CN109204647A - Human-computer interaction body-sensing vehicle - Google Patents

Abstract

The present invention provides a kind of human-computer interaction body-sensing vehicle, including support frame, the wheel being connect with the support frame, be mounted on support frame and turning-bar for controlling the wheel steering, the foot pedal apparatus being mounted on the support frame, the body-sensing sensor of position of centre of gravity information between the foot pedal apparatus and the support frame and for sense the user on the foot pedal apparatus, the power output for driving the driving device of the vehicle wheel rotation and controlling the driving device according to the position of centre of gravity information control device.Human-computer interaction body-sensing vehicle of the invention is controlled by turning-bar and is turned to, and is braked by the gravity centre distribution of human body i.e. the advance for leaning forward, swinging back and uprightly controlling car body, retrogressing, deceleration, acceleration and the control of human body, security performance is high and playability is strong.

Description

Human-computer interaction body-sensing vehicle

Technical field

The present invention relates to a kind of body-sensing vehicle technical fields, and in particular to a kind of human-computer interaction body-sensing vehicle.

Background technique

Body-sensing vehicle, thinking vehicle, operation principles are mainly built upon one kind and are referred to as in the basic principle of " dynamic stability ", Using the gyroscope and acceleration transducer of vehicle body, to detect the variation of vehicle body attitude, and servo-control system is utilized, essence True ground control device is adjusted correspondingly, to keep the balance of system.

Existing body-sensing vehicle has been generally divided into operating stick and without operating stick these two types, wherein the body-sensing vehicle with operating stick, Advance, retrogressing and the steering of car body are carried out concrete operations control by operating stick, this kind of electrodynamic balance vehicle with operating stick Playability is poor.

Without the body-sensing vehicle with operating stick, advancing, retreating is controlled by the inclination of entire car body, is turned to then by using Person rides on foot platform, and carries out control realization by relative rotation angle difference between two foot platforms, such body The playability for feeling vehicle is strong, but balance difference security performance is low.

Summary of the invention

A kind of human-computer interaction body-sensing vehicle that the present invention proposes to overcome the prior art.

To achieve the goals above, a kind of human-computer interaction body-sensing vehicle provided by the present invention, which is characterized in that including support rib Frame, the wheel being connect with the support frame, the turning-bar for being mounted on support frame and being used to control the wheel steering, peace Foot pedal apparatus on the support frame, between the foot pedal apparatus and the support frame and for sensing in institute State the body-sensing sensor of the position of centre of gravity information of the user on foot pedal apparatus, the driving device of the driving vehicle wheel rotation and The control device of the power output of the driving device is controlled according to the position of centre of gravity information.

Further, the quantity of the body-sensing sensor is one, and the quantity of the foot pedal apparatus is at least one, described Body-sensing sensor between the support frame and a foot pedal apparatus, believe by the position of centre of gravity for sensing user The position of centre of gravity information of breath, the user that the control device is arrived according to the body-sensing sensor sensing controls the driving device Power output.

Further, the body-sensing sensor is pressure sensor, and the body-sensing sensor is included in the human-computer interaction Two sensing element regions that front and back is distributed in the direction of advance of body-sensing vehicle, the body-sensing sensor pass through described two induction members Part region is respectively induced the front pressure and rear pressure of corresponding foot pedal apparatus, obtains the position of centre of gravity information of user.

Further, the control device according to described two sensing element regions sense pressure difference control described in The power output of driving device.

Further, the body-sensing sensor be angular transducer, foot pedal apparatus corresponding with the body-sensing sensor with The support frame rotation connection, the body-sensing sensor are opposite with the support frame by acquiring corresponding foot pedal apparatus Angle information obtains the position of centre of gravity information of user.

Further, the control device controls institute according to the angle information of the relatively described support frame of the foot pedal apparatus State the power output of driving device.

Further, the body-sensing sensor includes two displacement sensing modules, foot corresponding with the body-sensing sensor It steps between device and the support frame and is additionally provided with two elastic elements, described two elastic elements are in the human-computer interaction body-sensing Front and back distribution in the direction of advance of vehicle, the body-sensing sensor pass through the deformation quantity for acquiring described two elastic elements, and acquisition makes The position of centre of gravity information of user.

Further, the control device controls the drive according to the difference of the amount of elastic deformation of two elastic elements The power output of dynamic device.

Further, the body-sensing sensor is a class mouse spherical structure for extending into corresponding foot pedal apparatus, such mouse Mark spherical structure can be rolled freely and can collect class mouse ball and is displaced with the relative rolling of corresponding foot pedal apparatus, and the body-sensing passes Sensor is displaced by acquisition with the relative rolling of corresponding foot pedal apparatus, and the position of centre of gravity information of user is obtained.

Further, the control device is displaced according to the body-sensing sensor with the relative rolling of corresponding foot pedal apparatus Control the power output of the driving device.

Further, the quantity of the body-sensing sensor is two, and the quantity of the foot pedal apparatus is two, the support A body-sensing sensor, the center of gravity of two body-sensing sensor sensing users are equipped between each foot pedal apparatus of skeleton The position of centre of gravity information of location information, the user that the control device is arrived according to two body-sensing sensor sensings controls institute State the power output of driving device.

Further, each body-sensing sensor is pressure sensor, and two foot pedal apparatus are in the human-computer interaction Distribution before and after the direction of advance of body-sensing vehicle, two body-sensing sensors pass through the pressure value incuded on corresponding foot pedal apparatus, Obtain the position of centre of gravity information of user.

Further, the pressure for two foot pedal apparatus that the control device is sensed according to two individual propagated sensation sensors Difference control the power output of the driving device.

Further, each body-sensing sensor is pressure sensor, and each body-sensing sensor is included in described man-machine Two sensing element regions that front and back is distributed in the direction of advance of body-sensing vehicle are interacted, two individual propagated sensation sensors pass through corresponding two Sensing element region incudes the front pressure and rear pressure of corresponding foot pedal apparatus, obtains the position of centre of gravity information of user.

Further, the control device is sensed according to the corresponding described two sensing element regions of the foot pedal apparatus Pressure calculates the pressure difference of the foot pedal apparatus front and rear portion, before the control device is according to two foot pedal apparatus The sum of the pressure difference in portion and rear portion controls the power output of the driving device.

