Portable single-person intelligent power-assisted security vehicle

Abstract

The invention provides a portable single-person intelligent power-assisted security vehicle. The security vehicle comprises a quick disengaging device, an elastic buffer pressure collecting module, a second-section traction rod, a first-section traction rod, a security vehicle frame and a longitudinal arm driving assembly. The components are sequentially assembled in a screw joint or welding manner; longitudinal arm driving assemblies are arranged on the two sides of the support vehicle frame respectively; a traction rod is arranged at one end of the support vehicle frame; a second-section traction rod is arranged at the other end of the first-section traction rod; and a quick release device and an elastic buffer pressure acquisition module are arranged at the other end of the second-section traction rod. The push-and-pull function is achieved, a good balance state can be maintained during push-and-pull, and the impact of a guarantee vehicle on personnel during dynamic change of the personnel is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent single-person power-assisting equipment, and in particular to a portable single-person intelligent power-assisting support vehicle. Background Art

[0002] Existing single-person power-assisting equipment includes power-assisting trolleys, exoskeletons, and power-assisting support vehicles.

[0003] Since the power-assisted cart is in front of the person, the person pushing it forward occupies the space of the hands and the front field of vision, which is not conducive to the realization of fast movements such as running; exoskeleton equipment is an ideal single-person power-assisted equipment, but its complex control mechanism, complicated wearing and high cost limit its popular use.

[0004] There are relatively few power-assisted support vehicles currently, and most of them are remote-controlled, which cannot quickly respond to actual complex working conditions such as sudden acceleration and deceleration, squatting and standing up, frequent ups and downs, etc., resulting in average safety and easy collision and pulling hazards to the user's body; and the current power-assisted support vehicle's own weight is proportional to the base mass and flat area of ​​its own device, resulting in the current power-assisted support vehicle being unable to flexibly respond to a variety of transportation needs. For power-assisted trolleys with a small flat area, heavy-load transportation needs cannot be met. Summary of the invention

[0005] The present application provides a portable single-person intelligent power-assisted support vehicle, which can be used to solve the technical problem that current support vehicles and power-assisted trolleys are prone to collision and pulling on the user's body.

[0006] The present application provides a portable single-person intelligent power-assisted support vehicle, which includes a quick release device, an elastic buffer pressure collection module, a two-stage traction rod, a one-stage traction rod, a support vehicle frame, and a longitudinal arm drive assembly; which are assembled in sequence by screwing or welding;

[0007] Trailing arm drive assemblies are respectively arranged on both sides of the support vehicle frame; a section of traction rod is arranged at one end of the support vehicle frame; a second section of traction rod is arranged at the other end of the first section of traction rod; a quick release device and an elastic buffer pressure collection module are arranged at the other end of the second section of traction rod.

[0008] Furthermore, the quick release device includes a quick release device handle, a return spring, a rotating card, a quick release device male end, and a release device female end cover. The quick release device connects a person and a vehicle component, and in an emergency, the male and female ends are quickly separated by moving the quick release handle; an IMU is installed on the quick release male end to measure the posture of the tractor and control the system.

[0009] Furthermore, when in use, the male end of the quick-release device is connected to the two-section traction rod, and the person is connected to the female end body. When the person and the vehicle are engaged, the male end of the quick-release device is inserted into the hole of the female end, and the inclined surface of the head of the male end of the quick-release device opens the rotating card so that the groove of the male end head reaches the rotating card position. The rotating card rotates back and locks the male end under the action of the reset spring, so that the male end of the quick-release device is tightly combined with the female end and cannot be separated. The function of the quick-release device is to move the two rotating cards to the central position when the vehicle and the person need to be separated quickly and urgently, and the male end is separated under the action of gravity.

[0010] Furthermore, the elastic buffer pressure collection module includes a pressure sensor and a fluid elastic element; the elastic buffer pressure collection module is arranged at the second section traction rod;

[0011] The vibrations generated when the person pulling the vehicle walks will be transmitted to the fluid elastic element. The fluid elastic element has two chambers. When the user moves forward or backward, the fluid elastic element is stretched and compressed. Fluid compression and diffusion will occur inside the two chambers, resulting in a pressure difference. The pressure sensor transmits the pressure difference to the control system.

[0012] Furthermore, the two-stage traction rod comprises a driven end of a two-stage rotating mechanism, an active end of a two-stage rotating mechanism, a two-stage cross tube, a rotating shaft, an adapter flange, a first serrated locking plate, a second serrated locking plate, a threaded adjustment handle, a thrust spring, and a guide block;

[0013] The two-stage traction rod realizes the change of the angle between the two-stage traction rod and the one-stage traction rod through the mutual cooperation between the driven end and the active end; the two-stage cross tube, the rotating shaft and the adapter flange are welded in sequence, the first serrated locking plate is inserted into the guide block and assembled with the two-stage traction rod, the second serrated locking plate is installed on the locking adjustment seat, and then the second serrated locking plate is inserted into the guide block, and the thrust spring is placed between the two serrated plates before inserting;

[0014] The center of the first serrated locking plate is threaded, while the center of the second serrated locking plate is not threaded. The threaded adjustment handle passes through the second serrated locking plate and is screwed into the first serrated locking plate until the threaded adjustment handle cannot be rotated.

