2429results about How to "Prevent rollover" patented technology

Traffic monitoring and warning systems and vehicle ramp advisory systems are provided herein. Such system includes a set of sensor arrays comprising a set of above-road electro-acoustic sensor arrays which is disposed above a traffic lane approaching a hazard for producing signals which are indicative of whether the vehicle is an automobile or a truck and, if it is a truck, to record the presence of such truck, and to provide signals which are indicative of the speed of such truck. A processor is provided which has a memory for storing site-specific data related both to the geometry of the hazard and to signals which have been received from the set of above-road electro-acoustic sensor arrays. A traffic signalling device is associated with the traffic lane and is disposed downstream of the set of above-road electro-acoustic sensor arrays, the traffic signalling device being controlled by the processor. The processor is responsive to the signals from the set of above-road electro-acoustic sensor arrays for computing an actual speed of the truck and for computing a computed maximum safe speed for such truck at the hazard. The computed maximum safe speed of the truck is derived from the site-specific dimensional data of the hazard and from at least the initial speed of the truck, the computed maximum safe speed of the truck being a maximum safe speed for that truck safely to negotiate the hazard. The processor compares the computed actual speed of the truck with the computed maximum safe speed for the truck. Then, the processor automatically operates the traffic signalling device if the computed actual speed of the truck exceeds the computed maximum safe speed for the truck. The processor also discontinues operating the traffic signalling device if the computed actual speed of the truck no longer exceeds the computed maximum safe speed for the truck.

The invention relates to an intelligent electric vehicle path tracking model prediction control method, belonging to the technical field of control. The aim of the invention is to adopt the intelligent electric vehicle path tracking model prediction control method, wherein the model prediction control method can take account of the safety constraints of a whole vehicle simultaneously and realizeseclectic optimization among vehicle path tracking performance, safety and whole vehicle performance effectively. The method gives thought to intelligent electric vehicle path tracking model building in limited conditions and yaw stabilization controller design based on model prediction control as well as the tracking performance of the vehicle, the safety of the vehicle, the whole vehicle performance, driving comfort and saving and control of energy in the process of carrying out control strategy deduction, and improves the dynamic performance of the whole vehicle. The method gives thought tothe tracking performance of the vehicle (path following and speed following), the safety of the vehicle (preventing slipping, locking, sideward inclining or drifting), the whole vehicle performance (accelerating and braking performance), driving comfort (the change of torque cannot be too great) and saving and control of energy (saving energy on the premise of meeting the performance). The dynamicperformance of the whole vehicle is improved.

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 composite rotating fixed-wing aircraft consists of the coaxial counter-paddle, reverse gear, engine output shaft, engine with a starter-generator, wings, tail blades, landing device, culvert, steering gear, fairing, fuselage, motor, motor drive shaft, wing control unit of small angle of attack, aileron rudder surface, and tailplane rudder surface. Co-axial counter-blade is located in the upper part of the aircraft, which connects with the engine output shaft; the reverse gear is installed between the co-axial counter-propellers; the motor connects with motor drive shaft powered by the starter-generator of the engine; the wings are located on both sides of aircraft and connect with the fuselage; the tail blades are located at the aircraft tail, which are installed behinde motor drive shaft; the landing device is located under the lower part of the fuselage and fixed with it; the culvert connects with the landing device; the fairing is installed in the culvert and connects with the steering gear; the wing control unit of small angle of attack is installed on the wing. The aircraft design method has six steps with strict scientific idea; this invention has a wide range of practical value and application prospect.

A rollover prevention device and method detects an impending rollover situation for a vehicle (10) having a high center of gravity (cg). The system alerts the operator to potentially dangerous driving conditions and / or automatically slows the velocity of the vehicle (10) to prevent rollover. An electronic control unit for receives output signals from wheel velocity, engine revolution, and engine load sensors and then calculates lateral acceleration, wheel slip difference, and drive torque from the signals. A lateral acceleration limit is defined by plotting lateral acceleration, wheel slip difference and drive torque as a three dimensional surface.

