Waist hanging type three-wheel moped based on multi-sensor data fusion driving

Abstract

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.

Description

Technical Field

[0001] The invention belongs to the field of wearable load transport equipment, and in particular relates to a waist-hanging three-wheeled power-assisted vehicle driven by multi-sensor data fusion. Background Art

[0002] In the task of transporting materials and equipment in complex terrain, such as the transportation of mountain rescue materials and equipment, the transportation of materials and communication equipment in urban ruins after earthquakes and wars, it is usually necessary for individual soldiers to carry out load-bearing marching and transportation. The existing individual carrying vehicles mainly include wheeled and tracked fully automatic battlefield following vehicles and two-wheeled carrying vehicles.

[0003] Wheeled fully automatic battlefield following vehicles have flexible steering, but poor off-road capabilities, limited impact resistance, and are easily affected by ground impacts and obstacles; tracked fully automatic battlefield following vehicles have strong off-road capabilities and good stability, but limited flexibility. Fully automatic battlefield following vehicles can navigate autonomously, require less manpower, and have good durability, but they consume more energy and are highly dependent on technology. In certain extreme climates or complex battlefield conditions, interference or failure may cause them to fail to operate normally.

[0004] Two-wheeled portable vehicles are low-cost and highly flexible, but because their existing control methods are mainly manual or fixed-speed remote control, they cannot adjust the vehicle's speed and lifting height in real time according to the speed of human movement and changes in road conditions, resulting in poor adaptability of human-machine movement, limited terrain adaptability under complex road conditions, and dragging or compression of the human-machine connection parts; in changing combat conditions, when a single soldier needs to accelerate, decelerate, turn, lie on the ground, or squat, due to the poor adaptability of human-machine movement, the inertia of the large load of the power-assisted vehicle can easily cause the vehicle to roll over and cause harm to the human body. In addition, the load-sharing capacity of the two-wheeled powered portable vehicle is limited, the human waist and shoulders are subjected to greater force, fatigue is easy, and the endurance is poor, resulting in limited supplies for a single soldier to carry during a march. Summary of the invention

[0005] The purpose of the present invention is to provide a waist-hanging three-wheeled power-assisted vehicle based on multi-sensor data fusion drive. It solves the problems of limited carrying materials, poor adaptability of human-machine movement and insufficient road condition adaptability during the march of a single soldier under complex road conditions. The present invention obtains the input signal of the wheel-leg drive motor and the input signal drive of the rear wheel hub motor through multi-sensor data fusion, thereby improving the flexibility of control and reducing interference with human movement. The present invention improves the adaptability of human-machine movement while maintaining good accompanying maneuverability. It can adjust the speed of the rear wheel drive in real time according to the speed of human movement, and adjust the wheel-leg drive joint angle in real time according to the change of road conditions to change the vehicle lifting height, reduce damage to the human body, and improve the adaptability of use in complex road conditions such as urban ruins, wild mountain jungles, etc. The triangular configuration of the wheel part proposed by the present invention can control the center of gravity of the load within the triangular configuration, providing effective load sharing for the human body.

[0006] The technical solution to achieve the purpose of the present invention is: a waist-hanging three-wheeled power-assisted vehicle based on multi-sensor data fusion drive, including a wearable vest, a button buckle device, a traction device, a middle rotating device, a wheel leg device, a body fixing frame, an integrated control box and a driving rear wheel; the middle rotating device includes an outer shell and an inner shell that can rotate relatively;

[0007] The vest is detachably connected to one end of the traction device through a button buckle device, and the other end of the traction device is fixed to the outer shell of the middle rotating device. The bottom of the inner shell of the middle rotating device is fixedly connected to the vehicle body fixing frame. Two driving rear wheels are symmetrically arranged on both sides of the bottom of the vehicle body fixing frame. An integrated control box is arranged on the vehicle body fixing frame. The wheel leg driving motor of the wheel leg device is fixed on the inner shell, and the wheel leg driving motor drives the wheel leg to move.

[0008] An inertial measurement unit IMU is installed on the wearable vest, the wheel-leg driving motor is equipped with an absolute encoder, the wheel-leg device is equipped with a wheel-leg knee joint torque sensor, the driving rear wheel inner shaft is equipped with a driving rear wheel torque sensor, and a speed encoder is provided between the driving rear wheel outer casing and the driving rear wheel torque sensor.

[0009] Furthermore, the traction device includes a flexible traction rod, a rod connecting member and a fixing rod.

[0010] One end of the rod connecting piece is connected with the flexible traction rod, and the other end is connected with the upper end of the fixed rod, and the lower end of the fixed rod is fixed to the outer shell of the middle rotating device.

[0011] Further, the button buckle device includes a back plate, an outer cover and a detachable connection assembly of a flexible traction rod;

[0012] The back plate includes a rectangular plate connected to the main body of the wearable vest, and an inner and outer cylindrical plate are arranged on the rectangular plate. The outer cover includes an inner and outer cylinder that cooperate with the inner and outer cylindrical plates on the back plate, and arc-shaped clamping plates are arranged on both sides of the outer layer for positioning with the two cylindrical plates on the back plate. The outer cover is connected to the back plate by screws through the arc-shaped clamping plates; the flexible traction rod detachable connection component includes two groups, and the detachable connection with the flexible traction rod is realized through the flexible traction rod detachable connection component.

