CN106627896A - Man-machine interaction somatosensory vehicle - Google Patents
Man-machine interaction somatosensory vehicle Download PDFInfo
- Publication number
- CN106627896A CN106627896A CN201710005993.5A CN201710005993A CN106627896A CN 106627896 A CN106627896 A CN 106627896A CN 201710005993 A CN201710005993 A CN 201710005993A CN 106627896 A CN106627896 A CN 106627896A
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- Prior art keywords
- wheel
- control device
- human
- computer interaction
- sensing
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K2202/00—Motorised scooters
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention provides a man-machine interaction somatosensory vehicle which comprises a vehicle body and two wheels arranged on the vehicle body. The wheels can rotate around the vehicle body in the radial direction. The vehicle body further comprises a supporting framework, two foot devices, a first position sensor, a control device and a drive device for driving the wheels, and the two foot devices, the first position sensor and the control device are arranged on the supporting framework. The supporting framework is of an overall structure and is rotationally connected with the wheels, the first position sensor is used for sensing stress or inclination information of the two foot devices relative to the supporting framework, the control device controls the drive device to drive the wheels to move or rotate according to the stress or inclination information, the control device is located in the supporting framework, and the two ends of the control device are provided with an external butt joint part and a battery butt joint part respectively. Therefore, the two ends of a main control panel can be directly connected with other components together, a cable line does not need to be additionally arranged, and the man-machine interaction somatosensory vehicle is simple in structure and convenient to assemble.
Description
Technical field
The present invention relates to a kind of balance car, and in particular to a kind of human-computer interaction body-sensing car.
Background technology
Human-computer interaction body-sensing car, is called electrodynamic balance car, thinking car, and its operation principles is mainly built upon one kind and is referred to as
In the general principle of " dynamic stability ", the change of vehicle body attitude is detected using the gyroscope and acceleration transducer of vehicle body
Change, and utilize servo-control system, accurately motor is adjusted correspondingly, to keep the balance of system.
Existing human-computer interaction body-sensing car has been generally divided into action bars and without this two class of action bars, wherein the people with action bars
Machine interaction body-sensing car, advance, retrogressing and the steering of its human-computer interaction body-sensing car carry out concrete operations control by action bars.And
Without the human-computer interaction body-sensing car of action bars, the advance of its human-computer interaction body-sensing car, retrogressing are by whole human-computer interaction body-sensing car
Inclination controlling, steering is then ridden on foot platform by user, and by relative rotation angle between two foot platforms
Spend difference to be controlled realization.Wherein, it is mainly patent without the two-wheeled human-computer interaction body-sensing car of action bars
Double-wheel self-balancing human-computer interaction body-sensing Che Wei disclosed in CN201410262108.8 is represented, and it is right that the inner cap in the balance car includes
The left inside lid and right inner cap of setting, and left inside lid is claimed to rotate relative to right inner cap and connect.
So, the balance car has been used for the inner cap of support frame effect need to include left inside lid and right inner cap, and structure is relatively multiple
It is miscellaneous.
The content of the invention
The present invention is a kind of human-computer interaction body-sensing car of the simple structure proposed to overcome prior art.
To achieve these goals, the present invention provides a kind of human-computer interaction body-sensing car, and it includes car body and on car body
Two wheels, the wheel can rotate in radial directions around car body；The car body further includes a support frame, arranges
Two foot pedal apparatus, first position sensor, control device and the drive to drive the wheel on the support frame
Dynamic device, the support frame is an overall structure and is connected with vehicle wheel rotation that the first position sensor is to sense
The stress or inclination information of the relatively described support frame of two foot pedal apparatus are stated, the control device is according to the stress or inclines
Slope information, controls the driving means and drives the wheel movement or rotate, and the control device is located in support frame, institute
The two ends for stating control device are respectively arranged with outside docking section and battery docking section.
As a further improvement on the present invention, power supply is provided with the support frame, the control device passes through the electricity
Pond docking section is connected with the power supply, is connected with driving means and/or first position sensor by external connecting.
As a further improvement on the present invention, the control device is for two and positioned at the power supply left and right sides, the control
Device is connected to the driving means respectively with different wheel.
