711results about How to "Guaranteed normal driving" patented technology

The invention discloses an automatic guided vehicle navigation control system and a navigation control method thereof. The automatic guided vehicle navigation control system comprises a central controller, sub controllers, a QR (Quick Response) code positioning system, a grid path navigation system and a goods register system, wherein the sub controllers are arranged on each automatic guided vehicle and connected with the central controller; and the QR code positioning system, the grid path navigation system and the goods register system are arranged on each automatic guided vehicle and respectively connected with the corresponding sub controller. According to the automatic guided vehicle navigation control system and the navigation control method thereof disclosed by the invention, the QR acquisition sensing technology is adopted for acquiring coordinate information of the automatic guided vehicle in a storehouse, so that unified monitoring and management are convenient; the grid path navigation system is adopted for judging the deviation between the practical operation track of the automatic guided vehicle and the predetermined track, so that two wheel differential base plates are adjusted to carry out track compensation, and therefore, the automatic guided vehicle is enabled to drive according to the planned path. Moreover, the structure is simple, the installation is convenient and the navigation transportation of the automatic guided vehicle is convenient.

The invention relates to a rollover prevention dynamic detection method for a wagon on a curved conduit and a warning device. The method comprises the following steps: 1, installing a rollover prevention dynamic detection method for a wagon on a curved conduit which comprises a steering wheel rotation angle measuring device, a yaw angle velocity measuring device, an inclination angle measuring device and an electronic control unit which comprises a single chip microcomputer, wherein a solidification program of the single chip microcomputer is equipped with a centroid height dynamic detection algorithm module and a rollover prevention warning algorithm module, and a rollover alarming range is arranged in the rollover prevention warning algorithm module. 2, collecting steering wheel rotation angle singles, vertical yaw angle velocity measuring singles of the wagon, side-tipping angle singles of a carriage of the wagon, the side-tipping angle singles of a rear shaft of the wagon and vertical speed singles of the wagon. 3, a lateral acceleration and a centroid height of the wagon is counted through the centroid height dynamic detection algorithm module. 4, counting a rollover acceleration threshold value through the rollover prevention warning algorithm module according to the centroid height. 5, sending a corresponding alarm command according to a difference value of the lateral acceleration and the rollover acceleration threshold value of the wagon and the reset rollover alarm range.

The invention relates to a vehicle emission remote monitoring system based on OBD (on-board diagnostics) detection data. The system comprises a data processing unit, a network communicating unit and a remote monitoring client side. On the basis of a KWP 2000 protocol, data flow and a fault code communication algorithm of a data processing unit and an on-board ECU (electronic control unit) are completed, data flow and fault information, such as oxygen sensor signals, accelerated speed, engine loads, engine rotating speed, the fuel-injection quantity and the actual air-fuel ratio affecting an exhaust emission system are extracted, abnormality of the data flow and the system fault content are analyzed, related information is transmitted to the remote monitoring client side with a wireless communication technology, then the working state of a corresponding system part is recognized and diagnosed, and alarm information is sent to an on-board terminal according to the abnormal emission condition, so that vehicle traveling parameters are remotely monitored, and information is fed back.

The invention provides a system and a method for detecting the fault of a power battery of a vehicle. The detection system comprises a voltage detection module connected with a power battery pack, and a judgment module connected with the voltage detection module, wherein the voltage detection module is used for detecting the total voltage of the battery pack and the voltages of single batteries and sending the total voltage and the voltages to the judgment module; and the judgment module is used for calculating the received voltage values and comparing calculation results to judge whether thebattery fails or not. By the system and the method for detecting the fault of the battery, a discharge loop of the battery pack cannot be cut off when a voltage sensor fails, so that the normal driving of the whole vehicle is ensured.