[0013] Furthermore, each set of flexible traction rod detachable connection components includes a key arc-shaped upper plate, a spring, an arc-shaped lower plate and a tooth-shaped clamp;

[0014] The tooth-shaped clamp consists of a cylindrical button protruding from the outer cylinder of the back plate, a square column that passes through the arc-shaped lower plate in the middle and can move axially relative to the arc-shaped lower plate, and a plurality of tooth-shaped parts arranged on the inner side of the arc-shaped lower plate. The arc of the outer circumference of the tooth-shaped part matches the shape of the arc-shaped lower plate. The arc-shaped upper plate of the button is arranged between the inner and outer cylindrical plates of the back plate. The arc-shaped upper plate of the button and the cylindrical button of the tooth-shaped clamp are fixedly connected, and a plurality of springs are arranged between the arc-shaped upper plate of the button and the arc-shaped lower plate. One end of the flexible traction rod connected to the button snap-on device is cylindrical, and the inner wall surface is provided with a groove that matches the tooth-shaped part of the tooth-shaped clamp. By pressing the cylindrical button, the tooth-shaped part of the tooth-shaped clamp is driven away from the arc-shaped lower plate, thereby realizing the detachable connection between the flexible traction rod and the button snap-on device.

[0015] Further, the central rotating device includes an outer shell, an inner shell, a rotating shaft, a locking disk and a rotating shaft cover;

[0016] The shell is U-shaped as a whole, and the side plate is in the shape of a semicircular pocket with one side narrow and the other side wide. The side plate is provided with an axis hole and a positioning hole, and the other side plate is provided with a through hole for fixing one end of the rotating shaft;

[0017] The two plates of the inner shell are respectively provided with a through hole and an axial hole, and a circle of positioning holes is provided on the outer periphery of the axial hole of the side plate; a positioning column matching the positioning hole is provided on one side of the locking disk, the outer shell and the inner shell are hinged through a rotating shaft, and the locking disk is nested on the rotating shaft through the axial hole. After the positioning column passes through the positioning holes of the outer shell and the inner shell, the rotating shaft cover is tightened and fixed to achieve the setting of the required rotation angle.

[0018] Furthermore, the wheel-leg device includes a wheel-leg driving motor, two upper legs, a supporting leg, a lower leg and a wheel.

[0019] The two upper legs, supporting legs and lower legs all adopt a spatial truss structure with main supporting rods and staggered thin rods.

[0020] One end of the two upper legs is connected to the wheel leg driving motor respectively, and the other ends of the two upper legs are rotationally connected to the upper part of the lower leg respectively, and the wheel leg knee joint torque sensor is arranged at the rotation connection, and a wheel is provided at the lower end of the lower leg, one end of the supporting leg is rotationally connected to the inner shell of the middle rotating device, and the other end is rotationally connected to the middle and upper part of the lower leg; a four-bar linkage is formed as a whole between the two upper legs, the supporting leg, the middle and upper part of the lower leg and the inner shell, and the assembly width of the two upper legs is greater than the front and rear width of the lower leg.

[0021] Furthermore, the upper leg is composed of two long straight rods welded by two arc-shaped rods, one large and one small at both ends, wherein a circular hollow protrusion is left in the middle section of the small arc-shaped rod, and a groove is provided inside the protrusion for placing the wheel leg knee joint torque sensor, the large arc-shaped rod is fixedly connected to the rotating disk, and the middle section between the two straight rods is strengthened by welding an "X"-shaped thin straight rod;

[0022] The support rod is a rectangular structure consisting of two parallel long straight rods with short hollow rods welded at the ends. The middle section between the two long straight rods is strengthened by welding two sets of "X"-shaped thin straight rods.

[0023] The lower leg is a three-dimensional structure composed of two arc-shaped rods welded at the bottom end of four parallel long straight rods, two arc-shaped curved rods welded at the top end, and a hollow short rod horizontally welded on the top of the two arc-shaped curved rods. The middle section between the two straight rods on the side is welded by "X" and "M" type combined thin straight rods, and the middle section between the front and rear straight rods is welded by "X" type thin straight rods to strengthen the support. There are circular hollow protrusions at the "X" center point of the combined thin straight rods on both sides and the middle section of the two arc-shaped rods at the bottom.

[0024] The wheel-leg driving motor is fixed in the inner shell, and two sides of the wheel-leg driving motor are respectively connected with a rotating disk, and the rotating disk is connected with the two upper legs.

[0025] Furthermore, the vehicle body fixing frame is provided with four binding ring buckles for fixing the load-bearing object with straps around it, and the whole frame comprises three fixing rods at the top, a connecting cross bar with ears in the middle, and two layers of square frames at the bottom;

[0026] The integrated control box includes a box body, a box cover and hinges. The box body is nested under the vehicle body fixing frame and fixedly connected. The lower end of the box cover is hinged to the box body through a hinge, and the upper end is connected to the vehicle body fixing frame through screws. The integrated control box is equipped with a main control board and a power supply, and a power switch is provided on the side.

[0027] Furthermore, the wire of the absolute encoder equipped with the wheel-leg drive motor is merged into the main wire of the wheel-leg drive motor; the wire of the wheel-leg knee joint torque sensor passes through the hollow inside of the upper leg and is merged into the main wire of the wheel-leg drive motor; the main wire of the wheel-leg drive motor passes through the inner shell, and then passes through the hollow inside of the vehicle body fixing frame to be connected to the main control board and power supply inside the integrated control box;

[0028] A hub motor is provided inside the driving rear wheel, driving rear wheel torque sensors are provided at the inner shafts of the two driving rear wheels, speed encoders are provided between the driving rear wheel housings and the driving rear wheel torque sensors, and the main wire at the driving rear wheel passes through the hollow inside of the vehicle body fixing frame and is connected to the main control board and power supply inside the integrated control box.