As a further improvement on the present invention, connector, the connector bag are provided between the support frame and wheel
Include to the frame mouth and plug terminal of the outside docking section of control device described in grafting.
As a further improvement on the present invention, the power supply is connected with battery interface, the battery docking section and the electricity
Pond interface is plugged.
As a further improvement on the present invention, the external connecting extends along the direction parallel to wheel axis.
As a further improvement on the present invention, the outside docking section and the perpendicular setting in battery docking section.
As a further improvement on the present invention, the first position sensor is pressure sensor.
As a further improvement on the present invention, the control device to according between two foot pedal apparatus by force information
Difference or inclination information difference drive the wheel movement or rotate.
As a further improvement on the present invention, the same foot pedal apparatus are provided with to sense same sole different parts
Two first position sensors of inclination information or pressure information, the control device is to according to described two first positions
The gradient difference of sensor or pressure differential drive the wheel movement or rotate.
As a further improvement on the present invention, it is to be flexibly connected or fixed company between the foot pedal apparatus and support frame
Connect.
As a further improvement on the present invention, whether the first position sensor use on foot pedal apparatus senses
Person, to control the start and stop of wheel.
As a further improvement on the present invention, the driving means are arranged in support frame or in wheel.
As a further improvement on the present invention, the foot pedal apparatus include foot platform and above foot platform
Foot pad, the first position sensor is arranged at the foot platform lower section.
As a further improvement on the present invention, the human-computer interaction body-sensing car further includes a second place sensor,
To the inclination information for sensing support frame relative wheel.
As a further improvement on the present invention, the second place sensor include gyroscope, acceleration transducer and/or
Photoelectric sensor.
Due to the utilization of above-mentioned technical proposal, the present invention possesses advantages below：
Control device is located in support frame described in the human-computer interaction body-sensing car of the present invention, the two ends point of the control device
It is not provided with outside docking section and battery docking section.Be arranged such, the control device two ends can directly by the power supply with
Driving means and/or first position sensor link together, and without the need for arranging cable plant in addition, simple structure is easy to assembly.
Description of the drawings
Fig. 1 is the three-dimensional combination figure of human-computer interaction body-sensing car of the present invention.
Fig. 2 is the stereochemical structure exploded view of human-computer interaction body-sensing car of the present invention.
Fig. 3 is the three-dimensional combination figure of human-computer interaction body-sensing car wheel of the present invention and modularization interface.
Fig. 4 is the three-dimensional exploded view in Fig. 3.
Fig. 5 is that human-computer interaction body-sensing car wheel of the present invention is combined with the solid of the modularization interface of another embodiment
Figure.
Fig. 6 is the part isometric structure decomposition figure of human-computer interaction body-sensing car car body of the present invention.
Fig. 7 is further part isometric structure decomposition figure in Fig. 6.
Fig. 8 is further part isometric structure decomposition figure in Fig. 7.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
To limit the present invention.
In order that the objects, technical solutions and advantages of the present invention become more apparent, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
To limit the present invention.
Refer to shown in Fig. 1 to Fig. 8, be the structural representation of human-computer interaction body-sensing car 100 of the present invention, it includes car body 10
And two wheels 20 on car body 10, the wheel 20 can rotate in radial directions around car body 10；The car body 10 enters
One step includes that a support frame 11, two foot pedal apparatus 12 being arranged on the support frame 11, first position sensor (are not schemed
Show), control device 15 and the driving means (not shown) to drive the wheel 20, the support frame 11 is one overall
Structure and with wheel 20 rotate be connected, the first position sensor is to sense described two foot pedal apparatus 12 described relatively
Support bone frame 11 by force information or inclination information, the control device 15 according to described by force information or inclination information, control
Making the driving means drives the wheel 20 to move or rotate, and is provided with axially extending along wheel 20 in the support frame 11
Power supply 16.The overall structure referred to for the left inside lid that can mutually rotate and right inner cap are arranged in prior art, institute
State support frame 11 be globality structure, in different embodiments, the overall structure can be separable assembled form or
It is integrally formed.It is arranged such, because the support frame 11 of human-computer interaction body-sensing car 100 prolongs approximately along the axially direction of wheel 20
Stretch, so as to connect left and right sides wheel 20 and possess some strength, power supply of the present invention 16 can axially be worn along wheel 20
Insert and be contained in the support frame 11, thus, compared to the power supply in bulk of same volume in prior art, the present invention can
More effectively using the receiving space in support frame 11, can allow the support frame 11 before and after car body 10 and above-below direction
It is upper that there is less size, so as to reduce the overall dimensions of car body 10, save the materials cost of support frame 11；On the other hand,
Smallerization of human-computer interaction body-sensing car 100 can be made, is more convenient to carry.
