Traction type accompanying moped

Abstract

The traction type accompanying moped comprises a vehicle body and a traction mechanism, the vehicle body is provided with a traction vehicle frame, a bearing chassis and two motor driving wheels, and the traction type accompanying moped is characterized in that the traction mechanism comprises a waistband and a traction sensing device, one end of the traction sensing device is connected with the waistband, and the other end of the traction sensing device is connected with the traction vehicle frame; the traction sensing device comprises a steering mechanism and a telescopic mechanism which are connected with each other, a rotating shaft of the steering mechanism is perpendicular to the motion plane of the vehicle body, an angle sensor and a rotation limiting structure are arranged in the steering mechanism, the telescopic direction of the telescopic mechanism is consistent with the motion direction of the vehicle body, and a telescopic distance sensor and a telescopic limiting structure are arranged in the telescopic mechanism; a control unit is arranged on the tractor frame, the output signal ends of the angle sensor and the telescopic distance sensor are electrically connected to the control unit, and output control signals of the control unit are connected with and control the two motor driving wheels respectively. Motion intention recognition can be achieved through a simple structure, implementation is easy, and environment interference is not likely to happen.

Description

Technical Field

[0001] The present invention relates to a load transportation device suitable for single-person use, and particularly to a single-person traction type accompanying power-assisted vehicle. Background Art

[0002] In the fields of military, fire fighting, search and rescue, transportation, etc., reducing the load that a single person needs to bear while keeping the materials carried by the single person unchanged is one of the keys to improving the combat effectiveness of individual soldiers and the work efficiency of single persons. At present, the available field material transportation equipment mainly includes single-person exoskeletons, all-terrain unmanned vehicles, and robot dogs, etc.

[0003] The single-person exoskeleton is installed on the user's legs. After sensing the movement of the legs, it drives the motor through a battery to provide additional energy for the lower limbs of the user to move, thereby providing assistance to the user and reducing the physical burden of walking. The single-person exoskeleton can reduce the load of individual soldiers to a certain extent, but in the complex field environment, the exoskeleton poses a relatively large restriction on the movement of the human body, limiting the flexibility of human movement, and thus reducing the mobility and movement ability of the human body.

[0004] The all-terrain vehicle is driven by 6 or 8 wheels, and each wheel has an independent suspension device, which can adapt to relatively complex field environments and carry equipment or materials with a large load, so as to realize the transportation of field equipment and materials. However, the all-terrain unmanned vehicle generally has a relatively large size, and its driving and control are also relatively complex, and the price is high. Relatively speaking, it is more suitable for performing team tasks and not suitable for individual soldiers to use.

[0005] The robot dog is based on the bionic principle of canines, uses 4 legs to move, and realizes autonomous obstacle avoidance by scanning the environment on the walking path with a laser scanning sensor, and can realize the transportation of light-load equipment or materials in some field environments. The robot dog has good adaptability to the complex field environment, but due to its weak load transportation ability and relatively complex control, it is currently difficult to meet the item transportation needs of actual combat applications, and more stays in the laboratory and some partial applications in simple commercial scenarios.

[0006] Therefore, for complex terrain environments, there is a need for a single-person load transportation equipment that can simultaneously meet the conditions of not reducing the movement ability of individual soldiers / single persons, having a large load capacity, and not requiring manual control.

[0007] The accompanying power-assisted vehicle is an effective transportation equipment for single-soldier / single-person loads in complex terrain environments that has been put into use in recent years. In the field environment, the accompanying power-assisted vehicle has a large load capacity (the load can reach 70-90kg), does not require manual operation by the user, and can automatically follow the operator to move forward, turn, etc. In the event of an emergency, a single person can also quickly detach from the accompanying vehicle to flexibly respond to the on-site situation, which has extremely high use value. For example, Chinese invention patent CN113173043A discloses a single-soldier power-assisted tractor, including a body and a chassis device, the body is mounted on the chassis device, and the chassis device includes a frame, two flexible buffer units, two walking mechanism units and an electronic control unit, the two walking mechanism units are located on both sides of the frame, and are connected to the frame through a flexible buffer unit. The document discloses a commonly used two-wheeled single-soldier power-assisted tractor. However, as described in Chinese invention application CN119459942A, this two-wheeled portable vehicle is low-cost and highly flexible. However, since its existing control method is mainly manpower or fixed-speed remote control, it is impossible to adjust the vehicle's speed and lifting height in real time according to the speed of human movement and changes in road conditions, resulting in poor adaptability of human-machine movement, limited terrain adaptability under complex road conditions, and dragging or compression on the human-machine connection part.