[0015] The two-section traction rod and the locking adjustment seat cannot rotate relative to each other due to the mutual engagement of the two serrated locking plates. When rotation is required, loosen the threaded adjustment handle, and the two serrated adjustment plates engage and separate under the action of the thrust spring, allowing them to rotate arbitrarily until the two-section traction rod interferes with other structures.

[0016] Furthermore, a section of the traction rod includes an inertial sensor IMU, a section of a rotary joint, a bearing seat, a rotary mechanism seat, a section of a longitudinal tube, a section of a transverse tube, and a section of a flange;

[0017] Among them, a rotating mechanism seat is set at the connection with the second-stage traction rod; the inertial sensor IMU is set at a flange;

[0018] A longitudinal tube section and a transverse tube section are longitudinal and transverse frames of a traction rod section respectively; a swivel joint is arranged at the connection between a traction rod section and the support vehicle frame;

[0019] A drawbar is a rigid drawbar that is angled to the frame and is used to carry the load and connect the frame to the drawbar.

[0020] Further, the support vehicle frame includes a section of rotating frame joint, a rotating shaft, a quick release pin, a front crossbeam, a longitudinal beam end cap, a longitudinal beam, a shield, a cover plate, and a swing arm lifting lug;

[0021] Among them, a section of the rotating frame joint is connected to a section of the rotating joint; a rotating shaft and a quick release pin are arranged at a section of the rotating frame joint; the frame of the guarantee vehicle is the traction body, that is, the main bearing area;

[0022] A rotating frame joint, a rotating shaft, and a quick-release pin work together to ensure the connection and folding of a traction rod and a frame; the front crossbeam is equipped with a vehicle control system, and a wiring harness outlet is provided on the front outer surface; a shield and a cover plate jointly protect the control system and wiring harness;

[0023] The swing arm lifting eye is connected to the trailing arm drive assembly;

[0024] A section of the traction rod and a section of the traction rod joint are fixedly connected under the action of a cylindrical pin, and the two can rotate around the cylindrical pin. The quick-release pin is a spring pin with a reset self-locking function, which realizes the interlocking of the two joints and can only be locked in a preset position.

[0025] Furthermore, the longitudinal arm drive assembly includes a pin shaft, a shock absorber, a quick release pin, an integrated wheel, a drive motor, and a longitudinal swing arm;

[0026] A longitudinal swing arm is arranged at the center of the integrated wheel; a quick release pin is arranged at one end of the driving motor; a pin shaft is arranged at one end of the shock absorber; the longitudinal arm driving assembly is the power device of the whole vehicle, which provides driving force for the whole vehicle to move forward and backward, and reduces the impact of the road surface through the longitudinal arm suspension; the quick release pin is rotated and folded around the pin shaft by disassembling and assembling the quick release pin.

[0027] Furthermore, the docking mechanism includes a female end of the docking mechanism, a return spring, a clamping block, a male end of the docking mechanism, a release handle, and a limit block;

[0028] The release handle is threaded and screwed with a block. After the reset spring is inserted, the release handle and the block are pressed into the female end of the docking mechanism using a limit block. During docking, the block can be pushed open by thrust due to the tapered surface of the male end, so that the male end groove and the block are interlocked. The block cannot be disengaged under the action of gravity and the spring. When disengaging, the person pulls the release handle upwards and pulls out the male end to separate.

[0029] A single vehicle is provided with a male end and a female end of a docking mechanism. When two vehicles are docked rear-to-rear, their respective male ends and female ends of the docking mechanism are plugged into the other party's female end and male end of the docking mechanism to achieve double docking.

[0030] Furthermore, when two support vehicles are docked, the male end of the docking mechanism is inserted into the female end of the docking mechanism to overcome gravity and the pressure of the return spring to lift the clamping block. When the male end of the docking mechanism is fully inserted, the clamping block moves downward under the action of the return spring, thereby clamping the male end of the docking mechanism so that it cannot fall out.

[0031] When the two support vehicles are separated, the operator pulls up the release handle, which is fixedly connected to the clamping block, so that the clamping block moves upward, releases the restriction on the docking male end, and the two vehicles are separated.