The power supply 16 is smaller in size than the diameter of wheel 20 before and after car body 10 and/or on above-below direction.It is arranged such, institute
State car body 10 and there is less size before and after and/or on above-below direction, more save materials cost and more portable.
The power supply 16 is along the axially extending cylindrical shape of wheel 20.That is, described power supply 16 is along the transversal of the axial direction of wheel 20
Area is circle, is arranged such, and compared to the other shapes power supply of same volume, the present invention can allow the support frame 11 to have
There is less surface area, so as to more saving materials cost and allowing smallerization of car body 10.In other embodiments, the electricity
Source 16 along the cross section of the axial direction of wheel 20 can also be rectangle, other polygons, oval or other are irregularly shaped.
The power supply 16 includes slender type battery pack 160, and the slender type battery pack 160 includes some strap-on side by side
Slender type battery 161.It is arranged such, can manufactures and the power supply 16 is made after being bundled after slender type battery 161, without the need for special
The battery of single large scale specification is customized, is easy to manufacture；And when there are individual defects, can on demand to indivedual slender type electricity
Pond 161 is individually replaced, and so as to extend the service life of the entirety of the power supply 16, and saves maintenance cost.
The power supply 16 includes some slender type battery packs 160 for connecting in front and back.It is arranged such, using existing rule
Splice before and after existing slender type battery 161 is carried out in lattice and bundle, without the need for the battery of particularly customized special size specification, be easy to
Manufacture.
The power supply 16 is coated on the battery case 17 in the outside of the slender type battery pack 160.It is arranged such, can makes
The battery case 17 can stably gather together some slender type batteries 161, be difficult to be scattered.
The battery case 17 includes some locating supports 176 to position the slender type battery 161 respectively.So
Arrange, the locating support 176 can be such that the slender type battery 161 positions one by one, so as to ensure and adjacent elongate battery
Stable electric connection between 161.
The power supply 16 includes the slender type battery pack 160 connected before and after three groups, and the battery case 17 includes
Cover the both side ends 171 of two ends slender types battery pack 160 and between both side ends 171 to coat middle part slender type battery
The locating support 176 is provided with the medial end portions 175 of group 160, the medial end portions 175.Be arranged such, the battery case 17 with
160 points of three-stage positioning of the slender type battery pack and connection, can be easy to assemble and can ensure between all slender type batteries 161
Stable electric connection.
The side end 171 of the battery case 17 is provided with the empty cylinder portion 172 for housing slender type battery pack 160 and cladding
Locating support is provided with the outside of empty cylinder portion 172 and towards in the side wall 173 in correspondence wheel 20 direction, the empty cylinder portion 172
174.It is arranged such, the slender type battery 161 is socketed on one by one after locating support 174, then is laterally socketed on battery case 17
In empty cylinder portion 172 described in side end 171, it is easy to assembling positioning.
The power supply 16 includes protruding out battery interface of the battery case 17 to electrical butt-joint control device 15
177.It is arranged such, the battery interface 177 can be docked outwards with control device 15, the power supply 16 is arranged in modularization,
Facilitate follow-up assembling.
The power supply 16 is respectively arranged at two ends with the control device 15 for controlling correspondence wheel 20, and the two ends of the power supply 16 are equal
It is provided with the battery interface 177 for protruding out battery case 17 electrically to dock two control device 15.It is arranged such, described two
Control device 15 may be used to control both sides wheel 20 respectively, with preferable modular construction, control compared to only arranging one
Device 15, this programme avoids the circuit of complexity and shuttles between two wheels 20, because the circuits such as electric wire cable are susceptible to phase
Being entangled between mutually, and it is vulnerable to abrasion so that there is a problem that open circuit, short circuit, the modular grafting of this programme can be carried
The security and stability that each part is electrically connected with high car body 10.
