749 results about "Trafficability" patented technology

The invention discloses a power system of a mixed power automobile and a control method thereof. The power system comprises a rear electric motor drive system, an integrated type starting generator drive system, a power supply system and a control system; the rear electric motor drive system comprises a rear electric motor, a speed reducer, a differential and a rear electric motor controller and separately drives rear wheels; the integrated starting generator drive system comprises an engine, a front electric motor, a gear box, a front differential and a front electric motor controller; as the nose cabin power assembly, the power system can work under the integrated starting generator drive mode, the pure electric drive mode, the regenerative braking mode or the four-wheel drive mode. The invention omits the middle drive device in a traditional four-wheel drive vehicle, has higher drive flexibility, can reduce the automobile weight, not only can meet the requirements of a SUV vehicle for the complete-vehicle power performance, trafficability characteristic and the like, but also can achieve the purposes of energy saving and emission reduction.

The invention provides an electric motor car differential steeling control method based on slip rate control. The method comprises the following steps of: (1) measuring the back wheel speed of the electric motor car, the actual output torque of a drive motor and the side speed of the car according to a wheel sped sensor; and (2) calculating the side speed and the heading angle peed of the electric motor car according to two freedom steering models, and then calculating the slip angles of four wheels, thereby calculating the rotational speed of the four wheels; and using a special arithmetic to realize the control on the electric differential steeling of a hub electric motor car. The electric motor car differential steeling control method based on slip rate control combines the calculation of torque distribution with the slip rate of the wheels to lead a designed electric differential steeling mechanism to have the effect of differential lock simultaneously when having the differential and also have the functions of reducing the speed and increasing the torque, thus greatly improving the running trafficability characteristic and the steering performance of the electric motor car, not only achieving the effect of a mechanical differential mechanism on the aspect of function, but also improving the transmission efficiency and reducing the complexity of a mechanical system.

The invention discloses a vehicle front trafficability analyzing method based on a convolution nerve network. The method comprises the following steps: first, a vidicon arranged in the front of a vehicle is used for collecting a large number of actual vehicle traveling environment images; a Gamma rectification function is used for pre-processing the images; training of the convolution nerve network is conducted. According to the method, a nonlinear function superimposed Gamma rectification method is used for pre-processing the images, so that influence of light illumination of strong changes on identification of objects is avoided, and the image resolution ratio is improved. According to the method, a geometry normalization method is used, so that the resolution ratio difference caused by identifying the distance of an object distance vidicon is reduced. The convolution nerve network LeNet-5 adopted in the method can extract implicit expression characteristics with class distinguishing capacity and is simple in extracting process. The LeNet-5 is combined with a local receptive field, weight share and secondary sampling to ensure robustness of simple geometry deformation, reduce training parameters of the network, and simplify the structure of the network.

The invention relates to a small unmanned ground robot which is characterized by comprising a traveling drive mechanism, an arm mechanism, a camera tripod head pat, a carrier frame of the robot, and a control module, wherein the traveling drive mechanism is fixed on the carrier frame of the robot; the arm mechanism is arranged on the traveling drive mechanism in a detachable mode; the camera tripod head part is arranged on the arm mechanism in a detachable mode; and the control module is separated from the robot to control various complicated actions of the robot. The small unmanned ground robot has the advantages that the traveling drive mechanism of the robot adopts a track mode to increase the adhesive force with the ground; track wheels adopt the design of absorbing energy and vibration to improve the capacity of collision resistance of the robot; detachable front auxiliary wheels adopt a track structure to improve trafficability performance of the robot, and have the functions of assisting spanning entrenchments and obstacles, assisting climbing stairs, and rotating and turning over; mechanical arms adopt six freedom of motion, have the characteristics of flexibility, convenience, reliability, strong working capability, and the like, and can grab and carry objects; the robot adopts the design of no exposed skinned wires and water resistance and can work all day long; and the traveling drive mechanism can walk in water.

