CN108313179A - Human-computer interaction body-sensing vehicle - Google Patents
Human-computer interaction body-sensing vehicle Download PDFInfo
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- CN108313179A CN108313179A CN201810005249.XA CN201810005249A CN108313179A CN 108313179 A CN108313179 A CN 108313179A CN 201810005249 A CN201810005249 A CN 201810005249A CN 108313179 A CN108313179 A CN 108313179A
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- Prior art keywords
- support frame
- wheel
- human
- computer interaction
- foot pedal
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Classifications
-
- 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
- B62K3/00—Bicycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/24—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed with main controller driven by a servomotor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J25/00—Foot-rests; Knee grips; Passenger hand-grips
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J45/00—Electrical equipment arrangements specially adapted for use as accessories on cycles, not otherwise provided for
- B62J45/40—Sensor arrangements; Mounting thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J6/00—Arrangement of optical signalling or lighting devices on cycles; Mounting or supporting thereof; Circuits therefor
-
- 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
- B62K11/02—Frames
-
- 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
- B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
- B62K23/08—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips foot actuated
-
- 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
- B62K3/00—Bicycles
- B62K3/02—Frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/80—Accessories, e.g. power sources; Arrangements thereof
- B62M6/90—Batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M7/00—Motorcycles characterised by position of motor or engine
- B62M7/12—Motorcycles characterised by position of motor or engine with the engine beside or within the driven wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/12—Bikes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/22—Driver interactions by presence detection
-
- 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
-
- 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
- B62K2204/00—Adaptations for driving cycles by electric motor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a kind of human-computer interaction body-sensing vehicles, two wheels including car body and on car body, the car body includes a support frame, two foot pedal apparatus being arranged on the support frame, control device and power supply, the left and right ends of the support frame are connect with vehicle wheel rotation, power supply and control device are accommodated in the lengthwise host cavity of the support frame, first position sensor to sense the relatively described support frame of described two foot pedal apparatus by force information, control device is according to described by force information, it controls wheel driver and drives the vehicle wheel rotation, the support frame is integral structure, the support frame in left-right direction on irregularly extend, the tubulose that partial enlargement part reduces.The technical program is simple for structure, and vehicle body is firmer.
Description
Technical field
The present invention relates to a kind of balance cars, and in particular to a kind of human-computer interaction body-sensing vehicle.
Background technology
Human-computer interaction body-sensing vehicle, is called electrodynamic balance vehicle, thinking vehicle, and operation principles are mainly built upon one kind and are referred to as
In the basic 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 driving motor is adjusted correspondingly, to keep the balance of system.
Existing human-computer interaction body-sensing vehicle has been generally divided into operating lever and without this two class of operating lever, wherein the people with operating lever
Machine interaction body-sensing vehicle, advance, retrogressing and the steering of human-computer interaction body-sensing vehicle carry out concrete operations control by operating lever.And
Without the human-computer interaction body-sensing vehicle of operating lever, advance, the retrogressing of human-computer interaction body-sensing vehicle are by entire human-computer interaction body-sensing vehicle
Inclination control, steering is then ridden by user on foot platform, and passes through relative rotation angle between two foot platforms
Difference is spent to carry out control realization.Wherein, it is mainly patent without the two-wheeled human-computer interaction body-sensing vehicle of operating lever
The revealed double-wheel self-balancing human-computer interaction body-sensing Che Wei of CN201410262108.8 are represented, and the inner cover in the balance car includes pair
Claim the left inside lid of setting and right inner cover, and the relatively right inner cover rotation connection of left inside lid.
So, the inner cover that the balance car has been used for support frame effect need to include left inside lid and right inner cover, and structure is relatively multiple
It is miscellaneous.
Invention content
In order to solve the above technical problems, the object of the present invention is to provide a kind of human-computer interaction body-sensings simple for structure
Vehicle.
To achieve the above object, present invention employs technical solutions below：
A kind of human-computer interaction body-sensing vehicle, including car body and two wheels on car body, the car body include a support
Skeleton, two foot pedal apparatus, control device and the power supply being arranged on the support frame, the left and right ends of the support frame and vehicle
Wheel rotation connection, power supply and control device be accommodated in the lengthwise host cavity of the support frame, and first position sensor is feeling
Survey the relatively described support frame of described two foot pedal apparatus by force information, control device, by force information, controls vehicle according to described
Wheel drive unit drives the vehicle wheel rotation, the support frame to be integral structure, and the support frame is in left-right direction
On irregularly extend, partial enlargement part reduce tubulose.
Preferably, the left and right sides partial enlargement of support frame extends for foot pedal apparatus to be arranged.
Preferably, the top half of support frame is enlarged extension along the longitudinal direction in the position of setting foot pedal apparatus
And it is integrally formed the sensor fixed seat of foot pedal apparatus.
It is fixed preferably, the left and right sides of support frame rearward expands extension the sensor of foot pedal apparatus is arranged
Seat, the tubulose so that entire support frame takes the shape of the letter U, wheel are located at the front of car body and foot pedal apparatus.
Preferably, the overall structure of the support frame is made of separable assembled.
Preferably, the support frame is made of metal.
Preferably, the car body includes the motor fixing seat between the wheel and support frame, the motor
To be pivotally connected the positioning wheel, the axletree of wheel is connected fixed seat by the support frame of motor fixing seat and car body.
Preferably, the motor fixing seat and a part or whole part of support frame are integrally formed.
Preferably, the support frame includes the top half being fixedly connected and lower half portion, the support frame
It is hollow to form the host cavity for storing power supply and control device between top half and lower half portion.
Preferably, the top half of the support frame includes the body frame portion for load-bearing and is exposed to car body outer surface
Appearance portion.
Preferably, foot pedal apparatus and wheel are all mounted in the top half of support frame.
Preferably, the power supply and control device in support frame host cavity are fixed in the top half of support frame.
Preferably, offering fenestra among the top half of support frame, transmission element, support frame are equipped in the fenestra
Host cavity in be equipped with display circuit board, display circuit board be mounted on master board top, display circuit board is under transmission element
Side is equipped with display unit, and the display unit is charactron, LED light or display screen.
Preferably, the support frame is equipped with several lamplight components, lamplight component can be set to the support frame
Front side and/or rear side, lamplight component can be set to the support frame top half and/or lower half portion, lamplight component can
Between two foot pedal apparatus on the support frame.
Preferably, lamplight component generally comprises lamp source and lampshade, lamp source can be one kind in lamp bead, light bar, fluorescent tube
Or it is a variety of, the color of lampshade can be transparent, colored or polychrome alternating pattern, lampshade shape can be strip, it is plate shaped,
Arc surfaced, polyhedron shape, concave-convex prismatic or grid-like, lampshade can pass through bonding, clamping, socket, riveting, compound or fastening
Part is fixed on support frame, and either lampshade can also be integrally formed with support frame or appearance member on appearance member.
Preferably, the top half of the support frame and the front side centre position of lower half portion binding site are equipped with the
One lamplight component, the first lamplight component include the lampshade and light bar of strip.
Preferably, the top half of the support frame and rear side the right and left position point of lower half portion binding site
Not She You second, third lamplight component, second, third lamplight component lampshade is located on support frame and foot in grid-like
Corresponding two of device is stepped on to expand on extending part.
For the present invention as a result of above technical solution, human-computer interaction body-sensing bassinet structure is succinct, between two wheels
Only include a tubular support skeleton to play a supportive role, and foot pedal apparatus is independently arranged on support frame, without phase
Two footstep mechanisms being mutually rotatablely connected are respectively set foot pedal apparatus, comparison existing balance car or swing car on the market, structure
Simply, car body is integral type, and scalability is strong, simplifies steering yoke or vehicle body separates rotational structure, vehicle body is firmer.
Description of the drawings
Fig. 1 is the three-dimensional combination figure of the first embodiment human-computer interaction body-sensing vehicle of the invention.
Fig. 2 is the three-dimensional combination figure of the first another angle of embodiment human-computer interaction body-sensing vehicle of the invention.
Fig. 3 is the three-dimensional combination figure of the first another angle of embodiment human-computer interaction body-sensing vehicle of the invention.
Fig. 4 is the sectional view along line A-A in Fig. 3.
Fig. 5 is the part isometric exploded view of the first embodiment human-computer interaction body-sensing vehicle wheel of the invention.
Fig. 6 is the three-dimensional combination figure of wheel relevant portion in Fig. 5.
Fig. 7 is the three-dimensional combination figure of car body relevant portion in Fig. 5.
Fig. 8 is the stereogram exploded view of the first embodiment human-computer interaction body-sensing vehicle of the invention.
Fig. 9 is the stereogram exploded view of the first another angle of embodiment human-computer interaction body-sensing vehicle of the invention.
Figure 10 is the support bracket fastened stereochemical structure of foot pedal apparatus of the first embodiment human-computer interaction body-sensing vehicle of the invention
Figure.
Figure 11 is the structural exploded view of foot pedal apparatus in Fig. 8.
Figure 12 is the structural exploded view of another angle of foot pedal apparatus in Figure 11.
Figure 13 is the structural exploded view of wheel relevant portion in Fig. 8.
Figure 14 is the structural exploded view of another angle of wheel relevant portion in Figure 13.
Figure 15 is the structural exploded view of car body relevant portion in Fig. 8.
Figure 16 is the structural exploded view of another angle of car body relevant portion in Figure 15.
Figure 17 is the three-dimensional combination figure (visual angle one) of second of embodiment human-computer interaction body-sensing vehicle of the invention.
Figure 18 is the three-dimensional combination figure (visual angle two) of second of embodiment human-computer interaction body-sensing vehicle of the invention.
Figure 19 is the structural exploded view of second of embodiment human-computer interaction body-sensing vehicle of the invention.
Figure 20 is the partial sectional view of second of embodiment human-computer interaction body-sensing vehicle of the invention.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", " clockwise ", " inverse
The orientation or positional relationship of the instructions such as hour hands " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description originally
Invention and simplified description, do not indicate or imply the indicated device or element must have a particular orientation, with specific side
Position construction and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two
It is a or more than two, unless otherwise restricted clearly.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation ",
Terms such as " fixings " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；
It can be mechanical connection, can also be electrical connection；It can be directly connected, can also indirectly connected through an intermediary, it can be with
It is the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood as the case may be
The concrete meaning of language in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature the "upper" of second feature or "lower"
It may include that the first and second features are in direct contact, can also not be to be in direct contact but pass through it including the first and second features
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " include first special
Sign is right over second feature and oblique upper, or is merely representative of fisrt feature level height and is higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include fisrt feature immediately below second feature and obliquely downward, or be merely representative of
Fisrt feature level height is less than second feature.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
To limit the present invention.
