CN106627896B - Human-computer interaction somatosensory vehicle - Google Patents
Human-computer interaction somatosensory vehicle Download PDFInfo
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- CN106627896B CN106627896B CN201710005993.5A CN201710005993A CN106627896B CN 106627896 B CN106627896 B CN 106627896B CN 201710005993 A CN201710005993 A CN 201710005993A CN 106627896 B CN106627896 B CN 106627896B
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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
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- 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, wherein the wheels can rotate around the vehicle body in the radial direction; the bicycle body further comprises a supporting framework, two pedal devices arranged on the supporting framework, a first position sensor, a control device and a driving device used for driving the wheels, wherein the supporting framework is of an integral structure and is rotationally connected with the wheels, the first position sensor is used for sensing stress or inclination information of the two pedal devices relative to the supporting framework, the control device controls the driving 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 respectively provided with an external butt joint part and a battery butt joint part. So, other component connection can be directly in the same place in main control panel both ends, need not to set up the cable circuit in addition, simple structure, and the equipment is convenient.
Description
Technical Field
The invention relates to a balance car, in particular to a human-computer interaction motion sensing car.
Background
The operation principle of the man-machine interaction motion sensing vehicle, namely an electric balance vehicle and a thinking vehicle, is mainly based on the basic principle called dynamic stability, the gyroscope and the acceleration sensor in the vehicle body are utilized to detect the change of the vehicle body posture, and a servo control system is utilized to accurately drive a motor to carry out corresponding adjustment so as to keep the balance of the system.
The existing man-machine interaction motion sensing vehicles generally comprise two types, namely operating rods and no operating rods, wherein the man-machine interaction motion sensing vehicle with the operating rods is provided with the operating rods, and the advancing, the retreating and the steering of the man-machine interaction motion sensing vehicle are specifically controlled by the operating rods. The front and the back of the human-computer interaction body sensing vehicle are controlled by the inclination of the whole human-computer interaction body sensing vehicle, and the steering is realized by stepping on a pedal platform by a user and controlling through the relative rotation angle difference between the two pedal platforms. The two-wheel man-machine interactive motion sensing vehicle without the operating rod is mainly represented by a two-wheel self-balancing man-machine interactive motion sensing vehicle disclosed by patent CN201410262108.8, and an inner cover in the balance vehicle comprises a left inner cover and a right inner cover which are symmetrically arranged, and the left inner cover is rotationally connected with the right inner cover.
However, the inner cover used for supporting the framework of the balance car needs to comprise a left inner cover and a right inner cover, and the structure is relatively complex.
Disclosure of Invention
The invention provides a man-machine interaction motion sensing vehicle with a simple structure to overcome the prior art.
In order to achieve the purpose, the invention provides a human-computer interaction somatosensory vehicle which comprises a vehicle body and two wheels arranged on the vehicle body, wherein the wheels can rotate around the vehicle body in the radial direction; the automobile body further comprises a supporting framework, two pedal devices arranged on the supporting framework, a first position sensor, a control device and a driving device used for driving the wheels, wherein the supporting framework is of an integral structure and is connected with the wheels in a rotating mode, the first position sensor is used for sensing the stress or gradient information of the two pedal devices relative to the supporting framework, the control device controls the driving device to drive the wheels to move or rotate according to the stress or gradient information, the control device is located in the supporting framework, and the two ends of the control device are respectively provided with an external butt joint part and a battery butt joint part.
As a further improvement of the present invention, a power supply is provided in the support frame, and the control device is connected to the power supply through the battery docking portion and connected to the driving device and/or the first position sensor through an external connection portion.
As a further improvement of the invention, the two control devices are positioned at the left side and the right side of the power supply and are respectively connected with the driving devices of different wheels.
As a further improvement of the invention, a connector is arranged between the support framework and the wheel, and the connector comprises a frame opening and a plug terminal for plugging the external butt joint part of the control device.
As a further improvement of the present invention, the power supply is connected to a battery interface, and the battery interface is plugged into the battery interface.
As a further development of the invention, the outer connection extends in a direction parallel to the wheel axis.
As a further improvement of the present invention, the external docking portion is disposed perpendicular to the battery docking portion.
