CN107364525A - Human-computer interaction body-sensing car - Google Patents
Human-computer interaction body-sensing car Download PDFInfo
- Publication number
- CN107364525A CN107364525A CN201710548608.1A CN201710548608A CN107364525A CN 107364525 A CN107364525 A CN 107364525A CN 201710548608 A CN201710548608 A CN 201710548608A CN 107364525 A CN107364525 A CN 107364525A
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- China
- Prior art keywords
- wheel
- support frame
- human
- computer interaction
- control device
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K2202/00—Motorised scooters
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
A kind of human-computer interaction body-sensing car provided by the present invention, it includes car body and two wheels on car body, the wheel can rotate around car body in radial directions；The car body further comprises a support frame, two foot pedal apparatus being arranged on the support frame, first position sensor, control device and to drive the drive device of the wheel, the support frame is integral structure and is connected with vehicle wheel rotation, the first position sensor is sensing the stress or inclination information of the relatively described support frame of described two foot pedal apparatus, the control device is according to the stress or inclination information, the drive device is controlled to drive the wheel mobile or rotate, the support frame is along the axially extending tubulose of wheel, the foot pedal apparatus includes the foot platform on the tubular support skeleton.It is arranged such, it is simple in construction, improve safety in utilization.
Description
Technical field
The present invention relates to a kind of balance car, and in particular to a kind of human-computer interaction body-sensing car.
Background technology
Human-computer interaction body-sensing car, is called electrodynamic balance car, thinking car, and its operation principles is mainly built upon one kind and is referred to as
In the general principle of " dynamic stability ", using the gyroscope and acceleration transducer of vehicle body, to detect the change of vehicle body attitude
Change, and utilize servo-control system, accurately motor is adjusted correspondingly, to keep the balance of system.
Existing human-computer interaction body-sensing car has been generally divided into action bars and without this two class of action bars, wherein the people with action bars
Machine interaction body-sensing car, advance, retrogressing and the steering of its human-computer interaction body-sensing car carry out concrete operations control by action bars.And
Without the human-computer interaction body-sensing car of action bars, advance, the retrogressing of its human-computer interaction body-sensing car are by whole human-computer interaction body-sensing car
Inclination control, steering is then ridden on foot platform by user, and passes through relative rotation angle between two foot platforms
Degree difference is realized to be controlled.Wherein, the two-wheeled human-computer interaction body-sensing car without action bars is mainly patent
Double-wheel self-balancing human-computer interaction body-sensing Che Wei disclosed in CN201410262108.8 is represented, and the inner cap in the balance car includes pair
Claim the left inside lid of setting and right inner cap, and the relatively right inner cap rotation connection of left inside lid.
So, the balance car, which has been used for the inner cap that support frame acts on, need to include left inside lid and right inner cap, and structure is relatively multiple
It is miscellaneous.
The content of the invention
The present invention is a kind of human-computer interaction body-sensing car simple in construction in order to overcome prior art and propose.
To achieve these goals, the present invention provides a kind of human-computer interaction body-sensing car, and it includes car body and on car body
Two wheels, the wheel can rotate around car body in radial directions；The car body further comprises a support frame, set
Two foot pedal apparatus, first position sensor, control device on the support frame and to drive the drive of the wheel
Dynamic device, the support frame are integral structure and are connected with vehicle wheel rotation, and the first position sensor is to sense
The stress or inclination information of the relatively described support frame of two foot pedal apparatus are stated, the control device is according to the stress or inclines
Slope information, the drive device is controlled to drive the wheel mobile or rotate, the support frame is axially extending along wheel
Tubulose, the foot pedal apparatus includes the foot platform on the tubular support skeleton.
As a further improvement on the present invention, the foot platform is wider than the support frame on car body fore-and-aft direction
Width.
As a further improvement on the present invention, it is provided with and is recessed from bottom to top to partial receipt institute below the foot platform
State the installation gap of support frame.
As a further improvement on the present invention, the support frame is circular tube shaped.
As a further improvement on the present invention, the foot platform side is provided with to be covered in the wheel above wheel
Lid.
As a further improvement on the present invention, the first position sensor is below the foot pedal apparatus.
As a further improvement on the present invention, the first position sensor is pressure sensor.
As a further improvement on the present invention, the control device to according between two foot pedal apparatus by force information
Difference or inclination information difference drive the wheel mobile or rotated.
