CN206644917U - Human-computer interaction body-sensing car - Google Patents

Abstract

A kind of human-computer interaction body-sensing car provided by the utility model, it includes car body and two wheels on car body, the wheel can rotate around car body in radial directions；The car body further comprises a support frame, is arranged on the support frame two foot pedal apparatus, to sense described two foot pedal apparatus relative to the support frame stress or inclination information first position sensor, driving the drive device of the wheel and to control the drive device to drive the control device that the wheel is mobile or rotates according to the stress or inclination information, the support frame is integral structure and is connected with vehicle wheel rotation, is provided with the support frame along the axially extending power supply of wheel.It is arranged such, it is simple in construction, and smallerization, it is convenient for carrying.

Description

Human-computer interaction body-sensing car

Technical field

It the utility model is related to a kind of balance car, and in particular to a kind of human-computer interaction body-sensing car.

Background technology

Human-computer interaction body-sensing car, is called electrodynamic balance car, thinking car, and its operation principles is mainly built upon one kind and is referred to as In the general principle of " dynamic stability ", using the gyroscope and acceleration transducer of vehicle body, to detect the change of vehicle body attitude Change, and utilize servo-control system, accurately motor is adjusted correspondingly, to keep the balance of system.

Existing human-computer interaction body-sensing car has been generally divided into action bars and without this two class of action bars, wherein the people with action bars Machine interaction body-sensing car, advance, retrogressing and the steering of its human-computer interaction body-sensing car carry out concrete operations control by action bars.And Without the human-computer interaction body-sensing car of action bars, advance, the retrogressing of its human-computer interaction body-sensing car are by whole human-computer interaction body-sensing car Inclination control, steering is then ridden on foot platform by user, and passes through relative rotation angle between two foot platforms Degree difference is realized to be controlled.Wherein, the two-wheeled human-computer interaction body-sensing car without action bars is mainly patent Double-wheel self-balancing human-computer interaction body-sensing Che Wei disclosed in CN201410262108.8 is represented, and the inner cap in the balance car includes pair Claim the left inside lid of setting and right inner cap, and the relatively right inner cap rotation connection of left inside lid.

So, the balance car, which has been used for the inner cap that support frame acts on, need to include left inside lid and right inner cap, and structure is relatively multiple It is miscellaneous.

Utility model content

The utility model is a kind of human-computer interaction body-sensing car simple in construction in order to overcome prior art and propose.

To achieve these goals, the utility model provides a kind of human-computer interaction body-sensing car, and it includes car body and located at car Two wheels on body, the wheel can rotate around car body in radial directions；The car body further comprise a support frame, Two foot pedal apparatus being arranged on the support frame, to sense the relatively described support frame of described two foot pedal apparatus by The first position sensor of power or inclination information, driving the drive device of the wheel and to according to the stress Or inclination information controls the drive device to drive the control device that the wheel is mobile or rotates, the support frame is one Overall structure and it is connected with vehicle wheel rotation, is provided with the support frame along the axially extending power supply of wheel.

As further improvement of the utility model, size of the power supply before and after car body and/or on above-below direction is small In wheel diameter.

As further improvement of the utility model, the power supply is along the axially extending cylindrical shape of wheel.

As further improvement of the utility model, the power supply includes slender type battery pack, the slender type battery pack Include the slender type battery of some clusters side by side.

As further improvement of the utility model, the power supply includes some front and rear slender type batteries to connect Group.

As further improvement of the utility model, the power supply is coated on the electricity on the outside of the slender type battery pack Pond shell.

As further improvement of the utility model, the battery case includes some positioning the slender type respectively The locating support of battery.

As further improvement of the utility model, the power supply includes the slender type battery pack to connect before and after three groups, institute State battery case include to coat the both side ends of both ends slender type battery pack and between both side ends to coat in The medial end portions of portion's slender type battery pack, the locating support is provided with the medial end portions.