As a further improvement of the present invention, the first position sensor is a pressure sensor.
As a further improvement of the invention, the control device is used for driving the wheels to move or rotate according to the stress information difference or inclination information difference between the two pedal devices.
As a further improvement of the present invention, two first position sensors for sensing inclination information or pressure information of different parts of the same sole are disposed on the same pedal device, and the control device is configured to drive the wheels to move or rotate according to an inclination difference or a pressure difference between the two first position sensors.
As a further improvement of the invention, the pedal device is movably or fixedly connected with the supporting framework.
As a further improvement of the present invention, the first position sensor is used for sensing whether a user is on the pedal device to control the start and stop of the wheels.
As a further improvement of the invention, the drive device is arranged in the support frame or in the wheel.
As a further improvement of the present invention, the footrest apparatus includes a footrest platform and a foot pad located above the footrest platform, and the first position sensor is disposed below the footrest platform.
As a further improvement of the invention, the human-computer interaction somatosensory vehicle further comprises a second position sensor used for sensing the inclination information of the supporting framework relative to the wheels.
As a further development of the invention, the second position sensor comprises a gyroscope, an acceleration sensor and/or a photosensor.
Due to the application of the technical scheme, the invention has the following advantages:
the control device of the human-computer interaction somatosensory vehicle is positioned in the supporting framework, and the two ends of the control device are respectively provided with an external butt joint part and a battery butt joint part. So set up, the controlling means both ends can be directly with the power links together with drive arrangement and/or first position sensor, need not to set up the cable circuit in addition, simple structure, and the equipment is convenient.
Drawings
FIG. 1 is a three-dimensional combination view of a human-computer interaction somatosensory vehicle.
FIG. 2 is an exploded view of the three-dimensional structure of the human-computer interaction somatosensory vehicle.
FIG. 3 is a perspective combination view of the human-computer interaction motion sensing vehicle wheel and the modular jack.
Fig. 4 is an exploded perspective view of fig. 3.
Fig. 5 is a perspective combination view of the human-computer interaction motion sensing vehicle wheel and a modular jack of another embodiment of the invention.
FIG. 6 is an exploded view of a part of a three-dimensional structure of the body of the human-computer interaction somatosensory vehicle.
Fig. 7 is a further exploded view of a portion of the perspective structure of fig. 6.
Fig. 8 is a further exploded view of a portion of the perspective structure of fig. 7.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Fig. 1 to 8 show schematic structural views of a human-computer interaction motion sensing vehicle 100 according to the present invention, which includes a vehicle body 10 and two wheels 20 disposed on the vehicle body 10, wherein the wheels 20 can rotate around the vehicle body 10 in a radial direction; the vehicle body 10 further includes a supporting frame 11, two pedal devices 12 disposed on the supporting frame 11, a first position sensor (not shown), a control device 15, and a driving device (not shown) for driving the wheels 20, wherein the supporting frame 11 is an integral structure and is rotatably connected to the wheels 20, the first position sensor is configured to sense force information or inclination information of the two pedal devices 12 relative to the supporting frame 11, the control device 15 controls the driving device to drive the wheels 20 to move or rotate according to the force information or inclination information, and a power source 16 extending along an axial direction of the wheels 20 is disposed in the supporting frame 11. The integral structure is a structure that the supporting framework 11 is integral compared with a left inner cover and a right inner cover which are arranged in the prior art and can rotate mutually, and in different embodiments, the integral structure can be formed by split assembly or integrated molding. Due to the arrangement, the supporting framework 11 of the human-computer interaction somatosensory vehicle 100 extends along the axial direction of the wheels 20 approximately, so that the human-computer interaction somatosensory vehicle is used for connecting the wheels 20 on the left side and the right side and has certain strength, and the power supply 16 can be inserted and contained in the supporting framework 11 along the axial direction of the wheels 20, so that compared with a block-shaped power supply with the same volume in the prior art, the human-computer interaction somatosensory vehicle can more effectively utilize the containing space in the supporting framework 11, can allow the supporting framework 11 to have smaller sizes in the front-back direction and the up-down direction of the vehicle body 10, further reduces the whole size of the vehicle body 10, and saves the material cost of the supporting framework 11; on the other hand, the human-computer interaction motion sensing vehicle 100 is more miniaturized and more convenient to carry.