As a further improvement on the present invention, the same foot pedal apparatus is provided with to sense same sole different parts
Two first position sensors of inclination information or pressure information, the control device is to according to described two first positions
The gradient difference or pressure differential of sensor drive the wheel mobile or rotated.
As a further improvement on the present invention, between the foot pedal apparatus and support frame to be flexibly connected or fixed company
Connect.
Due to the utilization of above-mentioned technical proposal, the present invention possesses advantages below：
Support frame described in the human-computer interaction body-sensing car of the present invention is along the axially extending tubulose of wheel, the foot pedal apparatus
Including the foot platform on the tubular support skeleton.It is arranged such, simple in construction, the foot platform is available for users to
Steadily trample, avoid user from directly trampling in cause to trample shakiness on the tubular support skeleton situations such as, so as to avoid sliding
Wait fortuitous event.
Brief description of the drawings
Fig. 1 is the three-dimensional combination figure of human-computer interaction body-sensing car of the present invention.
Fig. 2 is the stereochemical structure exploded view of human-computer interaction body-sensing car of the present invention.
Fig. 3 is the three-dimensional combination figure of human-computer interaction body-sensing car wheel of the present invention and modularization interface.
Fig. 4 is the three-dimensional exploded view in Fig. 3.
Fig. 5 is that human-computer interaction body-sensing car wheel of the present invention combines with the solid of the modularization interface of another embodiment
Figure.
Fig. 6 is the part isometric structure decomposition figure of human-computer interaction body-sensing car car body of the present invention.
Fig. 7 is further part isometric structure decomposition figure in Fig. 6.
Fig. 8 is further part isometric structure decomposition figure in Fig. 7.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
To limit the present invention.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
To limit the present invention.
Refer to shown in Fig. 1 to Fig. 8, be the structural representation of human-computer interaction body-sensing car 100 of the present invention, it includes car body 10
And two wheels 20 on car body 10, the wheel 20 can rotate around car body 10 in radial directions；The car body 10 enters
One step includes a support frame 11, two foot pedal apparatus 12, the first position sensor being arranged on the support frame 11 (are not schemed
Show), control device 15 and to drive the drive device (not shown) of the wheel 20, the support frame 11 is integral
Structure and it is rotatablely connected with wheel 20, the first position sensor is sensing the relatively described branch of described two foot pedal apparatus 12
Support bone frame 11 by force information or inclination information, the control device 15 according to described by force information or inclination information, control
Making the drive device drives the wheel 20 to move or rotate, and is provided with the support frame 11 axially extending along wheel 20
Power supply 16.The overall structure refer to relative to set in the prior art the left inside lid that can mutually rotate with for right inner cap, institute
State support frame 11 be globality structure, in different embodiments, the overall structure can be separable assembled form or
It is integrally formed.It is arranged such, because the support frame 11 of human-computer interaction body-sensing car 100 prolongs approximately along the axially direction of wheel 20
Stretch, so as to which to connect left and right sides wheel 20 and possess some strength, power supply 16 of the present invention can axially be worn along wheel 20
Insert and be contained in the support frame 11, in this way, compared to same volume in the prior art in block power supply, the present invention can
More effectively using the receiving space in support frame 11, the support frame 11 can be allowed car body 10 is front and rear and above-below direction
It is upper that there is smaller size, so as to reduce the overall dimensions of car body 10, save the materials cost of support frame 11；On the other hand,
Smallerization of human-computer interaction body-sensing car 100 can be made, be more convenient to carry.
Size of the power supply 16 before and after car body 10 and/or on above-below direction is less than the diameter of wheel 20.It is arranged such, institute
State car body 10 has less size on front and rear and/or above-below direction, more saves materials cost and more portable.
The power supply 16 is along the axially extending cylindrical shape of wheel 20.That is, described power supply 16 is transversal along the axial direction of wheel 20
Area is circle, is arranged such, compared to the other shapes power supply of same volume, the present invention can allow the support frame 11 to have
There is smaller surface area, so as to more save materials cost and allow smallerization of car body 10.In other embodiments, the electricity
Cross section of the source 16 along the axial direction of wheel 20 can also be rectangle, other polygons, ellipse or other irregular shapes.
The power supply 16 includes slender type battery pack 160, and the slender type battery pack 160 includes some clusters side by side
Slender type battery 161.It is arranged such, can manufactures and the power supply 16 is made after being bundled after slender type battery 161, without special
The battery of single large scale specification is customized, is easy to manufacture；And when individual defects occur, can be on demand to indivedual slender type electricity
Pond 161 is individually replaced, and so as to extend the overall service life of the power supply 16, and saves maintenance cost.
