CN108313179B

CN108313179B - Human-computer interaction somatosensory vehicle

Info

Publication number: CN108313179B
Application number: CN201810005249.XA
Authority: CN
Inventors: 应佳伟; 肖科平
Original assignee: Zhejiang Qike Robot Technology Co ltd
Current assignee: Zhejiang Qike Robot Technology Co ltd
Priority date: 2017-01-04
Filing date: 2018-01-03
Publication date: 2024-08-06
Anticipated expiration: 2038-01-03
Also published as: CN208149511U; CN107416097A; CN207580049U; CN208149512U; CN108341009A; CN108275226A; CN207985070U; CN207241896U; CN108341009B; CN108327835A; CN207997938U; CN107364524B; CN107364524A; CN108327835B; CN108297999B; CN106828728A; CN108275226B; CN107416097B; CN108297999A; CN208585368U

Abstract

The invention discloses a man-machine interaction body-sensing vehicle which comprises a vehicle body and two wheels arranged on the vehicle body, wherein the vehicle body comprises a supporting framework, two pedal devices, a control device and a power supply, wherein the two pedal devices are arranged on the supporting framework, the left end and the right end of the supporting framework are rotatably connected with the wheels, the power supply and the control device are contained in a longitudinal containing cavity of the supporting framework, a first position sensor is used for sensing stress information of the two pedal devices relative to the supporting framework, the control device is used for controlling a wheel driving device to drive the wheels to rotate according to the stress information, the supporting framework is of an integral structure, and the supporting framework is of a tube shape which extends irregularly in the left-right direction and is partially enlarged and partially contracted. The technical scheme has simple structure and stronger vehicle body.

Description

Human-computer interaction somatosensory vehicle

Technical Field

The invention relates to a balance car, in particular to a man-machine interaction body feeling car.

Background

The principle of operation of man-machine interaction body-sensing vehicles, also called electric balance vehicles and thinking vehicles, is mainly established on the basic principle of dynamic stability, and the change of the posture of the vehicle body is detected by using a gyroscope and an acceleration sensor in the vehicle body, and a servo control system is used for accurately driving a motor to perform corresponding adjustment so as to keep the balance of the system.

The existing man-machine interaction body-feeling vehicles are generally divided into two types, namely a man-machine interaction body-feeling vehicle with an operating rod and a man-machine interaction body-feeling vehicle without an operating rod, wherein the forward movement, the backward movement and the steering of the man-machine interaction body-feeling vehicle are specifically controlled by the operating rod. The human-computer interaction body feeling vehicle without the operating rod is characterized in that the advancing and retreating of the human-computer interaction body feeling vehicle are controlled by the inclination of the whole human-computer interaction body feeling vehicle, and the steering is realized by the control of the relative rotation angle difference between the two pedal platforms by the pedal of a user. The two-wheeled human-computer interaction body sensing vehicle without an operating rod is mainly represented by the two-wheeled self-balancing human-computer interaction body sensing vehicle disclosed in patent CN201410262108.8, and the inner cover in the balance vehicle comprises a left inner cover and a right inner cover which are symmetrically arranged, and the left inner cover is rotationally connected with the right inner cover relatively.

However, the inner cover of the balance car for functioning as a supporting framework needs to include a left inner cover and a right inner cover, and the structure is relatively complex.

Disclosure of Invention

In order to solve the technical problems, the invention aims to provide the man-machine interaction body feeling vehicle with a simple structure.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

The utility model provides a car is felt to human-computer interaction body, includes the automobile body and locates two wheels on the automobile body, the automobile body includes a braced frame, sets up two pedal devices, controlling means and the power on this braced frame, and both ends and wheel rotation are connected about this braced frame, and power and controlling means accomodate in the lengthwise chamber of acceping of this braced frame, and first position sensor is used for the sensing two pedal devices are relative braced frame's atress information, controlling means is according to atress information control wheel drive arrangement drive the wheel rotates, braced frame is a overall structure, braced frame is along the left and right sides on irregularly extending, the tubular that part expansion part was reduced.

Preferably, the left and right side portions of the support frame are extended for providing the pedal device.

Preferably, the upper half of the support frame is extended in the front-rear direction at a position where the pedal device is provided, and the sensor fixing base of the pedal device is integrally formed.

Preferably, the left and right sides of the supporting framework are extended backward to form a sensor fixing seat for arranging the pedal device, so that the whole supporting framework is in a U-shaped tube shape, and the wheels are positioned at the front parts of the vehicle body and the pedal device.

Preferably, the whole structure of the supporting framework is formed by split assembly.

Preferably, the supporting framework is made of metal.

Preferably, the vehicle body comprises a motor fixing seat positioned between the wheel and the supporting framework, the motor fixing seat is used for pivotally positioning the wheel, and a wheel shaft of the wheel is connected with the supporting framework of the vehicle body through the motor fixing seat.

Preferably, the motor fixing seat and a part or the whole of the supporting framework are integrally formed.

Preferably, the supporting framework comprises an upper half part and a lower half part which are fixedly connected, and a containing cavity for containing the power supply and the control device is formed by hollowing the upper half part and the lower half part of the supporting framework.

Preferably, the upper half of the supporting framework comprises a main frame part for bearing weight and an appearance part exposed on the outer surface of the vehicle body.

Preferably, both the foot pedal and the wheel are mounted on the upper half of the support frame.

Preferably, the power supply and the control device in the supporting framework accommodating cavity are fixed on the upper half part of the supporting framework.

Preferably, a window hole is formed in the middle of the upper half part of the supporting framework, a light-transmitting piece is arranged in the window hole, a display circuit board is arranged in a containing cavity of the supporting framework and is arranged above the main control board, a display part is arranged below the light-transmitting piece and is a nixie tube, an LED lamp or a display screen.

Preferably, the support framework is provided with a plurality of light assemblies, the light assemblies can be arranged on the front side and/or the rear side of the support framework, the light assemblies can be arranged on the upper half part and/or the lower half part of the support framework, and the light assemblies can be arranged between two pedal devices on the support framework.

Preferably, the light assembly generally comprises a light source and a lamp shade, wherein the light source can be one or more of a lamp bead, a lamp strip and a lamp tube, the color of the lamp shade can be transparent, colorful or multicolor alternating patterns, the shape of the lamp shade can be strip-shaped, flat-plate-shaped, arc-shaped, polyhedral-shaped, concave-convex prismatic or grid-shaped, the lamp shade can be fixed on a supporting framework or an appearance piece through adhesion, clamping, sleeving, riveting, compounding or fastening pieces, and the lamp shade can be integrally formed with the supporting framework or the appearance piece.

Preferably, a first light component is arranged at the middle position of the front side of the joint part of the upper half part and the lower half part of the supporting framework, and comprises a strip-shaped lampshade and a strip-shaped lamp band.

Preferably, the left and right sides of the rear side of the joint part of the upper half part and the lower half part of the supporting framework are respectively provided with a second light component and a third light component, and the lamp covers of the second light component and the third light component are in a grid shape and are arranged on two expansion extending parts corresponding to the pedal device on the supporting framework.

Due to the adoption of the technical scheme, the man-machine interaction body-sensing vehicle is simple in structure, only comprises the tubular supporting framework with supporting function between the two wheels, the pedal devices are independently arranged on the supporting framework, two pedal mechanisms which are connected with each other in a rotating mode are not needed to be arranged for respectively arranging the pedal devices, and compared with the existing balance vehicles or swing vehicles in the market, the man-machine interaction body-sensing vehicle is simple in structure, the vehicle body is integrated, the expandability is strong, the steering rod or the vehicle body separation rotating structure is reduced, and the vehicle body is firmer.

Drawings

Fig. 1 is a perspective view of a man-machine interaction body feeling vehicle according to a first embodiment of the present invention.

Fig. 2 is a perspective view of another angle of the man-machine interaction vehicle according to the first embodiment of the present invention.

Fig. 3 is a perspective view of a man-machine interaction vehicle according to another embodiment of the present invention.

Fig. 4 is a cross-sectional view taken along line A-A in fig. 3.

Fig. 5 is a partially exploded perspective view of a wheel of a man-machine interactive somatosensory vehicle according to a first embodiment of the present invention.

Fig. 6 is a perspective combined view of the relevant portions of the wheel in fig. 5.

Fig. 7 is a perspective combined view of the relevant portions of the vehicle body in fig. 5.

Fig. 8 is a perspective exploded view of a man-machine interaction somatosensory vehicle according to a first embodiment of the present invention.

Fig. 9 is an exploded perspective view of another angle of the man-machine interaction vehicle according to the first embodiment of the present invention.

Fig. 10 is a perspective view of a pedal device fixing bracket of a man-machine interaction body feeling vehicle according to a first embodiment of the present invention.

