CN111522393A - A three-pedal adjustment mechanism based on leg surface EMG signals - Google Patents

Abstract

The invention discloses a three-pedal adjustment mechanism based on leg surface electromyographic signals, comprising an X-direction slide rail, a Y-direction slide rail, and a Z-direction electric push rod vertically fixed on the Y-direction slide rail slider. Relatively rotating pedal upper and lower arms, gear assembly between the upper and lower arms, pedal inclination adjustment mechanism and external central processing unit, the central processing unit can process and analyze according to the externally collected EMG data to meet the needs of different percentile drivers. According to the requirements of the spatial position, inclination angle and manipulation feeling of the pedal, the optimal pedal configuration scheme is recommended according to different human bodies. The clutch pedal adjustment assembly, brake pedal adjustment assembly and accelerator pedal adjustment assembly have the same adjustment method.

Description

A three-pedal adjustment mechanism based on leg surface EMG signals

technical field

The invention relates to the field of automobile control, in particular to a multi-parameter adjustable three-pedal mechanism based on leg myoelectric signals.

Background technique

As a component directly contacted by the driver, the rational layout of the pedals and the operating comfort play an important role in improving driving safety and reducing human fatigue during long-distance driving. As a mature and reliable technical means, muscle surface signal can quantitatively and accurately analyze the state of muscle strain. Therefore, the introduction of EMG signal analysis in the parameter design of pedals can more effectively meet the individual needs of drivers and improve driving. Safety factor. The previous pedal structure design mainly has the following problems:

1. The spatial position of the pedals is fixed, and it is difficult to meet the needs of drivers with different percentiles. It is easy to cause driving fatigue for particularly tall and short drivers, and in more serious cases, the switching between pedals will be slow. Driving safety.

2. At present, there is no unified national and industry standard for the setting of pedal angle. All automobile companies design based on their experience data, so they cannot meet the driving needs of all people. For the above special groups, their feet may be blocked during the manipulation process, and their usage needs cannot be met.

3. Different drivers will have different driving habits, and will have different needs for pedal manipulation. The existing vacuum booster and electric booster have a small adjustment range for pedal feeling, which is difficult to meet the requirements of different drivers.

Therefore, it is reliable and necessary to design a more accurate three-pedal adjustment mechanism that meets the requirements of different percentile drivers for pedal space position, inclination angle and control feeling based on the characteristic analysis of the electromyographic signal on the surface of human muscles.

SUMMARY OF THE INVENTION

The purpose of the present invention is to design a three-pedal adjustment mechanism based on the surface leg EMG signal. The spatial position, manipulation feeling and pedal inclination of the three pedals can be conveniently adjusted in real time according to the needs of different people, which can more comprehensively meet the driving needs of the driver. Based on the perspective of biomechanics and ergonomics, it provides reliable reference data for the position, inclination and manipulation of the pedal to meet the requirements of different human bodies for pedal configuration.

A three-pedal adjustment mechanism based on leg surface electromyographic signals, comprising an X-direction slide rail, a Y-direction slide rail, a Z-direction electric push rod vertically fixed on the Y-direction slide rail slider, and a pedal capable of relative rotation The upper and lower arms, the gear assembly between the upper and lower arms, the pedal inclination adjustment mechanism and the central processing unit, the central processing unit can process and analyze the EMG data collected externally, and finally recommend the optimal pedal configuration scheme according to different human bodies. The central processing unit can meet the use of the following solutions: 1. The driver inputs body parameters such as height and weight, and the central processing unit can automatically adjust the pedal position, inclination angle and pedal manipulation feeling that are most suitable for the driver's body percentile. 2. Attach the surface EMG sensor to the muscle belly of the driver's leg, collect the electrical signal of the driver's leg muscle while driving the vehicle, and send the collected muscle electrical signal to the central processor for analysis. The pedal parameters with the highest muscle comfort, the central processor controls the motor to adjust. 3. The central processing unit has built-in adjustment buttons, and the driver can adjust the pedal position, inclination angle and pedal manipulation feeling by himself. The structure is simple and the operation is convenient.

X-direction slide rail includes active X-direction slide rail and driven X-direction slide rail; active X-direction slide rail includes X-direction rack, X-direction slider, X-direction drive screw, X-direction stepper motor, and two end stops Plate, the X-direction stepper motor is fixed on the X-direction slider, the X-direction slider is slidably connected to the active X-direction slide rail, the X-direction slider includes the first shaft, the X-direction gear and the rolling bearing, the inner ring of the rolling bearing and the first A rotating shaft is rotatably connected to the outer ring and welded on the X-direction slider.