The size of the power source 16 in the front-rear and/or up-down direction of the vehicle body 10 is smaller than the diameter of the wheel 20. With such an arrangement, the vehicle body 10 has a smaller size in the front-rear and/or up-down directions, which is more material cost-effective and more portable.
The power source 16 is cylindrical and extends in the axial direction of the wheel 20. That is, the cross-sectional area of the power source 16 in the axial direction of the wheel 20 is circular, and thus the present invention may allow the support frame 11 to have a smaller surface area than other shapes of power sources of the same volume, thereby saving more material costs and allowing the vehicle body 10 to be more compact. In other embodiments, the cross-section of the power source 16 along the axial direction of the wheel 20 may be rectangular, other polygonal shapes, oval or other irregular shapes.
The power supply 16 includes an elongated battery pack 160, the elongated battery pack 160 including a plurality of elongated batteries 161 bundled in parallel. With such an arrangement, the power supply 16 can be manufactured by bundling after the elongated battery 161 is manufactured, and the battery with a single large size specification is not required to be specially customized, so that the manufacturing is convenient; and when individual damage occurs, the individual elongated batteries 161 can be individually replaced as needed, extending the service life of the power supply 16 as a whole and saving maintenance costs.
The power supply 16 includes a plurality of elongated battery packs 160 connected in tandem. With such an arrangement, the existing slender battery 161 in the existing specification can be used for splicing and binding front and back, and the battery with special size and specification does not need to be specially customized, so that the battery is convenient to manufacture.
The power supply 16 includes a battery housing 17 that encases the elongated battery pack 160. With this arrangement, the battery case 17 can stably collect the plurality of elongated batteries 161 together, and is not easily scattered.
The battery housing 17 includes a plurality of positioning brackets 176 for positioning the elongated batteries 161, respectively. With this arrangement, the positioning brackets 176 can position the elongated batteries 161 one by one, thereby ensuring stable electrical connection between adjacent elongated batteries 161.
The power supply 16 comprises three sets of elongated battery packs 160 connected in tandem, the battery housing 17 comprises two side end portions 171 for covering the two end elongated battery packs 160 and a middle end portion 175 located between the two side end portions 171 for covering the middle elongated battery pack 160, and the positioning bracket 176 is arranged in the middle end portion 175. With this arrangement, the battery case 17 and the elongated battery pack 160 are positioned and connected in a three-stage manner, which facilitates assembly and ensures stable electrical connection between all the elongated batteries 161.
The end 171 of the battery case 17 is provided with a hollow tube 172 for accommodating the slim battery pack 160 and a side end wall 173 covering the outside of the hollow tube 172 and facing the direction of the corresponding wheel 20, and the hollow tube 172 is provided with a positioning bracket 174. In this way, the elongated batteries 161 are sleeved on the positioning brackets 174 and then laterally sleeved in the hollow part 172 of the side end 171 of the battery shell 17, so as to facilitate assembly and positioning.
The power supply 16 includes a battery port 177 protruding out of the battery housing 17 for electrically interfacing with the control device 15. With such an arrangement, the battery interface 177 may be externally abutted with the control device 15, so that the power supply 16 is in a modular arrangement, thereby facilitating subsequent assembly.
The two ends of the power supply 16 are respectively provided with a control device 15 for controlling the corresponding wheel 20, and the two ends of the power supply 16 are respectively provided with a battery interface 177 protruding out of the battery shell 17 for electrically connecting the two control devices 15. So set up, two controlling means 15 can be used for controlling both sides wheel 20 respectively, have better modular structure, compare in only setting up a controlling means 15, and this scheme has avoided complicated circuit to shuttle between two wheels 20, because circuits such as electric wire cable take place mutual entanglement easily, and easily receive wearing and tearing so that appear opening circuit, bad condition such as short circuit, and this scheme modular grafting can improve each parts electric connection's in the automobile body 10 safety and stability.
