CN107364524B

CN107364524B - Human-computer interaction somatosensory vehicle

Info

Publication number: CN107364524B
Application number: CN201710547539.2A
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: 2017-07-06
Publication date: 2023-04-11
Anticipated expiration: 2037-07-06
Also published as: CN208149512U; CN108313179A; CN108275226A; CN106828728A; CN108327835B; CN108341009B; CN108341009A; CN107364524A; CN208149511U; CN108327835A; CN208585368U; CN107416097B; CN108297999B; CN207241896U; CN207580049U; CN207997938U; CN207985070U; CN108297999A; CN107416097A

Abstract

The 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 bicycle body further comprises a supporting framework, two pedal devices arranged on the supporting framework, a control device and a driving device used for driving wheels, wherein the supporting framework is of an integral structure and is rotationally connected with the wheels, each pedal device comprises a pedal bottom plate and a first position sensor which is positioned between the pedal bottom plate and the supporting framework and is used for sensing stress information of the pedal device, and the control device controls the driving device to drive the wheels to move or turn according to the stress information of the two pedal devices. The human-computer interaction somatosensory vehicle disclosed by the invention can effectively solve the problem of complicated structure caused by the fact that the support framework needs to be designed into two parts needing to rotate and the wheels can be controlled to rotate only through the rotation of the two parts by controlling the driving device to drive the wheels to move or rotate according to the stress information of the pedal device.

Description

Human-computer interaction somatosensory vehicle

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 body sensing vehicles generally comprise two types, namely operating rods and no operating rods, wherein the man-machine interaction body sensing vehicles with the operating rods are provided with the man-machine interaction body sensing vehicles, and steering of the man-machine interaction body sensing vehicles is 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-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 control device and a driving device used for driving the bicycle wheels, wherein the supporting framework is of an integral structure and is rotationally connected with the bicycle wheels, the pedal devices comprise pedal bottom plates and first position sensors which are arranged between the pedal bottom plates and the supporting framework and are used for sensing stress information of the pedal devices, and the control device controls the driving device to drive the bicycle wheels to move or turn according to the stress information of the two pedal devices.

Furthermore, each first position sensor comprises two sensing element areas distributed at two parts of the pedal bottom plate, and the first position sensors sense the stress information of the two parts of the pedal bottom plate through the two sensing elements to acquire the stress information of the pedal device.

Furthermore, the sensing element area is provided with a first stress part and a second stress part, the first stress part of each sensing element area is abutted against one of the supporting framework and the pedal base plate, and the second stress part is abutted against the other of the supporting framework and the pedal base plate.

Furthermore, the bottom surface of the part, which is propped against the pedal bottom plate, of the first force bearing part and the second force bearing part is arranged in a suspended manner.

Furthermore, the pedal device further comprises a sensor fixing seat arranged on the supporting framework, and a part of the first stress part and the second stress part, which is abutted against the supporting framework, is abutted against the supporting framework through the sensor fixing seat.

Furthermore, the first stress part abuts against the pedal bottom plate, the second stress part abuts against the sensor fixing seat, and the bottom surface of the first stress part is suspended.

Furthermore, a first through hole is formed in the first stress part, a second through hole is formed in the second stress part, a first fixing hole is formed in the pedal base plate, a second fixing hole is formed in the sensor fixing seat, the first stress part is installed on the pedal base plate and abutted to the pedal base plate in a mode that the first fixing part penetrates through the first through hole and is locked into the first fixing hole, and the second stress part is installed on the sensor fixing seat and abutted to the sensor fixing seat in a mode that the second fixing part penetrates through the second through hole and is locked into the second fixing hole.

Further, first mounting includes screw rod, nut and connects the screw rod with the connecting rod of nut, the connecting rod is the smooth body of rod in side, the connecting rod is located in the first through-hole.

Further, a first gap is arranged between the pedal bottom plate and the sensing element area.

Further, a second gap is formed between the sensor fixing seat and the sensing element area.

