CN106828726B

CN106828726B - Human-computer interaction somatosensory vehicle

Info

Publication number: CN106828726B
Application number: CN201710005991.6A
Authority: CN
Inventors: 应佳伟; 肖科平
Original assignee: Zhejiang Qike Robot Technology Co ltd
Current assignee: Zhejiang Qike Robot Technology Co ltd
Priority date: 2017-01-04
Filing date: 2017-01-04
Publication date: 2022-11-08
Anticipated expiration: 2037-01-04
Also published as: CN106828726A

Abstract

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 bicycle body further comprises a supporting framework, two pedal devices arranged on the supporting framework, a first position sensor and a control device, wherein the supporting framework is of an integral structure and is rotationally connected with a wheel, the first position sensor is used for sensing stress information of the two pedal devices relative to the supporting framework, the control device controls the driving device to drive the wheel to move or rotate according to the stress information, a wheel shaft is arranged between the wheel and the bicycle body, the wheel is rotationally connected to the bicycle body through the wheel shaft, and the gravity center of the bicycle body is lower than that of the wheel shaft. So, human-computer interaction body feels the car when operation or non-operating condition, the automobile body is difficult for the upset.

Description

Vehicle is felt to human-computer interaction body

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 vehicle is generally divided into two types, namely an operation rod and a non-operation rod, wherein the man-machine interaction motion sensing vehicle with the operation rod is provided with the man-machine interaction motion sensing vehicle, and the forward movement, the backward movement and the steering of the man-machine interaction motion sensing vehicle are specifically controlled by the operation rod. The human-computer interaction motion sensing vehicle without the operating rod is characterized in that the forward and backward movement of the human-computer interaction motion sensing vehicle is controlled by the inclination of the whole human-computer interaction motion sensing vehicle, and the steering is realized by the fact that a user steps on the pedal platforms and the relative rotation angle difference between the two pedal platforms is used for controlling. The two-wheeled human-computer interaction body-sensing vehicle without the operating rod is represented by a two-wheeled self-balancing human-computer interaction body-sensing vehicle disclosed in 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 relatively.

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 bicycle body further comprises a supporting framework, two pedal devices arranged on the supporting framework, a first position sensor and a control device, wherein the supporting framework is of an integral structure and is rotationally connected with a wheel, the first position sensor is used for sensing stress information of the two pedal devices relative to the supporting framework, the control device controls the driving device to drive the wheel to move or rotate according to the stress information, a wheel shaft is arranged between the wheel and the bicycle body, the wheel is rotationally connected to the bicycle body through the wheel shaft, and the gravity center of the bicycle body is lower than that of the wheel shaft.

As a further improvement of the invention, one end of the wheel shaft is connected with a wheel, the other end of the wheel shaft is connected with a wheel shaft fixing plate, and the wheel shaft fixing plate is fixedly connected with the vehicle body.

As a further improvement of the invention, the wheel axle is fixed to the upper half of the wheel axle fixing plate.

As a further improvement of the invention, a motor fixing seat for fixedly matching with the wheel axle fixing plate is arranged at the side end of the supporting framework, and the gravity center of the motor fixing seat is lower than that of the wheel axle.

As a further improvement of the invention, a sealing gasket is arranged between the wheel axle fixing plate and the motor fixing seat.

As a further improvement of the present invention, the supporting frame is provided with an accommodating cavity for inserting and matching the motor fixing seat, and the motor fixing seat comprises an inserting end for inserting and positioning in the accommodating cavity and a cover portion for connecting the inserting end to close the outer side of the accommodating cavity.

As a further improvement of the invention, a power supply is arranged in the accommodating cavity, and the motor fixing seat is provided with a positioning column which protrudes laterally and is used for supporting the power supply in the accommodating cavity.

As a further improvement of the invention, a wheel cover is arranged above the wheel, and an insertion mounting foot for inserting and fixing the wheel cover extends upwards from the cover part of the motor fixing seat.

As a further improvement of the invention, a limit convex part and a limit concave part which extend left and right and are mutually matched are arranged between the vehicle body accommodating cavity and the insertion end of the motor fixing seat.

As a further improvement of the invention, the wheel axle fixing plate is perpendicular to the wheel axis direction.

As a further improvement of the present invention, the driving device is disposed in the wheel, a cable connected to the driving device is disposed in the wheel axle, and the cable extends out of the wheel axle fixing plate to be connected to the control device and/or the power supply.

As a further improvement of the present invention, the motor fixing seat is provided with a recessed accommodating groove for accommodating and holding the wheel axle fixing plate.

As a further improvement of the present invention, the wheel axle fixing plate is rectangular, and the receiving groove is rectangular corresponding to the wheel axle fixing plate.

As a further improvement of the invention, the size of the supporting framework in the front-back and/or up-down direction of the vehicle body is smaller than the diameter of the wheel.

As a further improvement of the invention, the supporting framework is in a circular tube shape.

As a further development of the 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 between the two pedal devices.

As a further improvement of the invention, two first position sensors for sensing the same sole pressure information are arranged on the same pedal device, and the control device is used for driving the wheels to move or rotate according to the pressure difference of the two first position sensors.

As a further improvement of the invention, the pedal device is 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 present invention, the footrest apparatus includes a footrest platform and a foot pad located above a footrest plate, and the first position sensor is disposed below the footrest plate.