The power supply 16 includes some front and rear slender type battery packs 160 to connect.It is arranged such, using existing rule
Existing slender type battery 161 carries out front and rear splicing and binding in lattice, without the battery of particularly customized special size specification, is easy to
Manufacture.
The power supply 16 is coated on the battery case 17 in the outside of slender type battery pack 160.It is arranged such, can makes
The battery case 17 can stably gather together some slender type batteries 161, be not easy to be scattered.
The battery case 17 includes some positioning the locating support 176 of the slender type battery 161 respectively.So
Set, the locating support 176 can be such that the slender type battery 161 positions one by one, so as to ensure and adjacent elongate battery
Stable electric connection between 161.
The power supply 16 includes the slender type battery pack 160 to connect before and after three groups, and the battery case 17 is included to wrap
Cover the both side ends 171 of both ends slender type battery pack 160 and between both side ends 171 to coat middle part slender type battery
The medial end portions 175 of group 160, the medial end portions 175 are interior to be provided with the locating support 176.Be arranged such, the battery case 17 with
The slender type battery pack 160 divides three-stage to position and connection, can be easy to assemble and can ensure between all slender type batteries 161
Stable electric connection.
The side end 171 of battery case 17 is provided with to house the empty cylinder portion 172 of slender type battery pack 160 and cladding
In the outside of empty cylinder portion 172 and towards the side wall 173 in the corresponding direction of wheel 20, locating support is provided with the empty cylinder portion 172
174.It is arranged such, after the slender type battery 161 is socketed on locating support 174 one by one, then is laterally socketed on battery case 17
Described in side end 171 in empty cylinder portion 172, it is easy to assembling to position.
The power supply 16 includes protruding out battery interface of the battery case 17 to electrical butt-joint control device 15
177.It is arranged such, the battery interface 177 can be docked outwards with control device 15, the power supply 16 is set in modularization,
Facilitate follow-up assembling.
The both ends of power supply 16 are respectively equipped with to control the control device 15 of corresponding wheel 20, and the both ends of power supply 16 are equal
Provided with battery case 17 is protruded out electrically docking the battery interface 177 of two control device 15.It is arranged such, described two
Control device 15 can be used to control both sides wheel 20 respectively, have preferable modular construction, be controlled compared to only setting one
Device 15, the circuit that this programme avoids complexity shuttles between two wheels 20, because phase easily occurs for the circuits such as electric wire cable
Being entangled between mutually, and it is vulnerable to abrasion so that there is a problem that breaking, short-circuit, the modular grafting of this programme can carry
The security and stability that each part is electrically connected with high car body 10.
The end set of the power supply 16 has battery protecting plate 178, and the battery interface 177 is arranged at the battery protection
On plate 178.
Size of the support frame 11 before and after car body 10 and/or on above-below direction is respectively less than the diameter of wheel 20.So
Set, the support frame 11 is corresponding with the shape of power supply 16, the supporting collecting power supply 16 is can be used to, so as to reduce car
The overall dimensions of body 10, save the materials cost of support frame 11；On the other hand, the human-computer interaction body-sensing car 100 can be made more
Miniaturization, it is more convenient to carry.The control device 15 is located in the support frame 11.It is arranged such, the control device 15
And power supply 16 can simplify the structure of car body 10, each modular construction in car body 10 is more concentrated surely in the support frame 11
Gu.
The battery docking section 152 that the control device 15 is provided with to dock with the power supply 16.It is arranged such, institute can be made
It is in modularization to state control device 15, facilitate between control device 15 and power supply 16 it is electrical dock, avoid more complicated circuit
Shuttle, improve the security and stability that each part is electrically connected with car body 10.
In the present embodiment, the control device 15 is master control circuit board, and the shape of the master control circuit board can
To be arranged to various shapes, such as square, rectangle, annular, ellipse etc., the shape of the control board is simultaneously not limited.