The end of the power supply 16 is provided with battery protecting plate 178, and the battery interface 177 is arranged at the battery protection
On plate 178.
Size of the support frame 11 before and after car body 10 and/or on above-below direction is respectively less than the diameter of wheel 20.So
Arrange, the support frame 11 is corresponding with the shape of the power supply 16, the supporting collecting power supply 16 is may be used to, so as to reduce car
The overall dimensions of body 10, save the materials cost of support frame 11；On the other hand, the human-computer interaction body-sensing car 100 can be made more
Miniaturization, is more convenient to carry.The control device 15 is located in the support frame 11.It is arranged such, the control device 15
And power supply 16 can simplify the structure of car body 10 in the support frame 11, each modular construction in car body 10 is more concentrated surely
Gu.
The control device 15 is provided with the battery docking section 152 to dock with the power supply 16.It is arranged such, institute can be made
Control device 15 is stated in modularization, facilitate between control device 15 and power supply 16 electrical docks, it is to avoid more complicated circuit
Shuttle, improve the security and stability that each part is electrically connected with car body 10.
In the present embodiment, the control device 15 is master control circuit board, and the shape of the master control circuit board can
To be set to various shapes, such as square, rectangle, annular, ellipse etc., the shape of the control board is simultaneously not limited.
The support frame 11 is along the axially extending tubulose of wheel 20.It is arranged such, the support frame 11 of the tubulose
Structure is simpler, and manufacture is more convenient, and has higher bend resistance intensity in the axially direction of wheel 20, so as to simplify car
The structure of body 10, it is easily portable.Specifically, in the present embodiment, the support frame 11 is circular tube shaped.It is arranged such, institute
The outside of support frame 11 is stated relatively smooth smooth, during user's use, compared to the support frame 11 with the stupefied portion of protrusion
It is difficult to cause grazing to hinder user；On the other hand, compared to the support frame 11 accumulated with similar face, the circular tube shaped
Support bone frame 11 has maximum receiving space to house power supply 16 and/or control device 15, so as to be conducive to car body 10 to minimize
Trend, saves materials cost, carries more convenient.Certainly, in other embodiment of the present invention, the support frame 11 can also
It is square tube type, other multiangular tubulars, oval tubulose or other rules or irregular tubulose.
The side of tubular support skeleton 11 fixing has to position the master board fixed seat 18 of the control device 15.
It is arranged such, the master board fixed seat 18 can preferably protect the positioning control device 15, and the master board
Fixed seat 18 can be set to be different from the structure of tubular support skeleton 11 and be docked with miscellaneous part with facilitating, so that tubular support
The two ends of skeleton 11 need not specially be arranged to different structure at two ends during fabrication, so as to simplify being manufactured into for tubular support skeleton 11
Type.
The human-computer interaction body-sensing car 100 is additionally provided with to connect the motor fixing seat 3 of wheel 20, the motor fixing seat
3 mutually hold with the master board fixed seat 18.It is arranged such, the wheel 20 can be installed and be positioned at the motor fixing seat 3
Mutually held with master board fixed seat 18 by the motor fixing seat 3 after upper, consequently facilitating the human-computer interaction body-sensing car 100
The modularization of each inter-module is installed, and simplifies installation steps.
Modularization plug receptacle 26 is provided between the wheel 20 and car body 10.It is arranged such, the wheel 20 is by described
Modularization plug receptacle 26 is docked with the car body 10, is installed beneficial to the modularization of each inter-module of the human-computer interaction body-sensing car 100,
Simplify installation steps, it is to avoid complicated circuit shuttles, improve the security and stability that car body 10 is electrically connected with wheel 20.
The modularization plug receptacle 26 includes docking the connector 25 of the control device 15.It is arranged such, it is described
Modularization plug receptacle 26 can be docked with the control device 15, so as to realize control of the control device 15 to wheel 20, be simplified
Complicated circuit shuttles between control device 15 and wheel 20, improves the electric connection safety between control device 15 and wheel 20
Stability.