Fig. 11 is an exploded view of the pedal apparatus of fig. 8.

FIG. 12 is an exploded view of the foot pedal of FIG. 11 from another angle.

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

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

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

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

Fig. 17 is a perspective view (view angle one) of a man-machine interaction somatosensory vehicle according to a second embodiment of the present invention.

Fig. 18 is a perspective view (view angle two) of a man-machine interaction somatosensory vehicle according to a second embodiment of the present invention.

Fig. 19 is an exploded view of a man-machine interaction type motion sensing vehicle according to a second embodiment of the present invention.

Fig. 20 is a partial cross-sectional view of a man-machine interaction somatosensory vehicle according to a second embodiment of the present invention.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more, unless otherwise clearly defined.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," "held," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

For convenience in description, the horizontal direction parallel to the human-computer interaction body feeling vehicle straight running direction is taken as the front-back direction, the horizontal direction perpendicular to the human-computer interaction body feeling vehicle straight running direction is taken as the left-right direction, and the vertical direction perpendicular to the human-computer interaction body feeling vehicle straight running direction is taken as the up-down direction.

The structure of the first embodiment of the human-machine interaction somatosensory vehicle 100 of the present invention shown in fig. 1 to 16 is as follows:

The man-machine interaction body feeling vehicle 100 comprises a vehicle body 10 and two wheels 20 arranged on the vehicle body 10, wherein the wheels 20 can rotate around the vehicle body 10 in the radial direction; the vehicle body 10 further comprises a supporting frame 11, two pedal devices 12 arranged on the supporting frame 11, a first position sensor 13, a control device 15 and a driving device (not shown) for driving the wheels 20, the supporting frame 11 is of an integral structure and is connected with the wheels 20, the first position sensor 13 is used for sensing stress information of the two pedal devices 12 relative to the supporting frame 11, the control device 15 controls the driving device to drive the wheels 20 to move or rotate according to the stress information, a concave guide rail 112 is arranged on the supporting frame 11, and a pedal device fixing bracket 18 for installing and fixing the pedal devices 12 is inserted on the guide rail 112. The arrangement is simple in structure, convenient to assemble, and the supporting framework 11 and the pedal device fixing bracket 18 can be assembled after being manufactured in a split mode, so that different manufacturing process flows can be selected according to specific requirements of the supporting framework 11 and the pedal device fixing bracket, for example, in some specific embodiments, the supporting framework 11 is tubular, and the manufacturing and forming of the supporting framework 11 can be facilitated through split manufacturing.

The integral structure refers to a structure in which the supporting frame 11 is integral with respect to the left inner cover and the right inner cover which are rotatably disposed in the prior art, and in different embodiments, the integral structure may be assembled in a split manner or integrally formed, for example, the supporting frame 11 shown in fig. 8 and 9 is an integral structure, and the supporting frame 11 shown in fig. 17 to 19 is assembled in a split manner and includes an upper half 1101 and a lower half 1102 which are fixedly connected. In addition, the tubular shape may include a circular tubular shape, a polygonal tubular shape, or a tubular shape of any other cross-sectional shape as viewed in cross-sectional shape; the tubular shape is not limited to the tubular shape extending in the right-left direction in terms of the extending manner, but may be various irregularly extending tubular shapes such as partially enlarged, partially contracted, rotated, displaced, etc., such as the support frame 11 shown in fig. 17, 18, and the tubular shape may be expanded at both side end portions thereof for providing the pedal device so that the entire support frame has a U-shape.

The guide rail 112 extends in the left-right direction and is provided on the front side and/or the rear side of the support frame 11. Herein, the left-right direction is in the axial direction of the wheel 20. So set up, the said pedal device fixed bolster 18 can be inserted and connected to the said supporting frame 11 along the left and right direction, can make the said pedal device fixed bolster 18 receive better holding force in the up and down direction, help to support the pedal device 12 upwards.

The left and right ends of the guide rail 112 are inserted with pedal device fixing brackets 18 for respectively mounting and fixing the left and right pedal devices 12. So configured, the left and right foot pedals 12 are each retained on the foot pedal mounting bracket 18. In the present embodiment, the single-sided rail 112 for inserting the left and right pedal device fixing brackets 18 is integrally extended. The single side, i.e., the front side or the rear side, for example, the same rail 112 of the front side can be simultaneously inserted with the pedal device fixing bracket 18 for respectively fixing the two pedal devices 12, and the middle is not interrupted, so that the structure is simple, and the manufacturing and the assembly are convenient. In other embodiments, the single-sided rail 112 may be provided independently of each other.

The cross section of the guide rail 112 is T-shaped. So configured, the pedal device mounting bracket 18 may be inserted into the guide rail 112 to prevent outward removal. Of course, in other embodiments, the cross-section of the guide rail 112 may be configured in other shapes, such as triangle, circle, etc., only by making the aperture of the opening of the guide rail smaller than the inner aperture of the guide rail, so that the pedal device fixing bracket 18 is not easy to fall off.

The pedal device fixing bracket 18 includes an insertion portion 181 for being laterally inserted into the guide rail 112, and a mounting portion 183 extending outwardly from the guide rail 112 for mounting and holding the pedal device 12. So configured, the pedal device fixing bracket 18 can be held on the support frame 11 for holding the pedal device 12.

The mounting portion 183 is provided with a holding hole 101 for holding the pedal device 12. So arranged, the fixing hole 101 can fix the fixing piece such as the penetrating nut to realize the stable connection with the pedal device 12.

A supporting wing 182 which extends upwards and/or downwards in a fitting manner with the supporting framework 11 is arranged between the mounting part 183 and the inserting part 181. So arranged, the supporting wing 182 can be abutted against the supporting frame 11 in the up-down direction, so as to improve the strength of the pedal device fixing bracket 18, thereby improving the fixing stability between the pedal device 12 and the supporting frame 11.

In this embodiment, the supporting frame 11 is in a tubular shape extending along the axial direction of the wheel 20, and the guide rail 112 and the pedal device fixing bracket 18 are located at the upper half of the supporting frame 11. So configured, the support frame 11 provides superior support to the pedal device mounting bracket 18. Of course, although the guide rail 112 and the pedal fixing bracket 18 are preferably provided in the upper half of the supporting frame 11, the above arrangement is not a limitation of the present invention. In other embodiments, the guide rail 112 and the pedal device fixing bracket 18 may be located at the middle or lower half of the support frame 11.

The cross section of the insertion part 181 is T-shaped. Thus, the insertion portion 181 can be tightly matched with the guide rail 112, so as to improve the holding stability. In other embodiments, the cross section of the insertion portion 118 corresponding to the guide rail 112 may be circular, triangular, or the like.

The man-machine interaction somatosensory vehicle 100 further comprises a power supply 16, the power supply 16 is used for supplying power to the driving device, the first position sensor 13 and the control device 15, the control device 15 is used for controlling the power supply 16, the driving device and the first position sensor 13, and sending driving signals to the driving device according to the stress sensed by the first position sensor 13 so as to drive the wheels 20 to rotate.

A wheel axle 21 is provided between the wheel 20 and the vehicle body 10, and the wheel 20 is rotatably connected to the vehicle body 10 via the wheel axle 21.

Preferably, the center of gravity of the vehicle body 10 is lower than the wheel axle 21. With this arrangement, when the man-machine interaction body-feeling vehicle 100 is in an operating or non-operating state, the vehicle body 10 as a whole can always suspend the center of gravity below the wheel axle 21, so that the vehicle body 10 can be kept in an original state and is not turned upwards; even if the vehicle body 10 is turned upwards by external force, the vehicle body 10 can be restored to the original position due to the gravity effect, thereby greatly facilitating the use of a user. In other embodiments, the center of gravity of the vehicle body 10 may be set not lower than the wheel axle 21, and the setting of the center of gravity of the vehicle body is not a reason for limiting the present invention.

The rotatable connection of the wheel 20 to the vehicle body 10 via the wheel axle 21 is understood to be a variety of ways, such as in one embodiment, the wheel 20 may be held to the wheel axle 21, the wheel axle 21 being rotatably connected to the vehicle body 10; or in other embodiments, the wheel axle 21 may be fixed to the vehicle body 10, and the wheel 20 may rotate along the wheel axle 21.

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

The wheel shaft 21 is fixed to an upper half of a wheel shaft fixing plate 23. With this arrangement, it is possible to preferably realize that the center of gravity of the vehicle body 10 is located below the wheel axle 21 when the wheel axle fixing plate 23 is attached to the support frame 11.

