CN105752246A - Novel inverted pendulum self-balancing locomotive - Google Patents
Novel inverted pendulum self-balancing locomotive Download PDFInfo
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Abstract
The invention relates to an inverted pendulum self-balancing locomotive. The inverted pendulum self-balancing locomotive refers to weight parameter variations sensed by a pressure load sensor to carry out dynamic compensation rather than completely depending on an electronic gyroscope and an accelerator; data detected by a spatial attitude unit is compensated with weight data detected by a weight load sensing unit to adjust a rotating speed of a motor and realize acceleration and deceleration, driving forwards and backwards and steering of a vehicle; data acquired by a tilt angle sensor is compensated with the weight data detected by a weight load sensing unit to further realize self-balancing, such that the height of a pedal, the wheel diameter and the weight are reduced. The invention further provides a locomotive body of which the upper part and the lower part can rotate oppositely, and an unmanned/manned public locomotive having universal wheels.
Description
Technical field
Carrier, motor the motor vehicles driven.It is suitable for but is not limited to the chassis in manned and single driving, relates to both feet station and step on the walk-replacing scooter skateboard of driving, compact small-sized (folding) Portable traffic means of transport and extreme light little, motor supporting about, vehicle and the manipulation control loop of locomotive, automation equipment, inverted pendulum Self-balance electric vehicle.
Background technology
Need not practising the small-sized Portable electric bicycle not needing technology just can drive, it is required for moving for short distance individual.Prior art is a lot, but the shortcoming of being respectively arranged with: and manpower drive efficiency low velocity is slow, storage is carried, the reliability of electronic device and fault ratio, to repeat and the driving technology of consummation, car body weight and volume.Making a general survey of this area, the combination property of every kind of car is all not good enough, is difficult to change the status quo significantly.
The Self-Balancing vehicle of single wheel or two-wheel, it is commonly referred to as inverted pendulum, this field makes great efforts to create the manned Portable vehicle that a kind of simplicity is gently little always, the status of tradition main flow vehicle is affected so that the change of body burden carries out controlling, although more related art scheme updates in iteration always, but so far, without exception there is also respective defect, correlation technique has been described in detail and known by insider in a large number, it is not necessary to repeat.Before 2000, (Figure 22) U.S. Sai Gewei proposes the two-wheel car (heavy volume is big) of Armrest, afterwards, the two wheeler (but it is still big to reduce wheel footpath volume) controlled with shank that Toyota of Japan improves, afterwards, (Figure 23) Frenchman proposes without handrail wheelbarrow (simple in construction still turns to big with driving difficulty), in recent years, (Figure 24) American proposes the two-wheeled cross slide (but can pivot stud still heavy) without handrail with two energy mutual turn pedals, in recent years, (Figure 25) American propose single-wheel scooter type (but simple in construction radius of turn is big, bias could be realized by thicker tire to turn to, wheel is too roomy).The uniqueness of this type of car (chassis and ground need enough spaces to realize the change of attitude) and consider its safety and the road surface property passed through widely especially, it is relatively larger that wheel footpath is all arranged by prior art, minimum also comprises two 8 cun wheels, and therefore bead seat takes up room and weight.It addition, the driving technology of this type of car is development bottleneck, perplexs 15 years, this area and limited popularization and application, because the safety of special drive manner comprises dispute.When wheel becomes hour, although foot's distance ground is close, (locomotive footboard and ground can be trampled simultaneously by foot, tiptoe or heel or outside of foot contact ground), easily grasped driving technology by learner, but, the insufficient space on pedal and ground, attitudes vibration is restricted, gyroscope can not produce enough inclination angles, and pedal contact ground hinders vehicle to travel, particularly when climb and fall.Hereinafter, the innovation is then the important improvement done for disadvantage mentioned above.
Summary of the invention
It is contemplated that first problematic in solving, it is provided that man-machine share can type selecting traffic mobile system, support manned/unmanned double mode, and/or, strive for extreme light little portable locomotive, innovative solution can be applicable to other field and vehicle.Invention is achieved in that employing micro-autocontrol system, dual or multiple control system, improving setting makes machinery vehicle body mutually be suitable for it, including: lightweight battery to the driving device of motor power supplying, carrier, dual drive wheel, fit the locomotive chassis to mechanism's (fit to wheel), electronic control, multi-mode manipulates, under manned pattern, driver manipulating, electric running, man-machine hybrid electric drive system and/or overdrive clutch slide；Under unmanned pattern, automation equipment manipulation driving, differential drives and turns to.The also comprehensive corollary equipment providing multiple innovation, structure improve, control system.Concrete implementation hereinafter discloses further.
Accompanying drawing illustrates:
Fig. 1--11 is self-balancing embodiment 1 schematic diagram, it is followed successively by, under folded state, overlooks the vertical view front view in front view, expansion and the top view under the first use state, chassis turnover process, expansion and the vertical view front view under the second use state, front and back side-looking, left and right sides view, stravismus side view, top view, upward view, oblique upward view, chassis turnover expansion schematic diagram, chassis partial front elevation view, chassis local expansion schematic diagram, chassis turnover mechanism decomposing schematic representation.
Figure 12--14 is the turn tube coupling schematic diagram of locomotive chassis, is followed successively by, the first location schematic diagram, the second location schematic diagram, exploded view.
Figure 15--18 is Self-Balancing vehicle embodiment 2 schematic diagram, is followed successively by, side-looking (size) figure, upward view, oblique upward view, side-looking (position relationship) figure.
Figure 19 is made by the tricycle schematic side view that load sensor is driven.
Figure 20 is made by the tricycle front-view schematic diagram that load sensor is driven.
Figure 21 is the schematic diagram of drivewheel, driven pulley, mud guard.
Figure 22--25 is the schematic diagram of 4 kinds of prior aries.
Advantage and good effect: global optimization is improved and experienced, the enhancing of simple in construction, reliability, light practicality, turning radius are little.Directly contact car body just to carry without hands, tow.Multiple sensors, data storage cell telecommunication that vehicle-mounted data processor travels with wireless telecommunication system, control locomotive chassis are connected, and process and run relevant executable program.Dual or multiple control system, improves safety, controls to work in coordination with by fine motion and improves handling.The advantage of multiple electrification technical schemes and automation equipment should hereinafter provide further.Car load can accomplish 1 to 4 kilogram.Be suitable to municipal highway and large-scale indoor place.
Segment the drive demand of city flat highways, in order to the driving mode of flat road surface provides more targeted selection.To reach ultimate attainment gently little and portable purpose, solve technical barrier simultaneously.The driving attitude of driver is not limited to long-term pitch attitude, it is possible to be omnibearing, therefore healthy is also enhanced.Particularly portability improves greatly.The locomotive of embodiment and/or turnover type chassis, be not limited to dual drive wheel, and single driven wheel can also Self-Balancing vehicle mode traditionally travel.The innovation relieves traditional view to the conventional understanding in wheel footpath and constraint (the bull wheel footpath of restriction Self-Balancing vehicle development, large volume, the boss material of waste and tire are also more many, mud guard etc., and mechanism is complicated therewith), and comprehensive to take multiple measure to realize gently little.Owing to wheel is little, body construction generation radical change, solving a difficult problem for driving technology: when driving is steamboat, battery can be not provided with inside pedal, significantly reduces the thickness of pedal, center of gravity also lower being easier to is grasped driving technology by learner, when pedal distance ground closer to time, foot can contact ground and carrier simultaneously, can easier study drive, grasp driving technology, particularly abecedarian and just trample problems faced when getting on the bus.When wheel footpath reduces, the length that slide plate (arranges pedal along vehicle heading) also substantially shortens, and meanwhile, arranges two little dual drive wheels and solves Steering.Arranging different load-carrying ranks for different people, for the adult of 60 kilograms, locomotive weight can accomplish less than 2--3 kilogram.Dual drive wheel can realize the turning to of more minor radius, remote driving, unloaded unmanned.Adding other technical measures of this specification, for instance man-machine hybrid power, coordinated signals etc., its performance is significantly superior.The driving wheel of Self-Balancing vehicle is set to small-wheel-diameter driving wheel, is not only on surface, runs in the opposite direction with traditional approach, and another reason is, can well play the self-characteristic of the Brushless DC motor of the little moment of torsion of high rotating speed, exchange for can be manned moment of torsion.Other advantages will provide in conjunction with the embodiments further.
Detailed description of the invention:
Term defines.Data processor, implication includes: DSP, FPGA, CPU, PLC, MCU, AP, ARM, programmable single chip computer, high-speed programmable digital signal processing chip.Terminal control device, implication includes: data processor, can write execution program and can call software, there is display and the wireless telecommunications system at interactive operation interface, can be presented as (hand-held) mobile phone (being not limited to common smart mobile phone), the wearable bracelet in wrist or wrist-watch, the glove of hand, finger finger ring.Stereo vision sensor includes: 3 D stereo machine vision, such as laser measurement, RGB photographic head or motion tracking digital camera, lighting source, infrared sensor or nearly IR(infra-red radiation) light, CMOS(complementary metal quasiconductor) sensor removes to understand the light code of scene, computational analysis three-dimensional data, manufacture scene by " pumped FIR laser " technology, usually adopt binocular vision triangulation to realize the environmental information of three-dimensional depth.Universal wheel include being arranged on have on eccentric throw support and also can in dynamic load self-defined vertical axle center freely 360 degree rotate around vertical axis, any direction Turning travel earthward.According to mounting means, plate, screw type and pin-type can be divided into.Universal wheel (also including omni-directional wheel mecanumwheels, omniwheel) this specification that Chinese is often said is referred to as fits to wheel.Fit to, refer to that (certainly) adapts to direction, including other variant, fit and can improve car body turn to usefulness to wheel, time suitable, pivot stud can be realized, for instance: fit to wheel carrier, fit to wheel (include the universal wheel of 360 degree of turns, turn or the universal wheel that travels for single direction in limited angle--limited fit to wheel).The motor of this specification appellation includes motor.Dual control system or multi-control system, including, same instructions management and control, collaborative instruction management and control.Differential gear drives two castors respectively or simultaneously drives two castors.Including separately-driven double motor and driving controller, or, a drive motor differential gear.Lightweight battery, comprise the motive-power battery of repeated charge: one or its combination in any in elemental lithium, ultracapacitor, fuel, metal-air, graphene battery, nano material battery are arranged in pairs or groups to motor power supplying, or other light-duty energy storage pools, generally do not refer to lead-acid battery.
Sensor control device: by sensor, such as, gyro sensor (includes multiaxis sensing, inclination angle senses, center of gravity senses), load sensor (including: gravity sensitive, pressure sensing, the acceleration transducer of signal is produced based on driver's centre of body weight or change in location, it is arranged to detection gravity and inertial force field one or more sensors being associated accordingly), torque sensor, velocity sensor, sensor receives signal and is signaled to data processor, when reaching preset value, data processor issues instructions to drive controller to start motor so as to rotate and drive castor.If tricycle, it is possible to it is not provided with sensor for self-balancing (left-right balance)；If moment or velocity sensor, drive motor that booster type can be adopted to start.
Self-Balancing vehicle embodiment 1, be suitable to but be not limited to manned locomotive without handrail, it includes, locomotive is small-sized, driving wheel is small-sized wheel, (during top perspective, driving wheel is positioned in the middle part of locomotive or near middle part), motor supports that driving wheel advances locomotive around wheel shaft operating, at least one sensor is configured and measures attitude information and/or the travel direction information of locomotive, and, motor controller is configured and accepts the information that described sensor detects, and make motor sub-assembly advance locomotive based on this information, at least use driving condition to have Self-balancing.It is set up in parallel adjoining two-wheel contact ground using as dual drive wheel, (deck) carrier being easy to step at driver's (left and right both feet) station is laid along vehicle heading, it also includes at least one in B1--B5: B1.(is for transport condition) battery is positioned at driving wheel top and is positioned between two legs and feet of driver, suitable clamped by legs and feet；B2. the height of battery compartment is suitably driver's foot anklebone between knee；B3. small-sized driving wheel is positioned under pedal carrier (during side-looking perspective, the wheel part tangent with pedal upper surface is less than 1/3rd)；B4. battery compartment is positioned at carrier and carrier is folded form；B5. dual drive wheel is axially to be set up in parallel and mutually adjacent double motor separately-driven takes turns (motor drives a wheel) along same, attitude information and/or travel direction information based on sensor acquisition, and via the instruction that motor controller sends, the operation instruction differential of the execution respectively traveling that dual drive wheel is configured, biases (pedal) carrier and changes load and then generated, by load sensor, the dynamic instruction that weight information turns to as locomotive；
Referring to Fig. 1--11, adopt two small-wheel-diameter driving wheels, in a folded configuration, car load is sheet-type, battery compartment (and electric component), between two pedals, is positioned on driving wheel, and battery compartment can be clamped by two legs and feet of driver, two pedal carriers extend above to car body, its (difference) follows closely (Figure 12 advances) after axle moves expansion along the direction of arrow along axle, becomes two pedals that suitable bipod is trampled respectively, during side-looking, driving wheel is located substantially under pedal；(described substantially referring to, during side-looking perspective, the wheel part tangent with pedal upper surface is less than 1/3rd).
Chassis has turn joint (turn connects firmly positioning joint), switch two kinds of positioning states and orientation angle, locomotive is made to have two kinds of handoff functionality (Figure 13 using driving model, along direction of arrow turn), under first mode (Figure 12), along the lateral traveling of driver, (Figure 14 under the second pattern, advance along the direction of arrow), travel along driver's fore-and-aft direction.(according to required, when pedal is arranged to more extension, and, after expansion, pedal is longer, under lateral travel situations, it is possible to be similar to the result of use of slide plate, is suitable for running at high speed；Along driver's fore-and-aft direction travel time, it being suitable for running at a low speed) turn joint center is suitable for arranging the turn electrical connection device electrical connection sliding ring connectors of 360 degree rotations (can), the upper and lower two parts electrical connection of locomotive, the electric power on top thus sends driving wheel (in-wheel motor) to, or, save central authorities in turn and be suitable for arranging axle, and be connected with driving wheel by (taper) gear, (driving device) driving force on locomotive top is conducted to the driving wheel of locomotive bottom.Referring to Figure 12--14, (two) disposed circumferentially around keeper (12-1 outside the turn joint center of locomotive chassis, 12-2), retainer tail has flexible member (compression spring), keeper is made to depart from hole, location (such as by external force, position round pin afterbody center in taper and flexible wire ropes or rigid metal bar are installed, through spring, extend to locomotive top, it is pulled up pulling steel wire rope or metallic rod, keeper then departs from from hole steps down), locomotive chassis turn turnover location, (keeper automatically springs into another to hole, location by flexible member, upper and lower two parts pin joint is positioned) simultaneously, switch two kinds of positioning states and orientation angle；Turn joint center is suitable for arranging hollow axle nail and is combined by upper and lower for locomotive two parts.The frame for movement of turn location, locomotive top and the bottom is not limited to this, separately has a large amount of mode to reach identical purpose, and the key of the innovation does not lie in this, is not repeated herein, and only stating it can realize.
Dual drive wheel can operate respectively, differential steering (by the load sensor on two pedals--see above embodiment, sense the load signal change of four azimuthal points of two heels of two toes, make the acceleration and deceleration operating respectively of two motors), constant speed moves ahead (when locomotive has the angle of pitch, advance by electronic gyroscope and accelerometer and keep balance), simultaneously, axial along dual drive wheel, the balance quality of car body is better, it is not easy to topple over.Not exclusively by three axle electronic gyroscope and accelerometers during driving, the weight parameter change sensed referring also to the pressure load cell of four location points (being at least two location points) carries out dynamic compensation, has broken away from traditional approach (Self-balance manned being conventionally difficulty with small-wheel-diameter car is driven).Driving wheel is based on the attitude information of sensor acquisition and/or travel direction information, and send instruction via motor controller, the execution operation instruction differential traveling that driving wheel is configured, and, bias carrier and change load and then generated the information foundation as locomotive steering order by load sensor, jointly control locomotive driving with the attitude information of electronic gyroscope with the sensing of accelerometer sensing.
Self-Balancing vehicle embodiment 2; referring to Figure 15--18; Figure 15,16 provide size according to the relation of actual size 1:1; substantially little much than tradition self-balancing vehicle; 18650 lithium battery single layer cloths are located at pedal internal (in figure, battery compartment drowning is installed); motor driving module and other electronic units are arranged under pedal; along the dotted line in Figure 18; these electric components cannot contact ground; further, the metal shell of protectiveness can be arranged electronic component-embedded be wherein closed various along dotted line.Pedal rear and front end, is respectively equipped with small-sized roller, when the locomotive angle of pitch time, is used for contacting ground taxi, is taken, it is possible to the rub resistance element that pedal rear and front end arranges rubber etc replaces small-sized roller.Along Figure 11,12 logic and signal, it is also possible to the pedal of the present embodiment is set to folded form, above two axle axle trend car bodies turn down.
One wheel contact ground is using as driving wheel, it is easy to (deck) carrier of stepping at driver (left and right both feet) station lay along the vertical direction of vehicle heading, (for transport condition) battery is positioned at driving wheel top and is positioned between two legs and feet of driver, its also include in A1--A3 any one or more kinds of: the height of A1. battery compartment is suitably foot anklebone between knee, and driving wheel is located substantially under pedal carrier；A2. driving wheel is located substantially under pedal carrier；A3. battery compartment is positioned at carrier and carrier is folded form；(described substantially referring to, during side-looking perspective, the wheel part tangent with pedal upper surface is less than 1/3rd).The lamination deck of the dynamic turn of axle is set up on the Self-Balancing vehicle top of small-wheel-diameter, lamination deck is arranged above with posture sensing sensor (such as electronic gyroscope, obliquity sensor), solve because small-wheel-diameter causes that pedal and ground space are little, space needed for restriction pedal pitch tilt, affects attitudes vibration.Can also (between lamination deck and car body) when load sense sensor detection driver's weight change is set to compensate driving pedal tilt deficiency.Certainly, above measure is not limited to small-wheel-diameter, it is also possible to big a bit good for slightly larger wheel, chassis is lower or higher good.
The trundle at pedal two ends, can be larger again, can be fit to wheel, wider wheel or be set to two wheels at interval, make a kind of state that locomotive is situated between Self-Balancing vehicle and two wheeler (or car of more wheel), under normality, travel with Self-Balancing vehicle pattern, the wheel on contact ground is few, and frictional force is little；Vehicle is initial, pitching, unstable time, the wheel at Herba Plantaginis portion or car rear portion optionally contacts ground, it is easy to grasp balance, it is easier to grasped driving technology by abecedarian.
The larger such as 8 cun of wheels of castor are good, it is important to, dual drive wheel spacing closer to, (better along the axial stationarity of dual drive wheel), turn to flexibly, even pivot stud, vertical area is less, so veneer, it is possible to achieve the use of both direction, high low speed is all right.The longer plate body being available for choosing dress is combined with locomotive adaptation, then be similar to conventional skateboard and use driving.
Self-Balancing vehicle embodiment 3, at least three castor；Sensor control device controls the circuit of driving device thus vehicle acceleration and deceleration, when the signal that sensor receives or sends reaches the condition pre-set, the signal that sensor sends drives revolution via processor and controller and orders about castor rotation, realizing the control of vehicle, described control device and equipment thereof include: gyro sensor and/or load sense sensor.Referring to Figure 19, laying at least two parts 19-1,19-2 before and after vehicle lengthwise direction, two parts are connected firmly by the convolution twist mechanism 19-3 turned to for car body laid along vehicle lengthwise direction, make the relative turn of these two parts during convolution twist mechanism stress；At least three heel brace combines and layout triangular in shape with two parts respectively, three heel braces include, one driving wheel and two driven direction-casters, or, two driving wheels (include having about two spaced elastic tyres on a hub motor shell to lay along wheel direction of principal axis, turn to when being caused travelling by the body weight bias variations of driver) and a driven direction-caster；The main body supporting carrier is stepped between driving wheel and driven pulley in station, or, station is stepped on support carrier and is positioned at drivewheel both sides, and during side-looking, station is stepped on the main body supporting carrier 19-1 and is positioned at driving wheel axis vertical line (dotted line) and station and steps on support carrier and be positioned at driving wheel both sides, and during side-looking, carrier element is at driving wheel axis vertical line and driven fits between wheel, drivewheel or appurtenances are that the stress actuator abutting in shank is so that vehicle drive turns to, optionally, drivewheel or appurtenances are the box-beam structures of internal battery, appurtenances have a telescopic lever so that vehicle is guided and supported tows.