The connector 25 to dock the control device 15 is the frame mouth 251 extended along the above-below direction of car body 10.
It is arranged such, to dock between the connector 25 of the control device 15 and control device 15 in the vertical direction with longer
Contact length, when car body 10 be subject to above-below direction active force when, the connector to dock the control device 15
25 are difficult to depart from the control device 15.
Certainly, as shown in figure 5, the setting side to dock the frame mouth 251 of the connector 25 of the control device 15
Formula is not only limited to and extends along the above-below direction of car body 10, in other embodiments, described to dock the control device 15
Connector 25 ' be alternatively along the fore-and-aft direction of car body 10 extend frame mouth 251.It is arranged such, to dock the control device
There is in the longitudinal direction longer contact length between 15 connector 25 and control device 15.
The outside of the connector 25 is coated with connector fixed seat 24.It is arranged such, the connector fixed seat 24 can have
The effect protection internal structure of connector 25, prevents the damage that is collided.
The human-computer interaction body-sensing car 100 is additionally provided with the motor fixing seat 3 for installing positioning wheel 20, described to connect
Plug-in unit fixed seat 24 is housed and is immobilizated in the motor fixing seat 3.It is arranged such, simplifies the structure of car body 10, improves modularization journey
Degree, is easily installed.
The wheel 20 has protruded out axletree 21, and the one end of the axletree 21 connects the other end of wheel 20 and is connected with car
Wheel axis fixing plate 23, the wheel axis fixing plate 23 is housed and is immobilizated in the motor fixing seat 3.It is arranged such, the wheel
Axle 21 is immobilizated in shown motor fixing seat 3 by the wheel axis fixing plate 23, the wheel 20 is fixed with the motor
Seat 3 is in integrated setting, further simplifies the structure of car body 10, improves the degree of modularity, is easily installed.
Sealing ring 22 is provided between the axletree 21 and connector fixed seat 24.Thus, described improve the wheel
Seal between axle 21 and connector fixed seat 24.
The wheel axis fixing plate 23 mutually holds with the connector fixed seat 24.It is arranged such, improves the motor and consolidate
The fixing power and stability of the inner structure of reservation 3.
The driving means are located in the wheel 20, are provided with to transmit the cable of power supply 16 in the axletree 21
211, the cable 211 is connected with the connector 25.It is arranged such, the cable 211 can preferably be electrically connected with power supply
16 and control device 15, and the cable 211 of the axletree 21 can keep steady state that the rotation with wheel 20 does not occur, it is to avoid
There is the fortuitous events such as winding in rotary course in cable 211.
The connector 25 is provided with D type frames mouth 251 and convexedly stretches in plug terminal 252 in the frame mouth 251.So set
Put the control device 15 and can consolidate to be plugged in the D types frame mouth 251 and electrically dock with the plug terminal 252.
Axletree 21 is provided between the wheel 20 and car body 10, the one end of the axletree 21 is connected with wheel 20,
The other end is connected with wheel axis fixing plate 23, and the wheel axis fixing plate 23 mutually holds with the car body 10.It is arranged such, makes institute
Wheel 20 is stated with the wheel axis fixing plate 23 in an overall structure, when needing to install wheel 20 car body 10 is positioned at
When, it is only necessary to the described overall structure is secured on the car body 10, without the need for axletree 21 is plugged into support frame
In 11, the assembling positioning of complexity is carried out inside support frame 11.Ease of assembly, improves the degree of modularity of each part.
The wheel axis fixing plate 23 is perpendicular to the axis direction of wheel 20.It is arranged such, the wheel axis fixing plate 23 exists
By the fore-and-aft direction of car body 10 and/or above-below direction active force when be not susceptible to deflection, improve the wheel axis fixing plate 23
With the fixing stability between car body 10.
The human-computer interaction body-sensing car 100 is provided with power supply 16, and the driving means are located in the wheel 20, the wheel
Be provided with cable 211 in axle 21, the cable 211 extend the wheel axis fixing plate 23 to control device 15 and/or electricity
Source 16 is connected.It is arranged such, the driving means in the wheel 20 can be by the cable through the wheel axis fixing plate 23
211 are connected with the control device 15 and/or power supply 16.