The present invention in order to express easily, using with the parallel horizontal direction in human-computer interaction body-sensing vehicle straight trip direction as front and back
To using the horizontal direction vertical with human-computer interaction body-sensing vehicle straight trip direction as left and right directions, to keep straight on human-computer interaction body-sensing vehicle
The vertical vertical direction in direction is upper and lower directions.
The structure of the first embodiment of the human-computer interaction body-sensing vehicle 100 of the present invention as shown in Fig. 1 to Figure 16 is as follows：
Human-computer interaction body-sensing vehicle 100 comprising car body 10 and two wheels 20 on car body 10, the wheel 20 exist
It can be rotated in the radial direction around car body 10；The car body 10 further comprises a support frame 11, is arranged in the support frame 11
On two foot pedal apparatus 12, first position sensor 13, control device 15 and to drive the driving of the wheel 20 to fill
Set (not shown), the support frame 11 is integral structure and is connect with wheel 20, the first position sensor 13 to
Sense the support frame 11 relatively of described two foot pedal apparatus 12 by force information, the control device 15 is according to the stress
Information controls the driving device and the movement of wheel 20 or rotation, the support frame 11 is driven to be equipped with the guide rail of recess
112, it is inserted on the guide rail 112 that the foot pedal apparatus fixing bracket 18 for holding the foot pedal apparatus 12 is installed.So set
It sets, simple in structure, convenient for assembling, and the support frame 11 can be group after separately manufacturing with the foot pedal apparatus fixing bracket 18
Dress, convenient for carrying out different manufacturing process flows according to the selection of the particular requirement of the two, such as in some embodiments,
The support frame 11 is tubulose, and separately manufacturing can be manufactured convenient for the support frame 11.
The overall structure refers to institute for the left inside lid that middle setting can be rotated mutually compared with the existing technology and right inner cover
State support frame 11 be globality structure, in different embodiments, the overall structure can be separable assembled form or
It is integrally formed, for example, support frame 11 as shown in Figure 8, Figure 9 is integral structure, support rib as shown in Figures 17 to 19
Frame 11 takes separable assembled to form, including the top half 1101 being fixedly connected and lower half portion 1102.In addition, from cross section shape
From the point of view of shape, the tubulose may include the tubulose of circular tube shaped, multiangular tubular or any other cross-sectional shape；From left and right directions
On extension mode from the point of view of, the tubulose be not limited to equal proportion extension tubulose, can also be the various tubuloses irregularly extended,
Such as partial enlargement, part diminution, rotation, displacement etc., such as support frame 11 shown in Figure 17, Figure 18, the two of its tubulose
End part, which expands, to be extended for foot pedal apparatus to be arranged, the tubulose so that entire support frame takes the shape of the letter U.
The guide rail 112 extends in left-right direction, and set on the front side of support frame 11 and/or rear side.Herein, institute
Left and right directions is stated i.e. along the axial direction of wheel 20.So set, the foot pedal apparatus fixing bracket 18 can be inserted in left-right direction
It is connected on the support frame 11, the foot pedal apparatus fixing bracket 18 can be made to be held power by preferable in the up-down direction,
Conducive to the support upwards to foot pedal apparatus 12.
112 left and right ends of the guide rail are inserted with to foot-operated with 12 phase of the foot pedal apparatus installation fixing of left and right two respectively
Device fixing bracket 18.So set, the foot pedal apparatus 12 of the left and right two is immobilizated in the foot pedal apparatus fixing bracket 18
On.In the present embodiment, the unilateral guide rail 112 to plug the two foot pedal apparatus fixing brackets 18 in left and right, which is integrated, prolongs
It stretches.It is described it is unilateral be front side or rear side, for example, the same guide rail 112 of the front side can grafting simultaneously holding two respectively
The foot pedal apparatus fixing bracket 18 of foot pedal apparatus 12, centre are not interrupted, in this way, it is simple in structure, it manufactures and easy to assembly.At other
In embodiment, the unilateral side guide rail 112 or independently of each other setting.
112 cross section of the guide rail is T fonts.So set, the foot pedal apparatus fixing bracket 18 can be inserted in it is described
It prevents from being detached from outward in guide rail 112.Certainly, in other embodiments, 112 cross section of the guide rail may be configured as other shapes
Shape, such as triangle, circle etc. need to only make the bore of the opening of the guide rail be less than the size of guide rail interior bore so that institute
It is not easily to fall off to state foot pedal apparatus fixing bracket 18.
The foot pedal apparatus fixing bracket 18 include to laterally be inserted in the guide rail 112 plug portion 181 and
The guide rail 112 is extended outward to install the mounting portion 183 for holding the foot pedal apparatus 12.So set, described foot-operated
Device fixing bracket 18 can be immobilizated on support frame 11 to hold the foot pedal apparatus 12.
The mounting portion 183 is equipped with to hold the holding hole 101 of foot pedal apparatus 12.So set, the holding hole
It can be held on 101 and wear being bonded between the realization of the retaining pieces such as nut and foot pedal apparatus 12.
It the mounting portion 183 and plugs and is equipped with the extension that fits up and/or down with support frame 11 between portion 181
Support alar part 182.So set, the support alar part 182 can be in the up-down direction held on the support frame 11, carry
The intensity of the high foot pedal apparatus fixing bracket 18 is stablized to improve the fixing between foot pedal apparatus 12 and support frame 11
Property.
In the present embodiment, the support frame 11 be along the axially extending circular tube shaped of wheel 20, the guide rail 112 and
Foot pedal apparatus fixing bracket 18 is respectively positioned on the top half of the support frame 11.So set, the support frame 11 can be to
On provide preferable holding power to the foot pedal apparatus fixing bracket 18.Certainly, the guide rail 112 and foot pedal apparatus fixing bracket
18 top halfs for being set to the support frame 11 are preferential embodiment, but the setting is not wound of the present invention
The limitation made.In other embodiments, the guide rail 112 and foot pedal apparatus fixing bracket 18 may be alternatively located at the support frame
11 middle part or lower half portion.
181 cross section of portion that plugs is T fonts.So set, the portion 181 that plugs can be tight between guide rail 112
Cooperation improves fixing stability.In other embodiments, the plug division 118 corresponds to 112 cross section of the guide rail and can set
It is set to circle, triangle etc..
The human-computer interaction body-sensing vehicle 100 further comprises power supply 16, and the power supply 16 is to the driving device,
One position sensor 13 and control device 15 are powered, and the control device 15 is controlling the power supply 16, driving device and the
One position sensor 13, and drive signal is sent out to driving device according to the stress that first position sensor 13 is sensed, from
And wheel 20 is driven to rotate.
Axletree 21 is equipped between the wheel 20 and car body 10, the wheel 20 is rotatablely connected by the axletree 21
In on the car body 10.
Preferably, 10 center of gravity of the car body is less than the axletree 21.So set, in the human-computer interaction body-sensing vehicle
100 in operation or non-operating state, and center of gravity can be overhang the axletree 21 by the car body 10 always as a whole
Position below can keep car body 10 that original state is kept not to be flipped up；Car body 10 is flipped up even by external force,
Since the effect of gravity still can make car body 10 being returned to original position, to greatly facilitate the use of user.
In other embodiment, the center of gravity of the car body 10 may be alternatively provided as being not below the axletree 21, the body gravity
The reason of the limitation present invention can not be become by being arranged.
The wheel 20 is rotationally connected on the car body 10 by the axletree 21 and can be regarded as various ways, is such as existed
In one specific implementation mode, wheel 20 can be immobilizated on axletree 21, axletree 21 is rotationally connected on car body 10；Or at it
Can also be that axletree 21 is fixed on car body 10, and wheel 20 is rotated along axletree 21 in his embodiment.
In the present embodiment, 21 one end of the axletree is connected with wheel 20, and the other end is connected with axletree and fixes
Plate 23, the wheel axis fixing plate 23 are held with 10 phase of the car body.In this way, the wheel 20 can be with the wheel axis fixing plate
23 are connected is assembled into support frame 11 up again later, consequently facilitating the modularization group between support frame 11 and wheel 20
Dress.
The axletree 21 is fixed on the first half of wheel axis fixing plate 23.So set, working as the wheel axis fixing plate
After 23 are installed to support frame 11 up, it can preferably realize that the center of gravity of the car body 10 is located at 21 or less axletree.
11 side of the support frame is equipped with for the motor fixing seat 3 with 23 secure fit of wheel axis fixing plate,
Rear 3 center of gravity of the motor fixing seat, which is assembled, with wheel axis fixing plate 23 is less than the axletree 21.So set, can be further
Ensure that 10 center of gravity of the car body is less than the axletree 21.Specifically, the metal that the motor fixing seat 3 can be used quality larger
Etc. materials, ensure that 10 center of gravity of the car body is located at 21 or less axletree and keeps higher stability.
Gasket seal (not shown) is equipped between the wheel axis fixing plate 23 and motor fixing seat 3.In this way, can make described
There is preferable dustproof and waterproof and other effects between car body 10 and wheel 20.
The support frame 11 is equipped with the host cavity 110 to the mating motor fixing seat 3, and the motor is fixed
Seat 3 includes the inserted terminal 32 being positioned in host cavity 110 to grafting and connection inserted terminal 32 to be closed in host cavity 110
The cap 31 in outside.In this way, the motor fixing seat 3 can be fixed by the inserted terminal 32 and the installation of support frame 11, it is described
Cap is closed in 11 outside of support frame and plays preferable sealing effect.
Be equipped with the power supply 16 in the host cavity 110, the motor fixing seat 3 be equipped with laterally protrude out to receiving
The positioning column 312 of the power supply 16 is supported in chamber 110.In this way, the motor fixing seat 3 can prevent the power supply 16 or so from shaking
It is dynamic, improve the structural stability inside car body 10.