The carrier stepped on for station includes, but are not limited to two panels folded form and folding shaft axis and arranges (Figure 20 along car body fore-and-aft direction, support carrier is stepped at the station being positioned at car body (driving wheel) both sides, time folding, consistent with the driving wheel direction of vertical setting, during expansion, it is consistent with the direction of principal axis of driving wheel that support carrier is stepped at station, in order to concisely, figure eliminates driven pulley), drivewheel or its appurtenances 19-4 are that the stress actuator abutting in shank is so that vehicle drive turns to, appurtenances 19-4 is the box beam of internal battery, and/or appurtenances 19-4 has a telescopic lever so that vehicle is guided and supported tows；The signal of driver weight load variations is sent to data processor by load sense formula sensor control device, when signal reaches preset value, driving device is sent control signal by data processor, guide and drive revolution and drive castor, making vehicle acceleration and deceleration or brake, lightweight battery is powered to driving device.Time after current, carrier is long, middle part can be lifted up folding, and rear carrier can carry second people.It is arranged as required to, the angularly disposed convolution twist mechanism for the vertical line of flatly plane.
Figure 21, under manual steering driving model, driven pulley is not in contact with the ground；Divide the front and back of car with the vertical tangent line in driving wheel axle center for benchmark, during side-looking, driven pulley is arranged in front side and/or car rear (dotted line of Figure 21 can be mud guard), or driven pulley is positioned at above main drive wheel；It also includes any one in following a, b, c: a, and when overlooking vehicle, at least by a driven pulley and two, the left and right triangle layout of driving wheel, driven pulley is provided in freely fitting to wheel in the middle part of car body；B, overlook vehicle time, at least constituted rectangular layout or trapezoidal layout by two driven pulleys and two, left and right driving wheel, driven pulley be provided in both ends, car body left and right freely fit to wheel or rigid castors；C, according to aforesaid a or b, it also includes, having the dynamic folding rack of axle between driven pulley and car body, driven pulley is positioned at folding rack, in the expanded state, support pivotal line and car body pivotal line are mutually perpendicular to, and in a folded configuration, support pivotal line is consistent with each other with car body pivotal line or is mutually perpendicular to.
Self-Balancing vehicle embodiment 4, driving wheel is the independent removable Self-balance electric vehicle being loaded on carrier, and described Self-balance electric vehicle independently from time, both sides respectively have a pedal, and pedal includes, but are not limited to Foldaway.Multiple vehicle frames and an identical driving wheel adaptation choosing that removable length is different fill, and described length difference refers to the driving wheel of locomotive chassis different from driven pulley wheelspan (front and back wheel wheelbase).Self-balancing pattern, with vehicle frame with fit to wheel pattern (three-wheel or take turns) more, under the two driving model, the location point stepped on due to subscriber station is different, the gravitational cue drawn also be two kinds of can not be general, so, switching circuit takes driving instruction two kinds of driving models of reply two kinds different.Double mode switching circuit, switches two kinds of driving models by human-computer interaction device, and under self-balancing pattern, load sense also performs the first instruction system preset；Under three-wheel or many wheels pattern, load sense also performs the second instruction system preset.Such as, under self-balancing pattern, the oblique bias state that load variations produces converts driving instruction to and gives it the gun to the direction of bias, in order to realizes self-balancing and drives；Under three-wheel or many wheels pattern, the driving instruction that the oblique bias state that load variations produces converts to is filtered or does not sense oblique bias voltage signal, only perform to change before and after load the driving instruction of generation, so that vehicle acceleration and deceleration and brake and both forward and reverse directions travel, it is biased to return to turn-knob rotation mechanism by the driver's legs and feet carried when turning to and realizes turning to or being realized turning to by steering wheel twisting convolution twist mechanism under unmanned state.Driver's load variations causes that suspension that locomotive chassis tilts and linkage steering mechanism thereof are not limited to this, it is also possible to show as four traditional wheel scooters.
New-type inverted pendulum self-balancing locomotive, at least one sensor is configured and measures attitude information and/or the travel direction information of locomotive, and, motor controller is configured and accepts the information that described sensor detects, and make motor sub-assembly advance locomotive based on this information, at least driving condition is being used to have Self-balancing, its also reside in following any one: the position data of weight data and the spatial attitude unit detection of A. weight loading sensing unit detection carries out working in coordination with and/or compensating, for acceleration, and then realize self-balancing, step height can be reduced with this and/or subtract small-wheel-diameter；B. vehicle by load sensor, data processor, motor rotary speed the data that adjustment realizes vehicle acceleration and deceleration, front and back travel, turn to, sensed the weight data of unit detection by weight loading obtains obliquity sensor carry out working in coordination with and/or compensating, in order to realize self-balancing；C. driving wheel is based on the attitude information of sensor acquisition and/or travel direction information, and send instruction via motor controller, the execution operation instruction differential traveling that driving wheel is configured, and, bias carrier and change load and then generated the information foundation as locomotive steering order by load sensor, jointly control locomotive driving with the attitude information of electronic gyroscope with the sensing of accelerometer sensing；D. dual drive wheel can operate respectively, differential steering, and constant speed moves ahead, and not exclusively by electronic gyroscope and accelerometer during driving, the weight parameter change sensed referring also to the pressure load cell of four location points carries out dynamic compensation；E. pedal arranges the load sense sensor detection data that dynamically change of driver's weight for working in coordination with and/or compensating Self-balancing.
null2. new-type inverted pendulum self-balancing locomotive，Be suitable to but be not limited to manned locomotive without handrail，It includes，Locomotive is small-sized，Driving wheel is small-sized wheel，Motor supports that driving wheel advances locomotive around wheel shaft operating，At least one sensor is configured and measures attitude information and/or the travel direction information of locomotive，And，Motor controller is configured and accepts the information that described sensor detects，And make motor sub-assembly advance locomotive based on this information，At least driving condition is being used to have Self-balancing，It also resides in: A. mono-wheel contact ground is using as driving wheel，Its also include in A1--A3 any one or more kinds of: A1. is easy to the carrier stepped at driver station and is laid along the vertical direction of vehicle heading，Battery is positioned at driving wheel top and is positioned between two legs and feet of driver，The height of battery compartment is suitably foot anklebone between knee，Driving wheel is located substantially under pedal carrier；A2. being easy to the carrier stepped at driver station lay along the vertical direction of vehicle heading, battery is positioned at driving wheel top and is positioned between two legs and feet of driver, and driving wheel is located substantially under pedal carrier；A3. being easy to the carrier stepped at driver station lay along the vertical direction of vehicle heading, battery is positioned at driving wheel top and is positioned between two legs and feet of driver, and battery compartment is positioned at carrier and carrier is folded form；B. adjoining two-wheel contact ground it is set up in parallel using as dual drive wheel, the carrier being easy to step at driver station is laid along vehicle heading, it also includes at least one in B1--B5: B1. battery is positioned at driving wheel top and is positioned between two legs and feet of driver, is suitable for being clamped by legs and feet；B2. the height of battery compartment is suitably foot anklebone between knee；B3. battery compartment is positioned at carrier and carrier is folded form；B4. dual drive wheel is axially to be set up in parallel and mutually adjacent double motor is separately-driven takes turns along same, attitude information and/or travel direction information based on sensor acquisition, and via the instruction that motor controller sends, the operation instruction differential of the execution respectively traveling that dual drive wheel is configured, biases carrier and changes load and then generated, by load sensor, the dynamic instruction that weight information turns to as locomotive.B5. locomotive has several feet wheel, and comprise the foot wheel on selective contact ground, under first mode, travel with the drive manner of inverted pendulum Self-Balancing vehicle and turn to, single wheel or two-wheel contact ground, under second pattern, (attitude of car is under pitch mode, driven pulley or driven fitting contact ground to wheel, ) at least two or three castors contact ground, and, driven pulley distance ground has suitable height causes carrier and ground to have suitable angle, thus, can also be operated by driving device when carrier is bowed or faces upward and manned driving locomotive driving travels and/or turns to；B6. locomotive has several feet wheel, and comprise the foot wheel on selective contact ground, under first mode, travel with the drive manner of inverted pendulum Self-Balancing vehicle and turn to, single wheel or two-wheel contact ground, under second pattern, at least two or three castor contact ground, and, when upward slope road traveling and descending road traveling, when the wheel of driving wheel front or behind hinders obliquity and attitude during self-balancing driving model not enough and cannot drive, circuit can be switched and become non-self-balancing driving model, can also be operated by driving device when main drive wheel contacts ground with driven pulley and manned driving locomotive driving and/or turn to；Self-balancing, non-self-balancing, both drives driving model can switch selection, and driving device operates according to two kinds of type of drive；B7.(auxiliary wheel is not only be easy to park), the length of pedal, the size of driving wheel, the size of auxiliary wheel, auxiliary wheel are apart from the height on ground, distance between auxiliary wheel and driving wheel, these conditions are correlated with, the inclination luffing angle of pedal, traveling of just can trampling for people and stand, time suitable, the weight data of pressure transducer detection is collaborative and/or compensates, for the acceleration-deceleration of driving instruction.
null3. new-type inverted pendulum self-balancing locomotive，Be suitable to but be not limited to manned locomotive without handrail，It includes，Locomotive is small-sized，Driving wheel is small-sized wheel，Motor supports that driving wheel advances locomotive around wheel shaft operating，At least one sensor is configured and measures attitude information and/or the travel direction information of locomotive，And，Motor controller is configured and accepts the information that described sensor detects，And make motor sub-assembly advance locomotive based on this information，At least driving condition is being used to have Self-balancing，Its also reside in following any one or more: A. is in a folded configuration，Car load is sheet-type，Battery compartment is between two pedals，It is positioned on driving wheel，Battery compartment can be clamped by two legs and feet of driver，Two pedals extend above to car body，It moves along axle nail axle after launching，Become two pedals that suitable bipod is trampled respectively，During side-looking，Driving wheel is located substantially under pedal；B. chassis has turn joint, switches two kinds of positioning states and orientation angle, makes locomotive have two kinds of handoff functionalities using driving model, under first mode, along the lateral traveling of driver, under the second pattern, travels along driver's fore-and-aft direction；C. chassis has turn joint, switches two kinds of positioning states and orientation angle, makes locomotive have two kinds of handoff functionalities using driving model, under first mode, along the lateral traveling of driver, under the second pattern, travels along driver's fore-and-aft direction；Turn joint center is suitable for arranging turn electrical connection device, the upper and lower two parts electrical connection of locomotive, and the electric power on top thus sends driving wheel to, or, save central authorities in turn and be suitable for arranging axle, and be connected with driving wheel by gear, the driving force on locomotive top is conducted to the driving wheel of locomotive bottom；D. the posture sensing sensor of the dynamic turn of axle is set up on Self-Balancing vehicle top, solves small-wheel-diameter and causes that pedal and ground space are little, and restriction pedal tilts required space, affects attitudes vibration；E. the lamination deck of the dynamic turn of axle is set up on Self-Balancing vehicle pedal top, and lamination deck is arranged above with posture sensing sensor, solves small-wheel-diameter and causes that pedal and ground space are little, and restriction pedal tilts required space, affects attitudes vibration.
null4. new-type inverted pendulum self-balancing locomotive，Be suitable to but be not limited to manned locomotive without handrail，Its feature includes，Locomotive is small-sized，Driving wheel is small-sized wheel，Motor supports that driving wheel advances locomotive around wheel shaft operating，At least one sensor is configured and measures attitude information and/or the travel direction information of locomotive，And，Motor controller is configured and accepts the information that described sensor detects，And make motor sub-assembly advance locomotive based on this information，At least driving condition is being used to have Self-balancing，At least two motor drives two castors to rotate respectively，Or at least one motor drives at least one motor of castor to reverse back turn-knob rotation mechanism so that car body turns to，Or at least one motor drives at least two driving wheel by differential gear，It also includes: a，At least one carrier has at least one and fits to wheel，The signal of driving device response sensor controls the acceleration and deceleration of motor running and becomes electronic control system，Moved the information producing gravity load change by driver's health and transfer to sensor，The signal of driver weight load variations is sent to data processor by load sense formula sensor control device，When signal reaches the condition pre-set，Driving device is sent control signal by data processor，Guide and drive revolution and drive castor，Make driving wheel acceleration and deceleration or brake；B, at least one carrier has at least one and fits to wheel, and/or, there is in the middle part of car body convolution twist mechanism, wherein, the twist mechanism that circles round is not provided with the elastic reseting part of elastic reseting part or convolution twist mechanism setting and does not interfere with the control that car body is turned to by steering motor；C, at least one fixing main drive wheel, what at least two, left and right was driven fits to wheel, reverses back turn-knob rotation mechanism by steering motor so that car body turns to, and the steering spindle being obliquely installed along travel direction is according to the driving reciprocal turn of instruction；
D, station is stepped on support carrier and is positioned at driving wheel both sides, and during side-looking, carrier element between driving wheel axis vertical line and driven pulley,
Drivewheel or appurtenances be the stress actuator abutting in shank so that vehicle drive turns to, optionally, drivewheel
Or appurtenances are the box-beam structures of internal battery, appurtenances have a telescopic lever so that vehicle is guided and supported tows.
5. new-type inverted pendulum self-balancing locomotive, including, the small-sized locomotive chassis powered by lightweight battery: carrier, driving wheel, fit to mechanism, electronic control, driving device, locomotive chassis supports manned driving model and unmanned pattern, wherein, at least delivering single and hold the vertical laying along vehicle heading of two deck type carriers that both feet trample, two carriers and two driving wheels connect firmly respectively, and at least two motor drives two castors to rotate respectively and travels for front and back or turn to；Being easy to the convolution twist mechanism that car body turns to coupled by two carriers, convolution twist mechanism stress makes the relative turn in position of two carriers and by spring element returns；First drives motor and first sensor become the first driver element and are combined with the first carrier, first drives the signal of motor response first sensor in order to travel and self-balancing before and after vehicle, second drives motor and the second sensor become the second driver element and are combined with Second support, and second drives the signal of motor response the second sensor in order to travel and self-balancing before and after vehicle；Under manned pattern, locomotive chassis is in manned state, two feet lay respectively at two carriers twisting convolution twist mechanisms and vehicle-mounted driving device sends instruction control to drive and turn to before and after vehicle to become vehicle performance device, the acceleration and deceleration being controlled two motor runnings by driver's load variations respectively become electronic control system, wherein, the speed difference of signal two driving motors of control that sensor sensing both feet position and Gravity changer produce makes car body turn to becomes car body steering mechanism；Under unmanned pattern, locomotive chassis is in unmanned state, at least part of manipulation by vehicle-mounted automation equipment is driven and is turned to, the speed difference of two driving motors of control makes car body turn to becomes car body steering mechanism, when having driven pulley: a, when overlooking vehicle, at least by a driven pulley and two, the left and right triangle layout of driving wheel, driven pulley is provided in fitting to wheel in the middle part of car body；B, overlook vehicle time, at least constituted rectangular layout or trapezoidal layout by two driven pulleys and two, left and right driving wheel, driven pulley be provided in both ends, car body left and right fit to wheel or rigid castors；C, overlook vehicle time, at least constituted rhombus layout by two driven pulleys and two, left and right driving wheel, driven pulley be provided in the middle part of car body and front and back arrange fit to wheel；D, has the dynamic folding rack of axle between driven pulley and car body, driven pulley is positioned at folding rack, in the expanded state, and support pivotal line and car body pivotal line perpendicular；E, when having driven pulley, under unmanned pattern, driving wheel and driven pulley exposure level ground level simultaneously；F, under manned pattern, driven pulley is exposure level ground level not；Time without driven pulley, including any one feature in following g, h or its combination: g, it is freely rotatable with 360 degree that driving wheel wheel shaft is fixedly arranged on carrier, preset a zero point angle value, the orientation of sensor detection driving wheel and carrier, and give data processor by signal, rotate driving wheel and whole car body to regulate the orientation residing for carrier, under self-balancing control model, appointed body part is all the time upward, it is adaptable to unmanned pattern；H, is benchmark during side-looking car body or along car body pivot direction, and wheel excircle week does not have block encumbrance more than carrier in wheel excircle week, and whole car body freely can roll along driving wheel excircle in flatly plane, it is adaptable to unmanned pattern.