The driven X-direction slide rail has three drive screws, and the slider on the screw rod moves with the X-direction slider on the active X-direction slide rail; the X-direction stepper motor drives the first shaft to rotate under the control of the CPU to make the The X-direction slider moves along the X-direction drive screw, the first rotating shaft is provided with rolling bearings at both ends, and the second rotating shaft, the third rotating shaft and the upper arm of the pedal arm and the fourth rotating shaft and the pedal support plate are also provided with rolling bearings. The text will not go into details.

The Y-direction slide rail is fixed on the X-direction slider, and has an intermediate spindle and two side drive screws. The Y-direction stepper motor is fixed on the baffle and controlled by the central processing unit, which can drive the spindle to rotate and drive the Y-direction slider along the The screw moves.

A push rod, a push rod motor and a chute are fixedly arranged on the Y-direction sliding block, and the push rod is rotatably connected with the third rotating shaft through a U-shaped buckle. The push rod motor controls the extension and retraction of the push rod to adjust the Z-direction position of the pedal, and the up and down movement of the push rod promotes the movement of the sliding rod in the chute.

The gear assembly between the upper and lower arms of the pedal includes a driving gear, a driven gear, a third rotating shaft, a second dual output shaft motor and a motor clamp; the second dual output shaft motor is fixed on the base and connected with the driving gear and is connected to the driving gear through the driving gear. Torque is transmitted to the driven gear. When the driver steps on the pedal, the output torque of the second dual output shaft motor will be transmitted through the driving gear to the driven gear for deceleration and torque increase. The magnitude of this force can be set and adjusted in real time to provide the driver with different pedal manipulations. sense.

The lower arm of the pedal is fixedly connected with the third rotating shaft, the second rotating shaft passes through the upper arm of the pedal and is rotatably connected with it, and the third rotating shaft also passes through the upper arm of the pedal and is rotatably connected with it.

The pedal inclination adjustment mechanism includes a pedal, a fourth rotating shaft, a support plate, a connecting rod, a limit rod, a U-shaped wheel, an inclination adjustment gear, an inclination adjustment rack and a first double output shaft motor; the support plate and the fourth rotating shaft Rotationally connected through the internal bearing; the first dual output shaft motor controls the rotation of the inclination adjustment gear through the fourth shaft to adjust the pedal inclination; the U-shaped wheel is fixed between the limit rods to ensure coaxial rotation with the inclination adjustment gear; the first dual output shaft The electric motor controls the inclination adjustment gear to rotate on the inclination adjustment rack, so that the inclination angle of the pedal can be adjusted accurately and in real time.

The support plate ensures the rotation flexibility of the fourth rotating shaft.

The central processing unit is externally installed on the instrument panel to control the operation of the motor. The central processing unit has a built-in EMG signal analysis algorithm and an optimal pedal configuration recommendation library. The EMG signal analysis algorithm can analyze the EMG collected by the external EMG signal sensor. The signal is feature extraction, and the degree of muscle activation when the driver performs driving actions is calculated. The degree of muscle activation is calculated as:

In the formula, A ₀ is the degree of muscle activation, which is a dimensionless value, F is the electrical signal generated by the muscle when the driver performs an action, and F _max is the electrical signal generated when the driver's muscle is in the state of maximum force. A lower level of muscle activation indicates higher driver comfort. The central processing unit 34 can analyze the most comfortable pedal arrangement scheme for the human body through longitudinal comparison of the driver's muscle activation degree at different pedal inclination angles, pedal feeling and spatial positions. The optimal pedal configuration recommendation library contains the pedal parameters with the highest human comfort measured at different percentiles, which can be optimally matched according to the driver's height and weight parameters input to the central processor. At the same time, the central processing unit 34 has built-in motor control buttons, and the driver can adjust the pedal inclination, the feeling and the spatial position of the pedal by himself when sitting on the seat, which can fully meet the various driving needs of the driver.

The clutch pedal adjustment assembly, brake pedal adjustment assembly and accelerator pedal adjustment assembly have the same adjustment method.

The beneficial effects of the present invention are:

1. The present invention judges the state of muscle strain according to the surface EMG signal, and can automatically adjust various parameters of the pedal to the most comfortable position for the human body according to the analysis of the muscle activation degree of the human body in different percentiles when driving the vehicle, eliminating the need for biomechanical differences between individuals.

2. The inclination angle and spatial position of the pedal can be flexibly adjusted according to the driver's own needs, and the operating force of the pedal can be set, which can provide the driver with different operating feelings, and can provide the driver with a variety of functions in the same car. The driving experience meets the requirements of different human bodies for pedal configuration.