[0008] In view of this, the application CN119459942A discloses a waist-hanging three-wheeled power-assisted vehicle based on multi-sensor data fusion drive, including a wearable vest, a button buckle device, a traction device, a middle rotating device, a wheel-leg device, a body fixing frame, an integrated control box and a driving rear wheel; the wearable vest is connected to the middle rotating device through a button buckle device and a traction device, and two driving rear wheels are symmetrically arranged on both sides of the bottom of the body fixing frame; an inertial measurement unit IMU is arranged on the wearable vest, the wheel-leg driving motor is equipped with an absolute encoder, a wheel-leg knee joint torque sensor is arranged in the wheel-leg device, a driving rear wheel torque sensor is arranged at the inner shaft of the driving rear wheel, and a speed encoder is arranged between the driving rear wheel shell and the driving rear wheel torque sensor. This scheme uses the inertial measurement unit IMU arranged on the wearable vest to collect the three-axis posture and acceleration of the human back, and combines multiple sensors such as the wheel-leg knee joint torque sensor, the absolute encoder, the driving rear wheel torque sensor, and the speed encoder to obtain the human body movement information and the force of the driving rear wheel through more complex calculations, and conducts decision analysis to finally obtain the input of the driving rear wheel motor. This solution can adjust the speed of the rear wheels in real time according to the movement of the human body, and adjust the angle of the wheel-leg driving joint in real time according to the changes in road conditions, reducing damage to the human body and improving adaptability. However, its structure is complex, and the computing and processing requirements are high. In addition, it judges the movement intention by collecting the posture of the human back. It is difficult to distinguish and judge the non-traction intention of the human body, such as twisting the waist and turning sideways due to observation needs, which is difficult in practical application.

[0009] Therefore, a simpler structure and judgment method are needed to judge the traction intention of the human body and obtain a traction-type accompanying power-assisted vehicle that is easy to implement and highly adaptable. Summary of the Invention

[0010] The invention aim of the present invention is to provide a traction-type accompanying power-assisted vehicle, which realizes the function of recognizing the motion intention through a simple structure, so as to simultaneously meet the problems of adapting to complex terrains, realizing large-load transportation, eliminating manual operation, and providing assistance to users.

[0011] To achieve the above invention aim, the technical solution adopted by the present invention is: a traction-type accompanying power-assisted vehicle, including a vehicle body and a traction mechanism. The vehicle body has a traction frame, a load-bearing chassis, and two motor-driven wheels. The traction mechanism includes a waist belt and a traction sensing device. One end of the traction sensing device is connected to the waist belt, and the other end is connected to the traction frame. The traction sensing device includes a steering mechanism and a telescopic mechanism connected to each other. The rotating shaft of the steering mechanism is arranged perpendicular to the motion plane of the vehicle body. An angle sensor and a rotation limit structure are provided in the steering mechanism. The telescopic direction of the telescopic mechanism is consistent with the vehicle body motion direction. A telescopic distance sensor and a telescopic limit structure are provided in the telescopic mechanism. A control unit is provided on the traction frame. The output signal ends of the angle sensor and the telescopic distance sensor are electrically connected to the control unit. The output control signals of the control unit are respectively connected to control the two motor-driven wheels.

[0012] During use, the user wears the waist belt, and the traction sensing device is connected to the waist belt. When the user walks, the angle sensor and the telescopic distance sensor in the traction sensing device generate signals. After the control unit obtains the steering angle signal of the angle sensor and the forward and backward displacement signal of the telescopic distance sensor, the motion intention of the user can be known through data processing, and then the two driving motors are controlled to move, realizing functions such as the forward movement, left and right turning, acceleration, deceleration, and uniform speed of the accompanying vehicle.

[0013] In a preferred technical solution, the steering mechanism includes a first rotating part and a second rotating part that are rotatably connected. A connecting device is provided. One end of the connecting device is detachably connected to the waist belt, and the other end of the connecting device is fixedly connected to the first rotating part. A steering rod is provided on the first rotating part, and a steering optical rod is provided on the second rotating part. The steering optical rod is arranged perpendicular to the rotating shaft direction. The tail end of the steering rod has a forked part. The forked part semi-surrounds the steering optical rod, is slidably connected to the steering optical rod, and is limited by a pair of springs sleeved on the steering optical rod. The rear end of the second rotating part is connected to the telescopic mechanism.

[0014] Through the springs arranged on the steering optical rod, the steering rod is limited and has a certain restoring force, which can ensure the accuracy of the angle sensing signal while avoiding damage to the steering mechanism.