Further, each body-sensing sensor is angular transducer, two foot pedal apparatus and the support frame Rotation connection, described two body-sensing sensors pass through the angle information for acquiring the corresponding relatively described support frame of foot pedal apparatus, Obtain the position of centre of gravity information of user.

Further, the control device is controlled according to the sum of angle information of the relatively described support frame of two foot pedal apparatus Make the power output of the driving device.

Further, each body-sensing sensor is displacement sensor, between each foot pedal apparatus and the support frame It is additionally provided with elastic element, and two foot pedal apparatus are distributed before and after the direction of advance of the human-computer interaction body-sensing vehicle, two Individual propagated sensation sensor corresponds to the deformation quantity of elastic element by acquiring, and obtains the position of centre of gravity information of user.

Further, the control device controls the drive according to the difference of the amount of elastic deformation of two elastic elements The power output of dynamic device.

Further, each body-sensing sensor is including two displacement sensing modules, each foot pedal apparatus and the branch Two elastic elements are additionally provided between support bone frame, described two elastic elements are in the direction of advance of the human-computer interaction body-sensing vehicle Front and back distribution, two individual propagated sensation sensors obtain the position of centre of gravity letter of user by the deformation quantity of the corresponding elastic element of acquisition Breath.

Further, the control device is according to the shapes of collected corresponding two elastic elements of each body-sensing sensor Variable calculates the deformation quantity difference of corresponding two elastic elements of each foot pedal apparatus, and the control device is according to two deformation Measure difference and the value control driving device power output.

Further, each body-sensing sensor is a class mouse spherical structure for extending into corresponding foot pedal apparatus, such Mouse spherical structure can freely roll and can collect class mouse ball and the relative rolling of the foot pedal apparatus is displaced, two individual propagated sensation senses Device is displaced by acquisition with the relative rolling of corresponding foot pedal apparatus, and the position of centre of gravity information of user is obtained.

Further, the control device is according to the relative rollings of two the body-sensing sensors and corresponding foot pedal apparatus The power output of the sum of displacement control driving device.

Further, the quantity of the wheel is two, and two wheels are horizontally installed on the front and back of the support frame Both ends.

Further, the front end of the support frame is provided with headlamp.

Further, the rear end of the support frame is provided with carrier.

Further, the carrier is equipped with goods-container.

Further, the carrier is equipped with cushion.

Further, the front end of the carrier is equipped with cushion, and the rear end of the carrier is equipped with goods-container.

Further, the support frame is equipped with the container for accommodating the body-sensing sensor, senses with the body-sensing The corresponding foot pedal apparatus lid of device closes corresponding container.

Further, accommodating chamber is additionally provided on the support frame, installation battery and circuit board in the accommodating chamber are described Control device is arranged on the circuit board.

The present invention also provides a kind of human-computer interaction body-sensing vehicle, including support frame, the wheel being connect with the support frame, It is mounted on support frame and for controlling the turning-bar of the wheel steering, the foot-operated dress being mounted on the support frame It sets, between the foot pedal apparatus and the support frame and for passing through the front pressure for sensing the foot pedal apparatus with after Portion's pressure obtains the body-sensing sensor of the position of centre of gravity information of the user on the foot pedal apparatus, the driving vehicle wheel rotation Driving device and the control device of the driving device power output is controlled according to the position of centre of gravity information.

The present invention also provides a kind of human-computer interaction body-sensing vehicle, including support frame, the wheel being connect with the support frame, It is mounted on support frame and for controlling the turning-bar of the wheel steering, the foot-operated dress being mounted on the support frame It sets, between the foot pedal apparatus and the support frame and for by sensing the foot pedal apparatus and the support frame Relative angle information obtain described in the body-sensing sensor of position of centre of gravity information of the user on the foot pedal apparatus, the driving The driving device of vehicle wheel rotation and the control device that the driving device power output is controlled according to the position of centre of gravity information.

The present invention also provides a kind of human-computer interaction body-sensing vehicle, including support frame, the wheel being connect with the support frame, It is mounted on support frame and for controlling the turning-bar of the wheel steering, the foot-operated dress being mounted on the support frame It sets, between the foot pedal apparatus and the support frame and for by sensing the opposite support rib of the foot pedal apparatus The displacement information of frame is to obtain described in the body-sensing sensor of the position of centre of gravity information of the user on the foot pedal apparatus, the driving The driving device of vehicle wheel rotation and the control device that the driving device power output is controlled according to the position of centre of gravity information.

The present invention also provides a kind of human-computer interaction body-sensing vehicle, including support frame, the wheel being connect with the support frame, It is mounted on support frame and for controlling the turning-bar of the wheel steering, the foot-operated dress being mounted on the support frame It sets, between the foot pedal apparatus and the support frame and for the rolling by sensing itself opposite foot pedal apparatus Displacement information is to obtain the body-sensing sensor of the position of centre of gravity information of the user on the foot pedal apparatus, drive the wheel The driving device of rotation and the control device that the driving device power output is controlled according to the position of centre of gravity information.

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

Machine interaction body-sensing vehicle of the invention when in use, is controlled by turning-bar and is turned to, make body by trampling foot pedal apparatus Propagated sensation sensor obtains the position of centre of gravity information of the user on foot pedal apparatus, and control device is obtained by calculating body-sensing sensor Position of centre of gravity information judge that human body turns forward, swings back or upright and to lean forward in human body be to calculate human body to lean forward width Angle value and layback when calculate human body layback range value, when the center of gravity that control device calculates human body turns forward, control Device control driving device processed exports forward driving power, and control device is when the center of gravity for calculating human body tilts backwards, control dress Control driving device output reverse actuating force is set, for control device when the center of gravity for calculating human body does not tilt, driving device is not In output driving power, while the inclined amplitude of center of gravity is bigger, and the driving force that control device controls driving device output is bigger；It drives The forward driving power effect that dynamic device provides can make car body that there is the acceleration for putting movement forward have car body on the car body Have the tendency that travelling forward, car body can be allowed to accelerate to advance when car body travels forward in this way, it can be with when car body moves backward Allowing car body astern speed to decrease up to astern speed is zero namely to brake, if driving device continues to output forward driving at this time Power, car body start to travel forward.When car body travels forward, driving device provides center of gravity of the forward driving power by people for car body The shifting that turns forward is realized, in car body accelerator, people has the trend moved backward, and the needs of the center of gravity of people first to Top rake is thus not in the problem of people falls from vehicle since acceleration is excessive；The reverse actuating force that driving device provides Effect can make car body so that car body is had the trend to travel forward with the acceleration moved backward on the car body, in this way in vehicle Body can allow car body to accelerate to retreat when moving backward, car body forward speed can be allowed to reduce until advancing when car body travels forward Speed is zero right, if driving device continues to output forward driving power at this time, car body starts to move backward.It is moved backward in car body When, driving device provides for car body to be back-drived power and tilts backwards realization by the center of gravity of people, in car body accelerator, people's meeting Have the tendency that one travels forward, and the center of gravity of people needs first to tilt backwards, and is thus not in due to accelerating excessive, people The problem of falling from vehicle, so that human-computer interaction body-sensing vehicle security performance of the invention is high and has stronger playability.