Description of drawings

FIG. 1 is a schematic structural diagram of the present invention.

Figure 2 is a schematic diagram of the internal structure of the X-direction slide rail.

Figure 3 is a side view of the structure of the present invention.

FIG. 4 is a schematic diagram of the internal structure of the pedal inclination adjustment mechanism of the present invention.

FIG. 5 is a schematic diagram of the internal structure of the support plate of the present invention.

FIG. 6 is a schematic diagram of the central processing unit of the present invention.

In the figure: 1—active X-direction slide rail, 2—driven X-direction slide rail, 3—X-direction rack, 4—X-direction slider, 5—X-direction drive screw, 6—Y-direction slider, 7 —Pedal upper arm, 8—Push rod motor, 9—Push rod, 10—Slide rod, 11—Driver gear, 12—Driver gear, 13—U-shaped buckle, 14—Pedal lower arm, 15—First dual output Axis motor, 16—connecting rod, 17—first shaft, 18—pedal, 19—Y-direction slide rail, 20—X-direction stepping motor, 21—rolling bearing, 22—Y-direction stepping motor, 23—motor clamp , 24—the second double output shaft motor, 25—support plate, 26—the second shaft, 27—the third shaft, 28—the limit rod, 29—the U-shaped wheel, 30—the X direction gear, 31—the inclination adjustment tooth Article, 32—the fourth shaft, 33—the inclination angle adjustment gear, 34—the central processing unit.

Detailed ways

A three-pedal adjustment mechanism based on leg surface electromyographic signals, comprising an X-direction slide rail, a Y-direction slide rail, a Z-direction electric push rod vertically fixed on the Y-direction slide rail slider, and a pedal capable of relative rotation The upper and lower arms, the gear assembly between the upper and lower arms, the pedal inclination adjustment mechanism, and the central processing unit 34. The central processing unit 34 can process and analyze the EMG data collected externally, and finally recommend the optimal pedal configuration scheme according to different human bodies. The central processing unit 34 can be used in the following solutions: 1. The driver inputs body parameters such as height and weight, and the central processing unit 34 can automatically adjust the pedal position, inclination angle and pedal manipulation feeling most suitable for the percentile of the driver's body. 2. Attach the surface EMG sensor to the muscle belly of the driver's leg, collect the electrical signal of the driver's leg muscle during driving the vehicle, and send the collected muscle electrical signal to the central processor 34 for analysis, preferably The pedal parameters with the highest muscle comfort are obtained, and the central processing unit 34 controls the motor to adjust. 3. The central processing unit has built-in adjustment buttons, and the driver can adjust the pedal position, inclination angle and pedal manipulation feeling by himself. The structure is simple and the operation is convenient.

As shown in Figures 1 and 2, the X-direction slide rail includes an active X-direction slide rail 1 and a driven X-direction slide rail 2; the active X-direction slide rail 1 includes an X-direction rack 3, an X-direction slider 4, and an X-direction slide rail 1. To drive the screw 5, the X-direction stepper motor 20 and the baffles at both ends, the X-direction stepper motor 20 is fixed on the X-direction slider 4, the X-direction slider 4 is slidably connected to the active X-direction slide rail 1, the X-direction The slider 4 includes a first rotating shaft 17 , an X-direction gear 30 and a rolling bearing 21 . The inner ring of the rolling bearing 21 is rotatably connected to the first rotating shaft 17 and the outer ring is welded on the X-direction slider 4 .

The driven X-direction slide rail 2 has three drive screws, and the slider on the screw rod moves with the X-direction slider 4 on the active X-direction slide rail 1; as shown in FIG. 3, the X-direction stepper motor 20 is processed in the central Under the control of the actuator 34, the first rotating shaft 17 is driven to rotate so that the X-direction slider 4 moves along the X-direction transmission screw 5. The first rotating shaft 17 is provided with rolling bearings at both ends, and the second rotating shaft 26, the third rotating shaft 27 and the upper arm of the pedal arm are provided with rolling bearings. 7 and the part where the fourth rotating shaft 32 contacts with the pedal support plate 25 are also provided with rolling bearings, which will not be repeated hereafter.

The Y-direction slide rail 19 is fixed on the X-direction slider 4, and has an intermediate main shaft and two side drive screws. The Y-direction stepping motor 22 is fixed on the baffle and controlled by the central processing unit 34, which can drive the main shaft to rotate and drive the Y Move to the slider 6 along the screw.

A push rod 9 , a push rod motor 8 and a chute are fixedly arranged on the Y-direction slider 6 , and the push rod 9 is rotatably connected with the third rotating shaft 27 through the U-shaped buckle 13 . The push rod motor 8 controls the extension and retraction of the push rod 9 to adjust the Z-direction position of the pedal, and the up and down movement of the push rod 9 promotes the movement of the sliding rod 10 in the chute.