A Mecanum wheel-based rocker omnidirectional mobile platform comprises a main body (1), leftwards-rotating Mecanum wheel assemblies (3), rightwards-rotating Mecanum wheel assemblies (5), a rocker suspension I (2), a rocker suspension II (15) and a balancing mechanism (6); the middle parts of the rocker suspension I and the rocker suspension II are hinged to the left and right sides of the main body through revolute joints symmetrically; the middle part of a transverse rocker (8) of the balancing mechanism and one end of the main body are hinged by a revolute joint (10); one end of a side connecting rod I (9) and one end of a side connecting rod II (11) of the balancing mechanism are hinged to the left and right ends of the transverse rocker by spherical joints, and the other end of the side connecting rod I (9) and the other end of the side connecting rod II (11) of the balancing mechanism are hinged to the rocker suspension I and the rocker suspension II by spherical joints; two Mecanum wheel assemblies with different rotation directions are fixed to the two ends of each rocker suspension, and the Mecanum wheel assemblies at the same ends of the rocker suspension I and the rocker suspension II are opposite in rotation directions. According to the invention, wheels are always in contact with the ground and the load is shared, so that the Mecanum wheel-based rocker omnidirectional mobile platform has better motion controllability and terrain trafficability.

The invention discloses a traffic condition prediction system fused with various transport data and a method. The traffic condition prediction system comprises a flow level detecting unit, a speed level detecting unit, a flow trafficability ratio level detecting unit, a flow occupancy level detecting unit, a speed occupancy level detecting unit, a saturation coefficient level detecting unit, a historical road level detecting unit and a road condition predicting unit, level numbers of parameters are obtained by the various level detecting units by means of measuring and computing, then the level numbers are multiplied by percentages of level numbers of the parameters preset in the road condition predicting unit, the sum of the products is computed to obtain road condition level numbers, and a road condition within future prediction time is obtained according to a road condition corresponding to preset road condition level numbers. The technical problem that a future road condition is predicted by means of combining a single road condition characteristic parameter with a historical road condition in the prior art. The traffic condition prediction system and the method are fused with various information of a current road condition.

A framework for diagnosing and predicting a suitability of soil conditions to various agricultural operations is performed in a combined, multi-part approach for simulating relationships between predictive data and observable outcomes. The framework includes analyzing one or more factors relevant to field trafficability, workability, and suitability for agricultural operations due to the effects of freezing and thawing cycles, and developing artificial intelligence systems to learn relationships between datasets to produce improved indications of trafficability, workability, and forecasts of suitability windows for a particular user, user community, farm, farm group, field, or equipment. The framework also includes a real-time feedback mechanism by which a user can validate or correct these indications and forecasts. The framework may further be configured to override one or more of the soil state assessments to ensure that indicators and forecasts are consistent with the recently-provided feedback.

A framework for diagnosing and predicting a suitability of soil conditions to various agricultural operations is performed in a combined, multi-part approach for simulating relationships between predictive data and observable outcomes. The framework includes analyzing one or more factors relevant to field trafficability, workability, and suitability for agricultural operations due to the effects of freezing and thawing cycles, and developing artificial intelligence systems to learn relationships between datasets to produce improved indications of trafficability, workability, and forecasts of suitability windows for a particular user, user community, farm, farm group, field, or equipment. The framework also includes a real-time feedback mechanism by which a user can validate or correct these indications and forecasts. The framework may further be configured to override one or more of the soil state assessments to ensure that indicators and forecasts are consistent with the recently-provided feedback.

The invention relates to a vehicle intelligent predictive control system and a vehicle intelligent predictive control method. The system comprises at least one vehicle-mounted control system, a shared data base and an information collection system, wherein the information collection system is used for collecting road information in real time and uploading the collected road information to the shared data base; the vehicle-mounted control system is used for laying a vehicle traveling plan, analyzing energy consumption data, calculating a road coefficient, controlling an energy use strategy, controlling traveling of a vehicle, uploading the traveling plan and the road coefficient to the shared data base, and forecasting driving energy according to traveling conditions of the vehicle; the shared data base stores data uploaded by the information collection system and the vehicle-mounted control system, and forecasts road traffic conditions according to the vehicle traveling plan and trafficability of passed road segments, or forecasts the road traffic conditions according to real-time traffic conditions and historical traffic conditions of the road segments The vehicle intelligent predictive control system and method can help a driver forecasting the traffic conditions and calculating energy required by traveling more accurately, so that economical efficiency and environmental conservation of the vehicle are greatly improved.