[0015] Preferred technical solution: The angle transducer is a non-contact angle sensor, including two separate parts: an induction head and a detection sensor. The induction head and the detection sensor are respectively arranged on the first rotating part and the second rotating part. Based on the Hall effect principle, the detection sensor will generate a signal, thereby realizing the conversion of the rotation angle into an electrical signal and outputting it to the control unit. According to actual needs, other non-contact or contact sensors can also be used as long as they can detect the angle signal generated when the towing rod rotates.

[0016] In the above technical solution, the telescopic mechanism includes a telescopic towing rod and a telescopic mechanism body. The telescopic towing rod is limited by a guiding mechanism and is slidably connected to the body of the telescopic mechanism. A telescopic distance sensor is arranged between the telescopic towing rod and the telescopic mechanism body.

[0017] Preferred technical solution: The telescopic distance sensor is a wire rope sensor, and the wire rope sensor is installed on the telescopic mechanism body. One end of the wire rope therein is fixedly connected to the telescopic towing rod.

[0018] Preferred technical solution: The guiding mechanism includes a pair of telescopic optical rods, a traction member, a guide rail and a slider. The traction member is fixedly installed on the telescopic towing rod. The upper ends of the traction member are respectively sleeved on the pair of telescopic optical rods in a sliding manner. The lower end of the traction member is fixed on the slider and is slidably connected to the guide rail through the slider. Limiting springs are respectively arranged on both sides of the traction member on the telescopic optical rods.

[0019] Alternatively, the telescopic distance sensor can also be a grating sensor, a linear encoder or a rotary encoder, etc., as long as it can convert the moving distance into an electrical signal.

[0020] In the above technical solution, the body of the telescopic mechanism is connected to the towing vehicle frame through a connecting mechanism. The setting of the connecting mechanism can be determined according to the requirements of angle adjustment and locking.

[0021] Further technical solution: An angle adjustment device is arranged between the towing vehicle frame and the load-bearing chassis, and the load-bearing chassis is provided with an oil pressure shock absorber. By setting the angle adjustment device, the height of the connection end of the towing vehicle frame can be adjusted to meet the needs of users of different heights.

[0022] Preferred technical solution: The battery is installed below the load-bearing chassis.

[0023] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art: 1. By setting the traction sensing device, the present invention has the function of recognizing the motion intention, can sense the motion intentions of the user such as forward movement, left and right turning, acceleration, deceleration, uniform motion, etc., and automatically controls the accompanying power-assisted vehicle to move following the walking intention of the user.

[0024] 2. The present invention realizes the recognition of the movement intention through a simple structure by arranging an angle sensor and a telescopic distance sensor in the traction sensing device, without the need to set a large number of sensors or perform complex calculations. Therefore, it is easy to implement and not easily affected by the environment.

[0025] 3. The user of the present invention only needs to use a belt to connect the traction sensing device without wearing a vest. At the same time, the sensing signal is only affected by the waist movement that clearly reflects the traction intention, and there will be no misjudgment due to the use of human body posture signals.

[0026] 4. The accompanying power-assisted vehicle of the present invention can follow the user to walk in the field environment when loaded with equipment and supplies of dozens of kilograms or even hundreds of kilograms, greatly saving the user's physical strength; the frame angle of the accompanying power-assisted vehicle can be adjusted to adapt to users of different heights.

[0027] 5. The accompanying power-assisted vehicle of the present invention can be applied to the material transportation of combat troops and patrol troops, as well as the emergency rescue equipment and material transportation of armed police, earthquake prevention, forest fire prevention, flood control, etc. It is a material transportation equipment with a large load capacity, long endurance, and high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic structural diagram of an embodiment of the present invention; Figure 2 is a schematic structural diagram of the traction sensing device in the embodiment; Figure 3 is a schematic structural diagram of the steering mechanism with some shells removed in the embodiment; Figure 4 is a schematic structural diagram of the telescopic mechanism with some shells removed in the embodiment.