Due to the application of the technical scheme, the invention has the following advantages:

the human-computer interaction somatosensory vehicle disclosed by the invention can effectively solve the problem of complicated structure caused by the fact that the support framework needs to be designed into two parts which need to rotate and the wheels can be controlled to rotate only through the rotation of the two parts in the existing balance vehicle by controlling the driving device to drive the wheels to move or rotate according to the stress information of the pedal device.

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 vehicle with human-computer interaction according to another embodiment of the present 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 from 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.

FIG. 17 is a cross-sectional view of the footrest apparatus of FIG. 1 showing the fasteners.

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 are not intended to limit the invention.

Fig. 1 to 17 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 comprises a supporting framework 11, two pedal devices 12 arranged on the supporting framework 11, a control device 15 and a driving device (not shown) for driving the wheels 20, wherein the supporting framework 11 is of an integral structure and is rotatably connected with the wheels 20, each pedal device 12 comprises a first position sensor 13 for sensing stress information of the pedal device 12, and the control device 15 controls the driving device to drive the wheels 20 to move or turn according to the stress information of the two pedal devices 12. It should be noted that the wheel 20 is moved, that is, the driving device drives and outputs the same output to the two wheels 20, so that the wheels 20 have the same rotation speed to drive the vehicle body to move forward or backward (of course, in an extreme case, the wheels 20 may be still, and at this time, the wheels 20 are in a state of stress balance), and the wheel 20 is turned, that is, the driving device outputs two different driving forces to the wheels 20, so that the rotation speeds of the wheels 20 are different, and the vehicle body is turned when moving forward or moving backward.

A recessed guide rail 112 is arranged on the support frame 11, and a pedal device fixing bracket 18 for installing and fixing the pedal device 12 is inserted on 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, but may be various tubular shapes extending irregularly, such as a partial expansion, a partial contraction, a rotation, a displacement, and the like, in view of the manner of extension in the left-right direction.

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 to be other shapes, such as triangle, circle, etc., as long as the diameter of the opening of the guide rail is smaller than the inner diameter of the guide rail, so that the pedal device fixing bracket 18 is not easy to fall off.

The pedal apparatus fixing bracket 18 includes an inserting portion 181 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 apparatus 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 holes 101 can be fixedly provided with fixing members such as nuts 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 portion 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-in portion 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 atress information according to what first position sensor 13 sensed 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 wheel axle fixing plate 23 and then assembled to the support frame 11, thereby facilitating the 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 side end of the support framework 11 is provided with a motor fixing seat 3 which is 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, the gravity center of the vehicle body 10 can be further ensured to be 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 in other manners.

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 accommodating 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 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. In other embodiments, the wheel axle fixing plate 23 may not be perpendicular to the direction of the wheel axle 21.

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 can 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 further includes a pedal base plate 121 located above the first position sensor 13, the first position sensor 13 includes two sensing element regions 1313, the two sensing element regions 1313 are distributed at the front and the rear of the pedal base plate 121, the ends of the two sensing element regions 1313 close to each other are respectively provided with a second force receiving portion 1312 for directly or indirectly abutting against the support frame 11, and the ends of the two sensing element regions 1313 away from each other are respectively provided with a first force receiving portion 1311 for directly or indirectly abutting against the pedal base plate 121. Thus, when the tread base 121 is stepped down, the first force-receiving portions 1311 on the front and rear sides receive a force from top to bottom, and the second force-receiving portion 1312 in the middle receives a supporting force from bottom to top, so that the first position sensor 13 exhibits an arch-shaped deformation similar to an upward arch, which can be understood as a macro-deformation or a micro-deformation, so that the sensing element regions 1313 on the front and rear ends sense the deformation. The bottom surface of the first force-receiving portion 1311 is suspended, so that when the stepping floor 121 is subjected to a stepping force, the first force-receiving portion 1311 has a space to move downward, which facilitates the upward arching of the sensing element region 1313, although the upper portion of the second force-receiving portion 1312 may also be suspended. Preferably, a first gap 5 is provided between the footrest 121 and the sensing element region 1313, and the first gap 5 can provide a space for the sensing element region 1313 in the first position sensor 13 to arch upward. Of course, in other embodiments, the first force-receiving portion 1311 may abut against the supporting frame 11, the second force-receiving portion 1312 abuts against the footrest 121, a bottom surface of the second force-receiving portion 1312 is suspended, and a top surface of the first force-receiving portion 1311 is preferably suspended. The two sensor element regions 1313 under the same tread base plate 121 may be distributed not only in the front and rear regions of the tread base plate 121 but also in the left and right regions of the tread base plate 121.