As shown in Figures 1 and 3, the gear assembly between the upper and lower arms of the pedal includes a driving gear 11, a driven gear 12, a third rotating shaft 27, a second dual output shaft motor 24 and a motor clamp 23; the second dual output shaft The motor 24 is fixed on the base and connected to the driving gear 11 and transmits the torque to the driven gear 12 through the driving gear 11 . When the driver steps on the pedal, the output torque of the second dual output shaft motor 24 will be transmitted through the driving gear 11 to the driven gear 12 for deceleration and torque increase. The magnitude of this force can be set, and can be adjusted in real time to provide the driver with different pedal control feel.

The pedal lower arm 14 is fixedly connected with the third rotating shaft 27 , the second rotating shaft 26 passes through the pedal upper arm 7 and is rotatably connected with it, and the third rotating shaft 27 also passes through the pedal upper arm 7 and is rotatably connected with it.

As shown in FIGS. 1 and 4 , the pedal inclination adjustment mechanism includes a pedal 18 , a fourth rotating shaft 32 , a support plate 25 , a connecting rod 16 , a limit rod 28 , a U-shaped wheel 29 , an inclination adjustment gear 33 , and an inclination adjustment The rack 31 and the first dual output shaft motor 15; the support plate 25 and the fourth shaft 32 are rotatably connected through an internal bearing; the first dual output shaft motor 15 controls the rotation of the inclination adjustment gear 33 through the fourth shaft 32 to adjust the pedal inclination; U The profile wheel 29 is fixed between the limit rods 28 to ensure coaxial rotation with the inclination adjustment gear 33; the first dual output shaft motor 15 controls the inclination adjustment gear 33 to rotate on the inclination adjustment rack 31 to accurately adjust the inclination of the pedal in real time. The structure is simple, easy to implement, and can meet the different needs of drivers.

As shown in FIG. 5 , it is a schematic diagram of the internal structure of the support plate 25 . The rotation flexibility of the fourth rotating shaft 32 is guaranteed.

As shown in FIG. 6 , it is a schematic diagram of the central processing unit 34 . The central processing unit 34 is externally installed on the instrument panel to control the operation of the motor. The central processing unit 34 has a built-in EMG signal analysis algorithm and an optimal pedal configuration recommendation library. The EMG signal analysis algorithm can The EMG signal is used for feature extraction, and the degree of muscle activation when the driver performs driving actions is calculated. The degree of muscle activation is calculated as:

In the formula, A ₀ is the degree of muscle activation, which is a dimensionless value, F is the electrical signal generated by the muscle when the driver performs an action, and F _max is the electrical signal generated when the driver's muscle is in the state of maximum force. A lower level of muscle activation indicates higher driver comfort. The central processing unit 34 can analyze the most comfortable pedal arrangement scheme for the human body through longitudinal comparison of the driver's muscle activation degree at different pedal inclination angles, pedal feeling and spatial positions. The optimal pedal configuration recommendation library contains the pedal parameters with the highest human comfort measured at different percentiles, which can be optimally matched according to the driver's height and weight parameters input to the central processor. At the same time, the central processing unit 34 has built-in motor control buttons, and the driver can adjust the pedal inclination, the feeling and the spatial position of the pedal by himself when sitting on the seat, which can fully meet the various driving needs of the driver.

The clutch pedal adjustment assembly, brake pedal adjustment assembly and accelerator pedal adjustment assembly have the same adjustment method.

Claims (2)

1. The utility model provides a three footboard adjustment mechanism based on shank surface electromyography signal which characterized in that: comprises an X-direction slide rail, a Y-direction slide rail, a Z-direction electric push rod vertically and fixedly arranged on a Y-direction slide rail slide block, an upper and a lower pedal arms capable of relatively rotating, a gear assembly between the upper and the lower arms, a pedal inclination angle adjusting mechanism and a central processing unit (34);

the X-direction slide rail comprises a driving X-direction slide rail (1) and a driven X-direction slide rail (2); the driving X-direction sliding rail (1) comprises an X-direction rack (3), an X-direction sliding block (4), an X-direction transmission screw rod (5), an X-direction stepping motor (20) and two end baffles, the X-direction stepping motor (20) is fixed on the X-direction sliding block (4), the X-direction sliding block (4) is connected to the driving X-direction sliding rail (1) in a sliding mode, the X-direction sliding block (4) comprises a first rotating shaft (17), an X-direction gear (30) and a rolling bearing (21), and an inner ring of the rolling bearing (21) is rotationally connected with the first rotating shaft (17) and an outer ring of the rolling bearing (21) is welded on the X;