It also exists: the manned pattern of A. and unmanned pattern are optional, the electric control driving device that manned pattern is identical with unmanned mode common make locomotive chassis travel, turn to, when locomotive chassis moves, have fit to wheel automatic linkage improve turn to efficiency；Under manned pattern, locomotive chassis is in manned state, tramples the driver's real-time control electric control driving device in locomotive chassis and makes locomotive chassis travel, turn to；Under unmanned pattern, locomotive chassis is in unmanned state, and the manipulation of mobile unit automatization makes locomotive chassis travel, turn to；B. driving wheel is the independent removable Self-balance electric vehicle being loaded on carrier, and described Self-balance electric vehicle independently from time, both sides respectively have a pedal, and pedal includes, but are not limited to Foldaway；C. locomotive chassis is provided with standpipe and L-shaped with locomotive chassis, or, locomotive chassis is provided with the standpipe of readily accessible choosing dress and L-shaped with locomotive chassis；C1, it is one or more of that riser upper has in image collecting device, voice collection device, display；C2, locomotive chassis has the carrier that the vertical direction along vehicle heading is laid and two, the left and right castor being positioned at carrier；C3, locomotive chassis is provided with standpipe, it is L-shaped with trailing arm, trailing arm afterbody has locomotive chassis and carrier that the vertical direction along vehicle heading lays and at least can hold both feet and trample, trailing arm and carrier collectively form locomotive chassis, locomotive carrier and carrier two ends and lay at least two castor respectively；C4, according to C3, and, described carrier is that its twist mechanism that circled round of two carriers connects firmly and/or described trailing arm has convolution twist mechanism；C5, according to C4, and, locomotive chassis that standpipe hands lays handrail, trailing arm vertical direction L-shaped, along vehicle heading and carrier, the various combinations of this three part are arranged, and become three parts or two parts of readily accessible installation；C6, standpipe and L-shaped with locomotive chassis, both is folded form, and under folded state, both distances are close, approximate in-line or approximate U shape；C7, locomotive chassis is provided with standpipe and L-shaped with locomotive chassis, and gravity load change sensor controls the circuit of driving device thus vehicle acceleration and deceleration；C8, locomotive chassis is provided with standpipe, highly 50---140 centimetre, and/or, at least include one or two and fit to wheel, and/or, riser interiors arranges and drives the lightweight battery of motor to become rod battery；And/or, standpipe side arranges the bracing frame delivery article of detachable choosing dress or installs container or install battery bag to driving motor power supplying；D, locomotive chassis is low chassis, is suitable to foot and tramples, between its 5 millimeters to 200 millimeters of ground of distance, and/or, carrier is arranged essentially parallel to ground, length 10 centimetres--and 200 centimetres；E; automatic protective system includes described in any one in E1 to E5: E1; automatic protective system; the car load of differently configured load-bearing grade and applicable electric system, serve the targeted customer in specific weight range accurately with this, it is to avoid user uses excessive load accidents caused beyond security clearance unexpectedly; thus car load is designed to as much as possible gently little; when service condition exceedes working limit more than default value, circuitry cuts, vehicle-mounted motor shuts down；When service condition meets default value, circuit ON, vehicle-mounted motor starting operates；Alternative arranges alarm module, and when service condition exceedes working limit more than default value, vehicle-mounted caution device sends acousto-optic hint or voice message；This three of signal that vehicle load condition, default load-carrying numerical value, sensor arrive is correlated with, and it also includes any one sensing unit following or the data collected are sent to data processor by more kinds of sensing unit: is arranged at the torque sensor sensing moment values of motor running of motor or wheel shaft, distance measuring sensor or gradient sensor and senses the inclined slope angle value on road surface, is positioned at the load value of the LOAD CELLS sensing vehicle of pedal surface or support zone；E2; automatic protective system; pedal carrier is provided with the double; two plate laminated type switch of pedal of LOAD CELLS; it is arranged between LOAD CELLS; LOAD CELLS sense weight, weight data is when default category, and data processor sends signal of telecommunication instruction and connection circuit makes driving device operate; when weight data exceeds the category preset or loses weight, data processor does not send signal of telecommunication instruction and cut-out circuit makes driving device inoperative；E3, (top arranges double; two plate laminated type switch to locomotive carrier, be arranged between LOAD CELLS for detecting load value) be provided with LOAD CELLS detection vehicle load value, when service condition meets default value, data processor sends signal of telecommunication instruction and connection circuit makes driving device operate, when weight data exceeds the category preset or loses weight, data processor does not send signal of telecommunication instruction and cut-out circuit makes driving device inoperative or brake, is suitable for sending warning；When weight produces numerical fluctuations beyond rating number and transient change, do not cut off the power supply of driving device, when weight exceeds rating number and is lasting, cut off power supply or the brake of driving device；E4, automatic protective system, feature such as automatic protective system described in E1, E2, E3 any one, LOAD CELLS includes at least one in strain chip cutting load testing, capacitance-type sensor；E5, is provided with the switch of load value sensing, user tackles different road conditions and switch switching voluntarily；F, during forward sight, front standpipe is inverted V-shaped, support triangular in shape after being combined with chassis；Front two-wheel is respectively in connection with in the both sides of chassis headstock；Differential steering that front two-wheel is driven respectively by motor and constant speed moves ahead；Tailstock portion has and fits to wheel；The riser upper of triangular supports extends handle；F1, according to F, before triangular supports, the top of standpipe or middle part are provided with the seat extended to tailstock portion, and seat is substantially parallel with chassis；F2, according to F, seat is folded form, and under folded state, seat is consistent with front standpipe direction；F3, according to F, the bottom of tee handle bar is combined with the standpipe of triangular supports, and junction is folded form or concertina type；G, the top of carrier arranges seat, and it includes, but are not limited to the seat of detachable choosing dress；G1, locomotive chassis is arranged above with removable truss；G2, locomotive chassis is the tricycle that comparison is large-scale, at least one upper carrier installation settings storage tank or container, becomes the box beam of built-in lightweight battery, and box beam top arranges seat and takes for people；H, upper carrier arranges standpipe and hands handrail, and it includes, but are not limited to, and the standpipe of detachable choosing dress and hands are handrail, and standpipe side arranges simple mechanical realization and delivers article or container as bracing frame；When lightweight battery is built in standpipe, during dismounting, become independent mobile battery storehouse；I, automatically controlled turns to driving model to include automatic driving mode and/or artificial by remote controller wireless remote control driving model；J1, various modes selects the motor drive of switching: by the freewheel clutch of motor and wheel shaft position, after power-off, the manpower sliding mode of unregulated power；Manpower starts the man-machine hybrid mode of motor after sliding；Fully rely on the electric model that motor original place starts；Man-machine hybrid power, according to different ratio, is divided and arranges out 2 or more different grades of pattern；The switching device of pattern includes, but are not limited to the selective on/off of Hall element circuit of different mode and controls；J2, optionally switch circuit, locomotive supports manpower legs and feet to slide driving with stepping on simultaneously, manned driving, non-manned driving, manual operation driving, man-machine hybrid power, pure electronic, a certain pattern in selecting switching to be set to, or man-machine hybrid mode has two or more patterns, optionally switch circuit, be set to a certain pattern in man-machine hybrid mode；K, lightweight battery and car body are built-in, and the built-in car body of component is not limited to the one in K1 to K5: k1, and light-alloy pultrusion stretches the cavity manufacturing molding；K2, the cavity of the blended molding of fiber-reinforced resin；K3, the cavity that at least two plate is combined into, at least one plate arranges netted vertical rib；K4, metal sheet punch forming and vertical arrange that several are concavo-convex, upper and lower two plates are combined into cavity；K5, the boxlike cavity on carrier；L, castor fixed support and castor swing support are worn link and are closed by the vertical drift bolt axle being obliquely installed, drift bolt axle, castor fixed support, castor swing support, between this three, turn cooperatively forms and limited fits to castor, and it is in the limited range specified and at 5 degree--rotate within the angular interval of 200 degree fit to；M, LOAD CELLS or weight loading sensing unit include at least one in strain chip cutting load testing, capacitance-type sensor；N, [two main drive wheels and the driven car fitting at least three-wheel constituted to wheel, or, two main drive wheels and the driven car fitting at least four-wheel constituted to wheel, or, one driving wheel and two driven fitting to castor (time driving wheel is relatively wide, general weakness is front and back, respectively arrange one to fit to wheel solution equilibrium problem), or, two driving wheels and at least one driven fitting to castor] it is easy to the convolution twist mechanism that car body turns to and includes: the angularly disposed convolution twist mechanism for flatly plane, or, angularly disposed convolution twist mechanism for the vertical line of flatly plane；The signal of driver weight load variations is sent to data processor by load sense formula sensor control device, when signal reaches the condition pre-set, driving device is sent control signal by data processor, guides and drives revolution and drive castor, makes vehicle acceleration and deceleration, brake；O, hand-held device: be suitable for but be not limited to station and step on the vehicle of driving；Hand-held device mates combination formation handle with a car body part guides and supports for vehicle or tows；Under vehicle running state, hand-held device separates with car body；Hand-held device is not limited to hand-held control device；P, suitable in the small-sized vehicle that small-wheel-diameter and locomotive chassis are constituted, take several measures to reduce car body volume, alleviate car body weight, to simplify body construction, including any one in p1 to p4 or its combination: p1, lightweight battery be the one in elemental lithium, ultracapacitor, fuel, metal-air, graphene battery, nano material battery or the collocation of its combination in any to motor power supplying, lightweight battery is to driving motor power supplying；P2, pedal is lightweight construction, light material, adopts high strength light composite material and/or light alloy material, and light alloy material includes, but are not limited to aluminum, magnesium, titanium；Light composite material includes, but are not limited to carbon fiber, fiberglass reinforced plastics；Pedal includes, but are not limited to metal stamping sheet metal component and is provided with concavo-convex as reinforcement, or moulding arranges densely covered rib ribs；P3, complete vehicle weight is any one interval value between 2--10 kilogram, or, battery and car body are split type, after removing battery, and car body weight 2--5 kilogram；P4,1 cun to 14 cun of vehicle wheel footpath；Q, wired remote control and hand-held control device, flexible manipulation line one end is fixedly connected with the vehicle, the other end is connected with hand-held control device, both circuit are electrically connected by flexible manipulation line, and hand-held control device includes finger-moving type and/or palm dynamic formula, is optionally provided with led or laser diode illuminating lamp；R, wireless remote control and hand-held control device, hand-held control device launches wireless manipulation signal, receptor on car body receives wireless operated signal, signal receiver sends signal to signal processor, signal processor sends instruction to driving device thus controlling vehicle, and wireless communication signal and equipment thereof include, but are not limited to following at least one: radio frequency, infrared ray, bluetooth, WIFI, NFC, RFID, ultrasound wave, Zigbee；S, sensor control device, when the signal that sensor receives or sends reaches the condition pre-set, the signal that sensor sends rotates and orders about castor via processor and controller drive motor and rotates, realizing the control of vehicle, described control device and equipment thereof include, but are not limited to following at least one: gyro sensor, load sense sensor, torque sensor, velocity sensor, 3 dimension stereo vision sensors；T, Intelligent Recognition control device, data processor sends instruction to the motor controller driving castor to rotate after coherent signal is processed, and signal includes, but are not limited to following at least one: the signal that the organ generation action of signal, the shape of color or the image signal generated, people or people that voice or sound generate generates；W1, automatic Pilot control system, it includes following a kind of device or it arbitrarily combines and guides for automobile navigation: optical navigation device, aspect sensor, position sensor, electromagnetic guiding device, range finding sensing and collision avoidance device；W2, automatic Pilot control system, including, it is intended that driving path and according to the basis of reference on map, or path planning specifies the driving trace between starting point and destination, presets the data relevant with distance and is used for automatic tracking traveling；(setting destination and vehicle line for the module of automatic running and system)；Y, remotely controls control system, refers to that vehicle is provided with the vehicle-mounted interactive system of wireless telecommunications, and strange land command centre interacts its monitoring and scheduling by wireless telecommunication system, for the long-range control of vehicle；V, mutual manipulation and the system of execution, including following one or its various combinations: image collecting device, voice acquisition device and sound-producing device, light-emitting device, display information visual interface, for the operation interface of man-machine interaction, car is provided with data processor and data storage cell, command centre is sent information to by wireless telecommunication system, command centre includes the exercisable man-machine dialog interface of people and remote control, the advance that remotely controls to include to control vehicle, falling back, turn to, to carry out audiovisual mutual with the people of vehicle and du vehicule；X, under automatic navigation mode, cruise, mutual communication between vehicle, retinue, according to default parameter and specify arrangement array travel；Y, under auto-steering driving model, travel according to the basis of reference automatic tracking on map, simultaneously, can be selective, the driving trace of vehicle record after converting e-file in vehicle-mounted data storehouse or upload by communication network and by server process after be shown in map interface；Z, the longer plate body being available for choosing dress is combined with locomotive adaptation.
It also resides in: A, dual control system, double motor is controlled by the identical different operation instruction driving motor to perform system or dual controller respectively, it is in that, one electric motor car has dual electronic control system, and this car is carried out two ore control by electronic control two kinds different or electronic control two kinds identical, when a system occurs abnormal, the manipulation signal that another system sends still can be electronically controlled unit or driving device accepts and drives locomotive to operate, and is suitable for sending alarm signal simultaneously；A1, the same instructions pipe diameter design of dual control system, micro-autocontrol system two kinds different is set simultaneously, or, two identical micro-autocontrol systems are set simultaneously, the dual instruction manipulation signal that dual control system sends is electronically controlled unit or driving device accepts locomotive operating therewith, when a certain micro-autocontrol system therein occurs malfunctioning, the manipulation signal that another fine motion control system sends still can be electronically controlled unit or driving device accepts and drives locomotive to operate, and is suitable for sending alarm signal simultaneously；A2, the same instructions pipe diameter design of dual control system, micro-autocontrol system two kinds different is set simultaneously, or, two identical micro-autocontrol systems are set simultaneously, the dual instruction manipulation signal that dual control system sends is electronically controlled unit or driving device accepts locomotive operating therewith, when the manipulation signal that two micro-autocontrol systems send has difference, electronic control unit or driving device accept its middle value parameter instruction and continue and drive vehicle to travel temporarily, are suitable for sending alarm signal simultaneously；A3, the same instructions pipe diameter design of dual control system, the Mechanical course key in any one orientation has two or more contacts of coordinated type and triggers one the identical instruction of execution of two or more electrical switches simultaneously；A4, the same instructions pipe diameter design of dual control system, micro-autocontrol system two kinds different is set simultaneously, or, two identical micro-autocontrol systems are set simultaneously, the dual instruction manipulation signal that dual control system sends is electronically controlled unit or driving device accepts locomotive operating therewith, when the manipulation signal that two micro-autocontrol systems therein send has difference, electronic control unit or driving device perform the control correction instruction that driver is repeated once or more times sends, and drive vehicle traveling with this, meanwhile, it is suitable for sending alarm signal；A5, the control instruction meeting driver's wish is preferentially performed, and by vehicle-mounted machinery switching switch or the control instruction switching switch cutoff non-driver wish by relay, selects some instruction as preferentially performing instruction；A6, under collaborative pipe diameter design, locomotive has high speed low speed at least two driving model, and when the first driving model, differential steering is that two driving wheels one reverse a rotating forward, and locomotive can realize pivot stud；When the second driving model, differential steering is that two driving wheels one advance operating, and another driving wheel is inoperative or driven rotation, and the radius of turn of locomotive is bigger；A7, the collaborative instruction pipe diameter design of dual control system, including, cutting load testing and locomotive control+remote controller, the locomotive control instruction that remote controller sends has precedence over the traveling control instruction that vehicle control syetem self sends, the traveling control instruction that vehicle control syetem self sends refers to, the steering instructions that the obliquity sensor of detection locomotive attitudes vibration or the LOAD CELLS of detection locomotive load produce；A8. in three-wheel or four-wheel, at least comprise two driving wheels, because load variations causes deck type carrier displacement and triggers the electric signal of generation and sends differential signal and perform to turn to two driving wheels, and, dual or multiple micro-autocontrol system can send identical control instruction, and the Collaborative Control instruction that vehicle control syetem and remote controller send is performed by driving wheel；A9. two motors support that two driving wheels advance locomotive around wheel shaft operating respectively, and, motor controller is configured and accepts and perform the information that micro-autocontrol system sends, in the bias mechanism of slide plate, it is provided with the micro-autocontrol system of at least two between grillage and axle bracket below plate body to lay along the vertical direction in locomotive driving direction, and, micro-autocontrol system is in reset state by the elastomeric material between grillage and axle bracket, when load variations biases plate body, two ends are provided with the axle bracket of two-wheel with mechanical force diagonally axle turn so that realizing car body Turning travel, simultaneously, elastomeric material deformation optionally triggers a lateral micro-autocontrol system of car body subsequently and makes a motor sub-assembly make dual drive wheel differential operate based on the control information that a micro-autocontrol system sends；A10. the collaborative instruction pipe diameter design of dual control system, including, cutting load testing and locomotive control+remote controller, the locomotive control instruction that remote controller sends has precedence over the traveling control instruction that vehicle control syetem self sends, the traveling control instruction that vehicle control syetem self sends refers to, the steering instructions that the obliquity sensor of detection locomotive attitudes vibration or the LOAD CELLS of detection locomotive load produce；B, the torsion folding means of deformation and elastic reset can be bent, it is suitable for but is not limited to the one-body molded parts of plastic cement, at least two carrier is laid before and after vehicle lengthwise direction, heel brace lays respectively at two carriers, two carriers are coupled by the convolution twist mechanism that car body turns to of being easy to laid along vehicle lengthwise direction, make the relative turn in position of two carriers during twist mechanism stress of circling round；Between two carriers, there is folding shaft, reduce length over ends of body for two carriers are folding；Further, lath B1, at least one lath is arranged along car body fore-and-aft direction, or two or more lath long and narrow, that be substantially parallel to each other is arranged along car body fore-and-aft direction；Support member B2, support member and lath B1 less perpendicular and with it knot connect together；Folding shaft B3, the parts for folding shaft connect together with lath B1 knot；Folding shaft and another carrier shaft move hinged, thus, as being used to again fold mechanism while torsion spring, it is independent to reverse folding means or it is the torsion folding means containing pedal carrier；C, wearable battery has interface and electric wire for supplying electrical power to the driving device of car body, or, drive the vehicle-mounted light battery of vehicle traveling and there is interface and electric wire to human body wearable electronic for electric power；D, kinematics model is to preset the variate-value of compliance curves and based on the dynamic data base of different condition preset parameter value according to different motions and kinetics model: miniature roadblock current spacing, the size of miniature roadblock, vehicle body travel real-time speed, relevant traffic environment；Also include, under people's force mode of non-maneuver power or under the sliding mode of non-maneuver power, persistent period when sliding in conjunction with manpower, single coasting distance, resistance repulsion process, the parameter value that dynamic data base is preset is as Variable Conditions；Flexible variable instruction is to be processed, by microcomputer, the driving braking making different stage according to kinematics model to perform instruction, and the different time of operation continuation, differential responses, different degree of strength, different frequency, different operating range, cruise etc. drive strategy；E, interactive system: the first data processor shows as intelligent terminal's control device；Second data processor shows as vehicle-mounted data processor；First data processor and the second data processor interactive correspondence, carry out management and control and parameter setting by software and operation interface to vehicle, be configured regulating switching to vehicle condition, road surface, driving mode, speed, brake, automatic identification model；F, the vehicle-mounted power supply interface having terminal control device and rigid fixedly mounted seat, terminal control device by easy-to-dismount mechanical mechanism be installed on this match combined fixed and control circuit be connected with mobile unit telecommunication, generate dependent instruction after the data of its collection are processed and be sent to vehicle drive unit, vehicle is travelled and is controlled；G, it is mutual that locomotive and strange land command centre carry out information by wireless telecommunication system, for automatic Pilot and remotely control；H, remotely controls automatic Pilot, can also be stepped on driving by people foot station simultaneously, and two kinds of functions have both；I, the vehicle-mounted one having in optical navigation, sensing directional, vehicle current geographic position sensing, electromagnetism guiding, range finding sensing module or its combination, guide for automobile navigation；J, vehicle arranges the vehicle-mounted interactive system of wireless telecommunications, and remote control terminal interacts its monitoring and scheduling by wireless telecommunication system, for the long-range control of vehicle;K, micro-autocontrol system includes following at least one electronic device: button touch-switch, LOAD CELLS switch, obliquity sensor switch, electronic gyroscope and accelerometer, distance measuring sensor switch, touch switch or touch sensitive switch, photoelectric switch, Hall-type inductive switch, conductive switch by elastic properties of materials deformation reset；L, automatically search retinue system, remote controller is mutual with onboard wireless communication, and locomotive can follow remote controller traveling automatically becomes retinue vehicle；Wireless remote-control system: user carries or is positioned at the remote controller of other vehicles；Onboard wireless retinue system: automatic traveling device, central data processor and control system, motor drive controller are in order to control rotation direction and the running speed of motor and driving wheel；Onboard system is according to preset value retinue and moves according to the motion path of remote controller；M, locomotive has automatic traveling system, and it includes, locomotive, distance measuring sensor, mobile target, by the distance between the mobile target of distance measuring sensor detection and car, when the distance of mobile target with car changes, car automatically moves and remains corresponding distance with mobile target.N, locomotive has several castors, and comprises the castor on selective contact ground, under first mode, travels with the drive manner of inverted pendulum Self-Balancing vehicle and turns to, single wheel or two-wheel contact ground, under the second pattern, at least three castor contact ground.Such as, several castors be front in after layout time, middle wheel element contacts with ground plane all the time, and its front square wheel element and rear square wheel element, by rigid support, optionally contact with ground level；When driver and centre of body weight attitudes vibration, (locomotive is situated between Self-Balancing vehicle and two wheeler, or, locomotive is situated between Self-Balancing vehicle and tricycle, and locomotive is situated between and takes turns between car in Self-Balancing vehicle and five；) under normality, travel with Self-Balancing vehicle pattern；Vehicle is initial, pitching, unstable time, the wheel at Herba Plantaginis portion or car rear portion optionally contacts ground；O, small-sized driving wheel is positioned under pedal carrier；P, alternative arranges alarm module, when service condition is more than default value, whether caution device sends prompting, (such as detecting, environment, distance, normally-open, temperature, humidity, collision, load capacity), simultaneously, it is suitably, recording-related information (record time of origin, the image of periphery and sound), transmits data to other positions outside body by wireless communication networks；Q, the locking of locomotive and unblock, including, electronic cipher, electronic fingerprint, recognition of face, language identification, touch pressure identification, be also suitably, and can remotely be operated locking by other positions outside body by wireless communication networks and unlock；R, locomotive with display, and/or, LED or laser diode litillumination devices.