The side end of the supporting framework 11 is provided with a motor fixing seat 3 which is used for being fixedly matched with the wheel shaft fixing plate 23, and the gravity center of the motor fixing seat 3 is lower than that of the wheel shaft 21 after the motor fixing seat 3 is assembled with the wheel shaft fixing plate 23. This arrangement further ensures that the center of gravity of the vehicle body 10 is lower than the wheel axle 21. Specifically, the motor fixing seat 3 may be made of a metal with a larger mass, so as to ensure that the center of gravity of the vehicle body 10 is located below the wheel axle 21 and maintain a higher stability.

A sealing gasket (not shown) is provided between the wheel shaft fixing plate 23 and the motor fixing base 3. Thus, the vehicle body 10 and the wheels 20 have better dustproof and waterproof effects.

The supporting frame 11 is provided with a receiving cavity 110 for being in plug-in fit with the motor fixing seat 3, and the motor fixing seat 3 comprises a plug-in end 32 for being plug-in positioned in the receiving cavity 110 and a cover part 31 for being connected with the plug-in end 32 and being sealed outside the receiving cavity 110. Therefore, the motor fixing seat 3 can be fixedly arranged with the supporting framework 11 through the inserting end 32, and the cover part is sealed on the outer side of the supporting framework 11 to achieve a good sealing effect.

The power supply 16 is disposed in the accommodating cavity 110, and the motor fixing seat 3 is provided with a positioning column 312 protruding laterally and used for supporting the power supply 16 into the accommodating cavity 110. Thus, the motor fixing base 3 can prevent the power supply 16 from shaking left and right, and improve the structural stability of the vehicle body 10.

A wheel cover 123 is arranged above the wheel 20, and a plug-in mounting foot 311 for plug-in fixing the wheel cover 123 extends upwards from the cover part 31 of the motor fixing seat 3. In this way, the wheel cover 123 can be stably fixed on the motor fixing base 3, and assembly is convenient. In other embodiments, the wheel cover 123 may be otherwise retained to the vehicle body 10.

A limit convex part 111 and a limit concave part 321 which extend leftwards and rightwards and are matched with each other are arranged between the accommodating cavity 110 of the vehicle body 10 and the plug-in end 32 of the motor fixing seat 3. So arranged, on the one hand, the motor fixing seat 3 can be prevented from rotating in the accommodating cavity 110; and can prevent that two parts from adorning in reverse during the equipment, play and prevent slow-witted positioning action, spacing convex part 111 can also play the strengthening rib effect, increase the intensity of supporting skeleton 11, improve the structural stability of automobile body 10. In other embodiments, the limit protrusion 111 may be disposed on the socket end 32, and the limit recess 321 may be disposed in the receiving cavity 110.

The wheel axle fixing plate 23 is perpendicular to the wheel axle 21. In this way, the wheel shaft fixing plate 23 is less likely to deflect when receiving the force in the front-rear direction and/or the up-down direction of the vehicle body 10, and the holding stability between the wheel shaft fixing plate 23 and the vehicle body 10 is improved. In other embodiments, the wheel axle mounting plate 23 may be oriented other than perpendicular to the wheel axle 21.

The driving device is arranged in the wheel 20, a cable 211 connected with the driving device is arranged in the wheel shaft 21, and the cable 211 extends out of the wheel shaft fixing plate 23 to be connected with the control device 15 and/or the power supply 16. So arranged, the drive means within the wheel 20 may be connected to the control means 15 and/or the power supply 16 by means of a cable 211 passing through the wheel axle mounting plate 23. The driving device, i.e., the motor, may be provided in the vehicle body 10 in other embodiments.

The motor fixing base 3 is provided with a concave accommodating groove 33 for accommodating and fixing the wheel shaft fixing plate 23. With this arrangement, the wheel axle fixing plate 23 can be accommodated in the accommodation groove 33, thereby improving flatness of the outer surface of the vehicle body 10. In other embodiments, the motor fixing base 3 may be integrally formed with a portion or the whole of the supporting frame 11, for example, in the embodiment shown in fig. 19, the motor fixing base 3 is integrally formed with the upper half 1101 of the supporting frame 11.

The wheel shaft fixing plate 23 has a rectangular shape, and the receiving groove 33 has a rectangular shape corresponding to the wheel shaft fixing plate 23. In other embodiments, other shapes are possible. So configured, the receiving groove 33 can be inserted into and positioned with respect to the wheel axle fixing plate 23 to prevent the wheel axle fixing plate 23 from moving or rotating.

The pedal device 12 includes a pedal bottom plate 121 located above the first position sensor 13, the first position sensor 13 includes a front sensor area 1313 and a rear sensor area 1313, a middle force receiving portion 1312 for directly or indirectly abutting against the supporting frame 11 is disposed between the front sensor area 1313 and the rear sensor area 1313, and outer force receiving portions 1311 for abutting against the pedal bottom plate 121 are disposed on front and rear sides of the two sensor areas 1313. Thus, when the pedal bottom plate 121 is stepped down, the outer stress portions 1311 on the front and rear sides are forced from top to bottom, and the middle stress portion 1312 is forced from bottom to top, so that the first position sensor 13 is deformed like an arch, and the deformation can be understood as macroscopic deformation or microscopic deformation. So that the sensing element areas 1313 at the front and rear ends sense the deformation amount. The direct abutting means that no other component exists between the two parts and the two parts are in direct contact, and the indirect abutting means that the two parts are in abutting through force transmission of the other components, for example, in the embodiment, a sensor fixing seat 125 is further arranged in abutting between the middle force receiving part 1312 and the supporting framework 11. Referring specifically to fig. 4, a gap 5 is provided between the pedal plate 121 and the first position sensor 13. The gap 5 may provide a space for the first position sensor 13 to arch upward in the middle.

Specifically, in this embodiment, the gap 5 is disposed between the middle force-receiving portion 1312 and the pedal bottom 121. In other embodiments, the gap 5 may be provided between the entire first position sensor 13 and the footrest 121.

The first position sensor 13 includes front and rear end portions 131 and a connecting portion 132 connecting the two end portions 131, and each end portion 131 includes the middle force receiving portion 1312, the outer force receiving portion 1311, and a sensor element area 1313 located between the middle force receiving portion 1312 and the outer force receiving portion 1311. So configured, the front and rear ends 131 can sense different pressure information according to different force applied to the front and rear soles, respectively. Stated another way, the two sensor element areas 1313 can also be understood as two different position sensors to test different forces on the front and rear sole of the foot, respectively.

The two middle force receiving portions 1312 are respectively provided with a holding hole 101 for directly or indirectly holding the support frame 11, and the two outer force receiving portions 1311 are respectively provided with a holding hole 101 for holding the pedal bottom plate 121. In this way, the fixing hole 101 may be penetrated with a fixing member such as a screw, so as to facilitate assembly and fixation.

In the present embodiment, the first position sensor 13 has an i-shape, and the width of the connecting portion 132 in the lateral direction is smaller than the width of the end portion 131. So set up, connecting portion 132 can fix two middle part atress portions 1312 around, strengthens the intensity of first position sensor 13, just narrower connecting portion 132 can reduce the weight of first position sensor 13, on the other hand, also can first position sensor 13 has better elasticity and plays certain effect to improving the sensing sensitivity.

The pedal device 12 includes a sensor holder 125 for directly holding the middle force receiving portion 1312 of the first position sensor 13, and the sensor holder 125 is directly or indirectly held by the support frame 11. So configured, the first position sensor 13 may be fixed to the sensor holder 125 and then mounted to the support frame 11, so that the first position sensor 13 may be protected during the mounting process.

The foot pedal 12 further includes a lower shell 126 positioned between the sensor mount 125 and the vehicle body 10. Thus, the flatness of the structure outside the vehicle body 10 can be improved, and better protection and attractive effects are achieved.

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

Referring to fig. 3, the pedal device 12 is elliptical. Therefore, the use safety of the user can be improved, and the product is attractive. In other embodiments, the foot rest 12 may have other shapes.

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

A wheel cover 123 for covering the wheel 20 is provided on one side of the pedal bottom plate 121, and the wheel cover 123 is provided separately from the pedal device 12. In this way, the manufacturing process of the pedal device 12 and the wheel cover 123 can be easily realized, and in other embodiments, the pedal device and the wheel cover can be integrally extended. In other embodiments, the wheel cover 123 and a portion of the components of the foot pedal 12 may be integrally formed.

The same pedal device 12 is provided with two sensing element areas 1313 for sensing the same sole pressure information, and the control device 15 is used for driving the wheels 20 to move or rotate according to the pressure difference of the two sensing element areas 1313.

The control means 15 comprise a main control panel 150 arranged transversely inside the tubular supporting framework 11. The tube shape is not limited to a round tube, and can be a long cavity with other cross sections. With this arrangement, the main control board 150 can better utilize the space of the elongated accommodating cavity 110 in the tubular supporting frame 11, thereby improving the space utilization. In other embodiments, the main control panel 150 may be otherwise placed within the support frame 11.

