Working method of waist-mounted three-wheeled moped driven based on multi-sensor data fusion

Abstract

This invention relates to a waist-mounted three-wheeled electric vehicle driven by multi-sensor data fusion. It includes a vest, a button-and-buckle device, a traction device, a central rotating device, wheel-leg devices, a frame, an integrated control box, and drive rear wheels. The vest is connected to the central rotating device via the button-and-buckle device and the traction device. Two drive rear wheels are symmetrically arranged on both sides of the bottom of the frame. The vest is equipped with an inertial measurement unit (IMU), the wheel-leg drive motors are equipped with absolute encoders, the wheel-leg devices contain wheel-leg knee joint torque sensors, and each drive rear wheel has a torque sensor on its inner axle. A speed encoder is installed between the drive rear wheel housing and the torque sensors. This invention improves control compliance, reduces interference with human movement, and can adjust the drive rear wheel speed in real time according to human movement and adjust the wheel-leg drive joint angle in real time according to changes in road conditions, reducing injury to the human body and improving adaptability.

Description

Technical Field

[0001] This invention belongs to the field of wearable load transport equipment, specifically relating to a working method of a waist-mounted tricycle driven by multi-sensor data fusion. Background Technology

[0002] In missions involving the transport of supplies and equipment in complex terrain, such as the transport of supplies and equipment for mountain rescue and the transport of supplies and communication equipment in post-earthquake or post-war urban ruins, individual soldiers are usually required to carry the loads during marches. Existing individual soldier-carried transport vehicles mainly include wheeled and tracked fully automatic battlefield following vehicles and two-wheeled carrying vehicles.

[0003] Wheeled fully automated battlefield following vehicles are agile in steering but have poor off-road capability and limited resistance to impacts, making them susceptible to ground shocks and obstacles. Tracked fully automated battlefield following vehicles have strong off-road capability and good stability, but limited flexibility. Fully automated battlefield following vehicles can navigate autonomously, require less manpower, and have good endurance, but they consume more energy and are highly dependent on technology. Under certain extreme weather or complex battlefield conditions, interference or malfunctions may prevent them from operating normally.

[0004] Two-wheeled vehicles are low-cost and highly flexible, but their current control methods, primarily manual or fixed-speed remote control, cannot adjust speed and lift in real time according to human movement and road conditions. This results in poor human-machine adaptability, limited terrain adaptability in complex road conditions, and dragging or pressure on the human-machine interface. In dynamic combat situations, when soldiers need to accelerate, decelerate, turn, lie prone, or crouch, the poor human-machine adaptability and the inertia of the heavy load can easily cause the vehicle to tip over and injure the soldier. Furthermore, two-wheeled vehicles have limited load-bearing capacity, placing greater stress on the waist and shoulders, leading to fatigue and poor endurance, thus limiting the amount of supplies a soldier can carry during marches. Summary of the Invention

[0005] The purpose of this invention is to provide a waist-mounted three-wheeled electric vehicle driven by multi-sensor data fusion. It solves the problems of limited carrying capacity, poor human-machine adaptability, and insufficient road condition adaptability for individual soldiers marching in complex road conditions. This invention obtains input signals from the wheel-leg drive motor and the rear wheel hub motor through multi-sensor data fusion, thereby improving control smoothness and reducing interference with human movement. While maintaining good mobility, this invention improves human-machine adaptability, allowing real-time adjustment of the rear wheel speed to follow human movement and real-time adjustment of the wheel-leg drive joint angle to change the vehicle's lifting height according to road condition changes, reducing injury to the human body and improving adaptability in complex road conditions such as urban ruins and mountainous jungles. The proposed triangular wheel configuration keeps the load center of gravity within the triangular structure, providing effective load distribution for the human body.

[0006] The technical solution to achieve the purpose of this invention is: a waist-mounted three-wheeled electric vehicle driven by multi-sensor data fusion, including a vest, a button buckle device, a traction device, a central rotating device, a wheel leg device, a vehicle frame, an integrated control box, and a drive rear wheel; the central rotating device includes a relatively rotatable outer shell and an inner shell;

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

[0008] The vest is equipped with an inertial measurement unit (IMU), the wheel-leg drive motor is equipped with an absolute encoder, the wheel-leg device contains a wheel-leg knee joint torque sensor, the inner axle of the drive rear wheel is equipped with a drive rear wheel torque sensor, and a speed encoder is installed between the drive rear wheel shell and the drive rear wheel torque sensor.

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

[0010] One end of the rod connector is connected to the flexible traction rod, and the other end is connected to the upper end of the fixed rod. The lower end of the fixed rod is fixed to the outer shell of the central rotating device.