The invention relates to an intelligent traffic system-based intelligent vehicle lane changing decision-making method. The method comprises the following steps of firstly, parsing the received broadcast data of an intelligent traffic system by an intelligent driving system, and extracting the event information; secondly, completing the coordinate conversion of a road event by the intelligent driving system, and obtaining an event influence factor according to the event information; finally, according to the event overall influence factor and the judgment result that the current road environment allows the lane changing decision of a vehicle, allowing the lane changing path re-planning, simultaneously calculating the desired behavior of the vehicle and changing the lane of the vehicle. According to the technical scheme of the invention, according to the attribute of a road event ahead of the vehicle and the environmental information around the vehicle, the influence factor of the current vehicle driving road is calculated. Therefore, the necessity, the security and the reliability of the lane changing decision of an automatic driving vehicle are evaluated. Meanwhile, preparations are made in advance before the lane changing of the vehicle.

The invention relates to an automatic leveling oil gas suspension mechanism, which comprises at least two pairs of suspension oil cylinders (12), a vehicle body dip angle adjusting unit (17), a vehicle body traverse dip angle sensor and a control unit, wherein each suspension oil cylinder is provided with a vehicle body dip angle adjusting unit with a balanced oil cylinder (10) correspondingly; and one cavity of the balanced oil cylinder is connected to an oil tank (5) and a leveling operating oil source by a first one-way damper valve (8) and an electronic control switching valve (14), and the other cavity of the balanced oil cylinder (10) is connected to a rodless cavity of each suspension oil cylinder by an electronic control lockup valve (14) and a second one-way damper valve (9). In addition, the invention also provides a mobile crane with an automatic leveling oil gas suspension mechanism. The automatic leveling oil gas suspension mechanism realizes the function of dynamic leveling of various roads, particularly traverse rampways, of the mobile crane effectively, and is simple in operation and high in logicality; and the operation is completed automatically by the control unit, so the running safety is improved obviously, and accidents such as overturn and the like are prevented from occurring.

The invention discloses a self-wringing flat plate mop, which comprises a mop rod and a flat plate mop head, wherein mop cloth can be arranged on the back surface of the flat plate mop head; a smoothing sleeve capable of sliding up and down is arranged on the mop rod in a sleeving way; a smoothing head is arranged at the lower end of the smoothing sleeve, and is provided with a penetration opening; a wringing mechanism is arranged on the bottom surface of the penetration opening; the flat plate mop head can be inserted into the penetration opening after rotating to be parallel to the mop rod; when the smoothing head is at a high position, the flat plate mop head is separated from the penetration opening, and when the smoothing head is at a low position, the lower end of the flat plate mop head is inserted into the penetration opening; when the smoothing sleeve is upwards pulled, the mop cloth on the back surface of the flat plate mop head is wrung through the wringing mechanism; the smoothing head transversely extends, so that the smoothing head also serves as a base when being at the low position, the lower end of the flat plate mop head parallel to the mop rod is inserted into the penetration opening, and the mop can be vertically arranged. According to the self-wringing flat plate mop, the whole mop (comprising the flat plate mop head) can be vertically arranged after being wrung, so that the mop cloth on the flat plate mop head is conveniently air-dried, and is prevented from being in contact with the ground again and getting dirty.

The invention discloses a multi-functional vehicle rollover decision system and an automatic rollover-preventing device, belonging to the filed of vehicles. The multi-functional vehicle rollover decision system comprises at least two displacement sensors, an ECU (electronic control unit) and an output device, wherein the ECU is respectively connected with the displacement sensors, and the output device is connected with the ECU; every two displacement sensors are distributed in a group; and at least a group of displacement sensors are symmetrically arranged between a vehicle frame and a vehicle axle. The automatic rollover-preventing device comprises the multi-functional vehicle rollover decision system and an actuating mechanism connected with the multi-functional vehicle rollover decision system, wherein the actuating mechanism at least comprises a left actuating mechanism and a right actuating mechanism which are symmetrically arranged on the vehicle frame, and the left actuating mechanism and the right actuating mechanism are respectively provided with a telescopic shaft and a supporting wheel arranged outside the telescopic shaft. The multi-functional vehicle rollover decision system and automatic rollover-preventing device disclosed by the invention can prevent the occurrence of vehicle rollover under any circumstances, and have the advantages of wide application range and high accuracy.