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

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

The left and right ends of the main control board 150 are provided with external docking interfaces 151 for electrically docking with the driving devices at both sides. The external docking interface 151 may facilitate docking with the driving device and/or the interface of the first position sensor 13, thereby facilitating better modular assembly.

The connector 25 electrically connected to the driving device and used for electrically docking the external docking interface 151 is disposed between the supporting frame 11 and the wheel 20. The connector 25 can be electrically docked with the external docking interface 151, which is beneficial to realizing better modular assembly between the driving device and the vehicle body 10.

The external docking interfaces 151 are located at both ends of the power supply 16 in the left-right direction. In this way, the external docking interface 151 can better utilize the remaining space at two ends of the power supply 16 in the supporting framework 11, so as to conveniently dock with the motor, and improve the space utilization rate in the supporting framework 11.

The main control board 150 is transversely arranged at the top end in the supporting framework 11, and the power supply 16 is positioned below the main control board 150. So arranged, the main control board 150 is better protected from extrusion.

The front and rear sides above the power supply 16 are provided with supporting ribs 1790 extending from left to right to support the main control board 150 upwards, and empty slots 179 between the main control board 150 and the power supply 16 are provided between the supporting ribs 1790. In this way, the main control board 150 can be well supported and fixed, and the components on the main control board 150 can be protected from being easily extruded.

In the present embodiment, the main control board 150 has an elongated shape extending in the left-right direction. In this way, the main control board 150 can better utilize the space at the inner top end of the tubular supporting frame 11, and improve the space utilization rate. In other embodiments, the main control board 150 may have other shapes.

The man-machine interaction somatosensory vehicle 100 is internally provided with a transmission connecting component, and the transmission connecting component comprises a power supply transmission component, a Hall transmission component and a temperature transmission component for transmitting temperature signals. So set up, the temperature transmission part can be used to the temperature signal of the interactive body of control device 15 transmission human-computer interaction body feel car 100, and when the corresponding part temperature of the interactive body of human-computer interaction body feel car 100 reaches certain height, can start the protection procedure of stopping etc. to improve the interactive body of human-computer interaction and feel car 100 safety in utilization.

The transmission component may be a cable or a patch terminal. In this way, signal transmission can be achieved. It will be appreciated that the connector terminals described herein are not limited to the connector terminals 252 shown as being disposed between the power source 16 and the drive device, but may be other locations for replacing the cable connector terminals. The cable described here is not limited to the cable 211 shown in the drawings, but may be a cable provided elsewhere.

In various embodiments of the present invention, when the transmission member is a cable, 5 hall lines, 2 or 1 temperature lines, 3 power lines may be included. When the transmission component is a plug-in terminal, it may include 3 power terminals, 5 hall terminals, 2 or 1 temperature terminals. Of course, in other embodiments, the transmission may be performed by partially using wires or partially using terminals. For example, in the present embodiment, the connector terminal 252 may be provided with a power terminal, but a hall terminal is not provided, and the corresponding function is implemented by adding a battery communication line.

The power supply 16 is arranged in the supporting framework 11, a temperature sensor (not shown) for monitoring the temperature inside the power supply 16 is arranged inside the power supply 16, and the temperature transmission component is connected with the temperature sensor. Thus, the power supply 16 can be used for sensing whether the temperature is overheated or not, and the use safety is improved.

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

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

The power supply 16 is connected with an external docking interface 151, and the external docking interface 151 and the connector 25 are docked with each other. In this way, the connector 25 can be mated with the external docking interface 151, which improves the modular assembly between the driving device and the power source 16, and improves the safety.

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

The wheel 20 is provided with a wheel cover 123 on the outer side, and the wheel cover 123 is provided with anti-collision glue 127. So configured, the wheel cover 123 is better protected during use.

Specifically, the anti-collision glue 127 is protruding outside the wheel cover 123. Thus, the structure is simple and the assembly is convenient. In other embodiments, the anti-collision glue 127 may be embedded in the wheel cover 123, and the anti-collision glue is made of a buffering and wear-resistant material different from the wheel cover 123, so that the durability is improved and the material cost is saved.

As described with reference to FIG. 1, the anti-collision glue 127 is located on both front and rear sides of the wheel cover 123. Thus, the material cost is saved. In other embodiments, the crashproof glue 127 may be provided in other locations as well.

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

The motor fixing seat 3 extends upwards to form a plug-in mounting pin 311 for plugging and fixing the wheel cover 123, and a mounting slot 1230 recessed from bottom to top for accommodating the plug-in mounting pin 311 is arranged below the wheel cover 123. In this way, the wheel cover 123 and the motor fixing seat 3 can be stably fixed, and the structure is simple, and the assembly is stable.

The lower part of the wheel cover 123 is provided with fixing columns 1231 protruding from top to bottom at the front and back sides of the mounting slot 1230, and the motor fixing seat 3 is provided with fixing grooves 313 recessed from top to bottom at the front and back sides of the plugging mounting pins 311 for plugging and accommodating the fixing columns 1231. This can further improve the holding stability between the wheel cover 123 and the motor fixing base 3.

Since the dimension of the supporting frame 11 in the front-rear and/or up-down direction of the vehicle body 10 is smaller than the diameter of the wheel 20 and the supporting frame 11 is in a tubular shape extending along the axial direction of the wheel 20, the wheel cover 123 is provided with a wheel cover part 1241 for shielding the wheel 20 and an extending part 1242 extending in a streamline form from the wheel cover part 1241 toward the supporting frame 11. Thus, the extending portion 1242 may provide better dustproof and waterproof functions between the wheel 20 and the vehicle body 10, and may improve the overall structural smoothness of the man-machine interaction body feeling vehicle 100, so as to facilitate cleaning by a user.

The extending end of the extending portion 1242 is provided with a mounting notch 124 for matching with the supporting frame 11, so as to improve the overall structural stability of the man-machine interaction body-feeling vehicle 100.

The supporting framework 11 is provided with a concave guide rail 112, and the guide rail 112 is inserted with a lamp strip 4. The installation is simple and convenient; the light belt 4 can enable the man-machine interaction somatosensory vehicle 100 to have a good warning and identifying function when in use, and improves the traffic safety of users.

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

The guide rail 112 is also inserted with a pedal device fixing bracket 18 for mounting and fixing the pedal device 12. So arranged, the pedal device fixing bracket 18 and the light belt 4 can share a guide rail 112, which is convenient for manufacturing.

The left and right ends of the guide rail 112 are inserted with pedal device fixing brackets 18 for respectively fixing and fixing the left and right pedal devices 12, and the lamp strip 4 is positioned between the pedal device fixing brackets 18 at the two ends. In the assembly process, the lamp strip 4 can be firstly inserted into the guide rail 112, and then the pedal device fixing brackets 18 at the two sides are inserted into the guide rail 112 at the two sides of the lamp strip 4, so that the assembly is convenient.

The rear side of the lamp strip 4 is fixed with a fixing strip 41 for being inserted into the guide rail 112. By the arrangement, the lamp strip 4 and the fixing strip 41 can be assembled after being manufactured separately, so that the lamp strip 4 can be manufactured and molded conveniently.

The cross section of the guide rail 112 is T-shaped. The cross section of the fixing strip 41 is T-shaped. So arranged, the fixing strip 41 is tightly matched with the guide rail 112, so that the holding stability between the lamp strip 4 and the supporting framework 11 is improved. In other embodiments, the cross section may be of other shapes, so long as it is not detached after insertion.

The supporting frame 11 is in a tubular shape extending along the axial direction of the wheel 20, and the guide rail 112, the pedal device fixing bracket 18 and the lamp belt 4 are all positioned on the upper half part of the supporting frame 11. So configured, the support frame 11 provides superior support to the pedal device mounting bracket 18. In other embodiments, the guide rail 112, the pedal device mounting bracket 18, and the light strip 4 may be located in the middle or lower half of the support frame 11.

The support frame 11 is internally provided with a longitudinal power supply 16 extending along the axial direction of the wheel 20, the power supply 16 comprises a battery shell 17, and the battery shell 17 and the support frame 11 are both made of metal materials. So set up, the battery case 17 of metal material can make power 16 is explosion-proof battery, just the braced skeleton 11 of metal material makes explosion-proof power 16 has further protection, double-deck metal material protection can greatly improve the security of man-machine interaction body sense car 100 avoids the incident that power 16 explodes and arouses.

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

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

The support frame 11 has a dimension in the front-rear and/or up-down directions of the vehicle body 10 smaller than the diameter of the wheels 20. So configured, the body 10 has a smaller size in the fore-aft and/or up-down directions, is more cost-effective and is more portable.