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

[0012] The back panel includes a rectangular plate connected to the main body of the vest. The rectangular plate has inner and outer cylindrical plates. The outer cover includes inner and outer cylindrical plates that mate with the inner and outer cylindrical plates on the back panel. The outer cover has arc-shaped clips on both sides for positioning the two cylindrical plates on the back panel. The outer cover is connected to the back panel with screws through the arc-shaped clips. The flexible traction rod detachable connection assembly includes two sets, which enable detachable connection with the flexible traction rod.

[0013] Furthermore, each set of flexible traction rod detachable connection components includes a button-shaped upper plate, a spring, an upper plate, and a toothed clip;

[0014] The tooth-shaped clip consists of a cylindrical button protruding from the outer cylinder of the back plate, a square column passing through the center of the arc-shaped lower plate and capable of axial movement relative to the arc-shaped lower plate, and multiple toothed portions located on the inner side of the arc-shaped lower plate. The arc shape of the outer periphery of the toothed portions matches the shape of the arc-shaped lower plate. The arc-shaped upper plate of the button is located 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 clip are fixedly connected. Multiple springs are arranged between the arc-shaped upper plate of the button and the arc-shaped lower plate. The end of the flexible traction rod connected to the button buckle device is cylindrical, and the inner wall surface has a groove that mates with the toothed portion of the tooth-shaped clip. By pressing the cylindrical button, the toothed portion of the tooth-shaped clip is moved away from the arc-shaped lower plate, realizing the detachable connection between the flexible traction rod and the button buckle device.

[0015] Furthermore, the central rotating device includes a housing, an inner housing, a rotating shaft, a locking disc, and a rotating shaft cover;

[0016] The outer shell is U-shaped, and the side panels are semi-circular pockets that are narrow on one side and wide on the other. The side panels have a shaft hole and a positioning hole, and the other side panel has a through hole for fixing one end of the rotating shaft.

[0017] The inner shell has through holes and shaft holes on its two plates respectively, and a ring of positioning holes is provided around the shaft holes on the side plates. The locking plate has a positioning pin on one side that mates with the positioning holes. The outer shell and the inner shell are hinged together by a rotating shaft. The locking plate is nested on the rotating shaft through the shaft hole. After the positioning pin 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 assembly includes a wheel-leg drive motor, two upper legs, a support leg, a lower leg, and wheels.

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

[0020] One end of each of the two upper legs is connected to a wheel-leg drive motor, and the other end of each of the two upper legs is rotatably connected to the upper part of the lower leg. The wheel-leg knee joint torque sensor is located at the rotatable connection. The lower end of the lower leg is equipped with a wheel. One end of the support leg is rotatably connected to the inner shell of the middle rotating device, and the other end is rotatably connected to the upper middle part of the lower leg. The two upper legs, the support leg, the upper middle part of the lower leg, and the inner shell together form a four-bar linkage mechanism, 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 together from two arc-shaped rods of different sizes at both ends. The smaller arc-shaped rod has a circular hollow protrusion in the middle section, and a groove is provided on the inner side of the protrusion to place the wheel leg knee joint torque sensor. The larger arc-shaped rod is fixedly connected to the rotating disk, and the middle section between the two straight rods is reinforced with an "X"-shaped thin straight rod.

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

[0023] The lower leg is a three-dimensional structure consisting of four parallel long straight rods with two arc-shaped rods welded to the bottom of the sides, two arc-shaped bent rods welded to the top, and a hollow short rod welded horizontally to the top of the two arc-shaped bent rods. The middle section between the two straight rods on the sides is reinforced by welding "X" and "M" shaped combined thin straight rods. The middle section between the two straight rods on the front and back sides is reinforced by welding "X" shaped thin straight rods. Circular hollow protrusions are left at the center point of the "X" of the combined thin straight rods on both sides and in the middle section of the two arc-shaped rods at the bottom.

[0024] The wheel-leg drive motor is fixed inside the inner shell, and a rotating disk is connected to each side of the wheel-leg drive motor. The rotating disk is connected to the two upper legs.

[0025] Furthermore, the vehicle body mounting frame has four binding rings around its perimeter for securing heavy objects with straps. The entire frame consists of three upper fixing rods, a middle crossbar with ear-shaped connecting rods, and two lower square frames.

[0026] The integrated control box includes a box body, a cover, and hinges. The box body is nested under the vehicle body mounting bracket and fixedly connected. The lower end of the cover is hinged to the box body, and the upper end is connected to the vehicle body mounting bracket with screws. The integrated control box contains a main control board and a power supply, and a power switch is located on the side.

