CN109436160B

CN109436160B - Human-computer interaction motion sensing vehicle and method for controlling human-computer interaction motion sensing vehicle

Info

Publication number: CN109436160B
Application number: CN201811400210.4A
Authority: CN
Inventors: 李一鹏
Original assignee: Inmotion Technologies Co Ltd
Current assignee: Inmotion Technologies Co Ltd
Priority date: 2018-11-22
Filing date: 2018-11-22
Publication date: 2024-07-19
Anticipated expiration: 2038-11-22
Also published as: CN109436160A

Abstract

The invention relates to a man-machine interaction body feeling vehicle and a method for controlling movement of the man-machine interaction body feeling vehicle. The man-machine interaction body sensing vehicle comprises a first travelling wheel and a second travelling wheel which are spaced along the travelling direction, a rotor assembly of a driving motor is in power coupling connection with the first travelling wheel, an operating piece of the body sensing mechanism is operated to rotate relative to a vehicle frame along the travelling direction, and the feedback piece of the body sensing mechanism and the operating piece are driven by a transmission mechanism to rotate in the same direction, wherein the feedback piece is fixedly connected with a stator assembly of the driving motor and is rotatably connected with the vehicle frame. When the angle sensor arranged on the motion sensing mechanism detects the pitching angle change value, the controller controls the driving motor to drive the first travelling wheel to rotate. According to the man-machine interaction body sensing vehicle and the method for controlling the movement of the man-machine interaction body sensing vehicle, the man-machine interaction body sensing vehicle is always guaranteed to have front and rear landing points, basic safety is achieved, and in addition, a user can achieve operation experience of the man-machine interaction body sensing vehicle through the body sensing mechanism.

Description

Human-computer interaction motion sensing vehicle and method for controlling human-computer interaction motion sensing vehicle

Technical Field

The invention relates to the technical field of balance vehicles, in particular to a man-machine interaction body feeling vehicle and a method for controlling movement of the man-machine interaction body feeling vehicle.

Background

The existing balance car adopts motion sensing operation, a user controls the front-back inclination of the car frame through the posture of the front-back inclination of the body, and the car body control system controls the acceleration and the deceleration of wheels according to the change of the inclination angle of the car frame. The operation does not need the traditional mechanical accelerator and brake, and brings very comfortable and flexible operation experience.

However, the existing balance car only has one wheel landing point or two side-by-side landing points, so the balance car must rely on dynamic adjustment of a balance control system to maintain balance.

If the balance control system of the balance car is out of order, for example, damage of internal devices causes program confusion, or is used for misoperation, or the ground is wet and slippery, the wheels are emptied and lose friction, and the like, so serious accidents such as car falling are caused.

Disclosure of Invention

Based on the above, it is necessary to provide a man-machine interaction vehicle and a method for controlling the movement of the man-machine interaction vehicle, which solve the above problems, aiming at the problems that the existing balance vehicle can keep balance only by depending on the dynamic adjustment of the balance control system, and serious accidents such as vehicle falling can be caused when the balance control system fails or the user operates by mistake or the ground is slippery.

A man-machine interaction somatosensory vehicle comprises a vehicle frame; at least one first running wheel; the driving motor comprises a rotor assembly and a stator assembly, and the rotor assembly is in power coupling connection with the first travelling wheel; the at least one second travelling wheel is rotatably arranged on the frame and is arranged at intervals in the advancing direction of the man-machine interaction body sensing vehicle relative to the at least one first travelling wheel; the motion sensing mechanism comprises an operating piece, a feedback piece and a transmission mechanism; the transmission mechanism is respectively in transmission connection with the control piece and the feedback piece, the control piece is rotatably connected with the frame along the advancing direction and around a first axis, the feedback piece is fixedly connected with the stator assembly and is rotatably connected with the frame along the advancing direction around a second axis, and the feedback piece and the control piece rotate in the same direction through the transmission mechanism; the angle sensor is arranged on the motion sensing mechanism and is used for detecting a pitching angle change value of the motion sensing mechanism; and the controller is electrically connected with the driving motor and the angle sensor, and controls the driving motor to drive the first travelling wheel to rotate according to the pitching angle change value.

According to the man-machine interaction body-sensing vehicle, the first travelling wheels and the second travelling wheels are arranged at intervals along the travelling direction, so that the man-machine interaction body-sensing vehicle always has two landing points, and basic safety is ensured; the user controls the control piece to incline forwards and backwards, the angle sensor detects the angle change value, and the controller is used for controlling the driving motor to drive the first travelling wheel to rotate forwards and backwards according to the angle change value, so that the normal operation of the man-machine interaction body-sensing vehicle is ensured. In addition, the feedback piece is fixedly connected with the stator assembly of the driving motor, and the feedback piece is in transmission connection with the operating piece through the transmission mechanism, so that the reaction force generated by the stator assembly can be transmitted to the operating piece, and a user can feel the force resisting the operating piece, so that the operating sense is obtained.

In one embodiment, the steering member comprises a first rotating member, the first travelling wheel having an axle, the second axis being arranged co-linear with the axis of the axle.

In one embodiment, the first rotating member comprises a lever, the second rotating member comprises a first link, and the drive connection comprises a second link; one end of the operating rod is rotatably connected with the frame, one end of the first connecting rod is fixedly connected with the stator assembly, and two ends of the second connecting rod are respectively hinged with the other end of the operating rod and the other end of the first connecting rod.

In one embodiment, the joystick, the first link, the second link, and the frame combine to form a closed parallelogram structure.

In one embodiment, the operating rod, the first connecting rod and the second connecting rod all comprise two connecting rods which are arranged in parallel and fixedly connected, and the frame comprises a first bracket and a second bracket which are arranged in parallel; one of the control rods is rotatably connected with the first bracket, the other control rod is rotatably connected with the second bracket, one of the control rods is fixedly connected with the stator assembly and is positioned at one side of the first travelling wheel, and the other control rod is fixedly connected with the stator assembly and is positioned at the other side of the first travelling wheel; the control rod, the first connecting rod, the second connecting rod and the first bracket are combined to form a closed first parallelogram structure; the other operating lever, the other first connecting rod, the other second connecting rod and the second bracket are combined to form a closed second parallelogram structure; the first parallelogram structure coincides with the second parallelogram structure in a direction along a plane formed perpendicular to the second parallelogram structure.

In one embodiment, the man-machine interaction somatosensory vehicle further comprises a seat unit fixedly connected to one side of the second connecting rod away from the vehicle frame.

In one embodiment, the man-machine interaction somatosensory vehicle further comprises a treading piece, and the treading piece is fixedly connected to the control rod.

In one embodiment, the tread has a tread surface that is vertically flush with the first axis or vertically below the first axis.