As further improvement of the utility model, the battery case side end is provided with to house slender type battery pack Empty cylinder portion and be coated on the outside of empty cylinder portion and towards the side wall in corresponding wheel direction, contained in the empty cylinder portion described Locating support.

As further improvement of the utility model, the power supply includes protruding out the battery case to electrically docking The battery interface of control device.

As further improvement of the utility model, the both ends of power is respectively equipped with to control the control of corresponding wheel Device, the both ends of power, which is equipped with, protrudes out battery case electrically to dock the battery interface of two control device.

As further improvement of the utility model, the end set of the power supply has battery protecting plate, and the battery connects Mouth is arranged on the battery protecting plate.

As further improvement of the utility model, the support frame is lengthwise open, and the support frame is before car body Size afterwards and/or on above-below direction is respectively less than wheel diameter.

As further improvement of the utility model, the control device is located in the support frame.

As further improvement of the utility model, the control device is provided with the battery pair to be docked with the power supply Socket part.

It is to be flexibly connected or fix as further improvement of the utility model, between the foot pedal apparatus and support frame Connection.

As further improvement of the utility model, the first position sensor is pressure sensor.

As further improvement of the utility model, the first position sensor is sensing inclining for the foot pedal apparatus Changes in pitch information.

As further improvement of the utility model, the control device is to according to the stress between two foot pedal apparatus Information gap or inclination information difference drive the wheel mobile or rotated.

As further improvement of the utility model, the same foot pedal apparatus is provided with different to sense same sole Two first position sensors of position inclination information or pressure information, the control device is to according to described two first The gradient difference or pressure differential of position sensor drive the wheel mobile or rotated.

It is described whether to have user to sense on foot pedal apparatus to control car as further improvement of the utility model The first position sensor of the start and stop of wheel is connected with the control device.

As further improvement of the utility model, the drive device is arranged in support frame or in wheel.

As further improvement of the utility model, the foot pedal apparatus includes foot platform and on foot platform The foot pad of side, the first position sensor are arranged at below the foot platform.

As further improvement of the utility model, the human-computer interaction body-sensing car further comprises sensing support rib The second place sensor of the inclination information of frame relative wheel.

As further improvement of the utility model, the second place sensor includes gyroscope, acceleration transducer And/or photoelectric sensor.

Due to the utilization of above-mentioned technical proposal, the utility model possesses advantages below：

The power supply of human-computer interaction body-sensing car of the present utility model is compared to same volume in the prior art in block electricity Source, the utility model can allow the support frame in car more effectively using the lengthwise shape receiving space in support frame Body is front and rear and above-below direction on there is smaller size, so as to reduce the overall dimensions of car body, save the materials of support frame into This；On the other hand, human-computer interaction body-sensing car smallerization can be made, be more convenient to carry.

Brief description of the drawings

Fig. 1 is the three-dimensional combination figure of the utility model human-computer interaction body-sensing car.

Fig. 2 is the stereochemical structure exploded view of the utility model human-computer interaction body-sensing car.

Fig. 3 is the three-dimensional combination figure of the utility model human-computer interaction body-sensing car wheel and modularization interface.

Fig. 4 is the three-dimensional exploded view in Fig. 3.

Fig. 5 is three-dimensional group of the utility model human-computer interaction body-sensing car wheel and the modularization interface of another embodiment Close figure.

Fig. 6 is the part isometric structure decomposition figure of the utility model human-computer interaction body-sensing car car body.

Fig. 7 is further part isometric structure decomposition figure in Fig. 6.

Fig. 8 is further part isometric structure decomposition figure in Fig. 7.

Embodiment

In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only explaining this Utility model, not limiting the utility model.