Also reside in: A, the vehicle of different mode manipulation, manned driving model and unmanned pattern are optional, comprise person-carrying vehicle, heel brace is positioned at carrier, control device and control unit send signal to controller, driving device is sent control signal after receiving signal by controller, vehicle is made to complete different instruction, lightweight battery is powered to driving device, driving device drives castor to rotate, it also resides in: man-machine hybrid power driving model, manual steering driving model and automatically controlled turn to driving model to be available for user to select voluntarily, under manual steering driving model, suitable in manned and turned to driving by the manpower force operations vehicle mechanical steering mechanism of driver；Automatically controlled turn under driving model, it is adaptable to mobile unit is completed to small part manipulation and drives, and driving motor or steering motor by driving vehicle to travel carry out turning to driving；Described automatically controlled turn to driving model to include, manually drive by remote controller long-range wireless remote control, automatic Pilot, described automatic Pilot also include automatic tracking travel, be automatically positioned navigation travel, automatic traveling travel at least one；B, the vehicle of different mode manipulation, manned driving model and unmanned pattern are optional, comprising person-carrying vehicle, heel brace is positioned at carrier, control device and control unit and sends signal to controller, driving device is sent control signal after receiving signal by controller, making vehicle complete different instruction, battery is powered to driving device, and driving device drives castor to rotate；Manual steering driving model and automatically controlled turn to driving model to be available for user to select voluntarily, under manual steering driving model, it is adaptable to manned and turned to driving by the manpower force operations vehicle mechanical steering mechanism of driver；Automatically controlled turn under driving model, it is adaptable to mobile unit is completed to small part manipulation and drives, and driving motor or steering motor by driving vehicle to travel carry out turning to driving；Automatically controlled turn to driving model to include, automatic tracking travels, be automatically positioned that navigation travels, automatic traveling travels, artificial drive by remote controller long-range wireless remote control at least one；The mechanical steering gear of described vehicle is, at least two carrier horizontally in-plane is laid, it is simple to two carriers are coupled by the convolution twist mechanism that car body turns to, and convolution twist mechanism stress makes the relative turn in position of two carriers；C, the vehicle of different mode manipulation, manned driving model and unmanned pattern are optional, comprising person-carrying vehicle, heel brace is positioned at carrier, control device and control unit and sends signal to controller, driving device is sent control signal after receiving signal by controller, making vehicle complete different instruction, battery is powered to driving device, and driving device drives castor to rotate；Man-machine hybrid power driving model, manual steering driving model and automatically controlled turn to driving model to be available for user to select voluntarily, under manual steering driving model, it is adaptable to manned and turned to driving by the manpower force operations vehicle mechanical steering mechanism of driver；Automatically controlled turn under driving model, it is adaptable to mobile unit is completed to small part manipulation and drives, and driving motor or steering motor by driving vehicle to travel carry out turning to driving；Described automatically controlled turn to driving model to include, manually drive by remote controller long-range wireless remote control, automatic Pilot, described automatic Pilot also include automatic tracking travel, be automatically positioned navigation travel, automatic traveling travel at least one.
8. it also resides in: A, includes the vehicle of sensing gravity load change steer mode, and locomotive chassis is provided with standpipe and L-shaped with locomotive chassis, or, locomotive chassis is provided with the standpipe of readily accessible choosing dress and L-shaped with locomotive chassis；At least three castor；Sensor control device controls the circuit of driving device thus vehicle acceleration and deceleration, when the signal that sensor receives or sends reaches the condition pre-set, the signal that sensor sends drives revolution via processor and controller and orders about castor rotation, realizing the control of vehicle, described control device and equipment thereof include gyro sensor and/or gravity load sensing sensor；And, standpipe, it is L-shaped with trailing arm, and trailing arm afterbody has locomotive chassis and carrier that the vertical direction along vehicle heading lays and at least can hold both feet and trample, trailing arm and carrier collectively form locomotive chassis, locomotive carrier and carrier two ends and lay at least two castor respectively；It also includes A1 and/or A2:A1, the connecting portion of trailing arm afterbody and locomotive chassis and carrier comprises elastic deformation material and/or convolution twist mechanism, in order to the vertical direction along vehicle heading is axially carry out turn and/or along vehicle heading for axially carrying out turn；A2, described carrier is that its twist mechanism that circled round of two carriers connects firmly and turn and/or described trailing arm can have convolution twist mechanism respectively；B, include the vehicle of sensing gravity load change steer mode, including: there is the different multiple vehicle frames of removable length and an identical driving wheel adaptation choosing dress, described length difference refers to that the driving wheel of locomotive chassis is different from driven pulley wheelspan, and/or, self-balancing pattern, with vehicle frame with fit to wheel pattern, under both driving models, the location point that subscriber station is stepped on is different, switching circuit takes driving instruction two kinds of driving models of reply two kinds different, double mode switching circuit, two kinds of driving models are switched by human-computer interaction device, under self-balancing pattern, gravity load senses and performs the first instruction system preset；Under three-wheel or many wheels pattern, gravity load senses and performs the second instruction system preset.
It also resides in: A, the integral control system being fixed on locomotive chassis has the control system of at least two dimension, it is characterized in that, inching Mechanical course key and inching electrical switch form micro-autocontrol system, and it sends instruction to electronic control unit and driving device；Its also include following any one: A1. the first control key is, the Mechanical course key coordinated with axle motivation structure, and when load variations, Mechanical course key axle moves displacement, the both sides of selective engagement shaft；Second control key is, several castors, and driving wheel contact ground, remaining wheel optionally contacts ground；First control key and the second control key are relevant to the direction controlling that vehicle travels；A2. the first control key is, the control key coordinated with axle motivation structure, and when load variations, control key axle moves displacement, the both sides of selective engagement shaft；Second control key is, four castors that rhombus is laid, and two driving wheel contact ground, two other is fitted and optionally contacts ground to wheel；First control key and the second control key, with the directional correlation of vehicle traveling；A3. biased by centre of body weight and/or the micro-autocontrol system of two-dimentional axle of foot's stampede operation, when load variations causes the locus trace change of inching Mechanical course key, it triggers fine motion electrical switch and sends the signal of telecommunication to electronic control unit, electronic control unit sends instruction to driving device, to manipulate driving car traveling；When the locus trace conversion of Mechanical course key, the electric signal controlling car traveling is changed switching therewith, to manipulate the traveling of car, to turn to, and, locomotive main and pedal carrier, inching Mechanical course key and the first dimension axle clearance fit are laid and connected to first dimension axle along locomotive driving direction；Locomotive main and pedal carrier, inching Mechanical course key and the second dimension axle clearance fit are laid and connected to second dimension axle along the vertical direction in locomotive driving direction；By external force, inching Mechanical course key is optionally in two axial activities and call and the two dimension relevant fine motion electrical switch of axle；A4. biased by centre of body weight and/or micro-autocontrol system of foot's stampede operation, when load variations causes the locus trace change of inching Mechanical course key, it triggers fine motion electrical switch and sends the signal of telecommunication to electronic control unit, electronic control unit sends instruction to driving device, to manipulate driving car traveling；When the locus trace conversion of Mechanical course key, the electric signal controlling car traveling is changed switching therewith, to manipulate the traveling of car, to turn to, and, a dimension adopts micro-autocontrol system, and it sends instruction to electronic control unit and driving device；Another dimension adopts the control system of mechanical system；Fine motion controls the dual or multiple manipulation of system suitable, or, micro-autocontrol system and remote controller Collaborative Control are for locomotive driving；A5. the footstep mechanism on locomotive top is that two dimension axle fine motion system lamination is constituted, and, locomotive main and pedal carrier, inching Mechanical course key and the first dimension axle axle motivation structure clearance fit are laid and connected to the first dimension axle along a first direction；Locomotive main and pedal carrier, inching Mechanical course key and the second dimension axle axle motivation structure clearance fit are laid and connected to second dimension axle along second direction；By external force, inching Mechanical course key is optionally in two axial activities and call and the two dimension relevant fine motion electrical switch of axle；A6. by the effect of axle dynamic formula support portion, two independent plate bodys have at least four attitudes vibration: two independent plate bodys all tilt towards front；Two independent plate bodys all tilt towards rear；In two independent plate bodys, it is positioned at the independent plate body on the left of travel direction and tilts towards front, meanwhile, be positioned at the independent plate body on the right side of travel direction and tilt towards rear；In two independent plate bodys, it is positioned at the independent plate body on the right side of travel direction and tilts towards front, meanwhile, be positioned at the independent plate body on the left of travel direction and tilt towards rear；A7. two deck carriers that respectively axle is dynamic are as mechanical key, four kinds at least can be had to express and locomotive reaction: two decks are press-fitted two fronts switches simultaneously, and driving wheel operates, and locomotive accelerates to move ahead, or, vehicle deceleration or brake or fall back；Two decks are press-fitted two rear switches, driving wheel antiport simultaneously；Left deck is press-fitted front switch, and right deck is press-fitted rear switch simultaneously, two driving wheel then reversion one rotating forwards, or a rotating forward one is driven, and locomotive turns to；Right deck is press-fitted front switch, and left deck is press-fitted rear switch simultaneously, and two driving wheels then reversion one rotating forward or rotating forwards one are driven, and locomotive turns to；A8. left deck carrier and right deck carrier all have axle motivation structure respectively, and, the axle motivation structure along locomotive main top combines to be installed；Elastomeric element and fine motion electrical switch are set between locomotive main top and two decks；Deck carrier rotates along axle, optionally it is press-fitted Herba Plantaginis portion or car rear portion, when deck carrier and the laminating of locomotive main upper surface, it is achieved spacing, trigger embedded fine motion electrical switch simultaneously, electrical switch sends electronic information to data processor, instruction is handed down to motor driving module by data processor, subsequently, driving instruction is sent to motor, when the load of deck upper carrier disappears or weakens, flexible member makes deck carrier reset；A9. the footstep mechanism on locomotive top has two-dimentional axle fine motion system and shows as omnidirectional's axle, and, locomotive main and pedal carrier, inching Mechanical course key and the first dimension axle axle motivation structure clearance fit are laid and connected to the first dimension axle along a first direction；Locomotive main and pedal carrier, inching Mechanical course key and the second dimension axle axle motivation structure clearance fit are laid and connected to second dimension axle along second direction；By external force, inching Mechanical course key is optionally in two axial activities and call and the two dimension relevant fine motion electrical switch of axle, and remote controller control in unison is for locomotive driving；B1. remote controller and vehicle-mounted control system telecom communication and locomotive accept the operation steering instructions traveling that remote control sends；Further, locomotive supports that manpower legs and feet slide driving model, manned driving model, non-manned driving model, manual operation driving model with stepping on, driver select switch mode；B2. remote controller and vehicle-mounted control system telecom communication and locomotive accept the operation steering instructions traveling that remote control sends；Further, locomotive supports that manpower legs and feet slide driving model, manned driving model, non-manned driving model, manual operation driving model with stepping on, driver select switch mode；Travel when having at least two driving wheel and constant speed drive, differential turns to when operating, and when locomotive turns to, at least one is fitted and turns to efficiency to wheel automatic linkage to improve；B3. remote controller and vehicle-mounted control system telecom communication and locomotive accept the operation steering instructions traveling that remote control sends, and, remote controller and vehicle electronics control systematic collaboration complex controll instruction makes locomotive chassis advance；Travel when having at least two driving wheel and constant speed drive, differential turns to when operating, and when locomotive turns to, at least one is fitted and turns to efficiency to wheel automatic linkage to improve；B4. remote controller and vehicle-mounted control system telecom communication and locomotive accept the operation steering instructions traveling that remote control sends, and, under manned pattern, manpower legs and feet slide under driving model with stepping on, and man-machine hybrid power system and/or the manpower comprising freewheel clutch drive gliding system to advance for locomotive chassis；Travel when having at least two driving wheel and constant speed drive, differential turns to when operating, and when locomotive turns to, at least one is fitted and turns to efficiency to wheel automatic linkage to improve；The instruction that Digiplex sends is relevant with direction controlling；B5. remote controller and vehicle-mounted control system telecom communication and locomotive accept the operation steering instructions traveling that remote control sends, and, vehicle control syetem includes the load variations by sensor sensing driver's weight and orientation gained information is relevant with Turning travel, meanwhile, remote controller travels with vehicle electronics control systematic collaboration complex controll instruction for locomotive chassis, turns to；B6. remote controller and vehicle-mounted control system telecom communication and locomotive accept the operation steering instructions traveling that remote control sends, and, two remote controllers manipulated respectively by left and right both hands respectively；B7. ring-shape remote controller is inching electrical switch, and advances to click mode or analog stick operation remote controlled locomotives；B8. set hand-type remote controller is inching electrical switch, and operating mechanism is worn on hand and finger, is suitably, and has and is respectively arranged at two operating mechanisms to four finger tips；B9. remote controller has roller type or touch control key for regulable control locomotive speed, and the left and right press key of its both sides is respectively used to left and right turn.Example, conventional wireless bluetooth computer mouse and the receptor communication of this vehicle radio, both can with computer matching operation, it is also possible to mate with this vehicle radio receptor and data processor (simultaneously closing off cursor), thumb manipulation roller governing speed, and right and left key controls Vehicular turn；B10. when foot-operated control key length press electrical contact controller, generating signal of telecommunication instruction makes locomotive linearly raise speed to data processor and driving device operating, by slow to fast, when speed is taken by driver, driver's first method clicks remote controller, remote controller sends instruction to locomotive control and keeps speed, and locomotive is in cruise pattern；When driver's second method clicks remote controller, remote controller sends releasing instruction to locomotive control, and locomotive is in linear aero mode；Also suitable but be not limited to, when driver's alternate manner clicks remote controller, driving device shuts down or reverses, locomotive deceleration or brake；B11. control key is triggered on the foot-operated deck of driver, load or the centre of body weight that driver makes is detected by load sense sensor, the driving instruction of different speed is made according to centre of body weight or load variations, load is relevant to speed, and the control instruction that the Digiplex of hand sends can intervene the instruction that motor supply shop enters；B12. vehicle-mounted micro-autocontrol system and remote controller Collaborative Control instruction are for locomotive driving, at least, when performing same driving instruction, selectivity definition arranges one of vehicle-mounted micro-autocontrol system and both remote controllers as the preferential Collaborative Control instruction performed, via data processor processes and be defined as the generation Collaborative Control instruction of compound operation logic when vehicle-mounted micro-autocontrol system conflicts with remote controller execution same driving instruction；B13. remote controller is based on the touch-control of pressure sensitive components and parts, contain the combined type action bars of control of azimuth and load pressure, according to promoting or the pressing dynamics of rocking bar, speed, the depth, identify weight, and call corresponding function, the speed that locomotive moves regulates and produces respective change；C1. locomotive footboard carrier is provided with the double; two plate laminated type switch of pedal of LOAD CELLS, it is arranged between LOAD CELLS, LOAD CELLS sense weight, weight data is at default category or when losing weight, and data processor sends signal of telecommunication instruction and connects circuit and make driving device operate；C2. load sensor includes gravity sensitive, pressure sensing, produces the acceleration transducer of signal based on driver's centre of body weight or change in location, be arranged to detection gravity and inertial force field one or more sensors being associated accordingly, sensor receives weight information and sends weight data to data processor, when reaching preset value, data processor issues instructions to drive controller guide motor running and drive castor；Control locomotive by load sensor, data processor, motor rotary speed, driver's legs and feet the dynamic weight data that send by load sensor and advance and turn to regulating dual drive wheel rotating speed；C3. the weight information of driver weight load variations is sent to data processor by load sense formula sensor control device, when weight data reaches preset value, driving device is sent control signal by data processor, guide and drive motor running and drive castor, locomotive is made to advance, during vertical perspective, the carrier element that station is stepped on is between driving wheel and driven pulley, and the carrier that station is stepped on includes, but are not limited to folded form.D1, deck type carrier has fine motion displacement-type Mechanical course key apparatus, when the load of deck carrying changes, the attitude trace of Mechanical course key apparatus changes displacement and oppresses the contact of soft-touch type electrical switch, and the electronic signal that the contact of soft-touch type electrical switch produces is sent to electronic control unit；When there is two kinds or the change of two or more microdisplacements when the attitude of Mechanical course key apparatus, the contact of corresponding touch switch produces different electronic signals, the different attitudes vibration of Mechanical course key apparatus switch electronic signal to become different control instruction to electronic control unit；D2, deck type carrier has fine motion displacement-type Mechanical course key apparatus, when the load of deck carrying changes, changed displacement by the attitude trace of Mechanical course key apparatus and touch the contact of electronic load cell, the electric signal that the contact of electronic load cell produces is sent to electronic control unit, when the weight electric signal that load produces reaches the parameter preset, driving device makes respective reaction；When there is two kinds or the change of two or more microdisplacements when the attitude of Mechanical course key apparatus, corresponding electronic load cell produces different electronic signals, and is switched electronic signal to become different control instruction to electronic control unit by the different attitudes vibration of Mechanical course key apparatus；D3, deck type carrier has fine motion displacement mechanical device, and middle part has higher support portion, and deck type carrier is affected by gravity and tilts to other direction；D4, deck type carrier has fine motion displacement mechanical device, middle part has higher support portion, and deck type carrier is affected by gravity and tilts to other direction, and middle part has axle dynamic formula support portion, rigidity deck type carrier is in combination, rigidity deck type carrier is two independent plate bodys, and the middle part of each independent plate body is combined with axle dynamic formula support portion, by the effect of axle dynamic formula support portion, when the gravity of carrying changes, independent plate body optionally tilts toward some direction；D5, deck type carrier has fine motion displacement mechanical device, middle part has higher support portion, deck type carrier is affected by gravity and tilts to other direction, and middle part has support portion, rigidity deck type carrier clearance fit with it, centered by support portion, rigidity deck type carrier tilts towards periphery, the combination of rigidity deck type carrier and support portion, includes, but are not limited to ball-joint bearing；D6, deck type carrier has fine motion displacement mechanical device, middle part has higher support portion, deck type carrier is affected by gravity and tilts to other direction, middle part has support portion, and rigidity deck type carrier is in combination, and rigidity deck type carrier is semi-rigid deformable material, when the gravity of carrying changes, rigidity deck type vector form deforming tilts toward some direction；D7, by the effect of axle dynamic formula support portion, two independent plate bodys have at least four attitudes vibration: two independent plate bodys all tilt towards front；Two independent plate bodys all tilt towards rear；In two independent plate bodys, it is positioned at the independent plate body on the left of travel direction and tilts towards front, meanwhile, be positioned at the independent plate body on the right side of travel direction and tilt towards rear；In two independent plate bodys, it is positioned at the independent plate body on the right side of travel direction and tilts towards front, meanwhile, be positioned at the independent plate body on the left of travel direction and tilt towards rear；D8, two deck carriers that respectively axle is dynamic, as mechanical key, at least can have four kinds to express and locomotive reaction: two decks are press-fitted two fronts switches simultaneously, and driving wheel operates, and locomotive accelerates to move ahead, or, vehicle deceleration or brake or fall back；Two decks are press-fitted two rear switches, driving wheel antiport simultaneously；Left deck is press-fitted front switch, and right deck is press-fitted rear switch simultaneously, two driving wheel then reversion one rotating forwards, or a rotating forward one is driven, and locomotive turns to；Right deck is press-fitted front switch, and left deck is press-fitted rear switch simultaneously, two driving wheel then reversion one rotating forwards, or a rotating forward one is driven, and locomotive turns to；D9, left deck carrier and right deck carrier all have axle motivation structure respectively, and, the axle motivation structure along locomotive main top combines to be installed；Elastomeric element and fine motion electrical switch are set between locomotive main top and two decks；Deck carrier rotates along axle, optionally it is press-fitted Herba Plantaginis portion or car rear portion, when deck carrier and the laminating of locomotive main upper surface, it is achieved spacing, trigger embedded fine motion electrical switch simultaneously, electrical switch sends electronic information to data processor, instruction is handed down to motor driving module by data processor, subsequently, driving instruction is sent to motor, when the load of deck upper carrier disappears or weakens, flexible member makes deck carrier reset；E, inching Mechanical course key, including at least three Displacement Contact point, and, three inching electrical switches of corresponding physical distribution, or, including at least four Displacement Contact point, and, four inching electrical switches of corresponding physical distribution, that orientation that inching electrical switch senses is relevant to traveling target orientation, it also includes: E1, when inching electrical switch is electronic load cell, when the electric signal that electronic signal receptor receives is etc. unequal or the electric signal average such as not beyond the parameter preset time, sense that heavier orientation relevant to traveling target orientation；E2, when inching electrical switch is compressing touch switch, compressing touch switch receives electric signal, and that heavier orientation suffers oppression and relevant to traveling target orientation；E3, when inching electrical switch is obliquity sensor, that orientation that the electric signal that electronic signal receptor receives senses inclination is relevant to traveling target orientation；E4, when inching electrical switch is distance measuring sensor, different distributed the connecting firmly of physical location, several distance measuring sensors are set, detected inching Mechanical course key by it respectively and change in the position in space and with the relative distance of car, and the electronic signal received is sent to electronic control unit, and that orientation that Mechanical course key tilts is relevant to traveling target orientation；E5, when inching electrical switch is touch-control or touch sensitive switch sensor, different physical locations have the touch switch sensor connecting firmly setting, the trace attitudes vibration produced in the position in space and when accepting load by its detection inching Mechanical course key, and the electronic signal received is sent to electronic control unit, and that orientation that Mechanical course key is subject to the inclination of load bigger trace is relevant to traveling target orientation；E6, when inching electrical switch is photoelectric switch sensor, different distributed the connecting firmly of physical location, several photoswitch sensors are set, detected inching Mechanical course key by it respectively and change in the position in space and with the relative distance of car, and the electronic signal received is sent to electronic control unit, and that orientation that Mechanical course key tilts is relevant to traveling target orientation；E7, when inching electrical switch is Hall element, different distributed the connecting firmly of physical location, several Hall elements or Magnet are set, Hall element that inching Mechanical course key is provided with or the Magnet position in space is detected respectively by it, and change with the relative distance of car, and the electronic signal received is sent to electronic control unit, and that orientation that Mechanical course key tilts is relevant to traveling target orientation；E8, Mechanical course key is deck type carrier, the foot station of people is stepped in deck type carrier, when the position of centre of gravity of people changes, cause the locus trace change of inching Mechanical course key, it triggers fine motion electrical switch and sends the signal of telecommunication to electronic control unit, and electronic control unit sends instruction to driving device, to manipulate driving vehicle traveling；E9, Mechanical course key is seat, people is sitting in seat, when the position of centre of gravity of people changes, cause the locus trace change of inching Mechanical course key, it triggers fine motion electrical switch and sends the signal of telecommunication to electronic control unit, and electronic control unit sends instruction to driving device, to manipulate driving vehicle traveling；E10, Mechanical course key is steering wheel, steer direction dish, when load changes, cause the locus trace change of inching Mechanical course key, it triggers fine motion electrical switch and sends the signal of telecommunication to electronic control unit, and electronic control unit sends instruction to driving device, to manipulate driving vehicle traveling；E11, Mechanical course key includes following at least one, foot's control key, motion sensing control key, arm control key, head and neck control key；F, by load variations, the electric signal that inching Mechanical course key and inching electrical switch send includes, click the signal of generation be the first control instruction, double-click the signal generated and be the second control instruction, long be the 3rd control instruction by the signal generated, time suitable, also including three signals hitting generation is the 4th control instruction；G, locomotive is variant locomotive, and it includes, but are not limited to any one: the part that G1. at least two is hinged, and in the deployed state, locomotive area increases；In a folded configuration, locomotive area reduces；G2. the part that at least two is hinged, in the deployed state, locomotive has caster support and is easy to travel, and, in a folded configuration, locomotive also has caster support and is easy to travel；G3. two kinds different from employing under folding shrinking state under extended configuration driving control modes；G4. two sections of B portion of locomotive A portion car body connects by the articulated of two axles, and wherein, car A portion has two main drive wheels, and car A portion has two and driven fits to wheel, also has a folding shaft, and front end, car B portion has a folding shaft, and rear end has driven fitting to wheel；Two segment bodies are undertaken hinged by two drift bolt axles and a twin shaft articulated；According to required, axle and the hinge of the car A portion two sections of car bodies in B portion can be disassembled, and car A portion can independent operation work, and car B portion, as the split type rechargeable battery can installed or dismantle, increases course continuation mileage；G5. two segment bodies are put down to axle hinged by two；G6. locomotive is three segment bodies, folds by the dynamic linkwork of axle, and three segment bodies are put down to axle hinged by least two, and under deployed condition, three segment bodies are put down to setting, and after folding, three segment body laminations are laid, and in folding process, three segment bodies are Z-shaped；G7. folding by vertical axle, rotational deformation of circling round along ground during application, locomotive afterbody has fits to wheel, and two segment bodies are hinged by a vertical axle, under deployed condition, two segment body side by side arrangement yi word pattern head and the tail arrangements, under folded state, two segment body laminations are laid, and in folding process, two segment bodies are V-shape；Or, three segment bodies are hinged by two vertical axles, and under deployed condition, three segment body side by side arrangement yi word pattern head and the tail arrangements, under folded state, three segment bodies are Qian font or lamination；G8. dual drive wheel+bis-is fitted to wheel, two segment body heads combine by a vertical axle and same support shaft are dynamic respectively, in the deployed state, two segment bodies and support be Qian font and when applying along ground Direction distortion, in a folded configuration, binary can side by side arrangement, folding or in driving process, two segment bodies can be made to present variform owing to the afterbody of two sections of car bodies has the swing fitted to wheel and two vertical axles, two segment bodies can along holder orientation head and the tail arrangement in yi word pattern, and support two ends are driving wheel；G9. dual drive wheel+bis-is fitted to wheel, two segment body heads combine by a vertical axle and same support shaft are dynamic respectively, in the deployed state, two segment bodies and support be Qian font and when applying along ground Direction distortion, in a folded configuration, binary can side by side arrangement, folding or in driving process, two segment bodies can be made to present variform owing to the afterbody of two sections of car bodies has the swing fitted to wheel and two vertical axles, two segment bodies can along holder orientation head and the tail arrangement in yi word pattern, and support two ends are driving wheel；G10. the support between two segment bodies is battery compartment, and to power as locomotive A portion to dual drive wheel, two segment body afterbodys are respectively provided with fits to wheel；G11. locomotive is horizontally oriented the pallet of setting；G12. locomotive is laminated type, and it at least includes, and two segment body buttress are folded to be arranged and be mutually adapted；G13. locomotive is block form, and it at least includes two segment bodies and is set up in parallel and is mutually adapted installation；G14. locomotive is telescopic, and it includes, and two segment body single orders are flexible or three segment body two rank are flexible.
