The invention relates to a
waist hanging type three-wheel moped based on multi-sensor data fusion driving. Comprising a wearing waistcoat, a button buckle device, a traction device, a middle rotating device, a wheel leg device, a vehicle body fixing frame, an integrated control box and a driving rear wheel. The wearable waistcoat is connected with the middle rotating device through a button buckling device and a traction device, and two driving rear wheels are symmetrically arranged on the two sides of the bottom of the vehicle body fixing frame; an
inertial measurement unit IMU is arranged on the wearing waistcoat, a wheel leg driving motor is provided with an absolute value
encoder, a wheel leg
knee joint torque sensor is arranged in a wheel leg device, a driving rear wheel
torque sensor is arranged on an inner side shaft of a driving rear wheel, and a rotating speed
encoder is arranged between a driving rear wheel shell and the driving rear wheel
torque sensor. The control flexibility is improved, interference to
human body movement is reduced, the wheel speed of the driving rear wheel can be adjusted in real time along with the
human body movement, the wheel leg driving
joint angle is adjusted in real time according to the
road condition change, damage to the
human body is reduced, and adaptability is improved.