The invention discloses a hoisting device for maintenance of power equipment. The hoisting device for maintenance of the power equipment comprises a supporting base, a lead screw, a sliding block, a balancing weight, a clamping mechanism, a winding roller, a rigid pulling rope, a supporting stand column, a supporting cross rod, a supporting cross beam and a lifting frame, wherein the sliding block is rotatably arranged on the lead screw in a threaded connection mode; the balancing weight is arranged on the upper surface of the sliding block; and one end of the rigid pulling rope is connected with the winding roller, and the other end of the rigid pulling rope winds across a first guiding pulley and a second guiding pulley, penetrates through a channel formed between a first limiting pulley and a second limiting pulley, and then is connected with the clamping mechanism. By adoption of the hoisting device for maintenance of the power equipment, the power equipment can be clamped and fixed and can also be hoisted rapidly; and the position of the balancing weight can be adjusted conveniently, so that the balancing effect of the balancing weight can be brought into full play, and the safety is high.

The invention discloses a cylindrical cabin docking assembly comprising an open and close movement mechanism, a lifting mechanism, a horizontal movement mechanism, a frame and a computer. The lifting mechanism and the horizontal movement mechanism are arranged in the frame, and the open and close movement mechanism is arranged above the frame. The lifting mechanism comprises a vertical support rod, a lifting support plane, a lifting sliding block, a lifting guide rail, a lead screw and a lifting motor. The lifting motor drives the lead screw to rotate to enable the lifting sliding block of the lifting support plane to move on the lifting guide rail. The open and close movement mechanism comprises two open and close support devices, a position control plate, an open and close sliding block, an open and close guide rail and a horizontal platform deck. The open and close support devices slide symmetrically on the guide rail via manual labor and are fixed by a locating pin. The horizontal movement mechanism comprises a horizontal motor, a rack, a gear, a rack, a horizontal sliding block and a horizontal guide rail. The horizontal motor drives the gear and the rack to mesh to drive the docking assembly to move on the horizontal guide rail; the horizontal motor and the lifting motor are controlled by the computer to realize automatic docking of the devices.

The invention relates to a rollover preventing tank truck. A truck body is hinged to a tank, a hinged axis is in the truck body extending direction, a driving mechanism is arranged between the truck body and the tank, and the driving mechanism is used for adjusting the tank to rotate along the hinged axis. The tank rotates along the hinged axis, so as to carry out real time adjustment to the state of the truck body, and prevent the occurrence of rollover.

The invention discloses an automated guided railless carrying train with flexibly configured kinds of carrying trains, and belongs to the field of automation transporting equipment. The carrying train is divided into automated guided power carrying carts, power carrying carts and / or servo carrying carts. Each carrying train comprises one or more automated guided power carrying carts, every two carrying carts are connected through a three-dimensional independent freedom degree push-pull device, and the whole carrying train is pulled by the automated guided power carrying carts to travel along a guide path. According to the automated guided railless carrying train disclosed by the invention, the capacity for controlling the moving trajectory of automated guided trains can be reinforced, the steering motility of the automated guided trains is improved, and the phenomena that the automated guided trains are mutually crashed, the automated guided trains are driven out of the guide path or the carrying trains tilt to one side and turn over in the practical operation process are avoided. The invention also discloses an operation control method of the carrying train.

A tool holder assembly that includes a tool holder member adapted to be secured to a machine tool and a cutting insert support / clamp for clamping and supporting a cutting insert. The support / clamp member includes a plurality of serrations that are engageable with complementally formed serrations on the tool holder whereby a tight fitting engagement is achieved using removable fasteners. The support / clamp includes a clamping arm elastically movable towards and away from a support base and a clamping block connected to the connecting arm adapted to receive clamping forces from a threaded clamping bolt. The clamping bolt defines a force applying surface located in a first plane whereas the clamping block defines a force receiving surface located in a second plane, the first and second planes located at a diverging angle with respect to each other. The clamping block includes an edge portion engageable with a step on the tool holder that is spaced from the clamping arm. The diverging planes and the engagement of the clamping block with the stepped portion increases the force applied by the clamping arm to the cutting insert for a given adjustment of the clamping bolt and resists rollover of the insert.

The invention relates to a device for testing dynamic characteristic parameters of a fixed joint surface of a single-degree-of-freedom system. The device comprises a base, a lower experimental plate, an experimental sample wafer, an upper experimental plate, a piezoelectric acceleration transducer, a bolt, a bracket, a vibration exciter, an impedance head, a charge amplifier, a digital analyzer, a power amplifier, an electronic computer, a normal coupling bolt hole, a lower experimental plate coupling bolt, a tangential coupling bolt hole and a flexible rope. Compared with the prior art, the device has the remarkable advantages of compact structure and clear testing principle; the dynamic characteristic parameters of a normal contact surface and a tangential contact surface can be simultaneously measured; the dynamic characteristic parameters of the contact surfaces in different load states can be measured by adjusting the pre-tightening force of the coupling bolt of the upper experimental plate and the lower experimental plate; the excitation force passes through the center of gravity of the upper experimental plate during measurement; vibration signals of the upper experimental plate and the lower experimental plate are simultaneously measured; the influence of the vibration signal of the base is eliminated during the calculation of a frequency response function of the system; and the device has the characteristics of high efficiency, stability and accuracy.