The supporting frame 11 is in a tubular shape extending along the axial direction of the wheel 20. So arranged, the support frame 11 has a smaller surface area in a basis of the same volume, thereby saving more material costs and allowing the vehicle body 10 to be smaller and lighter. On the other hand, the support frame 11 with a smooth surface is not easy to cause great damage to the user or the surrounding things. In other embodiments, the cross-section of the support frame 11, the elongated power source 16 along the wheel axis 21 may be rectangular, other polygonal, elliptical or other irregular shape. The cross-sectional area of the longitudinal power source 16 along the axial direction of the wheel 20 is circular, and is matched with the supporting framework 11.

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

The first position sensor 13 is a pressure sensor. So configured, the first position sensor 13 may be used to sense pressure information on the foot pedal 12.

The control device 15 is configured to control and drive the wheels 20 to move or rotate according to the stress information difference between the two pedal devices 12, so as to implement steering. So set up, when the atress information of two pedal devices 12 is the same, the velocity of movement of two wheels 20 is the same, and when the atress information of two pedal devices 12 is different, the velocity of movement of one side wheel 20 is greater than the velocity of movement of the other side wheel 20, or the opposite direction of movement of both sides wheel 20 to realize the steering.

In this embodiment, the same pedal device 12 is provided with two sensor element areas 1313 for sensing the same sole pressure information. In other embodiments, the first position sensor 13 may be a sensor having only one sensing element area 1313, that is, it may be expressed that the same pedal device 12 may be provided with two first position sensors 13 for sensing pressure information of different parts of the same sole, and the control device 15 is configured to drive the wheel 20 to move or rotate according to a pressure difference between the two first position sensors 13. So configured, when the force information differences of the two pedals 12 are the same, the moving speeds of the two wheels 20 are the same, and when the force information differences of the two pedals 12 are different, the moving speed of one of the wheels 20 is greater than the moving speed of the other wheel 20, or the moving directions of the wheels 20 are opposite, so that steering is realized.

In other embodiments, the first position sensor 13 may also be used to sense the presence of a user on the pedal apparatus 12 to control the start and stop of the wheels 20. Thus, there is no need to provide a separate induction switch, thereby simplifying the structure of the vehicle body 10. Of course, in other embodiments, the inductive switch may be provided separately.

The driving device can be arranged in the wheel 20, so that the existing volume of the wheel 20 can be utilized to internally arrange the driving device, and the space utilization rate is high; in other embodiments, the driving means may also be provided within the support skeleton 11. So configured, it is applicable in situations where the wheel 20 is relatively small.

The pedal device 12 includes a pedal bottom plate 121 and a foot pad 122 disposed above the pedal bottom plate 121, and the first position sensor 13 is disposed below the pedal bottom plate 121. So configured, a user may pedal on the footpad 122 to meet specific anti-skid or comfort requirements.

The man-machine interaction somatosensory vehicle 100 further comprises a second position sensor (not shown) for sensing inclination information of the supporting frame 11 relative to the wheels 20. So set up, when user and braced frame 11 wholly incline forward, the second position sensor detects the slope, will send the signal to controlling means 15, controlling means 15 control drive wheel 20 forward motion for wholly have the force of backward inclination, play balanced effect. In particular, the second position sensor comprises a gyroscope, an acceleration sensor and/or a photoelectric sensor.

The pedal 12 is biased outwardly as compared to the fore-aft direction. The arrangement can adapt to the standing posture that the distance between the two tips of the feet of the user is wider than the distance between the two heels, and the comfort level of the user is improved. In other embodiments, it may not be skewed.

In summary, the man-machine interaction body-feeling vehicle 100 of the present invention only includes a tubular supporting frame 11 between two wheels 20, and the pedal device 12 is independently disposed on the supporting frame 11, without two mechanisms rotatably connected to each other for separately disposing the pedal device 12.

Another embodiment of the human-computer interaction somatosensory vehicle of the present invention shown in fig. 17 to 20 has the following structure:

A man-machine interaction body feeling vehicle as shown in fig. 17 and 18 comprises a vehicle body and two wheels 20 arranged on the vehicle body; the bicycle body comprises a supporting framework 11, two pedal devices 12 arranged on the supporting framework 11, a first position sensor 13, a control device 15 and a power supply 16, wherein the supporting framework 11 is of an integral structure and is connected with wheels 20, the first position sensor 13 is used for sensing stress information of the two pedal devices 12 relative to the supporting framework 11, and the control device 15 controls a wheel driving device to drive the wheels 20 to rotate according to the stress information.

The supporting frame 11 shown in fig. 17 and 18 is a unitary structure, and the supporting frame 11 shown in fig. 19 and 20 is assembled by split assembly, and includes an upper half 1101 and a lower half 1102 fixedly connected to form a unitary structure.

The integral structure refers to an integral structure that the supporting framework 11 is not rotatable respectively relative to a left inner cover and a right inner cover which are rotatable with each other in the prior art, and in different embodiments, the integral structure can be formed by split assembly or integral molding.

The supporting frame 11 is tubular, and the tubular supporting frame is hollow to form a containing cavity 110 for containing the power supply 16 and the control device 15. In this embodiment, the upper half 1101 and the lower half 1102 of the supporting frame 11 are hollow, so that a housing chamber 110 for housing the power supply 16 and the control device 15 is formed.

In addition, the tubular shape can be a circular tubular shape, an elliptical tubular shape, a polygonal tubular shape or a tubular shape with any other cross-sectional shape; the tubular shape is not limited to the tubular shape extending in the right-left direction in terms of the extending manner, but may be various irregularly extending tubular shapes such as partially enlarged, partially contracted, rotated, displaced, etc., such as the support frame 11 shown in fig. 17, 18, and the tubular shape may be expanded at both side end portions thereof for providing the pedal device so that the entire support frame has a U-shape.

The upper part 1101 of the supporting frame 11 is preferably made of metal. The metal material has good rigid supporting performance, not only can be used for installing and fixing all parts of the accommodating cavity, but also can effectively ensure the explosion protection of the power supply and improve the safety. The metal material is preferably an aluminum material.

The upper part 1101 of the supporting frame 11 includes a main frame portion for supporting and fixing components and an exterior portion exposed to the outer surface of the vehicle body. The main frame part and the appearance part can be integrally formed by the same material, for example, metal materials, or can be integrally formed by adopting different materials through one-step forming or fractional forming or split assembly, for example, one or more appearance parts are fixed on part or all of the exposed surface of the metal main frame part in a bonding, clamping, sleeving, riveting, compounding or fastening mode, and the appearance parts can be made of various materials such as metal, plastic, rubber or wood. Therefore, the manufacturing cost can be saved, the appearance is diversified, and the defects of high requirement on the surface processing technology of the metal material, single appearance and the like are avoided.

The lower half 1102 of the supporting frame 11 may be made of metal, plastic or other materials with supporting and covering properties. In other embodiments, the components located in the receiving cavity of the supporting frame may be fixed on the lower half 1102 of the supporting frame 11 under the condition that the rigidity of the material is allowed, so that the upper half 1101 of the supporting frame 11 is mainly used for bearing, the shape and structure are simpler, the weight strength of the same material is higher, and the manufacturing cost is lower.

The upper part 1101 of the support frame 11 is mainly used for load bearing, and thus, the pedal device 12 and the wheel 20 are mounted on the upper part 1101 of the support frame 11. In some cases, the pedals 12 and wheels 20 may also be mounted to the lower half 1102 of the support frame 11.

The man-machine interaction somatosensory vehicle 100 of the invention only comprises a tubular supporting framework 11 with supporting function between two wheels 20, and the pedal device 12 is independently arranged on the supporting framework 11, and two pedal mechanisms which are connected with each other in a rotating way are not needed to respectively arrange the pedal device 12.

As shown in fig. 19 and 20, the pedal device 12 includes a pedal bottom 121, a first position sensor 13, and a sensor holder 125, wherein the pedal bottom 121 is located above the first position sensor 13, and the first position sensor 13 is located above the sensor holder 125. The sensor holder 125 is fixedly connected or integrally formed with the upper half 1101 of the supporting frame 11. The first position sensor 13 includes a first stress portion, a second stress portion, and a sensing element area disposed between the first stress portion and the second stress portion, where the first stress portion is fixedly connected with the sensor fixing base 125 or the pedal bottom plate 121, and the second stress portion is fixedly connected with the pedal bottom plate 121 or the sensor fixing base 125.