20 top of the wheel is equipped with wheel cover 123, and 3 cap 31 of the motor fixing seat has upwardly extended solid to grafting
The grafting installation foot 311 of the fixed wheel cover 123.In this way, the wheel cover 123, which can be stablized, is immobilizated in the motor fixing seat
On 3, convenient for assembling.In his embodiment, the wheel cover 123 can also be by other means immobilizated on car body 10.
Left and right extension and phase interworking are equipped between 10 host cavity 110 of the car body and 3 inserted terminal 32 of the motor fixing seat
The stopper protrusion 111 of conjunction and limit recess portion 321.So set, on the one hand the motor fixing seat 3 can be prevented in host cavity 110
Interior rotation；And can prevent two parts are counter to fill when assembling, fool proof positioning action is played, the stopper protrusion 111, which can also play, to be added
Strengthening tendons act on, and increase the intensity of support frame 11, improve the structural stability of car body 10.In other embodiments, the limit
Position protrusion 111 can also be set on inserted terminal 3, and the limit recess portion 321 is arranged in host cavity 110.
The wheel axis fixing plate 23 is perpendicular to 21 line direction of axletree.So set, the wheel axis fixing plate 23 exists
It is not susceptible to deflection when by 10 front-rear direction of car body and/or the active force of upper and lower directions, improves the wheel axis fixing plate 23
Fixing stability between car body 10.In his embodiment, the wheel axis fixing plate 23 can not also be perpendicular to wheel
21 line direction of axis.
The driving device is set in the wheel 20, and the cable for connecting the driving device is equipped in the axletree 21
211, the cable 211 extends the wheel axis fixing plate 23 to be connected with control device 15 and/or power supply 16.So
It is arranged, the driving device in the wheel 20 can pass through the cable 211 across the wheel axis fixing plate 23 and be filled with the control
Set 15 and/or power supply 16 be connected.Driving device, that is, the motor, in other embodiments, the driving device can also
It is set in car body 20.
The motor fixing seat 3 accommodates the container 33 for holding the wheel axis fixing plate 23 equipped with being recessed.Such as
This setting, the wheel axis fixing plate 23, which can accommodate, to be positioned in the container 33, to improve 10 external table of the car body
The planarization in face.In other embodiments, the motor fixing seat 3 can also be with a part or whole part one of support frame 11
Molding, such as in embodiment as shown in figure 19,1101 one of top half of motor fixing seat 3 and support frame 11 at
Type.
The wheel axis fixing plate 23 is rectangle, and the container 33 is square corresponding with the wheel axis fixing plate 23
Shape.In other embodiments or other shapes.So set, the pluggable positioning axletree of the container 33
Fixed plate 23 prevents the wheel axis fixing plate 23 from mobile or rotation occurs.
The foot pedal apparatus 12 includes the pedal bottom plate 121 for being located at the top of the first position sensor 13, and described first
Position sensor 13 includes former and later two sensing element regions 1313, is equipped between former and later two described sensing element regions 1313
To the middle part forced section 1312 directly or indirectly supported with support frame 11, described two sensing element regions 1313 it is front and back
Both sides are equipped with the outside forced section 1311 to offset with the pedal bottom plate 121.In this way, the pedal bottom plate ought be stepped on downwards
When 121, the outside forced sections 1311 of the front and rear sides by top-down power, and intermediate middle part forced section 1312 due to
By resist force from bottom to top, make first position sensor 13 that the similar arch deformation arched upward upwards be presented, the deformation can
To be interpreted as macroscopic deformation or microdeformation.To make the sensing element region 1313 of the rear and front end sense deflection.
Described directly support refers to being in direct contact realization there is no other component between the two to support, and described support indirectly refers to the two
Between supported by the transmission realization of the power of other component, such as in the present embodiment, the middle part forced section 1312 and branch
It is additionally provided with sensor fixed seat 125 in supporting between support bone frame 11.It please specifically join shown in Fig. 4, the pedal bottom plate 121 and
Gap 5 is equipped between one position sensor 13.The gap 5 can provide the sky to arch upward upwards among first position sensor 13
Between.
Specifically, in the present embodiment, the gap 5 be set to the middle part forced section 1312 and pedal bottom plate 121 it
Between.In other embodiments, the gap 5 can be also set between entire first position sensor 13 and pedal bottom plate 121.
The first position sensor 13 includes former and later two ends 131 and connects the connection of described two ends 131
Portion 132, every one end 131 include the middle part forced section 1312, the outside forced section 1311 and are located at described
Sensing element region 1313 between middle part forced section 1312 and outside forced section 1311.So set, former and later two described ends
Portion 131 can have an effect respectively according to the difference of front and back sole and sense different pressure informations.For from another statement, described two
A sensing element region 1313 is it can be appreciated that two different positions sensor is sent out to test the different of front and back sole respectively
Power.
It is respectively equipped on two middle part forced section 1312 to consolidate with what the support frame 11 was directly or indirectly held
Hole 101 is held, the holding hole 101 to be held with 121 phase of pedal bottom plate is respectively equipped on two outside forced section 1311.So
It is arranged, the retaining pieces such as screw can be worn in the holding hole 101, is fixed convenient for assembling.
In the present embodiment, the first position sensor 13 is I-shaped, in the lateral direction the interconnecting piece 132
Width be less than the end 131 width.So set, the interconnecting piece 132 can fix front and back two middle part forced section
1312, reinforce the intensity of first position sensor 13, and the relatively narrow interconnecting piece 132 can reduce first position sensor 13
Weight, on the other hand, also can the first position sensor 13 have preferably elasticity to improve sensing sensibility play centainly
Effect.
The foot pedal apparatus 12 includes directly to be held with middle part 1312 phase of forced section described in first position sensor 13
Sensor fixed seat 125, the sensor fixed seat 125 to the support frame 11 directly or indirectly hold.So
Setting, the first position sensor 13 are installed on after being immobilizated in the sensor fixed seat 125 on support frame 11 again,
The first position sensor 13 can be protected during the installation process.
The foot pedal apparatus 12 further includes the lower casing 126 between the sensor fixed seat 125 and car body 10.Such as
This, can be improved 10 outboard structure planarization of car body, play preferable protection and beauty function.
121 top of the pedal bottom plate is equipped with foot pad 122, and the foot pad 122 is closed with 126 phase of the lower casing and connected.Foot
Pad 122 can be soft rubber material or user also can be improved in this way, can increase the wearability and frictional force of foot pad 122 in other
Comfort also plays preferable water proof and dust proof effect.
It please join shown in Fig. 3, the foot pedal apparatus 12 is ellipticity.In this way, user's safety in utilization can be improved, and it is more beautiful
It sees.In other embodiments, the foot pedal apparatus 12 or other shapes.
The support frame 11 is the foot pedal apparatus on 10 front-rear direction of car body along the axially extending tubulose of wheel 20
12 are wider than the width of the support frame 11.12 lower section of the foot pedal apparatus is recessed from bottom to top to be supported described in partial receipt
Skeleton 11.So set, the whole structural stability of the car body 10 can be improved.
121 side of the pedal bottom plate is equipped with to be covered in the wheel cover 123 of 20 top of wheel, the wheel cover 123
With 12 split settings of foot pedal apparatus.In this way, being easy to implement the respective manufacturing process of the two, in other embodiments, the foot
Device 12 is stepped on the wheel cover 123 can also integrally to extend.In other embodiments, the wheel cover 123 and foot
Stepping on the section components of device 12 can also be integrally formed.
The same foot pedal apparatus 12 is equipped with to sense two sensing element areas of same sole pressure information
Domain 1313, the control device 15 is to according to the pressure difference in the described two sensing element regions 1313 driving shifting of wheel 20
Dynamic or rotation.
The control device 15 includes the master board 150 being horizontally set in tubular support skeleton 11.The tubulose is not
It is limited to pipe or cross section for the long cavate of other shapes.So set, the master board 150 can be utilized preferably
Space availability ratio is improved in 110 space of lengthwise host cavity in the tubular support skeleton 11.In his embodiment, the master
Control panel 150 can be otherwise placed in support frame 11.
Power supply 16 is equipped in the support frame 11, the master board 150 is equipped with to electrical with the power supply 16
The battery mating interface 152 of docking.The power supply 16 is equipped with the battery interface to be connected to each other with the battery mating interface 152
177.So set, being docked by the realization of modular interface between the power supply 16 and master board 150, can avoid more
Cable 211 shuttle, the generation for the problems such as avoiding 211 aging of cable improves safety.
The battery mating interface 152 is located at the middle part of the master board 150 in the lateral direction.In this way, can be improved
The degree of balance of master control borad itself improves Assembly stability.In other embodiments, other positions be may also placed in.
150 left and right ends of the master board are equipped with the external mating interface mutually electrically to be docked with both sides driving device
151.It can facilitate the external mating interface 151 can be opposite with the interface of driving device and/or first position sensor 13 outward
It connects, is conducive to realize preferable modularization assembling.
It is equipped with the electric connection driving device and described electrically to dock between the support frame 11 and wheel 20
The connector 25 of external mating interface 151.The connector 25 can electrically be docked with the external mating interface 151, be conducive to real
Existing modularization assembling preferable between driving device and car body 10.
The external mating interface 151 is located at the both ends of the power supply 16 in the lateral direction.In this way, the external docking
Interface 151 can preferably utilize the remaining space at 11 interior power of support frame, 16 both ends, convenient to be docked with motor, and improve branch
Space availability ratio inside support bone frame 11.
The master board 150 is horizontally set at the top in the support frame 11, and the power supply 16 is located at the master
The lower section of control panel 150.So set, can preferably protect the master board 150 not to be squeezed.
The front and rear sides of 16 top of the power supply support the master board 150 upwards equipped with the extension of edge left and right
Support rib 1790, it is described to support the empty slot 179 being equipped between rib 1790 between the master board 150 and power supply 16.Such as
This, can preferably support except the fixed master board 150, can also protect the element in master board 150 be not easy by
To extruding.
In the present embodiment, the master board 150 is the strip extended along left and right.In this way, the master board
150 can preferably utilize the space on top in tubular support skeleton 11, improve space availability ratio.It is described in his embodiment
Master board 150 or other shapes.