[0027] Furthermore, the wires of the absolute encoder equipped with the wheel-leg drive motor are connected to the main wires of the wheel-leg drive motor; the wires of the wheel-leg knee joint torque sensor pass through the hollow inside the upper leg and are connected to the main wires of the wheel-leg drive motor; the main wires of the wheel-leg drive motor pass through the inner shell, and then through the hollow inside the body frame to connect to the main control board and power supply inside the integrated control box.

[0028] The drive rear wheel has a hub motor inside, and there are drive rear wheel torque sensors at the inner axle of each of the two drive rear wheels. There are speed encoders between the drive rear wheel housing and the drive rear wheel torque sensors. The main wire of the drive rear wheel passes through the hollow inside the body frame and is connected to the main control board and power supply inside the integrated control box.

[0029] A method for using the above-mentioned waist-mounted tricycle includes the following steps:

[0030] Step (1): Acquire data from multiple sensors and perform data preprocessing: IMU acquires the three-axis pose ω of the human back. 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 An absolute encoder acquires the position θ of the wheel-leg drive joint. d The rear wheel torque sensor collects the rear wheel axle torque T. w The speed encoder collects the wheel speed v of the rear wheel drive. w and acceleration α w ;

[0031] Step (2): Extract features from the preprocessed data: Extract the three-axis pose ω of the human back using CNN. r ω p ω y and acceleration α x α y α z Human motion information is obtained, and the torque T at the knee joint of the wheel leg is calculated using the Jacobian matrix. k The force F on the wheel leg is obtained. k The position θ of the wheel-leg drive joint is calculated using the Jacobian matrix. d The angles θ1, θ2, and θ3 of the four-link linkage are obtained. The relative positions x′, y′, and z′ of the wheel center and the drive joint are calculated using the four-link matrix. The torque T of the drive rear wheel axle is then calculated. w The force F on the axle of the drive rear wheel is obtained. w By calculating the speed v of the driving rear wheel w and acceleration α w Obtain the vehicle drive T;

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

[0033] The final wheel-leg postures θ′1, θ′2, and θ′3 are obtained by fusing the wheel-leg four-link angles, the relative positions of the wheel center and the drive joint, and the theoretical wheel-leg postures of the vehicle motion model. The force F on the drive rear wheel axle is also calculated. w The final force F′ on the rear drive wheel is obtained by integrating the vehicle's drive T. w ;

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

[0035] Compared with the prior art, the significant advantages of this invention are:

[0036] (1) Based on the real-time human motion intention perception technology, this invention adopts the method of linear Kalman filtering and deep learning fusion decision-making to establish a multi-sensor data fusion system model, which improves the compliance of control, reduces interference with human motion, and improves the adaptability of human-machine motion while maintaining good following maneuverability. It can adjust the speed of the rear wheel in real time according to the speed of human motion and adjust the angle of the wheel leg drive joint in real time according to changes in 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 and wild mountain forests.

[0037] (2) The triangular wheel configuration proposed in this 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. The angle of the wheel leg drive joint is adjusted by a single joint drive motor, thereby adjusting the wheel leg posture to change the vehicle lifting height. This does not add extra joint drive, reducing the complexity of the wheel leg device and reducing power consumption.

[0039] (4) The present invention has an IMU arranged on the upper back of the vest, without adding additional sensing equipment to sense human movement, thus reducing the equipment carried by individual soldiers.

[0040] (5) The present invention uses a button buckle device, which allows the user to easily unbuckle the buckle with the force of their fingertips, reducing the wearing time and increasing the efficiency of use;

[0041] (6) The present invention uses a central rotating device and a wheel leg device, which makes it easy to fold and store the equipment during transportation, reducing the space required. When facing users of different heights, the wearing height can be adjusted, increasing the applicability of the equipment. Attached Figure Description

[0042] Figure 1 This is a perspective view of the waist-mounted three-wheeled electric vehicle based on multi-sensor data fusion driven according to the present invention;

[0043] Figure 2 This is a front view of the waist-mounted three-wheeled electric vehicle driven by multi-sensor data fusion according to the present invention;

[0044] Figure 3 This is a side view of the waist-mounted three-wheeled electric vehicle driven by multi-sensor data fusion according to the present invention;

[0045] Figure 4 This is a schematic diagram of the waist-mounted tricycle of the present invention in a folded state;

[0046] Figure 5 This is a perspective view of the button latch of the present invention in the open state.

[0047] Figure 6 This is a perspective view of the internal structure of the intermediate rotating device of the present invention;

[0048] Figure 7 This is a perspective view of the wheel leg device of the present invention;

[0049] Figure 8 This is a perspective view of the wheel-leg drive motor of the present invention;

[0050] Figure 9 This is a perspective view of the integrated control box of the present invention in the open state;

[0051] Figure 10 This is a flowchart of the multi-sensor data fusion system of the present invention.