[0032] The beneficial technical effects of the present invention are as follows: the inclination angle of the whole vehicle is collected by the IMU at the upper end of one section of the traction rod, and the yaw angular velocity VCU processes and judges the data to realize auxiliary control of the motor, thereby ensuring the safety of working conditions such as personnel tipping over, sudden acceleration, and sudden deceleration; the elastic element on the second section of the traction rod reduces the impact of the security vehicle on the personnel when the personnel changes dynamically; the first section of the traction rod, the second section of the traction rod, the longitudinal arm drive unit, the quick-release back armor, etc. are disassembled and rotated and folded back, so that their volume is reduced to 1 / 4 of the unfolded volume; the design of sharing the frame and the battery shell and using aluminum alloy as the raw material of the whole vehicle greatly reduces the weight of the whole vehicle, which is convenient for one person to carry; the two independent security vehicles are spliced ​​into a four-wheel independent drive vehicle through the docking mechanism, and the control structure automatically detects and switches to the dual-vehicle algorithm to realize dual-vehicle synchronous control, and the single-vehicle and dual-vehicle mode switching can ensure that the security vehicle can cope with various transportation environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 The unfolded view of the whole vehicle provided in the embodiment of the present application is a schematic diagram of the towing state;

[0034] Figure 2 A folded view of the entire vehicle provided in an embodiment of the present application;

[0035] Figure 3 A schematic diagram of a vehicle longitudinal arm drive unit provided in an embodiment of the present application;

[0036] Figure 4 A schematic diagram of a two-stage traction rod rotating device provided in an embodiment of the present application;

[0037] Figure 5 A schematic diagram of a traction rod rotating device provided in an embodiment of the present application;

[0038] Figure 6A schematic diagram of a trailing arm drive assembly provided in an embodiment of the present application;

[0039] Figure 7 A schematic diagram of locking and releasing the support vehicle docking mechanism provided in an embodiment of the present application;

[0040] Figure 8 A schematic diagram of two support vehicles connected in series provided in an embodiment of the present application;

[0041] Fig. 9 A schematic diagram of an electrical architecture provided for an embodiment of the present application;

[0042] Fig.10 A control logic block diagram provided for an embodiment of the present application;

[0043] Fig.11 A schematic diagram of the intelligent accompanying mode control principle of the support vehicle provided in the embodiment of the present application;

[0044] Fig.12 This is a schematic diagram of the hand-pushing state of the support vehicle provided in an embodiment of the present application.

[0045] Among them, the meanings of the numbers in the accompanying drawings are as follows:

[0046] 110 quick release device; 112 return spring; 113 rotation card; 114 quick release device male end; 115 quick release device female end cover 2; 210 elastic buffer pressure acquisition module; 211 pressure sensor; 212 fluid elastic element; 310 two-stage traction rod; 311 cylinder flange; 312 two-stage longitudinal rod; 313 two-stage transverse tube; 314 rotating shaft; 315 adapter flange; 31 first serrated locking plate; 317 second serrated locking plate; 318 threaded adjustment handle; 319 Thrust spring; 320 guide block; 410 a section of traction rod; 411 IMU; 412 a section of traction rod joint; 413 bearing seat; 414 locking adjustment mechanism seat; 415 a section of longitudinal tube; 416 a section of transverse tube; 417 a section of flange; 510 support vehicle frame; 511 a section of traction rod frame joint; 512 cylindrical pin; 513 quick release pin; 514 front cross beam; 515 longitudinal beam end cover; 516 longitudinal beam; 517 shield; 518 cover plate; 519 swing arm lifting ear; 610 longitudinal arm drive assembly;

[0047] 611 pin shaft; 612 shock absorber; 613 quick release pin; 614 integrated wheel; 615 drive motor; 616 total swing arm;

[0048] 711 female end of docking mechanism; 712 return spring; 713 clamping block; 714 male end of docking mechanism; 715 release handle; 716 limit block. DETAILED DESCRIPTION

[0049] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0050] The following first introduces the embodiments of the present application in conjunction with the accompanying drawings.

[0051] The present invention is a portable single-person intelligent power-assisted support vehicle, comprising a quick release device 110, an elastic buffer pressure collection module 210, a two-stage traction rod 310, a one-stage traction rod 410, a support vehicle frame 510, and a longitudinal arm drive assembly 610; the components are assembled in the form of screw connection or welding in sequence;

[0052] A longitudinal arm driving assembly 610 is respectively arranged on both sides of the support vehicle frame 510; a first-stage traction rod 410 is arranged at one end of the support vehicle frame 510; a second-stage traction rod 310 is arranged at the other end of the first-stage traction rod 410; a quick release device 110 and an elastic buffer pressure collection module 210 are arranged at the other end of the second-stage traction rod 310.

[0053] The quick release device 110 includes a quick release device handle 111, a return spring 112, a rotation card 113, a quick release device male end 114, and a release device female end cover 115. The quick release device 110 connects a person and a vehicle component, and in an emergency, the male and female ends can be quickly separated by moving the quick release handle 111; the quick release male end 114 is equipped with an IMU for measuring the posture of the tractor and controlling the system.

[0054] During assembly, first install a rotating card 113 on the female end shaft of the disengaging device, then press the reset spring 112 on the shaft, press the other rotating card into the end cover and tighten it with bolts, and the assembly of the mechanism is completed; when in use, the male end 114 of the quick-release device is connected to the two-section traction rod 310, and the person is connected to the female end body. When the person and the vehicle are connected, the male end 114 of the quick-release device is inserted into the female end hole, and the inclined surface of the head of the male end 114 of the quick-release device pushes open the rotating card so that the groove of the male end head reaches the rotating card position, and the rotating card 113 is turned back to lock the male end under the action of the reset spring 112, so that the male end 114 of the quick-release device is tightly combined with the female end and cannot be separated; the function of the quick-release device 110 is to move the two rotating cards to the central position when the vehicle and the person need to be separated quickly and urgently, and the male end is separated under the action of gravity.