Detailed description of the invention

Fig. 1 show the structural schematic diagram of human-computer interaction body-sensing vehicle provided by the present invention.

Fig. 2 is the partial schematic sectional view of one embodiment of Fig. 1.

Fig. 3 is the partial schematic sectional view of one embodiment of Fig. 1.

Fig. 4 is the partial schematic sectional view of one embodiment of Fig. 1.

Fig. 5 is the partial schematic sectional view of one embodiment of Fig. 1.

Fig. 6 is the partial schematic sectional view of one embodiment of Fig. 1.

Fig. 7 is the partial schematic sectional view of one embodiment of Fig. 1.

Fig. 8 is the partial schematic sectional view of one embodiment of Fig. 1.

Fig. 9 is the partial schematic sectional view of one embodiment of Fig. 1.

Figure 10 is the schematic diagram when present invention advances.

Figure 11 is the schematic diagram when present invention retreats.

Specific embodiment

In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not For limiting the present invention.

Please refer to Fig. 1-11, a kind of human-computer interaction body-sensing vehicle provided by the present invention, including support frame 1 and the branch The wheel 2 of the connection of support bone frame 1, is mounted on institute at the turning-bar 3 for being mounted on support frame 1 and being used to control the steering of wheel 2 State foot pedal apparatus 4 on support frame 1, between the foot pedal apparatus 4 and the support frame 1 and for sensing described The driving device 100 that body-sensing sensor 5, the driving wheel 2 of the position of centre of gravity information of user on foot pedal apparatus 4 rotate And the control device 6 of 100 power output of driving device is controlled according to the position of centre of gravity information.

Human-computer interaction body-sensing vehicle of the invention when in use, is controlled by turning-bar 3 and is turned to, and in ride, user is stepped on Pedal device 4 passes through the position of centre of gravity information of user of the induction of body-sensing sensor 5 on foot pedal apparatus 4, control device 6 Judge that human body turns forward, swings back or upright and in people by calculating the position of centre of gravity information that body-sensing sensor 5 obtains Bench over be calculate human body lean forward range value and layback when calculate human body layback range value, control device 6 calculate When the center of gravity of human body turns forward out, control device 6 controls driving device 100 and exports forward driving power, and control device 6 is calculating When the center of gravity of human body tilts backwards out, control device 6 controls driving device 100 and exports reverse actuating force, and control device 6 is calculating When the center of gravity of human body does not tilt out, driving device 100 is not in output driving power, while the inclined amplitude of center of gravity is bigger, control It is bigger that device 6 controls the driving force that driving device 100 exports.

Driving device 100 provide forward driving power effect can make on the car body car body have put forward movement plus Speed makes car body have the trend that travels forward, and car body can be allowed to accelerate to advance when car body travels forward in this way, car body to It is zero right that car body astern speed can be allowed to decrease up to astern speed when moving afterwards, if driving device 100 continues to output at this time Forward driving power, car body start to travel forward.When car body travels forward, driving device 100 provides forward driving power for car body It is turned forward realization by the center of gravity of people, in car body accelerator, people has the trend moved backward, and the center of gravity of people Need first to turn forward, be thus not in due to accelerating excessive, the problem of people falls from vehicle.

The reverse actuating force effect that driving device 100 provides can make car body have the acceleration moved backward on the car body Degree makes car body have the trend that travels forward, and car body can be allowed to accelerate to retreat when car body moves backward in this way, car body forward Car body forward speed can be allowed to reduce until forward speed is zero right, if driving device 100 continues to output just at this time when movement To driving force, car body starts to move backward.When car body moves backward, driving device 100 provides that back-drive power logical for car body Remarkable center of gravity tilts backwards realization, and in car body accelerator, people has the trend to travel forward, and the center of gravity of people It needs first to tilt backwards, is thus not in due to accelerating excessive, the problem of people falls from vehicle.

The present invention is preferably described for convenience, it is necessary first to illustrate, in the present invention, before support frame 1 Rear direction refers to the traffic direction (being the tangential method of body movement track when turning) of car body, foot pedal apparatus 4 of the invention Quantity can be set into one and also can be set into two, each foot pedal apparatus 4 corresponds to a foot position, can basis Actual needs setting, for example, the situation that body-sensing sensor 5 is one, foot pedal apparatus 4 can be one or two, The situation, body-sensing sensor 5 can be only placed between one of foot pedal apparatus 4 and support frame 1；When body-sensing sensor 5 is two When a, the quantity of foot pedal apparatus 4 corresponds to two, and in the situation, two individual propagated sensation sensors 5 are individually positioned in two foot pedal apparatus Between 4 and support frame 1.

Carrier 7 is installed in the rear end of support frame 1 in any one embodiment of human-computer interaction body-sensing vehicle of the invention, The rear end of carrier 7 can be set cushion 8 for it is manned and setting goods-container 9 with for people to use, certainly, support frame 1 Rear end carrier 7 can not also be installed, goods-container 9 and cushion 8 can also both select any object on one or carrier 7 It does not place, people can freely assemble.