The car body 10 be provided with depression to house the accepting groove 31 for holding the wheel axis fixing plate 23.So set
Put, the wheel axis fixing plate 23 can be housed and is positioned in the accepting groove 31, so as to improve the outer surface of the car body 10
Planarization.
The wheel axis fixing plate 23 is rectangle, and the accepting groove 31 is the square corresponding with the wheel axis fixing plate 23
Shape.It is arranged such, the pluggable positioning of the accepting groove 31 wheel axis fixing plate 23 prevents the wheel axis fixing plate 23
Raw mobile or rotation.
Certainly, the shape of the wheel axis fixing plate is such as square it can also be provided that various shapes, annular, ellipse etc.,
The shape of the wheel axis fixing plate is simultaneously not limited.
The support frame 11 is that, along the axially extending tubulose of wheel 20, the foot pedal apparatus 12 include being located at the tubulose
Foot platform 121 on support frame 11.It is arranged such, the foot platform 121 is available for users to steadily to be trampled, it is to avoid used
Person directly tramples and causes situations such as trampling shakiness on the tubular support skeleton 11, so as to the fortuitous event such as avoid slipping.
The foot platform 121 is wider than the width of the support frame 11 on the fore-and-aft direction of car body 10.It is arranged such, institute
State the volume of car body 10 less, save materials cost, and be easy to user to carry, the foot pedal apparatus 12 are available for users to steadily to be stepped on
Step on, it is to avoid user on the tubular support skeleton 11 to trample area too small, cause situations such as trampling shakiness.
The lower section of the foot platform 121 is provided with to be recessed from bottom to top and lack to the installation of support frame described in partial receipt 11
Mouth 124.It is arranged such, the support frame 11 can be partially housed in the installation gap 124, reduces the height of car body 10, carries
High user's stability of standing, on the other hand, also can be so as to improving the structural stability of the entirety of car body 10.
The side of the foot platform 121 is provided with the wheel cover 123 for being covered in the top of wheel 20.It is arranged such, it is described
Wheel cover 123 is prevented from user slips up when the foot platform 121 is trampled and steps on wheel 20, so as to avoid slipping
Fortuitous event；And simple structure, it is easy to assembly.
The first position sensor is located at the lower section of the foot pedal apparatus 12.It is arranged such, the first position sensor
Pressure information or inclination information that foot pedal apparatus 12 are subject to can be passed through, and by the information transmission for sensing to control device
15。
The two ends of the control device 15 are respectively arranged with outside docking section 151 and battery docking section 152, the support rib
Power supply 16 is provided with frame, the control device 15 is connected with the power supply 16 by the battery docking section 152, is connected by outside
Socket part 151 is connected with driving means and/or first position sensor.
The control device 15 is two and positioned at the left and right sides of power supply 16, the control device 15 to respectively from it is different
The driving means of wheel are connected.
Connector 25 is provided between the support frame 11 and wheel 20, the connector 25 is included to control described in grafting
The frame mouth 251 of the outside docking section 151 of device processed 15 and plug terminal 252.It is arranged such, the outside docking section 151 can be direct
It is plugged in the frame mouth 251 of the connector 25, simple structure is easy to assembly, it is to avoid the setting unnecessary line of cable 211
Road, improves security and stability.
The power supply 16 is connected with battery interface 177, and the battery docking section 152 plugs with the battery interface 177.
It is arranged such, the control device 15 can be directly plugged in the battery interface 177, and simple structure is easy to assembly, it is to avoid
The unnecessary circuit of cable 211 is set, security and stability is improved.
The outside docking section 151 and the perpendicular setting in battery docking section 152.It is arranged such, when both sides are all docked accordingly
After part, the vertical stratification can improve the overall structure stability of the control device 15, it is to avoid control device 15 is being inserted
Glance off in termination process.
It is to be flexibly connected or be fixedly connected between the foot pedal apparatus 12 and support frame 11.It is arranged such, when activity connects
When connecing, the first position sensor may be used to sense the inclination information of the foot pedal apparatus 12；It is described when being fixedly connected
First position sensor may be used to sense the pressure information on the foot pedal apparatus 12.