In this embodiment, as shown in fig. 19, the first position sensor 13 includes front and rear end portions 131 and a connecting portion 132 connecting the two end portions 131, each end portion 131 includes a middle force receiving portion 1312, an outer force receiving portion 1311, and a sensing element area 1313 located between the middle force receiving portion 1312 and the outer force receiving portion 1311, the middle force receiving portion 1312 and the outer force receiving portion 1311 correspond to the first force receiving portion and the second force receiving portion, respectively, and the middle force receiving portion 1312 and the outer force receiving portion 1311 are fixedly connected with the sensor fixing seat 125 and the footboard 121, respectively. So configured, the front and rear ends 131 can sense different pressure information according to different force applied to the front and rear soles, respectively. Stated another way, the two sensor element areas 1313 of a single foot rest are also understood to be two different position sensors to detect different forces applied to the front and rear soles of a foot, respectively. In another embodiment, a foot pedal may also be provided with only one sensor element area (also understood as a position sensor) for detecting the force applied to the sole of a foot. Thus, the first position sensor detects stress conditions of different positions of the pedal device to further obtain rotation information or inclination information of the pedal device relative to the vehicle body, and the control device drives the wheels to perform corresponding movement.

In this embodiment, the first position sensor 13 includes front and rear sensor element regions 1313, a middle force receiving portion 1312 for directly or indirectly abutting against the support frame 11 is provided between the front and rear sensor element regions 1313, and outer force receiving portions 1311 for abutting against the footrest bottom plate 121 are provided on the front and rear sides of the sensor element regions 1313. In this way, when the pedal bottom plate 121 is stepped down, the outer stress portions 1311 on the front and rear sides are forced from top to bottom, and the middle stress portion 1312 in the middle is forced from bottom to top, so that the first position sensor 13 is deformed like an arch, and the deformation can be understood as macroscopic deformation or microscopic deformation, so that the sensing element areas 1313 on the front and rear ends sense the deformation. The same pedal device 12 is provided with two sensing element areas 1313 for sensing the sole pressure information, and the control device 15 is used for driving the side wheel 20 to move or rotate according to the pressure difference of the two sensing element areas 1313. Therefore, compared with the condition that only one first position sensor is arranged on the same pedal device, the two first position sensors arranged on the same pedal device have higher detection and identification accuracy, and can be used for detecting whether a user is on the pedal device or not, so that different stress conditions of the pedal device when the user gets on or off the vehicle and controls the body feeling vehicle to run can be effectively distinguished.

A gap is provided between the pedal bottom plate 121 and the middle force receiving portion 1312 of the first position sensor 13, and the gap can provide a space of the middle force receiving portion 1312 of the first position sensor 13 opposite to the upper arch. Similarly, a gap is also provided between the sensor holder 125 and the outer stress portion 1311 of the first position sensor 13, and the gap can provide a space for the outer stress portion 1311 of the first position sensor 13 to relatively go downward.

In this embodiment, the first position sensor 13 is shaped like a "[" or an "i" or an elongated shape. The width of the connecting portion 132 in the left-right direction is smaller than the width of the end portion 131. So set up, connecting portion 132 can fix two middle part atress portions 1312 around, strengthens the intensity of first position sensor 13, just narrower connecting portion 132 can reduce the weight of first position sensor 13, on the other hand, also can make first position sensor 13 have better elasticity and play a certain effect to improving the sensing sensitivity.

The pedal device 12 includes a sensor fixing seat 125 fixed to the middle force receiving portion 1312 of the first position sensor 13, where the sensor fixing seat 125 is fixedly connected to or integrally formed with the support frame 11. In this embodiment, the sensor fixing base 125 is integrally formed on the upper half 1101 of the supporting frame 11, so that the number of components can be reduced, and the installation is convenient.

The pedal device 12 needs to accommodate the entire sole, so it is long in the front-rear direction of the vehicle body 10, and the entire support frame is made to have the same length as the sole, which makes the entire vehicle body bulky and heavy, and is costly to manufacture. In a preferred embodiment, the upper portion 1101 of the support frame 11 is extended in the front-rear direction at the position where the foot rest 12 is provided so as to surround the sensor holder 125. The structure is simple, the volume is small, and the manufacturing cost is not increased much. In this embodiment, as shown in fig. 17 and 18, the left and right sides of the supporting framework 11 are extended and extended backward to provide the sensor fixing seat 125 of the pedal device 12, so that the whole supporting framework is U-shaped, the wheels 20 are located at the front portions of the vehicle body 10 and the pedal device 12, and the front-rear asymmetric design is more stable in structure, the gravity center of the vehicle body is sunk, the pedal portion of the vehicle body is drooping and is not moved when the vehicle body is closed, the pedal portion of the vehicle body is lifted stably and better in quality when the vehicle body is started and travels, the appearance is more front-guard fashion, and the user experience is better. In other embodiments, the pedal portions on the left and right sides of the supporting frame 11 may extend forward and backward simultaneously for the same length or for different lengths to form various forms of tube shape. In other embodiments, the wheels 20 may also be provided in the middle or rear of the vehicle body 10 and the footrest apparatus 12.

The pedal bottom plate 121 is preferably made of metal or other materials with better rigidity, and a foot pad or an appearance decoration is arranged above the pedal bottom plate 121, so that a user can tread on the foot pad, and the specific requirements of skid resistance or tread comfort improvement are met. The callus on the sole can be soft rubber material or other, so, can increase the wearability and the frictional force of callus on the sole, also can improve user's use travelling comfort, still plays better waterproof dustproof effect. The foot pad can be one or more components fixed on the upper surface of the pedal bottom plate in a bonding, clamping, sleeving, riveting, compounding or fastening mode.

The pedal bottom plate 121 covers the first position sensor 13, and a sealing ring 128 is disposed in a gap between the periphery of the pedal bottom plate 121 and the sensor fixing seat 125 on the supporting framework, so as to prevent dust and water from entering the gap and the accommodating cavity of the supporting framework. The sealing ring 128 is preferably made of an elastic material, such as rubber or the like.

The pedal device 12 is outwards deflected corresponding to the front sole part. The arrangement can adapt to the standing posture that the distance between the two tips of the feet of the user is wider than the distance between the two heels, and the comfort level of the user is improved. In other embodiments, it may not be skewed.

A wheel axle 21 is disposed between the wheel 20 and the vehicle body 10, and the wheel 20 may be rotatably connected to the vehicle body 10 through the wheel axle 21 in various manners, for example, in one embodiment: the wheel 20 is fixedly connected with a wheel shaft 21, and the wheel shaft 21 is rotationally connected with the vehicle body 10; for example, another embodiment may be: the wheel axle 21 is fixedly connected to the vehicle body 10, and the wheel 20 is rotatably connected to the wheel axle 21.

The vehicle body 10 comprises a motor fixing seat 3 positioned between the wheel 20 and the supporting framework 11, the motor fixing seat 3 is used for pivotally positioning the wheel 20, and a wheel shaft 21 of the wheel 20 is connected with the supporting framework of the vehicle body 10 through the motor fixing seat 3. In one embodiment, the motor holder 3 is a bearing block, by means of which the wheel axle 21 is rotatably connected to the support frame of the vehicle body 10. In another embodiment, the motor fixing base 3 comprises a pressing block and a base which is matched with the pressing block to clamp the wheel shaft 21, the base is fixedly connected with or integrally formed with the supporting framework of the vehicle body 10, and the wheel shaft 21 is fixedly connected with the supporting framework through the pressing block and the base.

In the present embodiment, as shown in fig. 19 and 20, one end of the wheel axle 21 is connected to the wheel 20, and the other end is connected to a wheel axle fixing plate 23, and the wheel axle fixing plate 23 is fixedly connected to the vehicle body 10. In this way, the wheel 20 can be assembled to the support frame 11 after being connected to the wheel axle fixing plate 23, thereby facilitating modular assembly between the support frame 11 and the wheel 20.

In the present embodiment, motor fixing bases 3 for fixing engagement with the wheel shaft fixing plates 23 are provided at both left and right side end portions of the supporting frame 11. The motor fixing seat 3 can be manufactured and assembled and fixed separately from the supporting framework, and in other embodiments, the motor fixing seat 3 can be integrally formed with part or whole of the supporting framework 11. In the present embodiment, as shown in fig. 19, the motor fixing base 3 is integrally formed with the upper half 1101 of the support frame 11. Thus, the structure is simple, the manufacture is convenient, and the strength is high. In a preferred embodiment, the motor fixing base 3 and the upper half 1101 of the supporting frame 11 are both made of metal, such as aluminum.

In this embodiment, the motor fixing base 3 is provided with a concave receiving groove 33 for receiving and fixing the wheel shaft fixing plate 23. With this arrangement, the wheel axle fixing plate 23 can be accommodated in the accommodation groove 33, thereby improving flatness of the outer surface of the vehicle body 10. The wheel shaft fixing plate 23 has a rectangular shape, and the receiving groove 33 has a rectangular shape corresponding to the wheel shaft fixing plate 23. In other embodiments, other shapes are possible. Thus, the wheel axle fixing plate 23 and the receiving groove have a matched shape, and the receiving groove 33 can be inserted and positioned on the wheel axle fixing plate 23 to prevent the wheel axle fixing plate 23 from moving or rotating.