The invention relates to the field of travelling of vehicles, and discloses a height adjustment device for a vehicle chassis. The height adjustment device comprises a frame which is fixedly connected with the vehicle chassis (10), and a support rod (4) is fixedly connected with a vehicle axle (6) in the vertical direction, wherein a parallelogram linkage mechanism is connected between the frame and the support rod (4); and the height of the frame in the vertical direction relative to the position of the wheels can be adjusted. With the adoption of the height adjustment device, the height of the vehicle chassis (10) can be automatically adjusted, the adjustment range is beyond the diameter of a tire of the wheel, the height of the vehicle chassis (10) is increased, and the trafficability for the vehicles are greatly changed, so as to adapt to the operation requirements of high-stalk crops on farmland machinery, the height of the vehicle chassis (10) also can be reduced, so as to adapt to the requirements of the crops during the initial growth period and the requirements of short crops on the field work, and the running stability of the vehicle at a high speed is also improved. The invention further provides a vehicle adopting the height adjustment device for the vehicle chassis.

The invention discloses an automatic detection robot system for a road surface. The automatic detection robot system for the road surface comprises a robot body and a remote monitoring auxiliary system. Information is transmitted between the robot body and the remote monitoring auxiliary system in a wireless communication way. A control system, a nondestructive detection system and an operation mechanism are arranged on the robot body. The operation mechanism is installed on the robot body. The nondestructive detection system is connected with the operation mechanism. The control system is electrically connected with the operation mechanism. The control system is electrically connected with the nondestructive detection system. The nondestructive detection system comprises a resistivity meter. The operation mechanism comprises a telescopic mechanism. The resistivity meter is connected with the telescopic mechanism. The invention further discloses a detection method for the road surface. By the adoption of the robot system, intelligent detection can be achieved, and since manual driving is not needed, the detection safety and the accuracy of detection data are improved; since various nondestructive detection sensors are integrated, comprehensive estimation of the road surface and the internal condition can be achieved at a time, the detection efficiency is greatly improved, and the influence of the trafficability of a road is also reduced.

The invention discloses a multiple resource constraints-considered high-speed railway trafficability calculation method. The method comprises the following steps of: S1, obtaining known data of a high-speed railway, dividing an operation time of the high-speed railway into a plurality of time windows, and classifying the known data for the plurality of time windows; S2, establishing a station track distribution and CRH train application-considered high-speed railway running chart calculation optimization model and a constraint condition, and carrying out train painting in each time window through a pressure test algorithm; and S3, obtaining a train running chart full chart of the high-speed railway after painting the trains in the plurality of time windows in sequence, and carrying out statistical analysis on a train quantity in each time window so as to obtain a high-speed railway trafficability value under the current train running mode. According to the method, influences, on trafficability, of stopping schemes and running chart structures of trains are considered, and high-speed railway trafficability can be calculated by considering trafficability under a certain scale of redundancy and buffering time layout conditions, so that the correctness is high.

A roadside intelligent parking charge system based on an ETC (electronic toll collection) technique belongs to the field of smart parking systems and comprises a parking information management platform, a roadside unit, a user service terminal APP and a toll collection inspection module. The parking information management platform collects, processes and feeds back user information, toll collection information and parking space information; the roadside unit recognizes and transmits ETC vehicle information; the user service terminal APP provides users with parking space query, parking recognition, parking area locating, parking charge, record query and user offense-reporting services; the toll collection inspection module combines manual inspection and mobile terminal inspection to inspectvehicles having violations. The roadside intelligent parking charge system based on the ETC technique provides intensive organization for parking spaces in 'group management' manner, designs a vehicle parking-driving state judging process to avoid mistaken charging and provide intelligent charging and management for roadside parking, and has the advantages of high charging precision, low cost input and high trafficability.