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 human-computer interaction somatosensory vehicle is simple in structure, a wheel shaft is arranged between the wheels and the vehicle body, the wheels are rotatably connected to the vehicle body through the wheel shaft, and the gravity center of the vehicle body is lower than that of the wheel shaft. According to the arrangement, when the human-computer interaction somatosensory vehicle is in a running or non-running state, the vehicle body as a whole can always suspend the gravity center below the wheel shaft, and the vehicle body can be kept in an original state and cannot turn upwards; even if the vehicle body is turned upwards by external force, the vehicle body can still be restored to the original position under the action of gravity, thereby greatly facilitating the use of users.

Drawings

FIG. 1 is a perspective combination view of the human-computer interaction somatosensory vehicle.

FIG. 2 is a perspective view of the human-computer interaction somatosensory vehicle of the invention from another angle.

FIG. 3 is a perspective view of the human-computer interaction somatosensory vehicle according to another embodiment of the invention.

Fig. 4 isbase:Sub>A cross-sectional view taken along linebase:Sub>A-base:Sub>A of fig. 3.

FIG. 5 is a partially exploded perspective view of a vehicle wheel of the human-computer interaction somatosensory vehicle.

Fig. 6 is a perspective assembly view of the relevant portion of the wheel of fig. 5.

Fig. 7 is a perspective assembly view of a relevant portion of the vehicle body of fig. 5.

FIG. 8 is an exploded perspective view of the human-computer interaction somatosensory vehicle of the invention.

FIG. 9 is an exploded perspective view of the human-computer interaction somatosensory vehicle of the invention from another angle.

FIG. 10 is a perspective view of a pedal device fixing bracket of the human-computer interaction somatosensory vehicle of the invention.

FIG. 11 is an exploded perspective view of the footrest apparatus of FIG. 8.

FIG. 12 is an exploded perspective view of the footrest in FIG. 11 at another angle.

Fig. 13 is an exploded view of the relevant portion of the wheel of fig. 8.

Fig. 14 is an exploded view of the relevant portion of the wheel of fig. 13 at another angle.

Fig. 15 is an exploded view of the relevant portion of the vehicle body of fig. 8.

Fig. 16 is an exploded view of the relevant portion of the vehicle body of fig. 15 at another angle.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further 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 16 show a schematic structural view 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 pedals 12 disposed on the supporting frame 11, a first position sensor 13, a control device 15, and a driving device (not shown) for driving the wheel 20, wherein the supporting frame 11 is an integral structure and is rotatably connected to the wheel 20, the first position sensor 13 is configured to sense stress information of the two pedals 12 relative to the supporting frame 11, the control device 15 controls the driving device to drive the wheel 20 to move or rotate according to the stress information, a recessed guide rail 112 is disposed on the supporting frame 11, and a pedal fixing bracket 18 for fixing and holding the pedals 12 is inserted into the guide rail 112. With such an arrangement, the structure is simple, the assembly is convenient, the support frame 11 and the pedal device fixing bracket 18 can be assembled after being manufactured in a split manner, different manufacturing processes can be conveniently selected according to specific requirements of the support frame 11 and the pedal device fixing bracket 18, for example, in some specific embodiments, the support frame 11 is tubular, and the support frame 11 can be conveniently manufactured and molded in a split manner. 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. In addition, the tubular shape may include a circular tubular shape, a polygonal tubular shape, or a tubular shape of any other cross-sectional shape, as viewed in cross-sectional shape; the tubular shape is not limited to a tubular shape extending in an equal proportion in terms of the manner of extension in the left-right direction, but may be a tubular shape extending irregularly, for example, partially expanded, partially contracted, rotated, displaced, or the like.

The guide rail 112 extends in the left-right direction and is provided on the front side and/or the rear side of the support frame 11. In this context, the left-right direction is along the axial direction of the wheel 20. With such an arrangement, the pedal device fixing support 18 can be inserted into the supporting framework 11 along the left and right directions, so that the pedal device fixing support 18 can be well fixed in the up and down directions, and upward support of the pedal device 12 is facilitated.

The left and right ends of the guide rail 112 are inserted with pedal device fixing brackets 18 for respectively installing and fixing with the left and right pedal devices 12. So configured, the left and right pedals 12 are both fixed on the pedal fixing bracket 18. In this embodiment, the one-side rail 112 for inserting the left and right footrest device fixing brackets 18 is integrally extended. The single side, i.e., the front side or the rear side, e.g., the same guide rail 112 of the front side, can be inserted into the pedal device fixing brackets 18 for respectively holding the two pedal devices 12 without interruption therebetween, so that the structure is simple and the manufacturing and assembling are convenient. In other embodiments, the unilateral rails 112 may be independent of each other.

The cross section of the guide rail 112 is T-shaped. Thus, the pedal device fixing bracket 18 can be inserted into the guide rail 112 to prevent the outward separation. Of course, in other embodiments, the cross section of the guide rail 112 can be configured in other shapes, such as triangle, circle, etc., so long as the diameter of the opening of the guide rail is smaller than the diameter of the inner portion of the guide rail, so that the footrest device fixing bracket 18 is not easy to fall off.

The pedal device fixing bracket 18 includes an inserting portion 181 for being transversely inserted into the guide rail 112 and a mounting portion 183 extending outwardly from the guide rail 112 for mounting and holding the pedal device 12. Thus, the footrest apparatus fixing bracket 18 can be fixed on the supporting frame 11 for fixing the footrest apparatus 12.