In one embodiment, the control piece comprises a second rotary table, the feedback piece comprises a second rotary table, the transmission mechanism comprises a pull rope, and the pull rope is wound on the first rotary table and the second rotary table; or the control piece comprises a first rotary table, the feedback piece comprises a second rotary table, the transmission mechanism comprises a first pull rope and a second pull rope, both ends of the first pull rope and both ends of the second pull rope are respectively fixed on the outer peripheral surface of the first rotary table and the outer peripheral surface of the second rotary table, the first pull rope and the second pull rope are mutually parallel along the radial direction of the first rotary table and the second rotary table and are arranged at intervals, and the length of the first pull rope is equal to that of the second pull rope; or the operating member comprises a first belt pulley, the feedback member comprises a second belt pulley, the transmission mechanism comprises a transmission belt, and the first belt pulley and the second belt pulley are connected through the transmission belt; or the operating member comprises a first sprocket, the feedback member comprises a second sprocket, the transmission mechanism comprises a chain, and the first sprocket and the second sprocket are connected through the chain; the control piece comprises a first gear, the feedback piece comprises a second gear, the transmission mechanism comprises a transmission gear set, the transmission gear set comprises at least one third gear, and the transmission gear set is meshed with the first gear and the second gear respectively for transmission.

In one embodiment, the second travelling wheels comprise at least two, and at least one first travelling wheel and at least two second travelling wheels are arranged at intervals in the travelling direction; the man-machine interaction body sensing vehicle further comprises a steering wheel, and the steering wheel can operate the two second travelling wheels to steer; the man-machine interaction somatosensory vehicle further comprises a seat, and the seat part is arranged on the frame; the man-machine interaction somatosensory vehicle further comprises a treading piece, and the treading piece is fixedly connected with the operating piece.

A man-machine interaction somatosensory vehicle comprises a vehicle frame; at least one first running wheel; the driving motor comprises a rotor assembly and a stator assembly, and the rotor assembly is coupled and connected with the first travelling wheel; the at least one second travelling wheel is rotatably arranged on the frame and is arranged at intervals in the advancing direction of the man-machine interaction body sensing vehicle relative to the at least one first travelling wheel; the motion sensing mechanism comprises an operating piece which is fixedly connected with the stator assembly and is rotatably connected with the frame along the advancing direction and around a first axis; the angle sensor is arranged on the motion sensing mechanism and is used for detecting a pitching angle change value of the motion sensing mechanism; and the controller is electrically connected with the driving mechanism and the angle sensor, and controls the driving mechanism to drive the first travelling wheel to rotate according to the pitching angle change value.

According to the man-machine interaction body-sensing vehicle, the first travelling wheels and the second travelling wheels are arranged at intervals along the travelling direction, so that the man-machine interaction body-sensing vehicle always has two landing points, and basic safety is ensured; the user controls the control piece to incline forwards and backwards, the angle sensor detects the angle change value, and the controller is used for controlling the driving motor to drive the first travelling wheel to rotate forwards and backwards according to the angle change value, so that the normal operation of the man-machine interaction body-sensing vehicle is ensured. In addition, by means of the fixed connection of the operating piece and the stator assembly of the driving motor, the reaction force generated by the stator assembly can be transmitted to the operating piece, so that a user can feel the force resisting the operating piece, and the operating sense is obtained.

In one embodiment, the operating member includes an operating lever and a front fork, one end of the front fork is fixedly connected with the stator assembly, and the other end of the front fork is fixedly connected with the operating lever.

In one embodiment, the operating member further includes a handle fixed to an end of the lever remote from the front fork.

In one embodiment, the angle sensor comprises a magnetic force detection piece and an arc-shaped magnet which is arranged corresponding to the magnetic force detection piece and provided with opposite magnetic poles; the magnetic force detection piece is arranged on the control piece, and the arc-shaped magnet is arranged on the frame and extends along the advancing direction; or the magnetic force detection piece is arranged on the frame, and the arc-shaped magnet is arranged on the control piece and extends along the advancing direction; the angle sensor is used for detecting the magnetic force change of the operating piece relative to the arc-shaped magnet according to the magnetic force detecting piece in the rotating process of the operating piece relative to the frame so as to detect the corresponding pitching angle change value.

In one embodiment, the angle sensor comprises a magnetic force detection piece and an arc-shaped magnet which is arranged corresponding to the magnetic force detection piece and provided with two opposite magnetic poles; the magnetic force detection piece is arranged on the feedback piece, and the arc-shaped magnet is arranged on the frame and extends along the advancing direction; or the magnetic force detection piece is arranged on the frame, and the arc-shaped magnet is arranged on the feedback piece and extends along the advancing direction; the angle sensor is used for detecting the magnetic force change of the feedback piece relative to the arc-shaped magnet according to the magnetic force detection piece in the rotating process of the feedback piece relative to the frame so as to detect the corresponding pitching angle change value.

In one embodiment, the angle sensor comprises an encoder; or a potentiometer; or a hall sensor.

In one embodiment, the angle sensor includes a gyroscope and an acceleration sensor.

In one embodiment, the drive motor is an in-wheel motor.

In one embodiment, the control piece has an initial position, and the man-machine interaction somatosensory vehicle further comprises a reset mechanism; the reset mechanism comprises an elastic piece, the elastic piece is fixed on the frame, and at least part of the operating piece is abutted with the elastic piece, so that the elastic piece provides a pretightening force for returning the operating piece to the initial position in the rotating process of the operating piece relative to the frame.

In one embodiment, the elastic member includes a reset spring, and the operating member is provided with a notch or a through hole along the advancing direction; the reset elastic piece passes through the notch or the through hole, and two ends of the reset elastic piece along the advancing direction are respectively fixedly connected with the frame; the control piece is provided with two compression joint positions which are respectively positioned at the two ends of the notch or the through hole, so that the two compression joint positions are abutted with the reset elastic sheet in the rotating process of the control piece relative to the frame, and the pretightening force of the control piece returning to the initial position is provided.

A method for controlling the motion of the man-machine interaction body sensing vehicle, comprising the following steps: when the control piece is controlled to incline forwards along the advancing direction, the angle sensor detects a first pitching angle change value of the motion sensing mechanism, and the controller controls the driving motor to drive the first travelling wheel to accelerate forwards along the advancing direction according to the first pitching angle change value so as to accelerate the human-computer interaction motion sensing vehicle; when the control piece reversely rotates due to the reaction force of the stator assembly so that the control piece returns to the initial position, the angle sensor detects a second pitching angle change value of the motion sensing mechanism, and the controller controls the driving motor to drive the first travelling wheel to rotate forwards at a constant speed along the advancing direction according to the second pitching angle change value so as to enable the human-computer interaction motion sensing vehicle to advance at a constant speed; when the operating piece is operated to incline backwards along the advancing direction, the angle sensor detects a third pitching angle change value of the motion sensing mechanism, and the controller controls the driving motor to drive the first travelling wheel to rotate in a backward speed reducing mode along the advancing direction according to the third pitching angle change value, so that the human-computer interaction motion sensing vehicle is enabled to decelerate and retreat until the human-computer interaction motion sensing vehicle speed is reduced to zero.