[0029] A working method using the waist-hanging three-wheeled power-assisted vehicle comprises the following steps:

[0030] Step (1): Obtain data collected by multiple sensors and perform data preprocessing: IMU collects the three-axis posture of the human back ω r ,ω p ,ω y and acceleration α x , α y , α z The wheel-leg knee joint torque sensor collects the wheel-leg knee joint torque T k , the absolute encoder collects the wheel-leg drive joint position θ d The rear wheel torque sensor collects the rear wheel axle torque T w The speed encoder collects the rear wheel speed v w and acceleration α w ;

[0031] Step (2): Extract features from the preprocessed data: Extract the three-axis posture of the human back through CNN r ,ω p ,ω y and acceleration α x , α y , α z Get the human body motion information and calculate the wheel leg knee joint torque T through the Jacobian matrix k Get the wheel leg wheel force F k , calculate the wheel-leg drive joint position θ through the Jacobian matrix d Get the angle θ of the wheel-leg four-link 1 ,θ 2 ,θ 3 The relative positions x′, y′, and z′ of the wheel center and the driving joint are calculated by the four-link matrix, and the rear wheel axle torque T is calculated by w Get the force F on the rear wheel axle w , by calculating the rear wheel speed v w and acceleration α w Get vehicle drive T;

[0032] Step (3): Use the linear Kalman filter algorithm to fuse the same type of data collected by different sensors to obtain the fused data:

[0033] The wheel-leg four-link angle, the relative position of the wheel center and the driving joint, and the theoretical wheel-leg posture of the vehicle motion model are integrated to obtain the final wheel-leg posture θ′ 1 ,θ′ 2 ,θ′ 3 , the rear wheel axle is subjected to force F w Combined with the vehicle drive T, the final force F′ on the rear wheel is obtained w ;

[0034] Step (4): Based on the Transformer self-attention mechanism architecture, the fused data is analyzed for decision making, and the input of the wheel-leg drive motor and the rear wheel hub motor is generated: based on the human body motion information, the wheel-leg wheel force F k and the final posture of the wheel leg θ′ 1 ,θ′ 2 ,θ′ 3 Perform decision analysis to generate the input of the wheel-leg drive motor; based on the human body motion information and the final force F′ of the driving rear wheel w Perform decision analysis to generate inputs to drive the rear wheel hub motor.

[0035] Compared with the prior art, the present invention has the following significant advantages:

[0036] (1) Based on the real-time human motion intention perception technology, the present invention adopts the linear Kalman filter and deep learning fusion decision-making method to establish a multi-sensor data fusion system model, which improves the control flexibility, reduces the interference to human motion, and improves the adaptability of human-machine motion while maintaining good accompanying maneuverability. It can adjust the driving rear wheel speed in real time according to the human motion speed, and adjust the wheel leg driving joint angle in real time according to the road condition changes to change the vehicle lifting height, thereby reducing the damage to the human body and improving the adaptability of use in complex road conditions such as urban ruins, wild mountain jungles, etc.

[0037] (2) The triangular configuration of the wheel part proposed by the present invention can control the center of gravity of the load within the triangular configuration, disperse the force on the waist and shoulders of the human body, and provide effective load sharing;

[0038] (3) The wheel-leg device of the present invention adopts a four-bar linkage mechanism, and adjusts the wheel-leg driving joint angle through a single joint driving motor, thereby adjusting the wheel-leg posture to change the vehicle lifting height, without adding additional joint drives, thereby reducing the complexity of the wheel-leg device and reducing power consumption;

[0039] (4) The present invention arranges an IMU on the upper side of the back of the vest, without adding additional sensor equipment for sensing the motion state of the human body, thus reducing the equipment carried by individual soldiers;

[0040] (5) The present invention uses a button buckle device, which can be easily released by the user with the force of the fingertips, thus reducing the wearing time and increasing the use efficiency;

[0041] (6) The present invention uses a central rotating device and a wheel-leg device, which facilitates folding and storage during equipment transportation, reduces the usage space, and can adjust the wearing height when facing users of different heights, thereby increasing the applicability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A three-dimensional diagram of a waist-hanging three-wheeled power-assisted vehicle driven based on multi-sensor data fusion of the present invention;

[0043] Figure 2 It is a front view of the waist-hanging three-wheeled power-assisted vehicle based on multi-sensor data fusion drive of the present invention;

[0044] Figure 3 It is a side view of the waist-hanging three-wheeled power-assisted vehicle based on multi-sensor data fusion drive of the present invention;

[0045] Figure 4 It is a schematic diagram of the waist-hanging three-wheeled power-assisted vehicle of the present invention in a folded state;

[0046] Figure 5 A three-dimensional diagram of the button buckle of the present invention in an open cover state;

[0047] Figure 6 It is a three-dimensional diagram of the internal structure of the intermediate rotating device of the present invention;

[0048] Figure 7 is a three-dimensional diagram of the wheel-leg device of the present invention;

[0049] Figure 8 It is a three-dimensional diagram of the wheel-leg driving motor of the present invention;

[0050] Fig. 9 A three-dimensional diagram of the integrated control box of the present invention in an open cover state;

[0051] Fig.10 This is a flow chart of the multi-sensor data fusion system of the present invention.