Headlamp 10 is installed in the front end of the support frame 1 of human-computer interaction body-sensing vehicle of the invention, to facilitate illumination to use, Ornamental value can be improved, the front end of certain support frame 1 can not also install headlamp 10.

Two wheels 2 of human-computer interaction body-sensing vehicle of the invention are transversely mounted on the rear and front end of support frame 1 respectively, drive Dynamic device 100 is, for example, that hub motor is mounted on the movement of wheel 2 that drive displacement rear end is used in the wheel 2 of rear end, is turned The principle class that the wheel 2 for controlling front end to bar 3 turns to controls wheel steering in the handlebar of bicycle, electric vehicle and tricycle, Details are not described herein for its principle.Certainly, 100 quantity of driving device can be two, be separately mounted to be located in two wheels 2, For driving two wheels 2 to rotate.In diagram of the invention, the quantity of foot pedal apparatus 4 is two, and front and back is distributed, Certainly, in other embodiments, foot pedal apparatus 4 can also left and right it is arranged side by side.

The support frame 1 of human-computer interaction body-sensing vehicle of the invention is equipped with the container 11 of installation host body propagated sensation sensor 5, Body-sensing sensor 5 is located between support frame 1 and foot pedal apparatus 4 with facilitating.

The support frame 1 of human-computer interaction body-sensing vehicle of the invention is equipped with accommodating chamber 12, mounting circuit boards in accommodating chamber 12 And battery, the necessary electronics member of human-computer interaction body-sensing vehicle is constituted on circuit board such as being set control device 6 and acceleration sensor Part, details are not described herein for the function of each electronic component.Preferably, cover board 13 can be placed on accommodating chamber 12, receiving is closed with lid Chamber 12 is prevented into water into dust.

Foot pedal apparatus 4 of the invention for example may include pedal bottom plate and cover the protection leather sheath on pedal bottom plate, ride Bottom plate may be mounted on support frame 1, and for body-sensing sensor 5 between pedal bottom plate and support frame 1, protection leather sheath can be with It improves the comfort level trampled while can prevent from skidding.

It should be further noted that human-computer interaction body-sensing vehicle specific embodiment of the invention can be divided into two major classes. First major class embodiment may be summarized to be the center of gravity that the user on foot pedal apparatus 4 is incuded by an individual propagated sensation sensor 5 Location information, the second major class embodiment are that the center of gravity of the user on foot pedal apparatus 4 is incuded by two individual propagated sensation sensors 5 Location information.

The content of first major class embodiment is that the quantity of the body-sensing sensor is one, the number of the foot pedal apparatus 4 Amount is two, and the body-sensing sensor 5 exists between the support frame 1 and a foot pedal apparatus 4, and for acquisition The position of centre of gravity information of user on foot pedal apparatus 4, the center of gravity position that the control device 6 is sensed according to body-sensing sensor 5 Confidence breath controls 100 power output of driving device.

Specifically, such as shown in Fig. 2, the body-sensing sensor 5 is pressure sensor, and the body-sensing sensor 5 is included in Two sensing element regions 501 that front and back is distributed in the direction of advance of the human-computer interaction body-sensing vehicle, two sensing element regions 501 are preferably distributed in the front end and rear end of foot pedal apparatus 4, and the body-sensing sensor 5 passes through two sensing element regions 501 The front pressure and rear pressure that incude corresponding foot pedal apparatus 4 obtain the position of centre of gravity information of user.The control device 6 It is controlled according to the difference for the front pressure and rear pressure for stating the foot pedal apparatus 4 that two sensing element regions 501 sense The power output of the driving device 100.Concrete principle is that control device 6 receives the pressure that two sensing element regions 501 sense Force value calculates the pressure difference value that two sensing element regions 501 sense, and control is driven in the case where pressure difference value is positive value Dynamic device 100 exports forward driving power drive car body and advances, and control driving device 100 exports the case where pressure difference value is negative value It is driven in the reverse direction the advance of power drive car body, and pressure difference value is bigger, the driving force that driving device 100 exports is bigger.Specifically, when Human body turns forward, and the pressure sensed positioned at the sensing element region 501 of the front of foot pedal apparatus 4, which is greater than, is located at foot pedal apparatus The pressure that the sensing element region 501 at 4 rear portion senses, for entire pressure sensor, pressure sensor output It is the pressure signal of a positive value, what control device 6 received at this time is the pressure signal that one is positive value, and control device 6 is controlled Driving device 100 processed exports forward driving power drive car body and advances, when human body tilts backwards, before being located at foot pedal apparatus 4 in this way The pressure that the sensing element region 501 in portion senses is less than to be sensed positioned at the sensing element region 501 at the rear portion of foot pedal apparatus 4 Pressure, what control device 6 received at this time is one be negative value pressure signal, control device 6 control driving device 100 it is defeated It is driven in the reverse direction the retrogressing of power drive car body out.

Such as shown in Fig. 3, the body-sensing sensor 5 is angular transducer, foot-operated dress corresponding with the body-sensing sensor 5 It sets 4 to be rotatablely connected with the support frame 1, the body-sensing sensor 5 is by acquiring corresponding foot pedal apparatus 4 and the support rib The relative angle information of frame 1 obtains the position of centre of gravity information of user.The control device 6 is opposite according to the foot pedal apparatus 4 The angle information of the support frame 1 controls the power output of the driving device 100.Angular transducer acquire foot pedal apparatus 4 to The angle signal of preceding overturning is positive angle signal, and the gyration signal turned over is opposing angular signal.When human body forward The front pressure of inclination, foot pedal apparatus 4 is greater than rear pressure, and foot pedal apparatus 4 is overturn forward, and angular transducer can obtain one just To angle signal, the flip angle signal with the position of centre of gravity information of user be it is corresponding, control device 6 receives at this time Positive angle signal, control device 6 control the output forward driving power drive car body of driving device 100 and advance, certainly positive Angle signal is bigger, and the driving force of output is bigger；Certainly, control device 6 controls the output of driving device 100 and is driven in the reverse direction power drive Car body retreats and the principle of the driving force size of output is similar to the above, and details are not described herein.

In this embodiment, pivot 15, the pedal bottom plate and pivot of foot pedal apparatus 4 are equipped in the container 11 of support frame 1 Axis 15 is rotatablely connected, so that foot pedal apparatus 4 and support frame 1 are rotatablely connected.