The support frame 11 is along the axially extending tubulose of wheel 20.It is arranged such, the support frame 11 of the tubulose
Structure is simpler, and manufacture is more convenient, and has higher bend resistance intensity along in the axially direction of wheel 20, so as to simplify car
The structure of body 10, it is easily portable.Specifically, in the present embodiment, the support frame 11 is circular tube shaped.It is arranged such, institute
It is relatively smooth smooth to state the outside of support frame 11, during user's use, compared to the support frame 11 with the stupefied portion of protrusion
It is not easy to cause grazing to hinder user；On the other hand, compared to the support frame 11 accumulated with similar face, the branch of the circular tube shaped
Support bone frame 11 has maximum receiving space to house power supply 16 and/or control device 15, is minimized so as to be advantageous to car body 10
Trend, materials cost is saved, carried more convenient.Certainly, in other embodiment of the present invention, the support frame 11 can also
It is square tube type, other multiangular tubulars, oval tubulose or other regular or irregular tubuloses.
The side of tubular support skeleton 11 fixing has the master board fixed seat 18 for positioning the control device 15.
It is arranged such, the master board fixed seat 18 can preferably protect the positioning control device 15, and the master board
Fixed seat 18 can be set to dock with miscellaneous part to facilitate different from the structure of tubular support skeleton 11, so that tubular support
The both ends of skeleton 11 at both ends without being specially arranged to different structure during fabrication, so as to simplify being manufactured into for tubular support skeleton 11
Type.
The human-computer interaction body-sensing car 100 is additionally provided with to connect the motor fixing seat 3 of wheel 20, the motor fixing seat
3 hold with the phase of master board fixed seat 18.It is arranged such, the wheel 20, which can be installed, is positioned at the motor fixing seat 3
Held after upper by the motor fixing seat 3 and the phase of master board fixed seat 18, consequently facilitating the human-computer interaction body-sensing car 100
The modularization installation of each inter-module, simplifies installation steps.
Modularization plug receptacle 26 is provided between the wheel 20 and car body 10.It is arranged such, the wheel 20 is by described
Modularization plug receptacle 26 docks with the car body 10, is installed beneficial to the modularization of 100 each inter-module of human-computer interaction body-sensing car,
Simplify installation steps, the circuit for avoiding complexity shuttles, and improves the security and stability that car body 10 is electrically connected with wheel 20.
The modularization plug receptacle 26 is included to dock the connector 25 of the control device 15.It is arranged such, it is described
Modularization plug receptacle 26 can dock with the control device 15, so as to realize control of the control device 15 to wheel 20, simplify
Complicated circuit shuttles between control device 15 and wheel 20, improves the electric connection safety between control device 15 and wheel 20
Stability.
It is described to dock the connector 25 of the control device 15 be along the above-below direction of car body 10 extend frame mouth 251.
It is arranged such, to dock between the connector 25 of the control device 15 and control device 15 in the vertical direction with longer
Contact length, it is described docking the connector of the control device 15 when active force of the car body 10 by above-below direction
25 are not easy to depart from the control device 15.
Certainly, it is as shown in figure 5, described docking the connector 25 of the control device 15FrameThe setting side of mouth 251
Formula is not only limited to extending along the above-below direction of car body 10, in other embodiments, described docking the control device 15
Connector 25 ' or along the fore-and-aft direction of car body 10 extend frame mouth 251.It is arranged such, to dock the control device
There is longer contact length in the longitudinal direction between 15 connector 25 and control device 15.
The outside of connector 25 is coated with connector fixed seat 24.It is arranged such, the connector fixed seat 24 can have
Effect protects the internal structure of connector 25, prevents the damage that is collided.
The human-computer interaction body-sensing car 100 is additionally provided with to install the motor fixing seat 3 of positioning wheel 20, described to connect
Plug-in unit fixed seat 24 is housed and is immobilizated in the motor fixing seat 3.It is arranged such, simplifies the structure of car body 10, improves modularization journey
Degree, is easily installed.
The wheel 20 has protruded out axletree 21, and described one end of axletree 21 connects the other end of wheel 20 and is connected with car
Axis fixing plate 23 is taken turns, the wheel axis fixing plate 23 is housed and is immobilizated in the motor fixing seat 3.It is arranged such, the wheel
Axle 21 is immobilizated in shown motor fixing seat 3 by the wheel axis fixing plate 23, the wheel 20 is fixed with the motor
Seat 3 is in integrated setting, further simplifies the structure of car body 10, improves the degree of modularity, is easily installed.
Sealing ring 22 is provided between the axletree 21 and connector fixed seat 24.In this way, described improve the wheel
Seal between axle 21 and connector fixed seat 24.
The wheel axis fixing plate 23 is held with the phase of connector fixed seat 24.It is arranged such, improves the motor and consolidate
The fixing power and stability of the inner structure of reservation 3.