The invention discloses a shifting register and a driving method thereof. The shifting register comprises a plurality stages of cascaded shifting register circuits, a first reset module and a second reset module, wherein each stage of shifting register circuit comprises a main output end, a main input module, a first output module and a second output module; the node between each main input module and each first output module is a first node; the first reset module is used for resetting the first nodes and the main output ends to low level according to a first reset signal input by a reset signal input end; the second reset module is used for receiving a second reset signal output by the next stage of shifting register circuit to reset the first nodes and the main output ends to low level. Before inputting an initial signal, the first reset module resets voltage of the first nodes and the main output ends, so that the gate driving signals are not influenced by the threshold voltage shifting of thin film transistors and the problem that the display units display abnormally due to the threshold voltage shifting of the thin film transistors in the prior art is solved.

The present invention provides a mobile robot, and a method and a system for obstacle avoidance and path programming thereof. The method plans the shortest path between a position where a robot is located and a target point, obtains distance information and edge information detected in real time, determines the type of the distance information, emits a corresponding control instruction according to the type of the distance information, the edge information and a preset control rule, and regulates the direction angle of the robot to allow the robot to move along the shortest path and to avoid obstacles on the paths in the driving process. The method provided by the invention plans the shortest path between the position where the robot is located and the target point by employing a current A*search algorithm according to the real-time position of the robot and the target point aiming at a condition that obstacles are dynamic and a condition that the positions of the obstacles are moved in the path planning step, and therefore, it is ensured that the robot moves along the shortest path in the process that the robot moves the target point.

The invention relates to an automatic inflation pump which can automatically perform air inflation on a tire with air leakage during the driving process of a vehicle and further ensure that the vehicle can be driven continuously under special situations. A pump body is connected to a wheel hub of a wheel; an inflation cylinder and a brake cylinder, which are vertically communicated, are formed inthe pump body; and pistons and springs are respectively arranged in the inflation cylinder and the brake cylinder. The inflation cylinder is communicated with the tire through a one-way valve and an air conveying pipe, and the brake cylinder is communicated with the air conveying pipe through an air guide pipe. A driving ring is connected to a steering knuckle, through holes connected with the inflation cylinder are formed on the wheel hub and a brake disc, and a transmission rod is arranged in the through holes. When the air leakage occurs during the tire during driving, the transmission rodand the inflation piston can move in a reciprocating manner under the common action of the driving ring and the spring, and air can be further inflated into the tire. When the air pressure in the tire and the air conveying pipe achieves a rated value, the piston in the brake cylinder can enter into the inflation cylinder under the pushing of the air pressure, thus the reciprocating movement of the piston in the inflation cylinder can be prevented.

The embodiment of the invention discloses a parking regeneration control method and system, a diesel vehicle and a storage medium. The parking regeneration control method comprises the steps that whenjudging that a vehicle requires parking regeneration, vehicle state parameters and engine operation state parameters are obtained from an engine electronic control unit and a vehicle electronic control unit, whether the vehicle state parameters and the engine operation state parameters meet a first preset condition or not is judged, and if so, a parking regeneration mode is started; and state parameters of a diesel catalytic oxidizer and a diesel particle filter in a post-treatment system are obtained, whether the state parameters of the diesel catalytic oxidizer and the diesel particle filter meet a second preset condition or not is judged, and if so, regeneration is carried out continually. According to the parking regeneration control method and system, the diesel vehicle and the storage medium, by comprehensively considering an operation state of the vehicle and an engine, the safety of the vehicle and the engine before the regeneration treatment is ensured, and the vehicle capable of being driven normally after the regeneration is ensured.

The invention discloses a bus priority control system and a method based on a timetable. The bus priority control system comprises a vehicle identification unit, a timetable database unit, an intersection signal control unit and an intersection signal machine, wherein the vehicle identification unit obtains the information of a bus passing an intersection; bus lines passing the intersection and a preset running timetable are stored in the timetable database unit; and the intersection signal control unit obtains the information of the bus passing the intersection to compare with the running timetable in the timetable database unit, judges whether the bus is late, and executes vehicle priority control if the bus passing the intersection is late. The method solves the technical problem that whether the bus is late can not be judged in the condition that no GPS or wireless networks exist in the prior art. The method shortens the intersection passing time of the late bus, ensures that the late time of the bus at the next stop is reduced, and improves the on schedule rate of the bus.