[0052] Explanation of reference numerals in the attached figures:

[0053] 1-Wearing vest, 11-IMU, 2-Button latching device, 21-Back plate, 22-Button curved upper plate, 23-Spring, 24-Curved lower plate, 25-Tooth-type clip, 26-Outer cover, 3-Traction device, 31-Flexible traction rod, 32-Rod connector, 33-Fixing rod, 4-Central rotating device, 41-Outer shell, 42-Inner shell, 43-Rotating shaft, 44-Locking disc, 45-Rotating shaft cover, 5-Wheel leg device, 51-Wheel leg drive motor, 51a-Rotating disc, 51b-Absolute encoder 52-Upper leg, 52a-First rotating shaft, 52b-Wheel leg knee joint torque sensor, 53-Support leg, 53a-Second rotating shaft, 53b-Third rotating shaft, 54-Lower leg, 55-Wheel, 6-Body frame, 61-Binding ring, 7-Integrated control box, 71-Box body, 71a-Main control board, 71b-Power supply, 71c-Power switch, 72-Box cover, 72a-Hand-tightened star screw, 73-Hinge, 8-Drive rear wheel, 81-Drive rear wheel torque sensor, 82-Speed ​​encoder. Detailed Implementation

[0054] The following will describe in further detail a waist-mounted three-wheeled electric vehicle driven by multi-sensor data fusion in an embodiment of the present invention with reference to the accompanying drawings. The embodiments described herein are only some embodiments of the present invention and are used only to explain the present invention, and do not limit the embodiments of the present invention.

[0055] like Figure 1 As shown, a waist-mounted three-wheeled electric vehicle driven by multi-sensor data fusion includes a vest 1, a button buckle device 2, and a vehicle body structure. The characteristic is that the lower back of the 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 central rotating device 4, a wheel leg device 5, a vehicle body fixing frame 6, an integrated control box 7, and a drive rear wheel 8;

[0057] The traction device 3 includes a flexible traction rod 31, a rod connector 32, and a fixed 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. The lower end of the fixed rod 33 is fixed to the upper end of the central 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 disc 44, and a rotating shaft cover 45. The outer shell 41 has a U-shaped overall shape on three sides. The front and rear side panels have a semi-circular shape with a narrower left side and a wider right side. A shaft hole is provided on the front side panel near the right side, and a positioning hole is provided near the shaft hole. A circular groove is provided on the rear side panel to fix one end of the rotating shaft 43. The inner shell 42 is proportionally smaller than the outer shell 41. A panel is added to the side to cover the upper and right sides, while the lower side still leaves room for the wheel leg device 5 to move. A through hole is provided on the front and rear side panels near the left side, and a shaft hole is provided near the right side. A ring of 12 positioning holes is provided near the shaft hole on the front side panel, corresponding to the position and size of the holes on the outer shell. The locking disc 44 has a teardrop shape on the side, with a shaft hole at the center of the large arc and a positioning post 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. The locking disc 44 is nested on the rotating shaft 43 through a shaft hole. After the positioning pin 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 mounting bracket 6 by welding.

[0059] like Figure 7 As shown, the wheel-leg device 5 includes a wheel-leg drive motor 51, an upper leg 52, a support leg 53, a lower leg 54, and a wheel 55. The upper leg 52, support leg 53, and lower leg 54 all adopt a spatial truss structure with a main support rod and interlaced thin rods, achieving structural lightweighting while providing sufficient support and maintaining stability. The upper leg 52 is a structure composed of two long straight rods welded together from two arc-shaped rods of different sizes at both ends. The smaller arc has a circular hollow protrusion in the middle section with a groove on the inside for placing a sensor. The larger arc is welded to an internal disc with six holes around it. The middle section between the two straight rods is reinforced by welding "X"-shaped thin straight rods. The support rod 53 is a square structure composed of two parallel long straight rods with hollow short rods welded to both ends. The middle section between the two long straight rods is reinforced by welding two sets of "X"-shaped... The lower leg 54 is a three-dimensional structure composed of four parallel long straight rods with two arc-shaped rods welded to the bottom of their sides, two arc-shaped bent rods welded to the top, and a hollow short rod welded horizontally to the top of the two arc-shaped bent rods. The middle section between the two straight rods on the sides is reinforced with a welded "X" and "M" shaped thin straight rod, and the middle section between the two straight rods on the front and rear sides is reinforced with a welded "X" shaped thin straight rod. Circular hollow protrusions are left at the center point of the "X" on both sides and in 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 central 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, which 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 mounting bracket 6 is connected to the integrated control box 7, and the rear drive wheels 8 are connected to both sides respectively.