A. locomotive includes Portable light battery, includes, but are not limited to the lithium battery of recharging；B. motor include following any one: electro-motor, hub motor, in-wheel motor, be positioned at wheel side motor, be positioned at wheel top motor, along carrier direction arrange motor, put down to arrange motor, bar type motor, disc type motor, hollow cup type electro-motor, Brushless DC motor, the little torsion type brushless motor of high rotating speed；C. to apply to stand-type delivery single and hold the deck type carrier that both feet are trampled for deck type carrier；D. the weighing load inductive switch of micro-autocontrol system is positioned at locomotive and vertical setting and/or is horizontally disposed with；E. locomotive has seat, includes, but are not limited to: seat root dismounts, seat integrated with locomotive in locomotive, seat root or bottom, seat is provided with driving battery to locomotive power supply；F. the manipulation signal that the weighing load inductive switch of micro-autocontrol system sends at least includes, advance, left steering, right turn, and brakes or fall back；G. locomotive has fast mode and low-speed mode, including two grades or more grades of switchings；When hand remote controller sends the first instruction, the control signal that locomotive is made by micro-autocontrol system is scorch pattern；When hand remote controller sends the second instruction, the control signal that locomotive is made by micro-autocontrol system is the pattern of driving at low speed；H. locomotive has vicarious protection switch, includes, but are not limited to following one: optoelectronic induction protection switch, gravity sensing protection switch, Hall-type protection switch, RFID sensing protection switch；When wheel is four wheels, rectangle is laid or rhombus is laid；I., when wheel is four wheels, rhombus is laid, and front and back wheel is two respectively and fits to wheel；J. when two main drive wheels and the driven car fitting at least three-wheel constituted to wheel, layout triangular in shape；K. when two main drive wheels and the driven car fitting at least four-wheel constituted to wheel, rectangular/trapezoidal layout, lay two side by side and fit to wheel；L. micro-autocontrol system, described fine motion, refer to, the attitude displacement of machinery any one interval value within 50 millimeters, within suitable 10 millimeters；M., during side-looking, wheel is positioned under pedal；N. locomotive portable unit, rope yarn one end connects handle, other end connection body, and it is wound in the bobbin winoler that convolution resets, bobbin winoler is suitable for being arranged on intra-locomotive or being arranged at handle, pull with hand the handle having on car body, therewith, rope yarn pulls out elongation, in order to guides and supports or pulls car body, hand unclamps, bobbin winoler being collected in winding manner rope yarn；O. locomotive main onboard data processor, motor driving module, power-supply battery, the left and right sides, locomotive main front end is respectively provided with electro-motor, is suitable for arranging speed change gear between motor output end and wheel；Motor output end laterally connects firmly with the driving wheel of car both sides, direct drive of wheel rotates, or, the pedestal of wheel is fixedly arranged on locomotive main and hub for vehicle wheel arranges gear, motor output end gear is meshing with gear wheel, transmission concurrently form speed change gear, taken, motor can be arranged in driving wheel, become hub motor wheel, taken, it is also possible to it is horizontally disposed that disc type motor is set, by angular wheel and driving wheel transmission；Driving wheel is driven respectively by motor, constant-speed driving differential steering；P. when locomotive be five take turns car or six wheeler time, and obliquity sensor is set, or when gyroscope and accelerometer are set, travel with the drive manner of inverted pendulum Self-Balancing vehicle and turn to, single wheel or two-wheel contact ground under normality；Q. dual drive wheel can also show as single motor and differential gear；R. the vertical area of locomotive is intended for single foot or one and half feet are trampled and driven, or, under the state that locomotive folding shrinking reduces volume, vertical area is intended for single foot or one and half feet are trampled and driven, and during stretching, extension, two carriers trample driving for both feet；S. vehicle commander 10--200 centimetre, between 5 millimeters to 200 millimeters of ground of distance, chassis, design weight 1--4 kilogram, less than 8 kilograms, designs speed per hour 5--30 kilometer, the voltage 6V to 70V, battery capacity 2AH--30AH of lightweight battery by overall width 8--40 centimetre.
It is preferably also following any one or more kinds of technical scheme: 1, and when the wheel shaft of driving wheel is fixed on pedal and side-looking, driving wheel is positioned under pedal.2, the upper surface of pedal any one interval value within ground is 1--20 centimetre.3, sensor include following any one: the sensor of electronic gyroscope (measure carrier be relevant to pivoting of luffing angle), obliquity sensor and accelerometer, sensing load or weight or load, sense driver and whether be positioned at the sensor of locomotive (when sensing, locomotive is in holding state；It is automatically stopped operating) when driver leaves locomotive.4, any one data following are measured and calculated to electronic gyroscope and accelerometer through common setting: the plane of triaxial accelerometer data, the attitude of carrier, the angle of inclination of carrier, the pitch axis of carrier, roll axis, the direction of beat axle, car body and definition, the Motor control information produced corresponding to locomotive attitude, and configured motor accepts and responds the control information of motor controller to advance locomotive.5, described motor include following any one: electro-motor, hub motor, be positioned at wheel motor, be positioned at wheel side motor, be positioned at wheel top motor, along carrier direction arrange motor, vertical setting motor, put down to arrange motor, bar type motor, disc type motor, hollow cup type electro-motor, Brushless DC motor, the little torsion type brushless motor of high rotating speed.6, battery be set to following any one or more kinds of technical scheme: battery is built in pedal carrier, pedal carrier it is arranged at outside battery, the vertical setting of battery and pedal top, the vertical setting of battery and pedal top and be positioned at middle part, battery is lightweight battery and is worn on driver, battery is lightweight battery and is worn on driver, battery is connected by electric wire with locomotive, it is arranged at pedal carrier outside battery and electric connecting joint between the two includes magnet attraction device, it is arranged at pedal carrier outside battery and electric wire between the two includes wave molding or helix, it is arranged at pedal carrier outside battery and electric wire between the two has the splicing thread that one end prevents from pullling, and electric wire has part one section lax, pedal carrier and between the two can installing/dismounting it is arranged at outside battery.7, driving wheel diameter is set to any one interval value within 1--20 centimetre.8, the axle bracket of small-wheel-diameter driving wheel upwardly extends and is combined with pedal carrier (reaching required height to realize height necessary to enough angles of pitch and distance ground).9, pedal carrier is arranged along the direct of travel of car, and pedal carrier rear and front end is provided with the element of small-sized roller and/or rub resistance, and when the angle of pitch of locomotive changes, the front and back end of pedal carrier has the element of small-sized roller and/or rub resistance and just contacts ground.10, carrier is along putting down to setting, and forms one at least in one of the states or connect and compose a plane.11, the elastic skeleton tire that foaming tire or solid tyre or porous elastic material are constituted, removable it is arranged at driving wheel periphery.12, whole locomotive weight includes 0.2 kilogram--any one interval value in 8 kilograms.13, there is between dual drive wheel spacing and it is any one interval value within 40 centimetres.14, the width (vertical direction in locomotive driving direction) of pedal carrier is any one interval value within 40 centimetres.15, the vertical setting of battery compartment and be provided with along battery compartment direction stretch or shrink pull bar so that carrying.16, pedal carrier is that battery is longitudinally disposed in order to folding in order to reduce the portable Foldable pedal flipped up of volume or turn over hinge formula Foldable pedal (one side preventing contamination muddy water exposes).17, above pedal, there is projection so that two legs and feet clampings (during traveling, running into roadblock, it is possible to bipod clamping locomotive jump stride across obstacle) of driver, this projection is suitably battery compartment.
If not extreme pursuit is compact gently little and experience, combination is used for customizing execution different task as required.Such as: be arranged to large-scale car body, the top of carrier arranges seat or arranges removable truss, for above seat or extended use, installation settings storage tank or container, wheel and vehicle-mounted body there is adapting mechanism for selecting dress accommodating container, the such as box beam of built-in lightweight battery, box beam top arranges seat.Front and back carrier is set to two heel braces, spider.Bias roll steer mechanism it is provided with, for instance be set up in parallel the axle bracket installing two-wheel and adopt the suspension of conventional skateboard car between castor and carrier；By driver's load variations cause suspension that locomotive chassis tilts and tilting of car body perform to be biased to return to turn-knob walk around to link gear, fit to wheel if set up two respectively at wheel carrier two ends, it is possible to improve further and turn to efficiency.Self-balancing pattern, with vehicle frame with fit to wheel pattern (three-wheel or take turns) more, under the two driving model, the location point stepped on due to subscriber station is different, the gravitational cue drawn also be two kinds of can not be general, so, switching circuit takes driving instruction two kinds of driving models of reply two kinds different.Double mode switching circuit, switches two kinds of driving models by human-computer interaction device, and under self-balancing pattern, load sense also performs the first instruction system preset；Under three-wheel or many wheels pattern, load sense also performs the second instruction system preset.Such as, under self-balancing pattern, the oblique bias state that load variations produces converts driving instruction to and gives it the gun to the direction of bias, in order to realizes self-balancing and drives；Under three-wheel or many wheels pattern, the driving instruction that the oblique bias state that load variations produces converts to is filtered or does not sense oblique bias voltage signal, only perform to change before and after load the driving instruction of generation, so that vehicle acceleration and deceleration and brake and both forward and reverse directions travel, it is biased to return to turn-knob rotation mechanism by the driver's legs and feet carried when turning to and realizes turning to or being realized turning to by steering wheel twisting convolution twist mechanism under unmanned state.Automatic protection module, alarm module are set, for instance be arranged at the load value of the load sense formula weight sensor sensing vehicle of locomotive, during default value change, send warning；Such as the signal of weight loading change is sent to data processor, and when signal reaches the condition pre-set, driving device is sent control signal by data processor, guides drive motor rotate and drive castor, makes vehicle acceleration and deceleration or brake.
Range finding obstacle avoidance system, it is in that, towards measurement sensor (including, stereo vision sensor, infrared distance measuring, ultrasonic ranging, laser ranging, in a non-contact manner, several times per second scan) the detection roadblock of vehicle heading；In vehicle moving process, when roadblock occurs, feedback signal is sent to data processor, information that data processor detects for management and control and according to presetting the corresponding executable program of parameter call write, coordinates with electric machine controller and sends (based on kinematics model) flexible variable instruction to be used for controlling motor and driving wheel execution retarding braking.
As it has been described above, disclosure of the invention, including multiple different inventions with independent utility.Take several measures to reduce car body volume, alleviate car body weight, to simplify body construction, it is adaptable to the small-sized vehicle that small-wheel-diameter and locomotive chassis are constituted.The present invention includes they various combinations or decomposition.Applicant discloses the parts of unit in drawings and description, modules, principle, technical scheme, structure, embody the place becoming main technical scheme and innovation purpose, how to reach these purposes, realize the technological means of these purposes, patent three property is weakened during technical scheme independence, improve just more notable during combination, they are reconfigured, it is individually independent, decompose, interval range (the dash such as used that any one provides from description, " extremely ") carry out description and become any one endpoint value (owing to the endpoint value between each interval is relatively more, cannot point out one by one, state in the lump at this), utilization two simultaneously or the collocation of several combined measures can be mutually improved and can realize goal of the invention embodiment technique effect preferably, these are all the scopes of this specification.If the scope disclosed without departing from the present invention, it is also possible to having multiple embodiments, demonstration case is used to announcement, and unilateral embodiment is also non exhaustive, and demonstration case limitation should not be used to need category to be protected.According to the innovation thought, different purposes according to car, those of ordinary skill in the art can also by other different technologies scheme equivalent substitution and equivalent modifications to reach identical purpose and technique effect without performing creative labour, and these broadly fall into the content of this specification.Under the premise without departing substantially from claim, applicant has the right make various amendment and expression and write claims, increases or modification right requirement, or the purposes as divisional application.Those skilled in the art are commonly understood by not limiting the present invention, and the scope of the present invention is limited by claims summary.
Claims (10)
1. new-type inverted pendulum self-balancing locomotive, at least one sensor is configured and measures attitude information and/or the travel direction information of locomotive, and, motor controller is configured and accepts the information that described sensor detects, and make motor sub-assembly advance locomotive based on this information, at least using driving condition to have Self-balancing, it also resides in any one feature following:
A. the weight data of weight loading sensing unit detection carries out working in coordination with and/or compensating with the position data of spatial attitude unit detection, for acceleration, and then realizes self-balancing；
B. vehicle by load sensor, data processor, motor speed the data that adjustment realizes vehicle acceleration and deceleration, front and back travel, turn to, sensed the weight data of unit detection by weight loading obtains obliquity sensor carry out working in coordination with and/or compensating, in order to realize self-balancing；
C. driving wheel is based on the attitude information of sensor acquisition and/or travel direction information, and send instruction via motor controller, the execution operation instruction differential traveling that driving wheel is configured, and, bias carrier is generated the information foundation as locomotive steering order by load sensor after changing load, jointly controls locomotive driving with the attitude information of electronic gyroscope with accelerometer sensing；
D. dual drive wheel can operate respectively, differential steering, and constant speed moves ahead, and not exclusively by electronic gyroscope and accelerometer during driving, the weight parameter change sensed referring also to the pressure load cell of three or four location points carries out dynamic compensation；
E. pedal arranges the load sense sensor detection data that dynamically change of driver's weight for working in coordination with and/or compensating Self-balancing.