The mounting portion 183 is provided with a holding hole 101 for holding the pedal device 12. With such an arrangement, the fixing member such as a nut can be fixedly inserted into the fixing hole 101 to achieve a stable connection with the pedal device 12.

And a supporting wing part 182 which is attached to and extends upwards and/or downwards with the supporting framework 11 is arranged between the mounting part 183 and the inserting part 181. With this arrangement, the supporting wing 182 can be abutted against the supporting frame 11 in the vertical direction, so as to enhance the strength of the pedal device fixing bracket 18, and thus enhance the fixing stability between the pedal device 12 and the supporting frame 11.

In this embodiment, the supporting frame 11 is a circular tube extending along the axial direction of the wheel 20, and the guide rail 112 and the footrest device fixing bracket 18 are both located at the upper half portion of the supporting frame 11. So configured, the supporting framework 11 can provide better supporting force to the pedal device fixing bracket 18 upwards. Of course, the preferred embodiment is that the guide rails 112 and the footrest device fixing brackets 18 are disposed on the upper half portion of the supporting frame 11, but the arrangement is not a limitation of the present invention. In other embodiments, the guide rails 112 and the footrest device fixing brackets 18 can be located in the middle or lower half of the support frame 11.

The cross section of the inserting part 181 is T-shaped. With such an arrangement, the inserting portion 181 can be tightly matched with the guide rail 112, so as to improve the holding stability. In other embodiments, the cross section of the plug 118 corresponding to the rail 112 may be configured as a circle, a triangle, or the like.

Vehicle 100 is felt to human-computer interaction further includes power 16, power 16 is used for right drive arrangement, first position sensor 13 and controlling means 15 power supply, controlling means 15 is used for controlling power 16, drive arrangement and first position sensor 13 to the atress that senses according to first position sensor 13 sends drive signal to drive arrangement, thereby drive wheel 20 rotates.

A wheel shaft 21 is arranged between the wheel 20 and the vehicle body 10, and the wheel 20 is rotatably connected to the vehicle body 10 through the wheel shaft 21.

Preferably, the center of gravity of the vehicle body 10 is lower than the wheel axis 21. With the arrangement, when the human-computer interaction motion sensing vehicle 100 is in an operating or non-operating state, the vehicle body 10 as a whole can always suspend the center of gravity below the wheel axle 21, and the vehicle body 10 can be kept in an original state and is not turned upwards; even if the vehicle body 10 is turned upwards by external force, the vehicle body 10 can still be restored to the original position due to the action of gravity, thereby greatly facilitating the use of users. In other embodiments, the center of gravity of the vehicle body 10 may be set not lower than the wheel shaft 21, and the setting of the center of gravity of the vehicle body does not limit the present invention.

The rotational connection of the wheel 20 to the vehicle body 10 via the wheel axle 21 can be understood in various ways, such as in one embodiment, the wheel 20 can be fixed to the wheel axle 21, and the wheel axle 21 can be rotationally connected to the vehicle body 10; or in other embodiments, the wheel axle 21 may be fixed to the vehicle body 10 and the wheel 20 may rotate along the wheel axle 21.

In the present embodiment, one end of the wheel axle 21 is connected to the wheel 20, and the other end is connected to a wheel axle fixing plate 23, and the wheel axle fixing plate 23 is fixed to the vehicle body 10. Thus, the wheel 20 can be connected to the axle mounting plate 23 and then assembled to the support frame 11, thereby facilitating modular assembly between the support frame 11 and the wheel 20.

The wheel shaft 21 is fixed to the upper half of the wheel shaft fixing plate 23. With such an arrangement, after the wheel axle fixing plate 23 is mounted on the supporting frame 11, the gravity center of the vehicle body 10 is located below the wheel axle 21.

The motor fixing seat 3 is arranged at the side end of the supporting framework 11 and used for being fixedly matched with the wheel shaft fixing plate 23, and after the motor fixing seat 3 and the wheel shaft fixing plate 23 are assembled, the gravity center of the motor fixing seat 3 is lower than that of the wheel shaft 21. So arranged, it can be further ensured that the center of gravity of the vehicle body 10 is lower than the wheel axle 21. Specifically, the motor fixing base 3 may be made of a material with a large mass, such as metal, so as to ensure that the center of gravity of the vehicle body 10 is located below the wheel axle 21 and maintain high stability.

A sealing gasket (not shown) is arranged between the wheel axle fixing plate 23 and the motor fixing seat 3. Thus, the vehicle body 10 and the wheel 20 can have better dustproof and waterproof effects.

The supporting frame 11 is provided with an accommodating cavity 110 for inserting and matching the motor fixing seat 3, and the motor fixing seat 3 includes an inserting end 32 for inserting and positioning in the accommodating cavity 110 and a cover portion 31 for connecting the inserting end 32 and closing the outer side of the accommodating cavity 110. So, motor fixing base 3 accessible peg graft end 32 and support chassis 11 installation fixed, the lid seals and plays better sealed effect in the support chassis 11 outside.

The power supply 16 is disposed in the accommodating cavity 110, and the motor fixing base 3 is provided with a positioning column 312 which protrudes laterally and is used for abutting against the power supply 16 in the accommodating cavity 110. So, motor fixing base 3 can prevent power 16 from rocking about, improves the inside structural stability of automobile body 10.