The wheel axle fixing plate 23 is perpendicular to the wheel axis direction. In this way, the wheel shaft fixing plate 23 is less likely to deflect when receiving the force in the front-rear direction and/or the up-down direction of the vehicle body 10, and the holding stability between the wheel shaft fixing plate 23 and the vehicle body 10 is improved. In other embodiments, the wheel axle securing plate 23 may be oriented other than perpendicular to the wheel axle 21.

Preferably, the center of gravity of the vehicle body 10 is lower than the wheel axle 21. With this arrangement, when the man-machine interaction body-feeling vehicle 100 is in an operating or non-operating state, the vehicle body 10 as a whole can always suspend the center of gravity below the wheel axle 21, so that the vehicle body 10 can be kept in an original state and is not turned upwards; even if the vehicle body 10 is turned upwards by external force, the vehicle body 10 can be restored to the original position due to the gravity effect, so that the use of a user is greatly facilitated. In this way, in order to lower the center of gravity of the vehicle body, the lower half of the support frame is preferably made of a metal material having a large mass. In other embodiments, the center of gravity of the vehicle body 10 may be set not lower than the wheel axle 21, and the setting of the center of gravity of the vehicle body is not a reason for limiting the present invention.

Preferably, the motor mount 3 and the wheel axle mount plate 23 are assembled with their center of gravity below the wheel axle 21. This arrangement further ensures that the center of gravity of the vehicle body 10 is lower than the wheel axle 21. Specifically, the motor fixing seat 3 may be made of a metal with a larger mass, so as to ensure that the center of gravity of the vehicle body 10 is located below the wheel axle 21 and maintain a higher stability.

The wheel driving device can be arranged in the wheel 20, so that the existing volume of the wheel 20 can be utilized to internally arrange the driving device, and the space utilization rate is high; in other embodiments, the driving means may also be provided within the support skeleton 11. So configured, it is applicable in situations where the wheel 20 is relatively small.

In this embodiment, the wheel driving device is disposed in the wheel 20, and as shown in fig. 19, a cable 211 for connecting the driving device is disposed in the wheel axle 21, and the cable 211 passes through the wheel axle fixing plate 23 and the motor fixing base 3 and is connected to the control device 15 and/or the power source 16. So arranged, the drive means within the wheel 20 may be connected to the control means 15 and/or the power supply 16 by means of a cable 211 passing through the wheel axle mounting plate 23. The driving device, i.e., the motor, may be provided in the vehicle body 10 in other embodiments.

A wheel cover 123 is provided above the wheel 20, and the wheel cover 123 covers the inside and the upper side of the wheel 20. The wheel cover 123 is held on the vehicle body 10. In this embodiment, the wheel cover 123 is located outside the pedal device 12, and is fixed on the connection part between the motor fixing seat 3 and the supporting framework, and the mounting slot matched with the connection part is arranged below the wheel cover 123 from bottom to top in a recessed manner, and is fixedly connected through a fastener. In this way, the wheel cover 123 can be stably fixed with the motor fixing seat 3, and has simple structure and stable assembly. In another embodiment, the wheel cover 123 may also be directly fixed to the motor mount 3.

In this embodiment, the wheel cover 123 is disposed separately from the support frame, the pedal device 12, and the motor fixing base 3. Thus, the structure, the material and the process are convenient to be assembled into a whole after being manufactured respectively. In other embodiments, the wheel cover 123 may be integrally formed with the support frame, the pedal device 12, or the motor mount 3. In other embodiments, the wheel cover 123 may be integrally formed with the support frame, the foot rest 12, or a portion of the motor mount 3 (e.g., a foot pad or plastic skin). In other embodiments, the wheel cover 123 may also extend to cover an outboard upper portion of the wheel 20. In other embodiments, the wheel cover 123 is provided with anti-collision glue, which is configured to better protect the wheel cover 123 during use. The anti-collision glue is made of buffering and wear-resistant materials different from the wheel cover 123, so that the durability is improved, and meanwhile, the material cost is saved.

The man-machine interaction somatosensory vehicle 100 further comprises a power supply 16 and a control device 15, wherein the power supply 16 and the control device 15 are accommodated in a hollow accommodating cavity 110 of the supporting framework, the power supply 16 is used for supplying power to the wheel driving device, the first position sensor 13 and the control device 15, and the control device 15 is used for controlling the power supply 16, the driving device and the first position sensor 13 and sending driving signals to the driving device according to the stress sensed by the first position sensor 13 so as to drive the wheels 20 to rotate.

The control device 15 includes a main control board 150 disposed in the receiving cavity 110 of the support frame 11. The main control board 150 and the power source 16 are elongated and extend in the left-right direction, so as to be suitable for being placed in the accommodating cavity 110 of the supporting framework 11. In this way, the space of the longitudinal accommodation chamber 110 in the supporting frame 11 can be used well, and the space utilization can be improved. In other embodiments, the main control board 150 and/or the power supply 16 may be disposed within the support frame 11 in other ways, shapes, etc.

The main control board 150 is provided with a battery docking interface 152 for electrically docking with the power supply 16. The power supply 16 is provided with a battery interface 177 for interfacing with the battery interface 152. So set up, realize the butt joint through the interface of modularization between power 16 and the main control board 150, can avoid more cable shuttling, avoided the emergence of problems such as poor contact, cable ageing, improved connection reliability and security.

The left and right ends of the main control board 150 are provided with external docking interfaces 151 for electrically docking with the wheel driving devices on both sides. In this way, the external docking interface 151 may conveniently dock with the driving device and/or the interface of the first position sensor 13, which facilitates better modular assembly and improves connection reliability and security.

The external docking interface 151 is located outside both ends of the power supply 16 in the left-right direction. In this way, the external docking interface 151 can better utilize the remaining space at two ends of the power supply 16 in the supporting framework 11, so as to conveniently dock with the motor, and improve the space utilization rate in the supporting framework 11.

The main control board 150 is disposed at the top end of the supporting frame 11 in the accommodating cavity 110, and the power supply 16 is located below the main control board 150. So arranged, the main control board 150 is better protected from extrusion.

The power supply 16 includes a battery housing 17 and a battery disposed in the battery housing, and the battery housing 17 and the supporting frame 11 are made of metal, such as aluminum. Thus, the battery housing 17 made of metal can make the power supply 16 form an explosion-proof battery, and the supporting framework 11 made of metal can make the explosion-proof power supply 16 have further protection, and the protection of the double-layer metal can greatly improve the safety of the man-machine interaction body-feeling vehicle 100, so as to avoid the safety accident caused by the explosion of the power supply 16.

The front and rear sides above the battery case 17 are provided with holding ribs 1790 extending laterally to hold the main control board 150 upwards, and empty slots 179 between the main control board 150 and the power supply 16 are provided between the holding ribs 1790. In this way, the main control board 150 can be well supported and fixed, and the components on the main control board 150 can be protected from being easily extruded. The battery interface 177 is disposed in the middle of the hollow 179.

In the present embodiment, the main control board 150 and the power supply 16 are fixed below the upper half 1101 of the support frame 11 by the battery pressure plate 19. The battery clamp plate 19 is U-shaped plate, and the U-shaped both sides tip and the upper half 1101 fixed connection of supporting skeleton 11 of battery clamp plate 19, the power 16 and the main control panel 150 are held to the U-shaped intermediate space of battery clamp plate 19, and simple structure is reliable like this, simple to operate. In a preferred embodiment, one side end of the U-shape of the battery pressing plate 19 is directly or indirectly hooked with the upper half 1101 of the supporting frame 11, and the other side end of the U-shape of the battery pressing plate 19 is connected with the upper half 1101 of the supporting frame 11 through a fastener or a buckle, so that the installation is more convenient. In the present embodiment, one side end of the U-shape of the battery pressing plate 19 is indirectly hooked to the upper half 1101 of the supporting frame 11 through the display part 4012. In this embodiment, a limit groove 170 and a positioning protrusion 1901 are provided between the battery case 17 and the battery pressing plate 19. Therefore, the battery shell 17 and the battery pressing plate 19 are positioned accurately and reliably, displacement between the battery shell and the battery pressing plate is not easy to occur, the overall stability is improved, and the anti-reverse assembly function can be achieved in assembly.

In this embodiment, a window hole is formed in the middle of the upper half 1101 of the supporting frame 11, a light transmitting member 4011 is disposed in the window hole, a display circuit board 4013 is disposed in the accommodating cavity 110 of the supporting frame 11, the display circuit board 4013 is mounted above the main control board 150, a display component 4012 is disposed below the light transmitting member 4011 on the display circuit board 4013, and the display component 4012 is a display element such as a nixie tube, an LED lamp or a display screen.