The invention provides a method and device for detecting the rotation angle of a vehicle steering wheel based on an image, and belongs to the technical field of automobiles. The steering wheel is marked, and then a marking image is obtained and identified, so that the rotation direction of the steering wheel and the rotation angle of the steering wheel are judged. By the method, the rotation angle of the steering wheel can be detected in real time, the detection result is accurate, and when the rotation angle of the steering wheel is more than one circle, the rotation angle of the steering wheel is also accurately obtained; by the device, sight of a driver for observing an instrument is not blocked; and the device is convenient to install and demount and strong in portability, and experimental requirements of conventional vehicles are met.

The invention discloses a power battery of a motor vehicle provided with an air conditioning system, which is technical characterized in that a heat exchanging fan is arranged on the inner surface of a top cover of a battery packaging box, a battery cell is arranged in the battery packaging box below the heat exchanging fan, a heat conducting plate is arranged at the bottom of the battery packaging box below the battery cell, a refrigerant pipe and a hot water pipe are arranged inside the heat conducting plate, a high-voltage wire connector and a low-voltage wire connector are arranged on a battery control device, an air blower is arranged at an air inlet of the vehicle body, a fan heater and an evaporator are arranged on a ventilation pipeline between the air blower and an air outlet of a passenger compartment, an electric air conditioning compressor and a condenser are connected in series and then connected in parallel with the refrigerant pipe inside the heat conducting plate on the evaporator, and a water circulation pump and a water storage tank provided with a heater are connected in series and then connected in parallel with the hot water pipe inside the heat conducting plate on the fan heater. The power battery of the motor vehicle adopts the water cooling method and air cooling method simultaneously. The air conditioner takes the heat of the battery away or heats the battery, and the fan is used for causing forced convection so as to guarantee heat balance of the battery and further guarantee the working performance and service life of the lithium battery.

The embodiment of the invention provides a lane keeping method and device. When the forward torque needed for lane keeping is obtained, a lane keeping control model based on feedforward control is utilized, and due to the control model based on the feedback, the beneficial effects that the calculated amount is small, stability is high, and achieving is easy are achieved. Meanwhile, adopted travelling parameters include resistance torque, the lateral velocity deviating from a center line, the actual deviation distance between a vehicle and the lane center line and the pre-estimated deviation distance between the vehicle and the lane center line. Due to the fact that control torque in other aspects can exist in the travelling process, the finally-obtained forward torque can be influenced, the vehicle is in a lane deviating state at present, if the vehicle continues to travel, the vehicle can continue to deviate from the lane center line, and the distance that the vehicle deviates from the center line is pre-estimated in advance. Due to the forward torque obtained by combining the above parameters, the influence from the outside torque can be overcome, the vehicle overcomes the current actual deviation distance and also overcomes the deviation distance generated due to pre-estimation, and accordingly it is truly guaranteed that the vehicle travels along the current lane.

The invention provides an AGV chassis structure capable of adapting to ground deformation. The AGV chassis structure comprises a bearing vehicle frame, a first movable vehicle frame, a second movable vehicle frame, a drive device and bearing wheels. The inner end of the first movable vehicle frame and the inner end of the second movable vehicle frame are hinged through a hinging shaft. The drive device comprises drive motors, drive shafts and drive wheels, wherein the drive shafts are coaxially connected with the hinging shaft, and the drive motors drive the drive wheels through the drive shafts. A first hinging hole is formed in the first movable vehicle frame, a second hinging hole is formed in the second movable vehicle frame, the bearing vehicle frame is hinged to the first hinging hole through a first connecting pin and hinged to the second hinging hole through a second connecting pin, and the second hinging hole is a kidney-shaped hole. When the first movable vehicle frame and the second movable vehicle frame relatively rotate around the hinging shaft, the first connecting pin moves relative to the first hinging hole, and the second connecting pin moves relative to the second hinging hole. When the AGV chassis structure encounters the uneven ground, the first movable vehicle frame and the second movable vehicle frame rotate relatively, it is guaranteed that the drive wheels are landed, and the uneven ground is adjusted.