[0061] like Figure 1-4 As shown, an IMU11 is arranged on the upper back of the vest 1. The IMU11 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 latching device 2 includes a back plate 21, a button-shaped arc-shaped upper plate 22, a spring 23, an arc-shaped lower plate 24, a toothed latch 25, and an outer cover 26. The back plate 21 consists of a square plate and circular inner and outer layers extending to one side from the center of the square plate. The inner and outer layers of the outer cover 26 have the same dimensions as the inner and outer layers of the back plate 21, and arc-shaped latches are fixed to the inner sides of the left and right sides of the outer layer. The toothed latch 25 consists of an upper cuboid and a lower arc-shaped toothed component. The button-shaped arc-shaped upper plate 22 is located inside the outer layer of the back plate 21, and the arc-shaped lower plate 24 is located outside the inner layer of the back plate 21. The button-shaped arc-shaped upper plate 22 is connected to the arc-shaped lower plate 24 by the spring 23. The toothed latch 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-shaped arc-shaped upper plate 22. The outer cover 26 is connected to the back plate 21 by screws through the arc-shaped latches.

[0063] like Figure 5 As shown, the back plate 21 and the outer cover 26 have semi-circular openings on the top and bottom of the outer layer and square openings on the top and bottom of the inner layer. The openings of the back plate 21 and the outer cover 26 are combined to form a circular opening and a square opening. The button arc-shaped upper plate 22 is perfectly embedded in the circular opening, and the tooth-shaped clip 25 is perfectly embedded in the square opening. The upper end of the flexible traction rod 31 has a hollow structure with a groove on the inner side of the hollow. When it is engaged with the tooth-shaped clip 25, the thickness of the groove is the same as the thickness of the tooth opening, ensuring that no lateral slippage occurs when it is worn.

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

[0065] like Figure 1-4 As shown, the vehicle body mounting bracket 6 has four binding rings 61 around its perimeter for securing load-bearing objects with straps. The whole structure consists of three upper fixing rods, a middle crossbar with ear-shaped connecting rods, and two lower square frames, all of which are fixed together by welding.

[0066] like Figure 1-4 As shown, the integrated control box 7 includes a box body 71, a cover 72, and a hinge 73. The box body 71 is nested under the vehicle frame 6 and fixedly connected. The lower end of the cover 72 is hinged to the box body 71 via the hinge 73, and the upper end is connected to the vehicle frame 6 via a hand-tightened star screw 72a. This facilitates the replacement of the power supply 71b and the maintenance of the wiring during individual soldier marches, ensuring endurance. Figure 9 As shown, the integrated control box 7 contains a main control board 71a and a power supply 71b, and a power switch 71c is located on the side.

[0067] like Figure 8 As shown, the wheel leg drive motor 51 is equipped with an absolute encoder 51b, whose wires are connected to the main wires of the wheel leg drive motor 51; as Figure 7 As shown, a wheel leg knee joint torque sensor 52b is fixed at the lower end of the upper leg 52 and nested at both ends of the first rotating shaft 52a. Its wire passes through the hollow inside the upper leg 52 and is connected to the main wire of the wheel leg drive motor 51. The main wire of the wheel leg drive motor 51 passes through the inner shell 42 and then through the hollow inside the body frame 6 to connect with the main control board 71a and power supply 71b inside the integrated control box 7.

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

[0069] like Figure 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 acquires the three-axis posture ω of the human back. r ω p ω y and acceleration α x α y α z The 52b wheel-leg knee joint torque sensor collects the wheel-leg knee joint torque T. k The absolute encoder 51b acquires the position θ of the wheel-leg drive joint. d The rear wheel torque sensor 81 collects the torque T of the 8 wheel axles of the rear wheels. w The speed encoder 82 collects the speed v of the 8 rear wheels driving the vehicle. w and acceleration α w (2) Extract features from the preprocessed data: extract the three-axis pose ω of the human back using CNN. rω p ω y and acceleration α x α y α z Human motion information (walking on flat ground, running on flat ground, uphill, downhill, lateral turning, etc.) is obtained, and the torque T at the knee joint of the wheel-leg is calculated using the Jacobian matrix. k The force F on the wheel leg is obtained. k The position θ of the wheel-leg drive joint is calculated using the Jacobian matrix. d The angles θ1, θ2, and θ3 of the four-link linkage are obtained. The relative positions x′, y′, and z′ of the wheel center and the drive joint are calculated using the four-link matrix. The torque T of the drive rear wheel axle is then calculated. w The force F on the 8 axles of the drive rear wheels is obtained. w By calculating the 8 wheel speeds v of the driving rear wheels w and acceleration α w (3) Using the linear Kalman filter algorithm, the data of the same type collected by different sensors are fused to obtain the fused data: the wheel leg four-link angle, the relative position of the wheel 55 center and the drive joint, and the theoretical posture of the wheel leg of the vehicle motion model are fused to obtain the final posture of the wheel leg θ1′, θ2′, θ3′, and the force F on the axle of the drive rear wheel 8. w The final force F′ on the rear wheel 8 is obtained by integrating with the vehicle's drive T. w (4) Based on the Transformer self-attention mechanism architecture, the fused data is analyzed to generate the input quantities of the wheel leg drive motor 51 and the drive rear wheel 8 hub motor: based on human motion information and the force F on the wheel leg. k Decision analysis is performed on the final postures θ′1, θ′2, and θ′3 of the wheel and leg to generate the input to the wheel and leg drive motor 51; based on human motion information and the final force F′ on the drive rear wheel 8... w Decision analysis is performed to generate the input quantities for driving the 8 hub motors of the rear wheels.