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 realize abutting by the transmission of force of other components, for example, in the present embodiment, the sensor fixing seat 125 is further provided in the abutting between the second force receiving portion 1312 and the supporting frame 11.

Specifically, as shown in fig. 4, the pedal device 12 includes a sensor fixing seat 125 for directly fixing with the second force-receiving portion 1312, and the sensor fixing seat 125 is for directly or indirectly fixing with the supporting frame 11. With such an arrangement, the first position sensor 13 can be fixed on the sensor fixing seat 125 and then mounted on the supporting frame 11, so as to protect the first position sensor 13 during the mounting process. It should be noted that a second gap 6 is provided between the sensor fixing seat 125 and the sensing element region 1313, so as to provide a space for the sensing element region 1313 to deform downward.

As shown in fig. 4 and 17, in the present embodiment, the first force receiving portion 1311 is provided with a first through hole 134, the second force receiving portion 1312 is provided with a second through hole 1315, the pedal base 121 is provided with a first fixing hole 1211, the sensor fixing base 125 is provided with a second fixing hole 1251, the first force receiving portion 1311 is mounted on the pedal base 121 and abuts against the pedal base 121 in a manner that the first fixing member 7 passes through the first through hole 134 and locks into the first fixing hole 1211, and the second force receiving portion 1312 is mounted on the sensor fixing base 125 and abuts against the sensor fixing base 125 in a manner that the second fixing member 8 passes through the second through hole 1315 and locks into the second fixing hole 1251.

In this embodiment, the first fixing element 7 includes a screw 71, a nut 72, and a connecting rod 73 connecting the screw 71 and the nut 72, the connecting rod 73 is a rod body with a smooth side, the connecting rod 73 is located in the first through hole 134, and when the first fixing element 7 is used, the connecting rod 73 and the first through hole 134 are in smooth contact, so that friction between the connecting rod 73 and the first through hole 134 can be reduced, and the problem that the first through hole 134 is damaged due to excessive friction and the sensing element region 1313 is deformed is avoided.

The diameter of the connecting rod 73 is slightly smaller than the inner diameter of the first through hole 134, so that the friction between the connecting rod 73 and the first through hole 134 can be further reduced without affecting the installation effect of the first fixing member 7 for installing the first force receiving portion 1311 on the footrest plate 121.

The gasket assembly 9 is interposed between the nut 72 and the first force receiving portion 1311, and the gasket assembly 9 can avoid the problem that the first force receiving portion 1311 is excessively stressed to deform the sensing element area 1313 when the first fixing element 7 is mounted on the step floor 121.

It is understood that the second fixing member 8 may be configured as the first fixing member 7, and may also be a common bolt, and a spacer assembly may also be disposed between the head of the second fixing member 8 and the second force-receiving portion 1312.

The first position sensor 13, for example, a pressure sensor, 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 second force-receiving portion 1312, the first force-receiving portion 1311, and a sensing element region 1313 located between the second force-receiving portion 1312 and the first 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 sensing element regions 1313 may also be understood to be two different pressure sensors to measure different forces on the front and rear soles, respectively. The two sensing element areas 1313 are connected through the connecting portion 132, so that when one end portion 131 is stressed, the other end portion 131 tends to tilt up through the connecting portion 132, and thus the sensing element area 1313 in the end portion 131 with the tendency to tilt up is recessed downwards, so that a negative pressure is generated, which is more favorable for calculating a pressure difference through the two sensing element areas 1313, and therefore the accuracy and the sensitivity of the pressure collected by the first position sensor 13 are improved, and the control device is convenient for controlling the output force of the driving device through the first position sensor 13.