In one embodiment, when the speed of the human-computer interaction body-sensing vehicle decreases to zero, if the control piece is continuously controlled to incline backwards along the travelling direction, the angle sensor detects a fourth pitching angle change value of the body-sensing mechanism, and the controller controls the driving motor to drive the first travelling wheel to accelerate and rotate backwards along the travelling direction according to the fourth pitching angle change value, so that the human-computer interaction body-sensing vehicle accelerates and retreats; or when the speed of the man-machine interaction body sensing vehicle is reduced to zero, if the operating piece is continuously operated to incline backwards along the advancing direction, the angle sensor detects a fifth pitching angle change value of the body sensing mechanism, and the controller controls the driving motor to stop running according to the fifth pitching angle change value so as to stop the man-machine interaction body sensing vehicle from advancing.

Drawings

FIG. 1 is a schematic diagram of a man-machine interaction somatosensory vehicle according to a first embodiment of the present invention;

FIG. 2 is a schematic structural diagram of the man-machine interaction somatosensory vehicle shown in FIG. 1 at another view angle;

FIG. 3 is a schematic structural diagram of a man-machine interaction somatosensory vehicle according to a second embodiment of the present invention;

FIG. 4 is a schematic structural diagram of the man-machine interaction somatosensory vehicle shown in FIG. 3 at another view angle;

FIG. 5 is a schematic diagram of an angle sensor according to an embodiment of the invention;

FIG. 6 is a schematic structural diagram of a man-machine interaction somatosensory vehicle according to a third embodiment of the present invention;

FIG. 7 is a schematic diagram of a structure of the man-machine interaction somatosensory vehicle shown in FIG. 6 at another view angle;

FIG. 8 is a schematic structural diagram of a man-machine interaction somatosensory vehicle according to a fourth embodiment of the present invention;

FIG. 9 is a schematic view of a structure of a vehicle body of one of the man-machine interaction type somatosensory vehicles shown in FIG. 8;

FIG. 10 is a schematic view of the structure of the vehicle body shown in FIG. 9 from another perspective;

FIG. 11 is a schematic view of a portion of the vehicle body shown in FIG. 9;

FIG. 12 is a schematic structural diagram of a man-machine interaction somatosensory vehicle according to a fifth embodiment of the present invention;

FIG. 13 is a schematic view of the man-machine interaction somatosensory vehicle shown in FIG. 12 from another view angle;

FIG. 14 is a schematic view of a part of a human-computer interaction body-feeling vehicle according to a sixth embodiment of the invention;

FIG. 15 is a schematic structural diagram of a man-machine interaction somatosensory vehicle according to a seventh embodiment of the present invention;

FIG. 16 is a partial cross-sectional view of the human-machine interaction somatosensory vehicle shown in FIG. 15;

fig. 17 is a schematic view of a part of the structure of the man-machine interaction somatosensory vehicle shown in fig. 15.

Detailed Description

In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

When an element is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present unless otherwise specified. It will also be understood that when an element is referred to as being "between" two elements, it can be the only one between the two elements or one or more intervening elements may also be present.

Where the terms "comprising," "having," and "including" are used herein, another component may also be added unless a specifically defined term is used, such as "consisting of only," "… …," etc. Unless mentioned to the contrary, singular terms may include plural and are not to be construed as being one in number.

It will be understood that, although the terms "first," "second," etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present invention.

It will be further understood that when interpreting an element, although not explicitly described, the element is intended to include the range of errors which should be within the acceptable limits of deviation from the particular values identified by those skilled in the art. For example, "about," "approximately," or "substantially" may mean within one or more standard deviations, and is not limited herein.

Further, the drawings are not 1:1, and the relative dimensions of the various elements are drawn by way of example only in the drawings and are not necessarily drawn to true scale.

As shown in fig. 1 and 2, a man-machine interaction somatosensory vehicle 100 according to a first embodiment of the present invention includes a frame 10, a first traveling wheel 20, a driving motor (not shown), a second traveling wheel 30, a somatosensory mechanism 40, an angle sensor 50 and a controller (not shown).

The drive motor includes a rotor assembly and a stator assembly, the rotor assembly being in power coupling connection with the first road wheel 20 do.

The second traveling wheel 30 is rotatably mounted on the frame 10 and is disposed at a front-rear interval from the first traveling wheel 20 along the traveling direction of the human-machine interaction body-feeling vehicle.

The motion sensing mechanism 40 comprises an operating member 41, a feedback member 42 and a transmission mechanism 43, wherein the transmission mechanism 43 is respectively in transmission connection with the operating member 41 and the feedback member 42, the operating member is rotatably connected to the frame 10 along a traveling direction around a first axis, the feedback member 42 is fixedly connected with the stator assembly and is rotatably connected to the frame 10 along a traveling direction around a second axis, and the feedback member 42 and the operating member 41 rotate in the same direction through the transmission mechanism 43.

The angle sensor 50 is provided in the motion sensing mechanism 40, and detects a change in the pitch angle of the motion sensing mechanism 40.

The controller is electrically connected with the driving motor and the angle sensor 50, and controls the driving motor to drive the first traveling wheel 20 to rotate according to the pitching angle variation value.

In this way, on the one hand, the man-machine interaction body-feeling vehicle 100 is provided with the first travelling wheels 20 and the second travelling wheels 30 which are arranged at intervals along the travelling direction, so that the man-machine interaction body-feeling vehicle 100 is ensured to have two landing points, and therefore, the basic safety is always ensured in the travelling process of the man-machine interaction body-feeling vehicle 100. On the other hand, the user manipulates the manipulation member 41 to drive the transmission mechanism 43 to the feedback member 42 to incline back and forth relative to the frame 10, the angle sensor 50 detects the angle change value, and the controller is utilized to control the driving motor to drive the first travelling wheel 20 to rotate back and forth according to the angle change value, so that the human-computer interaction body-feeling vehicle 100 does not depend on the inclination of the whole frame 10 to control the wheel to run any more, in a word, serious accidents such as falling of the vehicle caused by failure of a balance control system or misoperation of the user or wet and slippery ground due to the fact that the wheel vacates and loses friction force are avoided, and the safety of the human-computer interaction body-feeling vehicle 100 is ensured.