[0052] Description of reference numerals:

[0053] 1-wearing vest, 11-IMU, 2-button buckle device, 21-back plate, 22-button arc upper plate, 23-spring, 24-arc lower plate, 25-tooth-shaped clamp, 26-outer cover, 3-traction device, 31-flexible traction rod, 32-rod connector, 33-fixed rod, 4-middle rotating device, 41-outer shell, 42-inner shell, 43-rotating shaft, 44-locking disk, 45-rotating shaft cover, 5-wheel leg device, 51-wheel leg drive motor, 51a-rotating disk, 51b-absolute encoder, 52-upper leg, 52a-first rotation axis, 52b-wheel leg knee joint torque sensor, 53-support leg, 53a-second rotation axis, 53b-third rotation axis, 54-lower leg, 55-wheel, 6-body fixing frame, 61-binding ring buckle, 7-integrated control box, 71-box, 71a-main control board, 71b-power supply, 71c-power switch, 72-box cover, 72a-hand-tightened star screw, 73-hinge, 8-driving rear wheel, 81-driving rear wheel torque sensor, 82-speed encoder. DETAILED DESCRIPTION

[0054] A waist-hanging three-wheeled power-assisted vehicle based on multi-sensor data fusion drive in an embodiment of the present invention will be further described below in conjunction with the drawings in the embodiments. The embodiments described here are only part of the embodiments of the present invention and are only used to explain the present invention, not to limit the embodiments of the present invention.

[0055] like Figure 1 As shown, a waist-hanging three-wheeled power-assisted vehicle based on multi-sensor data fusion drive includes a wearing vest 1, a button buckle device 2 and a vehicle body structure, characterized in that: the lower back side of the wearing vest 1 is fixedly connected to the button buckle device 2;

[0056] like Figure 1-4 As shown, the vehicle body structure includes a traction device 3, a middle rotating device 4, a wheel leg device 5, a vehicle body fixing frame 6, an integrated control box 7 and a driving rear wheel 8;

[0057] The traction device 3 includes a flexible traction rod 31, a rod connecting member 32 and a fixed rod 33. One end of the rod connecting member 32 is connected to the flexible traction rod 31, and the other end is connected to the upper end of the fixed rod 33. The lower end of the fixed rod 33 is fixed to the upper end of the middle rotating device 4.

[0058] like Figure 6As shown, the central rotating device 4 includes an outer shell 41, an inner shell 42, a rotating shaft 43, a locking plate 44 and a rotating shaft cover 45. The three side panels of the outer shell 41 are U-shaped as a whole, and the cross-section of the front and rear side panels is a semicircular pocket shape with a narrow left and a wide right. A shaft hole is provided near the right side of the front side panel, and a positioning hole is provided near the shaft hole. The rear side panel is provided with a circular groove for fixing one end of the rotating shaft 43; the outer shape of the inner shell 42 is reduced in proportion to the outer shell 41, and a panel is added to the side to cover the upper side and the right side, and the lower side still has space for the wheel leg device 5 to move. The front and rear side panels are provided with through holes near the left side and shaft holes near the right side, and a circle of 12 positioning holes are provided near the shaft hole of the front side panel, corresponding to the position and size of the outer shell hole; the locking plate 44 is a water drop-shaped side, with a shaft hole provided in the center of the large arc, and a positioning column extending inward from the center of the small arc. The outer shell 41 and the inner shell 42 are hinged by a rotating shaft 43, and the locking plate 44 is nested on the rotating shaft 43 through the shaft hole. After the positioning column passes through the positioning holes of the outer shell 41 and the inner shell 42, the rotating shaft cover 45 is tightened and fixed, which can achieve 12 rotation angles. The lower side of the inner shell 42 is connected to the wheel leg device 5, and the right side is fixed to the vehicle body fixing frame 6 by welding;

[0059] like Figure 7 As shown, the wheel-leg device 5 includes a wheel-leg driving motor 51, an upper leg 52, a support leg 53, a lower leg 54 and a wheel 55. The upper leg 52, the support leg 53 and the lower leg 54 all adopt a space truss structure with a main support rod and staggered thin rods, which can provide sufficient support and maintain stability while achieving lightweight structure. The upper leg 52 is a structure composed of two long straight rods welded by two arc-shaped rods, one large and one small at both ends. A circular hollow protrusion is left in the middle section of the small arc, and a groove is provided on the inside for placing sensors. The large arc section is welded to an internal disk, and a circle of 6 holes is provided on the disk. The middle section between the two straight rods is strengthened by welding an "X"-shaped thin straight rod; the support rod 53 is a square structure composed of two hollow short rods welded at the ends of two parallel long straight rods. The middle section between the two long straight rods is strengthened by welding two groups of "X"-shaped thin straight rods. Thin straight rods strengthen the support; the lower leg 54 is a three-dimensional structure composed of two arc-shaped rods welded at the bottom end of the side of four parallel long straight rods, two arc-shaped curved rods welded at the upper end, and a hollow short rod horizontally welded on the top of the two arc-shaped curved rods. Among them, the middle section between the two straight rods on the side is welded by "X" and "M" type combined thin straight rods, and the middle section between the two straight rods on the front and rear sides is welded by "X" type thin straight rods to strengthen the support. Circular hollow protrusions are left at the center point of the "X" of the combined thin straight rods on both sides and the middle section of the two arc-shaped rods at the bottom. One end of the upper leg 52 is connected to the wheel leg drive motor 51, and the other end is connected to the lower leg 54. One end of the support leg 53 is connected to the middle rotating device 4, and the other end is connected to the lower leg 54. The lower end of the lower leg 54 is connected to the wheel 55, and the wheel 55 is located between the two arc-shaped rods at the bottom of the lower leg 54;

[0060] like Figure 1-4As shown, the vehicle body fixing frame 6 is connected to the integrated control box 7, and the two sides are respectively connected to the driving rear wheels 8.