A battery protection plate 178 is disposed at an end of the power supply 16, and the battery connector 177 is disposed on the battery protection plate 178.
The dimension of the support frame 11 in the front-rear and/or up-down direction of the vehicle body 10 is smaller than the diameter of the wheel 20. With the arrangement, the support framework 11 corresponds to the power supply 16 in shape and can be used for accommodating the power supply 16 in a matching way, so that the overall size of the vehicle body 10 is reduced, and the material cost of the support framework 11 is saved; on the other hand, the human-computer interaction motion sensing vehicle 100 can be miniaturized and is convenient to carry. The control device 15 is located within the support frame 11. With the arrangement, the control device 15 and the power supply 16 are both arranged in the supporting framework 11, so that the structure of the vehicle body 10 can be simplified, and the structures of all parts in the vehicle body 10 are more concentrated and stable.
The control device 15 is provided with a battery docking portion 152 for docking with the power source 16. By such arrangement, the control device 15 is modularized, so that the control device 15 and the power supply 16 can be electrically connected conveniently, a complex circuit is prevented from shuttling, and the safety and stability of electrical connection of each part in the vehicle body 10 are improved.
In the present embodiment, the control device 15 is a main control circuit board, and the shape of the main control circuit board may be set to various shapes, such as square, rectangle, ring, ellipse, etc., and the shape of the control circuit board is not limited.
The support frame 11 is tubular and extends axially along the wheel 20. So set up, pipy supporting framework 11 structure is simpler, and it is more convenient to make, and has higher bending strength along the axial direction of wheel 20 to simplify the automobile body 10 structure, more portable. Specifically, in the present embodiment, the support frame 11 has a circular tube shape. Due to the arrangement, the outer side of the supporting framework 11 is smooth and flat, and in the using process of a user, compared with the supporting framework 11 with the protruding edge part, the supporting framework is not easy to cause collision and scratch to the user; on the other hand, compared with the supporting framework 11 with the same surface area, the supporting framework 11 in the shape of a circular tube has the largest accommodating space for accommodating the power supply 16 and/or the control device 15, so that the miniaturization trend of the vehicle body 10 is facilitated, the material cost is saved, and the carrying is more convenient. Of course, in other embodiments of the present invention, the supporting framework 11 may also be a square tube, other polygonal tube, elliptical tube, or other regular or irregular tube.
The side end of the tubular supporting framework 11 is fixedly provided with a main control panel fixing seat 18 for positioning the control device 15. With the arrangement, the main control panel fixing seat 18 can better protect and position the control device 15, and the main control panel fixing seat 18 can be arranged in a structure different from that of the tubular support framework 11 so as to be convenient for butt joint with other parts, so that the two ends of the tubular support framework 11 are not required to be specially arranged in different structures at the two ends during manufacturing, and the manufacturing and forming of the tubular support framework 11 are simplified.
The human-computer interaction motion sensing vehicle 100 is further provided with a motor fixing seat 3 used for being connected with a wheel 20, and the motor fixing seat 3 is fixedly connected with the main control panel fixing seat 18. In this way, the wheels 20 can be installed and positioned on the motor fixing seat 3 and then are fixedly held with the main control panel fixing seat 18 through the motor fixing seat 3, so that the man-machine interaction motion sensing car 100 can be conveniently installed in a modularized mode among all components, and installation steps are simplified.
A modular jack 26 is provided between the wheel 20 and the body 10. So set up, wheel 20 passes through modularization socket 26 with automobile body 10 butt joint does benefit to the modularization installation between each subassembly of car 100 is felt to human-computer interaction body, simplifies the installation procedure, has avoided complicated circuit to shuttle back and forth, improves automobile body 10 and wheel 20 electric connection's safety and stability.
The modular patch socket 26 comprises a connector 25 for interfacing the control device 15. By such arrangement, the modular jack 26 can be docked with the control device 15, so as to control the wheel 20 by the control device 15, simplify the complicated line shuttling between the control device 15 and the wheel 20, and improve the safety and stability of the electrical connection between the control device 15 and the wheel 20.