A wheel cover 123 is arranged above the wheel 20, and an insertion mounting leg 311 for inserting and fixing the wheel cover 123 extends upwards from the cover part 31 of the motor fixing base 3. Therefore, the wheel cover 123 can be stably fixed on the motor fixing seat 3, and is convenient to assemble. In other embodiments, the wheel cover 123 may be held on the vehicle body 10 by other means.

A limit convex part 111 and a limit concave part 321 which extend left and right and are matched with each other are arranged between the accommodating cavity 110 of the vehicle body 10 and the insertion end 32 of the motor fixing seat 3. With such an arrangement, on one hand, the motor fixing seat 3 can be prevented from rotating in the accommodating cavity 110; and can prevent two parts from turning over the dress during the equipment, play and prevent slow-witted positioning action, spacing convex part 111 can also play the strengthening rib effect, increases the intensity of support chassis 11, improves the structural stability of automobile body 10. In other embodiments, the limit protrusion 111 may be disposed on the insertion end 3, and the limit recess 321 is disposed in the receiving cavity 110.

The wheel axle fixing plate 23 is perpendicular to the direction of the wheel axle 21. With such an arrangement, the wheel axle fixing plate 23 is not prone to deflection when acted by 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. In other embodiments, the wheel axle fixing plate 23 may not be perpendicular to the direction of the wheel axle 21 line.

The driving device is arranged in the wheel 20, a cable 211 connected with the driving device 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 drive device is a motor, and in other embodiments, the drive device may be provided in the vehicle body 20.

The motor fixing seat 3 is provided with a concave accommodating groove 33 for accommodating and fixing the wheel axle fixing plate 23. With this arrangement, the wheel axle fixing plate 23 can be accommodated and positioned in the accommodating groove 33, thereby improving the flatness of the outer surface of the vehicle body 10. In other embodiments, the motor fixing base 3 may be integrally formed with a part or the whole of the supporting frame 11.

The wheel shaft fixing plate 23 is rectangular, and the receiving groove 33 is rectangular corresponding to the wheel shaft fixing plate 23. In other embodiments, other shapes are possible. With this arrangement, the accommodating groove 33 can be inserted into and position the wheel axle fixing plate 23 to prevent the wheel axle fixing plate 23 from moving or rotating.

The pedal device 12 includes a pedal base plate 121 located above the first position sensor 13, the first position sensor 13 includes a front sensing element region 1313 and a rear sensing element region 1313, a middle force-receiving portion 1312 disposed between the front sensing element region 1313 and the rear sensing element region 1313 for directly or indirectly contacting the support frame 11, and outer force-receiving portions 1311 disposed on front and rear sides of the two sensing element regions 1313 for contacting the pedal base plate 121. Thus, when the tread base 121 is stepped down, the outer force receiving portions 1311 on the front and rear sides are subjected to a force from top to bottom, and the middle force receiving portion 1312 in the middle is subjected to a force from bottom to top, so that the first position sensor 13 is deformed like an upward arch, which may be understood as macro deformation or micro deformation. So that the deformation amount is sensed by the sensor element regions 1313 at the front and rear ends. The direct abutting means that no other component exists between the two to realize abutting by direct contact, and the indirect abutting means that the two abut by the transmission of the force of the other component, for example, in the present embodiment, a sensor fixing seat 125 is further provided in the abutting between the middle force receiving portion 1312 and the supporting frame 11. Specifically, referring to fig. 4, a gap 5 is provided between the pedal base plate 121 and the first position sensor 13. The gap 5 may provide an upwardly arched space in the middle of the first position sensor 13.

Specifically, in the present embodiment, the gap 5 is disposed between the middle force-receiving portion 1312 and the footrest 121. In other embodiments, the gap 5 can also be provided between the entire first position sensor 13 and the footrest floor 121.

The first position sensor 13 includes a front end portion 131 and a rear end portion 131 and a connecting portion 132 connecting the two end portions 131, and each end portion 131 includes the middle force-receiving portion 1312, the outer force-receiving portion 1311, and a sensing element region 1313 located between the middle force-receiving portion 1312 and the outer force-receiving portion 1311. So set up, two tip 131 before and after can be respectively according to the different pressure information that exert oneself sensing different of preceding sole. Stated another way, the two sensor element regions 1313 may also be understood to be two different position sensors to measure different forces on the front and rear soles, respectively.

The middle force-bearing parts 1312 are respectively provided with a fixing hole 101 for directly or indirectly fixing with the supporting frame 11, and the outer force-bearing parts 1311 are respectively provided with a fixing hole 101 for fixing with the pedal bottom plate 121. Therefore, the fixing pieces such as screws can be arranged on the fixing holes 101 in a penetrating mode, and assembly and fixation are facilitated.

In the present embodiment, the first position sensor 13 has an i-shape, and the width of the connecting portion 132 is smaller than the width of the end portion 131 in the left-right direction. With such an arrangement, the connecting portion 132 can fix the front and rear middle force-bearing portions 1312 to enhance the strength of the first position sensor 13, and the narrow connecting portion 132 can reduce the weight of the first position sensor 13, and on the other hand, the first position sensor 13 has better elasticity to improve the sensing sensitivity.