In addition, before the user does not start to operate the operation member 41, the feedback member 42 is fixedly connected with the stator assembly of the driving motor, and the feedback member 42 is rotatably connected to the frame 10, so that the stator assembly can rotate freely relative to the frame 10, and the first running wheel 20 is coupled to the rotor assembly, so that the rotor assembly can rotate freely relative to the frame 10, and therefore, the first running wheel 20 cannot rotate only under the action of the driving motor.

When the user manipulates the manipulation member 41 to drive the feedback member 42, the feedback member 42 is indirectly manipulated to make the stator assembly substantially fixed relative to the frame 10, the driving motor can drive the first traveling wheel 20 to rotate through the rotor assembly connected with the first traveling wheel 20, so that the stator assembly generates a reaction force, the reaction force is fed back to the manipulation member 41 through the feedback member 42, and the manipulation member 41 rotates in the same direction as the feedback member 42, so that the manipulation member 41 receives a force opposite to the manipulation direction, and the user feels a force resisting forward tilting or backward tilting, thereby obtaining a manipulation feeling, and being more comfortable in the process of using the human-computer interaction body-feeling vehicle 100.

In this embodiment, the drive motor is an outer rotor motor, such as an in-wheel motor. The hub motor has compact structure and is beneficial to miniaturization of man-machine interaction body sensing vehicles. Further, the stator assembly of the in-wheel motor may include an axle, windings, etc., and the rotor assembly may include a tire hub, etc. In other embodiments, the drive motor may also be an external rotor motor, the rotor assembly including an axle or the like, the stator assembly including a motor housing and windings or the like.

In the exemplary embodiment of the invention, the rotor assembly is coupled to the first running wheel 20, either directly in a fixed connection or indirectly in a drive connection, for example via a gear drive to the first running wheel 20.

In this embodiment, the first running wheel 20 has an axle, and the second axis is disposed in line with the axis of the axle. Specifically, the axle of the first traveling wheel 20 is the axle of the stator assembly, with the axis of the axle being disposed in-line with the second axis.

Further, feedback member 42 may be fixedly coupled directly to an axle of the stator assembly, and feedback member 42 may be rotatably coupled to frame 10 via the axle, which may be a second shaft 60 having a second axis.

In this embodiment, both ends of the second rotating shaft 60 are hinged to the frame 10.

In this embodiment, the human-computer interaction somatosensory vehicle 100 has a first traveling wheel 20 as a rear wheel and a second traveling wheel 30 as a front wheel. Further, the second traveling wheel 30 is a universal wheel, and is used for operating an armrest located at the front end of the man-machine interaction body sensing vehicle 100 to change the steering direction of the second traveling wheel 30, so as to realize the steering direction of the man-machine interaction body sensing vehicle 100, and the armrest is connected with the second traveling wheel 30 and is rotatable relative to the frame 10.

In this embodiment, the operating member 41 includes an operating lever 411, the feedback member 42 includes a first connecting rod 421, the transmission mechanism 43 includes a second connecting rod 431, one end of the operating lever 411 is rotatably connected to the frame 10, one end of the first connecting rod 421 is fixedly connected to the second rotating shaft, and two ends of the second connecting rod 431 are respectively hinged to the other end of the operating lever 411 and the other end of the first connecting rod 421.

In this way, the operating lever 411 can drive the first connecting rod 421 to rotate around the frame 10 through the second connecting rod 431, and the transmission manner is simple and stable.

It should be noted that, in the present embodiment, the two ends of the second link 431 are connected to one end of the lever 411 and one end of the first link 421, respectively, and in other embodiments, other portions of the second link 431 may be used without affecting the mutual functions of the lever 411, the first link 421 and the second link 431, rather than just the end portion being connected to one end of the lever 411 and one end of the first link 421, and the second link 431 may be connected to other portions of the lever 411 and the first link 421, rather than just the end portion. Similarly, the connection points of the lever 411 and the first link 421 to the frame 10 may be other than the end portions, and are not limited thereto.

Further, the operating rod 411, the first connecting rod 421 and the second connecting rod 431 each comprise two connecting rods which are arranged in parallel and fixedly connected with each other, and the frame 10 comprises a first bracket 11 and a second bracket 12 which are arranged in parallel with each other. One of the levers 411 is rotatably connected to the first bracket 11, the other lever 411 is rotatably connected to the second bracket 12, one of the first connecting rods 421 is fixedly connected to the second rotating shaft 60, and is located at one side of the first traveling wheel 20, and the other first connecting rod 421 is fixedly connected to the second rotating shaft 60, and is located at the other side of the first traveling wheel 20.

One of the levers 411, one of the first links 421, one of the second links 431, and the first bracket 11 are combined to form a closed first parallelogram structure, and the other of the levers 411, the other of the first links 421, the other of the second links 431, and the second bracket 12 are combined to form a closed second parallelogram structure, the first parallelogram structure coinciding with the second parallelogram structure in a direction perpendicular to a plane formed by the second parallelogram structure.

The first parallelogram structure and the second parallelogram structure are stable in structure and stable in transmission, and in addition, the space is saved.

In this embodiment, the human-computer interaction somatosensory vehicle 100 further comprises a seat 70, wherein the seat 70 is fixedly connected to a side of the second link 431 away from the frame 10. Thus, when the user sits on the seat unit 70 and drives the human-computer interaction somatosensory vehicle 100, the user drives the seat unit 70 to tilt forward or backward, the control lever 411, the first link 421 and the second link 431 are driven, the angle sensor 50 senses the change of the pitching angle, and the controller controls the first traveling wheel 20 to rotate. Specifically, the seat 70 is fixedly connected to the same side of the two second links 431, so that the two levers 411, the first links 421 and the second links 431 can be driven to move, the motion stability of the human-computer interaction body-feeling vehicle 100 is ensured, and the seat 70 is firmly supported.

Further, the seat 70 has a bearing surface disposed parallel to the second link 431. The arrangement can avoid the situation that the second link 431 is forced to drive the operating rod 411 and the first link 421 to move after the user sits on the seat 70 and before the user does not begin to operate the human-computer interaction motion sensor 10, which causes the angle sensor 50 to detect the change of the pitching angle and is easy to cause misoperation.

Further, the second link 431 is parallel to the horizontal plane. Thus, when the user sits on the seat 70, the user can lean forward or backward relative to the vertical direction to control the travel of the human-computer interaction body-feeling vehicle 100, and the human-computer interaction body-feeling vehicle 100 provides a stronger control feeling for the user.

In the present embodiment, the angle sensor 50 is provided on the lever 411. Specifically, the angle sensor 50 includes a gyroscope and an acceleration sensor. The gyroscope and the acceleration sensor are small in size, and the installation position can be flexibly set.

In this embodiment, the human-computer interaction somatosensory vehicle 100 may further include a human-carrying state detection device for detecting whether the human-computer interaction somatosensory vehicle 100 carries a human. Specifically, the manned state detection device may be a mechanical push switch, a photoelectric travel switch, a pressure-sensitive sensor, a membrane switch, or the like.