Refer to shown in Fig. 1 to Fig. 8, be the structural representation of the utility model human-computer interaction body-sensing car 100, it includes car Body 10 and two wheels 20 on car body 10, the wheel 20 can rotate around car body 10 in radial directions；The car body 10 two foot pedal apparatus 12, the first position sensors for further comprising a support frame 11, being arranged on the support frame 11 (not shown), control device 15 and to drive the drive device (not shown) of the wheel 20, the support frame 11 is One overall structure and it is rotatablely connected with wheel 20, the first position sensor is relative to sense described two foot pedal apparatus 12 The support frame 11 is believed by force information or inclination information, the control device 15 according to described by force information or gradient Breath, control the drive device to drive the wheel 20 to move or rotate, be provided with the support frame 11 along wheel 20 axially The power supply 16 of extension.The overall structure refer to relative to setting the left inside lid that can mutually rotate and right inner cap in the prior art and Speech, the support frame 11 are the structure of globality, in different embodiments, the overall structure can be separable assembled and Into or be integrally formed.It is arranged such, because the support frame 11 of human-computer interaction body-sensing car 100 is approximately along the axially direction of wheel 20 Extension, so as to which to connect left and right sides wheel 20 and possess some strength, power supply 16 described in the utility model can be along wheel 20 It is axially interspersed to be contained in the support frame 11, in this way, compared to same volume in the prior art in block power supply, this Utility model can allow the support frame 11 before and after car body 10 more effectively using the receiving space in support frame 11 And there is smaller size on above-below direction, so as to reduce the overall dimensions of car body 10, save the materials cost of support frame 11； On the other hand, smallerization of human-computer interaction body-sensing car 100 can be made, be more convenient to carry.

Size of the power supply 16 before and after car body 10 and/or on above-below direction is less than the diameter of wheel 20.It is arranged such, institute State car body 10 has less size on front and rear and/or above-below direction, more saves materials cost and more portable.

The power supply 16 is along the axially extending cylindrical shape of wheel 20.That is, described power supply 16 is transversal along the axial direction of wheel 20 Area is circle, is arranged such, compared to the other shapes power supply of same volume, the utility model can allow the support frame 11 have smaller surface area, so as to more save materials cost and allow smallerization of car body 10.In other embodiments, institute It can also be rectangle, other polygons, ellipse or other irregular shapes to state cross section of the power supply 16 along the axial direction of wheel 20.

The power supply 16 includes slender type battery pack 160, and the slender type battery pack 160 includes some clusters side by side Slender type battery 161.It is arranged such, can manufactures and the power supply 16 is made after being bundled after slender type battery 161, without special The battery of single large scale specification is customized, is easy to manufacture；And when individual defects occur, can be on demand to indivedual slender type electricity Pond 161 is individually replaced, and so as to extend the overall service life of the power supply 16, and saves maintenance cost.

The power supply 16 includes some front and rear slender type battery packs 160 to connect.It is arranged such, using existing rule Existing slender type battery 161 carries out front and rear splicing and binding in lattice, without the battery of particularly customized special size specification, is easy to Manufacture.

The power supply 16 is coated on the battery case 17 in the outside of slender type battery pack 160.It is arranged such, can makes The battery case 17 can stably gather together some slender type batteries 161, be not easy to be scattered.

The battery case 17 includes some positioning the locating support 176 of the slender type battery 161 respectively.So Set, the locating support 176 can be such that the slender type battery 161 positions one by one, so as to ensure and adjacent elongate battery Stable electric connection between 161.

The power supply 16 includes the slender type battery pack 160 to connect before and after three groups, and the battery case 17 is included to wrap Cover the both side ends 171 of both ends slender type battery pack 160 and between both side ends 171 to coat middle part slender type battery The medial end portions 175 of group 160, the medial end portions 175 are interior to be provided with the locating support 176.Be arranged such, the battery case 17 with The slender type battery pack 160 divides three-stage to position and connection, can be easy to assemble and can ensure between all slender type batteries 161 Stable electric connection.

The side end 171 of battery case 17 is provided with to house the empty cylinder portion 172 of slender type battery pack 160 and cladding In the outside of empty cylinder portion 172 and towards the side wall 173 in the corresponding direction of wheel 20, locating support is provided with the empty cylinder portion 172 174.It is arranged such, after the slender type battery 161 is socketed on locating support 174 one by one, then is laterally socketed on battery case 17 Described in side end 171 in empty cylinder portion 172, it is easy to assembling to position.