[0055] The elastic buffer pressure acquisition module 210 includes a pressure sensor 211 and a fluid elastic element 212. The elastic buffer pressure acquisition module 210 is arranged at the second-stage traction rod 310. The fluctuations generated when the tractor walks will be transmitted to the fluid elastic element. The fluid elastic element has two chambers. When the user moves forward or backward, the fluid elastic element is stretched and compressed. There will be fluid compression and diffusion inside the two chambers, which will generate a pressure difference. The pressure sensor transmits the pressure difference to the control system.

[0056] The two-section traction rod 310 includes a two-section rotating mechanism driven end 311, a two-section rotating mechanism active end 312, a two-section cross tube 313, a rotating shaft 314, an adapter flange 315, a first serrated locking plate 316, a second serrated locking plate 317, a threaded adjustment handle 318, a thrust spring 319, and a guide block 320; the two-section traction rod 310 achieves a change in the angle between the two-section traction rod and the one-section traction rod through the mutual cooperation between the driven end and the active end, thereby adapting to the use of different lifting people and different scenes. The two-stage cross tube 313, the rotating shaft 314, and the adapter flange 315 are welded in sequence, the first serrated locking plate 316 is inserted into the guide block 320 and assembled together with the two-stage traction rod 310, the second serrated locking plate 317 is installed on the locking adjustment seat, and then the second serrated locking plate 317 is inserted into the guide block 320, and the thrust spring 319 is placed between the two serrated plates before inserting; the first serrated locking plate 316 has a thread in the center, and the second serrated locking plate 317 has a thread in the center. The threaded adjustment handle 318 passes through the second serrated locking plate 317 and is screwed into the first serrated locking plate 316 until the threaded adjustment handle cannot be rotated, and the assembly is completed at this time; the two-stage traction rod 310 and the locking adjustment seat cannot rotate relative to each other under the mutual engagement of the two serrated locking plates. When rotation is required, the threaded adjustment handle is released, and the two serrated adjustment plates are engaged and separated under the action of the thrust spring 319, and can be rotated arbitrarily until the two-stage traction rod interferes with other structures. Due to the design of the serrated structure, the mechanism can be locked at any position.

[0057] A section of traction rod 410 includes an inertial sensor IMU411, a rotary joint 412, a bearing seat 413, a rotary mechanism seat 414, a longitudinal tube 415, a transverse tube 416, and a flange 417; wherein, a rotary mechanism seat 414 is arranged at the connection with the second section of traction rod 310; the inertial sensor IMU411 is arranged at a flange 417; a section of longitudinal tube 415 and a section of transverse tube 416 are respectively the longitudinal and transverse frames of the section of traction rod 410; a rotary joint 412 is arranged at the connection between the section of traction rod 410 and the support vehicle frame 510; the section of traction rod 410 is a rigid traction rod at a fixed angle to the frame, and is used for bearing the load plane and connecting the frame with the second section of traction rod.

[0058] The support vehicle frame 510 includes a rotating frame joint 511, a rotating shaft 512, a quick release pin 513, a front cross beam 514, a longitudinal beam end cap 515, a longitudinal beam 516, a shield 517, a cover plate 518, and a swing arm lifting lug 519; wherein, a rotating frame joint 511 is connected to a rotating joint 412; a rotating frame joint 511 is provided with a rotating shaft 512 and a quick release pin 513; the support vehicle frame 510 is the traction body, i.e., the main bearing area; a rotating frame joint 511, a rotating shaft 512, and a quick release pin 513 cooperate to ensure the connection and folding of a traction rod with the frame; the front cross beam 514 is equipped with a vehicle control system, and a wiring harness outlet is provided on the front outer surface; the shield 517 and the cover plate 518 jointly protect the control system and the wiring harness. The swing arm lifting lug 519 is connected to the longitudinal arm drive assembly 610. A section of the traction rod and a section of the traction rod joint are fixedly connected under the action of the cylindrical pin, and the two can rotate around the cylindrical pin. The quick-release pin 513 is a spring pin with a reset self-locking function, which realizes the interlocking of the two joints and can only be locked at a preset position.

[0059] The longitudinal arm driving assembly 610 includes a pin shaft 611, a shock absorber 612, a quick-release pin 613, an integrated wheel 614, a driving motor 615, and a longitudinal swing arm 616; the longitudinal swing arm 616 is arranged at the center position of the integrated wheel 614; the quick-release pin 613 is arranged at one end of the driving motor 615; the pin shaft 611 is arranged at one end of the shock absorber 612; the longitudinal arm driving assembly 610 is a power device for the whole vehicle, which provides driving force for the whole vehicle to move forward and backward, and reduces the impact of the road surface through the longitudinal arm suspension to make the whole vehicle have a certain degree of comfort and smoothness, and the quick-release pin 613 is disassembled and assembled to make the quick-release pin 613 rotate and fold around the pin shaft 611.