The pedal device 12 includes a sensor holder 125 for directly holding the middle force-receiving portion 1312 of the first position sensor 13, and the sensor holder 125 is directly or indirectly held by the supporting frame 11. With such an arrangement, the first position sensor 13 can be mounted on the supporting frame 11 after being fixed on the sensor fixing seat 125, and the first position sensor 13 can be protected during the mounting process.

The foothold 12 further comprises a lower shell 126 between the sensor fixing seat 125 and the vehicle body 10. Therefore, the smoothness of the outer side structure of the vehicle body 10 can be improved, and a good protection and attractive effect can be achieved.

A foot pad 122 is arranged above the pedal bottom plate 121, and the foot pad 122 is connected with the lower shell 126 in a sealing manner. The foot pad 122 can be made of soft rubber or other materials, so that the wear resistance and the friction force of the foot pad 122 can be increased, the use comfort of a user can be improved, and a better waterproof and dustproof effect is achieved.

Referring to fig. 3, the pedal device 12 is elliptical. Therefore, the use safety of the user can be improved, and the appearance is attractive. In other embodiments, the footrest apparatus 12 can have other shapes.

The supporting frame 11 is a tube extending along the axial direction of the wheel 20, and the pedal device 12 is wider than the supporting frame 11 in the front-rear direction of the vehicle body 10. The lower part of the pedal device 12 is recessed from bottom to top to partially accommodate the supporting framework 11. With this arrangement, the structural stability of the entire vehicle body 10 can be improved.

A wheel cover 123 for covering the upper part of the wheel 20 is arranged on one side of the pedal bottom plate 121, and the wheel cover 123 and the pedal device 12 are arranged separately. In this way, the respective manufacturing processes are easily realized, and in other embodiments, the footrest device 12 and the wheel cover 123 may be integrally extended. In other embodiments, the wheel cover 123 can be integrally formed with a portion of the footrest apparatus 12.

The same pedal device 12 is provided with two sensing element areas 1313 for sensing the same sole pressure information, and the control device 15 is configured to drive the wheel 20 to move or rotate according to the pressure difference between the two sensing element areas 1313.

The control device 15 includes a main control panel 150 disposed transversely within the tubular support frame 11. The tubular shape is not limited to a circular tube, and may be a long-cavity type having a cross section of another shape. With such an arrangement, the main control panel 150 can better utilize the space of the longitudinal accommodating cavity 110 in the tubular supporting frame 11, thereby improving the space utilization rate. In other embodiments, the main control board 150 may be otherwise disposed within the support frame 11.

A power supply 16 is disposed in the supporting frame 11, and a battery docking interface 152 for electrically docking with the power supply 16 is disposed on the main control board 150. The power supply 16 is provided with a battery interface 177 for interfacing with the battery docking interface 152. With the arrangement, the power supply 16 and the main control board 150 are in butt joint through the modularized interface, so that more cables 211 can be prevented from shuttling, the problems of aging and the like of the cables 211 are avoided, and the safety is improved.

The battery docking interface 152 is located at the middle of the main control board 150 in the left-right direction. Therefore, the balance degree of the main control board can be improved, and the assembly stability is improved. In other embodiments, other locations are possible.

The main control board 150 has external docking ports 151 at left and right ends for electrically docking with the driving devices at both sides. The external docking interface 151 may be conveniently docked with the interface of the driving device and/or the first position sensor 13, which facilitates better modular assembly.

A connector 25 electrically connected to the driving device and configured to electrically connect the external docking interface 151 is disposed between the supporting frame 11 and the wheel 20. The connector 25 can be electrically connected to the external connection interface 151, which facilitates the modular assembly of the driving device and the vehicle body 10.

The external docking interfaces 151 are located at both ends of the power supply 16 in the left-right direction. Therefore, the external docking interface 151 can better utilize the remaining space at the two ends of the power supply 16 in the supporting framework 11, facilitate docking with the motor, and improve the space utilization rate inside the supporting framework 11.

The main control panel 150 is transversely disposed at the top end of the supporting frame 11, and the power supply 16 is located below the main control panel 150. With such an arrangement, the main control board 150 can be well protected from being squeezed.

The front and rear sides above the power supply 16 are provided with holding ribs 1790 extending left and right for holding the main control board 150 upward, and a hollow groove 179 between the main control board 150 and the power supply 16 is provided between the holding ribs 1790. Therefore, the main control board 150 can be well abutted and fixed, and elements on the main control board 150 can be protected from being squeezed easily.

In the present embodiment, the main control plate 150 has a long shape extending in the left and right direction. Therefore, the main control panel 150 can better utilize the space at the top end in the tubular supporting framework 11, and the space utilization rate is improved. In other embodiments, the main control board 150 may have other shapes.

The human-computer interaction motion sensing vehicle 100 is internally provided with a transmission connecting part, wherein the transmission connecting part comprises a power transmission part, a Hall transmission part and a temperature transmission part for transmitting temperature signals. So set up, the temperature transmission part can be used for to controlling means 15 transmission human-computer interaction body car 100's temperature signal, and when the corresponding part temperature of car 100 was felt to human-computer interaction body reached a take the altitude, corresponding protection program such as can start the shut down, improvement human-computer interaction body car 100 safety in utilization.

The transmission component may be a cable or a jack terminal. Thus, signal transmission can be realized. It should be understood that the socket terminal described herein is not limited to the socket terminal 252 disposed between the power source 16 and the driving device in the drawings, and may be a socket terminal used in place of a cable. The cable described here is not limited to the cable 211 shown in the drawings, and may be a cable provided in another place.