The invention belongs to the technical field of vehicles, particularly provides a vehicle power distribution method, device and system, a vehicle and a vehicle-mounted controller, and aims at solvingthe problems that in the prior art, power battery energy distribution is not reasonable enough, and the comfort requirements of a user cannot be met. In order to achieve the purposes, the vehicle power distribution method comprises the following steps: determining energy supply equipment according to the current operation condition of the vehicle; comparing the available output power of the energysupply equipment with the whole vehicle required power of the vehicle, and determining a state type of the vehicle under the current operation condition according to the comparison result; and distributing power to energy consumption parts of the vehicle according to the power distribution strategy corresponding to the state type. Based on the steps, the method provided by the invention has the beneficial effects that the power can be reasonably distributed to the maximum extent, the energy utilization rate is improved, and user experiences are improved.

The present invention relates to the field of vehicle management, and particularly relates to a vehicle management system and method. The vehicle management method comprises the steps that a finger print collecting unit collects finger print information; a right management unit in a remote server performs right configuration on the collected finger print information, so as to generate right information corresponding to the finger print information; the finger print information and corresponding right information are sent to a target vehicle; a finger print identification unit identifies a current finger print input into a vehicle; and a control unit enables a vehicle function according to a right corresponding to the current finger print. While a person hiring the vehicle travels, individual configuration of the target vehicle is protected. Traveling information is collected and stored externally, so that traveling behaviors of the person hiring the vehicle are supervised effectively; or the finger print information and corresponding right information can be rewritten in a cloud server, so that the operation is convenient.

The invention belongs to the field of intelligent automobile environment perception, and particularly relates to a method for identifying a drivable area of a vehicle based on a laser radar sensor. The method specifically comprises the following six parts: collecting point cloud data and ordering, segmenting ground point cloud, fitting left and right road boundaries, finding the most dangerous point to form an initial safe driving area, repairing the initial safe driving area, and forming a final safe driving area. According to the method, the road boundary data are processed by adopting a rasterization thought, so that the weight occupied by abnormal points is effectively reduced, and fitting of a road boundary which better conforms to the reality is facilitated. A random sampling consistency algorithm is adopted to fit the road boundary, compared with a common least square method, the method removes the influence of noise points and abnormal points to the maximum extent, and fittingof the real road boundary is facilitated. The thought of the most dangerous point is applied, only point clouds which can cause dangers are concerned, hundreds of thousands of point cloud data are successfully simplified into hundreds of point clouds, the calculation amount is greatly reduced, and the real-time performance is remarkably improved.

The invention discloses a balance type rear wheel drive forklift automatically adjusting the center of gravity. The balance type rear wheel drive forklift comprises a cab, a fork arm carrier, a front forklift frame, a rear forklift frame, an engine, a torque converter, an oil tank, a movable upper balance weight, a lower balance weight and a center of gravity adjusting and controlling center. The front forklift frame and the rear forklift frame are hinged through an upper hinge pin and a lower hinge pin. Hinge points are close to rear wheels. A gravity sensor is arranged in the hook-connection position of a forklift accessory and the fork arm carrier and is connected with the center of gravity adjusting and controlling center and the movable upper balance weight through electrical signals. The movable torque converter capable of providing power is connected to the side face of the movable upper balance weight on the front forklift frame, and the lower portion of the movable upper balance weight on the front forklift frame is connected with a movable sliding rail reducing the moving friction force of the upper balance weight. Due to the fact that the forklift is provided with the upper balance weight automatically moving front and back through the torque converter according to goods gravity sensed by the forklift accessory, the technical effect of automatic adjustment of the center of gravity of the whole forklift, and safety during working and driving is ensured effectively.