Transmission connecting component is equipped in the human-computer interaction body-sensing vehicle 100, the transmission connecting component includes power delivery
Component, Hall transmission part and to transmit the temperature transmission part of temperature signal.So set, the temperature transmission part can
To transmit the temperature signal of human-computer interaction body-sensing vehicle 100 to control device 15, when 100 corresponding component temperature of human-computer interaction body-sensing vehicle
When degree reach a certain height, the corresponding protective programs such as shutdown can be started, improve 100 safety in utilization of human-computer interaction body-sensing vehicle.
The transmission part can be cable or plug terminal.In this way, signal transmission can be achieved.It is appreciated that this place
The plug terminal is not limited to the plug terminal 252 being arranged between power supply 16 and driving device in diagram, can also be other
Place is substituting the plug terminal of cable.This place states cable and is also not necessarily limited to illustrated cable 211, can also be to set
Set cable elsewhere.
In different embodiments of the present invention, when the transmission part be cable when, may include 5 Hall lines, 2 or
1 temperature line, 3 power cords.May include 3 power supply terminals, 5 Hall ends when the transmission part is plug terminal
Son, 2 or 1 temperature terminal.Certainly, can also be that part uses conducting wire, partly uses end in other specific implementation modes
Son is transmitted.For example, in the present embodiment, the plug terminal 252 can be equipped with power supply terminal, but be not provided with Hall end
Son realizes corresponding function by separately powering up pond communication line.
Power supply 16 is equipped in the support frame 11, the power supply 16 is internally provided with to monitor 16 internal temperature of power supply
Temperature sensor (not shown), the temperature transmission part connect the temperature sensor.In this way, can be used to sense power supply 16 is
No the case where there are temperature overheatings, improves safety in utilization.
Axletree 21 is equipped between the wheel 20 and car body 10, the wheel 20 is rotatablely connected by the axletree 21
In on the car body 10, the driving device is set in the wheel 20, the driving device, that is, driving motor, the main control
Plate 150 is equipped with to control the driving circuit (not shown) of the driving device, is equipped with described in connection in the axletree 21
The cable 211 of driving device, the cable 211 extend the axletree 21 to be connected with a connector 25.Such as
This setting, is equipped with the power supply, Hall and temperature transmission part between the driving device and the connector 25.In other realities
It applies in mode, temperature transmission part can not also be set between the driving device and the connector 25, is i.e. driving device can
To be not provided with temperature sensor,
The connector 25 includes a frame mouth 251 and the institute that the cable 211 is correspondingly connected in the frame mouth 251
State plug terminal 252.
The power supply 16 is connected with external mating interface 151, and the external mating interface 151 and the connector 25 are mutual
Docking.In this way, the connector 25 can be connected to each other with external mating interface 151, improve between driving device and power supply 16
Modularization assembling degree improves safety.
Further, connected by master board 150 between power supply 16 and external mating interface 151, the power supply 16 with
The battery mating interface 152 being mutually inserted and battery interface 177, the external mating interface 151 are equipped between master board 150
In the master board 150, connected by the master board 150 between the external mating interface 151 and power supply 16.
In this way, further improving the modularization assembling degree between master board 150 and power supply 16, safety is improved.
20 outside of the wheel is equipped with wheel cover 123, and the wheel cover 123 is equipped with anticollision glue 127.So set,
During use, the wheel cover 123 can be preferably protected.
Specifically, the anticollision glue 127 is convexly equipped in the outside of the wheel cover 123.In this way, it is simple in structure, it is easy to assembly.
In other embodiments, the anticollision glue 127 can be also embedded in inside wheel cover 123, using being different from the slow of wheel cover 123
Wear-resistant material is rushed, material saving cost while improving durability.
Join described in Fig. 1, the anticollision glue 127 is located at the front and rear sides of wheel cover 123.In this way, material saving cost.
In other embodiment, also anticollision glue 127 can be also installed at other positions.
The wheel cover 123 is immobilizated on the car body 10.The car body 10 includes being located at the wheel 20 and support rib
Motor fixing seat 3 between frame 11.The motor fixing seat 3 positions the wheel 20 to be pivotally connected.
The motor fixing seat 3 upwardly extends the grafting installation foot 311 to wheel cover described in plugged and fixed 123, institute
State the lower section of wheel cover 123 be equipped be recessed from bottom to top accommodating the installation slot 1230 of the grafting installation foot 311.Such as
This, the wheel cover 123 can realize stable fixing with the motor fixing seat 3, and simple in structure, and assembling is firm.
123 lower section of the wheel cover, which is equipped with, is located at the fixed column that 1230 front and rear sides of installation slot protrude out from top to bottom
1231, the motor fixing seat 3 be equipped with positioned at 311 front and rear sides of grafting installation foot and be recessed from top to bottom to grafting accommodate
The fixing groove 313 of the fixed fixed column 1231.It can so further increase between wheel cover 123 and motor fixing seat 3
Hold stability.
Since size of the support frame 11 before and after car body 10 and/or in upper and lower directions is less than 20 diameter of wheel and institute
It is along the axially extending circular tube shaped of wheel 20 to state support frame 11, and the wheel cover 123 is equipped with to cover the wheel cap of wheel 20
Portion 1241 and the extension 1242 extended from wheel cap 1241 to the streamlined contraction in 11 direction of support frame.In this way, described
Extension 1242 can make have preferable dustproof and waterproof function between the wheel 20 and car body 10, and human-computer interaction body can be improved
Feel the whole structure fluency of vehicle 100, is cleaned convenient for user.
1242 extending end of the extension be equipped with to 11 matched installation gap 124 of the support frame, such as
This, improves the whole structural stability of human-computer interaction body-sensing vehicle 100.
The support frame 11 is equipped with the guide rail 112 of recess, and light bar 4 is inserted on the guide rail 112.So set,
Simple installation；The light bar 4, which can make the human-computer interaction body-sensing vehicle 100 when in use, has preferable warning recognition reaction, carries
The traffic safety of high user.
The guide rail 112 extends in left-right direction, and set on the front side of support frame 11 and/or rear side.In this way, making described
Light bar 4 can be set to front side and/or the rear side of the support frame 11.
It is also inserted with that the foot pedal apparatus fixing bracket 18 for holding the foot pedal apparatus 12 is installed on the guide rail 112.
So set, the foot pedal apparatus fixing bracket 18 and light bar 4 can share a guide rail 112, convenient for manufacture.
112 left and right ends of the guide rail are inserted with to foot-operated with 12 phase of the foot pedal apparatus installation fixing of left and right two respectively
Device fixing bracket 18, the light bar 4 is between the both ends foot pedal apparatus fixing bracket 18.In an assembling process, it can incite somebody to action
Light bar 4 first assigns into the guide rail 112, then the foot pedal apparatus fixing bracket 18 of the both sides is assigned into 4 both sides of light bar
In guide rail 112, convenient for assembling.
4 rear side of the light bar is fixed with the fixed strip being plugged in the guide rail 112 41.So set, can be by lamp
It is fitted together after band 4 and 41 separately manufacturing of fixed strip, convenient for being manufactured for light bar 4.
112 cross section of the guide rail is T fonts.41 cross section of the fixed strip is T fonts.So set, the fixation
Item 41 tightly coordinates with guide rail 112, improves the fixing stability between light bar 4 and support frame 11.In other embodiments,
The cross section may be other shapes, and guarantee does not depart from after plugging.
The support frame 11 is along the axially extending circular tube shaped of wheel 20, the guide rail 112, foot pedal apparatus fixing bracket
18 and light bar 4 be respectively positioned on the top half of the support frame 11.So set, the support frame 11 can be upwards to the foot
It steps on device fixing bracket 18 and preferable holding power is provided.In other embodiments, the guide rail 112, foot pedal apparatus fix branch
Frame 18 and light bar 4 can be located at the middle part or lower half portion of the support frame 11.
It is equipped in the support frame 11 along the axially extending lengthwise open power supply 16 of wheel 20, the power supply 16 includes battery
Shell 17, the battery case 17 and support frame 11 are metal material.So set, outside the battery of the metal material
Shell 17 can make the power supply 16 be anti-explosion battery, and the support frame 11 of the metal material makes the explosion-proof electrical source 16 have more
Further protection, the double-level-metal material protection can greatly improve the safety of the human-computer interaction body-sensing vehicle 100,
Power supply 16 is avoided to explode caused safety accident.
In the present embodiment, the support frame 11 is aluminum pipe.In other embodiments, the support frame 11
Can be other metal materials.
Mutually matched limiting groove 170 and stopper protrusion 111 are equipped between the battery case 17 and support frame 11.
So set, conducive to the positioning between the power supply 16 and support frame 11, it is not susceptible to mutual displacement, is improved whole
Stability, and anti-reverse mounting can be played the role of in assembling.
Size of the support frame 11 before and after car body 10 and/or in upper and lower directions is less than 20 diameter of wheel.So set
It sets, the car body 10 has smaller size in front and back and/or upper and lower directions, more saves materials cost and more portable.
The support frame 11 is along the axially extending circular tube shaped of wheel 20.So set, in the base with same volume
Support frame 11 described in plinth has smaller surface area, to more save materials cost and allow car body 10 smallerization, gently
Just change.On the other hand, the round and smooth support frame 11 in surface is not easy to generate larger damage and failure to user or periphery things.
In other embodiments, the support frame 11, lengthwise shape power supply 16 along axletree 21 to cross section can also be square
Shape, other polygons, ellipse or other irregular shapes.The power supply 16 of the lengthwise shape is along the axial cross-sectional area of wheel 20
Circle is matched with the support frame 11.
In the present embodiment, it is to be fixedly connected between the foot pedal apparatus 12 and support frame 11.The first position
Sensor 13 can be used to sense the pressure information on the foot pedal apparatus 12.
The first position sensor 13 is pressure sensor.So set, first position sensor 13 can be used to sense
Pressure information on foot pedal apparatus 12.
The control device 15 is to according to the stress information gap control driving wheel between two foot pedal apparatus 12
20 movements or rotation, realize and turn to.So set, when two foot pedal apparatus 12 are identical by force information, two wheels 20 move
Dynamic speed is identical, and when two foot pedal apparatus 12 are by force information difference, wherein the movement speed of single wheel 20 is more than the other side
Movement speed or 20 moving direction of both sides wheel of wheel 20 to realize on the contrary, turn to.