[0060] The docking mechanism 710 includes a female end 711 of the docking mechanism, a reset spring 712, a block 713, a male end 714 of the docking mechanism, a release handle 715, and a limit block 716; the release handle 715 has a thread and is screwed together with the block 713, and then the reset spring 712 is inserted and the release handle 715 and the block 713 are pressed into the female end of the docking mechanism by the limit block 716; during docking, due to the conical surface of the male end, the block can be pushed open by thrust, so that the male end groove and the block 713 are interlocked, and the block 713 cannot be disengaged under the action of gravity and the spring. When disengaging, the personnel pulls the release handle 715 upwards and pulls out the male end to separate; a single vehicle is arranged with a male end 714 of the docking mechanism and a female end 711 of the docking mechanism. When two vehicles are docked rear-to-rear, the male end and the female end of the docking mechanism of each vehicle are plugged into each other with the female end and the male end of the docking mechanism of the other vehicle, so that the two vehicles are connected in series.

[0061] One end of the two longitudinal beams of each support vehicle is respectively provided with a male end 714 of the docking mechanism and a female end 711 of the docking mechanism. When the two support vehicles are docked, the male end of the docking mechanism is inserted into the female end of the docking mechanism to overcome the gravity and the pressure of the return spring 712 to lift the clamping block 713. When the male end of the docking mechanism is fully inserted, the clamping block 713 moves downward under the action of the return spring 712, thereby clamping the male end 714 of the docking mechanism to prevent it from coming out; when separating, the operator pulls up the release handle 715, and the release handle 715 is fixedly connected to the clamping block 713, so that the clamping block 713 moves upward, releases the restriction on the docking male end, and the two vehicles are separated.

[0062] The electrical architecture principle of the control system is as follows Fig. 9 As shown: The vehicle electrical system is divided into a high-voltage system and a low-voltage system. The high-voltage system includes batteries, two wheel hub motors and DC / DC. The low-voltage system includes a central controller and various sensors, where the DC / DC converts high-voltage electricity into low-voltage electricity to power the low-voltage system. In the low-voltage system, the central processor communicates with each sensor and wheel hub motor through the CAN bus. The vehicle has a reserved CAN communication expansion port, which can realize the control of any two vehicles in combination.

[0063] The hand operator has multiple buttons, including mode switching, forward, reverse, left and right steering, speed gear, cruise control, etc. It communicates with the vehicle wirelessly.

[0064] The user controls the vehicle's power on and off through the power switch, making the entire electrical system more concise and efficient. The control system architecture is shown in the attached figure. Figure 7 As shown, after the vehicle is powered on, the self-test is OK. The central processor determines whether it is a single vehicle or a double vehicle by detecting the CAN signal of the expansion port, and thus enters different control modes.

[0065] In the single-bike control mode, the signal from the hand controller is detected to determine whether the user wants to operate in the manual mode or the intelligent accompanying mode.

[0066] In manual mode, the CPU detects the operation signal of the hand operator and controls the wheel hub motor to enter the speed control mode. In intelligent accompanying mode, the CPU detects the pressure sensor and IMU signals and controls the wheel hub motor to enter the operation control mode. Fig.10 As shown. First, the vehicle is in parking mode by default, and then the central processor detects the initial signals of the force sensor, vehicle IMU, and human IMU, identifies the current system status, such as load status, uphill / downhill road slope, relative posture of the person and vehicle, etc., and determines the preset threshold corresponding to the current operating condition. When the detected tension signal exceeds the preset threshold, the parking mode is exited and the wheel hub motor is controlled to enter the operation control mode.

[0067] In the operation control mode, the wheel hub motor is in the dual closed-loop control mode of current loop + position loop, which has the advantages of fast and stable. When the central processor detects that the angular velocity signal of the vehicle IMU and the angular velocity signal of the human IMU exceed the threshold set under the current working condition, it is considered that the posture of the person and the vehicle is abnormal and may cause harm to the human body, and then enters the parking mode to ensure the safety of both people and vehicles.

[0068] The support vehicle can be switched from traction mode to push mode, which is more convenient in certain terrains. First, the central control switches to push mode, shields the data collected by the pressure sensor, collects the angle between the vehicle body inertial sensor IMU and the horizontal plane to determine whether the vehicle is moving forward or backward; and ensures that the human body inertial sensor IMU angle is within a certain range to maintain the overall balance of the vehicle body and load stability.

[0069] The dual-vehicle control mode is generally used to transport heavy objects. At this time, the posture of the person and the vehicle is different from that of a single vehicle, and the power is stronger. For safety reasons, it is not recommended to run in the intelligent accompanying mode, so it runs in the manual mode by default. At this time, only one of the two vehicles can be turned on with the hand operator. The vehicle with the hand operator turned on is the master vehicle, and its central controller will take over the control of the slave vehicle.