The first position sensor is pressure sensor.It is arranged such, it is foot-operated that first position sensor may be used to sensing
Pressure information on device 12.
The first position sensor is to sense the gradient change information of the foot pedal apparatus 12.In this regard, described first
Position sensor can be gyroscope etc. to sense the sensor of gradient change.
The control device 15 is to according to the stress information gap between two foot pedal apparatus 12 or inclination information difference control
System drives the wheel 20 to move or rotate, and realizes turning to.It is arranged such, when two foot pedal apparatus 12 are identical by force information or incline
When slope information is identical, the translational speed of two wheel 20 is identical, when two foot pedal apparatus 12 are by force information difference or inclination information
When information is different, wherein the translational speed of single wheel 20 is more than the translational speed of opposite side wheel 20, or both sides wheel 20
Moving direction is conversely, so as to realize turning to.
The same foot pedal apparatus 12 are provided with to sense same sole different parts inclination information or pressure information
Two first position sensors, the control device 15 to according to described two first position sensors gradient difference or
Pressure differential drives the wheel 20 to move or rotate.It is arranged such, when two stress information gaps of foot pedal apparatus 12 are identical or incline
When degree information gap is identical, the translational speed of two wheel 20 is identical, when two stress information gaps of foot pedal apparatus 12 are different or gradient letter
When breath difference is different, wherein the translational speed of single wheel 20 is more than the translational speed of opposite side wheel 20, or both sides wheel 20
Moving direction is conversely, so as to realize turning to.
The first position sensor whether have user on foot pedal apparatus 12 to sense, to control opening for wheel 20
Stop.It is arranged such, without the need for being separately provided an inductive switch, so as to simplify the structure of car body 10.Certainly, in other embodiment
In, it is also possible to it is separately provided inductive switch.
The driving means can be arranged in wheel 20, so the drive can be set come in using the existing volume of wheel 20
Dynamic device, space availability ratio is high；In other embodiments, the driving means can also be arranged in support frame 11.Such as
This setting, can be applicable to wheel 20 it is relatively small in the case of.
The foot pedal apparatus 12 include foot platform 121 and the foot pad 122 positioned at the top of foot platform 121, described the
One position sensor is arranged at the lower section of the foot platform 121.It is arranged such, user can be trampled on the foot pad 122, it is full
The demand of comfortableness is trampled in sufficient specific anti-skidding or raising.
The human-computer interaction body-sensing car 100 further includes a second place sensor (not shown), to sense support
The inclination information of the relative wheel 20 of skeleton 11.Be arranged such, when user and support frame 11 it is overall when leaning forward, it is described
Second place sensor senses inclination, will be signaled to control device 15, the control driving moment of the control device 15
20 travel forward so that overall to have sweptback power, play a part of balance.Specifically, the second place sensor
Including gyroscope, acceleration transducer and/or photoelectric sensor.
In sum, human-computer interaction body-sensing car 100 of the invention, it is passive only including one in two wheels 20
Tubular support skeleton 11, and foot pedal apparatus 12 are independently arranged on support frame 11, and without two connection is mutually rotated
Mechanism is used for being respectively provided with foot pedal apparatus 12, contrasts existing balance car or swing car on the market, and simple structure, car body 10 is integrated
Formula, extensibility is strong, simplifies steering yoke or vehicle body separates rotational structure, and vehicle body is firmer.
Although the present invention is disclosed above by preferred embodiment, but the present invention is not limited to, it is any to know this skill
Skill person, without departing from the spirit and scope of the present invention, can make a little change and retouching, therefore protection scope of the present invention is worked as
It is defined depending on claims scope required for protection.
Claims (16)
1. a kind of human-computer interaction body-sensing car, it includes car body and two wheels on car body, and the wheel is in radial direction
On can rotate around car body；It is characterized in that：The car body further include a support frame, be arranged on the support frame two
Individual foot pedal apparatus, first position sensor, control device and the driving means to drive the wheel, the support frame
It is connected for an overall structure and with vehicle wheel rotation, the first position sensor is to sense the relative institute of described two foot pedal apparatus
The stress or inclination information of support frame are stated, the control device controls the drive according to the stress or inclination information
Dynamic device drives the wheel movement or rotates, and the control device is located in support frame, the two ends point of the control device
It is not provided with outside docking section and battery docking section.