Further, the manned state detection device may be provided to the seat 70.

Referring to fig. 3 and 4, a man-machine interaction vehicle 200 according to a second embodiment of the invention is shown.

The man-machine interaction somatosensory vehicle 200 in this embodiment has a similar structure to the man-machine interaction somatosensory vehicle 100 in the first embodiment, except for the following detailed description. For ease of description, like elements are not numbered differently.

The operating member 40 further includes a pedal member 210, and the pedal member 210 is fixedly coupled to the operating lever 411. When the user steps on the pedal 210, the pedal 210 rotates relative to the frame 10, so as to drive the operating rod 411, the second link 431 and the first link 421 to move. Specifically, the first pedal 210 may be a pedal.

Specifically, the number of the treading pieces 210 is two, and the two treading pieces 210 are respectively disposed on the two levers 411, so that a user can stand on the two treading pieces 210 with two feet to drive the balance car, and the user treads the treading pieces 210 more labor-saving and reliable.

Further, the manipulating member 41 further includes a first rotating shaft 220 having a first axis, and the tread member 210 has a tread surface 211, and the tread surface 211 is flush with the first axis in the vertical direction or the tread surface 211 is located below the first axis in the vertical direction. Thus, the pedal 210 can be stepped on with less effort, and the pedal drives the manipulator 41 to move more sensitively.

As shown in fig. 5, in the present embodiment, the human-computer interaction somatosensory vehicle 200 includes an angle sensor 230 including an encoder or potentiometer or hall sensor.

Specifically, the angle sensor 230 includes a main body fixed to the frame 10 and a signal shaft fixed to the first rotation shaft 220. When the first rotating shaft 220 drives the signal shaft to rotate a certain angle relative to the main body, the angle sensor 230 can detect the change value of the pitching angle.

In the present embodiment, the manned state detection device may be provided on the step member 210.

As shown in fig. 6 and 7, a man-machine interaction vehicle 300 according to a third embodiment of the present invention.

The man-machine interaction somatosensory vehicle 300 in this embodiment has a similar structure to the man-machine interaction somatosensory vehicle 200 in the second embodiment, except for the following detailed description. For ease of description, like elements are not numbered differently.

In this embodiment, the man-machine interaction somatosensory vehicle 300 includes two first traveling wheels 20 and two second traveling wheels 30, and the two second traveling wheels 30 and the two first traveling wheels 20 are disposed at intervals along the traveling direction.

In this embodiment, the operating member 41 includes a pedal member 320, the frame 310 further includes a hinge support, the pedal member 320 is hinged to the hinge support, and the pedal member 320 is fixedly connected to the operating lever 411. Specifically, the lever 411 is fixed to one side of the pedal 320, and when the pedal 320 is stepped on, the pedal 320 rotates around the hinge support to move the lever 411, the second link 431 and the first link 421.

In the present embodiment, the frame 310 includes a platform, the pedal 320 may be located at a front side of the platform along a traveling direction, and one foot of a user pedal the pedal 320 and the other foot is placed on the platform of the frame 310.

In this embodiment, the human-computer interaction somatosensory vehicle 300 includes an angle sensor, which may be disposed under the pedal 320. The space is saved, and the angle sensor is protected. Specifically, the angle sensor may include a gyroscope and an acceleration sensor.

As shown in fig. 8 to 11, a man-machine interaction type somatosensory vehicle 400 according to a fourth embodiment of the present invention.

The man-machine interaction body-feeling vehicle 400 in this embodiment has a similar structure to the man-machine interaction body-feeling vehicle 300 in the third embodiment, except for the following detailed description. For ease of description, like elements are not numbered differently.

In this embodiment, the human-computer interaction somatosensory vehicle 400 comprises two separate vehicle bodies, each having a frame 410, a first traveling wheel 20, a second traveling wheel 30, a pedal 420, a joystick 430, a first connecting rod 421 and a second connecting rod 431. The user steps on the stepping pieces 420 of the two bodies with two feet, and both feet can control the movement of the bodies.

As shown in fig. 11, in the present embodiment, the joystick 430 is fixed to one side of the pedal 420, the human-computer interaction vehicle 400 further includes a first rotating shaft 440, the first rotating shaft 430 is fixed to the joystick 430, and the first rotating shaft 440 is rotatably connected to the frame 410. When the user steps on the stepping member 420, the operating lever 430 is driven to rotate about the first rotation axis 440 relative to the frame 410, so as to move the second link 431 and the first link 421. Specifically, the lever 430 has a plate-like structure to enlarge the connection area with the step member 420, so that the structure and manipulation are more stable.

In the present embodiment, the second link 431 is disposed at the lower side of the frame 410.

Further, the motion sensing mechanism 40 further includes a fixing member 450, and the fixing member 450 is used for fixing the first connecting rod 421 to the second rotating shaft 460.

Specifically, the fixing member 450 includes a clamping block 451 and a threaded connecting member 452, wherein the clamping block 451 is matched with the first connecting rod 421 to clamp one end of the second rotating shaft 460, and the threaded connecting member 452 is connected with the clamping block 451 and the first connecting rod 421. More specifically, the second rotating shaft 460 is provided with a notch groove along one axial end thereof, two adjacent side surfaces of the first connecting rod 421 are in fit and abutting connection with the inner wall of the notch groove, and the clamping block 442 is provided with an arc through hole matched with the peripheral wall of the second rotating shaft 460 along the axial direction parallel to the second rotating shaft 460.

Still further, the fixing member 450 further includes a third rotation shaft 453, and the third rotation shaft 453 is rotatably connected to the frame 10. Specifically, the third rotation shaft 453 is provided to the screw connector 452. The screw connection piece 452 comprises a disc-shaped base and a screw, wherein a plurality of through holes or threaded holes matched with the screw are formed in the base, and the screw penetrates through the through holes or the threaded holes to be connected with the first connecting rod 421 and the clamping block 451.

In this embodiment, the second travelling wheel 30 may be a universal wheel, and the user may use one foot to generate a twisting force to achieve a steering of a vehicle body, so as to drive the steering of the whole man-machine interaction body-feeling vehicle 400.

As shown in fig. 12 and 13, a man-machine interaction type somatosensory vehicle 500 according to a fifth embodiment of the present invention.

The man-machine interaction feeling vehicle 50 in this embodiment has a similar structure to the man-machine interaction feeling vehicle 300 in the third embodiment, except for the following detailed description. For ease of description, like elements are not numbered differently.