Such as shown in Fig. 4, the body-sensing sensor 5 includes two displacement sensing modules, corresponding with the body-sensing sensor 5 Foot pedal apparatus 4 and the support frame 1 between be additionally provided with two elastic elements 16, described two elastic elements 16 are in the people Machine interacts front and back distribution in the direction of advance of body-sensing vehicle, two elastic elements 16 be preferably distributed in the front end of foot pedal apparatus 4 with Rear end, transformed value collected in this way can be more accurate, and the body-sensing sensor 5 is by acquiring described two elastic elements 16 Deformation quantity obtains the position of centre of gravity information of user.The control device 6 is according to the elastic deformations of two elastic elements 16 The difference of amount controls the power output of the driving device 100.It should be noted that the collected elastic element of displacement sensing module 16 downward deflection is denoted as positive value, and the flexible deformation two drawn high upwards is denoted as negative value.It is understood that human normal is stepped on On foot pedal apparatus 4, the deformation quantity of two elastic elements 16 is identical, and when human body turns forward, the front pressure of foot pedal apparatus 4 is big In rear pressure, 16 retracted downward of elastic element of 4 front of foot pedal apparatus, and it is located at the elastic element at the rear portion of foot pedal apparatus 4 16 retracted downwards are pulled upwardly length, and due to stress difference, the elastic element 16 positioned at the rear portion of foot pedal apparatus 4 is The amount of elastic deformation for the elastic element 16 for being less than its deformation quantity of downward deformation positioned at front, control device 6 is according to two at this time Displacement sensing module collects the amount of elastic deformation of elastic element 16, calculated front elastic members 16 and rear elastic members 16 amount of elastic deformation difference is positive value, and control device 6 controls driving device 100 and exports the advance of forward driving power drive car body, Certain amount of elastic deformation difference is bigger, and the driving force that driving device 100 exports is bigger.It is to be appreciated that the control of control device 6 is driven The dynamic output of device 100 is driven in the reverse direction the retrogressing of power drive car body and the principle of output driving power size is similar with above-mentioned principle, This is repeated no more.

In this embodiment, elastic element 16 is spring, and the inside of spring is arranged in body-sensing sensor 5, for acquiring foot That point relative displacement of 4 bottom surface face body-sensing sensor 5 of device is stepped on, which is located at can be with the flexible of elasticity of response element 16 Amount.

In addition, as shown in figure 8, in other embodiments, the body-sensing sensor 5 extend into corresponding foot pedal apparatus for one 4 class mouse spherical structure, such mouse spherical structure include the roll displacement of the roll displacement of class mouse ball and acquisition class mouse ball Sensor, class mouse ball can be rolled freely, and roll displacement sensor can collect the phase of class mouse ball with corresponding foot pedal apparatus 4 To roll displacement, the body-sensing sensor 5 is displaced by acquisition with the relative rolling of corresponding foot pedal apparatus 4, obtains user Position of centre of gravity information, the control device 6 is according to the relative rolling position of the body-sensing sensor 5 and corresponding foot pedal apparatus 4 Move the power output for controlling the driving device 100.Specifically, when human body leans forward, the class mouse ball on foot pedal apparatus 4 is by forward Active force, class mouse ball rotates clockwise, and it is opposite with corresponding foot pedal apparatus 4 that body-sensing sensor 5 collects class mouse ball Roll displacement and be positive-displacement, the relative rolling displacement signal that control device 6 receives at this time is positive displacement signal, control Device 6 processed controls driving device 100 and exports the advance of forward driving power drive car body, and the amount of elastic deformation received certainly is forward direction Displacement signal more large driving force is bigger.It is to be appreciated that control device 6, which controls the output of driving device 100, is driven in the reverse direction power drive Car body retreats and the principle of output driving power size is similar with above-mentioned principle, and details are not described herein.

The content of second major class embodiment is that the quantity of the body-sensing sensor is two, the number of the foot pedal apparatus 4 Amount is two, and a body-sensing sensor 5, two individual propagated sensation senses are equipped between the support frame 1 and each foot pedal apparatus 4 5 for obtaining the position of centre of gravity information of the user on foot pedal apparatus 4, and the control device 6 is passed according to two body-sensings The position of centre of gravity information for the user that sensor 5 senses controls the power output of the driving device 100.

Specifically, as shown in figure 5, in this embodiment, two foot pedal apparatus 4 are in the human-computer interaction body-sensing vehicle Distribution before and after direction of advance.Each body-sensing sensor 5 is pressure sensor, and two individual propagated sensation sensors 5 are corresponding by incuding Pressure value on foot pedal apparatus 4 obtains the position of centre of gravity information of user.The control device 6 is according to two foot-operated dresses The pressure value for setting 4 controls the power output of the driving device 100.Body-sensing in the working principle and above-described embodiment of the embodiment Sensor 5 is that the working principle of pressure sensor is essentially identical, the difference is that only needing to calculate two individual propagated sensation sensors 5 Sense the difference of pressure, details are not described herein.

Certainly, in other embodiments (not shown go out the embodiment), two foot pedal apparatus 4 can also with it is described it is man-machine mutually Compartment of terrain is distributed on the vertical direction of the direction of advance of kinetoplast sense vehicle, and in this embodiment, each body-sensing sensor 5 is pressure Sensor, and each pressure sensor includes two sensing element regions 501 that front and back is distributed, it is preferable that each body-sensing Two sensing element regions 5 of sensor 5 are located at the front end and rear end of corresponding foot pedal apparatus 4, two individual propagated sensations Sensor 5 incudes front pressure and rear pressure on corresponding foot pedal apparatus 4 by corresponding sensing element region 501, obtains The position of centre of gravity information of user.The working principle of the embodiment and above-mentioned body-sensing sensor 5 are that the work of pressure sensor is former It manages essentially identical, the difference is that only, control device 6 calculates former and later two sensing elements of each body-sensing sensor 5 first Then the difference for the pressure that region 501 senses calculates the difference of two differences.Pressure sensor in certain embodiment Structure is also applied in two foot pedal apparatus that front and back is distributed, and control principle is also identical as the embodiment.