In the present embodiment, the same foot pedal apparatus 12 is equipped with to sense two of same sole pressure information
Sensing element region 1313.In other embodiment, the first position sensor 13 can only set a sensing element area
The sensor in domain 1313, that is, can be expressed as on the same foot pedal apparatus 12 being equipped with to sense same sole difference portion
Two such first position sensors 13 of position pressure information, the control device 15 is to according to described two first positions
The pressure difference of sensor 13 drives the movement of wheel 20 or rotation.So set, when two 12 stress information gaps of foot pedal apparatus
When identical, two wheels, 20 movement speed is identical, when two 12 stress information gap differences of foot pedal apparatus, wherein single wheel 20
Movement speed be more than other side wheel 20 movement speed or 20 moving direction of both sides wheel on the contrary, to realize turn to.
In other embodiments, whether the first position sensor 13 can also have to sense on foot pedal apparatus 12
User, to control the start and stop of wheel 20.So set, it is not necessary that an inductive switch is separately provided, to simplify 10 knot of car body
Structure.Certainly, in other embodiments, inductive switch can also be separately provided.
The driving device can be set 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 driving device can also be set in support frame 11.Such as
This setting, can be applicable to wheel 20 it is relatively small in the case of.
The foot pedal apparatus 12 includes pedal bottom plate 121 and the foot pad 122 above pedal bottom plate 121, and described the
One position sensor 13 is set to 121 lower section of the pedal bottom plate.So set, user can trample on the foot pad 122,
Meets the needs of comfort is trampled in specific anti-skidding or raising.
The human-computer interaction body-sensing vehicle 100 further comprises second position sensor (not shown), to sense support rib
The inclination information of 11 relative wheel 20 of frame.So set, when user and support frame 11 are whole toward when leaning forward, described the
Two position sensors sense inclination, will send a signal to control device 15, the control driving wheel 20 of the control device 15
It travels forward so that it is whole that there is sweptback power, play the role of balance.Specifically, the second position sensor packet
Include gyroscope, acceleration transducer and/or photoelectric sensor.
The foot pedal apparatus 12 is compared to the outside deflection of front-rear direction.So set, being suitable between two tiptoe of user
Distance be wider than two heels distance stance, increase user's comfort level.It, can not also be inclined in his embodiment
Tiltedly.
In conclusion the human-computer interaction body-sensing vehicle 100 of the present invention, only includes that one support is made between two wheels 20
Tubular support skeleton 11, and foot pedal apparatus 12 is independently arranged on support frame 11, is connected without two mutually rotations
The mechanism connect is used for that foot pedal apparatus 12 is respectively set, and compares existing balance car or swing car on the market, simple in structure, car body 10 is
Integral type, scalability is strong, simplifies steering yoke or vehicle body separates rotational structure, vehicle body is firmer.
The structure of the another embodiment of the human-computer interaction body-sensing vehicle of the present invention as shown in Figure 17 to Figure 20 is as follows：
A kind of human-computer interaction body-sensing vehicle as shown in Figure 17, Figure 18, including car body and two wheels 20 on car body；
The car body includes a support frame 11, two foot pedal apparatus 12, the first position sensor that are arranged on the support frame 11
13, control device 15 and power supply 16, the support frame 11 are integral structure and are connect with wheel 20, and the first position passes
Sensor 13 to sense the support frame 11 relatively of described two foot pedal apparatus 12 by force information, the control device 15
According to described by force information, control wheel driver drives the wheel 20 to rotate.
The support frame 11 as shown in Figure 17, Figure 18 is integral structure, and the support frame 11 as shown in Figure 19, Figure 20 is adopted
It takes separable assembled to form, including is fixedly connected as an integrally-built top half 1101 and lower half portion 1102.
The overall structure refers to institute for the left inside lid that middle setting can be rotated mutually compared with the existing technology and right inner cover
The structure that support frame 11 is the globality that can not be rotated respectively is stated, in different embodiments, the overall structure can be
Separable assembled is formed or is integrally formed.
The support frame 11 is tubulose, and the tubulose, which refers to that support frame is hollow, to be formed for storing power supply 16 and control
The host cavity 110 of device 15.In present embodiment, between the top half 1101 and lower half portion 1102 of the support frame 11
The hollow host cavity 110 to formation for storing power supply 16 and control device 15.
In addition, for the cross section of the tubulose, the tubulose can be circular tube shaped, oval tubulose, multiangular tubular or
The tubulose of any other cross-sectional shape；From the point of view of the extension mode on left and right directions, the tubulose is not limited to equal proportion extension
Tubulose, can also be various tubuloses irregularly extended, such as partial enlargement, part diminution, rotation, displacement etc., such as scheme
17, support frame 11 shown in Figure 18 extends in the both side ends partial enlargement of its tubulose for foot pedal apparatus to be arranged, to make
Entire support frame takes the shape of the letter U tubulose.
The top half 1101 of the support frame 11 is preferably metal material.Metal material rigid support performance is good, no
Each component of fixed host cavity can be only installed, and can be explosion-proof with effective guarantee power supply, improve safety.Metal material is preferred
For aluminum material.
The top half 1101 of the support frame 11 includes for the body frame portion of load-bearing and securing part and being exposed to
The appearance portion of car body outer surface.The body frame portion and appearance portion can be that material of the same race is integrally formed, such as metal material, can also
It is integral using material one-pass molding not of the same race or gradation molding or separable assembled, for example, in metal body frame portion exposed surface
Some or all of hold one or more appearance portions by modes such as bonding, clamping, socket, riveting, compound or fasteners, should
Appearance portion can be metal, plastics, rubber or the various materials such as wooden.Manufacturing cost, appearance diversification can be saved in this way, kept away
Exempt from metal material surface processing technology and requires the defects of high, appearance is single.
The lower half portion 1102 of the support frame 11 can be metal material, plastic material or other with Support cover
The material of support performance is made.In other embodiments, in the case that material stiffness intensity allows, it is located at support frame and accommodates
The parts of intracavitary can also be fixed on the lower half portion 1102 of support frame 11, in this way, the top half of support frame 11
1101 are mainly used for load-bearing, and shape and structure is simpler, identical material weight intensity higher, and manufacturing cost is lower.
The top half 1101 of the support frame 11 is mainly used for load-bearing, and therefore, foot pedal apparatus 12 and wheel 20 are all pacified
In the top half 1101 of support frame 11.In some cases, foot pedal apparatus 12 and wheel 20 can also be mounted on branch
On the lower half portion 1102 of support bone frame 11.
The human-computer interaction body-sensing vehicle 100 of the present invention only includes a tubulose to play a supportive role between two wheels 20
Support frame 11, and foot pedal apparatus 12 is independently arranged on support frame 11, two without being mutually rotatablely connected are foot-operated
Mechanism is respectively set foot pedal apparatus 12, and comparison existing balance car or swing car on the market, simple in structure, car body is integral type,
Scalability is strong, simplifies steering yoke or vehicle body separates rotational structure, vehicle body is firmer.
As shown in Figure 19, Figure 20, the foot pedal apparatus 12 includes pedal bottom plate 121, first position sensor 13 and sensing
Device fixed seat 125, pedal bottom plate 121 are located at the top of first position sensor 13, and first position sensor 13 is located at sensor
The top of fixed seat 125.Sensor fixed seat 125 be fixedly connected with the top half 1101 of the support frame 11 or one at
Type.The first position sensor 13 includes the first forced section, the second forced section and is arranged in the first forced section, the second stress
Sensing element region between portion, first forced section are fixedly connected with sensor fixed seat 125 or pedal bottom plate 121, then
Second forced section is fixedly connected with pedal bottom plate 121 or sensor fixed seat 125.
In present embodiment, as shown in figure 19, first position sensor 13 includes former and later two ends 131 and connection institute
The interconnecting piece 132 of two ends 131 is stated, every one end 131 includes the middle part forced section 1312, the outside stress
Portion 1311 and the sensing element region 1313 between the middle part forced section 1312 and outside forced section 1311, in described
Portion's forced section 1312 and the outside forced section 1311 correspond to above-mentioned first forced section and the second forced section respectively, the middle part by
Power portion 1312 and the outside forced section 1311 are fixedly connected with sensor fixed seat 125 and pedal bottom plate 121 respectively.So set
It sets, former and later two described ends 131 can be had an effect according to the difference of front and back sole respectively senses different pressure informations.From another
For in statement, two sensing element regions 1313 of a foot pedal apparatus are it can be appreciated that two different positions sensor
Difference to detect front and back sole respectively is had an effect.In another embodiment, a foot pedal apparatus can also only be arranged one
The situation of having an effect of sole is detected in sensing element region (it can be appreciated that a position sensor).In this way, first position passes
Sensor by detect foot pedal apparatus different location stressing conditions so that acquisition foot pedal apparatus relative to car body rotation information or
Inclination information, and then control device driving wheel carries out corresponding sports.
In present embodiment, first position sensor 13 includes former and later two sensing element regions 1313, former and later two biographies
The middle part forced section 1312 directly or indirectly to be supported with support frame 11 is equipped between sensing unit region 1313, it is described two
The front and rear sides in sensing element region 1313 are equipped with the outside forced section 1311 to offset with the pedal bottom plate 121.Such as
This, when stepping on the pedal bottom plate 121 downwards, the outside forced section 1311 of the front and rear sides by top-down power, and
Intermediate middle part forced section 1312 is due to by resist force from bottom to top, making first position sensor 13 present similar to arch
The arch deformation risen, the deformation can be understood as macroscopic deformation or microdeformation, to make the sensing element of the rear and front end
Part region 1313 senses deflection.The foot pedal apparatus 12 of the same side is equipped with to sense two of batter palm pressure information
The sensing element region 1313, the control device 15 is to according to the drive of the pressure difference in described two sensing element regions 1313
Move the side wheel 20 movement or rotation.In this way, relative to a first position sensor is provided only on the same foot pedal apparatus
It says, two first position sensors are arranged on same foot pedal apparatus has higher detection recognition accuracy, and can be used for
Whether there is user on detection foot pedal apparatus, effectively differentiates differentiation user and get on or off the bus and manipulate body-sensing vehicle foot pedal apparatus when driving
Different stressing conditions.
Gap, the gap are equipped between the pedal bottom plate 121 and the middle part forced section 1312 of first position sensor 13
The space of the opposite arch of middle part forced section 1312 of first position sensor 13 can be provided.Similarly, the sensor fixed seat 125
It also is provided with gap between the outside forced section 1311 of first position sensor 13, which can provide first position sensor 13
Outside forced section 1311 with respect to test space.