The connector 25 for connecting the control device 15 is a frame opening 251 extending in the vertical direction of the vehicle body 10. In this way, the contact 25 for abutting the control device 15 and the control device 15 have a long contact length in the vertical direction, and the contact 25 for abutting the control device 15 is not easily detached from the control device 15 when the vehicle body 10 receives a vertical force.
Of course, as shown in fig. 5, the frame opening 251 of the connector 25 for abutting against the control device 15 is not limited to be provided so as to extend in the vertical direction of the vehicle body 10, and in other embodiments, the connector 25' for abutting against the control device 15 may be provided so as to extend in the front-rear direction of the vehicle body 10. This arrangement provides a longer contact length in the front-rear direction between the connector 25 for mating the control unit 15 and the control unit 15.
The connector 25 is covered with a connector fixing seat 24. With such an arrangement, the connector holder 24 can effectively protect the internal structure of the connector 25 from being damaged by collision.
The human-computer interaction motion sensing vehicle 100 is further provided with the motor fixing seat 3 for installing and positioning the wheel 20, and the connector fixing seat 24 is accommodated and fixed in the motor fixing seat 3. So set up, simplify automobile body 10 structure, improve the modularization degree, the installation of being convenient for.
A wheel shaft 21 protrudes from the wheel 20, one end of the wheel shaft 21 is connected to the wheel 20, the other end of the wheel shaft is connected to a wheel shaft fixing plate 23, and the wheel shaft fixing plate 23 is accommodated and fixed in the motor fixing seat 3. In such an arrangement, the wheel axle 21 is fixed in the motor fixing seat 3 through the wheel axle fixing plate 23, so that the wheel 20 and the motor fixing seat 3 are integrally arranged, the structure of the vehicle body 10 is further simplified, the modularization degree is improved, and the installation is convenient.
And a sealing ring 22 is arranged between the wheel shaft 21 and the connector fixing seat 24. Thus, the airtightness between the wheel shaft 21 and the connector holder 24 can be improved.
The wheel axle fixing plate 23 is fixed to the connector fixing seat 24. So set up, improve the holding power and the stability of motor fixing base 3 inner structure.
The driving device is located in the wheel 20, a cable 211 for transmitting the power supply 16 is arranged in the wheel shaft 21, and the cable 211 is connected with the connector 25. With such an arrangement, the cable 211 can be electrically connected to the power supply 16 and the control device 15 well, and the cable 211 of the wheel shaft 21 can be kept in a constant state and does not rotate along with the wheel 20, so that accidents such as winding of the cable 211 in the rotating process can be avoided.
The connector 25 is provided with a D-shaped frame opening 251 and a connector terminal 252 protruding into the frame opening 251. The control device 15 is thus configured to be stably inserted into the D-shaped frame opening 251 to electrically connect with the plug terminal 252.
A wheel shaft 21 is arranged between the wheel 20 and the vehicle body 10, one end of the wheel shaft 21 is connected with the wheel 20, the other end is connected with a wheel shaft fixing plate 23, and the wheel shaft fixing plate 23 is fixedly connected with the vehicle body 10. With such an arrangement, the wheel 20 and the wheel axle fixing plate 23 form an integral structure, and when the wheel 20 needs to be installed and positioned on the vehicle body 10, the integral structure only needs to be fixed on the vehicle body 10, and the wheel axle 21 does not need to be inserted into the supporting framework 11 and then is complicatedly assembled and positioned inside the supporting framework 11. The convenient equipment improves the modularization degree of each part.
The wheel axle fixing plate 23 is perpendicular to the axial direction of the wheel 20. With such an arrangement, the wheel axle fixing plate 23 is not prone to deflection when receiving the acting force in the front-back direction and/or the up-down direction of the vehicle body 10, and the holding stability between the wheel axle fixing plate 23 and the vehicle body 10 is improved.
The human-computer interaction motion sensing vehicle 100 is provided with a power supply 16, the driving device is arranged in the wheel 20, a cable 211 is arranged in the wheel shaft 21, and the cable 211 extends out of the wheel shaft fixing plate 23 to be connected with the control device 15 and/or the power supply 16. So configured, the drive unit in the wheel 20 may be connected to the control unit 15 and/or the power source 16 via a cable 211 passing through the wheel axle fixing plate 23.