[0061] like Figure 1-4 As shown, an IMU 11 is arranged on the upper side of the back of the wearable vest 1. The IMU 11 is equipped with a Bluetooth transmitter to send the three-axis posture and acceleration signals of the human back to the main control board 71a.

[0062] like Figure 5 As shown, the button buckle device 2 includes a back plate 21, a button arc-shaped upper plate 22, a spring 23, an arc-shaped lower plate 24, a tooth-shaped clamp 25 and an outer cover 26. The back plate 21 is composed of a square plate and a circular inner and outer layer extending from the center of the square plate to one side. The inner and outer layers of the outer cover 26 are consistent in size with the inner and outer layers of the back plate 21, and arc-shaped clamps are fixed on the inner sides of the left and right sides of the outer layer; the tooth-shaped clamp 25 is composed of an upper rectangular parallelepiped and a lower arc tooth-shaped component. The button arc-shaped upper plate 22 is located on the inner side of the outer layer of the back plate 21, and the arc-shaped lower plate 24 is located on the outer side of the inner layer of the back plate 21. The button arc-shaped upper plate 22 is connected to the arc-shaped lower plate 24 through the spring 23. The tooth-shaped clamp 25 passes through the central square hole of the arc-shaped lower plate 24 and is connected to the central square groove at the bottom of the button arc-shaped upper plate 22. The outer cover 26 is connected to the back plate 21 through the arc-shaped clamp by screws.

[0063] like Figure 5 As shown, the back plate 21 and the outer cover 26 have semicircular openings on the upper and lower outer layers, and square openings on the upper and lower inner layers. The openings of the back plate 21 and the outer cover 26 are combined to form a circular opening and a square opening. The arc-shaped upper plate 22 of the button is just embedded in the circular opening, and the tooth-shaped clamp 25 is just embedded in the square opening. The upper end of the flexible traction rod 31 has a hollow structure, and a groove is provided on the hollow inner side. When matched with the tooth-shaped clamp 25, the thickness of the groove is consistent with the thickness of the tooth mouth, ensuring that no lateral slippage occurs when wearing and connecting.

[0064] like Figure 7 As shown, the wheel leg driving motor 51 in the wheel leg device 5 is fixed inside the inner shell 42 on all sides, and the rotating disks 51a on both sides pass through the through holes of the front and rear panels of the inner shell 42 and are respectively connected to the two upper legs 52, and the upper legs 52 are then hinged on both sides of the lower legs 54 through the first rotating shaft 52a. The force on both sides is even, which makes the wheel leg device 5 run more smoothly. The support leg 53 is hinged to the inner shell 42 through the second rotating shaft 53a and is hinged to the lower leg 54 through the third rotating shaft 53b, forming a four-bar linkage as a whole. Among them, the support leg 53 adopts a lateral support, which has a large support strength, and the assembly width of the two upper legs 52 is greater than the front and rear width of the lower leg 54, which increases the rotation range.

[0065] like Figure 1-4 As shown, the vehicle body fixing frame 6 is provided with four binding ring buckles 61 around it for fixing the load-bearing object with straps. The whole is divided into three fixing rods on the top, a middle ear-shaped connecting cross bar and two layers of square frames on the bottom, all of which are fixedly connected by welding.

[0066] like Figure 1-4 As shown, the integrated control box 7 includes a box body 71, a box cover 72 and a hinge 73. The box body 71 is just nested under the vehicle body fixing frame 6 and is fixedly connected. The lower end of the box cover 72 is hinged to the box body 71 through a hinge 73, and the upper end is connected to the vehicle body fixing frame 6 through a hand-tightened star screw 72a, which is convenient for replacing the power supply 71b and repairing the line during the march of a single soldier, thereby ensuring the endurance. Fig. 9 As shown, the integrated control box 7 is provided with a main control board 71a and a power supply 71b, and a power switch 71c is provided on the side.

[0067] like Figure 8 As shown, the wheel-leg driving motor 51 is equipped with an absolute value encoder 51b, whose wires are incorporated into the total wires of the wheel-leg driving motor 51; Figure 7 As shown, a wheel-leg knee joint torque sensor 52b is fixed at the lower end of the upper leg 52, nested at both ends of the first rotating shaft 52a, and its wires pass through the hollow interior of the upper leg 52 and are merged into the main wires of the wheel-leg drive motor 51; the main wires of the wheel-leg drive motor 51 pass through the inner shell 42, and then pass through the hollow interior of the vehicle body fixing frame 6 to be connected to the main control board 71a and the power supply 71b inside the integrated control box 7.

[0068] like Figure 2 As shown, a hub motor is provided inside the driving rear wheel 8, a driving rear wheel torque sensor 81 is provided at the inner shaft of each of the two driving rear wheels 8, a speed encoder 82 is provided between the driving rear wheel 8 outer shell and the driving rear wheel torque sensor 81, and the main wire at the driving rear wheel 81 passes through the hollow inside of the vehicle body fixing frame 6 and is connected to the main control board 71a and the power supply 71b inside the integrated control box 7.