[0070] In use, the user puts on the vest 1, unscrews the pivot cover 45, pulls out the locking disc 44, and flips the traction device 3; places a load on the upper body mounting bracket 6 of the integrated control box 7, and uses straps to pass through the binding buckle 61 to secure the load; adjusts the posture of the wheel leg device 5 to make the vehicle stand stably; adjusts the angle of the traction device 3 so that the upper end of the flexible rod 31 is exactly at waist height, inserts the locking disc 44, and tightens the pivot cover 45; holds the upper end of the flexible rod 31 and aligns it with the button buckle device 2 to engage; when not in use and needing to be stored, press the up and down buttons of the button buckle device 2 simultaneously, and then simply reverse the steps of use.

[0071] When in use, the user presses the power switch 71c, the equipment is powered on, and the system begins to self-check the status of the human body and the vehicle. When accelerating on a mountainous terrain with increasing slope, the human body accelerates linearly along the positive X and Z axes and rotates around the Y axis. The IMU11, located on the vest 1, collects the three-axis posture and acceleration information of the human body's back and transmits it to the main control board 71a via Bluetooth. Due to changes in ground inclination, the knee joints of the wheel legs are torn. 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 via a signal line. When the wheel leg drive joints are raised, the drive joint angle and the position relative to the center of the wheel 55 change. The absolute encoder 51b collects the wheel leg drive joint position information and transmits it to the main control board 71a via a signal line. When the human body accelerates, the axle of the drive rear wheel 8 is torn and the wheel accelerates. The drive rear wheel torque sensor 81 collects the drive rear wheel 8 axle torque, and the speed encoder 82 collects the drive rear wheel 8 wheel speed and acceleration and transmits them to the main control board 71a via a signal line.

[0072] After multi-sensor data fusion, the main control board 71a generates the input to the wheel leg drive motor 51 and the rear wheel hub motor, adjusts the wheel leg drive joint angle, increases the vehicle lifting height, adapts to changes in road conditions, increases the drive speed of the rear wheel 8, so that the vehicle can cooperate with the human body to make acceleration movements, disperses the force on the human body's waist and shoulders, reduces the drag feeling of the human body's waist, reduces interference with human movement, and improves the adaptability of human-machine movement.