The invention relates to a system for enhancing vehicle driving safety on a highway. In the system, a GPS (Global Positioning System), a GPRS (General Packet Radio Service) system, a GIS (Geographic Information System) and other technologies are comprehensively utilized, the position and the speed of each vehicle on the whole highway can be precisely measured in real time, each vehicle can be made to learn the information of the vehicle per se and the information of surrounding relevant vehicles in real time, and proper measures can be taken when in necessity. The system is beneficial to not only great reduction of highway accidents but also great increase of highway trafficability in a severe weather.

The invention belongs to the technical field of vehicle running, and discloses a crawler wheel capable of realizing interconversion between a wheel type state and a crawler type state. The crawler wheel comprises a driving and braking assembly, a crawler belt, a retainer, an inducer, a loading wheel and an actuator. Due to the structure of combining the driving and braking assembly, the crawler belt, the retainer, a tensioning wheel, a carrier wheel, the inducer, the loading wheel and the actuator, deformation of the retainer can be controlled by virtue of the actuator, and conversion from the wheel type running state to the crawler type running state and conversion from the crawler type running state to the wheel type running state can be realized, so that the running state can be conversed according to the requirement of vehicle running. On soft and slippery pavements, the crawler wheel can be converted into crawler running to increase the ground contact area and improve adhesion and traction force so as to improve the trafficability; and on flat and hard pavements, the crawler wheel can be converted into wheel type running to reduce power consumption and increase the running speed, so that implementation of high maneuvering capability is benefited.

The invention relates to a non-pneumatic wheel capable of running on soft and slippery road surfaces such as ice and snow, mountain lands, marsh lands, sand beaches and so on and running on steps and relates to an all-terrain self-adaptive shock absorbing wheel. The all-terrain self-adaptive shock absorbing wheel comprises parts such as a wheel axle (4), telescopic spokes (3), wheel plates (6) and so on; at least three groups of wheel plates (6) and the telescopic spokes (3) form a circular wheel around the wheel axle (4); a plurality of groups of wheel plates (6) and the telescopic spokes (3) can also be mounted on a chain plate (14) and can form a similar elliptic wheel together with a driving wheel (15) and a driven wheel (16); wheel palm surfaces (1) with different grounding surfaces are selected according to running road surfaces; and the all-terrain self-adaptive shock absorbing wheel has the advantages that shock absorbing function is realized, the trafficability is strong, the stability is good and the damaged parts are easy to maintain and change.

The integrated multi-sensor integrated automatic driving intelligent sensing device disclosed by the invention can reliably and accurately identify the traffic environment in real time. According to the technical scheme, an intelligent sensing model module tracks and detects static and dynamic obstacles outside a vehicle in real time, element information and behavior information in a scene are obtained, and a sensor data acquisition module transmits sensor acquisition data to a sensor data synchronization module after completing data receiving of all sensors; the method also includes carrying out automatic analysis on a plurality of intelligent sensors, and carrying out time-space registration on target-level detection information; sending the synchronously calibrated data to a sensor data processing module in real time; sending the processed data to a planning control module, and performing real-time track prediction; and enabling the sensor fusion control vehicle execution module to execute sensing data according to the control path planning of the planning control module, recognize trafficability and static and dynamic objects in the whole field of view around the vehicle body, and make decisions of braking and obstacle avoidance.