The vehicle body 10 is provided with a recessed receiving groove 31 for receiving and holding the wheel axle fixing plate 23. With this arrangement, the wheel axle fixing plate 23 can be accommodated and positioned in the accommodating groove 31, thereby improving the flatness of the outer surface of the vehicle body 10.
The wheel shaft fixing plate 23 is rectangular, and the accommodating groove 31 is rectangular corresponding to the wheel shaft fixing plate 23. With this arrangement, the accommodating groove 31 can be inserted into and position the wheel axle fixing plate 23 to prevent the wheel axle fixing plate 23 from moving or rotating.
Of course, the shape of the wheel axle fixing plate can be set to various shapes, such as square, ring, oval, etc., and the shape of the wheel axle fixing plate is not limited.
The supporting frame 11 is tubular and extends along the axial direction of the wheel 20, and the pedal device 12 comprises a pedal platform 121 positioned on the tubular supporting frame 11. So set up, pedal platform 121 can supply the user to steadily trample, avoids the user directly to trample and cause the circumstances such as trample unstably on tubular support skeleton 11 to avoid unexpected circumstances such as slip.
The footrest 121 is wider than the width of the support frame 11 in the front-rear direction of the vehicle body 10. By such arrangement, the size of the bicycle body 10 is smaller, the material cost is saved, the bicycle is convenient to carry by a user, the pedal device 12 can be stably trodden by the user, and the situations that the trodden area of the user on the tubular supporting framework 11 is too small, the trodden is unstable and the like are avoided.
An installation notch 124 is formed below the pedal platform 121 and is recessed from bottom to top to partially accommodate the support frame 11. In this way, the supporting frame 11 can be partially accommodated in the mounting notch 124, so that the height of the vehicle body 10 is reduced, and the standing stability of a user is improved, and on the other hand, the overall structural stability of the vehicle body 10 can be improved.
A wheel cover 123 is disposed on one side of the pedal platform 121 to cover the wheel 20. With such an arrangement, the wheel cover 123 can prevent a user from mistakenly stepping on the wheel 20 when stepping on the pedal platform 121, so as to avoid accidents such as slipping; and the structure is simple, and the assembly is convenient.
The first position sensor is disposed below the pedal device 12. So configured, said first position sensor is able to transmit information on the pressure or inclination to which the foothold 12 is subjected, and to transmit the sensed information to the control means 15.
The both ends of controlling means 15 are provided with outside butt joint portion 151 and battery butt joint portion 152 respectively, be equipped with power 16 in the support chassis, controlling means 15 passes through battery butt joint portion 152 with power 16 is connected, is connected with drive arrangement and/or first position sensor through outside connecting portion 151.
The control devices 15 are two and are located at the left and right sides of the power supply 16, and the control devices 15 are used for being respectively connected with the driving devices of different wheels.
A connector 25 is arranged between the support framework 11 and the wheel 20, and the connector 25 comprises a frame opening 251 and a plug terminal 252 for plugging the external butting part 151 of the control device 15. So set up, outside butt joint portion 151 can directly peg graft in the frame mouth 251 of connector 25, simple structure, the equipment is convenient, has avoided setting up unnecessary cable 211 circuit, improves safety and stability.
The power supply 16 is connected with a battery interface 177, and the battery interface 152 is plugged in the battery interface 177. So set up, controlling means 15 can directly peg graft in battery interface 177, simple structure, the equipment is convenient, has avoided setting up unnecessary cable 211 circuit, improves safety and stability.
The external docking portion 151 is disposed perpendicular to the battery docking portion 152. With such an arrangement, after the two sides are butted with corresponding components, the vertical structure can improve the stability of the overall structure of the control device 15, and the control device 15 is prevented from deflecting in the plugging process.
The pedal device 12 is movably or fixedly connected with the supporting framework 11. So configured, when articulated, the first position sensor may be used to sense inclination information of the step apparatus 12; when fixedly attached, the first position sensor may be used to sense pressure information on the step device 12.
The first position sensor is a pressure sensor. Thus, the first position sensor can be used to sense pressure information on the footrest apparatus 12.