Claims

1. A working method for a waist-mounted three-wheeled electric vehicle driven by multi-sensor data fusion, characterized in that, The waist-mounted three-wheeled electric vehicle includes a vest (1), a button buckle device (2), a traction device (3), a central rotating device (4), a wheel leg device (5), a vehicle frame (6), an integrated control box (7), and a drive rear wheel (8). The central rotating device (4) includes a relatively rotatable outer shell (41) and an inner shell (42). The vest (1) is detachably connected to one end of the traction device (3) via the button buckle device (2). The other end of the traction device (3) is fixed to the outer shell (41) of the central rotating device (4). The bottom of the inner shell (42) of the central rotating device (4) is fixedly connected to the vehicle frame (6). The bottom sides of the vehicle frame (6) are... Two symmetrically arranged drive rear wheels (8) are provided. An integrated control box (7) is provided on the body frame (6). The inner shell (42) is fixed with a wheel leg drive motor (51) of the wheel leg device (5). The wheel leg drive motor (51) drives the wheel leg to move. An inertial measurement unit (IMU) (11) is provided on the vest (1). The wheel leg drive motor (51) is equipped with an absolute encoder (51b). The wheel leg device (5) is equipped with a wheel leg knee joint torque sensor (52b). The inner axle of each drive rear wheel (8) is equipped with a drive rear wheel torque sensor (81). A speed encoder (82) is provided between the outer shell of the drive rear wheel (8) and the drive rear wheel torque sensor (81). The method includes the following steps: Step (1): Acquire data from multiple sensors and perform data preprocessing: IMU (11) acquires the three-axis posture ω of the human back. 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 An absolute encoder (51b) acquires the position θ of the wheel-leg drive joint. d The rear wheel torque sensor (81) collects the axle 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 pose ω of the human back using CNN. r ω p ω y and acceleration α x α y α z Human motion information is obtained, and the torque T at the knee joint of the wheel leg is calculated using the Jacobian matrix. k The force F on the wheel leg is obtained. k The position θ of the wheel-leg drive joint is calculated using the Jacobian matrix. d The angles θ1, θ2, and θ3 of the four-link linkage are obtained. The relative positions x′, y′, and z′ of the wheel (55) center and the drive joint are calculated using the four-link matrix. The torque T of the drive rear wheel (8) axle is calculated. w The force F on the axle of the driving rear wheel (8) is obtained. w By calculating the wheel speed v of the driving rear wheel (8) w and acceleration α w Obtain the vehicle drive T; Step (3): Using the linear Kalman filter algorithm, fuse the same type of data collected by different sensors to obtain the fused data: The wheel leg four-link angle, the relative position of the wheel center and the drive joint, and the theoretical posture of the wheel leg of the vehicle motion model are fused to obtain the final postures of the wheel leg θ′1, θ′2, and θ′3, and the drive rear wheel (8) axle is subjected to force F. w The final force F′ of the rear wheel (8) is obtained by integrating with the vehicle drive T. w ; Step (4): Based on the Transformer self-attention mechanism architecture, perform decision analysis on the fused data to generate the input quantities of the wheel leg drive motor (51) and the drive rear wheel hub motor: based on human motion information and the force F on the wheel leg. k Decision analysis is performed on the final postures θ′1, θ′2, and θ′3 of the wheel and leg to generate the input to the wheel and leg drive motor (51); based on human motion information and the final force F′ on the drive rear wheel (8), the input to the wheel and leg drive motor (51) is generated. w Decision analysis is performed to generate the input quantity for the hub motor that drives the rear wheel (8).

2. The method according to claim 1, characterized in that, The traction device (3) includes a flexible traction rod (31), a rod connector (32), and a fixed 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). The lower end of the fixed rod (33) is fixed to the outer shell (41) of the central rotating device (4).

3. The method according to claim 2, characterized in that, The button latching device (2) includes a back plate (21), an outer cover (26), and a flexible traction rod detachable connection assembly; The back panel (21) includes a rectangular plate connected to the main body of the vest. The rectangular plate is provided with inner and outer cylindrical plates. The outer cover (26) includes inner and outer cylindrical plates that cooperate with the inner and outer cylindrical plates on the back panel. The outer layer has arc-shaped clamps on both sides for positioning with the two cylindrical plates on the back panel. The outer cover (26) is connected to the back panel (21) by screws through the arc-shaped clamps. The flexible traction rod detachable connection assembly includes two sets, which realize the detachable connection with the flexible traction rod (31).

4. The method according to claim 3, characterized in that, Each set of flexible traction rod detachable connection components includes a button-shaped upper plate (22), a spring (23), an arc-shaped lower plate (24), and a toothed clip (25); The tooth-shaped clip (25) consists of a cylindrical button protruding from the outer cylindrical part of the back plate, a square column passing through the middle of the arc-shaped lower plate (24) and capable of axial movement relative to the arc-shaped lower plate, and multiple tooth-shaped parts set on the inner side of the arc-shaped lower plate. The arc shape of the outer periphery of the tooth-shaped parts matches the shape of the arc-shaped lower plate (24). The button arc-shaped upper plate (22) is set between the inner and outer cylindrical plates of the back plate. The button arc-shaped upper plate (22) and the cylindrical button of the tooth-shaped clip are fixedly connected. Multiple springs (23) are set between the button arc-shaped upper plate (22) and the arc-shaped lower plate (24). The flexible traction rod (31) is cylindrical at one end connected to the button buckle device (2), and the inner wall surface is provided with a groove that matches the tooth-shaped part of the tooth-shaped clip. By pressing the cylindrical button, the tooth-shaped part of the tooth-shaped clip is moved away from the arc-shaped lower plate (24), thereby realizing the detachable connection between the flexible traction rod (31) and the button buckle device (2).