It is respectively equipped on two middle part forced section 1312 to consolidate with what the support frame 11 was directly or indirectly held
Hole 101 is held, the holding hole 101 to be held with 121 phase of pedal bottom plate is respectively equipped on two outside forced section 1311.So
It is arranged, the retaining pieces such as screw can be worn in the holding hole 101, is fixed convenient for assembling.
In the present embodiment, the first position sensor 13 is " [" font or " I " fonts or strip.On a left side
The width of the interconnecting piece 132 is less than the width of the end 131 in right direction.So set, the interconnecting piece 132 can be consolidated
Fixed front and back two middle part forced sections 1312, reinforce the intensity of first position sensor 13, and the relatively narrow interconnecting piece 132 can subtract
On the other hand the weight of few first position sensor 13 also may make first position sensor 13 to have preferably elasticity to improving
Sensing sensibility plays a role.
The foot pedal apparatus 12 includes to the 1312 mutually fixed sensing of middle part forced section with first position sensor 13
Device fixed seat 125, the sensor fixed seat 125 are fixedly connected or are integrally formed with the support frame 11.Present embodiment
In, sensor fixed seat 125 is integrally formed in the top half 1101 of support frame 11, can reduce parts in this way, side
Just it installs.
Foot pedal apparatus 12 needs to accommodate entire sole, therefore longer on 10 front-rear direction of car body, and by entire support frame
The same length of sole is made, can make the entire big heaviness of car body volume, and manufacturing cost is high.Preferred embodiment is to prop up
The top half 1101 of support bone frame 11 is enlarged extension to surround sensing along the longitudinal direction in the position of setting foot pedal apparatus 12
Device fixed seat 125.Simple in structure in this way, compact, manufacturing cost increase few.In the present embodiment, Figure 17, Tu18Suo
Showing, the left and right sides of support frame 11 rearward expands extension the sensor fixed seat 125 of foot pedal apparatus 12 is arranged, thus
The tubulose so that entire support frame takes the shape of the letter U, wheel 20 is located at the front of car body 10 and foot pedal apparatus 12, such front and back asymmetric
Design, not only structure is more firm, but also the center of gravity of car body is sunk, and foot-operated position is sagging lands not for car body when body-sensing vehicle is closed
Dynamic, body-sensing vehicle starts and the foot-operated position lift level stability of car body is more preferable when driving, and the more fashionable fashion of appearance, user experience
More preferably.In other embodiments, the foot-operated position of the left and right sides of support frame 11 can also extend forwardly and rearwardly simultaneously
Equal length or different length, to form various forms of tubuloses.In other embodiments, wheel 20 can also be arranged in vehicle
The middle part or rear portion of body 10 and foot pedal apparatus 12.
121 preferred metal material of the pedal bottom plate or other materials with preferably rigidity are made, the pedal bottom plate
121 tops are equipped with foot pad or appearance ornamental pieces, and user can trample on the foot pad, and satisfaction is specific anti-skidding or raising is stepped on
Step on the demand of comfort.Foot pad can be soft rubber material or other, in this way, the wearability and frictional force of foot pad can be increased,
Also user's comfort can be improved, also play preferable water proof and dust proof effect.The foot pad can be by bonding, blocking
It connects, be socketed, riveting, the modes such as compound or fastener are fixed on one or more components on the upper surface of pedal bottom plate.
The pedal bottom plate 121 covers on first position sensor 13, in 121 surrounding of pedal bottom plate and support frame
Sealing ring 128 is equipped in gap between sensor fixed seat 125, to prevent dust and water from entering the gap and support frame
In host cavity.128 preferred elastomeric material of sealing ring manufactures, such as rubber etc..
The foot pedal apparatus 12 corresponds to the outside deflection of forefoot.So set, being suitable between two tiptoe of user
Distance be wider than two heels distance stance, increase user's comfort level.It, can not also be inclined in his embodiment
Tiltedly.
Axletree 21 is equipped between the wheel 20 and car body 10, the wheel 20 is rotated by axletree 21 and car body 10
Connection can be there are many mode, such as a kind of specific implementation mode is：Wheel 20 is fixedly connected with axletree 21, axletree 21 with
Car body 10 is rotatablely connected；Such as another embodiment can also be：Axletree 21 is fixedly connected with car body 10, and wheel 20 with
Axletree 21 is rotatablely connected.
The car body 10 includes the motor fixing seat 3 between the wheel 20 and support frame 11, and the motor is solid
Reservation 3 is to be pivotally connected the positioning wheel 20, support frame that the axletree 21 of wheel 20 passes through motor fixing seat 3 and car body 10
Connection.In one embodiment, motor fixing seat 3 is a bearing block, and axletree 21 and car body 10 are realized by the bearing block
Support frame rotation connection.In another embodiment, motor fixing seat 3 includes a briquetting and coordinates clamping with the briquetting
The pedestal of axletree 21, the pedestal are fixedly connected or are integrally formed with the support frame of car body 10, real by the briquetting and pedestal
Existing axletree 21 is fixedly connected with support frame.
In the present embodiment, as shown in Figure 19, Figure 20,21 one end of the axletree is connected with wheel 20, the other end
It is connected with wheel axis fixing plate 23, the wheel axis fixing plate 23 is fixedly connected with the car body 10.In this way, the wheel 20 can
It is assembled into support frame 11 again up after being connected with the wheel axis fixing plate 23, consequently facilitating support frame 11 and wheel
Modularization assembling between 20.
In the present embodiment, for being propped up with the setting of the motor fixing seat 3 of 23 secure fit of wheel axis fixing plate
The left and right sides end of support bone frame 11.Motor fixing seat 3 can with support frame separately manufacturing and assemble fixation, in other implementations
In mode, the motor fixing seat 3 can also be integrally formed with a part or whole part of support frame 11.In the present embodiment,
As shown in figure 19, motor fixing seat 3 and the top half 1101 of support frame 11 are integrally formed.In this way, simple in structure, manufacturer
Just, intensity is high.Preferred embodiment is that motor fixing seat 3 and the top half 1101 of support frame 11 are all made of metal material
Matter is manufactured, such as aluminum material.
In present embodiment, the motor fixing seat 3 holds the wheel axis fixing plate 23 equipped with recess to accommodate
Container 33.So set, the wheel axis fixing plate 23 can be accommodated and is positioned in the container 33, described in improving
The planarization of 10 outer surface of car body.The wheel axis fixing plate 23 is rectangle, and the container 33 is solid with the axletree
23 corresponding rectangle of fixed board.In other embodiments or other shapes.In this way, wheel axis fixing plate 23 and receiving
There is slot matched shape, the pluggable positioning wheel axis fixing plate 23 of the container 33 to prevent the axletree solid
Mobile or rotation occurs for fixed board 23.
The wheel axis fixing plate 23 is perpendicular to wheel axis direction.So set, the wheel axis fixing plate 23 by
Be not susceptible to deflection when to 10 front-rear direction of car body and/or the active force of upper and lower directions, improve the wheel axis fixing plate 23 with
Fixing stability between car body 10.In other embodiments, the wheel axis fixing plate 23 can not also be perpendicular to wheel
21 line direction of axis.
Preferably, 10 center of gravity of the car body is less than the axletree 21.So set, in the human-computer interaction body-sensing vehicle
100 in operation or non-operating state, and center of gravity can be overhang the axletree 21 by the car body 10 always as a whole
Position below can keep car body 10 that original state is kept not to be flipped up；Car body 10 is flipped up even by external force,
Since the effect of gravity still can make car body 10 being returned to original position, used to greatly facilitate user.In this way,
In order to reduce body gravity, the lower half portion of support frame is preferably using the larger metal material of quality.In other embodiment
In, the center of gravity of the car body 10 may be alternatively provided as being not below the axletree 21, and the setting of the body gravity can not be at
For the reason of the limitation present invention.
Preferably, after motor fixing seat 3 and wheel axis fixing plate 23 assemble, their center of gravity is less than the axletree
21.So set, can be further ensured that 10 center of gravity of the car body is less than the axletree 21.Specifically, the motor fixing seat 3
The materials such as the metal that can be used quality larger ensure that 10 center of gravity of the car body is located at 21 or less axletree and keeps higher stabilization
Property.
Gasket seal (not shown) is equipped between the wheel axis fixing plate 23 and motor fixing seat 3.In this way, can make described
There is preferable dustproof and waterproof and other effects between car body 10 and wheel 20.
The wheel driver can be set in wheel 20, so institute can be set come in using the existing volume of wheel 20
Driving device is stated, space availability ratio is high；In other embodiments, the driving device can also be set to support frame 11
It is interior.So set, can be applicable to wheel 20 it is relatively small in the case of.
In present embodiment, the wheel driver is set in the wheel 20, as shown in figure 19, the axletree 21
Interior to be equipped with the cable 211 for connecting the driving device, the cable 211 passes through wheel axis fixing plate 23 and motor fixing seat 3 simultaneously
It is connected with control device 15 and/or power supply 16.So set, the driving device in the wheel 20 can be by passing through the vehicle
The cable 211 of wheel axis fixing plate 23 is connected with the control device 15 and/or power supply 16.Driving device, that is, the motor,
In other embodiment, the driving device can also be set in car body 20.
20 top of the wheel is equipped with wheel cover 123, and wheel cover 123 covers the inside and top of wheel 20.The wheel
Lid 123 is immobilizated on the car body 10.In present embodiment, wheel cover 123 is located at the outside of foot pedal apparatus 12, is fixed on motor
On connecting portion between fixed seat 3 and support frame, 123 lower section of the wheel cover is connect equipped with what is be recessed from bottom to top with this
The installation slot of position cooperation, and be fixedly connected by fastener.In this way, the wheel cover 123 can be fixed with the motor
Seat 3 realizes stable fixing, and simple in structure, and assembling is firm.In another embodiment, wheel cover 123 can also be fixed directly
In motor fixing seat 3.