The invention provides a train curve prewarning system and prewarning method of a wireless sensor network. The prewarning system mainly comprises a MEMS accelerometer module, a data acquisition module, a GPS global positioning system, a wireless transceiving module, a hazard warning module and a display module. A wireless sensor node uses a MEMS accelerometer to detect a train centripetal acceleration, and the centripetal acceleration is compared with an acceleration threshold at a train curve; if the detected acceleration is higher than an alarm value or a preset value of a system, a lateral acceleration value is sent to a wireless sensor sink node, the sink node adopts the form of acousto-optical warning to warn the train driver to slow down and displays the current geographical position through the display module, the maximum lateral acceleration value and the limit running speed of the train at the curve on a liquid crystal display (LCD) module so as to prevent the train from generating rollover due to overspeed. The system has small volume and high reliability, can be applicable to ordinary trains or motor cars, and has an important role in improving the running safety for trains.

The simultaneous taking of water samples from the bottom of a column of water in the bed water above a water bed is of use for scientific investigation of the transition zone between the water bed and the water column lying above the same, for the determination of parameter gradients. Conventional bed water sampling devices with an arrangement of horizontally oriented sample containers at different water levels do not generally permit a non-invasive sampling. According to the invention, said ground water sampling device thus comprises central retainer rod (2) for the sample containers (3), which permanently rotate freely and easily in the bottom currents by means of a flow vane (6). All sample containers (3) comprise sealing devices (16) on both front surfaces (14, 15) and are flushed through with bed water originating from the corresponding level before the sampling. All sealing devices (16) are essentially instantaneously by means of a time-controlled actuator (10) which is mechanically activated by pushing up a trigger plate (8) after the adequately long placement of the ground water sampling device (1). High-resolution profiles of various parameters can thus be simply, precisely and reproducibly determined even in water of great depth, by means of said simple and robust bed water sampling device (1), which can be lowered by means of a simple steel cable (7).

The invention discloses a remote-controlled mountain tractor, which comprises a frame (9), an engine (12), a gearbox (6), a clutch, a driving wheel (5), a driven wheel (10), a crawler belt (16), and a hydraulic drive device (14), the signal receiving and processing device (15), is characterized in that: the left and right sides of the frame are symmetrically connected with a hydraulic pressure differential height device for adjusting the left and right balance of the body. The invention applies the remote control technology to the tractor, and each action can be controlled by the signal transmitting device, realized by the hydraulic drive device, and the operation is simple. Because the machine can remotely control the lifting of the height difference device on both sides according to the terrain conditions at any time, maintain the level of the fuselage and prevent rollover, and can also increase the height of the frame by simultaneously lifting the hydraulic cylinder to realize the cultivating operation of the conventional plow. It fully adapts to the working environment in rural areas, especially in mountainous and hilly areas, and completes operations such as arable land, dry farming variable water application, ridge mulching, and harvesting.

The invention provides a vehicle side-turning over alarm device which comprises a microprocessor module, a power supply module connected with the microprocessor module, a keyboard circuit, an alarm circuit, a LED drive display module, a MEMS micro-accelerometer module and a roll angle circuit, wherein an output port of the roll angle circuit is connected with an I / O input port of the microprocessor module, the MEMS micro-accelerometer module is connected with an input interface of the microprocessor module, the roll angle circuit comprises a roll angle sensor arranged on a vehicle carriage, and the MEMS micro-accelerometer module comprises a MEMS micro-accelerometer arranged on the vehicle carriage. The device has the small volume and the high reliability, and can be applied to various new and old vehicles. The device has the obvious action for improving the running safety of the vehicle.