[0069] like Fig.10 As shown, the multi-sensor data fusion system process involved in the main control board 71a is as follows: (1) Acquire data collected by multiple sensors and perform data preprocessing: IMU11 collects the three-axis posture of the human back ω r ,ω p ,ω y and acceleration α x , α y , α z The wheel-leg knee joint torque sensor 52b collects the wheel-leg knee joint torque T k , the absolute encoder 51b collects the wheel-leg driving joint position θ d The rear wheel torque sensor 81 collects the rear wheel torque T w The speed encoder 82 collects the speed v of the rear wheel 8 w and acceleration α w ; (2) Extract features from the preprocessed data: Extract the three-axis posture of the human back ω through CNN r,ω p ,ω y and acceleration α x , α y , α z Get human motion information (walking on a flat road, running on a flat road, uphill, downhill, sideways turning, etc.), and calculate the wheel leg knee joint torque T through the Jacobian matrix k Get the wheel leg wheel force F k , calculate the wheel-leg drive joint position θ through the Jacobian matrix d Get the angle θ of the wheel-leg four-link 1 ,θ 2 ,θ 3 The relative positions x′, y′, and z′ between the center of the wheel 55 and the driving joint are calculated by the four-link matrix, and the axle torque T of the rear wheel 8 is calculated by w Get the force F on the axle of the rear wheel 8 w , by calculating the rear wheel speed v w and acceleration α w Get the vehicle drive T; (3) Use the linear Kalman filter algorithm to fuse the same type of data collected by different sensors to obtain the fused data: the wheel-leg four-link angle, the relative position between the wheel 55 center and the drive joint, and the wheel-leg theoretical posture of the vehicle motion model to obtain the final wheel-leg posture θ′ 1 ,θ′ 2 ,θ′ 3 , the force on the rear wheel axle 8 is F w Combined with the vehicle drive T, the final force F′ on the driving rear wheel 8 is obtained w (4) Based on the Transformer self-attention mechanism architecture, the fused data is analyzed for decision making, and the input of the wheel-leg drive motor 51 and the wheel hub motor driving the rear wheel 8 is generated: based on the human body motion information, the wheel-leg wheel force F k and the final posture of the wheel leg θ′ 1 ,θ′ 2 ,θ′ 3 Perform decision analysis to generate the input of the wheel-leg drive motor 51; based on the human body movement information and the final force F′ of the driving rear wheel 8 w Perform decision analysis to generate inputs for driving the 8-wheel hub motors at the rear wheels.

[0070] When in use, the user puts on the vest 1, unscrews the shaft cover 45, pulls out the locking disk 44, and flips the traction device 3; places a load-bearing object on the vehicle body fixing frame 6 on the upper part of the integrated control box 7, and uses a strap to pass through the binding ring buckle 61 to fix the load-bearing object; adjusts the posture of the wheel-leg device 5 so that the vehicle body itself stands stably; adjusts the angle of the traction device 3 so that the upper end of the flexible rod 31 is exactly at the height of the human waist, inserts the locking disk 44, and tightens the shaft cover 45; holds the upper end of the flexible rod 31 and aligns it with the button buckle device 2 to snap it in; when not in use and needs to be stored, press the upper and lower buttons of the button buckle device 2 at the same time, and then just perform the reverse operation according to the steps when using it.

[0071] When in use, the user presses the power switch 71c, the equipment is powered on, and the system starts to self-check the status of the human body and the vehicle. When accelerating the march in the case of a rising mountain slope, the human body accelerates linearly along the positive direction of the X-axis and Z-axis and rotates around the Y-axis. The IMU 11 arranged on the vest 1 collects the three-axis posture and acceleration information of the human body's back and sends it to the main control board 71a via Bluetooth; due to the change in the ground inclination, the wheel leg knee joint is twisted, and the wheel leg knee joint torque sensor 52b collects the wheel leg knee joint torque information and transmits it to the main control board 71a through the signal line; the wheel leg driving joint is lifted, and the driving joint angle and the position relative to the center of the wheel 55 change. The absolute encoder 51b collects the wheel leg driving joint position information and transmits it to the main control board 71a through the signal line; when the human body accelerates, the driving rear wheel 8 axle is twisted and the wheel accelerates, the driving rear wheel torque sensor 81 collects the driving rear wheel 8 axle torque, and the speed encoder 82 collects the driving rear wheel 8 wheel speed and acceleration and transmits them to the main control board 71a through the signal line;

[0072] The main control board 71a generates the input of the wheel-leg drive motor 51 and the rear wheel hub motor after multi-sensor data fusion, adjusts the wheel-leg drive joint angle, increases the vehicle lifting height, adapts to changes in road conditions, and increases the speed of the rear wheel 8, so that the vehicle can cooperate with the human body to accelerate, disperse the force on the human waist and shoulders, reduce the dragging feeling of the human waist, reduce the interference with human movement, and improve the adaptability of human-machine movement.

Claims

1. A waist-hanging three-wheeled power-assisted vehicle based on multi-sensor data fusion drive, characterized in that: The invention comprises a wearable vest (1), a button buckle device (2), a traction device (3), a middle rotating device (4), a wheel leg device (5), a vehicle body fixing frame (6), an integrated control box (7) and a driving rear wheel (8); the middle rotating device (4) comprises an outer shell (41) and an inner shell (42) which can rotate relative to each other; The wearing vest (1) is detachably connected to one end of the traction device (3) through a button buckle device (2), the other end of the traction device (3) is fixed to an outer shell (41) of a middle rotating device (4), the bottom of an inner shell (42) of the middle rotating device (4) is fixedly connected to a vehicle body fixing frame (6), two driving rear wheels (8) are symmetrically arranged on both sides of the bottom of the vehicle body fixing frame (6), an integrated control box (7) is arranged on the vehicle body fixing frame (6), and a wheel leg driving motor (51) of a wheel leg device (5) is fixed on the inner shell (42), and the wheel leg driving motor (51) drives the wheel legs to move; An inertial measurement unit IMU (11) is arranged on the wearable vest (1), the wheel-leg driving motor (51) is equipped with an absolute value encoder (51b), a wheel-leg knee joint torque sensor (52b) is arranged inside the wheel-leg device (5), a driving rear wheel torque sensor (81) is arranged at the inner shaft of the driving rear wheel (8), and a speed encoder (82) is arranged between the driving rear wheel (8) housing and the driving rear wheel torque sensor (81).