In different embodiments of the present invention, when the transmission component is a cable, 5 hall lines, 2 or 1 temperature line, and 3 power lines may be included. When the transmission component is a plug terminal, 3 power terminals, 5 hall terminals, 2 or 1 temperature terminal can be included. Of course, in other embodiments, the transmission may be performed partially by using a wire and partially by using a terminal. For example, in the present embodiment, the plug terminal 252 may be provided with a power supply terminal, but not a hall terminal, and the corresponding function is realized by an additional battery communication line.

A power supply 16 is arranged in the support framework 11, a temperature sensor (not shown) for monitoring the internal temperature of the power supply 16 is arranged in the power supply 16, and the temperature transmission component is connected with the temperature sensor. Therefore, the temperature sensor can be used for sensing whether the power supply 16 has an overheating condition or not, and the use safety is improved.

A wheel shaft 21 is arranged between the wheel 20 and the vehicle body 10, the wheel 20 is rotatably connected to the vehicle body 10 through the wheel shaft 21, the driving device is arranged in the wheel 20, the driving device is a driving motor, a driving circuit (not shown) for controlling the driving device is arranged on the main control board 150, the cable 211 connected to the driving device is arranged in the wheel shaft 21, and the cable 211 extends out of the wheel shaft 21 to be connected with a connector 25. Thus, the power supply, the hall and the temperature transmission part are arranged between the driving device and the connector 25. In other embodiments, no temperature transmission member may be provided between the driving device and the connector 25, that is, no temperature sensor may be provided in the driving device.

The connector 25 includes a frame 251 and the plug terminals 252 located in the frame 251 and connected to the cables 211.

The power supply 16 is connected to an external docking interface 151, and the external docking interface 151 and the connector 25 are docked with each other. In this way, the connector 25 can be butted with the external butting interface 151, so that the modular assembly degree between the driving device and the power supply 16 is improved, and the safety is improved.

Further, the power supply 16 is connected with an external docking interface 151 through a main control board 150, a battery docking interface 152 and a battery interface 177 which are mutually inserted are arranged between the power supply 16 and the main control board 150, the external docking interface 151 is arranged on the main control board 150, and the external docking interface 151 is connected with the power supply 16 through the main control board 150. Thus, the degree of modular assembly between the main control board 150 and the power supply 16 is further improved, and safety is improved.

The outer side of the wheel 20 is provided with a wheel cover 123, and the wheel cover 123 is provided with an anti-collision rubber 127. With the arrangement, the wheel cover 123 can be well protected during use.

Specifically, the anti-collision rubber 127 is protruded outside the wheel cover 123. Therefore, the structure is simple and the assembly is convenient. In other embodiments, the anti-collision rubber 127 may also be embedded in the wheel cover 123, and a buffering wear-resistant material different from the wheel cover 123 is used, so that the material cost is saved while the durability is improved.

Referring to fig. 1, the anti-collision rubber 127 is located on the front and rear sides of the wheel cover 123. Thus, the material cost is saved. In other embodiments, the crash-proof glue 127 may be installed at other positions.

The wheel cover 123 is held on the vehicle body 10. The vehicle body 10 comprises a motor fixing seat 3 positioned between the wheel 20 and the supporting framework 11. The motor fixing base 3 is used for pivotally connecting and positioning the wheel 20.

The motor fixing base 3 extends upward to form an insertion mounting leg 311 for inserting and fixing the wheel cover 123, and a mounting slot 1230 recessed from bottom to top for accommodating the insertion mounting leg 311 is formed below the wheel cover 123. Therefore, the wheel cover 123 can be stably fixed with the motor fixing seat 3, and has a simple structure and stable assembly.

A fixing column 1231 protruding from the top to the bottom is disposed below the wheel cover 123 and located at the front and rear sides of the mounting slot 1230, and the motor fixing base 3 is provided with a fixing groove 313 recessed from the top to the bottom and located at the front and rear sides of the insertion mounting leg 311 for inserting and fixing the fixing column 1231. Therefore, the holding stability between the wheel cover 123 and the motor fixing seat 3 can be further improved.

Since the dimension of the support frame 11 in the front-rear and/or vertical direction of the vehicle body 10 is smaller than the diameter of the wheel 20 and the support frame 11 is in a circular tube shape extending along the axial direction of the wheel 20, the wheel cover 123 is provided with a wheel cover portion 1241 for shielding the wheel 20 and an extension portion 1242 extending from the wheel cover portion 1241 in a streamline contraction manner toward the support frame 11. Thus, the extension 1242 can provide a better dustproof and waterproof function between the wheel 20 and the vehicle body 10, and can improve the smoothness of the whole structure of the human-computer interaction body sensing vehicle 100, so that the user can clean the vehicle conveniently.

The extending end of the extending part 1242 is provided with an installation notch 124 used for being matched with the supporting framework 11, so that the overall structural stability of the human-computer interaction somatosensory vehicle 100 is improved.

The support framework 11 is provided with a sunken guide rail 112, and the light strip 4 is inserted on the guide rail 112. The installation is simple and convenient due to the arrangement; the lamp strip 4 can make the human-computer interaction body sensing vehicle 100 have a good warning and recognition effect when in use, and the traffic safety of a user is improved.