[0070] Specifically, after the two vehicles are spliced ​​together, when transporting goods, the upper traction rod is pulled, and when the pulling pressure sensor detects the pulling force F of the cargo transporter, the pulling pressure sensor transmits an electrical signal to the central processor of the first transport vehicle. At the same time, the IMU sensor of the first transport vehicle detects the vehicle's slope driving state and transmits the information to the central processor of the first transport vehicle. The central processor of the first transport vehicle calculates the power assist value required for the whole vehicle according to the influence of the slope on the power assist effect. The central processor of the first transport vehicle transmits the signal to the motor of the first transport vehicle, and the drive motor of the first transport vehicle generates driving force; at the same time, the central processor of the first transport vehicle transmits the signal to the vehicle controller of the second transport vehicle, and the central processor of the second transport vehicle transmits the signal to the drive motor of the second transport vehicle, and the drive motor of the second transport vehicle generates driving force. At this time, the four drive motors of the two transport vehicles generate power assist at the same time;

[0071] When the mass of the cargo is less than the mass threshold, the driving motor of the first transport vehicle is used to generate power assistance, and the two driving wheels of the second transport vehicle serve as driven wheels.

[0072] After the two vehicles are spliced, the vehicle can also be in dual-vehicle splicing autonomous driving mode:

[0073] The intelligent driving domain controller in the intelligent module communicates with the central processor of the first transport vehicle. The central processors of the two vehicles are connected through a CAN line. The first transport vehicle automatically acts as the main vehicle and the second transport vehicle acts as the slave vehicle. When a transport instruction is issued to the four-wheel transport vehicle, the radar and camera of the first transport vehicle perceive the surrounding environment, and the intelligent driving domain controller performs path planning and other functions, outputs a short-term dynamic path, and hands it over to the central processor of the first transport vehicle for execution. At the same time, the longitudinal IMU of the first transport vehicle detects the vehicle's slope driving status and transmits the information to the central processor of the first transport vehicle. The central processor of the first transport vehicle calculates the required power assist value of the whole vehicle according to the influence of the slope on the power assist effect, and the vehicle controller of the first transport vehicle transmits the signal to the drive motor of the first transport vehicle to generate driving force. At the same time, the central processor of the first transport vehicle transmits the signal to the central processor of the second transport vehicle, and the central processor of the second transport vehicle transmits the signal to the drive motor of the second transport vehicle and generates driving force. At this time, the four drive motors of the two transport vehicles generate power at the same time, and the spliced ​​four-wheel vehicle realizes forward, backward, braking, and steering to reach the designated position based on the path planning results of the intelligent driving domain controller.

[0074] The present application is further described below in conjunction with specific embodiments.

[0075] The present invention adopts the lithium battery arranged in the longitudinal beam 516 as the energy source of the whole vehicle, the drive motor 615 as the power output device, the elastic buffer pressure acquisition module 210 as the control input of the whole vehicle, and the front cross beam 514 stores the whole vehicle control unit; the whole vehicle adopts an all-aluminum design, and all parts have undergone strict weight reduction design. The whole vehicle can be folded and attached. Figure 1 Foldable as an attachment Figure 2 shape, and given the mass and size of the vehicle, it can be quickly unfolded and carried by an adult; the support vehicle also has a docking mechanism 710 docking mechanism, based on which two identical support vehicles can be spliced ​​into a four-wheel independent drive vehicle as shown in the attached Figure 5 status and improve carrying capacity.

[0076] Move the car from a storage place to Figure 2The state support vehicle is moved to the use area, and the first section of the traction rod 410 is rotated to the target position, and the quick release pin 513 is inserted; further, the second section of the traction rod 310 is rotated to the target position by rotating the threaded adjustment handle 318, and then the threaded adjustment handle 318 is locked; the load is further fixed in the area surrounded by the first section of the traction rod 410 and the support vehicle frame 510, and fixed; then the waist of the person is connected and tied to the quick release device 110, and the second section of the traction rod 310 is appropriately adjusted to make the person and the support vehicle in a suitable balance state. When in use, the normal walking or running of the person will drive the compression and expansion of the two chambers of the fluid elastic element 212, thereby causing the fluid pressure to change. The pressure sensor 211 will collect the change and transmit it to the control unit stored in the front crossbeam 514 for data processing, and the drive motor 615 receives the processed instructions to perform the rotation work. If an emergency occurs during use, the personnel can pull the rotating card 113 to separate the female end body 111 of the quick release device from the male end 114 of the quick release device, so that the person and the support vehicle can be separated. During use, if there are impassable roadblocks, steep slopes and other working conditions, the IMU411 with a flange installed on 417 will collect the angle and deviation of the vehicle, and promptly determine whether the angle between the support vehicle and the personnel will exceed the safety value. If it exceeds the safety value, the motor will take emergency braking to prevent rollover and avoid the risk of injury.

[0077] In some special areas, when the traction state is not conducive, adjust the second-stage traction rod 310 to a position that is convenient for manual pushing, as shown in the attached Fig.12 In the state, press the mode switching button, and the support vehicle enters the push mode. At this time, the compression and expansion information of the two chambers of the fluid elastic element collected by the pressure sensor 211 is opposite to that of the traction mode, and the controller can reversely control the motor.