Shown in Fig. 6, the body-sensing sensor 5 is angular transducer, two foot pedal apparatus 4 and the support frame 1 Rotation connection, two individual propagated sensation sensors 5 are obtained by the angle information of the corresponding relatively described support frame 1 of foot pedal apparatus 4 of acquisition Take the position of centre of gravity information of user.The control device 6 is according to the angle of the relatively described support frame 1 of two foot pedal apparatus 4 Information controls the power output of the driving device 100.The working principle of the embodiment and above-mentioned body-sensing sensor 5 are angle sensor The working principle of device is essentially identical, the difference is that only that control device 6 needs first to calculate what two angular transducers sensed The sum of angle information is being controlled after calculating the sum of angle information.In the present embodiment, two foot pedal apparatus 4 Be distributed before and after the direction of advance of the human-computer interaction body-sensing vehicle, in other embodiments, two foot pedal apparatus 4 with institute Compartment of terrain in the vertical direction of the direction of advance of human-computer interaction body-sensing vehicle is stated to be distributed.Certainly, in this embodiment, two foot-operated dresses 4 are set to need to be rotatablely connected by two pivots 15 and support frame 1.

As shown in fig. 7, in this embodiment, each body-sensing sensor 5 is displacement sensor, each foot pedal apparatus 4 with Elastic element 16 is additionally provided between the support frame 1, and two foot pedal apparatus 4 are in the human-computer interaction body-sensing vehicle Distribution before and after direction of advance, it is preferable that body-sensing sensor 5 is distributed in the middle part of two foot pedal apparatus 4, two individual propagated sensation sensors 5 By acquiring the deformation quantity of corresponding elastic element 16, the position of centre of gravity information of user is obtained.The control device 6 is according to two The difference of the amount of elastic deformation of a elastic element 16 controls the power output of the driving device 100.The work of the embodiment Principle and the working principle that above-mentioned body-sensing sensor 5 is displacement sensor are substantially different, except that control device 6 is counted What is calculated is the amount of elastic deformation difference of the elastic element 16 of two foot pedal apparatus, 4 lower section.

In other embodiments (not shown go out), each body-sensing sensor 5 includes two displacement sensing modules, each foot-operated Two elastic elements 16 that front and back is distributed are additionally provided between device 4 and the support frame 1, two displacement sensing modules are preferably divided Cloth corresponds to the deformation of elastic element 16 by acquiring in the front end and rear end of corresponding foot pedal apparatus 4, two individual propagated sensation sensors 5 Amount, obtains the position of centre of gravity information of user.The control principle of the embodiment and above-mentioned body-sensing sensor 5 are displacement sensor Control principle is essentially identical, the difference is that, control device 6 needs first to calculate two bullets below each foot pedal apparatus 4 Property element 16 amount of elastic deformation difference, then calculate two corresponding elastic deformation differences of foot pedal apparatus 4 and value, control dress Set 6 power outputs that driving device 100 is controlled according to the difference of two elastic deformation differences.

In addition, as shown in figure 9, in other embodiments, each body-sensing sensor 5 extend into corresponding foot pedal apparatus for one 4 class mouse spherical structure, such mouse spherical structure can be rolled freely and can collect class mouse ball and corresponding foot pedal apparatus 4 Relative rolling displacement, two body-sensing sensors 5 are displaced with the relative rolling of corresponding foot pedal apparatus 4 by acquisition, are obtained The position of centre of gravity information of user, the control device 6 are opposite with corresponding foot pedal apparatus 4 according to the body-sensing sensor 5 Roll displacement controls the power output of the driving device 100.The control principle of the embodiment and above-mentioned body-sensing sensor 5 are class ball The control principle of the embodiment of class mouse structure is essentially identical, the difference is that control device 6 is needed two foot-operated dresses Set 4 corresponding roll displacement information summations, two foot pedal apparatus 4 of the implementation with before the human-computer interaction body-sensing vehicle Compartment of terrain is distributed on the direction vertical into direction, is implemented in power at other, two foot pedal apparatus 4 can also front and back distribution.

In conclusion machine interaction body-sensing vehicle of the invention is when in use, is controlled and turned to by turning-bar 3, by trampling foot The position of centre of gravity information for the user that device 4 obtains body-sensing sensor 5 on foot pedal apparatus 4 is stepped on, control device 6 passes through calculating The position of centre of gravity information that body-sensing sensor 5 obtains judges that human body turns forward, swings back or upright and lean forward in human body and be Calculate human body lean forward range value and layback when calculate human body layback range value, calculate human body in control device 6 When center of gravity turns forward, control device 6 controls driving device 100 and exports forward driving power, and control device 6 is calculating human body When center of gravity tilts backwards, control device 6 controls driving device 100 and exports reverse actuating force, and control device 6 is calculating human body When center of gravity does not tilt, driving device 100 is not in output driving power, while the inclined amplitude of center of gravity is bigger, and control device 6 controls The driving force that driving device 100 exports is bigger, and therefore, control device 6 can collect gravity center of human body according to body-sensing sensor 5 Location information control car body advances, retreats, brakes and is accelerated forwardly and slows down, and accelerates backward and slows down, so that of the invention Human-computer interaction body-sensing vehicle security performance it is high and there is stronger playability.

Although the present invention is disclosed above by preferred embodiment, however, it is not intended to limit the invention, this any known skill Skill person can make some changes and embellishment without departing from the spirit and scope of the present invention, therefore protection scope of the present invention is worked as Subject to claims range claimed.

Claims (35)

1. a kind of human-computer interaction body-sensing vehicle, which is characterized in that including support frame (1), the vehicle being connect with the support frame (1) Wheel (2), is mounted on the support at the turning-bar (3) for being mounted on support frame (1) and being used to control the wheel (2) steering Foot pedal apparatus (4) on skeleton (1), between the foot pedal apparatus (4) and the support frame (1) and for sensing in institute State the body-sensing sensor (5) of the position of centre of gravity information of the user on foot pedal apparatus (4), the drive of driving wheel (2) rotation The control device of dynamic device (100) and the power output according to the position of centre of gravity information control driving device (100) (6)。

2. human-computer interaction body-sensing vehicle according to claim 1, it is characterised in that: the quantity of the body-sensing sensor is one A, the quantity of the foot pedal apparatus (4) is at least one, and the body-sensing sensor (5) is located at the support frame (1) and one Between the foot pedal apparatus (4), for sensing the position of centre of gravity information of user, the control device (6) is according to the body-sensing The position of centre of gravity information for the user that sensor (5) senses controls the power output of the driving device (100).