The support frame 11 is provided with a plurality of light components, the light components can be arranged on the front side and/or the rear side of the support frame 11, the light components can be arranged on the upper half part and/or the lower half part of the support frame 11, and the light components can be arranged between two pedal devices on the support frame 11. The lamplight assembly generally comprises a lamp source and a lamp shade, wherein the lamp source can be one or more of a lamp bead, a lamp belt, a lamp tube and the like, the color of the lamp shade can be transparent, colorful or multicolor alternative patterns and the like, the shape of the lamp shade can be strip-shaped, flat-plate-shaped, arc-shaped, polyhedral-shaped, concave-convex-prismatic-shaped or grid-shaped and the like, the lamp shade can be fixed on a supporting framework or other appearance pieces in a bonding, clamping, sleeving, riveting, compounding or fastening mode and the like, and the lamp shade can be integrally formed with the supporting framework or other appearance pieces. The light assembly can be used for lighting, displaying, decorating, warning, identifying or fault indicating and other functions.

In this embodiment, a first light component 402 is disposed at a middle position of a front side of a joint portion between an upper half portion and a lower half portion of the supporting framework 11, where the first light component 402 includes a strip-shaped lampshade 4021 and a lamp band 4022, so that the man-machine interaction body-feeling vehicle has a better warning and identifying function when in use, and improves traffic safety of users. The second and third light assemblies 403 are respectively arranged at the left and right sides of the rear side of the joint part of the upper half part and the lower half part of the supporting framework 11, the lamp covers of the second and third light assemblies 403 are in a grid shape, and the lamp covers are arranged on the two corresponding expansion extending parts of the pedal device on the supporting framework, so that the pedal device has good decorative effect and has a very good motion feeling.

In the present embodiment, the first position sensor 13 is a pressure sensor. So configured, the first position sensor 13 may be used to sense pressure information on the foot pedal 12.

The control device 15 is configured to control and drive the wheels 20 to move or rotate according to the stress information difference between the two pedal devices 12, so as to implement steering. So set up, when the atress information of two pedal devices 12 is the same, the velocity of movement (i.e. rotation speed) of two wheels 20 is the same, when the atress information of two pedal devices 12 is different, wherein the velocity of movement of one side wheel 20 is greater than the velocity of movement of the other side wheel 20, or the direction of movement of both sides wheel 20 is opposite to realize turning to.

In this embodiment, the same pedal device 12 is provided with two sensor element areas 1313 for sensing the same sole pressure information. In other embodiments, the first position sensor 13 may be a sensor having only one sensor element area 1313. The present embodiment may also be expressed as that the same pedal device 12 may be provided with two first position sensors 13 for sensing pressure information of different parts of the same sole, and the control device 15 is configured to drive the wheels 20 to move or rotate according to a pressure difference between the two first position sensors 13. So configured, when the force information differences of the two pedals 12 are the same, the moving speeds of the two wheels 20 are the same, and when the force information differences of the two pedals 12 are different, the moving speed of one of the wheels 20 is greater than the moving speed of the other wheel 20, or the moving directions of the wheels 20 are opposite, so that steering is realized.

The man-machine interaction somatosensory vehicle may further comprise a second position sensor (not shown) for sensing inclination information of the supporting frame 11 relative to the wheels 20. So set up, when user and braced frame 11 wholly incline forward, the second position sensor detects the slope, will send the signal to controlling means 15, controlling means 15 control drive wheel 20 forward motion for wholly have the force of backward inclination, play balanced effect. In particular, the second position sensor comprises a gyroscope, an acceleration sensor and/or a photoelectric sensor.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The human-computer interaction body feeling vehicle comprises a vehicle body and two wheels arranged on the vehicle body, and is characterized in that the vehicle body comprises a supporting framework (11), two pedal devices (12), a control device (15) and a power supply (16) which are arranged on the supporting framework (11), the left end and the right end of the supporting framework (11) are rotationally connected with the wheels (20), the power supply (16) and the control device (15) are accommodated in a longitudinal accommodating cavity (110) of the supporting framework (11), the supporting framework (11) is of an integral structure, and the supporting framework (11) is of a tube shape which extends irregularly in the left-right direction and is partially expanded and partially contracted;

A first position sensor (13) for sensing pressure information on the foot pedal (12);

The control device (15) is used for controlling and driving the wheels (20) to move or rotate according to the stress information difference between the two pedal devices (12) so as to realize steering.

2. The human-computer interaction body feeling vehicle according to claim 1, wherein the left and right side portions of the supporting frame (11) are extended for providing a pedal device.

3. The human-computer interaction body-feeling vehicle according to claim 1, wherein the upper half part (1101) of the supporting frame (11) is extended in the front-rear direction at a position where the pedal device (12) is provided and integrally forms the sensor fixing base (125) of the pedal device (12).

4. The human-computer interaction body-feeling vehicle according to claim 1, wherein the left and right sides of the supporting frame (11) are extended rearward to provide sensor holders (125) of the pedal device (12) so that the entire supporting frame is in a U-shape and the wheels (20) are located at the front portions of the vehicle body (10) and the pedal device (12).

5. The human-computer interaction body feeling vehicle according to claim 1, wherein the whole structure of the supporting framework (11) is formed by split assembly.

6. A human-computer interaction somatosensory vehicle according to claim 1, characterized in that the supporting framework (11) is made of metal.

7. A human-computer interaction body-feeling vehicle according to claim 1, wherein the vehicle body (10) comprises a motor fixing seat (3) located between the wheel (20) and the supporting framework (11), the motor fixing seat (3) is used for pivotally positioning the wheel (20), and a wheel axle (21) of the wheel (20) is connected with the supporting framework of the vehicle body (10) through the motor fixing seat (3).

8. The man-machine interaction body feeling vehicle according to claim 7, wherein the motor fixing seat (3) and the supporting framework (11) are partially or integrally formed.

9. The human-computer interaction body feeling vehicle according to claim 1, wherein the supporting framework (11) comprises an upper half part (1101) and a lower half part (1102) which are fixedly connected, and a containing cavity (110) for containing a power supply (16) and a control device (15) is formed by hollowing between the upper half part (1101) and the lower half part (1102) of the supporting framework (11).

10. A human-machine interactive somatosensory vehicle according to claim 9, characterized in that the upper half (1101) of the supporting framework (11) comprises a main frame portion for bearing weight and an appearance portion exposed to the outer surface of the vehicle body.

11. A human-machine interactive somatosensory vehicle according to claim 9, characterised in that the pedal device (12) and the wheels (20) are mounted on the upper half (1101) of the support frame (11).

12. The human-computer interaction body feeling vehicle according to claim 9, wherein a power supply (16) and a control device (15) in the accommodating cavity (110) of the supporting framework (11) are fixed on the upper half part (1101) of the supporting framework (11).

13. The human-computer interaction body feeling vehicle according to claim 9, wherein a window hole is formed in the middle of the upper half part (1101) of the supporting framework (11), a light transmission part (4011) is arranged in the window hole, a display circuit board (4013) is arranged in the accommodating cavity (110) of the supporting framework (11), the display circuit board (4013) is arranged above the main control board (150), a display part (4012) is arranged below the light transmission part (4011) on the display circuit board (4013), and the display part (4012) is a digital tube, an LED lamp or a display screen.

14. The human-computer interaction body feeling vehicle according to claim 9, wherein the supporting framework (11) is provided with a plurality of light components, the light components can be arranged on the front side and/or the rear side of the supporting framework (11), the light components can be arranged on the upper half part and/or the lower half part of the supporting framework (11), and the light components can be arranged between two pedal devices on the supporting framework (11).

15. The human-computer interaction body-feeling vehicle according to claim 14, wherein the light assembly generally comprises a light source and a lamp shade, the light source is one or more of a lamp bead, a lamp belt and a lamp tube, the color of the lamp shade is transparent, colorful or multicolor alternating pattern, the shape of the lamp shade is strip-shaped, flat-plate-shaped, arc-shaped, polyhedral-shaped, concave-convex prismatic-shaped or grid-shaped, the lamp shade is fixed on the supporting framework or the appearance piece through adhesion, clamping, sleeving, riveting, compounding or fastening, and the lamp shade is integrally formed with the supporting framework or the appearance piece.

16. The man-machine interaction body feeling vehicle according to claim 9, wherein a first light assembly (402) is arranged in the middle of the front side of the joint part of the upper half part and the lower half part of the supporting framework (11), and the first light assembly (402) comprises a strip-shaped lampshade (4021) and a lamp belt (4022).

17. The human-computer interaction body feeling vehicle according to claim 9, wherein the second and third light assemblies (403) are respectively arranged at the left and right sides of the rear side of the joint part of the upper half part and the lower half part of the supporting framework (11), and the second and third light assemblies (403) are in a grid shape and are arranged on two expansion extending parts corresponding to the pedal device on the supporting framework.