In the present embodiment, the wheel cover 123 and support frame, foot pedal apparatus 12 and motor fixing seat 3 is seperated sets
It sets.In this way, being convenient for being assembled into one again after manufacturing respectively using respective structure, material and technique.In other embodiments, institute
Stating wheel cover 123 can also be with the integrated elongation moulding of support frame, foot pedal apparatus 12 or motor fixing seat 3.In other embodiment party
In formula, the wheel cover 123 can also be with the section components of support frame, foot pedal apparatus 12 or motor fixing seat 3 (such as foot pad
Or plastics appearance member) be integrally formed.In other embodiments, the wheel cover 123, which can also extend to, covers outside wheel 20
Upper lateral part.In other embodiments, the wheel cover 123 is equipped with anticollision glue, can be compared with so set, in use
The wheel cover 123 is protected well.The anticollision glue improves durability using the buffering wear-resistant material for being different from wheel cover 123
While material saving cost.
The human-computer interaction body-sensing vehicle 100 further comprises power supply 16 and control device 15, power supply 16 and control device 15
It is accommodated in the hollow host cavity 110 of support frame, the power supply 16 is to wheel driver, first position sensor 13
And control device 15 power, the control device 15 to control the power supply 16, driving device and first position sensor 13,
And drive signal is sent out to driving device according to the stress that first position sensor 13 is sensed, to drive 20 turns of wheel
It is dynamic.
The control device 15 includes the master board 150 being set in the host cavity 110 of support frame 11.The master control
Making sheet 150 and power supply 16 are the strip extended along left and right, are suitable for being placed in the host cavity 110 of support frame 11.This
Sample can preferably utilize 110 space of lengthwise host cavity in the support frame 11, improve space availability ratio.In other realities
Apply in mode, the master board 150 and/or power supply 16 can also otherwise, other shapes are arranged in support frame 11
It is interior.
The master board 150 is equipped with the battery mating interface 152 electrically to be docked with the power supply 16.The electricity
Source 16 is equipped with the battery interface 177 to be connected to each other with the battery mating interface 152.So set, the power supply 16 and master
Between control panel 150 by modular interface realize dock, more cable can be avoided to shuttle, avoid poor contact,
The generation of the problems such as cable aging, improves connection reliability and safety.
The battery mating interface 152 is located at the middle part of the master board 150 in the lateral direction.In this way, can be improved
The degree of balance of master control borad itself improves Assembly stability.In other embodiments, other positions be may also placed in.
150 left and right ends of the master board are equipped with the external docking mutually electrically to be docked with both sides wheel driver
Interface 151.In this way, can facilitate the external mating interface 151 can outward with driving device and/or first position sensor 13
Interface is connected to each other, and is conducive to realize preferable modularization assembling, is improved connection reliability and safety.
The external mating interface 151 is located on the outside of the both ends of the power supply 16 in the lateral direction.In this way, the outside
Mating interface 151 can preferably utilize the remaining space at 11 interior power of support frame, 16 both ends, convenient to be docked with motor, and carry
Space availability ratio inside high support frame 11.
The master board 150 is set to the top in 11 host cavity 110 of the support frame, and the power supply 16 is located at institute
State the lower section of master board 150.So set, can preferably protect the master board 150 not to be squeezed.
The power supply 16 includes battery case 17 and the battery being placed in battery case, the battery case 17 and branch
Support bone frame 11 is metal material, such as aluminum.In this way, the battery case 17 of metal material can make the power supply 16 form anti-explosion electric
Pond, and the support frame 11 of the metal material makes the explosion-proof electrical source 16 have further protection, the double-level-metal
Material, which is protected, can greatly improve the safety of the human-computer interaction body-sensing vehicle 100, and power supply 16 is avoided to explode caused safety
Accident.
The front and rear sides of 17 top of the battery case support the master board upwards equipped with the extension of edge left and right
150 support rib 1790, described to support the empty slot being equipped between rib 1790 between the master board 150 and power supply 16
179.It so, it is possible preferably to support except the fixed master board 150, the element in master board 150 can also be protected
It is not easily susceptible to squeeze.The setting of battery interface 177 is at 179 middle part of empty slot.
In the present embodiment, master board 150 and power supply 16 are fixed on the upper of support frame 11 by battery plate 19
1101 lower section of half part.Battery plate 19 is U-board shape, the upper half of the U-shaped both side ends and support frame 11 of battery plate 19
Part 1101 is fixedly connected, and power supply 16 and master board 150, the letter of this spline structure are housed in the U-shaped intermediate space of battery plate 19
It is single reliable, it is easy for installation.One of preferred embodiment is one side of U-shaped and the support frame 11 of battery plate 19
Top half 1101 directly or indirectly hooks connection, and another side of U-shaped of battery plate 19 passes through fastener or buckle and support
The top half 1101 of skeleton 11 connects, easier for installation in this way.In the present embodiment, one side of U-shaped of battery plate 19
It is hooked on and the top half of support frame 11 1101 indirectly by display unit 4012.In the present embodiment, the battery
Mutually matched limiting groove 170 and positioning convex portion 1901 are equipped between shell 17 and battery plate 19.In this way, outside the battery
Accurate positioning is reliable between shell 17 and battery plate 19, is not susceptible to mutual displacement, improves overall stability, and can be
Play the role of anti-reverse mounting in assembling.
In the present embodiment, fenestra is offered among the top half 1101 of support frame 11, is equipped in the fenestra saturating
Light part 4011, the host cavity 110 of support frame 11 is interior to be equipped with display circuit board 4013, and display circuit board 4013 is mounted on main control
The top of plate 150, display circuit board 4013 are equipped with display unit 4012 below transmission element 4011, and the display unit 4012 is
The display elements such as charactron, LED light or display screen.
The support frame 11 is equipped with several lamplight components, and lamplight component can be set to the front side of the support frame 11
And/or rear side, lamplight component can be set to the top half of the support frame 11 and/or lower half portion, lamplight component and can be set to
Between two foot pedal apparatus on the support frame 11.Lamplight component generally comprises lamp source and lampshade, lamp source can be lamp bead,
One or more in light bar, fluorescent tube etc., the color of lampshade can be transparent, colored or polychrome alternating pattern etc., lamp cover shaped
Shape can be strip, plate shaped, arc surfaced, polyhedron shape, concave-convex prismatic or grid-like etc., lampshade can by bonding,
The modes such as clamping, socket, riveting, the fastening of compound or fastener are fixed on support frame or other appearance members, and lampshade also may be used
To be integrally formed with support frame or other appearance members.Lamplight component can be used for illuminating, show, decorating, warning, identifying or event
The functions such as barrier instruction.
In the present embodiment, the front side interposition of the top half of the support frame 11 and lower half portion binding site
The first lamplight component 402 is installed, the first lamplight component 402 includes the lampshade 4021 and light bar 4022 of strip, can make in this way
The human-computer interaction body-sensing vehicle has preferable warning recognition reaction when in use, improves the traffic safety of user.It is described
The top half of support frame 11 and rear side the right and left position of lower half portion binding site are respectively equipped with second, third light
Component 403, second, third 403 lampshade of lamplight component is in grid-like, and is located at corresponding in foot pedal apparatus on support frame
Two expand on extending part, have good decorative effect, kinesthesia full.
In the present embodiment, the first position sensor 13 is pressure sensor.So set, first position senses
Device 13 can be used to sense the pressure information on foot pedal apparatus 12.
The control device 15 is to according to the stress information gap control driving wheel between two foot pedal apparatus 12
20 movements or rotation, realize and turn to.So set, when two foot pedal apparatus 12 are identical by force information, two wheels 20 move speed
Degree (i.e. velocity of rotation) is identical, and when two foot pedal apparatus 12 are by force information difference, the movement speed of wherein single wheel 20 is big
In other side wheel 20 movement speed or 20 moving direction of both sides wheel on the contrary, to realize turn to.
In the present embodiment, the same foot pedal apparatus 12 is equipped with to sense two of same sole pressure information
Sensing element region 1313.In other embodiment, the first position sensor 13 can only set a sensing element area
The sensor in domain 1313.Present embodiment can also be expressed as on the same foot pedal apparatus 12 being equipped with to sense same foot
Two such first position sensors 13 of different parts pressure information are slapped, the control device 15 is to according to described two
The pressure difference of first position sensor 13 drives the movement of wheel 20 or rotation.So set, when two foot pedal apparatus 12 by
When force information difference is identical, two wheels, 20 movement speed is identical, when two 12 stress information gap differences of foot pedal apparatus, wherein side
The movement speed of wheel 20 is more than movement speed or 20 moving direction of both sides wheel of other side wheel 20 on the contrary, thus real
It turns now to.
In other embodiments, whether the first position sensor 13 can also have to sense on foot pedal apparatus 12
User, to control the start and stop of wheel 20.So set, it is not necessary that an inductive switch is separately provided, to simplify 10 knot of car body
Structure.Certainly, in other embodiments, inductive switch can also be separately provided.
The human-computer interaction body-sensing vehicle can further include second position sensor (not shown), to sense support
The inclination information of 11 relative wheel 20 of skeleton.So set, when user and support frame 11 are whole toward when leaning forward, it is described
Second position sensor senses inclination, will send a signal to control device 15, the control driving wheel of the control device 15
20 travel forward so that and it is whole that there is sweptback power, play the role of balance.Specifically, the second position sensor
Including gyroscope, acceleration transducer and/or photoelectric sensor.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiments or example in can be combined in any suitable manner.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case of can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.It is all the present invention
Within spirit and principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (17)
1. a kind of human-computer interaction body-sensing vehicle, including car body and two wheels on car body, which is characterized in that the car body packet
Two foot pedal apparatus (12), control device (15) and the power supply for including a support frame (11), being arranged on the support frame (11)
(16), the left and right ends of the support frame (11) are rotatablely connected with wheel (20), and power supply (16) and control device (15) are accommodated in
In the lengthwise host cavity (110) of the support frame (11), the support frame (11) is integral structure, the support frame
(11) be in left-right direction on irregularly extend, partial enlargement part reduce tubulose.
2. a kind of human-computer interaction body-sensing vehicle according to claim 1, which is characterized in that the left and right sides of support frame (11)
Partial enlargement extends for foot pedal apparatus to be arranged.
3. a kind of human-computer interaction body-sensing vehicle according to claim 1, which is characterized in that the top half of support frame (11)
(1101) it is enlarged extension along the longitudinal direction in the position of setting foot pedal apparatus (12) and is integrally formed foot pedal apparatus (12)
Sensor fixed seat (125).