The first position sensor is configured to sense information about a change in inclination of the step device 12. In this regard, the first position sensor may be a gyroscope or the like to sense a change in inclination.
The control device 15 is used for controlling and driving the wheels 20 to move or rotate according to the stress information difference or inclination information difference between the two foot pedal devices 12, so as to realize steering. In this arrangement, when the force information of the two pedals 12 is the same or the inclination information is the same, the moving speeds of the two wheels 20 are the same, and when the force information of the two pedals 12 is different or the inclination information is different, the moving speed of one wheel 20 is greater than that of the other wheel 20, or the moving directions of the two wheels 20 are opposite, so as to achieve steering.
The same pedal device 12 is provided with two first position sensors for sensing inclination information or pressure information of different parts of the same sole, and the control device 15 is configured to drive the wheels 20 to move or rotate according to an inclination difference or a pressure difference between the two first position sensors. Thus, when the difference of the force information of the two pedals 12 is the same or the difference of the inclination information is the same, the moving speed of the two wheels 20 is the same, and when the difference of the force information of the two pedals 12 is different or the difference of the inclination information is different, the moving speed of one wheel 20 is greater than that of the other wheel 20, or the moving directions of the two wheels 20 are opposite, so as to realize steering.
The first position sensor is used for sensing whether a user is on the pedal device 12 to control the start and stop of the wheels 20. With this arrangement, it is not necessary to separately provide an inductive switch, thereby simplifying the structure of the vehicle body 10. Of course, in other embodiments, an inductive switch may be provided separately.
The driving device can be arranged in the wheel 20, so that the driving device can be arranged in the wheel 20 by utilizing the existing volume of the wheel 20, and the space utilization rate is high; in other embodiments, the driving means may also be arranged within the support skeleton 11. This arrangement can be used in situations where the wheel 20 is relatively small.
The footrest apparatus 12 includes a footrest platform 121 and a foot pad 122 located above the footrest platform 121, and the first position sensor is disposed below the footrest platform 121. So set up, the user can step on the callus on the sole 122 satisfies specific antiskid or improves the demand of trampling the travelling comfort.
The human-computer interaction motion sensing vehicle 100 further includes a second position sensor (not shown) for sensing the inclination information of the supporting frame 11 relative to the wheel 20. With such an arrangement, when the user and the supporting framework 11 are inclined forwards, the second position sensor senses the inclination and sends a signal to the control device 15, and the control device 15 controls the driving wheel 20 to move forwards, so that the whole body has a force of inclining backwards, and a balancing effect is achieved. In particular, the second position sensor comprises a gyroscope, an acceleration sensor and/or a photoelectric sensor.
In summary, the human-computer interaction somatosensory vehicle 100 of the present invention has the advantages that the two wheels 20 only include the tubular supporting framework 11 for supporting, the pedal devices 12 are independently disposed on the supporting framework 11, and two mechanisms rotatably connected with each other are not required for respectively disposing the pedal devices 12, compared with the existing balance vehicle or swing vehicle in the market, the structure is simple, the vehicle body 10 is an integrated body, the expandability is strong, and the structure for reducing the rotation of the steering rod or the vehicle body is a separate structure, so that the vehicle body is firmer.
Although the present invention has been described with reference to the preferred embodiments, it should be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.
Claims (16)
1. A man-machine interaction somatosensory vehicle comprises a vehicle body and two wheels arranged on the vehicle body, wherein the wheels can rotate around the vehicle body in the radial direction; the method is characterized in that: the bicycle body further comprises a supporting framework, two pedal devices arranged on the supporting framework, a first position sensor, a control device and a driving device used for driving the wheels, wherein the supporting framework is of an integral structure and is connected with the wheels in a rotating mode, the supporting framework is in a tubular shape extending along the axial direction of the wheels, the first position sensor is used for sensing stress or gradient information of the two pedal devices relative to the supporting framework, the control device controls the driving device to drive the wheels to move or rotate according to the stress or gradient information, the control device is located in the supporting framework, and two ends of the control device are respectively provided with an external butt joint portion and a battery butt joint portion.