[0078] The rated load of this support vehicle is 60kg. If the load exceeds 60kg but is less than 100kg, the two support vehicles can be connected rear to rear using 710 to form a 4*4 independent drive vehicle, and then the reserved communication harnesses of the two vehicles can be connected. Figure 8 State; just fix the load between the traction rods of the two vehicles. After the two vehicles are powered on, the self-check identification switches to the dual-vehicle algorithm to realize the remote control, traction and hand-pushing of the two vehicles.

[0079] The present invention collects the vehicle inclination angle through the IMU at the upper end of one section of the traction rod, and the yaw angular velocity VCU processes and judges the data to realize auxiliary control of the motor, thereby ensuring the safety of working conditions such as personnel tipping over, sudden acceleration, and sudden deceleration; through the elastic element on the second section of the traction rod, the impact of the security vehicle on the personnel when the personnel changes dynamically is reduced; by disassembling and rotating and folding the first section of the traction rod, the second section of the traction rod, the longitudinal arm drive unit, the quick-release back armor, etc., the volume is reduced to 1 / 4 of the unfolded volume; by designing that the frame and the battery shell are shared and the aluminum alloy of the entire vehicle is used as the raw material, the weight of the entire vehicle is greatly reduced, which is convenient for one person to carry; through the docking mechanism, two independent security vehicles are spliced ​​into a four-wheel independent drive vehicle, and the control structure automatically detects and switches to a dual-vehicle algorithm inside to realize dual-vehicle synchronous control.

[0080] The above-described embodiments of the present application do not constitute a limitation on the protection scope of the present application.

Claims

1. A portable single-person intelligent power-assistance vehicle, characterized in that: The support vehicle comprises a quick release device (110), an elastic buffer pressure collection module (210), a two-stage traction rod (310), a one-stage traction rod (410), a support vehicle frame (510), and a longitudinal arm drive assembly (610); the components are assembled in sequence by screwing or welding; Trailing arm drive assemblies (610) are respectively arranged on both sides of the support vehicle frame (510); a section of traction rod (410) is arranged at one end of the support vehicle frame (510); a second section of traction rod (310) is arranged at the other end of the first section of traction rod (410); and a quick release device (110) and an elastic buffer pressure collection module (210) are arranged at the other end of the second section of traction rod (310).

2. The support vehicle according to claim 1, characterized in that: The quick-release device (110) comprises a quick-release device handle (111), a return spring (112), a rotation card (113), a quick-release device male end (114), and a quick-release device female end cover (115); the quick-release device (110) connects a person and a vehicle component, and in an emergency, the male and female ends are quickly separated by moving the quick-release handle (111); an IMU is installed on the quick-release male end (114) for measuring the posture of the tractor and controlling the system.

3. The support vehicle according to claim 2, characterized in that: When in use, the male end (114) of the quick-release device is connected to the second-section traction rod (310), and the person is connected to the female end body. When the person and the vehicle are connected, the male end (114) of the quick-release device is inserted into the female end hole, and the inclined surface of the head of the male end (114) of the quick-release device pushes open the rotating card so that the groove of the male end head reaches the rotating card position, and the rotating card (113) rotates back to lock the male end under the action of the reset spring (112), so that the male end (114) of the quick-release device is tightly combined with the female end and cannot be separated; the function of the quick-release device (110) is to move the two rotating cards to the central position when the vehicle and the person need to be separated quickly and urgently, and the male end is separated under the action of gravity.

4. The support vehicle according to claim 1, characterized in that: The elastic buffer pressure collection module (210) comprises a pressure sensor (211) and a fluid elastic element (212); the elastic buffer pressure collection module (210) is arranged at the second-stage traction rod (310); The vibrations generated when the person pulling the vehicle walks will be transmitted to the fluid elastic element. The fluid elastic element has two chambers. When the user moves forward or backward, the fluid elastic element is stretched and compressed. Fluid compression and diffusion will occur inside the two chambers, resulting in a pressure difference. The pressure sensor transmits the pressure difference to the control system.

5. The support vehicle according to claim 1, characterized in that: The two-stage traction rod (310) comprises a two-stage rotating mechanism driven end (311), a two-stage rotating mechanism active end (312), a two-stage transverse tube (313), a rotating shaft (314), an adapter flange (315), a first serrated locking plate (316), a second serrated locking plate (317), a threaded adjustment handle (318), a thrust spring (319), and a guide block (320); The two-stage traction rod (310) achieves the change of the angle between the two-stage traction rod and the one-stage traction rod through the mutual cooperation between the driven end and the driving end; wherein the two-stage transverse tube (313), the rotating shaft (314) and the adapter flange (315) are welded in sequence, the first sawtooth locking plate (316) is inserted into the guide block (320) and assembled together with the two-stage traction rod (310), the second sawtooth locking plate (317) is installed on the locking adjustment seat, and then the second sawtooth locking plate (317) is inserted into the guide block (320), and the thrust spring (319) is placed between the two sawtooth plates before inserting; The first serrated locking plate (316) has a thread at its center, while the second serrated locking plate (317) has no thread at its center. The threaded adjustment handle (318) passes through the second serrated locking plate (317) and is screwed into the first serrated locking plate (316) until the threaded adjustment handle cannot be rotated. The two-section traction rod (310) and the locking adjustment seat cannot rotate relative to each other when the two serrated locking plates are engaged with each other. When rotation is required, the threaded adjustment handle is loosened, and the two serrated adjustment plates are engaged and separated under the action of the thrust spring (319), and can rotate arbitrarily until the two-section traction rod interferes with other structures.