The central air-charging and air-discharging system of tyre of heavy-duty cross-country car is formed from power supply, air source, operation control system, rotating sealing device, wheel valve and pipeline. The operation control system is formed from operation panel, electronic control device and electric control air valve group. The rotating sealing device is positioned between wheel hub and semixale tube and is formed from hermetic seal rubber ring, oil seal and isolation cover.

The invention discloses an all-terrain vehicle storage battery heat dissipation mounting box. The all-terrain vehicle storage battery heat dissipation mounting box comprises an outer frame; a heat dissipation plate is fixedly connected between the two sides of the inner wall of the outer frame; the two sides of the top of the heat dissipation plate are fixedly connected with inner frames respectively; the bottom of the inner wall of each inner frame is glidingly connected with a damping apparatus; the top of each damping apparatus is fixedly connected with a buffer plate; the top of each buffer plate is fixedly connected with a storage battery; and fixed apparatuses are fixedly connected between the two sides of the inner walls of the inner frames. The invention relates to the technical field of the all-terrain vehicle. By virtue of the all-terrain vehicle storage battery heat dissipation mounting box, the storage battery can be clamped and fixed conveniently; and in the use process ofthe all-terrain vehicle, collision and damage of the storage battery can be prevented, normal driving of the all-terrain vehicle is ensured, damage of the storage battery due to overheat can be prevented, the normal temperature of the storage battery is maintained, the service life of the storage battery is prolonged, disorder arrangement of electric wires is avoided, the wires can be arranged more tidily, mutual tangling of the electric wires can be avoided, and wiring stability is improved.

The invention provides a map data updating method, device and system and a storage medium, and the method comprises the steps: determining a road section identifier of a to-be-updated road section ina map; sending data acquisition indication information to an unmanned vehicle, wherein the data acquisition indication information comprises a road section identifier and the current acquisition frequency of a road section corresponding to the road section identifier; receiving road section information corresponding to the road section identifier sent by the unmanned vehicle; obtaining a road section updating map according to the road section information; and sending the road section updating map to the unmanned vehicle. Therefore, the processing amount of the map data can be reduced, the drawing efficiency is improved, the map of the unmanned vehicle is updated in time, and normal driving of the unmanned vehicle is guaranteed.

The invention relates to a novel insulation stripping head which can also be used in particular as a spare part for existing rotational insulation stripping apparatuses. It is particularly stable and simple to produce while at the same time providing the same or improved precision. It substantially has insulation stripping blades (3) and centering jaws (4) which can be swiveled in laterally and, during operation for insulation stripping, rotate together about the main axis (1).

The invention discloses a toothed rail car bogie. The toothed rail car bogie comprises a framework and two groups of wheel pairs, wherein the two groups of wheel pairs are mounted on the framework; one group of the two groups of wheel pairs is driving wheel pairs; the other group is non-driven wheel pairs; the driving wheel pairs comprise driving shafts and wheels, wherein the wheels are connectedwith the driving shafts through bearings; the wheels independently move relative to the driving shafts; toothed rail wheels are mounted on the driving shafts in the form of interference fit; and a driving device used for driving the driving shaft to rotate is connected to the framework. The toothed rail car bogie has the advantages that the deadweight of the vehicle can be effectively reduced, the structure of the bogie can be simplified, the performance of the bogie can be improved, the curve trafficability of the vehicle can be improved and so on.