The drive device is located in the wheel 20, is provided with the axletree 21 to transmit the cable of power supply 16
211, the cable 211 is connected with the connector 25.It is arranged such, the cable 211 can preferably be electrically connected with power supply
16 and control device 15, and the cable 211 of the axletree 21 can keep steady state that the rotation with wheel 20 does not occur, avoid
The fortuitous events such as winding occur in rotary course for cable 211.
The connector 25 is provided with D type frames mouth 251 and the plug terminal 252 convexedly stretched in the frame mouth 251.So set
Put the control device 15 and can consolidate to be plugged in the D types frame mouth 251 and electrically docked with the plug terminal 252.
Axletree 21 is provided between the wheel 20 and car body 10, described one end of axletree 21 is connected with wheel 20,
The other end is connected with wheel axis fixing plate 23, and the wheel axis fixing plate 23 is held with the phase of car body 10.It is arranged such, makes institute
It is in an overall structure that wheel 20, which is stated, with the wheel axis fixing plate 23, and the car body 10 is positioned at when needing to install wheel 20
When, it is only necessary to the described overall structure is secured on the car body 10, without axletree 21 is plugged into support frame
In 11, complicated assembling positioning is carried out then at the inside of support frame 11.Ease of assembly, improve the degree of modularity of each part.
The wheel axis fixing plate 23 is perpendicular to the axis direction of wheel 20.It is arranged such, the wheel axis fixing plate 23 exists
Deflection is not susceptible to during by the active force of the fore-and-aft direction of car body 10 and/or above-below direction, improves the wheel axis fixing plate 23
Fixing stability between car body 10.
The human-computer interaction body-sensing car 100 is provided with power supply 16, and the drive device is in the wheel 20, the wheel
Be provided with cable 211 in axle 21, the cable 211 extend the wheel axis fixing plate 23 to control device 15 and/or electricity
Source 16 is connected.It is arranged such, the drive device in the wheel 20 can pass through the cable through the wheel axis fixing plate 23
211 are connected with the control device 15 and/or power supply 16.
What the car body 10 was provided with depression holds the accepting groove 31 of the wheel axis fixing plate 23 to house.So set
Put, the wheel axis fixing plate 23, which can house, to be positioned in the accepting groove 31, so as to improve the outer surface of car body 10
Planarization.
The wheel axis fixing plate 23 is rectangle, and the accepting groove 31 is the square corresponding with the wheel axis fixing plate 23
Shape.It is arranged such, the pluggable positioning wheel axis fixing plate 23 of accepting groove 31, prevents the wheel axis fixing plate 23 from sending out
Raw mobile or rotation.
Certainly, the shape of the wheel axis fixing plate is such as square it can also be provided that various shapes, annular, ellipse etc.,
The shape of the wheel axis fixing plate is simultaneously not limited.
The support frame 11 is along the axially extending tubulose of wheel 20, and the foot pedal apparatus 12 includes being located at the tubulose
Foot platform 121 on support frame 11.It is arranged such, the foot platform 121, which is available for users to, steadily to be trampled, and avoids using
Person is directly trampled in cause to trample shakiness on the tubular support skeleton 11 situations such as, so as to the fortuitous event such as avoid slipping.
The foot platform 121 is wider than the width of the support frame 11 on the fore-and-aft direction of car body 10.It is arranged such, institute
It is smaller to state the volume of car body 10, saves materials cost, and is easy to user to carry, the foot pedal apparatus 12, which is available for users to, steadily to be stepped on
Step on, avoid user on the tubular support skeleton 11 to trample area too small, situations such as causing to trample shakiness.
The lower section of foot platform 121 is provided with to be recessed from bottom to top to be lacked to the installation of support frame described in partial receipt 11
Mouth 124.It is arranged such, the support frame 11 can be partially housed in the installation gap 124, reduced the height of car body 10, carried
High user's stability of standing, on the other hand, also can be so that improve the overall structural stability of car body 10.
The side of foot platform 121 is provided with to be covered in the wheel cover 123 of the top of wheel 20.It is arranged such, it is described
Wheel cover 123 can prevent user from slipping up when trampling the foot platform 121 to step on wheel 20, so as to avoid slipping
Fortuitous event；And it is simple in construction, it is easy to assembly.
