Disclosed is a mobile robot adapted to traverse vertical obstacles. The robot comprises a frame and at least one wheel positioned in a front section of the robot, at least one middle wheel positioned in a middle section of the robot, at least one back wheel positioned in a back section of the robot, and at least one further wheel in the front, middle or back of the robot. The robot also comprises at least one motor-driven device for exerting a downward and/or upward force on the middle wheel and at least two motors for driving the wheels and the motor-driven device. Also disclosed is a method of climbing using a mobile robot as disclosed.

Disclosed is a mobile robot adapted to traverse vertical obstacles. The robot comprises a frame and at least one wheel positioned in a front section of the robot, at least one middle wheel positioned in a middle section of the robot, at least one back wheel positioned in a back section of the robot, and at least one further wheel in the front, middle or back of the robot. The robot also comprises at least one motor-driven device for exerting a downward and/or upward force on the middle wheel and at least two motors for driving the wheels and the motor-driven device. Also disclosed is a method of climbing using a mobile robot as disclosed.

An apparatus for estimating vehicle weight using a vehicle height adjusting device is provided. The apparatus includes a vehicle height adjusting device that raises or lowers four positions of front left (FL) and right (FR) sides and rear left (RL) and right (RR) sides of a vehicle body, respectively. A vehicle height controller operates the vehicle height adjusting device to raise or lower the FL and FR sides and the RL and RR sides of the vehicle body. A weight estimating unit measures time required for raising or lowering the vehicle body or operating speed of the vehicle body and calculates an expected vehicle weight value by comparing the time required or the operating speed with a preset reference data.

A ball joint is disclosed containing a body of a joint, where there is inserted a pin having a longitudinal axis and including a first threaded end and a second spherical end which is rotatably arranged within a seat of the body and able to co-operate with a first spherical-cap-shaped element or shell inserted within a seat having a corresponding shape of a second spherical-cap-shaped element or shell cooperating with a covering element so as to close the spherical end of the pin within the body. The second spherical end of the pin and the first and second shells including pairs of recesses and ridges in the contact areas are suitable for reciprocally compenetrating, with the pairs of recesses and ridges being arranged at 90° to each other to allow the rotation of the pin along all axes in the space (X, Y, Z). An angular movement sensor integral with the body of the joint is provided, for co-operating with the second element or shell to detect the rotation of the pin around the axis containing the longitudinal axis of the pin.

Example illustrations are directed to a suspension system for a vehicle and methods. In some examples, a controller of a suspension system is configured to determine the vehicle is in a service environment, and to set a height precision mode for the suspension system based on the determination the vehicle is in the service environment. In some examples, the controller is configured to detect a suspension operating condition of the vehicle, and to change a setting associated with the suspension system based on the suspension operating condition. An example method comprises detecting, using a controller, a suspension operating condition of a suspension system of a vehicle. The method may further include changing, using the controller, a setting associated with the suspension system based upon the suspension operating condition.

A self-stabilizing vehicle includes a mass gyroscope which is fixed at an occupant compartment chassis corresponding to a portion where occupants sit. The occupant compartment portion may tilt outwards in response to the centrifugal force. If the vehicle has three or more wheels, the load is evenly distributed on the left wheel and the right wheel which move oppositely up and down about an effectively centrally-mounted shaft pin. Further, the present disclosure proposes a method for operating the self-stabilizing vehicle. According to the self-stabilizing vehicle and the operating method thereof, a vehicle having a narrow body may be used. When the vehicle undergoes external forces such as the centrifugal force and the crosswind, the occupant compartment can maintain the vertical stability even though the wheels may slide sideways.

A vehicle control device includes: an acquiring unit that acquires vehicle height information from a link mechanism type vehicle height sensor that is connected to a lower arm of a suspension that connects a vehicle body and wheels of a vehicle; a storage unit that stores vehicle height error information, which is information representing a relationship between an acting force that is applied to the vehicle in a horizontal direction and an error that is contained in the vehicle height information that is output by the vehicle height sensor; and a correcting unit that corrects the vehicle height information that has been acquired by the acquiring unit, based on the acting force that acts when the vehicle height information is acquired and the vehicle height error information that is stored in the storage unit.

A vehicle control device includes: an acquiring unit that acquires vehicle height information from a link mechanism type vehicle height sensor that is connected to a lower arm of a suspension that connects a vehicle body and wheels of a vehicle; a storage unit that stores vehicle height error information, which is information representing a relationship between an acting force that is applied to the vehicle in a horizontal direction and an error that is contained in the vehicle height information that is output by the vehicle height sensor; and a correcting unit that corrects the vehicle height information that has been acquired by the acquiring unit, based on the acting force that acts when the vehicle height information is acquired and the vehicle height error information that is stored in the storage unit.

A shock damper is disposed between a vehicle body side and a wheel side. A suspension control device calculates a damping force of the shock damper on the basis of vehicle height information and controls the damping force. A steering system includes an electric motor and a steering control device that controls the electric motor, and assists steering effort of the driver through the electric motor. The suspension control device calculates the vibration generated in a steering on the basis of a detected value of a vehicle height sensor and creates a signal for generating steering torque that reduces the generated vibration. The suspension control device outputs the created signal to the steering control device. Steering torque for cancelling steering vibration is accordingly outputted from the electric motor of the steering system.

A vehicle chassis sensor assembly for measuring the ride height of a vehicle which comprises a rotary arm member including an overmolded magnet encapsulated in the rotary arm member. In one embodiment, the overmolded magnet includes a layer of overmold material defining an open overmold window in the side and/or top exterior surfaces of the layer of overmold material. Another embodiment includes a pair of spaced magnets that are completely encapsulated in a two step molding process before being molded into a rotary arm member.