A three-dimensional terrain trafficability analytical method for an autonomous land vehicle comprises the step of information perception, wherein movement state information and environmental information of the current vehicle are obtained; the step of track searching and generation, wherein track preliminary searching is carried out according to the current vehicle position and a final target position, and a local track set of possible movements of the vehicle is generated; the step of terrain analysis, wherein the contour line of the current terrain is drawn according to obtained terrain altitude data, the intersection point of a candidate track and the contour line is found according to a vehicle speed v, the terrain characteristics of track curved sections formed by a lower intersection point of the contour line and the current position of the autonomous land vehicle are analyzed, and a basic terrain factor is calculated; the step of trafficability analysis, wherein the cost of each track curved section formed when the vehicle passes is calculated by combining dynamic constraints and kinematical constraints of the vehicle, so that a cost chart is constructed; and the step of route planning, wherein the optimal route is searched with the cost chart serving as heuristic information. The three-dimensional terrain trafficability analytical method for the autonomous land vehicle has the advantages of being simple in principle, easy and convenient to operate, high in identification accuracy, efficient in calculation and the like.

The invention belongs to the field of vehicle walking, and discloses a vehicle chassis height adjusting device. The vehicle chassis height adjusting device comprises a frame which is fixedly connected with a vehicle chassis, wheels, and a crank double-slide-block mechanism which is fixedly connected to the frame, wherein slide block rocker mechanisms are connected between the frame and the wheels, and share the same slide block. Apart from the crank double-slide-block mechanism in the vehicle chassis height adjusting device, the two groups of slide block rocker mechanisms are symmetrically distributed by taking the vertical bisector of the wheel base of a vehicle as the central line. By adopting the device, the height of a vehicle chassis can be adjusted actively, the adjusting range surpasses the tire diameter of each wheel, and the wheel base of a vehicle can be kept constant during height adjustment. A vehicle applying the device is further provided. By increasing the height of the vehicle chassis, the trafficability is improved in order to adapt to middle and later growing periods of crops and field management operation requirements of high-stalk crops. The height of the vehicle chassis can be reduced to adapt to the primary period of crops and the field management operation requirements of low crops.

The invention discloses a wheeled lunar vehicle driving control method based on slip ratio adjustment, which includes the steps: working condition selection and control objective determination; wheel slip ratio estimation; establishment of a lunar vehicle system model; and calculation of wheel distributed moment Ti. Driving conditions of a lunar vehicle include an accelerating or decelerating condition of a vehicle body and a uniform-speed driving condition of the vehicle body, wherein when the vehicle body is under the accelerating or decelerating condition, the slip ratio of each wheel is controlled within a high driving efficiency range, and the high driving efficiency of the wheels can be guaranteed; and when the vehicle body is under the uniform-speed driving condition, the average value of the slip ratio of all the wheels serves as a control objective, so that the problems of singleness of the control objective, energy consumption increase caused by too high or too low single wheel slip ratio, poor trafficability variation and the like can be avoided. By means of a sliding mode variable structure control algorithm, solving is simple, the calculated quantity is small, and the system is guaranteed to have excellent robustness, so that the lunar vehicle can more coordinately move in the rugged environment.

The invention belongs to the technical field of robots and discloses a multi-mode rigidity and flexibility combined snake-like robot device. The multi-mode rigidity and flexibility combined snake-like robot device comprises a plurality of snake-like robot unit modules which are connected in series, every two adjacent snake-like robot unit modules are connected, and each snake-like robot unit module comprises two frameworks, three motors, a plurality of transmission mechanisms, a plurality of shafts, a plurality of wheels, a plurality of sets of belt wheel mechanisms, a plurality of driven wheels provided with one-way bearings, and the like. The multi-mode rigidity and flexibility combined snake-like robot device can travel in multiple modes, not only can directly move like a multi-section car, but also can rapidly move in the narrow terrain by abutting against the wall and rapidly move in a snake-like mode on the wide ground, and is high in terrain adaptability. The multi-mode rigidity and flexibility combined snake-like robot device has a plurality of degrees of freedom, and is good in flexibility, small in cross section, good in trafficability characteristic, simple in structure and easy to control.