The guide rail 112 extends in the left-right direction and is provided on the front side and/or the rear side of the support frame 11. In this way, the light strip 4 can be arranged on the front side and/or the rear side of the supporting skeleton 11.

A pedal device fixing bracket 18 for fixing and holding the pedal device 12 is also inserted on the guide rail 112. So configured, the pedal device fixing bracket 18 and the lamp strip 4 can share one guide rail 112, which is convenient for manufacturing.

Pedal device fixing brackets 18 for respectively installing and fixing with the left pedal device 12 and the right pedal device 12 are inserted at the left end and the right end of the guide rail 112, and the lamp strip 4 is positioned between the pedal device fixing brackets 18 at the two ends. In the assembling process, the lamp strip 4 can be firstly inserted into the guide rails 112, and then the pedal device fixing brackets 18 on the two sides are inserted into the guide rails 112 on the two sides of the lamp strip 4, so that the assembling is facilitated.

The rear side of the light strip 4 is fixed with a fixing strip 41 inserted into the guide rail 112. So set up, can make the back equipment together with the lamp area 4 with the fixed strip 41 components of a whole that can function independently, be convenient for the manufacturing and shaping of lamp area 4.

The cross section of the guide rail 112 is T-shaped. The cross section of the fixing strip 41 is T-shaped. With such an arrangement, the fixing strip 41 is tightly matched with the guide rail 112, so as to improve the holding stability between the lamp strip 4 and the supporting framework 11. In other embodiments, the cross section may have other shapes, so as to ensure that the inserted cable does not separate.

The supporting frame 11 is a circular tube extending along the axial direction of the wheel 20, and the guide rail 112, the pedal device fixing support 18 and the lamp strip 4 are all located on the upper half part of the supporting frame 11. So configured, the supporting framework 11 can provide better supporting force to the pedal device fixing bracket 18 upwards. In other embodiments, the guide rail 112, the footrest device fixing bracket 18 and the light strip 4 may be located in the middle or lower half of the support frame 11.

Be equipped with in the supporting framework 11 along the lengthwise type power 16 of 20 axial extensions of wheel, power 16 includes battery case 17, battery case 17 and supporting framework 11 are the metal material. So set up, metal material's battery case 17 can make power 16 is explosion-proof battery, just metal material's supporting framework 11 makes explosion-proof power 16 has further protection, double-deck metal material protection can greatly improve car 100's security is felt to human-computer interaction body, avoids the incident that power 16 explosion arouses.

In the present embodiment, the support frame 11 is an aluminum pipe. In other embodiments, the supporting framework 11 may be made of other metal materials.

A limit groove 170 and a limit convex part 111 which are matched with each other are arranged between the battery shell 17 and the support framework 11. So set up, do benefit to location between power 16 and the supporting framework 11 is difficult for taking place displacement each other, improves overall stability, and can play the effect of preventing the dress of turning over in the equipment.

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 this arrangement, the vehicle body 10 has a smaller size in the front-rear and/or vertical directions, which makes it more material-cost-effective and more portable.

The support frame 11 is a circular tube extending along the axial direction of the wheel 20. With this arrangement, the support frame 11 has a smaller surface area in a base having the same volume, thereby saving more material cost and allowing the vehicle body 10 to be more compact and lightweight. On the other hand, the support frame 11 having a smooth surface is less likely to cause great damage to the user or the surroundings. In other embodiments, the cross section of the support frame 11 and the power supply 16 along the wheel axis 21 may be rectangular, other polygonal shapes, oval or other irregular shapes. The cross-sectional area of the longitudinal power supply 16 along the axial direction of the wheel 20 is circular and is matched with the support framework 11.

In this embodiment, the pedal device 12 is fixedly connected to the supporting frame 11. The first position sensor 13 may be used to sense pressure information on the footrest apparatus 12.

The first position sensor 13 is a pressure sensor. So configured, the first position sensor 13 can be used to sense pressure information on the step device 12.

The control device 15 is used for controlling and driving the wheels 20 to move or rotate according to the stress information difference between the two foot treading devices 12, so as to realize steering. So configured, when the force information of the two pedals 12 are the same, the moving speed of the two wheels 20 is the same, and when the force information of the two pedals 12 are different, the moving speed of one side wheel 20 is greater than that of the other side wheel 20, or the moving directions of the two side wheels 20 are opposite, thereby realizing steering.

In this embodiment, two sensor element regions 1313 for sensing the same sole pressure information are provided on the same footrest device 12. In other embodiments, the first position sensor 13 may be a sensor with only one sensing element region 1313, that is, it can be stated that two such first position sensors 13 for sensing pressure information of different parts of the same sole may be provided on the same pedal device 12, and the control device 15 is configured to drive the wheel 20 to move or rotate according to a pressure difference between the two first position sensors 13. So configured, when the difference of the force information of the two pedals 12 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, the moving speed of one side wheel 20 is greater than that of the other side wheel 20, or the moving directions of the two side wheels 20 are opposite, thereby realizing steering.

In other embodiments, the first position sensor 13 can also be used to sense whether a user is present on the footrest 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 pedal device 12 includes a pedal base plate 121 and a foot pad 122 located above the pedal base plate 121, and the first position sensor 13 is disposed below the pedal base plate 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 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.