[0029] Wherein: 1. Belt; 2. Connecting device; 3. Steering mechanism; 4. Telescopic mechanism; 5. Traction vehicle frame; 6. Control unit; 7. Load-bearing chassis; 8. Battery; 9. Motor drive wheel; 10. Connecting mechanism; 11. Angle sensor; 12. Steering rod; 13. Steering optical rod; 14. Telescopic optical rod; 15. Traction piece; 16. Cable tension sensor; 17. Linear bearing; 18. Guide rail and slider; 19. Angle adjustment strip; 20. Hydraulic shock absorber. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] The present invention will be further described below in conjunction with the drawings and embodiments: Embodiment: A traction type accompanying power-assisted vehicle, including a vehicle body and a traction mechanism, see Figure 1As shown in the figure, the vehicle body has a towing frame 5, a load-bearing chassis 7, and two motor-driven wheels 9. The towing frame 5 is rotatably connected to the load-bearing chassis 7, and the connection angle between the two can be changed by two angle adjustment bars 19, so as to change the height of the front end of the towing frame. A control unit 6 is provided on the towing frame 5, the load-bearing chassis 7 is provided with hydraulic shock absorbers 20, and the battery 8 is installed below the load-bearing chassis 7.

[0031] The traction mechanism includes a belt 1 and a traction sensing device. Refer to Figure 1 and Figure 2 , the traction sensing device is successively connected by a connecting device 2, a steering mechanism 3, a telescopic mechanism 4, and a connecting mechanism 10.

[0032] Refer to Figure 3 , the rotating shaft of the steering mechanism 3 is arranged perpendicular to the moving plane of the vehicle body, and includes a first rotating part and a second rotating part which are rotatably connected. A steering rod 12 is provided on the first rotating part, and a steering optical rod 13 is provided on the second rotating part. The steering optical rod 13 is arranged perpendicular to the direction of the rotating shaft. The tail end of the steering rod 12 has a forked part, the forked part semi-surrounds the steering optical rod 13 and is slidably connected to the steering optical rod 13, and is limited by a pair of springs sleeved on the steering optical rod 13. The rear end of the second rotating part is connected to the telescopic mechanism.

[0033] In this embodiment, the angle transducer 11 is a non-contact angle sensor, which includes two separate parts, an induction head and a detection sensor. The induction head is arranged on the first rotating part, and the detection sensor is arranged on the second rotating part.

[0034] Refer to Figure 4 , the telescopic mechanism includes a telescopic traction rod and a telescopic mechanism body. The telescopic traction rod is limited by a guiding mechanism and is slidably connected to the body of the telescopic mechanism. The telescopic distance sensor is arranged between the telescopic traction rod and the telescopic mechanism body.

[0035] In this embodiment, the telescopic distance sensor is a wire-pulling sensor 14, and the wire-pulling sensor 14 is installed on the telescopic mechanism body, and one end of the wire therein is fixedly connected to the telescopic traction rod.

[0036] The guiding mechanism includes a pair of telescopic optical rods 14, a traction member 15, a guide rail, and a slider 18. The traction member 15 is fixedly installed on the telescopic traction rod. The upper ends of the traction member 15 are respectively slidably sleeved on the pair of telescopic optical rods 14. The lower end of the traction member 15 is fixed on the slider and is slidably connected to the guide rail through the slider. Limiting springs are respectively arranged on both sides of the traction member on the telescopic optical rod 14.

[0037] The output signal terminals of the angle sensor and the telescopic distance sensor are electrically connected to the control unit, and the output control signals of the control unit are respectively connected to control two motor drive wheels. The output cables of the steering sensor and the wire-pulling sensor enter the control unit through the hollow tube of the vehicle frame. This not only avoids damaging the cables during field applications but also serves as a signal shielding function.

[0038] When in use, the user wears the belt, and the traction sensing device is connected to the belt. The motion intention information of the user is mainly obtained through the angle sensor and the wire-pulling sensor installed on the steering mechanism 3 and the telescopic mechanism 4. The angle sensor collects the direction angle of the human body's movement. Ψ When the human body turns left relative to the accompanying vehicle, the direction angle Ψ is positive. When the human body turns right relative to the accompanying vehicle, the direction angle Ψ is negative. When the human body goes straight, the direction angle Ψ is 0; the wire-pulling sensor collects the relative motion acceleration of the human body relative to the accompanying power-assisted vehicle a . When the human body accelerates relative to the accompanying vehicle, the acceleration a is positive. When the human body decelerates relative to the accompanying vehicle, the acceleration a is negative. When the human body moves at a constant speed relative to the accompanying vehicle, the acceleration a is 0.

[0039] After obtaining the direction angle Ψ and the relative motion acceleration a of the human body's movement, based on the linear filtering algorithm, the collected data is first filtered to eliminate the clutter generated by the sensor due to bumps and vibrations during the movement process, and accurate motion direction angle and acceleration information are obtained.