The first position sensor is located at the lower section of foot pedal apparatus 12.It is arranged such, the first position sensor
The pressure information or inclination information that can be subject to by foot pedal apparatus 12, and by the information transmission sensed to control device
15。
The both ends of the control device 15 are respectively arranged with outside docking section 151 and battery docking section 152, the support rib
Power supply 16 is provided with frame, the control device 15 is connected with the power supply 16 by the battery docking section 152, connected by outside
Socket part 151 is connected with drive device and/or first position sensor.
The control device 15 is two and positioned at the left and right sides of power supply 16, the control device 15 to respectively with difference
The drive device of wheel is connected.
Connector 25 is provided between the support frame 11 and wheel 20, the connector 25 is included to control described in grafting
The frame mouth 251 of the outside docking section 151 of device 15 processed and plug terminal 252.It is arranged such, the outside docking section 151 can be direct
It is plugged in the frame mouth 251 of the connector 25, it is simple in construction, it is easy to assembly, avoid and the unnecessary line of cable 211 is set
Road, improve security and stability.
The power supply 16 is connected with battery interface 177, and the battery docking section 152 plugs with the battery interface 177.
It is arranged such, the control device 15 can be directly plugged in the battery interface 177, simple in construction, easy to assembly, avoided
The unnecessary circuit of cable 211 is set, improves security and stability.
The outside docking section 151 and the 152 perpendicular setting of battery docking section.It is arranged such, when both sides are all docked accordingly
After part, the vertical stratification can improve the overall structure stability of the control device 15, avoid control device 15 from inserting
Glanced off in termination process.
It is to be flexibly connected or be fixedly connected between the foot pedal apparatus 12 and support frame 11.It is arranged such, when activity connects
When connecing, the first position sensor can be used to sense the inclination information of the foot pedal apparatus 12；It is described when being fixedly connected
First position sensor can be used to sense the pressure information on the foot pedal apparatus 12.
The first position sensor is pressure sensor.It is arranged such, it is foot-operated that first position sensor can be used to sensing
Pressure information on device 12.
The first position sensor is sensing the gradient change information of foot pedal apparatus 12.On the other hand, described first
Position sensor can sense the sensor of gradient change for gyroscope etc..
The control device 15 is to according to the stress information gap between two foot pedal apparatus 12 or inclination information difference control
System drives the wheel 20 to move or rotate, and realizes and turns to.It is arranged such, when two foot pedal apparatus 12 are identical or incline by force information
When slope information is identical, the translational speed of two wheel 20 is identical, when two foot pedal apparatus 12 are by force information difference or inclination information
During information difference, wherein the translational speed of single wheel 20 is more than the translational speed of opposite side wheel 20, or both sides wheel 20
Moving direction so as to realize on the contrary, turn to.
The same foot pedal apparatus 12 is provided with to sense same sole different parts inclination information or pressure information
Two first position sensors, the control device 15 to according to described two first position sensors gradient difference or
Pressure differential drives the wheel 20 to move or rotate.It is arranged such, when two stress information gaps of foot pedal apparatus 12 are identical or tilt
When degree information gap is identical, the translational speed of two wheel 20 is identical, when two stress information gaps of foot pedal apparatus 12 are different or gradient letter
When breath difference is different, wherein the translational speed of single wheel 20 is more than the translational speed of opposite side wheel 20, or both sides wheel 20
Moving direction so as to realize on the contrary, turn to.
Whether the first position sensor has user to sense on foot pedal apparatus 12, to control opening for wheel 20
Stop.It is arranged such, without being separately provided an inductive switch, so as to simplify the structure of car body 10.Certainly, in other embodiment
In, inductive switch can also be separately provided.
The drive device can be arranged in wheel 20, so the drive can be set come in using the existing volume of wheel 20
Dynamic device, space availability ratio are high；In other embodiments, the drive device can also be arranged in support frame 11.Such as
This set, can be applicable to wheel 20 it is relatively small in the case of.
The foot pedal apparatus 12 includes foot platform 121 and the foot pad 122 above foot platform 121, and described
One position sensor is arranged at the lower section of foot platform 121.It is arranged such, user can be trampled on the foot pad 122, expired
Foot is specific anti-skidding or improves the demand for trampling comfortableness.
The human-computer interaction body-sensing car 100 further comprises a second place sensor (not shown), to sense support
The inclination information of the relative wheel 20 of skeleton 11.It is arranged such, it is described when user and support frame 11 are overall toward when leaning forward
Second place sensor senses inclination, will be signaled to control device 15, and the control device 15 controls driving moment
20 travel forward so that and it is overall that there is sweptback power, play a part of balance.Specifically, the second place sensor
Including gyroscope, acceleration transducer and/or photoelectric sensor.