The footrest 12 is biased outward as compared to the front-rear direction. So set up, the stance that the distance that adaptable user's both toes between is wider than the distance of two heels increases user's comfort level. In other embodiments, the deflection may not be provided.

In summary, the human-computer interaction somatosensory vehicle 100 of the present invention only includes one tubular supporting framework 11 for supporting between two wheels 20, and the pedal devices 12 are independently disposed on the supporting framework 11, and two mechanisms rotatably connected to 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 vehicle body 10 of the present invention has a simple structure, an integrated body, a strong expandability, and a simplified structure for reducing the separate rotation of the steering rod or the vehicle body, so that the vehicle body is firmer.

Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A human-computer 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 comprises a bicycle body, a bicycle body and a control device, wherein the bicycle body further comprises a supporting framework, two pedal devices, a first position sensor and the control device, the two pedal devices are arranged on the supporting framework, the supporting framework is of an integral structure and is rotationally connected with a bicycle wheel, the supporting framework is tubular, the first position sensor is used for sensing stress information of the two pedal devices relative to the supporting framework, the control device controls a driving device to drive the bicycle wheel to move or rotate according to the stress information, a bicycle wheel shaft is arranged between the bicycle wheel and the bicycle body, the bicycle wheel is rotationally connected to the bicycle body through the bicycle wheel shaft, and the gravity center of the bicycle body is lower than that of the bicycle wheel shaft.

2. The human-computer interaction somatosensory vehicle according to claim 1, characterized in that: one end of the wheel shaft is connected with the wheel, the other end of the wheel shaft is connected with a wheel shaft fixing plate, and the wheel shaft fixing plate is fixedly connected with the vehicle body.

3. The human-computer interaction somatosensory vehicle according to claim 2, characterized in that: the wheel shaft is fixed on the upper half part of the wheel shaft fixing plate.

4. The human-computer interaction somatosensory vehicle according to claim 2, characterized in that: and a motor fixing seat which is fixedly matched with the wheel axle fixing plate is arranged at the side end of the supporting framework, and the gravity center of the motor fixing seat is lower than that of the wheel axle.

5. The human-computer interaction somatosensory vehicle according to claim 4, characterized in that: and a sealing gasket is arranged between the wheel shaft fixing plate and the motor fixing seat.

6. The human-computer interaction somatosensory vehicle according to claim 4, characterized in that: the supporting framework is provided with an accommodating cavity which is used for being matched with the motor fixing seat in an inserting mode, and the motor fixing seat comprises an inserting end which is used for being inserted and positioned in the accommodating cavity and a cover portion which is connected with the inserting end and used for being sealed outside the accommodating cavity.

7. The human-computer interaction somatosensory vehicle according to claim 6, characterized in that: the accommodating cavity is internally provided with a power supply, and the motor fixing seat is provided with a positioning column which protrudes laterally and is used for supporting the power supply in the accommodating cavity.

8. The human-computer interaction somatosensory vehicle according to claim 6, characterized in that: and a wheel cover is arranged above the wheel, and the cover part extends upwards to form an inserting mounting foot for inserting and fixing the wheel cover.

9. The human-computer interaction somatosensory vehicle according to claim 6, characterized in that: and a limiting convex part and a limiting concave part which extend left and right and are mutually matched are arranged between the vehicle body accommodating cavity and the motor fixing seat insertion end.

10. The human-computer interaction somatosensory vehicle according to claim 2, characterized in that: the wheel axle fixing plate is perpendicular to the direction of the wheel axis.

11. The human-computer interaction somatosensory vehicle according to claim 2, characterized in that: the driving device is arranged in the wheel, a cable connected with the driving device is arranged in the wheel shaft, and the cable extends out of the wheel shaft fixing plate and is used for being connected with the control device and/or the power supply.

12. The human-computer interaction somatosensory vehicle according to claim 4, characterized in that: the motor fixing seat is provided with a concave containing groove for containing and fixing the wheel axle fixing plate.

13. The vehicle is felt to human-computer interaction body of claim 12, characterized in that: the wheel shaft fixing plate is rectangular, and the containing groove is rectangular corresponding to the wheel shaft fixing plate.

14. The human-computer interaction somatosensory vehicle according to claim 1, characterized in that: the size of the support framework in the front-back and/or up-down direction of the vehicle body is smaller than the diameter of the wheel.

15. The human-computer interaction somatosensory vehicle according to claim 1, characterized in that: the first position sensor is a pressure sensor.

16. The human-computer interaction somatosensory vehicle according to claim 1, characterized in that: the control device is used for driving the wheels to move or rotate according to the stress information difference between the two pedal devices.

17. The human-computer interaction somatosensory vehicle according to claim 1, characterized in that: the control device is used for driving the wheels to move or rotate according to the pressure difference of the two first position sensors.

18. The human-computer interaction somatosensory vehicle according to claim 1, characterized in that: the pedal device is fixedly connected with the supporting framework.

19. 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.

20. The human-computer interaction somatosensory vehicle according to claim 1, characterized in that: the foot pedal device comprises a foot pedal platform and a foot pad located above a foot pedal bottom plate, and the first position sensor is arranged below the foot pedal bottom plate.

21. The human-computer interaction somatosensory vehicle according to 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.

22. The human-computer interaction somatosensory vehicle according to claim 21, wherein: the second position sensor includes a gyroscope, an acceleration sensor, and/or a photosensor.