3. human-computer interaction body-sensing vehicle according to claim 2, it is characterised in that: the body-sensing sensor (5) is pressure biography Sensor, the body-sensing sensor (5) include two inductions that front and back is distributed in the direction of advance of the human-computer interaction body-sensing vehicle Element area (501), the body-sensing sensor (5) are respectively induced corresponding foot by described two sensing element regions (501) The front pressure and rear pressure for stepping on device (4), obtain the position of centre of gravity information of user.

4. human-computer interaction body-sensing vehicle according to claim 3, it is characterised in that: the control device (6) is according to described two A sensing element region (501) senses that the difference of pressure controls the power output of the driving device (100).

5. human-computer interaction body-sensing vehicle according to claim 2, it is characterised in that: the body-sensing sensor (5) is angle biography Sensor, foot pedal apparatus (4) corresponding with body-sensing sensor (5) and the support frame (1) are rotatablely connected, and the body-sensing passes Sensor (5) obtains user's by the relative angle information of acquisition corresponding foot pedal apparatus (4) and the support frame (1) Position of centre of gravity information.

6. human-computer interaction body-sensing vehicle according to claim 5, it is characterised in that: the control device (6) is according to the foot The angle information for stepping on the relatively described support frame (1) of device (4) controls the power output of the driving device (100).

7. human-computer interaction body-sensing vehicle according to claim 2, it is characterised in that: the body-sensing sensor (5) includes two Displacement sensing module is additionally provided between foot pedal apparatus (4) corresponding with body-sensing sensor (5) and the support frame (1) Two elastic elements (16), described two elastic elements (16) front and back point in the direction of advance of the human-computer interaction body-sensing vehicle Cloth, the body-sensing sensor (5) obtain the position of centre of gravity of user by the deformation quantity of the described two elastic elements (16) of acquisition Information.

8. human-computer interaction body-sensing vehicle according to claim 7, it is characterised in that: the control device (6) is according to two institutes The difference for stating the amount of elastic deformation of elastic element (16) controls the power output of the driving device (100).

9. human-computer interaction body-sensing vehicle according to claim 2, it is characterised in that: the body-sensing sensor (5) is protruded into for one To the class mouse spherical structure of corresponding foot pedal apparatus (4), such mouse spherical structure can be rolled freely and can collect class mouse ball It is displaced with the relative rolling of corresponding foot pedal apparatus (4), the body-sensing sensor (5) passes through acquisition and corresponding foot pedal apparatus (4) relative rolling displacement, obtains the position of centre of gravity information of user.

10. human-computer interaction body-sensing vehicle according to claim 9, it is characterised in that: the control device (6) is according to the body The power output of propagated sensation sensor (5) and driving device (100) described in the relative rolling Bit andits control of corresponding foot pedal apparatus (4).

11. human-computer interaction body-sensing vehicle according to claim 1, it is characterised in that: the quantity of the body-sensing sensor (5) is Two, the quantity of the foot pedal apparatus (4) is two, is equipped with an institute between each foot pedal apparatus of the support frame (1) (4) It states body-sensing sensor (5), the position of centre of gravity information of two body-sensing sensor (5) induction users, the control device (6) The position of centre of gravity information of the user sensed according to two body-sensing sensors (5) controls the driving device (100) Power output.

12. human-computer interaction body-sensing vehicle according to claim 11, it is characterised in that: each body-sensing sensor (5) is pressure Force snesor, two foot pedal apparatus (4) are distributed before and after the direction of advance of the human-computer interaction body-sensing vehicle, two bodies Propagated sensation sensor (5) obtains the position of centre of gravity information of user by incuding the pressure value on corresponding foot pedal apparatus (4).

13. human-computer interaction body-sensing vehicle according to claim 12, it is characterised in that: the control device (6) is according to two The difference of the pressure for two foot pedal apparatus (4) that body-sensing sensor (5) senses controls the defeated of the driving device (100) Power output.

14. human-computer interaction body-sensing vehicle according to claim 11, it is characterised in that: each body-sensing sensor (5) is pressure Force snesor, each body-sensing sensor (5) are included in front and back is distributed in the direction of advance of the human-computer interaction body-sensing vehicle two A sensing element region (501), two individual propagated sensation sensors (5) are corresponded to by the induction of corresponding two sensing element regions (501) Foot pedal apparatus (4) front pressure and rear pressure, obtain the position of centre of gravity information of user.

15. human-computer interaction body-sensing vehicle according to claim 14, it is characterised in that: the control device (6) is according to The corresponding described two sensing element regions (501) of foot pedal apparatus (4) sense pressure, before calculating the foot pedal apparatus (4) The pressure difference in portion and rear portion, the control device (6) is according to the sum of two foot pedal apparatus (4) fronts and the pressure difference at rear portion Control the power output of the driving device (100).

16. human-computer interaction body-sensing vehicle according to claim 11, it is characterised in that: each body-sensing sensor (5) is angle Sensor is spent, two foot pedal apparatus (4) and the support frame (1) are rotatablely connected, and described two body-sensing sensors (5) are logical The angle information for acquiring the relatively described support frame (1) of corresponding foot pedal apparatus (4) is crossed, the position of centre of gravity letter of user is obtained Breath.

17. human-computer interaction body-sensing vehicle according to claim 16, it is characterised in that: the control device (6) is according to two The sum of angle information of the relatively described support frame (1) of foot pedal apparatus (4) controls the power output of the driving device (100).

18. human-computer interaction body-sensing vehicle according to claim 11, it is characterised in that: each body-sensing sensor (5) is position Displacement sensor is additionally provided with elastic element (16) between each foot pedal apparatus (4) and the support frame (1), and described in two Foot pedal apparatus (4) is distributed before and after the direction of advance of the human-computer interaction body-sensing vehicle, and two individual propagated sensation sensors (5) pass through acquisition pair The deformation quantity for answering elastic element (16) obtains the position of centre of gravity information of user.