The invention relates to a method and an early warning device for rollover-proof dynamic detection for a truck at curves. The method comprises the following steps: 1) setting the early warning device for rollover-proof dynamic detection for the truck at curves, wherein the early warning device comprises a steering wheel corner measuring device, a heading angle speed measuring device, an inclination measuring device and an electronic control unit comprising a singlechip, a mass center height dynamic detection module and a rollover-proof early warning module are preset in the singlechip, and a rollover warning range is preset in the rollover-proof early warning module; 2) acquiring a steering wheel corner signal, a heading angle speed signal of the truck along the vertical direction, a side inclination signal of a truck carriage, a side inclination signal of a truck rear axle and a longitudinal speed signal of the truck; 3) calculating the side acceleration and mass center height of the truck by the mass center height dynamic detection module; 4) calculating a rollover acceleration threshold value according to the mass center height by the rollover-proof early warning module; 5) comparing the difference of the side acceleration and the rollover acceleration threshold value of the truck and the preset rollover warning range and sending out corresponding warning instructions by the rollover-proof early warning module; and 6) after the rollover-proof early warning module finishes warning, returning to the step 2). The method and the early warning device have high reliability and wide application range.

A system for assessing the load state of a motor vehicle having at least one wheel (12) includes at least one sensor device (10), which records a quantity proportional to the vehicle weight and emits a signal (Si, Sa) representing the quantity, and an assessment system (14), which processes the signal (Si, Sa) representing the recorded quantity, and assesses a load state of the vehicle according to the result of the processing. According to the present invention, the sensor device (10) is a wheel-force sensor device (10) assigned to the at least one wheel (12) which records, as a value proportional to the vehicle weight, the center of tire force of the respective wheel (12) acting essentially between the road surface and the center of tire surface. The present invention also relates to a corresponding method.

The invention discloses a mini electric carrier and belongs to a carrier. The mini electric carrier comprises a supporting seat plate, a wheel frame, a drive wheel, a handle, a lifting frame, an ejection plate, a storage battery box with storage batteries, two forks, a main controller, an oil cylinder and a hydraulic pump station system. The handle is provided with a handle controller. The front of each fork is provided with a front wheel. The hydraulic pump station system comprises a strong magnetism motor, a valve plate, an oil tank and an oil pump located in the oil tank. The lifting frame comprises a stand column welding plate, tubular main stand columns and a stand column reinforcing plate. The tubular main stand columns are respectively of a hollow pipe structure, and the storage battery box is installed between the two tubular main stand columns. Supporting base protection pipes and protection pipe reinforcing pipes are arranged on the two sides of the supporting seat plate and are respectively of a hollow pipe structure. The ejection plate is provided with a first through cavity, the supporting seat plate is provided with a second through cavity, the oil tank is located in the second through cavity, the upper portion of the strong magnetism motor is located in the first through cavity, and the main controller is located in the first through cavity. The mini electric carrier is small in size, light in weight, flexible in motion and capable of entering narrow and small aisles for work or leaving the narrow and small aisles.

A vehicle stability model predictive control method belongs to the technical field of control. The object of the vehicle stability model predictive control method is to establish a vehicle yaw kineticmodel in consideration of road unevenness and design a yaw stability controller by a model predictive control algorithm so as to prevent an electric vehicle against rollover and drift in a poor working condition and a sharp turn. The method comprises steps of establishing a mechanical and kinetic model and a yaw stability controller of an electric vehicle in consideration of road unevenness. In aprocess of formulating a torque distribution strategy, the method considers vehicle safety (preventing skid or lock, rollover or drift), vehicle performance (acceleration and braking performance), and driving comfort (torque change cannot be too large and the vertical force change value cannot be too high), saves control energy (saving energy under the premise of satisfying performance), and improves the kinetic performance of the vehicle.

The invention relates to an electric-traction rack rail railcar. By successfully developing the electric-traction rack rail railcar, the contradiction between the rapid development of coal mining, shoring and heading equipment and underdeveloped underground coal mine subsidiary transportation equipment in China is alleviated, and the updating and upgrading of coal mine equipment in China are maximally promoted. The electric-traction rack rail railcar comprises rails and standers, wherein a cab, an anti-explosion diesel generator, an anti-explosion variable frequency motor, a three-stage gear reducer, an electric control tank, and a guiding and anti-rollover steering frame are arranged on the standers. The electric-traction rack rail railcar has the beneficial effects that the whole vehicle is electrically and mechanically driven and is powered by the vehicle-mounted anti-explosion diesel generator, and a low-speed large-torque driving manner can be realized by virtue of the anti-explosion variable frequency motor and the three-stage gear reducer; by utilizing the anti-explosion variable frequency motor, the emergency braking, the driving braking, parking braking and the like of the railcar are realized by virtue of the coordinate operation of a variable-frequency governor and a braking system; the guiding and anti-rollover steering frame with a guiding wheel can play guiding and anti-rollover roles; the electric-traction rack rail railcar is environment-friendly, safe and efficient and has an automatic function.