2. new-type inverted pendulum self-balancing locomotive, be suitable to but be not limited to manned locomotive without handrail, its feature includes, motor supports that driving wheel advances locomotive around wheel shaft operating, and at least one sensor is configured and measures attitude information and/or the travel direction information of locomotive, and, motor controller is configured and accepts the information that described sensor detects, and making motor sub-assembly advance locomotive based on this information, at least using driving condition to have Self-balancing, it also resides in feature A or B or C:
A. wheel contact ground is using as driving wheel, its also include in A1--A3 any one or more kinds of:
A1. the carrier that driver station is stepped on it is easy to, battery is positioned at driving wheel top and is positioned between two legs and feet of driver, the height of battery compartment is suitably foot anklebone between knee, during perspective, the upper surface of pedal carrier is located substantially on driving wheel or the upper surface of pedal carrier is positioned on driving wheel axis；
A2. being easy to the carrier stepped at driver station lay along the vertical direction of vehicle heading, battery is positioned at driving wheel top and is positioned between two legs and feet of driver, and driving wheel is located substantially under pedal carrier；
A3. being easy to the carrier stepped at driver station lay along the vertical direction of vehicle heading, battery is positioned at driving wheel top and is positioned between two legs and feet of driver, and battery compartment is positioned at carrier and carrier is folded form；
B. being set up in parallel adjacent two-wheel contact ground using as dual drive wheel, it also includes at least one feature in B1--B4:
B1. battery is positioned at driving wheel top and is positioned between two legs and feet of driver, is suitable for being clamped by legs and feet；
B2. the height of battery compartment is suitably foot anklebone and and is positioned on driving wheel between knee, and during perspective, the upper surface of pedal carrier is located substantially on driving wheel or the upper surface of pedal carrier is positioned on driving wheel axis；
B3. battery compartment is positioned at carrier and carrier is folded form；
B4. dual drive wheel is axially to be set up in parallel and adjacent double motor is separately-driven takes turns along same, attitude information and/or travel direction information based on sensor acquisition, and via the instruction that motor controller sends, the operation instruction differential of the execution respectively traveling that dual drive wheel is configured, bias carrier is generated, by load sensor, the dynamic instruction that weight information turns to as locomotive after changing load；
C. locomotive has several castors, and comprises the castor on selective contact ground, and it also includes at least one feature in C1--C3:
C1. under first mode, travel with the drive manner of inverted pendulum Self-Balancing vehicle and turn to, single wheel or two-wheel contact ground, under second pattern, at least two or three castor contact ground, and, driven pulley distance ground has suitable height causes carrier and ground to have suitable angle, thus, can also be operated by driving device when carrier is bowed or faces upward and manned driving locomotive driving travels and/or turns to；
C2. under first mode, travel with the drive manner of inverted pendulum Self-Balancing vehicle and turn to, single wheel or two-wheel contact ground, under second pattern, at least two or three castor contact ground, and, when upward slope road traveling and descending road traveling, when the wheel of driving wheel front or behind hinders obliquity and attitude during self-balancing driving model not enough and cannot drive, circuit can be switched and become non-self-balancing driving model, can also be operated by driving device when main drive wheel contacts ground with driven pulley and manned driving locomotive driving and/or turn to；Self-balancing, non-self-balancing, both drives driving model can switch selection, and driving device operates according to two kinds of type of drive；
C3. the height on the length of pedal, the size of driving wheel, the size of auxiliary wheel, auxiliary wheel distance ground, distance between auxiliary wheel and driving wheel, these structural conditions are correlated with, to realize, the inclination luffing angle of pedal, traveling of just can trampling for people and stand, time suitable, the weight data of pressure transducer detection is collaborative and/or compensates, for the acceleration-deceleration of driving instruction.
3. new-type inverted pendulum self-balancing locomotive, be suitable to but be not limited to manned locomotive without handrail, its feature includes, locomotive is small-sized, driving wheel is small-sized wheel, motor supports that driving wheel advances locomotive around wheel shaft operating, at least one sensor is configured and measures attitude information and/or the travel direction information of locomotive, and, motor controller is configured and accepts the information that described sensor detects, and making motor sub-assembly advance locomotive based on this information, at least using driving condition to have Self-balancing, it also resides in following any one or more feature:
A. in a folded configuration, car load is sheet-type, battery compartment is between two pedals, being positioned on driving wheel, battery compartment can be clamped by two legs and feet of driver, and two pedals extend above to car body, it moves along axle nail axle after launching, becoming two pedals that suitable bipod is trampled respectively, during side-looking perspective, the upper surface of pedal carrier is located substantially on driving wheel or the upper surface of pedal carrier is positioned on driving wheel axis；
B. chassis has turn joint, switches two kinds of positioning states and orientation angle, makes locomotive have two kinds of handoff functionalities using driving model, under first mode, along the lateral traveling of driver, under the second pattern, travels along driver's fore-and-aft direction；
C. chassis has turn joint, switches two kinds of positioning states and orientation angle, makes locomotive have two kinds of handoff functionalities using driving model, under first mode, along the lateral traveling of driver, under the second pattern, travels along driver's fore-and-aft direction；Turn joint center is suitable for arranging turn electrical connection device, the upper and lower two parts electrical connection of locomotive, and the electric power on top thus sends driving wheel to, or, save central authorities in turn and be suitable for arranging axle, and be connected with driving wheel by gear, the driving force on locomotive top is conducted to the driving wheel of locomotive bottom；
D. the base station of the dynamic turn of axle is set up on Self-Balancing vehicle top, posture sensing sensor and base station connect firmly, it is not enough that attitudes vibration that base station and posture sensing sensor produce on balance car and the data produced can compensate body sway attitude, and it can provide driving instruction just；
E. the lamination deck of the dynamic turn of axle is set up on Self-Balancing vehicle pedal top, and lamination deck is arranged above with posture sensing sensor.
4. new-type inverted pendulum self-balancing locomotive, is suitable to but is not limited to manned locomotive without handrail, and its feature includes A and/or B, wherein,
A, new-type inverted pendulum self-balancing locomotive comprises wheel assembly, data processor, electrical source of power, motor and driving device, vehicle-mounted body, self-balancing driving functions module, locomotive has automatic traveling module, interactive operation module is by software and operation interface carries out above management and control and parameter setting, wheel to vehicle and vehicle-mounted body has adapting mechanism for selecting dress accommodating container, and it also includes at least one feature in A1--A6:
A1, location positioning module, automatic protection module, alarm module；
A2, locomotive carrier is provided with the load value of LOAD CELLS detection vehicle, when service condition meets default value, data processor sends signal of telecommunication instruction and connection circuit makes driving device operate, when weight data exceeds the category preset or loses weight, data processor cuts off circuit makes driving device inoperative or brake, is suitable for sending warning；
A3, carrier is provided with load sense sensor for detecting the dynamic change of driver, the information generated by load sense sensor after biasing carrier and changing load is sent to data processor, when signal reaches the condition pre-set, driving device is sent control signal by data processor, guides and drives motor running and drive castor, foundation in this, as locomotive driving instruction, make vehicle acceleration and deceleration, brake, and/or, using information on load difference as the foundation of steering order；
A4, with the one or more terminal control devices being positioned at outside car body of locomotive communication interactive operation；
A5, accommodating container top has the seat taken for driver；
A6, several driving model is available for driver and selects, or, locomotive supports that manpower legs and feet slide driving model, manned driving model, non-manned driving model, manual operation driving model with stepping on；
B, locomotive is small-sized, driving wheel is small-sized wheel, motor supports that driving wheel advances locomotive around wheel shaft operating, at least one sensor is configured and measures attitude information and the travel direction information of locomotive, and, motor controller is configured and accepts the information that described sensor detects, and make motor sub-assembly advance locomotive based on this information, at least driving condition is being used to have Self-balancing, at least two motor drives two castors to rotate respectively, or at least one motor drives at least one motor of castor to reverse back turn-knob rotation mechanism so that car body turns to, or at least one motor drives at least two driving wheel by differential gear, it also includes at least one feature in B1--B3:
B1, at least one carrier has at least one and fits to wheel, the acceleration and deceleration of the signal control motor operating of driving device response sensor become electronic control system, moved the information producing gravity load change by driver's health and transfer to sensor, the signal of driver weight load variations is sent to data processor by load sense formula sensor control device, when signal reaches the condition pre-set, driving device is sent control signal by data processor, guide drive motor rotate and drive castor, make driving wheel acceleration and deceleration or brake, make to turn to；
B2, at least one carrier has at least one and fits to wheel, and/or, there is in the middle part of car body convolution twist mechanism, wherein, the twist mechanism that circles round is not provided with the elastic reseting part of elastic reseting part or convolution twist mechanism setting and does not interfere with the control that car body is turned to by steer motor；
B3, station is stepped on support carrier and is positioned at driving wheel both sides, and during side-looking, carrier element is at driving wheel axis vertical line and driven fits between wheel, drivewheel or appurtenances are that the stress actuator abutting in shank is so that vehicle drive turns to, optionally, drivewheel or appurtenances are the box-beam structures of internal battery, and appurtenances have a telescopic lever so that vehicle is guided and supported tows.
5. new-type inverted pendulum self-balancing locomotive, including, the lightweight battery small-sized locomotive chassis powered: carrier, driving wheel, fit to mechanism, electronic control, driving device, locomotive chassis supports manned driving model and unmanned pattern, wherein,
At least delivering single and hold the vertical laying along vehicle heading of two deck type carriers that both feet trample, two motors drive two castors to rotate respectively and travel for front and back, turn to；
Being easy to the convolution twist mechanism that car body turns to coupled by two carriers, convolution twist mechanism stress makes the relative turn in position of two carriers and by spring element returns；First drive motor and first sensor become the first driver element and are combined with the first carrier, the signal of the first drive motor response first sensor is in order to travel and self-balancing before and after vehicle, second drive motor and the second sensor become the second driver element and are combined with Second support, and the second drive motor responds the signal of the second sensor to travel and self-balancing before and after vehicle；
Under manned pattern, locomotive chassis is in manned state, two feet lay respectively at two carriers twisting convolution twist mechanisms and vehicle-mounted driving device sends instruction control to drive and turn to before and after vehicle to become vehicle performance device, the acceleration and deceleration being controlled two motor rotations by driver's load variations respectively become electronic control system, wherein, the speed difference of signal two drive motors of control that sensor sensing both feet position and Gravity changer produce makes car body turn to becomes car body steering mechanism；Under unmanned pattern, locomotive chassis is in unmanned state, and at least part of manipulation by vehicle-mounted automation equipment is driven and turned to, and the speed difference of two drive motors of control makes car body turn to becomes car body steering mechanism, when having driven pulley, any one feature in feature such as a, b, c, d, e:
A, when overlooking vehicle, at least by a driven pulley and two, the left and right triangle layout of driving wheel, driven pulley is provided in fitting to wheel in the middle part of car body；
B, overlook vehicle time, at least constituted rectangular layout or trapezoidal layout by two driven pulleys and two, left and right driving wheel, driven pulley be provided in both ends, car body left and right fit to wheel or rigid castors；
C, overlook vehicle time, at least constituted rhombus layout by two driven pulleys and two, left and right driving wheel, driven pulley be provided in the middle part of car body and front and back arrange fit to wheel；
D, has the dynamic folding rack of axle between driven pulley and car body, driven pulley is positioned at folding rack, in the expanded state, and support pivotal line and car body pivotal line perpendicular；
E, when having driven pulley, under unmanned pattern, driving wheel and driven pulley exposure level ground level simultaneously；
F, under manned pattern, driven pulley is exposure level ground level not；
Time without driven pulley, including any one feature in following g, h or its combination:
G, it is freely rotatable with 360 degree that driving wheel wheel shaft is fixedly arranged on carrier, preset a zero point angle value, the orientation of sensor detection driving wheel and carrier, and signal is given data processor, rotate driving wheel and whole car body to regulate the orientation residing for carrier, under self-balancing control model, appointed body part is all the time upward, it is adaptable to unmanned pattern；
H, is benchmark during side-looking car body or along car body pivot direction, and wheel excircle week does not have block encumbrance more than carrier in wheel excircle week, and whole car body freely can roll along driving wheel excircle in flatly plane, it is adaptable to unmanned pattern.
6. the new-type inverted pendulum self-balancing locomotive according to claim 1--5 any one, be further characterized in that following any one:
A. manned pattern and unmanned pattern are optional, the electric control driving device that manned pattern is identical with unmanned mode common make locomotive chassis travel, turn to, when locomotive chassis moves, have fit to wheel automatic linkage improve turn to efficiency；Under manned pattern, locomotive chassis is in manned state, tramples the driver's real-time control electric control driving device in locomotive chassis and makes locomotive chassis travel, turn to；Under unmanned pattern, locomotive chassis is in unmanned state, and the manipulation of mobile unit automatization makes locomotive chassis travel, turn to；
B. driving wheel is the independent removable Self-balance electric vehicle being loaded on carrier, and described Self-balance electric vehicle independently from time, both sides respectively have a pedal, and pedal includes, but are not limited to Foldaway；
C. locomotive chassis is provided with standpipe and L-shaped with locomotive chassis, or, locomotive chassis is provided with the standpipe of readily accessible choosing dress and L-shaped with locomotive chassis；
C1, it is one or more of that riser upper has in image collecting device, voice collection device, display；
C2, locomotive chassis has the carrier that the vertical direction along vehicle heading is laid and two, the left and right castor being positioned at carrier；
C3, locomotive chassis is provided with standpipe, it is L-shaped with trailing arm, trailing arm afterbody has locomotive chassis and carrier that the vertical direction along vehicle heading lays and at least can hold both feet and trample, trailing arm and carrier collectively form locomotive chassis, locomotive carrier and carrier two ends and lay at least two castor respectively；
C4, according to C3, and, described carrier is that its twist mechanism that circled round of two carriers connects firmly and/or described trailing arm has convolution twist mechanism；
C5, according to C4, and, locomotive chassis that standpipe hands lays handrail, trailing arm vertical direction L-shaped, along vehicle heading and carrier, the various combinations of this three part are arranged, and become three parts or two parts of readily accessible installation；
C6, standpipe and L-shaped with locomotive chassis, both is folded form, and under folded state, both distances are close, approximate in-line or approximate U shape；
C7, locomotive chassis is provided with standpipe and L-shaped with locomotive chassis, and gravity load change sensor controls the circuit of driving device thus vehicle acceleration and deceleration；
C8, locomotive chassis is provided with standpipe, highly 50---140 centimetre, and/or, at least include one or two and fit to wheel, and/or, riser interiors arranges the lightweight battery of drive motor becomes rod battery；And/or, standpipe side arranges the bracing frame delivery article or installation container that detachably select dress or installation battery bag is powered to drive motor；
D, locomotive chassis is low chassis, is suitable to foot and tramples, between its 5 millimeters to 200 millimeters of ground of distance, and/or, carrier is arranged essentially parallel to ground, length 10 centimetres--and 200 centimetres；
E, automatic protective system includes described in any one in E1 to E5:
E1; automatic protective system; the car load of differently configured load-bearing grade and applicable electric system; the targeted customer in specific weight range is served accurately with this; avoiding user to use excessive load accidents caused beyond security clearance unexpectedly, thus car load is designed to as much as possible gently little, when service condition exceedes working limit more than default value; circuitry cuts, vehicle-mounted motor shuts down；When service condition meets default value, circuit ON, vehicle-mounted electric motor starting operates；Alternative arranges alarm module, and when service condition exceedes working limit more than default value, vehicle-mounted caution device sends acousto-optic hint or voice message；This three of signal that vehicle load condition, default load-carrying numerical value, sensor arrive is correlated with, and it also includes any one sensing unit following or the data collected are sent to data processor by more kinds of sensing unit: is arranged at the moment values of torque sensor detection-sensitive motor operating of motor or wheel shaft, distance measuring sensor or gradient sensor and senses the inclined slope angle value on road surface, is positioned at the load value of the LOAD CELLS sensing vehicle of pedal surface or support zone；
E2; automatic protective system; pedal carrier is provided with the double; two plate laminated type switch of pedal of LOAD CELLS; it is arranged between LOAD CELLS; LOAD CELLS sense weight, weight data is when default category, and data processor sends signal of telecommunication instruction and connection circuit makes driving device operate; when weight data exceeds the category preset or loses weight, data processor does not send signal of telecommunication instruction and cut-out circuit makes driving device inoperative；
E3; automatic protective system; sensing unit electrically connects with data processor; when the numerical value sensed produces numerical fluctuations beyond specified carrying capacity and transient change time; the electric power of power supply or the continuous still motor of car load electric power that circuit ON does not cut off driving device is temporarily switched off; when the numerical value that numerical value exceeds specified carrying capacity and generation continues constant, circuit ON cuts off the power supply of driving device；
E4, automatic protective system, feature such as automatic protective system described in E1, E2, E3 any one, LOAD CELLS includes at least one in strain chip cutting load testing, capacitance-type sensor；
E5, is provided with the switch of load value sensing, user tackles different road conditions and switch switching voluntarily；
F, during forward sight, front standpipe is inverted V-shaped, support triangular in shape after being combined with chassis；Front two-wheel is respectively in connection with in the both sides of chassis headstock；Differential steering that front two-wheel is driven respectively by motor and constant speed moves ahead；Tailstock portion has and fits to wheel；The riser upper of triangular supports extends handle；
F1, according to F, before triangular supports, the top of standpipe or middle part are provided with the seat extended to tailstock portion, and seat is substantially parallel with chassis；
F2, according to F, seat is folded form, and under folded state, seat is consistent with front standpipe direction；
F3, according to F, the bottom of tee handle bar is combined with the standpipe of triangular supports, and junction is folded form or concertina type；
G, the top of carrier arranges seat, and it includes, but are not limited to the seat of detachable choosing dress；
G1, locomotive chassis is arranged above with removable truss；
G2, locomotive chassis is the car of the large-scale at least three-wheel of comparison, at least one upper carrier installation settings storage tank or container, suitable but be not limited to become the box beam of built-in lightweight battery, and box beam top arranges seat and takes for people；
H, upper carrier arranges standpipe and hands handrail, and it includes, but are not limited to, and the standpipe of detachable choosing dress and hands are handrail, and standpipe side arranges simple mechanical realization and delivers article or container as bracing frame；When lightweight battery is built in standpipe, during dismounting, become independent mobile battery storehouse；
I, automatically controlled turns to driving model to include automatic driving mode and/or artificial by remote controller wireless remote control driving model；
J1, various modes selects the motor driver of switching: by the freewheel clutch of motor and wheel shaft position, after power-off, the manpower sliding mode of unregulated power；Manpower starts the man-machine hybrid mode of motor after sliding；Fully rely on the electric model that motor original place starts；Man-machine hybrid power, according to different ratio, is divided and arranges out 2 or more different grades of pattern；The switching device of pattern includes, but are not limited to the selective on/off of Hall element circuit of different mode and controls；
J2, optionally switch circuit, locomotive supports that manpower legs and feet slide driving model, manned driving model, non-manned driving model, manual operation driving model, man-machine hybrid mode, electric-only mode with stepping on simultaneously, a certain pattern in selecting switching to be set to, or man-machine hybrid mode has two or more patterns, optionally switch circuit, be set to a certain pattern in man-machine hybrid mode；
K, lightweight battery and car body are built-in, and the built-in car body of component is not limited to the one in K1 to K5:
K1, light-alloy pultrusion stretches the cavity manufacturing molding；
K2, the cavity of the blended molding of fiber-reinforced resin；
K3, the cavity that at least two plate is combined into, at least one plate arranges netted vertical rib；
K4, metal sheet punch forming and vertical arrange that several are concavo-convex, upper and lower two plates are combined into cavity；
K5, the boxlike cavity on carrier；
L, castor fixed support and castor swing support are worn link and are closed by the vertical drift bolt axle being obliquely installed, fixing of drift bolt axle, castor
Frame, castor swing support, between this three, turn cooperatively forms and limited fits to castor, and it is in the limited range specified and at 5 degree--rotate within the angular interval of 200 degree fit to；
M, LOAD CELLS or weight loading sensing unit include, but are not limited at least one in strain chip cutting load testing, capacitance-type sensor；
N, it is simple to the convolution twist mechanism that car body turns to includes: the angularly disposed convolution twist mechanism for flatly plane, or, the angularly disposed convolution twist mechanism for the vertical line of flatly plane；The signal of driver weight load variations is sent to data processor by load sense formula sensor control device, when signal reaches the condition pre-set, driving device is sent control signal by data processor, guides drive motor rotate and drive castor, makes vehicle acceleration and deceleration, brake；
O, hand-held device: be suitable for but be not limited to station and step on the vehicle of driving；Hand-held device mates combination formation handle with a car body part guides and supports for vehicle or tows；Under vehicle running state, hand-held device separates with car body；Hand-held device is not limited to hand-held control device；
P, it is adaptable to the small-sized vehicle that small-wheel-diameter and locomotive chassis are constituted, takes several measures to reduce car body volume, alleviate car body weight, to simplify body construction, including any one in p1 to p4 or its combination:
P1, lightweight battery be the one in elemental lithium, ultracapacitor, fuel, metal-air, graphene battery, nano material battery or its combination in any collocation power to motor, lightweight battery is powered to drive motor；
P2, pedal is lightweight construction, light material, adopts high strength light composite material and/or light alloy material, and light alloy material includes, but are not limited to aluminum, magnesium, titanium；Light composite material includes, but are not limited to carbon fiber, fiberglass reinforced plastics；Pedal includes, but are not limited to metal stamping sheet metal component and is provided with concavo-convex as reinforcement, or moulding arranges densely covered rib ribs；
P3, complete vehicle weight is any one interval value between 2--10 kilogram, or, battery and car body are split type, after removing battery, and car body weight 2--5 kilogram；
P4,1 cun to 14 cun of vehicle wheel footpath；
Q, wired remote control and hand-held control device, flexible manipulation line one end is fixedly connected with the vehicle, the other end is connected with hand-held control device, both circuit are electrically connected by flexible manipulation line, and hand-held control device includes finger-moving type and/or palm dynamic formula, is optionally provided with led or laser diode illuminating lamp；
R, wireless remote control and hand-held control device, hand-held control device launches wireless manipulation signal, receptor on car body receives wireless operated signal, signal receiver sends signal to signal processor, signal processor sends instruction to driving device thus controlling vehicle, and wireless communication signal and equipment thereof include, but are not limited to following at least one: radio frequency, infrared ray, bluetooth, WIFI, NFC, RFID, ultrasound wave, Zigbee；
S, sensor control device, when the signal that sensor receives or sends reaches the condition pre-set, the signal that sensor sends rotates and orders about castor via processor and controller drive motor and rotates, realizing the control of vehicle, described control device and equipment thereof include, but are not limited to following at least one: gyro sensor, load sense sensor, torque sensor, velocity sensor, 3 dimension stereo vision sensors；
T, Intelligent Recognition control device, data processor sends instruction to the electric machine controller driving castor to rotate after coherent signal is processed, and signal includes, but are not limited to following at least one: the signal that the organ generation action of signal, the shape of color or the image signal generated, people or people that voice or sound generate generates；
U1, automatic Pilot control system, it includes following a kind of device or it arbitrarily combines and guides for automobile navigation: optical navigation device, aspect sensor, position sensor, electromagnetic guiding device；
U2, automatic Pilot control system, including, it is intended that driving path and according to the basis of reference on map, or path planning specifies the driving trace between starting point and destination, presets the data relevant with distance and is used for automatic tracking traveling；
U3, anti-collision system of finding range；
V, remotely controls control system, refers to that vehicle is provided with the vehicle-mounted interactive system of wireless telecommunications, and strange land command centre interacts its monitoring and scheduling by wireless telecommunication system, for the long-range control of vehicle；
W, mutual manipulation and the system of execution, including following one or its various combinations: image collecting device, voice acquisition device and sound-producing device, light-emitting device, display information visual interface, for the operation interface of man-machine interaction, car is provided with data processor and data storage cell, command centre is sent information to by wireless telecommunication system, command centre includes the exercisable man-machine dialog interface of people and remote control, the advance that remotely controls to include to control vehicle, falling back, turn to, to carry out audiovisual mutual with the people of vehicle and du vehicule；
X, under automatic navigation mode, cruise, mutual communication between vehicle, retinue, according to default parameter and specify arrangement array travel；
Y, under auto-steering driving model, travel according to the basis of reference automatic tracking on map, simultaneously, can be selective, the driving trace of vehicle record after converting e-file in vehicle-mounted data storehouse or upload by communication network and by server process after be shown in map interface；
Z, the longer plate body being available for choosing dress is combined with locomotive adaptation.