In this embodiment, the human-computer interaction somatosensory vehicle 500 has a shape similar to a kart, and the human-computer interaction somatosensory vehicle 500 includes a throttle pedal 520, wherein the throttle pedal 520 is rotatably connected to a frame 510. The frame 510 further includes a seat 530, the seat 530 is mounted on the frame 510, and when a user sits on the seat 530, one foot steps on the accelerator pedal 520 to drive the operation rod 411, the second link 431 and the first link 421 to move, thereby realizing the running of the human-computer interaction body-feeling vehicle 500.

In this embodiment, the man-machine interaction body-feeling vehicle 500 further includes a steering wheel 540, and the steering wheel 540 can steer the second travelling wheel 30 through the steering wheel 540, so as to realize steering of the man-machine interaction body-feeling vehicle 500.

As shown in fig. 14, in the man-machine interaction type somatosensory vehicle according to the sixth embodiment of the present invention, the operation member 41 includes a first rotating disc 610, the feedback member 42 includes a second rotating disc 620, the transmission mechanism includes a pull rope 630, and the pull rope 630 is wound around the first rotating disc 610 and the second rotating disc 620.

Further, the operating member 41 may also include an operating lever 411, a pedal 640 and a first rotating shaft 650, wherein the pedal 640 is fixedly connected with the operating lever 411, the operating lever 411 and the first rotating disc 610 are fixedly connected with the first rotating shaft 650, and the first rotating shaft 650 is rotatably connected to the frame 10. In other embodiments, the operating member 41 may be directly fixedly coupled to the pedal 640 without the operating lever 411.

According to the man-machine interaction body-feeling vehicle of the seventh embodiment of the invention, the control part 41 comprises a first rotary table, the feedback part 42 comprises a second rotary table, the transmission mechanism comprises a first pull rope and a second pull rope, two ends of the first pull rope and two ends of the second pull rope are respectively fixed on the outer peripheral surface of the first rotary table and the outer peripheral surface of the second rotary table, the first pull rope and the second pull rope are mutually parallel and are arranged at intervals along the radial direction of the first rotary table and the second rotary table, and the length of the first pull rope is equal to that of the second pull rope.

In the man-machine interaction body-feeling vehicle according to the eighth embodiment of the present invention, the operating member 41 includes a first belt pulley, the feedback member 42 includes a second belt pulley, the transmission mechanism includes a transmission belt, and the first belt pulley and the second belt pulley are connected by the transmission belt.

In the man-machine interaction type somatosensory vehicle according to the ninth embodiment of the present invention, the manipulation member 41 includes a first sprocket, the feedback member 42 includes a second sprocket, the transmission mechanism includes a chain, and the first sprocket and the second sprocket are connected by the chain.

In the man-machine interaction type somatosensory vehicle according to the tenth embodiment of the present invention, the operation member 41 includes a first gear, the feedback member 42 includes a second gear, the transmission mechanism 43 includes a transmission gear set, the transmission gear set includes at least one third gear, and the transmission gear set is respectively engaged with and transmitted by the first gear and the second gear.

As shown in fig. 15, a man-machine interaction vehicle 700 according to an eleventh embodiment of the invention is shown.

In the present embodiment, the motion sensing mechanism 40 only includes the operating member 41, the operating member 41 is fixedly connected with the stator assembly, and the operating member 41 is rotatably connected to the frame 710 along the traveling direction around the first axis.

Further, the operating member 41 includes an operating lever 720 and a front fork 730, one end of the front fork 730 is fixedly connected with the stator assembly, and the other end of the front fork 730 is fixedly connected with the operating lever 720. Specifically, one end of the front fork 730 is fixedly coupled to the axle of the stator assembly.

In this embodiment, the front wheels are first road wheels 20 and the rear wheels are second road wheels 30.

In this embodiment, the operating member 41 further includes a handle 740, and the handle 740 is fixed to an end of the lever 720 remote from the front fork 730. The user can manipulate the joystick 720 by holding the handle 740.

As shown in fig. 16, in the present embodiment, the operating member 41 has an initial position, the human-computer interaction body-feeling vehicle 700 further includes a reset mechanism, the reset mechanism includes an elastic member, the elastic member is fixed on the frame 710, and at least a portion of the operating member 41 abuts against the elastic member, so that the elastic member provides a pre-tightening force for returning the operating member 41 to the initial position during the rotation of the operating member relative to the frame 710.

Thus, when the user gets on the vehicle and mismanipulates the manipulating member 41, or when the user does not get on the vehicle, the manipulating member 41 can return to the initial position under the action of the reset mechanism, so as to ensure that the driving motor is not operated any more, and the human-computer interaction body feeling vehicle 700 stops running.

Specifically, the human-computer interaction body-sensing vehicle 700 further includes a first rotating shaft 750 having a first axis, the elastic member includes a reset elastic piece 761, the lever 720 is provided with a notch or a through hole 721 along the traveling direction, the reset elastic piece 761 passes through the through hole 721, and two ends of the reset elastic piece 761 along the traveling direction are respectively and fixedly connected with the frame 710.

The lever 720 has two pressing locations respectively located at two ends of the notch or through hole 721, so that during the rotation of the lever 720 relative to the frame 710, the two pressing locations are abutted by the restoring spring 761, so as to provide a pre-tightening force for returning the lever 720 to the initial position.

Thus, when the user manipulates the lever 720 to rotate relative to the frame 710, a corresponding press-contact position of the lever 720 presses the reset spring 761, so that the reset spring 761 is stressed and deformed, and when the user no longer manipulates the lever 720, the elastic restoring force of the reset spring 761 returns the lever 720 to the initial position, which may be a vertical position in this embodiment.

As shown in fig. 17, in the present embodiment, the frame 710 includes a mounting portion 770 having a mounting through hole through which the lever 720 is coupled to the stator assembly, and the first rotation shaft 750 passes through the mounting portion 770 and the lever 720 located in the mounting through hole such that the lever 720 is rotatable about the first rotation shaft 750 in the mounting through hole.

The man-machine interaction body-sensing vehicle 700 comprises an angle sensor 780, the angle sensor 780 comprises a magnetic force detection part 781 and an arc-shaped magnet 782 which is arranged corresponding to the magnetic force detection part 781 and provided with opposite magnetic poles, the magnetic force detection part 781 is arranged on the operating rod 720, the arc-shaped magnet 782 is arranged on the mounting part 760 and extends along the advancing direction, and preferably, the circle center of the arc-shaped magnet 782 is located on the first axis. In other embodiments, the magnetometric detector 781 may also be disposed on the mounting portion 770 of the frame 710, and the arcuate magnet 782 is disposed on the joystick 720.

Thus, when used to manipulate the joystick 720, the magnetism detecting member 781 provided on the joystick 720 rotates with respect to the vehicle frame 710 following the joystick 720, so that it can approach or separate from the opposite poles of the arc-shaped magnet 782 provided on the mounting portion 770, so that the angle sensor 780 detects a magnetic force change, thereby determining a pitch angle change value.