The invention relates to the technical field of electric vehicles, in particular to a circulating device of an electric vehicle battery thermal management system and a control method of the circulating device. The circulating device comprises a main water tank, a motor water pump, an auxiliary water tank, a water level sensor, a solenoid valve I, a pipeline heater, a three-way valve, a lithium battery pack, a temperature sensor, a controller, a solenoid valve II and a heat dissipation tank, wherein the motor water pump, the temperature sensor, the controller, the water level sensor, the solenoid valve I and the solenoid valve II are connected with one another via conducting wires to form a control system; the main water tank, the auxiliary water tank, the solenoid valve I, the solenoid valve II, the heat dissipation tank, the three-way valve and the lithium battery pack are connected with one another via pipelines to form a heat dissipation loop; the main water tank, the auxiliary water tank, the solenoid valve I, the pipeline heater, the three-way valve and the lithium battery pack are connected with one another via pipelines to form a heating loop. Through the three different circulating modes, a battery can work in a stable, efficient and safe temperature range, so that the excessive heat loss is greatly reduced to achieve the purpose of saving energy, and the service life of the battery is prolonged.

The invention discloses a chassis for an AGV having a suspension mechanism. The chassis comprises a motor mounting bracket I (1), a motor mounting bracket II (2), a driving motor I (3), a driving motor II (4) and an AGV baseplate (5), wherein a mounting block (6) is arranged on the top surface of the middle part of the baseplate (5); the motor mounting bracket I (1) and the motor mounting bracket II (2) are both arranged at the middle part of the baseplate (5); a pressure plate (13) is fixed between two springs (14); the two springs (14) are both fixed on the baseplate (5); a pressure plate (13) of a suspension mechanism A (11) is butted against the top of a transverse plate (8) of the motor mounting bracket I (1); and a pressure plate (13) of a suspension mechanism B (12) is butted against the top of a transverse plate (8) of the motor mounting bracket II (2). The chassis has the following beneficial effects: the normal driving of the AGV can be guaranteed; the suspension condition of driving wheels caused by excessive positioning is prevented; and the service life is long.

The invention provides a self-adaptive cruise system and a control method based on vehicle to vehicle communication, pertaining to the technical field of cars with the purpose of improving cruise accuracy. The system comprises a vehicle-mounted controller, a satellite positioning system and a wireless communication module. The satellite positioning system and the wireless communication module are connected with the vehicle-mounted controller. The vehicle-mounted controller is used for calculating the time that a car takes to overtake a front car based on information of the front car and the car. When the calculated time is less than the pre-set threshold value and the distance between two cars is larger than or equal to the safety distance threshold value, the car decelerates and determines to cruise at the constant speed based on the speed of the front car. The method comprises following steps of: A, establishing a communication network; B, determining whether a signal is emitted by a front car or not; C, cruising at the constant speed when no signal is emitted by the front car; D, calculating the time that the car takes to overtake the front one based on information of the front car. When the calculated time is less than the pre-set threshold value, the car decelerates and sends a early warning signal to the front car. The system and the method help raise cruise accuracy and self-adaptation.

The invention relates to a high-voltage distribution box based on a vehicle-mounted CAN bus network. The high-voltage distribution box comprises a high-voltage distribution box body, a high-voltage power supply part and a low-voltage control part, wherein the high-voltage distribution box body comprises a high-voltage distribution box housing and an insulating terminal; the high-voltage power supply part comprises a high-voltage connector socket, a copper bar, contactors, a pre-charge resistor, fuses, a maintenance switch and a high-voltage interface; the low-voltage control part comprises a low-voltage wire harness, a high-voltage distribution box control panel and a low-voltage interface. The high-voltage distribution box has the following superior effects: communication with a vehicle control unit is realized by a CAN bus, so that opening / closing of the contactors can be directly controlled; the CAN bus is excellent in anti-interference performance and stability and high in transmission rate; the high-voltage distribution box has the functions of low-voltage protection, overcurrent protection, starting current limitation, insulating detection, switch maintenance, fault code diagnosis, CAN communication and the like, effectively guarantees the vehicle and personal security and ensures normal running of the vehicles.