7. the new-type inverted pendulum self-balancing locomotive according to claim 1--5 any one, be further characterized in that following any one:
A, dual control system, bi-motor is controlled by different operation instruction or the dual controller of identical drive motor execution system respectively, it is in that, one electric motor car has dual electronic control system, and this car is carried out two ore control by electronic control two kinds different or electronic control two kinds identical, when a system occurs abnormal, the manipulation signal that another system sends still can be electronically controlled unit or driving device accepts and drives locomotive to operate, and is suitable for sending alarm signal simultaneously；
A2, the same instructions pipe diameter design of dual control system, micro-autocontrol system two kinds different is set simultaneously, or, two identical micro-autocontrol systems are set simultaneously, the dual instruction manipulation signal that dual control system sends is electronically controlled unit or driving device accepts locomotive operating therewith, when the manipulation signal that two micro-autocontrol systems send has difference, electronic control unit or driving device accept its middle value parameter instruction and continue and drive vehicle to travel temporarily, are suitable for sending alarm signal simultaneously；
A3, the same instructions pipe diameter design of dual control system, the Mechanical course key in any one orientation has two or more contacts of coordinated type and triggers one the identical instruction of execution of two or more electrical switches simultaneously；
A4, the same instructions pipe diameter design of dual control system, micro-autocontrol system two kinds different is set simultaneously, or, two identical micro-autocontrol systems are set simultaneously, the dual instruction manipulation signal that dual control system sends is electronically controlled unit or driving device accepts locomotive operating therewith, when the manipulation signal that two micro-autocontrol systems therein send has difference, electronic control unit or driving device perform the control correction instruction that driver is repeated once or more times sends, and drive vehicle traveling with this, meanwhile, it is suitable for sending alarm signal；
A5, the control instruction meeting driver's wish is preferentially performed, and by vehicle-mounted machinery switching switch or the control instruction switching switch cutoff non-driver wish by relay, selects some instruction as preferentially performing instruction；
A6, under collaborative pipe diameter design, locomotive has high speed low speed at least two driving model, and when the first driving model, differential steering is that two driving wheels one reverse a rotating forward, and locomotive can realize pivot stud；When the second driving model, differential steering is that two driving wheels one advance operating, and another driving wheel is inoperative or driven rotation, and the radius of turn of locomotive is bigger；
A7, the collaborative instruction pipe diameter design of dual control system, including, cutting load testing and locomotive control+remote controller, the locomotive control instruction that remote controller sends has precedence over the traveling control instruction that vehicle control syetem self sends, the traveling control instruction that vehicle control syetem self sends refers to, the steering instructions that the obliquity sensor of detection locomotive attitudes vibration or the LOAD CELLS of detection locomotive load produce；
A8. in three-wheel or four-wheel, at least comprise two driving wheels, because load variations causes deck type carrier displacement and triggers the electric signal of generation and sends differential signal and perform to turn to two driving wheels, and, dual or multiple micro-autocontrol system can send identical control instruction, and the Collaborative Control instruction that vehicle control syetem and remote controller send is performed by driving wheel；
A9. two motors support that two driving wheels advance locomotive around wheel shaft operating respectively, and, motor controller is configured and accepts and perform the information that micro-autocontrol system sends, in the bias mechanism of slide plate, it is provided with the micro-autocontrol system of at least two between grillage and axle bracket below plate body to lay along the vertical direction in locomotive driving direction, and, micro-autocontrol system is in reset state by the elastomeric material between grillage and axle bracket, when load variations biases plate body, two ends are provided with the axle bracket of two-wheel with mechanical force diagonally axle turn so that realizing car body Turning travel, simultaneously, elastomeric material deformation optionally triggers a lateral micro-autocontrol system of car body subsequently and makes a motor sub-assembly make dual drive wheel differential operate based on the control information that a micro-autocontrol system sends；
A10. the collaborative instruction pipe diameter design of dual control system, including, cutting load testing and locomotive control+remote controller, the locomotive control instruction that remote controller sends has precedence over the traveling control instruction that vehicle control syetem self sends, the traveling control instruction that vehicle control syetem self sends refers to, the steering instructions that the obliquity sensor of detection locomotive attitudes vibration or the LOAD CELLS of detection locomotive load produce；
B, the torsion folding means of deformation and elastic reset can be bent, it is suitable for but is not limited to the one-body molded parts of plastic cement, at least two carrier is laid before and after vehicle lengthwise direction, heel brace lays respectively at two carriers, two carriers are coupled by the convolution twist mechanism that car body turns to of being easy to laid along vehicle lengthwise direction, make the relative turn in position of two carriers during twist mechanism stress of circling round；Between two carriers, there is folding shaft, reduce length over ends of body for two carriers are folding；Further, lath B1, at least one lath is arranged along car body fore-and-aft direction, or two or more lath long and narrow, that be substantially parallel to each other is arranged along car body fore-and-aft direction；Support member B2, support member and lath B1 less perpendicular and with it knot connect together；Folding shaft B3, the parts for folding shaft connect together with lath B1 knot；Folding shaft and another carrier shaft move hinged, thus, as being used to again fold mechanism while torsion spring, it is independent to reverse folding means or it is the torsion folding means containing pedal carrier；
C, wearable battery has interface and electric wire for supplying electrical power to the driving device of car body, or, drive the vehicle-mounted light battery of vehicle traveling and there is interface and electric wire to human body wearable electronic for electric power；
D, kinematics model is to preset the variate-value of compliance curves and based on the dynamic data base of different condition preset parameter value according to different motions and kinetics model: miniature roadblock current spacing, the size of miniature roadblock, vehicle body travel real-time speed, relevant traffic environment；Also include, under people's force mode of non-maneuver power or under the sliding mode of non-maneuver power, persistent period when sliding in conjunction with manpower, single coasting distance, resistance repulsion process, the parameter value that dynamic data base is preset is as Variable Conditions；Flexible variable instruction is to be processed, by microcomputer, the driving braking making different stage according to kinematics model to perform instruction, and the different time of operation continuation, differential responses, different degree of strength, different frequency, different operating range, cruise etc. drive strategy；
E, interactive system: the first data processor shows as intelligent terminal's control device；Second data processor shows as vehicle-mounted data processor；First data processor and the second data processor interactive correspondence, carry out management and control and parameter setting by software and operation interface to vehicle, be configured regulating switching to vehicle condition, road surface, driving mode, speed, brake, automatic identification model；
F, the vehicle-mounted power supply interface having terminal control device and rigid fixedly mounted seat, terminal control device by easy-to-dismount mechanical mechanism be installed on this match combined fixed and control circuit be connected with mobile unit telecommunication, generate dependent instruction after the data of its collection are processed and be sent to vehicle drive unit, vehicle is travelled and is controlled；
G, it is mutual that locomotive and strange land command centre carry out information by wireless telecommunication system, for automatic Pilot and remotely control；
H, remotely controls automatic Pilot, can also be stepped on driving by people foot station simultaneously, and two kinds of functions have both；
I, the vehicle-mounted one having in optical navigation, sensing directional, geographical position sensing, electromagnetism guiding, range finding sensing module or its combination, guide for automobile navigation；
J, vehicle arranges the vehicle-mounted interactive system of wireless telecommunications, and remote control terminal interacts its monitoring and scheduling by wireless telecommunication system, for the long-range control of vehicle;
K, micro-autocontrol system includes following at least one electronic device: button touch-switch, LOAD CELLS switch, obliquity sensor switch, electronic gyroscope and accelerometer, distance measuring sensor switch, touch switch or touch sensitive switch, photoelectric switch, Hall-type inductive switch, conductive switch by elastic properties of materials deformation reset；
L, automatically search retinue system, remote controller is mutual with onboard wireless communication, and locomotive can follow remote controller traveling automatically becomes retinue vehicle；Wireless remote-control system: user carries or is positioned at the remote controller of other vehicles；Onboard wireless retinue system: automatic traveling device, central data processor and control system, motor drive controller are in order to control rotation direction and the running speed of motor and driving wheel；Onboard system is according to preset value retinue and moves according to the motion path of remote controller；
M, locomotive has automatic traveling system, and it includes, locomotive, distance measuring sensor, mobile target, by the distance between the mobile target of distance measuring sensor detection and car, when the distance of mobile target with car changes, car automatically moves and remains corresponding distance with mobile target；
N, several castors be front in after layout time, middle wheel element contacts with ground level all the time, and its front square wheel element and rear square wheel element, by rigid support, optionally contact with ground level；When driver and centre of body weight attitudes vibration, under normality, travel with Self-Balancing vehicle pattern；Vehicle is initial, pitching, unstable time, the wheel at Herba Plantaginis portion or car rear portion optionally contacts ground；
N1, several castors, driving wheel contacts with ground level all the time, also comprises the wheel on selective contact ground, its distance ground 1--100 millimeter, suitable 3--30 millimeter；
O, small-sized driving wheel is positioned under pedal carrier；
P, alternative arranges alarm module, and when service condition is more than default value, caution device sends prompting；
Q, the locking of locomotive and unblock, including, electronic cipher, electronic fingerprint, recognition of face, language identification, touch pressure identification, be also suitably, and can remotely be operated locking by other positions outside body by wireless communication networks and unlock；
R, locomotive with display, and/or, LED or laser diode litillumination devices；
S, according to setting, in taken recording-related information, transmits data to other positions outside body by wireless communication networks.
8. the new-type inverted pendulum self-balancing locomotive according to claim 1--5 any one, be further characterized in that following any one:
A, the vehicle of different mode manipulation, manned driving model and unmanned pattern are optional, comprise person-carrying vehicle, heel brace is positioned at carrier, control device and control unit send signal to controller, driving device is sent control signal after receiving signal by controller, vehicle is made to complete different instruction, lightweight battery is powered to driving device, driving device drives castor to rotate, it also resides in: man-machine hybrid power driving model, manual steering driving model and automatically controlled turn to driving model to be available for user to select voluntarily, under manual steering driving model, suitable in manned and turned to driving by the manpower force operations vehicle mechanical steering mechanism of driver；Automatically controlled turn under driving model, it is adaptable to mobile unit is completed to small part manipulation and drives, and drive motor or steer motor by driving vehicle to travel carry out turning to driving；Described automatically controlled turn to driving model to include, manually drive by remote controller long-range wireless remote control, automatic Pilot, described automatic Pilot also include automatic tracking travel, be automatically positioned navigation travel, automatic traveling travel at least one；
B, the vehicle of different mode manipulation, manned driving model and unmanned pattern are optional, comprising person-carrying vehicle, heel brace is positioned at carrier, control device and control unit and sends signal to controller, driving device is sent control signal after receiving signal by controller, making vehicle complete different instruction, battery is powered to driving device, and driving device drives castor to rotate；Manual steering driving model and automatically controlled turn to driving model to be available for user to select voluntarily, under manual steering driving model, it is adaptable to manned and turned to driving by the manpower force operations vehicle mechanical steering mechanism of driver；Automatically controlled turn under driving model, it is adaptable to mobile unit is completed to small part manipulation and drives, and drive motor or steer motor by driving vehicle to travel carry out turning to driving；Automatically controlled turning to driving model to include, automatic tracking travels, be automatically positioned that navigation travels, automatic traveling travels, artificial drive by remote controller long-range wireless remote control
At least one；The mechanical steering gear of described vehicle is, at least two carrier horizontally in-plane is laid, it is simple to two carriers are coupled by the convolution twist mechanism that car body turns to, and convolution twist mechanism stress makes the relative turn in position of two carriers；
C, the vehicle of different mode manipulation, manned driving model and unmanned pattern are optional, comprising person-carrying vehicle, heel brace is positioned at carrier, control device and control unit and sends signal to controller, driving device is sent control signal after receiving signal by controller, making vehicle complete different instruction, battery is powered to driving device, and driving device drives castor to rotate；Man-machine hybrid power driving model, manual steering driving model and automatically controlled turn to driving model to be available for user to select voluntarily, under manual steering driving model, it is adaptable to manned and turned to driving by the manpower force operations vehicle mechanical steering mechanism of driver；Automatically controlled turn under driving model, it is adaptable to mobile unit is completed to small part manipulation and drives, and drive motor or steer motor by driving vehicle to travel carry out turning to driving；Described automatically controlled turn to driving model to include, manually drive by remote controller long-range wireless remote control, automatic Pilot, described automatic Pilot also include automatic tracking travel, be automatically positioned navigation travel, automatic traveling travel at least one.
9. the new-type inverted pendulum self-balancing locomotive according to claim 1--5 any one, be further characterized in that following any one:
A, includes the vehicle of sensing gravity load change steer mode, and locomotive chassis is provided with standpipe and L-shaped with locomotive chassis, or, locomotive chassis is provided with the standpipe of readily accessible choosing dress and L-shaped with locomotive chassis；At least three castor；Sensor control device controls the circuit of driving device thus vehicle acceleration and deceleration, when the signal that sensor receives or sends reaches the condition pre-set, the signal that sensor sends rotates and orders about castor via processor and controller drive motor and rotates, realizing the control of vehicle, described control device and equipment thereof include gyro sensor and/or gravity load sensing sensor；And, standpipe, it is L-shaped with trailing arm, and trailing arm afterbody has locomotive chassis and carrier that the vertical direction along vehicle heading lays and at least can hold both feet and trample, trailing arm and carrier collectively form locomotive chassis, locomotive carrier and carrier two ends and lay at least two castor respectively；It also includes A1 and/or A2:
The connecting portion of A1, trailing arm afterbody and locomotive chassis and carrier comprises elastic deformation material and/or convolution twist mechanism, in order to the vertical direction along vehicle heading is axially carry out turn and/or along vehicle heading for axially carrying out turn；
A2, described carrier is that its twist mechanism that circled round of two carriers connects firmly and turn and/or described trailing arm can have convolution twist mechanism respectively；
B, includes the vehicle of sensing gravity load change steer mode, including:
There is the different multiple vehicle frames of removable length and an identical driving wheel adaptation choosing dress, described length difference refers to that the driving wheel of locomotive chassis is different from driven pulley wheelspan, and/or, self-balancing pattern, with vehicle frame with fit to wheel pattern, under both driving models, the location point that subscriber station is stepped on is different, switching circuit takes driving instruction two kinds of driving models of reply two kinds different, double mode switching circuit, two kinds of driving models are switched by human-computer interaction device, under self-balancing pattern, gravity load senses and performs the first instruction system preset；Under three-wheel or many wheels pattern, gravity load senses and performs the second instruction system preset.