In the foregoing first to tenth embodiments, the magnetism detecting member 781 may be disposed on the feedback member 42, and the arc-shaped magnet 782 may be disposed on the frame (10, 310, 410, 510, 710) correspondingly, that is, the magnetism detecting member 781 and the arc-shaped magnet 782 may be applied to the first to tenth embodiments as one implementation of the angle sensor, which will not be described herein.

It will be appreciated by those skilled in the art that in the foregoing first to eleventh embodiments, some elements are named identically in each embodiment, but do not represent that their specific structure is identical in each embodiment, such as a joystick, which is named identically in each embodiment, but the specific form and structure is clearly different.

Based on the man-machine interaction body feeling vehicle (100-700), the invention also provides a motion method for controlling the man-machine interaction body feeling vehicle (100-700), which comprises the following steps:

when the manipulation piece 41 is manipulated to incline forwards along the advancing direction, the angle sensor (50, 230, 780) detects a first angle change value of the motion sensing mechanism 40, and the controller controls the driving motor to drive the first traveling wheel 20 to accelerate forwards along the advancing direction according to the first angle change value so as to accelerate the human-computer interaction motion sensing vehicle (100-700);

When the operating member 41 rotates reversely due to the reaction force of the stator assembly, so that the operating member 41 returns to the initial position, the angle sensor (50, 230, 780) detects a second angle change value of the motion sensing mechanism 40, and the controller controls the driving motor to drive the first travelling wheel 20 to rotate forwards at a constant speed along the travelling direction according to the second angle change value, so that the human-computer interaction motion sensing vehicle (100-700) advances at a constant speed;

when the manipulation member 41 is manipulated to incline backward along the traveling direction, the angle sensor (50, 230, 780) detects a third angle change value of the motion sensing mechanism 40, and the controller controls the driving motor to drive the first traveling wheel 20 to rotate in a speed-reducing manner backward along the traveling direction according to the third angle change value, so that the human-computer interaction motion sensing vehicle (100-700) is decelerated and retreated until the speed of the human-computer interaction motion sensing vehicle (100-700) is reduced to zero.

Further, in some embodiments, when the speed of the human-machine interaction body-sensing vehicle (100-700) decreases to zero, if the operating member 41 is continuously operated to incline backward along the traveling direction, the angle sensor (50, 230, 780) detects the fourth angle change value of the body-sensing mechanism 40, and the controller controls the driving motor to drive the first travelling wheel 20 to accelerate backward along the traveling direction according to the fourth angle change value, so that the human-machine interaction body-sensing vehicle (100-700) accelerates backward.

In other embodiments, when the speed of the human-machine interaction somatosensory vehicle (100-700) is reduced to zero, if the operating member 41 is continuously operated to incline backwards along the traveling direction, the angle sensor (50, 230, 780) detects the fifth angle change value of the somatosensory mechanism 40, and the controller controls the driving motor to stop running according to the fifth angle change value, so that the human-machine interaction somatosensory vehicle (100-700) stops traveling.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

1. A human-machine interaction somatosensory vehicle, comprising:

a frame;

at least one first running wheel;

The driving motor comprises a rotor assembly and a stator assembly, and the rotor assembly is in power coupling connection with the first travelling wheel; the driving motor is an outer rotor motor;

The at least one second travelling wheel is rotatably arranged on the frame and is arranged at intervals in the advancing direction of the man-machine interaction body sensing vehicle relative to the at least one first travelling wheel;

the motion sensing mechanism comprises an operating piece, a feedback piece and a transmission mechanism;

The transmission mechanism is respectively in transmission connection with the control piece and the feedback piece, the control piece is rotatably connected with the frame along the advancing direction and around a first axis, the feedback piece is fixedly connected with the stator assembly and is rotatably connected with the frame along the advancing direction around a second axis, and the feedback piece and the control piece rotate in the same direction through the transmission mechanism;

the angle sensor is arranged on the motion sensing mechanism and is used for detecting a pitching angle change value of the motion sensing mechanism;

the controller is electrically connected with the driving motor and the angle sensor and controls the driving motor to drive the first travelling wheel to rotate according to the pitching angle change value;

the control piece comprises a control rod, the feedback piece comprises a first connecting rod, and the transmission mechanism comprises a second connecting rod;

The control rod is rotatably connected with the frame, the first connecting rod is fixedly connected with the stator assembly, and the second connecting rod is hinged with the control rod and the first connecting rod respectively;

the control rod, the first connecting rod and the second connecting rod are all arranged in parallel and fixedly connected, and the frame comprises a first bracket and a second bracket which are arranged in parallel;

One of the control rods is rotatably connected with the first bracket, the other control rod is rotatably connected with the second bracket, one of the control rods is fixedly connected with the stator assembly and is positioned at one side of the first travelling wheel, and the other control rod is fixedly connected with the stator assembly and is positioned at the other side of the first travelling wheel;

The control rod, the first connecting rod, the second connecting rod and the first bracket are combined to form a closed first parallelogram structure;

the other operating lever, the other first connecting rod, the other second connecting rod and the second bracket are combined to form a closed second parallelogram structure;

the first parallelogram structure is coincident with the second parallelogram structure in a direction along a plane formed perpendicular to the second parallelogram structure;

The first traveling wheel has an axle, and the second axis is disposed collinear with an axis of the axle.

2. The human-machine interaction somatosensory vehicle of claim 1, wherein the joystick, the first link, the second link and the frame are combined to form a closed parallelogram structure.

3. The human-machine interaction somatosensory vehicle according to claim 1 or2, further comprising a seat member fixedly connected to a side of the second link remote from the frame.

4. The human-machine interaction somatosensory vehicle of claim 1, further comprising a tread member fixedly connected to the joystick.

5. The human-machine interaction somatosensory vehicle according to claim 4, wherein the tread member has a tread surface which is flush with the first axis in a vertical direction or below the first axis in a vertical direction.

6. The human-computer interaction somatosensory vehicle according to claim 1, wherein the control member comprises a first rotary table, the feedback member comprises a second rotary table, the transmission mechanism comprises a pull rope, and the pull rope is wound on the first rotary table and the second rotary table; or alternatively

The control piece comprises a first rotary table, the feedback piece comprises a second rotary table, the transmission mechanism comprises a first pull rope and a second pull rope, both ends of the first pull rope and both ends of the second pull rope are respectively fixed on the outer peripheral surface of the first rotary table and the outer peripheral surface of the second rotary table, the first pull rope and the second pull rope are mutually parallel and are arranged at intervals along the radial direction of the first rotary table and the second rotary table, and the length of the first pull rope is equal to that of the second pull rope; or alternatively

The control piece comprises a first belt pulley, the feedback piece comprises a second belt pulley, the transmission mechanism comprises a transmission belt, and the first belt pulley and the second belt pulley are connected through the transmission belt; or alternatively

The control piece comprises a first sprocket, the feedback piece comprises a second sprocket, the transmission mechanism comprises a chain, and the first sprocket and the second sprocket are connected through the chain;

the control piece comprises a first gear, the feedback piece comprises a second gear, the transmission mechanism comprises a transmission gear set, the transmission gear set comprises at least one third gear, and the transmission gear set is meshed with the first gear and the second gear respectively for transmission.