In summary, human-computer interaction body-sensing car 100 of the invention, only played a supportive role in two wheels 20 including one
Tubular support skeleton 11, and foot pedal apparatus 12 is independently arranged on support frame 11, is mutually rotatablely connected without two
Mechanism is used for setting foot pedal apparatus 12 respectively, and existing balance car or swing car on the market to this, simple in construction, car body 10 is integrated
Formula, scalability is strong, simplifies steering yoke or vehicle body separates rotational structure, vehicle body is firmer.
Although the present invention is disclosed above by preferred embodiment, but is not limited to the present invention, this any known skill
Skill person, without departing from the spirit and scope of the present invention, a little change and retouching can be made, therefore protection scope of the present invention is worked as
It is defined depending on claims scope claimed.
Claims (10)
1. a kind of human-computer interaction body-sensing car, it includes car body and two wheels on car body, and the wheel is in radial direction
On can be rotated around car body；It is characterized in that：The car body further comprises a support frame, be arranged on the support frame two
Individual foot pedal apparatus, first position sensor, control device and to drive the drive device of the wheel, the support frame
It is integral structure and is connected with vehicle wheel rotation, the first position sensor is sensing described two foot pedal apparatus with respect to institute
The stress or inclination information of support frame are stated, the control device controls the drive according to the stress or inclination information
Dynamic device drives the wheel mobile or rotated, and the support frame is along the axially extending tubulose of wheel, the foot pedal apparatus
Including the foot platform on the tubular support skeleton.
2. human-computer interaction body-sensing car according to claim 1, it is characterised in that：It is described foot-operated flat on car body fore-and-aft direction
Platform is wider than the width of the support frame.
3. human-computer interaction body-sensing car according to claim 1, it is characterised in that：Be provided with below the foot platform from lower and
It is upper to be recessed to the installation gap of support frame described in partial receipt.
4. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The support frame is circular tube shaped.
5. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The foot platform side is provided with to cover
The wheel cover being placed on above wheel.
6. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The first position sensor is located at described
Below foot pedal apparatus.
7. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The first position sensor passes for pressure
Sensor.
8. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The control device is to according to two pin
Stress information gap or the inclination information difference stepped between device drive the wheel mobile or rotated.
9. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The same foot pedal apparatus be provided with to
Sense two first position sensors of same sole different parts inclination information or pressure information, the control device to
Drive the wheel mobile according to the gradient of described two first position sensors difference or pressure differential or rotate.
10. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The foot pedal apparatus and support frame it
Between for be flexibly connected or be fixedly connected.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710008790.1A CN106741408A (en) | 2017-01-04 | 2017-01-04 | Human-computer interaction body-sensing car |
| CN2017100087901 | 2017-01-04 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107364525A true CN107364525A (en) | 2017-11-21 |
| CN107364525B CN107364525B (en) | 2023-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710008790.1A Pending CN106741408A (en) | 2017-01-04 | 2017-01-04 | Human-computer interaction body-sensing car |
| CN201710548608.1A Active CN107364525B (en) | 2017-01-04 | 2017-07-06 | Human-computer interaction somatosensory vehicle |
| CN201720815501.4U Active CN207670564U (en) | 2017-01-04 | 2017-07-06 | Human-computer interaction body-sensing vehicle |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710008790.1A Pending CN106741408A (en) | 2017-01-04 | 2017-01-04 | Human-computer interaction body-sensing car |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720815501.4U Active CN207670564U (en) | 2017-01-04 | 2017-07-06 | Human-computer interaction body-sensing vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108021139A (en) * | 2017-11-30 | 2018-05-11 | 杭州骑客智能科技有限公司 | Human-computer interaction body-sensing car rotation methods of exhibiting and human-computer interaction body-sensing car |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741408A (en) * | 2017-01-04 | 2017-05-31 | 杭州骑客智能科技有限公司 | Human-computer interaction body-sensing car |
| CN210212629U (en) * | 2019-02-02 | 2020-03-31 | 杭州骑客智能科技有限公司 | Human-computer interaction somatosensory vehicle |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106741408A (en) | 2017-05-31 |
| CN207670564U (en) | 2018-07-31 |
| CN107364525B (en) | 2023-07-14 |
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