6. The support vehicle according to claim 1, characterized in that: A traction rod (410) includes an inertial sensor IMU (411), a rotary joint (412), a bearing seat (413), a rotary mechanism seat (414), a longitudinal tube (415), a transverse tube (416), and a flange (417); A rotating mechanism seat (414) is provided at the connection with the second-stage traction rod (310); an inertial sensor IMU (411) is provided at a first-stage flange (417); A longitudinal tube (415) and a transverse tube (416) are respectively longitudinal and transverse frames of a traction rod (410); a swivel joint (412) is provided at the connection between the traction rod (410) and the support vehicle frame (510); The first traction rod (410) is a rigid traction rod at an angle to the frame, used to bear the load plane and connect the frame to the second traction rod.

7. The support vehicle according to claim 1, characterized in that: The support vehicle frame (510) comprises a rotating frame joint (511), a rotating shaft (512), a quick release pin (513), a front crossbeam (514), a longitudinal beam end cover (515), a longitudinal beam (516), a guard (517), a cover plate (518), and a swing arm lifting lug (519); Among them, a section of the rotating frame joint (511) is connected to a section of the rotating joint (412); a rotating shaft (512) and a quick release pin (513) are provided at the section of the rotating frame joint (511); the vehicle frame (510) is the traction body, that is, the main bearing area; A rotating frame joint (511), a rotating shaft (512), and a quick-release pin (513) cooperate to ensure the fixed connection and folding of a traction rod and a frame; a vehicle control system is installed inside the front crossbeam (514), and a wiring harness outlet is provided on the front outer surface; a protective cover (517) and a cover plate (518) jointly protect the control system and the wiring harness; The swing arm lifting eye (519) is connected to the trailing arm drive assembly (610); A traction rod section and a traction rod joint are fixedly connected under the action of a cylindrical pin, and the two can rotate around the cylindrical pin. The quick-release pin (513) is a spring pin with a reset self-locking function, which realizes the interlocking of the two joints and can only be locked at a preset position.

8. The support vehicle according to claim 1, characterized in that: The longitudinal arm driving assembly (610) includes a pin shaft (611), a shock absorber (612), a quick release pin (613), an integrated wheel (614), a driving motor (615), and a longitudinal swing arm (616); A longitudinal swing arm (616) is arranged at the center of the integrated wheel (614); a quick release pin (613) is arranged at one end of the drive motor (615); a pin shaft (611) is arranged at one end of the shock absorber (612); the longitudinal arm drive assembly (610) is a power device for the whole vehicle, providing driving force for the whole vehicle to move forward and backward, and reducing road impact through the longitudinal arm suspension; the quick release pin (613) is rotated and folded around the pin shaft (611) by disassembling and assembling the quick release pin (613).

9. The support vehicle according to claim 1, characterized in that: The docking mechanism (710) comprises a docking mechanism female end (711), a return spring (712), a clamping block (713), a docking mechanism male end (714), a release handle (715), and a limit block (716); The release handle (715) is threadedly connected with the clamping block (713), and then the reset spring (712) is inserted, and the release handle (715) and the clamping block (713) are pressed into the female end of the docking mechanism by using the limit block (716); during docking, the clamping block can be pushed open by the thrust due to the conical surface of the male end, so that the male end groove and the clamping block (713) are interlocked, and the clamping block (713) cannot be disengaged under the action of gravity and the spring. When disengaging, the personnel pulls the release handle (715) upwards and pulls out the male end to separate; A single vehicle is provided with a docking mechanism male end (714) and a docking mechanism female end (711). When two vehicles are docked rear-to-rear, their respective docking mechanism male ends and docking mechanism female ends are plugged into the other party's docking mechanism female ends and docking mechanism male ends to achieve double docking.

10. The support vehicle according to claim 9, characterized in that: When two support vehicles are docked, the male end of the docking mechanism is inserted into the female end of the docking mechanism to overcome gravity and the pressure of the return spring (712) to lift the clamping block (713); when the male end of the docking mechanism is fully inserted, the clamping block (713) moves downward under the action of the return spring (712), thereby clamping the male end (714) of the docking mechanism to prevent it from falling out; When the two support vehicles are separated, the operator pulls up the release handle (715), and the release handle (715) is fixedly connected to the clamping block (713), so that the clamping block (713) moves upward, releases the restriction on the docking male end, and the two vehicles are separated.

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