted; and the safety and the environment adaptability of the robot during high-risk crawling on the surface of the complex steel structure can be remarkably enhanced.

The utility model relates to the technical field of multi-wire cutting, in particular to controllable variable-axle-distance swing multi-wire cutting equipment which comprises a base used for containing material blocks, a cross beam is fixedly connected between the top ends of the left side and the right side of the base, and the left side and the right side of the base are provided with a set of adjusting assemblies and two sets of adjusting assemblies respectively. The left side of the base is provided with a set of tools capable of vertically ascending and descending through a set of adjusting assemblies. The left side and the right side of the base are provided with the first adjusting assembly and the second adjusting assembly respectively, the first adjusting assembly and the second adjusting assembly are respectively composed of the lifting motor, the speed reducer and the lead screw, the length of a cut face can be reduced, cutting efficiency is improved, and each roller support is independent and can be controlled respectively. The upper and lower roller shaft distance is controlled by a program and is executed by the first adjusting assembly and the second adjusting assembly; the first set of tools and the second set of tools are arranged to be matched with the first set of adjusting assemblies and the second set of adjusting assemblies for horizontal adjustment.

The low-altitude seedling throwing system based on the unmanned aerial vehicle is composed of a large-wheelbase multi-rotor flying platform and an operation platform, and the large-wheelbase multi-rotor flying platform comprises a rack, a seedling carrying module and a seedling taking module. The large-wheelbase multi-rotor flying platform provides enough lift force, projection of a sweeping space when the rotors rotate is separated from the sweeping space when the seedling carrying module moves left and right, and the distance is not smaller than 10 cm, so that stable flying of the flying platform with inherent load is achieved. The two seedling taking modules are arranged in a bilateral symmetry mode, a driving motor is connected with a plurality of coaxial reverse seedling taking mechanisms through a driving shaft, forward and reverse interference-free compressible seedling taking is carried out, torque can be counteracted, and vibration is reduced. The two sets of seedling carrying modules are symmetrically arranged on the rack in a V shape front and back, opposite or reverse transverse seedling feeding movement is carried out during operation, the gravity center of the whole machine does not change drastically along with transverse movement of a seedling tray, and the flight stability of the whole machine is further enhanced. The seedling slinging device is compact in structure, ingenious in design and capable of achieving efficient and high-trafficability seedling slinging operation.

The utility model discloses a speed reducer with a variable axle distance. The speed reducer comprises a speed reducer body, the inner wall of the mounting frame is fixedly connected with the inner wall of the speed reducer body through bolts; the outer wall of the variable-pitch assembly is in sliding connection with the inner wall of the mounting frame; the outer wall of the rotating shaft is fixedly connected with the output end of the speed reducer body; the outer wall of the fixing assembly is fixedly connected with the outer wall of the variable pitch assembly; the utility model relates to the technical field of speed reducers, the position of the slip ring on the rotating shaft can be conveniently adjusted by arranging the variable pitch assembly, so that the variable adjustment of the shaft distance of the speed reducer is realized, when the pitch needs to be changed, only the threaded sleeve needs to be rotated, the threaded rod slides to drive the adjusting ring to move, and then the distance of the slip ring on the rotating shaft is changed; operation is easy and convenient, different work requirements can be met, and the purpose of the speed reducer with the variable axle distance is achieved.

To provide a vehicle capable of enhancing user friendliness.SOLUTION: A vehicle 10 comprises front wheels 20, rear wheels 30, a base part 40, a seat 50, and a moving mechanism 60. The base part 40 includes a front frame 41 for supporting the front wheels 20 and a rear frame 44 for supporting the rear wheels 30, and changes a wheel base H being a distance between the front wheels 20 and the rear wheels 30 accompanied by relative movement of the front frame 41 and the rear frame 44. The seat 50 has a supporting surface 51a for supporting an occupant from a lower side. A height of the supporting surface 51a changes in linkage with the relative movement of the front frame 41 and the rear frame 44 when the wheel base H changes. The moving mechanism 60 connects the base part 40 and the seat 50, and moves the seat 50 with respect to the base part 40 so as to change a height position of the supporting surface 51a.SELECTED DRAWING: Figure 1

The invention provides a train instantaneous speed estimation method and system, and belongs to the technical field of rail transit operation monitoring, and the method comprises the steps: collecting a vertical or transverse dynamic displacement signal of a steel rail, and dividing the time domain dynamic displacement data of a certain measurement channel into a plurality of sliding window subsequences according to a fixed length; smoothing each sliding window sub-sequence in sequence to obtain a de-noising smooth waveform of the complete signal; performing wave crest detection on the obtained smooth waveform, and determining the position of a signal wave crest; serialization processing is carried out according to the time sequence, and every two adjacent wave crests are paired so as to judge the bogie and the carriage; and reversely calculating the instantaneous speed of the train according to the identified wave crest time interval and the time difference when each bogie passes by in combination with the train marshalling number, the train fixed distance and the wheelbase information. The method can effectively estimate the instantaneous running speed of each compartment of the train, and has good self-adaptability to signals under the influence of various random parameters.