In summary, two sensing element regions 1313 for sensing the same sole pressure information are disposed on the same pedal device 12, the pressures applied to two portions of the same pedal device 12 (specifically, the front portion and the rear portion of the same pedal device 12) sensed by the two sensing element regions 1313 are the pressure information of the same sole on the same pedal device 12, more specifically, the difference between the sensed pressures of the two sensing element regions 1313 is the pressure information of the same sole on the same pedal device 12, in other words, for the same first position sensor 13, that is, the control device 15 receives the pressure values sensed by the two sensing element regions 1313 of the same first position sensor 13, the control device 15 calculates the difference between the two pressure values, each pedal device 12 corresponds to one pressure difference, and finally, the control device 15 drives the wheel 20 to rotate according to the relationship between the two force differences, that is, the force information drives the vehicle body of the human-machine interactive vehicle to move or turn.

Specifically, when the force information of the two pedals 12 is the same (specifically, the pressure difference, where the pressure difference does not refer to the absolute value of the pressure difference, but has a direction, for example, for a pedal 12, the front force is applied, the pressure difference is recorded as positive, and the pressure difference with large rear pressure is recorded as negative), the control device 15 controls the driving device to output the same driving force to the two wheels 20, so that the two wheels 20 rotate at the same speed, and the vehicle body 20 moves, as a special case, when the vehicle body is in a balanced state, the rotation speeds of the two wheels 20 are both zero, and at this time, the vehicle body does not move; when the force information of the two pedals 12 is different, the control device 15 controls the driving device to output different driving forces to the two wheels 20, wherein one wheel 20 receives a driving force greater than the other wheel 20, so that the two wheels 20 rotate at different speeds, and the moving speed of one wheel 20 is greater than that of the other wheel 20, thereby realizing steering. It should be noted that the first position sensor 13 can only control the rotation of the wheel 20 to move or steer the vehicle body, but the rotation speed of the wheel 20 during movement needs to be controlled by other sensors. How the control device 15 controls the driving device to output the same driving force is described in detail below.

Specifically, the human-computer interaction body 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. According to the arrangement, when a user stands on the pedal devices 12, the stress information of the two pedal devices 12 is the same, when the user leans forwards, the support framework 11 is driven to wholly tilt forwards, after the second position sensor senses the information that the support framework 11 tilts forwards, a signal that the support framework 11 tilts forwards is sent to the control device 15, and the control device 15 controls the driving wheels 20 to move forwards, so that the whole has the force of tilting backwards, and the balancing function is achieved. In addition, the larger the inclination angle sensed by the second position sensor, the larger the driving force. In particular, the second position sensor comprises a gyroscope, an acceleration sensor and/or a photoelectric sensor. It should be noted that when the user leans backward, the wheel 20 moves backward, and the principle thereof is the same as that of the forward movement described above, and will not be described again.

In this embodiment, two sensing element regions 1313 for sensing the same sole pressure information are provided on the same footrest 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 turn according to the 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 rotating speed of one side wheel 20 is greater than that of the other side wheel 20, or the rotating directions of the two side wheels 20 are opposite, thereby realizing the steering.

In the present embodiment, the first position sensor 13 is an i-shaped first position sensor, 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 second force-receiving portions 1312 to enhance the strength of the first position sensor 13, and the narrower 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. Of course, in other embodiments, the shape of the first position sensor 13 is not limited thereto, and a circular load cell or the like may be employed.

The foothold 12 further comprises a lower shell 126 located between the sensor holder 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 support frame 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 manufacturing processes of the pedal device 12 and the wheel cover 123 can be easily realized, and in other embodiments, the pedal device and the wheel cover can be integrally extended. In other embodiments, the wheel cover 123 can be integrally formed with a portion of the footrest apparatus 12.