2. The waist-hanging three-wheeled power-assisted vehicle according to claim 1, characterized in that: The traction device (3) comprises a flexible traction rod (31), a rod connecting member (32) and a fixing rod (33). One end of the rod connector (32) is connected to the flexible traction rod (31), and the other end is connected to the upper end of the fixed rod (33), and the lower end of the fixed rod (33) is fixed to the housing (41) of the middle rotating device (4).

3. The waist-hanging three-wheeled power-assisted vehicle according to claim 2, characterized in that: The button buckle device (2) comprises a back plate (21), an outer cover (26) and a flexible traction rod detachable connection assembly; The back plate (21) comprises a rectangular plate connected to the main body of the vest, and two inner and outer cylindrical plates are arranged on the rectangular plate. The outer cover (26) comprises an inner and outer cylinder matching the inner and outer cylindrical plates on the back plate, and arc-shaped clamping plates for positioning with the two cylindrical plates on the back plate are arranged on both sides of the outer layer. The outer cover (26) is connected to the back plate (21) by screws through the arc-shaped clamping plates; the flexible traction rod detachable connection assembly comprises two groups, and the detachable connection with the flexible traction rod (31) is realized through the flexible traction rod detachable connection assembly.

4. The waist-hanging three-wheeled power-assisted vehicle according to claim 3, characterized in that: Each set of flexible traction rod detachable connection components comprises a key arc-shaped upper plate (22), a spring (23), an arc-shaped lower plate (24) and a tooth-shaped clamp (25); The tooth-shaped clamp (25) is composed of a cylindrical button protruding from the outer cylinder of the back plate, a square column with a middle portion passing through the arc-shaped lower plate (24) and capable of relative axial movement relative to the arc-shaped lower plate, and a plurality of tooth-shaped portions arranged on the inner side of the arc-shaped lower plate, the arc shape of the outer circumference of the tooth-shaped portion matches the shape of the arc-shaped lower plate (24), the key arc-shaped upper plate (22) is arranged between the inner and outer cylindrical plates of the back plate, the key arc-shaped upper plate (22) and the cylindrical button of the tooth-shaped clamp are fixedly connected, and a plurality of springs (23) are arranged between the key arc-shaped upper plate (22) and the arc-shaped lower plate (24); one end of the flexible traction rod (31) connected to the button snap-fit ​​device (2) is cylindrical, and the inner wall surface is provided with a groove matching the tooth-shaped portion of the tooth-shaped clamp; by pressing the cylindrical button, the tooth-shaped portion of the tooth-shaped clamp is driven away from the arc-shaped lower plate (24), thereby realizing a detachable connection between the flexible traction rod (31) and the button snap-fit ​​device (2).

5. The waist-hanging three-wheeled power-assisted vehicle according to claim 4, characterized in that: The middle rotating device (4) comprises an outer shell (41), an inner shell (42), a rotating shaft (43), a locking plate (44) and a rotating shaft cover (45); The housing (41) is U-shaped as a whole, and the side plate is in the shape of a semicircular pocket with one side narrower and the other side wider. The side plate is provided with an axis hole and a positioning hole, and the other side plate is provided with a through hole for fixing one end of the rotating shaft (43); The two plates of the inner shell (42) are respectively provided with a through hole and an axial hole, and a circle of positioning holes is provided on the outer periphery of the axial hole of the side plate; a positioning column matched with the positioning hole is provided on one side of the locking disk (44); the outer shell (41) and the inner shell (42) are hingedly connected through a rotating shaft (43); the locking disk (44) is nested on the rotating shaft (43) through the axial hole; after the positioning column passes through the positioning holes of the outer shell and the inner shell, the rotating shaft cover (45) is screwed and fixed to achieve the setting of the required rotation angle.

6. The waist-hanging three-wheeled power-assisted vehicle according to claim 5, characterized in that: The wheel-leg device (5) comprises a wheel-leg driving motor (51), two upper legs (52), a supporting leg (53), a lower leg (54) and a wheel (55). The two upper legs (52), the supporting legs (53) and the lower legs (54) all adopt a spatial truss structure with main supporting rods and staggered thin rods. One end of the two upper legs (52) is respectively connected to the wheel leg driving motor (51), and the other end of the two upper legs (52) is respectively connected to the upper part of the lower leg (54) in rotation, and the wheel leg knee joint torque sensor (52b) is arranged at the rotation connection. The lower end of the lower leg (54) is provided with a wheel (55), and one end of the support leg (53) is connected to the inner shell of the middle rotating device (4) in rotation, and the other end is connected to the middle and upper part of the lower leg (54). A four-bar linkage is formed as a whole between the two upper legs (52), the support leg (53), the middle and upper part of the lower leg (54) and the inner shell (42), and the assembly width of the two upper legs (52) is greater than the front and rear side width of the lower leg (54).