2. human-computer interaction body-sensing car according to claim 1, it is characterised in that：Power supply, institute are provided with the support frame
State control device to be connected with the power supply by the battery docking section, by external connecting and driving means and/or first
Position sensor is connected.
3. human-computer interaction body-sensing car according to claim 2, it is characterised in that：The control device is two and is located at electric
The source left and right sides, the control device is connected to the driving means respectively with different wheel.
4. human-computer interaction body-sensing car according to claim 2, it is characterised in that：It is provided between the support frame and wheel
Connector, the connector is included to the frame mouth and plug terminal of the outside docking section of control device described in grafting.
5. human-computer interaction body-sensing car according to claim 4, it is characterised in that：The power supply is connected with battery interface, institute
State battery docking section to plug with the battery interface.
6. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The external connecting is along parallel to wheel
The direction of axis extends.
7. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The outside docking section and battery docking section
Perpendicular setting.
8. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The first position sensor is pressure biography
Sensor.
9. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The control device is to according to two pin
The stress information gap stepped between device or inclination information difference drive the wheel movement or rotate.
10. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The same foot pedal apparatus are provided with use
To sense two first position sensors of same sole different parts inclination information or pressure information, the control device is used
To drive the wheel movement according to the gradient of described two first position sensors difference or pressure differential or rotate.
11. human-computer interaction body-sensing cars according to claim 1, it is characterised in that：The foot pedal apparatus and support frame it
Between for be flexibly connected or be fixedly connected.
12. human-computer interaction body-sensing cars according to claim 1, it is characterised in that：The first position sensor is to feel
Whether have user, to control the start and stop of wheel if surveying on foot pedal apparatus.
13. human-computer interaction body-sensing cars according to claim 1, it is characterised in that：The driving means are arranged at support rib
In frame or in wheel.
14. human-computer interaction body-sensing cars according to claim 1, it is characterised in that：The foot pedal apparatus include foot platform
And the foot pad above foot platform, the first position sensor is arranged at foot platform lower section.
15. human-computer interaction body-sensing cars according to claim 1, it is characterised in that：The human-computer interaction body-sensing car is further
Including a second place sensor, to the inclination information for sensing support frame relative wheel.
16. human-computer interaction body-sensing cars according to claim 15, it is characterised in that：The second place sensor includes top
Spiral shell instrument, acceleration transducer and/or photoelectric sensor.
Priority Applications (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710005993.5A CN106627896B (en) | 2017-01-04 | 2017-01-04 | Human-computer interaction somatosensory vehicle |
| US16/475,382 US11541960B2 (en) | 2017-01-04 | 2017-07-12 | Man-machine interaction somatosensory vehicle |
| EP17890095.7A EP3566936B1 (en) | 2017-01-04 | 2017-07-12 | Man-machine interaction somatosensory vehicle |
| JP2019556396A JP2020504055A (en) | 2017-01-04 | 2017-07-12 | HCI self-sensing control vehicle |
| EP22164541.9A EP4043327A1 (en) | 2017-01-04 | 2017-07-12 | Man-machine interaction somatosensory vehicle |
| PCT/CN2017/092610 WO2018126635A1 (en) | 2017-01-04 | 2017-07-12 | Man-machine interaction somatosensory vehicle |
| US16/172,032 US11260905B2 (en) | 2015-10-10 | 2018-10-26 | Human-machine interaction vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710005993.5A CN106627896B (en) | 2017-01-04 | 2017-01-04 | Human-computer interaction somatosensory vehicle |
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| Publication Number | Publication Date |
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| CN106627896A true CN106627896A (en) | 2017-05-10 |
| CN106627896B CN106627896B (en) | 2022-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710005993.5A Active CN106627896B (en) | 2015-10-10 | 2017-01-04 | Human-computer interaction somatosensory vehicle |
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| WO2018126635A1 (en) * | 2017-01-04 | 2018-07-12 | 杭州骑客智能科技有限公司 | Man-machine interaction somatosensory vehicle |
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