5. The method according to claim 4, characterized in that, The central rotating device (4) includes an outer shell (41), an inner shell (42), a rotating shaft (43), a locking disc (44), and a rotating shaft cover (45); The outer shell (41) is U-shaped in general. The side plate is a semi-circular pocket shape that is narrow on one side and wide on the other. The side plate is provided with a shaft hole and a positioning hole. The other side plate is provided with a through hole for fixing one end of the rotating shaft (43). The inner shell (42) has through holes and shaft holes on its two plates respectively, and a ring of positioning holes is provided around the shaft hole of the side plate; the locking plate (44) has a positioning pin on one side that cooperates with the positioning hole; the outer shell (41) and the inner shell (42) are hinged by a rotating shaft (43); the locking plate (44) is nested on the rotating shaft (43) through the shaft hole; after the positioning pin passes through the positioning holes of the outer shell and the inner shell, the rotating shaft cover (45) is tightened and fixed to achieve the setting of the required rotation angle.

6. The method according to claim 5, characterized in that, The wheel-leg assembly (5) includes a wheel-leg drive motor (51), two upper legs (52), a support 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 space truss structure with main support rods and interlaced thin rods. One end of each of the two upper legs (52) is connected to the wheel-leg drive motor (51), and the other end of each of the two upper legs (52) is rotatably connected to the upper part of the lower leg (54). The wheel-leg knee joint torque sensor (52b) is set at the rotatable connection. The lower end of the lower leg (54) is provided with a wheel (55). One end of the support leg (53) is rotatably connected to the inner shell of the middle rotating device (4), and the other end is rotatably connected to the upper part of the lower leg (54). The two upper legs (52), the support leg (53), the upper part of the lower leg (54) and the inner shell (42) form a four-bar linkage mechanism as a whole, and the assembly width of the two upper legs (52) is greater than the front and rear width of the lower leg (54).

7. The method according to claim 6, characterized in that, The upper leg (52) is composed of two long straight rods welded together from two arc-shaped rods of different sizes at both ends. The smaller arc-shaped rod has a circular hollow protrusion in the middle section, and a groove is provided on the inner side of the protrusion to place the wheel leg knee joint torque sensor (52b). The larger arc-shaped rod is fixedly connected to the rotating disk (51a). The middle section between the two straight rods is reinforced by welding an "X"-shaped thin straight rod. The support leg (53) is a rectangular structure consisting of two parallel long straight rods with hollow short rods welded to the ends of both sides. The middle section between the two long straight rods is reinforced by welding two sets of "X"-shaped thin straight rods. The lower leg (54) is a three-dimensional structure consisting of four parallel long straight rods with two arc-shaped rods welded to the bottom of the side, two arc-shaped bent rods welded to the top, and a hollow short rod welded horizontally at the top of the two arc-shaped bent rods. The middle section between the two straight rods on the side is reinforced by welding "X" and "M" shaped combined thin straight rods. The middle section between the two straight rods on the front and rear sides is reinforced by welding "X" shaped thin straight rods. 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 have circular hollow protrusions. The wheel-leg drive motor (51) is fixed inside the inner shell (42). A rotating disk (51a) is connected to each side of the wheel-leg drive motor (51), and the rotating disk (51a) is connected to the two upper legs (52).

8. The method according to claim 7, characterized in that, The vehicle body mounting bracket (6) has four binding rings (61) around its perimeter for securing heavy objects with straps. The whole structure includes three upper fixing rods, a middle crossbar with ear-shaped connecting rods, and two lower square frames. The integrated control box (7) includes a box body (71), a box cover (72) and a hinge (73). The box body (71) is nested under the vehicle body mounting bracket (6) and fixedly connected. The lower end of the box cover (72) is hinged to the box body (71) by the hinge (73), and the upper end is connected to the vehicle body mounting bracket (6) by screws. The integrated control box (7) is equipped with a main control board (71a) and a power supply (71b), and a power switch (71c) is provided on the side.

9. The method according to claim 8, characterized in that, The wires of the absolute encoder (51b) equipped with the wheel leg drive motor (51) are connected to the main wires of the wheel leg drive motor (51); the wires of the wheel leg knee joint torque sensor (52b) pass through the hollow inside the upper leg (52) and are connected to 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 through the hollow inside the body mounting bracket (6) to connect to the main control board (71a) and power supply (71b) inside the integrated control box (7); The drive rear wheel (8) is equipped with a hub motor. Both drive rear wheels (8) are equipped with drive rear wheel torque sensors (81) on the inner axle. The drive rear wheel (8) housing and drive rear wheel torque sensors (81) are equipped with speed encoders (82). The main wire of the drive rear wheel (8) passes through the hollow inside of the body frame (6) and is connected to the main control board (71a) and power supply (71b) inside the integrated control box (7).

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