4. a kind of human-computer interaction body-sensing vehicle according to claim 1, which is characterized in that the left and right sides of support frame (11)
Rearward expand and extend the sensor fixed seat (125) of foot pedal apparatus (12) is arranged, so that entire support frame is in U
Shape tubulose, wheel (20) are located at the front of car body (10) and foot pedal apparatus (12).
5. a kind of human-computer interaction body-sensing vehicle according to claim 1, which is characterized in that the whole knot of the support frame (11)
Structure is made of separable assembled.
6. a kind of human-computer interaction body-sensing vehicle according to claim 1, which is characterized in that the support frame (11) is using gold
Category is made.
7. a kind of human-computer interaction body-sensing vehicle according to claim 1, which is characterized in that the car body (10) includes being located at institute
State the motor fixing seat (3) between wheel (20) and support frame (11), the motor fixing seat (3) is being pivotally connected described in positioning
The axletree (21) of wheel (20), wheel (20) is connect by motor fixing seat (3) with the support frame of car body (10).
8. a kind of human-computer interaction body-sensing vehicle according to claim 7, which is characterized in that the motor fixing seat (3) and branch
A part or whole part of support bone frame (11) is integrally formed.
9. a kind of human-computer interaction body-sensing vehicle according to claim 1, which is characterized in that the support frame (11) includes solid
Surely the top half (1101) connected and lower half portion (1102), the top half (1101) and lower half of the support frame (11)
It is partly hollow to form the host cavity (110) for storing power supply (16) and control device (15) between (1102).
10. a kind of human-computer interaction body-sensing vehicle according to claim 9, which is characterized in that the support frame (11) it is upper
Half part (1101) includes the body frame portion for load-bearing and the appearance portion for being exposed to car body outer surface.
11. a kind of human-computer interaction body-sensing vehicle according to claim 9, which is characterized in that foot pedal apparatus (12) and wheel
(20) it is all mounted in the top half (1101) of support frame (11).
12. a kind of human-computer interaction body-sensing vehicle according to claim 9, which is characterized in that support frame (11) host cavity
(110) power supply (16) and control device (15) in are fixed in the top half (1101) of support frame (11).
13. a kind of human-computer interaction body-sensing vehicle according to claim 9, which is characterized in that the first half of support frame (11)
Divide among (1101) and offer fenestra, transmission element (4011) is equipped in the fenestra, is set in the host cavity (110) of support frame (11)
There are display circuit board (4013), display circuit board (4013) to be mounted on the top of master board (150), display circuit board (4013)
Display unit (4012) is equipped with below transmission element (4011), the display unit (4012) is charactron, LED light or display
Screen.
14. a kind of human-computer interaction body-sensing vehicle according to claim 9, which is characterized in that set on the support frame (11)
There are several lamplight components, lamplight component that can be set to the front side of the support frame (11) and/or rear side, lamplight component and can be set to
The top half of the support frame (11) and/or lower half portion, lamplight component can be set to two on the support frame (11)
Between a foot pedal apparatus.
15. a kind of human-computer interaction body-sensing vehicle according to claim 14, which is characterized in that lamplight component generally comprises lamp source
And lampshade, lamp source can be one or more in lamp bead, light bar, fluorescent tube, the color of lampshade can be transparent, colored or more
Color alternating pattern, lampshade shape can be strip, plate shaped, arc surfaced, polyhedron shape, concave-convex prismatic or grid-like, lamp
Cover can be fixed on by bonding, clamping, socket, riveting, compound or fastener on support frame or appearance member, and lampshade also may be used
To be integrally formed with support frame or appearance member.
16. a kind of human-computer interaction body-sensing vehicle according to claim 9, which is characterized in that the support frame (11) it is upper
The front side centre position of half part and lower half portion binding site is equipped with the first lamplight component (402), the first lamplight component (402)
Lampshade (4021) including strip and light bar (4022).
17. a kind of human-computer interaction body-sensing vehicle according to claim 9, which is characterized in that the support frame (11) it is upper
Rear side the right and left position of half part and lower half portion binding site is respectively equipped with second, third lamplight component (403), the
Two, third lamplight component (403) lampshade is in grid-like, and is located on support frame two expansion corresponding with foot pedal apparatus
On extending part.
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| CN201710006953.2A CN106828728A (en) | 2017-01-04 | 2017-01-04 | Human-computer interaction body-sensing car |
| CN2017100069532 | 2017-01-04 |
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| CN108313179A true CN108313179A (en) | 2018-07-24 |
Family
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| CN201720815024.1U Active CN207580049U (en) | 2017-01-04 | 2017-07-06 | Foot pedal apparatus |
| CN201710548607.7A Active CN107416097B (en) | 2017-01-04 | 2017-07-06 | Pedal device |
| CN201710547539.2A Active CN107364524B (en) | 2017-01-04 | 2017-07-06 | Human-computer interaction somatosensory vehicle |
| CN201720814365.7U Active CN207241896U (en) | 2017-01-04 | 2017-07-06 | Human-computer interaction body-sensing car |
| CN201721556912.2U Active CN208585368U (en) | 2017-01-04 | 2017-11-20 | Human-computer interaction body-sensing vehicle |
| CN201711154434.7A Pending CN108275226A (en) | 2017-01-04 | 2017-11-20 | Human-computer interaction body-sensing vehicle |
| CN201820010268.7U Active CN207997938U (en) | 2017-01-04 | 2018-01-03 | Human-computer interaction body-sensing vehicle |
| CN201810005249.XA Pending CN108313179A (en) | 2017-01-04 | 2018-01-03 | Human-computer interaction body-sensing vehicle |
| CN201810005581.6A Active CN108341009B (en) | 2017-01-04 | 2018-01-03 | Human-computer interaction somatosensory vehicle and pedal device thereof |
| CN201810005593.9A Active CN108297999B (en) | 2017-01-04 | 2018-01-03 | Human-computer interaction somatosensory vehicle and supporting framework thereof |
| CN201820013761.4U Active CN207985070U (en) | 2017-01-04 | 2018-01-03 | Human-computer interaction body-sensing vehicle and its support frame |
| CN201820010270.4U Active CN208149512U (en) | 2017-01-04 | 2018-01-03 | A kind of human-computer interaction body-sensing vehicle |
| CN201820008911.2U Active CN208149511U (en) | 2017-01-04 | 2018-01-03 | Human-computer interaction body-sensing vehicle and its foot pedal apparatus |
| CN201810004910.5A Active CN108327835B (en) | 2017-01-04 | 2018-01-03 | Car is felt to interactive body of human-computer |
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| CN201720815024.1U Active CN207580049U (en) | 2017-01-04 | 2017-07-06 | Foot pedal apparatus |
| CN201710548607.7A Active CN107416097B (en) | 2017-01-04 | 2017-07-06 | Pedal device |
| CN201710547539.2A Active CN107364524B (en) | 2017-01-04 | 2017-07-06 | Human-computer interaction somatosensory vehicle |
| CN201720814365.7U Active CN207241896U (en) | 2017-01-04 | 2017-07-06 | Human-computer interaction body-sensing car |
| CN201721556912.2U Active CN208585368U (en) | 2017-01-04 | 2017-11-20 | Human-computer interaction body-sensing vehicle |
| CN201711154434.7A Pending CN108275226A (en) | 2017-01-04 | 2017-11-20 | Human-computer interaction body-sensing vehicle |
| CN201820010268.7U Active CN207997938U (en) | 2017-01-04 | 2018-01-03 | Human-computer interaction body-sensing vehicle |
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| CN201810005581.6A Active CN108341009B (en) | 2017-01-04 | 2018-01-03 | Human-computer interaction somatosensory vehicle and pedal device thereof |
| CN201810005593.9A Active CN108297999B (en) | 2017-01-04 | 2018-01-03 | Human-computer interaction somatosensory vehicle and supporting framework thereof |
| CN201820013761.4U Active CN207985070U (en) | 2017-01-04 | 2018-01-03 | Human-computer interaction body-sensing vehicle and its support frame |
| CN201820010270.4U Active CN208149512U (en) | 2017-01-04 | 2018-01-03 | A kind of human-computer interaction body-sensing vehicle |
| CN201820008911.2U Active CN208149511U (en) | 2017-01-04 | 2018-01-03 | Human-computer interaction body-sensing vehicle and its foot pedal apparatus |
| CN201810004910.5A Active CN108327835B (en) | 2017-01-04 | 2018-01-03 | Car is felt to interactive body of human-computer |
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| US11260905B2 (en) | 2015-10-10 | 2022-03-01 | Hangzhou Chic Intelligent Technology Co., Ltd. | Human-machine interaction vehicle |
| JP2020504055A (en) | 2017-01-04 | 2020-02-06 | 杭州騎客智能科技有限公司Hangzhou Chic Intelligent Technology Co., Ltd | HCI self-sensing control vehicle |
| CN108298000A (en) * | 2018-02-12 | 2018-07-20 | 杭州骑客智能科技有限公司 | A kind of human-computer interaction body-sensing vehicle and its car body |
| 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 |
| CN111591382A (en) * | 2019-02-02 | 2020-08-28 | 杭州骑客智能科技有限公司 | Human-computer interaction somatosensory vehicle |
| CN110440968B (en) * | 2019-08-07 | 2021-05-28 | 深圳市前海胡桃科技有限公司 | Pressure detection method and pressure detection device for mobile carrier |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107364524B (en) | 2023-04-11 |
| CN108341009A (en) | 2018-07-31 |
| CN107416097A (en) | 2017-12-01 |
| CN207985070U (en) | 2018-10-19 |
| CN108297999B (en) | 2021-08-27 |
| CN106828728A (en) | 2017-06-13 |
| CN208149512U (en) | 2018-11-27 |
| CN207241896U (en) | 2018-04-17 |
| CN207997938U (en) | 2018-10-23 |
| CN108327835B (en) | 2021-06-01 |
| CN208585368U (en) | 2019-03-08 |
| CN107364524A (en) | 2017-11-21 |
| CN108297999A (en) | 2018-07-20 |
| CN108275226A (en) | 2018-07-13 |
| CN107416097B (en) | 2023-05-09 |
| CN207580049U (en) | 2018-07-06 |
| CN208149511U (en) | 2018-11-27 |
| CN108327835A (en) | 2018-07-27 |
| CN108341009B (en) | 2021-04-09 |
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