10. the new-type inverted pendulum self-balancing locomotive according to claim 1--5 any one, be further characterized in that following any one:
A, the integral control system being fixed on locomotive chassis has the control system of at least two dimension, it is characterised in that inching Mechanical course key and inching electrical switch form micro-autocontrol system, and it sends instruction to electronic control unit and driving device；Its also include following any one:
A1. the first control key is, the Mechanical course key coordinated with axle motivation structure, and when load variations, Mechanical course key axle moves displacement, the both sides of selective engagement shaft；Second control key is, several castors, and driving wheel contact ground, remaining wheel optionally contacts ground；First control key and the second control key are relevant to the direction controlling that vehicle travels；
A2. the first control key is, the control key coordinated with axle motivation structure, and when load variations, control key axle moves displacement, the both sides of selective engagement shaft；Second control key is, four castors that rhombus is laid, and two driving wheel contact ground, two other is fitted and optionally contacts ground to wheel；First control key and the second control key, with the directional correlation of vehicle traveling；
A3. biased by centre of body weight and/or the micro-autocontrol system of two-dimentional axle of foot's stampede operation, when load variations causes the locus trace change of inching Mechanical course key, it triggers fine motion electrical switch and sends the signal of telecommunication to electronic control unit, electronic control unit sends instruction to driving device, to manipulate driving car traveling；
When the locus trace conversion of Mechanical course key, the electric signal controlling car traveling is changed switching therewith, to manipulate the traveling of car, to turn to, and,
Locomotive main and pedal carrier, inching Mechanical course key and the first dimension axle clearance fit are laid and connected to first dimension axle along locomotive driving direction；Locomotive main and pedal carrier, inching Mechanical course key and the second dimension axle clearance fit are laid and connected to second dimension axle along the vertical direction in locomotive driving direction；By external force, inching Mechanical course key is optionally in two axial activities and call and the two dimension relevant fine motion electrical switch of axle；
A4. biased by centre of body weight and/or micro-autocontrol system of foot's stampede operation, when load variations causes the locus trace change of inching Mechanical course key, it triggers fine motion electrical switch and sends the signal of telecommunication to electronic control unit, electronic control unit sends instruction to driving device, to manipulate driving car traveling；
When the locus trace conversion of Mechanical course key, the electric signal controlling car traveling is changed switching therewith, to manipulate the traveling of car, to turn to, and,
One dimension adopts micro-autocontrol system, and it sends instruction to electronic control unit and driving device；Another dimension adopts the control system of mechanical system；Fine motion controls the dual or multiple manipulation of system suitable, or, micro-autocontrol system and remote controller Collaborative Control are for locomotive driving；
A5. the footstep mechanism on locomotive top is that two dimension axle fine motion system lamination is constituted, and, locomotive main and pedal carrier, inching Mechanical course key and the first dimension axle axle motivation structure clearance fit are laid and connected to the first dimension axle along a first direction；Locomotive main and pedal carrier, inching Mechanical course key and the second dimension axle axle motivation structure clearance fit are laid and connected to second dimension axle along second direction；By external force, inching Mechanical course key is optionally in two axial activities and call and the two dimension relevant fine motion electrical switch of axle；
A6. by the effect of axle dynamic formula support portion, two independent plate bodys have at least four attitudes vibration: two independent plate bodys all tilt towards front；Two independent plate bodys all tilt towards rear；In two independent plate bodys, it is positioned at the independent plate body on the left of travel direction and tilts towards front, meanwhile, be positioned at the independent plate body on the right side of travel direction and tilt towards rear；In two independent plate bodys, it is positioned at the independent plate body on the right side of travel direction and tilts towards front, meanwhile, be positioned at the independent plate body on the left of travel direction and tilt towards rear；
A7. two deck carriers that respectively axle is dynamic are as mechanical key, four kinds at least can be had to express and locomotive reaction: two decks are press-fitted two fronts switches simultaneously, and driving wheel operates, and locomotive accelerates to move ahead, or, vehicle deceleration or brake or fall back；Two decks are press-fitted two rear switches, driving wheel antiport simultaneously；Left deck is press-fitted front switch, and right deck is press-fitted rear switch simultaneously, two driving wheel then reversion one rotating forwards, or a rotating forward one is driven, and locomotive turns to；Right deck is press-fitted front switch, and left deck is press-fitted rear switch simultaneously, and two driving wheels then reversion one rotating forward or rotating forwards one are driven, and locomotive turns to；
A8. left deck carrier and right deck carrier all have axle motivation structure respectively, and, the axle motivation structure along locomotive main top combines to be installed；Elastomeric element and fine motion electrical switch are set between locomotive main top and two decks；Deck carrier rotates along axle, optionally it is press-fitted Herba Plantaginis portion or car rear portion, when deck carrier and the laminating of locomotive main upper surface, it is achieved spacing, trigger embedded fine motion electrical switch simultaneously, electrical switch sends electronic information to data processor, instruction is handed down to motor driving module by data processor, subsequently, driving instruction is sent to motor, when the load of deck upper carrier disappears or weakens, flexible member makes deck carrier reset；
A9. the footstep mechanism on locomotive top has two-dimentional axle fine motion system and shows as omnidirectional's axle, and, locomotive main and pedal carrier, inching Mechanical course key and the first dimension axle axle motivation structure clearance fit are laid and connected to the first dimension axle along a first direction；Locomotive main and pedal carrier, inching Mechanical course key and the second dimension axle axle motivation structure clearance fit are laid and connected to second dimension axle along second direction；By external force, inching Mechanical course key is optionally in two axial activities and call and the two dimension relevant fine motion electrical switch of axle, and remote controller control in unison is for locomotive driving；
B1. remote controller and vehicle-mounted control system telecom communication and locomotive accept the operation steering instructions traveling that remote control sends；Further, locomotive supports that manpower legs and feet slide driving model, manned driving model, non-manned driving model, manual operation driving model with stepping on, driver select switch mode；
B2. remote controller and vehicle-mounted control system telecom communication and locomotive accept the operation steering instructions traveling that remote control sends；Further, locomotive supports that manpower legs and feet slide driving model, manned driving model, non-manned driving model, manual operation driving model with stepping on, driver select switch mode；Travel when having at least two driving wheel and constant speed drive, differential turns to when operating, and when locomotive turns to, at least one is fitted and turns to efficiency to wheel automatic linkage to improve；
B3. remote controller and vehicle-mounted control system telecom communication and locomotive accept the operation steering instructions traveling that remote control sends, and, remote controller and vehicle electronics control systematic collaboration complex controll instruction makes locomotive chassis advance；Travel when having at least two driving wheel and constant speed drive, differential turns to when operating, and when locomotive turns to, at least one is fitted and turns to efficiency to wheel automatic linkage to improve；
B4. remote controller and vehicle-mounted control system telecom communication and locomotive accept the operation steering instructions traveling that remote control sends, and, under manned pattern, manpower legs and feet slide under driving model with stepping on, and man-machine hybrid power system and/or the manpower comprising freewheel clutch drive gliding system to advance for locomotive chassis；Travel when having at least two driving wheel and constant speed drive, differential turns to when operating, and when locomotive turns to, at least one is fitted and turns to efficiency to wheel automatic linkage to improve；The instruction that Digiplex sends is relevant with direction controlling；
B5. remote controller and vehicle-mounted control system telecom communication and locomotive accept the operation steering instructions traveling that remote control sends, and, vehicle control syetem includes the load variations by sensor sensing driver's weight and orientation gained information is relevant with Turning travel, meanwhile, remote controller travels with vehicle electronics control systematic collaboration complex controll instruction for locomotive chassis, turns to；
B6. remote controller and vehicle-mounted control system telecom communication and locomotive accept the operation steering instructions traveling that remote control sends, and, two remote controllers manipulated respectively by left and right both hands respectively；
B7. ring-shape remote controller is inching electrical switch, and advances to click mode or analog stick operation remote controlled locomotives；
B8. set hand-type remote controller is inching electrical switch, and operating mechanism is worn on hand and finger, is suitably, and has and is respectively arranged at two operating mechanisms to four finger tips；
B9. remote controller has roller type or touch control key for regulable control locomotive speed, the right and left key of its both sides is respectively used to left and right turn, or, carry out communication with the remote controller that the mouse of computer interactive operation is this locomotive, be used to adjust for locomotive speed and/or turn to；
B10. when foot-operated control key length press electrical contact controller, generating signal of telecommunication instruction makes locomotive linearly raise speed to data processor and driving device operating, by slow to fast, when speed is taken by driver, driver's first method clicks remote controller, remote controller sends instruction to locomotive control and keeps speed, and locomotive is in cruise pattern；When driver's second method clicks remote controller, remote controller sends releasing instruction to locomotive control, and locomotive is in linear aero mode；Also suitable but be not limited to, when driver's alternate manner clicks remote controller, driving device shuts down or reverses, locomotive deceleration or brake；
B11. control key is triggered on the foot-operated deck of driver, load or the centre of body weight that driver makes is detected by load sense sensor, the driving instruction of different speed is made according to centre of body weight or load variations, load is relevant to speed, and the control instruction that the Digiplex of hand sends can intervene the instruction that motor supply shop enters；
B12. vehicle-mounted micro-autocontrol system and remote controller Collaborative Control instruction are for locomotive driving, at least, when performing same driving instruction,
Selectivity definition arranges one of vehicle-mounted micro-autocontrol system and both remote controllers as the preferential Collaborative Control instruction performed, via data processor processes and be defined as the generation Collaborative Control instruction of compound operation logic when vehicle-mounted micro-autocontrol system conflicts with remote controller execution same driving instruction；
B13. remote controller is based on the touch-control of pressure sensitive components and parts, contain the combined type action bars of control of azimuth and load pressure, according to promoting or the pressing dynamics of rocking bar, speed, the depth, identify weight, and call corresponding function, the speed that locomotive moves regulates and produces respective change；
C1. locomotive footboard carrier is provided with the double; two plate laminated type switch of pedal of LOAD CELLS, it is arranged between LOAD CELLS, LOAD CELLS sense weight, weight data is when default category, and data processor sends signal of telecommunication instruction and connection circuit makes driving device operate；
C2. load sensor includes gravity sensitive, pressure sensing, produces the acceleration transducer of signal based on driver's centre of body weight or change in location, be arranged to detection gravity and inertial force field one or more sensors being associated accordingly, sensor receives weight information and sends weight data to data processor, when reaching preset value, data processor issues instructions to drive controller guide motor running and drive castor；Control locomotive by load sensor, data processor, motor rotary speed, driver's legs and feet the dynamic weight data that send by load sensor and advance and turn to regulating dual drive wheel rotating speed；
C3. the weight information of driver weight load variations is sent to data processor by load sense formula sensor control device, when weight data reaches preset value, driving device is sent control signal by data processor, guide and drive motor running and drive castor, locomotive is made to advance, during vertical perspective, the carrier element that station is stepped on is between driving wheel and driven pulley, and the carrier that station is stepped on includes, but are not limited to folded form；
C4, when weight produces numerical fluctuations beyond rating number and transient change, does not cut off the power supply of driving device, when weight exceeds rating number and is lasting, cuts off power supply or the brake of driving device；
D1, deck type carrier has fine motion displacement-type Mechanical course key apparatus, when the load of deck carrying changes, the attitude trace of Mechanical course key apparatus changes displacement and oppresses the contact of soft-touch type electrical switch, and the electronic signal that the contact of soft-touch type electrical switch produces is sent to electronic control unit；When there is two kinds or the change of two or more microdisplacements when the attitude of Mechanical course key apparatus, the contact of corresponding touch switch produces different electronic signals, the different attitudes vibration of Mechanical course key apparatus switch electronic signal to become different control instruction to electronic control unit；
D2, deck type carrier has fine motion displacement-type Mechanical course key apparatus, when the load of deck carrying changes, changed displacement by the attitude trace of Mechanical course key apparatus and touch the contact of electronic load cell, the electric signal that the contact of electronic load cell produces is sent to electronic control unit, when the weight electric signal that load produces reaches the parameter preset, driving device makes respective reaction；When there is two kinds or the change of two or more microdisplacements when the attitude of Mechanical course key apparatus, corresponding electronic load cell produces different electronic signals, and is switched electronic signal to become different control instruction to electronic control unit by the different attitudes vibration of Mechanical course key apparatus；
D3, deck type carrier has fine motion displacement mechanical device, and middle part has higher support portion, and deck type carrier is affected by gravity and tilts to other direction；
D4, deck type carrier has fine motion displacement mechanical device, middle part has higher support portion, and deck type carrier is affected by gravity and tilts to other direction, and middle part has axle dynamic formula support portion, rigidity deck type carrier is in combination, rigidity deck type carrier is two independent plate bodys, and the middle part of each independent plate body is combined with axle dynamic formula support portion, by the effect of axle dynamic formula support portion, when the gravity of carrying changes, independent plate body optionally tilts toward some direction；
D5, deck type carrier has fine motion displacement mechanical device, middle part has higher support portion, deck type carrier is affected by gravity and tilts to other direction, and middle part has support portion, rigidity deck type carrier clearance fit with it, centered by support portion, rigidity deck type carrier tilts towards periphery, the combination of rigidity deck type carrier and support portion, includes, but are not limited to ball-joint bearing；
D6, deck type carrier has fine motion displacement mechanical device, middle part has higher support portion, deck type carrier is affected by gravity and tilts to other direction, middle part has support portion, and rigidity deck type carrier is in combination, and rigidity deck type carrier is semi-rigid deformable material, when the gravity of carrying changes, rigidity deck type vector form deforming tilts toward some direction；
D7, by the effect of axle dynamic formula support portion, two independent plate bodys have at least four attitudes vibration: two independent plate bodys all tilt towards front；Two independent plate bodys all tilt towards rear；In two independent plate bodys, it is positioned at the independent plate body on the left of travel direction and tilts towards front, meanwhile, be positioned at the independent plate body on the right side of travel direction and tilt towards rear；In two independent plate bodys, it is positioned at the independent plate body on the right side of travel direction and tilts towards front, meanwhile, be positioned at the independent plate body on the left of travel direction and tilt towards rear；
D8, two deck carriers that respectively axle is dynamic, as mechanical key, at least can have four kinds to express and locomotive reaction: two decks are press-fitted two fronts switches simultaneously, and driving wheel operates, and locomotive accelerates to move ahead, or, vehicle deceleration or brake or fall back；Two decks are press-fitted two rear switches, driving wheel antiport simultaneously；Left deck is press-fitted front switch, and right deck is press-fitted rear switch simultaneously, two driving wheel then reversion one rotating forwards, or a rotating forward one is driven, and locomotive turns to；Right deck is press-fitted front switch, and left deck is press-fitted rear switch simultaneously, two driving wheel then reversion one rotating forwards, or a rotating forward one is driven, and locomotive turns to；
D9, left deck carrier and right deck carrier all have axle motivation structure respectively, and, the axle motivation structure along locomotive main top combines to be installed；Elastomeric element and fine motion electrical switch are set between locomotive main top and two decks；Deck carrier rotates along axle, optionally it is press-fitted Herba Plantaginis portion or car rear portion, when deck carrier and the laminating of locomotive main upper surface, it is achieved spacing, trigger embedded fine motion electrical switch simultaneously, electrical switch sends electronic information to data processor, instruction is handed down to motor driving module by data processor, subsequently, driving instruction is sent to motor, when the load of deck upper carrier disappears or weakens, flexible member makes deck carrier reset；
E, inching Mechanical course key, including at least three Displacement Contact point, and, three inching electrical switches of corresponding physical distribution, or, including at least four Displacement Contact point, and, four inching electrical switches of corresponding physical distribution, that orientation that inching electrical switch senses is relevant to traveling target orientation, and it also includes any one feature following:
E1, when inching electrical switch is electronic load cell, when the electric signal that electronic signal receptor receives is etc. unequal or the electric signal average such as not beyond the parameter preset time, sense that heavier orientation relevant to traveling target orientation；
E2, when inching electrical switch is compressing touch switch, compressing touch switch receives electric signal, and that heavier orientation suffers oppression and relevant to traveling target orientation；
E3, when inching electrical switch is obliquity sensor, that orientation that the electric signal that electronic signal receptor receives senses inclination is relevant to traveling target orientation；
E4, when inching electrical switch is distance measuring sensor, different distributed the connecting firmly of physical location, several distance measuring sensors are set, detected inching Mechanical course key by it respectively and change in the position in space and with the relative distance of car, and the electronic signal received is sent to electronic control unit, and that orientation that Mechanical course key tilts is relevant to traveling target orientation；
E5, when inching electrical switch is touch-control or touch sensitive switch sensor, different physical locations have the touch switch sensor connecting firmly setting, the trace attitudes vibration produced in the position in space and when accepting load by its detection inching Mechanical course key, and the electronic signal received is sent to electronic control unit, and that orientation that Mechanical course key is subject to the inclination of load bigger trace is relevant to traveling target orientation；
E6, when inching electrical switch is photoelectric switch sensor, different distributed the connecting firmly of physical location, several photoswitch sensors are set, detected inching Mechanical course key by it respectively and change in the position in space and with the relative distance of car, and the electronic signal received is sent to electronic control unit, and that orientation that Mechanical course key tilts is relevant to traveling target orientation；
E7, when inching electrical switch is Hall element, different distributed the connecting firmly of physical location, several Hall elements or Magnet are set, Hall element that inching Mechanical course key is provided with or the Magnet position in space is detected respectively by it, and change with the relative distance of car, and the electronic signal received is sent to electronic control unit, and that orientation that Mechanical course key tilts is relevant to traveling target orientation；
E8, Mechanical course key is deck type carrier, the foot station of people is stepped in deck type carrier, when the position of centre of gravity of people changes, cause the locus trace change of inching Mechanical course key, it triggers fine motion electrical switch and sends the signal of telecommunication to electronic control unit, and electronic control unit sends instruction to driving device, to manipulate driving vehicle traveling；
E9, Mechanical course key is seat, people is sitting in seat, when the position of centre of gravity of people changes, cause the locus trace change of inching Mechanical course key, it triggers fine motion electrical switch and sends the signal of telecommunication to electronic control unit, and electronic control unit sends instruction to driving device, to manipulate driving vehicle traveling；
E10, Mechanical course key is steering wheel, steer direction dish, when load changes, cause the locus trace change of inching Mechanical course key, it triggers fine motion electrical switch and sends the signal of telecommunication to electronic control unit, and electronic control unit sends instruction to driving device, to manipulate driving vehicle traveling；
E11, Mechanical course key includes following at least one, foot's control key, motion sensing control key, arm control key, head and neck control key；
F, by load variations, the electric signal that inching Mechanical course key and inching electrical switch send includes, click the signal of generation be the first control instruction, double-click the signal generated and be the second control instruction, long be the 3rd control instruction by the signal generated, time suitable, also including three signals hitting generation is the 4th control instruction；
G, locomotive is variant locomotive, and it includes, but are not limited to any one:
G1. the part that at least two is hinged, in the deployed state, locomotive area increases；In a folded configuration, locomotive area reduces；
G2. the part that at least two is hinged, in the deployed state, locomotive has caster support and is easy to travel, and, in a folded configuration, locomotive also has caster support and is easy to travel；
G3. two kinds different from employing under folding shrinking state under extended configuration driving control modes；
G4. two sections of B portion of locomotive A portion car body connects by the articulated of two axles, and wherein, car A portion has two main drive wheels, and car A portion has two and driven fits to wheel, also has a folding shaft, and front end, car B portion has a folding shaft, and rear end has driven fitting to wheel；Two segment bodies are undertaken hinged by two drift bolt axles and a twin shaft articulated；According to required, axle and the hinge of the car A portion two sections of car bodies in B portion can be disassembled, and car A portion can independent operation work, and car B portion, as the split type rechargeable battery can installed or dismantle, increases course continuation mileage；
G5. two segment bodies are put down to axle hinged by two；
G6. locomotive is three segment bodies, folds by the dynamic linkwork of axle, and three segment bodies are put down to axle hinged by least two, and under deployed condition, three segment bodies are put down to setting, and after folding, three segment body laminations are laid, and in folding process, three segment bodies are Z-shaped；
G7. folding by vertical axle, rotational deformation of circling round along ground during application, locomotive afterbody has fits to wheel, and two segment bodies are hinged by a vertical axle, under deployed condition, two segment body side by side arrangement yi word pattern head and the tail arrangements, under folded state, two segment body laminations are laid, and in folding process, two segment bodies are V-shape；Or, three segment bodies are hinged by two vertical axles, and under deployed condition, three segment body side by side arrangement yi word pattern head and the tail arrangements, under folded state, three segment bodies are Qian font or lamination；
G8. dual drive wheel+bis-is fitted to wheel, two segment body heads combine by a vertical axle and same support shaft are dynamic respectively, in the deployed state, two segment bodies and support be Qian font and when applying along ground Direction distortion, in a folded configuration, binary can side by side arrangement, folding or in driving process, two segment bodies can be made to present variform owing to the afterbody of two sections of car bodies has the swing fitted to wheel and two vertical axles, two segment bodies can along holder orientation head and the tail arrangement in yi word pattern, and support two ends are driving wheel；
G9. dual drive wheel+bis-is fitted to wheel, two segment body heads combine by a vertical axle and same support shaft are dynamic respectively, in the deployed state, two segment bodies and support be Qian font and when applying along ground Direction distortion, in a folded configuration, binary can side by side arrangement, folding or in driving process, two segment bodies can be made to present variform owing to the afterbody of two sections of car bodies has the swing fitted to wheel and two vertical axles, two segment bodies can along holder orientation head and the tail arrangement in yi word pattern, and support two ends are driving wheel；
G10. the support between two segment bodies is battery compartment, and to power as locomotive A portion to dual drive wheel, two segment body afterbodys are respectively provided with fits to wheel；
G11. locomotive is horizontally oriented the pallet of setting；
G12. locomotive is laminated type, and it at least includes, and two segment body buttress are folded to be arranged and be mutually adapted；
G13. locomotive is block form, and it at least includes two segment bodies and is set up in parallel and is mutually adapted installation；
G14. locomotive is telescopic, and it includes, and two segment body single orders are flexible or three segment body two rank are flexible.
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