7. The human-computer interaction somatosensory vehicle according to claim 1 or 6, wherein the second travelling wheels comprise at least two, and the at least one first travelling wheel and the at least two second travelling wheels are arranged at intervals front and back along the travelling direction;

The man-machine interaction body sensing vehicle further comprises a steering wheel, and the steering wheel can operate the two second travelling wheels to steer;

the man-machine interaction somatosensory vehicle further comprises a seat, and the seat is arranged on the frame;

the man-machine interaction somatosensory vehicle further comprises a treading piece, and the treading piece is fixedly connected with the operating piece.

8. A human-machine interaction somatosensory vehicle, comprising:

a frame;

at least one first running wheel;

The driving motor comprises a rotor assembly and a stator assembly, and the rotor assembly is coupled and connected with the first travelling wheel; the driving motor is an outer rotor motor;

the motion sensing mechanism comprises an operating piece which is fixedly connected with the stator assembly and is rotatably connected with the frame along the advancing direction and around a first axis;

The control piece comprises a control rod and a front fork, one end of the front fork is fixedly connected with the stator assembly, and the other end of the front fork is fixedly connected with the control rod;

the angle sensor includes an encoder; or alternatively

A potentiometer; or alternatively

Hall sensor.

9. The human-machine interactive somatosensory vehicle according to claim 8, wherein said operating member further comprises a handle, said handle being fixed to an end of said operating lever remote from said front fork.

10. The human-computer interaction body feeling vehicle according to claim 1 or 8, wherein the angle sensor comprises a magnetic force detection piece and an arc-shaped magnet with opposite magnetic poles, wherein the arc-shaped magnet is arranged corresponding to the magnetic force detection piece;

The magnetic force detection piece is arranged on the control piece, and the arc-shaped magnet is arranged on the frame and extends along the advancing direction; or the magnetic force detection piece is arranged on the frame, and the arc-shaped magnet is arranged on the control piece and extends along the advancing direction;

The angle sensor is used for detecting the magnetic force change of the operating piece relative to the arc-shaped magnet according to the magnetic force detecting piece in the rotating process of the operating piece relative to the frame so as to detect the corresponding pitching angle change value.

11. The man-machine interaction body sensing vehicle according to claim 1, wherein the angle sensor comprises a magnetic force detection piece and an arc-shaped magnet which is arranged corresponding to the magnetic force detection piece and provided with two opposite magnetic poles;

the magnetic force detection piece is arranged on the feedback piece, and the arc-shaped magnet is arranged on the frame and extends along the advancing direction; or the magnetic force detection piece is arranged on the frame, and the arc-shaped magnet is arranged on the feedback piece and extends along the advancing direction;

the angle sensor is used for detecting the magnetic force change of the feedback piece relative to the arc-shaped magnet according to the magnetic force detection piece in the rotating process of the feedback piece relative to the frame so as to detect the corresponding pitching angle change value.

12. The human-machine interaction somatosensory vehicle according to claim 1 or 8, wherein the angle sensor comprises a gyroscope and an acceleration sensor.

13. The human-machine interaction somatosensory vehicle according to claim 1 or 8, wherein the driving motor is a hub motor.

14. The human-machine interactive somatosensory vehicle according to claim 8, wherein the control member has an initial position, the human-machine interactive somatosensory vehicle further comprising a reset mechanism;

The reset mechanism comprises an elastic piece, the elastic piece is fixed on the frame, and at least part of the operating piece is abutted with the elastic piece, so that the elastic piece provides a pretightening force for returning the operating piece to the initial position in the rotating process of the operating piece relative to the frame.

15. The human-computer interaction somatosensory vehicle according to claim 14, wherein the elastic member comprises a reset spring,

The control piece is provided with a notch or a through hole along the advancing direction;

The reset elastic piece passes through the notch or the through hole, and two ends of the reset elastic piece along the advancing direction are respectively fixedly connected with the frame;

the control piece is provided with two compression joint positions which are respectively positioned at the two ends of the notch or the through hole, so that the two compression joint positions are abutted with the reset elastic sheet in the rotating process of the control piece relative to the frame, and the pretightening force of the control piece returning to the initial position is provided.

16. A method of controlling motion of a human-machine interactive motion sensing vehicle according to any one of claims 1 to 15, comprising:

When the control piece is controlled to incline forwards along the advancing direction, the angle sensor detects a first pitching angle change value of the motion sensing mechanism, and the controller controls the driving motor to drive the first travelling wheel to accelerate forwards along the advancing direction according to the first pitching angle change value so as to accelerate the human-computer interaction motion sensing vehicle;

When the control piece reversely rotates due to the reaction force of the stator assembly so that the control piece returns to the initial position, the angle sensor detects a second pitching angle change value of the motion sensing mechanism, and the controller controls the driving motor to drive the first travelling wheel to rotate forwards at a constant speed along the advancing direction according to the second pitching angle change value so as to enable the human-computer interaction motion sensing vehicle to advance at a constant speed;

When the operating piece is operated to incline backwards along the advancing direction, the angle sensor detects a third pitching angle change value of the motion sensing mechanism, and the controller controls the driving motor to drive the first travelling wheel to rotate in a backward speed reducing mode along the advancing direction according to the third pitching angle change value, so that the human-computer interaction motion sensing vehicle is enabled to decelerate and retreat until the human-computer interaction motion sensing vehicle speed is reduced to zero.

17. The method according to claim 16, comprising:

When the speed of the man-machine interaction body-sensing vehicle is reduced to zero, if the operating piece is continuously operated to incline backwards along the advancing direction, the angle sensor detects a fourth pitching angle change value of the body-sensing mechanism, and the controller controls the driving motor to drive the first travelling wheel to accelerate backwards along the advancing direction according to the fourth pitching angle change value so as to accelerate and retreat the man-machine interaction body-sensing vehicle; or alternatively

When the speed of the man-machine interaction body sensing vehicle is reduced to zero, if the operating piece is continuously operated to incline backwards along the advancing direction, the angle sensor detects a fifth pitching angle change value of the body sensing mechanism, and the controller controls the driving motor to stop running according to the fifth pitching angle change value, so that the man-machine interaction body sensing vehicle stops advancing.