2. The human-computer interaction somatosensory vehicle according to claim 1, characterized in that: the support framework is internally provided with a power supply, and the control device is connected with the power supply through the battery butt joint part and is connected with the driving device and/or the first position sensor through the external connecting part.
3. The vehicle is felt to human-computer interaction body of claim 2, characterized in that: the control devices are two and are positioned on the left side and the right side of the power supply, and the control devices are respectively connected with the driving devices of different wheels.
4. The vehicle is felt to human-computer interaction body of claim 2, characterized in that: and a connector is arranged between the support framework and the wheel and comprises a frame opening and a plug-in terminal, wherein the frame opening is used for plugging the external butt joint part of the control device.
5. The human-computer interaction somatosensory vehicle according to claim 4, characterized in that: the power supply is connected with a battery interface, and the battery butt joint part is spliced with the battery interface.
6. The human-computer interaction somatosensory vehicle according to claim 1, characterized in that: the outer connecting portion extends in a direction parallel to the wheel axis.
7. The human-computer interaction somatosensory vehicle according to claim 1, characterized in that: the external docking portion is disposed perpendicular to the battery docking portion.
8. The human-computer interaction somatosensory vehicle according to claim 1, characterized in that: the first position sensor is a pressure sensor.
9. The vehicle is felt to human-computer interaction body of claim 1, characterized in that: the control device is used for driving the wheels to move or rotate according to the stress information difference or inclination information difference between the two pedal devices.
10. The vehicle is felt to human-computer interaction body of claim 1, characterized in that: the control device is used for driving the wheels to move or rotate according to the inclination difference or the pressure difference of the two first position sensors.
11. The human-computer interaction somatosensory vehicle according to claim 1, characterized in that: the pedal device is movably or fixedly connected with the supporting framework.
12. The vehicle is felt to human-computer interaction body of claim 1, characterized in that: the first position sensor is used for sensing whether a user exists on the pedal device or not so as to control the starting and stopping of the wheels.
13. The vehicle is felt to human-computer interaction body of claim 1, characterized in that: the driving device is arranged in the supporting framework or the wheel.
14. The vehicle is felt to human-computer interaction body of claim 1, characterized in that: the foot pedal device comprises a foot pedal platform and a foot pad located above the foot pedal platform, and the first position sensor is arranged below the foot pedal platform.
15. The vehicle is felt to human-computer interaction body of claim 1, characterized in that: the human-computer interaction motion sensing vehicle further comprises a second position sensor used for sensing the inclination information of the supporting framework relative to the wheels.
16. The human-computer interaction somatosensory vehicle according to claim 15, wherein: the second position sensor includes a gyroscope, an acceleration sensor, and/or a photosensor.
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 |
| PCT/CN2017/092610 WO2018126635A1 (en) | 2017-01-04 | 2017-07-12 | Man-machine interaction somatosensory vehicle |
| US16/475,382 US11541960B2 (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 |
| EP17890095.7A EP3566936B1 (en) | 2017-01-04 | 2017-07-12 | Man-machine interaction somatosensory vehicle |
| EP22164541.9A EP4043327A1 (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 |
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| 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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| CN106627896A CN106627896A (en) | 2017-05-10 |
| CN106627896B true CN106627896B (en) | 2022-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710005993.5A Active CN106627896B (en) | 2015-10-10 | 2017-01-04 | Human-computer interaction somatosensory vehicle |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| US11260905B2 (en) | 2015-10-10 | 2022-03-01 | Hangzhou Chic Intelligent Technology Co., Ltd. | Human-machine interaction vehicle |
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Effective date of registration: 20220725 Address after: 321000 west side of 3 / F, 1 plant, No. 468, Xinji Road, qiubin street, Wucheng District, Jinhua City, Zhejiang Province (self declaration) Applicant after: Zhejiang Qike Robot Technology Co.,Ltd. Address before: 310000 9 buildings of Qixian bridge village, Liangzhu street, Yuhang District, Hangzhou, Zhejiang (1 stories, 3 storeys and 3-4 storeys of the North Tower). Applicant before: HANGZHOU CHIC INTELLIGENT TECHNOLOGY Co.,Ltd. |
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