7. The waist-hanging three-wheeled power-assisted vehicle according to claim 6, characterized in that: The upper leg (52) is composed of two long straight rods welded together with two arc-shaped rods, one large and one small at both ends, wherein a circular hollow protrusion is left in the middle section of the small arc-shaped rod, and a groove is provided inside the protrusion for placing the wheel leg knee joint torque sensor (52b), the large arc-shaped rod is fixedly connected to the rotating disk (51a), and the middle section between the two straight rods is reinforced by welding an "X"-shaped thin straight rod; The support rod (53) is a rectangular structure composed of two parallel long straight rods with short hollow rods welded at the ends of both sides, and the middle section between the two long straight rods is reinforced by welding two groups of "X"-shaped thin straight rods; The lower leg (54) is a three-dimensional structure composed of two arc-shaped rods welded at the bottom ends of four parallel long straight rods, two arc-shaped curved rods welded at the top ends, and a hollow short rod horizontally welded at the tops of the two arc-shaped curved rods. The middle section between the two straight rods on the side is welded with "X" and "M" shaped combined thin straight rods, and the middle section between the front and rear straight rods is welded with "X" shaped thin straight rods for strengthening support. Circular hollow protrusions are left at the "X" center points of the combined thin straight rods on both sides and the middle sections of the two arc-shaped rods at the bottom ends. The wheel-leg driving motor (51) is fixed in the inner shell (42), and a rotating disk (51a) is connected to both sides of the wheel-leg driving motor (51), and the rotating disk (51a) is connected to the two upper legs (52).

8. The waist-hanging three-wheeled power-assisted vehicle according to claim 7, characterized in that: The vehicle body fixing frame (6) is provided with four binding ring buckles (61) for fixing the load-bearing object with binding straps around the periphery, and the whole frame comprises three fixing rods at the top, a connecting cross bar with ears in the middle, and two layers of square frames at the bottom; The integrated control box (7) comprises a box body (71), a box cover (72) and a hinge (73); the box body (71) is nested under a vehicle body fixing frame (6) and fixedly connected; the lower end of the box cover (72) is hinged to the box body (71) through a hinge (73), and the upper end is connected to the vehicle body fixing frame (6) through screws; a main control board (71a) and a power supply (71b) are arranged inside the integrated control box (7), and a power switch (71c) is arranged on the side.

9. The waist-hanging three-wheeled power-assisted vehicle according to claim 8, characterized in that: The wire of the absolute value encoder (51b) equipped with the wheel-leg driving motor (51) is merged into the main wire of the wheel-leg driving motor (51); the wire of the wheel-leg knee joint torque sensor (52b) passes through the hollow inside of the upper leg (52) and is merged into the main wire of the wheel-leg driving motor (51); the main wire of the wheel-leg driving motor (51) passes through the inner shell (42), and then passes through the hollow inside of the vehicle body fixing frame (6) and is connected to the main control board (71a) and the power supply (71b) inside the integrated control box (7); A wheel hub motor is arranged inside the driving rear wheel (8), a driving rear wheel torque sensor (81) is arranged at the inner shaft of each of the two driving rear wheels (8), a speed encoder (82) is arranged between the driving rear wheel (8) housing and the driving rear wheel torque sensor (81), and a main wire at the driving rear wheel (81) passes through the hollow inside of the vehicle body fixing frame (6) and is connected to a main control board (71a) and a power supply (71b) inside the integrated control box (7).

10. A working method using the waist-hanging tricycle as described in any one of 1 to 9, characterized in that: The steps include: Step (1): Obtain data collected by multiple sensors and perform data preprocessing: IMU (11) collects the three-axis posture of the human back ω r ,ω p ,ω y and acceleration α x , α y , α z The wheel leg knee joint torque sensor (52b) collects the wheel leg knee joint torque T k , the absolute encoder (51b) collects the wheel-leg driving joint position θ d The rear wheel torque sensor (81) collects the wheel shaft torque T of the rear wheel (8) w The speed encoder (82) collects the wheel speed v of the driving rear wheel (8) w and acceleration α w ; Step (2): Extract features from the preprocessed data: Extract the three-axis posture of the human back through CNN r ,ω p ,ω y and acceleration α x , α y , α z Get the human body motion information and calculate the wheel leg knee joint torque T through the Jacobian matrix k Get the wheel leg wheel force F k , calculate the wheel-leg drive joint position θ through the Jacobian matrix d The angles θ1, θ2, θ3 of the wheel-leg four-link are obtained, and the relative positions x′, y′, z′ of the center of the wheel (55) and the driving joint are calculated by the four-link matrix. The wheel axle torque T of the driving rear wheel (8) is calculated by w Get the force F on the axle of the driving rear wheel (8) w , by calculating the wheel speed v of the rear driving wheel (8) w and acceleration α w Get vehicle drive T; Step (3): Use the linear Kalman filter algorithm to fuse the same type of data collected by different sensors to obtain fused data: The wheel-leg four-link angle, the relative position of the wheel center and the driving joint, and the theoretical wheel-leg posture of the vehicle motion model are integrated to obtain the final wheel-leg posture θ′1, θ′2, θ′3, and the axle force F of the driving rear wheel (8) w Combined with the vehicle drive T, the final force F′ of the driving rear wheel (8) is obtained w ; Step (4): Based on the Transformer self-attention mechanism architecture, the fused data is analyzed for decision making, and the input of the wheel-leg drive motor (51) and the rear wheel hub motor is generated: based on the human body motion information, the wheel-leg wheel force F k Decision analysis is performed with the final postures θ′1, θ′2, and θ′3 of the wheel legs to generate the input of the wheel leg driving motor (51); based on the human body motion information and the final force F′ of the driving rear wheel (8), w A decision analysis is performed to generate an input quantity for driving the hub motor of the rear wheel (8).

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