[0040] During the process of the accompanying vehicle following the turn, the controller outputs different control speed commands Ψ 1 and V 2 to the two motors of the accompanying vehicle based on the filtered direction angle value V , causing the motors to rotate at different speeds. Due to the speed difference ΔV between the two motors, the accompanying vehicle realizes the turning action. Moreover, the motor speed differences Ψ generated by different direction angle values ΔV are different, so that the accompanying vehicle has different turning speeds.

[0041] During the process of the accompanying vehicle following the forward movement, the controller outputs the same motor acceleration command a 0 to the two motors of the accompanying vehicle based on the filtered relative motion acceleration a , causing the motors to start accelerating and rotating at the same acceleration, thereby realizing the accelerating forward action of the accompanying vehicle. Different relative motion accelerations aThe generated motor acceleration command a is different, so that the follow-up vehicle can accelerate, decelerate and move at a constant speed following the user in a high-response-speed manner.

Claims

1. A traction-type auxiliary power-assisted vehicle, comprising a vehicle body and a traction mechanism, wherein the vehicle body has a traction frame, a load-bearing chassis and two motor-driven wheels, and is characterized in that: The traction mechanism includes a belt and a traction sensor device, one end of the traction sensor device is connected to the belt, and the other end is connected to the traction frame. The traction sensor device includes a steering mechanism and a telescopic mechanism that are connected to each other. The rotating shaft of the steering mechanism is arranged perpendicular to the movement plane of the vehicle body. The steering mechanism is provided with an angle sensor and a rotation limit structure. The telescopic direction of the telescopic mechanism is consistent with the movement direction of the vehicle body. The telescopic mechanism is provided with a telescopic distance sensor and a telescopic limit structure. A control unit is provided on the traction frame. The output signal ends of the angle sensor and the telescopic distance sensor are electrically connected to the control unit. The output control signals of the control unit are respectively connected to control the two motor drive wheels.

2. The traction-type auxiliary power-assisted vehicle according to claim 1, characterized in that: The steering mechanism includes a first rotating component and a second rotating component which are rotatably connected, and a connecting device is provided. One end of the connecting device is detachably connected to the waist belt, and the other end of the connecting device is fixedly connected to the first rotating component. The first rotating component is provided with a steering rod, and the second rotating component is provided with a steering light rod. The steering light rod is arranged perpendicular to the direction of the rotating shaft. The tail end of the steering rod has a fork portion, and the fork portion semi-surrounds the steering light rod, is slidably connected to the steering light rod, and is limited by a pair of springs sleeved on the steering light rod. The rear end of the second rotating component is connected to the telescopic mechanism.

3. The traction-type auxiliary power-assisted vehicle according to claim 2, characterized in that: The angle sensor is a non-contact angle sensor, which includes two separate parts: a sensing head and a detection sensor. The sensing head and the detection sensor are respectively arranged on the first rotating component and the second rotating component.

4. The traction-type auxiliary power-assisted vehicle according to claim 1, characterized in that: The telescopic mechanism comprises a telescopic traction rod and a telescopic mechanism body. The telescopic traction rod is limited by a guide mechanism and is slidably connected to the telescopic mechanism body. The telescopic distance sensor is arranged between the telescopic traction rod and the telescopic mechanism body.

5. The traction-type auxiliary power-assisted vehicle according to claim 4, characterized in that: The telescopic distance sensor is a pull-wire sensor, which is mounted on the telescopic mechanism body, wherein one end of the pull-wire is fixedly connected to the telescopic traction rod.

6. The traction-type auxiliary power-assisted vehicle according to claim 4, characterized in that: The guiding mechanism comprises a pair of telescopic light rods, a traction member, a guide rail and a slider. The traction member is fixedly mounted on the telescopic traction rod. The upper ends of the traction members are slidably mounted on the pair of telescopic light rods. The lower ends of the traction members are fixed on the slider and slidably connected to the guide rail through the slider. Limiting springs are respectively arranged on both sides of the traction member on the telescopic light rod.

7. The traction-type auxiliary power-assisted vehicle according to claim 4, characterized in that: The telescopic distance sensor is a grating sensor, a linear encoder or a rotary encoder.

8. The traction-type auxiliary power-assisted vehicle according to claim 4, characterized in that: The main body of the telescopic mechanism is connected to the traction frame through a connecting mechanism.

9. The traction-type auxiliary power-assisted vehicle according to claim 1, characterized in that: An angle adjustment device is provided between the traction frame and the load-bearing chassis, and the load-bearing chassis has a hydraulic shock absorber.

10. The traction-type auxiliary power-assisted vehicle according to claim 1, characterized in that: The battery is installed under the load-bearing chassis.

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