the driven X-direction sliding rail (2) is provided with three transmission screw rods, and a sliding block on each screw rod moves along with an X-direction sliding block (4) on the driving X-direction sliding rail (1); an X-direction stepping motor (20) drives a first rotating shaft (17) to rotate under the control of a central processing unit (34) so that an X-direction sliding block (4) moves along an X-direction transmission screw rod (5), rolling bearings are arranged at two ends of the first rotating shaft (17), and rolling bearings are also arranged at the contact parts of a second rotating shaft (26), a third rotating shaft (27), a pedal arm upper arm (7) and a fourth rotating shaft (32) and a pedal supporting plate (25);

the Y-direction slide rail (19) is fixed on the X-direction slide block (4) and is provided with a middle main shaft and two side transmission screw rods, and the Y-direction stepping motor (22) is fixed on the baffle and controlled by the central processing unit (34) and can drive the main shaft to rotate to drive the Y-direction slide block (6) to move along the screw rods;

a push rod (9), a push rod motor (8) and a sliding groove are fixedly arranged on the Y-direction sliding block (6), and the push rod (9) is rotatably connected with a third rotating shaft (27) through a U-shaped buckle (13); the push rod motor (8) controls the extension and retraction of the push rod (9) to adjust the Z-direction position of the pedal, and the up-and-down movement of the push rod (9) enables the slide rod (10) to move in the sliding groove;

the gear assembly between the upper and lower arms of the pedal comprises a driving gear (11), a driven gear (12), a third rotating shaft (27), a second double-output shaft motor (24) and a motor hoop (23); the second double output shaft motor (24) is fixed on the base and connected with the driving gear (11) and transmits torque to the driven gear (12) through the driving gear (11); when a driver steps on the pedal, the output torque of the second double output shaft motor (24) is transmitted to the driven gear (12) through the driving gear (11) to reduce the speed and increase the torque; the pedal lower arm (14) is fixedly connected with a third rotating shaft (27), the second rotating shaft (26) penetrates through the pedal upper arm (7) to be rotatably connected with the pedal lower arm, and the third rotating shaft (27) also penetrates through the pedal upper arm (7) to be rotatably connected with the pedal lower arm;

the pedal inclination angle adjusting mechanism comprises a pedal (18), a fourth rotating shaft (32), a supporting plate (25), a connecting rod (16), a limiting rod (28), a U-shaped wheel (29), an inclination angle adjusting gear (33), an inclination angle adjusting rack (31) and a first double-output-shaft motor (15); the supporting plate (25) is rotatably connected with the fourth rotating shaft (32) through an internal bearing; the first double-output-shaft motor (15) controls the inclination angle adjusting gear (33) to rotate through the fourth rotating shaft (32) so as to adjust the inclination angle of the pedal; the U-shaped wheel (29) is fixed between the limiting rods (28) to ensure that the U-shaped wheel and the inclination angle adjusting gear (33) rotate coaxially; the first double-output-shaft motor (15) controls the inclination angle adjusting gear (33) to rotate on the inclination angle adjusting rack (31) to accurately adjust the inclination angle of the pedal in real time;

the central processing unit (34) is externally arranged on the instrument panel to control the motor to operate.

2. The three-pedal adjusting mechanism based on the leg surface electromyographic signal according to claim 1, wherein: an electromyographic signal analysis algorithm and an optimal pedal configuration recommendation library are built in the central processing unit (34), the electromyographic signal analysis algorithm can perform feature extraction on electromyographic signals collected by an external electromyographic signal sensor, and the muscle activation degree of a driver during driving action is calculated; the calculation method of the muscle activation degree comprises the following steps:

in the formula, A₀The muscle activation degree is a dimensionless value, F is an electric signal generated by the muscle when the driver acts, F is_maxThe electric signal generated when the muscle of the driver is in the maximum force applying state; higher driver comfort is indicated when the degree of muscle activation is lower; the central processor (34) can analyze the pedal arrangement scheme most comfortable for human body feeling through the longitudinal comparison of muscle activation degrees of different pedal inclination angles, pedal feelings and spatial positions of a driver; the optimal pedal configuration recommendation library contains pedal parameters with the highest measured human body comfort levels of different percentiles, and optimal configuration matching can be carried out according to the height and weight parameters of a driver input into the central processing unit; meanwhile, a motor control button is arranged in the central processing unit (34), so that a driver can sit on the seat to adjust the inclination angle and the feeling of the pedal and the spatial position of the pedal.

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