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 placed in other ways 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 such a configuration, the power supply 16 and the main control board 150 are docked through the modular interface, so that more cables 211 can be prevented from shuttling, the occurrence of problems such as aging of the cables 211 is avoided, and the security 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 to 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. So configured, 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 somatosensory vehicle 100 is internally provided with a transmission connecting part, wherein the transmission connecting part comprises a power supply 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 is to be understood that the connector terminals described herein are not limited to the connector terminals 252 shown in the drawings disposed between the power source 16 and the driving device, and may be connector terminals used in place of cables. 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, a part of the wires and a part of the terminals may be used for transmission. 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 with 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 means may be provided between the drive device and the connector 25, i.e. the drive device may be provided without a temperature sensor,

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

An external docking interface 151 is connected to the power supply 16, 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. In this way, the degree of modular assembly between the main control board 150 and the power supply 16 is further improved, and the 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. By such arrangement, the wheel cover 123 can be better 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 the wheel cover is simple in structure and stable in 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 seat 3 is provided with a fixing groove 313 recessed from the top to the rear 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; the lamp strip 4 can make the human-computer interaction motion sensing vehicle 100 have a better warning and identifying 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 pedaling device fixing bracket 18 and the light 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 support frame 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 support chassis 11 along the lengthwise type power 16 of 20 axial extensions of wheel, power 16 includes battery case 17, battery case 17 and support chassis 11 are 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 surrounding. 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 can be used to sense pressure information on the footrest 12.

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 trample on the callus on the sole 122, satisfy specific antiskid or improve the demand of trampling the travelling comfort.

The footrest 12 is biased outwardly as compared to the front-to-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, there may be no skew.

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 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

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 bicycle is characterized in that the bicycle body further comprises a supporting framework, two pedal devices arranged on the supporting framework, a control device and a driving device used for driving the wheels, the supporting framework is of an integral structure and is rotationally connected with the wheels, the supporting framework is tubular, the pedal devices comprise pedal base plates and first position sensors which are located between the pedal base plates and the supporting framework and are used for sensing stress information of the pedal devices, and the control device controls the driving device to drive the wheels to move or turn according to the stress information of the two pedal devices.

2. The human-computer interaction somatosensory vehicle according to claim 1, characterized in that: each first position sensor comprises two sensing element areas distributed at two parts of the pedal bottom plate, and the first position sensors sense the stress information of the two parts of the pedal bottom plate through the two sensing elements to acquire the stress information of the pedal device.

3. The human-computer interaction somatosensory vehicle according to claim 2, characterized in that: the induction element area is provided with a first stress part and a second stress part, the first stress part of each induction element area is abutted against one of the supporting framework and the pedal base plate, and the second stress part is abutted against the other of the supporting framework and the pedal base plate.

4. The human-computer interaction somatosensory vehicle according to claim 3, characterized in that: the bottom surfaces of the two parts of the first stress part and the second stress part, which are propped against the pedal bottom plate, are arranged in a suspended mode.

5. The human-computer interaction somatosensory vehicle according to claim 4, characterized in that: the pedal device is characterized by further comprising a sensor fixing seat arranged on the supporting framework, and a part which is abutted against the supporting framework in the first stress part and the second stress part is abutted against the supporting framework through the sensor fixing seat.

6. The human-computer interaction somatosensory vehicle according to claim 5, characterized in that: the first stress part is abutted against the pedal bottom plate, the second stress part is abutted against the sensor fixing seat, and the bottom surface of the first stress part is suspended.

7. The human-computer interaction somatosensory vehicle according to claim 6, characterized in that: the sensor is characterized in that a first through hole is formed in the first stress part, a second through hole is formed in the second stress part, a first fixing hole is formed in the pedal bottom plate, a second fixing hole is formed in the sensor fixing seat, the first stress part is installed on the pedal bottom plate in a mode that the first fixing part penetrates through the first through hole and is locked into the first fixing hole, and is abutted to the pedal bottom plate, and the second stress part is installed on the sensor fixing seat in a mode that the second fixing part penetrates through the second through hole and is locked into the second fixing hole and is abutted to the sensor fixing seat.

8. The human-computer interaction somatosensory vehicle according to claim 7, characterized in that: the first fixing piece comprises a screw rod, a screw cap and a connecting rod for connecting the screw rod with the screw cap, the connecting rod is a rod body with a smooth side face, and the connecting rod is located in the first through hole.

9. The human-computer interaction somatosensory vehicle according to any one of claims 3-8, wherein: a first gap is arranged between the pedal bottom plate and the induction element area.

10. The human-computer interaction somatosensory vehicle according to any one of claims 5-8, wherein: and a second gap is formed between the sensor fixing seat and the sensing element area.