The invention discloses a front steering device capable of changing wheel span and ground clearance. The front steering device capable of changing the wheel span and the ground clearance comprises a steering shaft, a left wheel steering device, a right steering device, a left and right steering linkage device, a ground clearance adjusting device and a wheel span adjusting device, wherein the left and right steering linkage device comprises a steering transverse pull rod device arranged between the left wheel steering device and the right steering device; a left transmission device is arranged between the steering transverse pull rod device and the left wheel steering device; a right transmission device is arranged between the steering transverse pull rod device and the right steering device; the ground clearance adjusting device comprises a ground clearance left adjustment device and a ground clearance right adjustment device which are arranged on the left wheel steering device and the right steering device respectively; and the wheel span adjusting device is arranged on the steering transverse pull rod device. The ground clearance adjusting device can adjust the ground clearance conveniently, so that the requirement of crop height on vehicle trafficability is met; and the wheel span adjusting device can adjust the wheel span conveniently, so that different ridge widths are adapted. The front steering device capable of changing the wheel span and the ground clearance has the advantages of reasonable structure, reliable function and convenience of adjustment.

The invention discloses a design method for ODE physical engine-based vehicle terrain trafficability simulating and analyzing components, and relates to a design method of the vehicle terrain trafficability simulating and analyzing components and aims at solving the problems that a large amount of manpower, material resources and financial resources are consumed in the prior art and the research efficiency is low and the period is long in the prior art. The method comprises the following steps: step one, reading terrain elevation data expressed by the SEDRIS (synthetic environment data representation and interchange specification) standard; step two, building a three-dimensional terrain model by reading the terrain elevation data; step three, building a vehicle model for simulating a real vehicle; step four, finishing analyzing the trafficability of the vehicle according to the basic parameters of a vehicle model of the real vehicle; step five, encapsulating the vehicle trafficability analyzing procedure as a trafficability effect component by utilizing a resource encapsulating tool of HIT-TENA. The design method is applied to the design field of the vehicle terrain trafficability simulating and analyzing components.

The invention discloses a six-wheel / leg robot compound movement path programming method, comprising steps of establishing a DEM graph of a robot working environment, performing geomorphic feature extraction, adopting the mapping between the geomorphic feature and the evaluation index, traversing each grid in the DEM image to obtain a trafficability map of the robot and a leg type / wheel type motion price graph, using a starting point of the robot as a root node of a random tree, adopting a pure leg type motion, using a standard random tree algorithm to perform expansion, gradually increasing the leaf nodes until the leaf nodes in the random tree contain a terminal point, obtaining a pure leg type motion target path between the starting point and the terminal point, evaluating the price of the path which is used as an initial price to perform iterative solving until the used time exceeds the maximum time limit set by the user. The six-wheel / leg robot compound movement path programming method provides a solution method for mixing the motion programming, and the motion programming result can dramatically improve the trafficability and the average operation speed.

The invention discloses a four-wheel drive vehicle-based moment of force distribution control system. The four-wheel drive vehicle-based moment of force distribution control system comprises an ECU (Electronic Control Unit), wheel rotating speed sensors, a steering wheel rotating angle sensor, a vehicle body speed sensor, a hydraulic control brake, a yaw velocity sensor and an inter-axis electric control limited slip differential, wherein all of the wheel rotating speed sensors, the vehicle body speed sensor, the yaw velocity sensor and the steering wheel rotating angle sensor are connected with the input end of the ECU; both the inter-axis electric control limited slip differential and the hydraulic control brake are connected with the output end of the ECU. According to the four-wheel drive vehicle-based moment of force distribution control system, a vehicle shows high dynamic performance and operating stability after moment of force distribution comprehensive control and inter-axis moment of force distribution control are applied to the vehicle, so that the four-wheel drive vehicle-based moment of force distribution control system has high practicability in the application of improving the traction trafficability, the directional stability or the steering maneuverability of the vehicle.