The invention discloses a robot and a method for picking daylily. According to the invention, a navigation walking system is adopted for navigation and positioning of the robot; a fruit picking systemis adopted for mechanical picking of the daylily; an object identification and positioning system is adopted for accurate identification and positioning in picking operation; a fruit collection device is adopted for timely collection of picked daylily; and an electric source and power control device is adopted for intelligent control to all systems. Through mechanical and electrical combination,and by combination of the growth characteristics and picking requirements of the daylily for highly-efficient picking, the manner of replacing manual labor with the robot is realized. The method provided by the invention controls the picking path of the robot for picking the daylily; three-dimensional coordinates of a feature point are obtained to be fed back to the electric source and power control device, so the feasibility and accuracy of the whole picking operation are guaranteed; and picking operation of the daylily is completed, and the picked daylily is timely collected, so the pickingand collection efficiency of the daylily is improved, the number of times of handling can be effectively reduced, and the quality of picked daylily is improved.

The invention relates to a dustproof type shock absorber with an oil leakage detection function. The dustproof type shock absorber comprises a connecting block, a piston rod, a first spring, an oil seal, a first piston, a stop valve, an oil storage chamber, an oil cylinder and at least two oil holes, and further comprises a detection mechanism and a dust removal mechanism, wherein the detection mechanism comprises a check assembly, an oil tank and two alarm assemblies, and the dust removal mechanism comprises two fixing rods, a second baffle, a first bearing seat, a cleaning brush, a first gear and a driving assembly. In the dustproof type shock absorber with the oil leakage detection function, oil leakage can be timely detected through the detection mechanism when slight oil leakage occurs in the shock absorber, and meanwhile, an alarm signal is sent to remind people, so that the probability of accidents caused by oil leakage of the shock absorber is reduced; and dust on the piston rod can be cleared away thoroughly through the dust removal mechanism, so that the probability of the dust being brought into the shock absorber by the piston rod is reduced, then the interior of the shock absorber can be kept clean, and the probability of faults of the shock absorber is reduced.

The invention discloses a variable-weight multi-point preview trajectory tracking method based on a vehicle speed. According to the variable-weight multi-point preview trajectory tracking method basedon the vehicle speed, by equally dividing an optimal preview distance and a longest preview distance into three points, single-point preview is expanded to multi-point preview, preview distances of multiple preview points are also weighted on the basis of fixed-weight multi-point preview. According to the variable-weight multi-point preview trajectory tracking method based on the vehicle speed, lateral deviation generated in the vehicle running process is reduced so that a target path can be preferably tracked to guarantee that the vehicle can run under a working condition of changeable pathenvironment; and through variable weight, a real-time path is tracked to reduce fluctuation under multi-working conditions so as to improve the comfort of a passenger, and therefore, the taking of thevehicle is made much safer.

The invention discloses a modular support crawler-type in-pipe robot. The modular support crawler-type in-pipe robot comprises a main body mechanism, a modular support mechanism and a modular crawlermechanism. The main body mechanism adopts a hollow cylindrical machine frame, and a plurality of sliding grooves are formed along the circumference of the main body mechanism, and the main body mechanism is used for carrying various modules mounted on the robot and providing power for the modules carried on the robot; the modular support mechanism is mounted on the main body mechanism, the combined design of an active adapting mechanism composed of a lead screw nut mechanism and a passive adapting method composed of springs, connecting rods and sliding blocks is adopted, and the modular support mechanism is used for supporting the modular crawler mechanism in a pipeline. The modular crawler mechanism adopts a single crawler belt and a motor built-in drive. According to the modular supportcrawler-type in-pipe robot, modular design is adopted, modules are mutually independent, meanwhile, the modular support mechanism by combining the active adapting mechanism and the passive adaptationand a waterproof independent crawler device are further adopted, the overall performance of the robot is improved, and it is ensured that the robot can better complete the operating task in a complicated pipeline environment.