The invention discloses an inspection robot for an underground coal mine. The inspection robot comprises a lower car body and an upper car body, wherein a four-wheel driving module is matched and arranged on the left and right sides of the lower car body, the four-wheel driving module comprises four wheels, a driving motor and a built-in power supply, and both the driving motor and the built-in power supply are installed in the lower car body. According to the inspection robot, a navigation module is arranged, and a laser radar is constructed, so that an underground environment is scanned, anda three-dimensional image is obtained; then a map is independently constructed by virtue of an LNM module board, and a walking route is independently planned, so that railless autonomous navigation is realized; images are collected in real time by a visible light camera and an infrared thermal imager, and if fog is generated on a lens of the visible light camera, a windscreen wiper independentlyslides, so that the clear images are collected; and if the navigation module fails, manual operation can be switched at a remote monitoring station by virtue of a WIFI control module, and a guaranteeis provided for the use of the whole robot.

The invention discloses a bend driving anti-turnover early warning control system and method for a liquid tank vehicle. The system comprises a GPS positioning module, a liquid level height acquisition module, a parameter storage module, an operation module, a decision-making module, an alarm module and a throttle control module. The method comprises the steps of collecting vehicle position and direction data through the GPS positioning module; acquiring the height of liquid in a liquid tank when the vehicle is still through the liquid level height acquisition module; calculating and obtaining a critical speed when the vehicle turns over through the operation module; through the decision-making module, comparing the critical speed and a driving speed, and determining the state of the vehicle; the alarm module and the throttle control module receive information of the decision-making module and conduct alarming and throttle control. By the adoption of the bend driving anti-turnover early warning control system and method for the liquid tank vehicle, when the bend driving speed of the liquid tank vehicle is relatively high, early warning can be provided for a driver, the vehicle speed can be controlled by controlling a throttle, and the purposes are achieved that the vehicle is prevented from turning over and the safety of personal and the vehicle is ensured.

The invention relates to a four-wheel drive steering control method and device. The control method comprises the following steps: acquiring turning radius of a vehicle body of an AGV and speed of onedriving wheel; calculating speeds of other driving wheels according to the turning radius of the vehicle body and speed of one driving wheel acquired, wherein a mathematical expression is described inthe specification, Vout is speed of a front outside driving wheel or a rear outside driving wheel of the AGV, Vin is speed of a front inside driving wheel or a rear inside driving wheel of the AGV, Wand L are distance between an inner driving wheel and an outer driving wheel and distance between a front driving wheel and a rear driving wheel of the AVG, respectively, and R is the turning radiusof the vehicle body; and according to the speeds of all the driving wheels, adjusting the speeds of all the driving wheels accordingly, so as to complete steering. The control method provided by the invention has the advantages that the turning radius of the vehicle body of the AGV and the speed of one driving wheel are acquired in real time, and the speeds of other driving wheels are calculated accordingly and are adjusted, so that steady steering of all the driving wheels is achieved, driving effect is improved, and a rollover phenomenon is avoided.

A rock-fill material weathering instrument comprises a rolling bearing, the rolling bearing is arranged at the upper part of a bracket seat and is provided with a compression shear test box, a water permeable plate, a pressurizing cap, a pressurizing head and a heat preservation cover in sequence, the top beam on the heat preservation cover is connected with the heat preservation cover after being connected to a displacement transducer; a leveling device, a lever, and load weights are arranged under the bracket seat, the shear test box is connected with a low temperature cooling circulating pump and a high temperature circulator; the compression shear test box is connected with a temperature-controlled cabinet and an air compressor; the compression shear test box is connected with a watertank, the sliding plate at the bottom part of the shear test box is connected with a horizontal loading motor, a horizontal load transducer on the beam is connected with the right part of the box, after completing cold-hot circulation and dry-wet circulation, the sample is sheared, and the horizontal load is detected. The invention has the characteristic of realizing coupling of three factors of dry-wet circulation, temperature change and stress.