The invention relates to a trafficability route-finding algorithm of a vehicle navigation system. The trafficability route-finding algorithm is characterized in that a starting point and a finishing point of a route are respectively arranged in two road networks by a trafficability road network model so that the two road networks can be communicated with each other in a passing region range so as to ensure a specified passing region is in the route-finding process from the starting point to the finishing point; a large passing region semidiameter is set when the distance of the starting point and the finishing point is far and the large passing region semidiameter is set when the road network density is small by adopting a region semidiameter adjusting scheme so as to ensure a planned route to effectively pass through the region semidiameter and not necessarily to pass through a control point; and the route is guided to pass through the specified region by adopting virtual finishing point route-finding, setting a virtual finishing point and utilizing A* algorithm and the route is guided to be planned from the specific region to the finishing point by adopting direction changing route finding and changing route finding guide cost so as to ensure the accuracy and the reliability of the results. A route planned by the trafficability route-finding algorithm can meet user's intent to pass through the passing region, can meet cost minimum standards, and can be used for various embedded vehicle navigation systems.

The invention provides a generation method, a planning method, a planning device, a terminal and a readable storage medium, and the method comprises the steps: extracting a plurality of travel road segments in road network information according to the obtained road network information of a specified region; abstracting the travel road sections as travel nodes so as to generate a node topological graph according to the plurality of route nodes; determining a passage weight value between any two route nodes according to the obtained traffic rule information; and updating the node topological graph according to the passage weight value so as to generate a road network topological graph. According to the technical scheme of the invention; on one hand, route nodes are adopted to replace travelroad sections for analysis and display, the traffic data processing efficiency can be improved, and on the other hand, the expression of the trafficability of the road sections in the road network topological graph is more reasonable by increasing the consideration of the traffic rule information, so that the travel condition can be improved under the guidance of the generated road network topological graph, and the satisfaction degree of a user on travel navigation is further improved.

The invention discloses an analyzing method of urban rail transit movement blocking main track trafficability, comprising the following steps of: A, respectively generating a time-distance curve of a front car tail and a rear car head with preset departure interval under the condition of barrier-free operation in a coordinate system with distance as a horizontal coordinate and time as a vertical coordinate; and B, calculating the minimum main track tracking interval corresponding to each point on the time-distance curve of the rear car head according to the time-distance curve of the rear car head and the front car tail, and generating a main track tracking interval curve. Furthermore, the influence on capability caused by the limit condition of interlocking or operation is further considered, thereby making the output result closer to the reality. The invention not only improves the scientificity and the accuracy of the analysis on the main track trafficability of the urban rail transit in a moving block system, but also lowers the difficulty, the complexity and the development cost of the analysis on the track trafficability of the urban rail transit in the moving block system.

The invention discloses a multi-shaft driving mixed power automobile driving system, comprising an engine first power source, an engine output connection transmission mechanism, a transmission mechanism output connection transmission mechanism which drives a first driving shaft, and at least a set of power source different from the engine power source; the set of power source outputs and is connected with a speed change transmission mechanism, which outputs and is connected with a driving shaft different from the first driving shaft. Owning to a plurality of axles, the bearing capability of a vehicle is greatly improved and is not restricted; the structure of the invention is simple, which cancels a complex divider; the combination of motor driving and engine driving is various, and the control is flexible. On the precondition of ensuring the country-crossing and trafficability of the vehicle, the invention can greatly improve the bearing capability of the vehicle, implements the optimization of the energy utilization, reduces the complexness of the system, improves the power and brake performance of the vehicle, reduces the energy loss and exhaust, lightens the weight of the vehicle, and reduces the manufacture cost.

The invention discloses a movable steel arch bracing trolley comprising a lower stand, an upper support, a plurality of deformable wheels for supporting the lower stand and driving the lower stand to move, and a steel arch jacking system; the steel arch jacking system comprises a jack unit I which is installed between the lower stand and the upper support for jacking the upper support and a jack unit II which is installed on top of the upper support for jacking a steel arch; both the jack unit I and the jack unit II comprise one or more jacks; the deformable wheels of the trolley are able to deform by driving a certain mechanism, so as to greatly increase the trafficability characteristic of the trolley; while traveling on ordinary roads, the deformable wheels can be kept round, allowing a pile driver traveling steadily at a high speed.