19. human-computer interaction body-sensing vehicle according to claim 18, it is characterised in that: the control device (6) is according to two The difference of the amount of elastic deformation of the elastic element (16) controls the power output of the driving device (100).

20. human-computer interaction body-sensing vehicle according to claim 11, it is characterised in that: each body-sensing sensor (5) is packet Two displacement sensing modules are included, two elastic elements are additionally provided between each foot pedal apparatus (4) and the support frame (1) (16), described two elastic elements (16) front and back distribution in the direction of advance of the human-computer interaction body-sensing vehicle, two individual propagated sensations Sensor (5) obtains the position of centre of gravity information of user by the deformation quantity of the corresponding elastic element (16) of acquisition.

21. human-computer interaction body-sensing vehicle according to claim 20, it is characterised in that: the control device (6) is according to each The deformation quantity of collected corresponding two elastic elements (16) of body-sensing sensor (5), it is corresponding to calculate each foot pedal apparatus (4) The deformation quantity difference of two elastic elements (16), the control device (6) according to two deformation quantity differences and value control described in The power output of driving device (100).

22. human-computer interaction body-sensing vehicle according to claim 11, it is characterised in that: each body-sensing sensor (5) is one It is extend into the class mouse spherical structure of corresponding foot pedal apparatus (4), such mouse spherical structure can be rolled freely and can collect class mouse The relative rolling for marking ball and the foot pedal apparatus (4) is displaced, and two individual propagated sensation sensors (5) pass through acquisition and corresponding foot pedal apparatus (4) relative rolling displacement, obtains the position of centre of gravity information of user.

23. human-computer interaction body-sensing vehicle according to claim 22, it is characterised in that: the control device (6) is according to two The relative rolling of the body-sensing sensor (5) and corresponding foot pedal apparatus (4) the sum of is displaced the control driving device (100) Power output.

24. -23 described in any item human-computer interaction body-sensing vehicles according to claim 1, it is characterised in that: the number of the wheel (2) Amount is two, and two wheels (2) are horizontally installed on the rear and front end of the support frame (1).

25. -23 described in any item human-computer interaction body-sensing vehicles according to claim 1, it is characterised in that: the support frame (1) Front end be provided with headlamp (10).

26. -23 described in any item human-computer interaction body-sensing vehicles according to claim 1, it is characterised in that: the support frame (1) Rear end be provided with carrier (7).

27. human-computer interaction body-sensing vehicle according to claim 26, it is characterised in that: the carrier (7) is equipped with storage Case (9).

28. human-computer interaction body-sensing vehicle according to claim 26, it is characterised in that: the carrier (7) is equipped with cushion (8)。

29. human-computer interaction body-sensing vehicle according to claim 26, it is characterised in that: the front end of the carrier (7) is equipped with The rear end of cushion (8), the carrier (7) is equipped with goods-container (9).

30. -23 described in any item human-computer interaction body-sensing vehicles according to claim 1, it is characterised in that: the support frame (1) It is equipped with the container (11) for accommodating the body-sensing sensor (5), foot pedal apparatus (4) corresponding with body-sensing sensor (5) Lid closes corresponding container (11).

31. -23 described in any item human-computer interaction body-sensing vehicles according to claim 1, it is characterised in that: the support frame (1) On be additionally provided with accommodating chamber (12), installation battery and circuit board in the accommodating chamber (12), the control device (6) are arranged described On circuit board.

32. a kind of human-computer interaction body-sensing vehicle, which is characterized in that connect including support frame (1), with the support frame (1) Wheel (2), is mounted on the branch at the turning-bar (3) for being mounted on support frame (1) and being used to control the wheel (2) steering Foot pedal apparatus (4) on support bone frame (1), between the foot pedal apparatus (4) and the support frame (1) and for passing through sense The front pressure and rear pressure of surveying the foot pedal apparatus (4) obtain the center of gravity position of the user on the foot pedal apparatus (4) The body-sensing sensor (5) of confidence breath, the driving device (100) of the driving wheel (2) rotation and according to the position of centre of gravity Information controls the control device (6) of driving device (100) power output.

33. a kind of human-computer interaction body-sensing vehicle, which is characterized in that connect including support frame (1), with the support frame (1) Wheel (2), is mounted on the branch at the turning-bar (3) for being mounted on support frame (1) and being used to control the wheel (2) steering Foot pedal apparatus (4) on support bone frame (1), between the foot pedal apparatus (4) and the support frame (1) and for passing through sense The relative angle information for surveying the foot pedal apparatus (4) and the support frame (1) obtains the use on the foot pedal apparatus (4) The body-sensing sensor (5) of the position of centre of gravity information of person, the driving device (100) of driving wheel (2) rotation and according to institute State the control device (6) that position of centre of gravity information controls driving device (100) power output.

34. a kind of human-computer interaction body-sensing vehicle, which is characterized in that connect including support frame (1), with the support frame (1) Wheel (2), is mounted on the branch at the turning-bar (3) for being mounted on support frame (1) and being used to control the wheel (2) steering Foot pedal apparatus (4) on support bone frame (1), between the foot pedal apparatus (4) and the support frame (1) and for passing through sense The displacement information of the relatively described support frame (1) of the foot pedal apparatus (4) is surveyed to obtain the use on the foot pedal apparatus (4) The body-sensing sensor (5) of the position of centre of gravity information of person, the driving device (100) of driving wheel (2) rotation and according to institute State the control device (6) that position of centre of gravity information controls driving device (100) power output.

35. a kind of human-computer interaction body-sensing vehicle, which is characterized in that connect including support frame (1), with the support frame (1) Wheel (2), is mounted on the branch at the turning-bar (3) for being mounted on support frame (1) and being used to control the wheel (2) steering Foot pedal apparatus (4) on support bone frame (1), between the foot pedal apparatus (4) and the support frame (1) and for passing through sense The roll displacement information of itself relatively described foot pedal apparatus (4) is surveyed to obtain the weight of the user on the foot pedal apparatus (4) The body-sensing sensor (5) of heart location information, the driving device (100) of driving wheel (2) rotation and according to the center of gravity Location information controls the control device (6) of driving device (100) power output.