The power supply 16 includes protruding out battery interface of the battery case 17 to electrical butt-joint control device 15 177.It is arranged such, the battery interface 177 can be docked outwards with control device 15, the power supply 16 is set in modularization, Facilitate follow-up assembling.

The both ends of power supply 16 are respectively equipped with to control the control device 15 of corresponding wheel 20, and the both ends of power supply 16 are equal Provided with battery case 17 is protruded out electrically docking the battery interface 177 of two control device 15.It is arranged such, described two Control device 15 can be used to control both sides wheel 20 respectively, have preferable modular construction, be controlled compared to only setting one Device 15, the circuit that this programme avoids complexity shuttles between two wheels 20, because phase easily occurs for the circuits such as electric wire cable Being entangled between mutually, and it is vulnerable to abrasion so that there is a problem that breaking, short-circuit, the modular grafting of this programme can carry The security and stability that each part is electrically connected with high car body 10.

The end set of the power supply 16 has battery protecting plate 178, and the battery interface 177 is arranged at the battery protection On plate 178.

Size of the support frame 11 before and after car body 10 and/or on above-below direction is respectively less than the diameter of wheel 20.So Set, the support frame 11 is corresponding with the shape of power supply 16, the supporting collecting power supply 16 is can be used to, so as to reduce car The overall dimensions of body 10, save the materials cost of support frame 11；On the other hand, the human-computer interaction body-sensing car 100 can be made more Miniaturization, it is more convenient to carry.The control device 15 is located in the support frame 11.It is arranged such, the control device 15 And power supply 16 can simplify the structure of car body 10, each modular construction in car body 10 is more concentrated surely in the support frame 11 Gu.

The battery docking section 152 that the control device 15 is provided with to dock with the power supply 16.It is arranged such, institute can be made It is in modularization to state control device 15, facilitate between control device 15 and power supply 16 it is electrical dock, avoid more complicated circuit Shuttle, improve the security and stability that each part is electrically connected with car body 10.

In the present embodiment, the control device 15 is master control circuit board, and the shape of the master control circuit board can To be arranged to various shapes, such as square, rectangle, annular, ellipse etc., the shape of the control board is simultaneously not limited.

The support frame 11 is along the axially extending tubulose of wheel 20.It is arranged such, the support frame 11 of the tubulose Structure is simpler, and manufacture is more convenient, and has higher bend resistance intensity along in the axially direction of wheel 20, so as to simplify car The structure of body 10, it is easily portable.Specifically, in the present embodiment, the support frame 11 is circular tube shaped.It is arranged such, institute It is relatively smooth smooth to state the outside of support frame 11, during user's use, compared to the support frame 11 with the stupefied portion of protrusion It is not easy to cause grazing to hinder user；On the other hand, compared to the support frame 11 accumulated with similar face, the branch of the circular tube shaped Support bone frame 11 has maximum receiving space to house power supply 16 and/or control device 15, is minimized so as to be advantageous to car body 10 Trend, materials cost is saved, carried more convenient.Certainly, in the utility model other embodiment, the support frame 11 Can be square tube type, other multiangular tubulars, oval tubulose or other regular or irregular tubuloses.

The side of tubular support skeleton 11 fixing has the master board fixed seat 18 for positioning the control device 15. It is arranged such, the master board fixed seat 18 can preferably protect the positioning control device 15, and the master board Fixed seat 18 can be set to dock with miscellaneous part to facilitate different from the structure of tubular support skeleton 11, so that tubular support The both ends of skeleton 11 at both ends without being specially arranged to different structure during fabrication, so as to simplify being manufactured into for tubular support skeleton 11 Type.

The human-computer interaction body-sensing car 100 is additionally provided with to connect the motor fixing seat 3 of wheel 20, the motor fixing seat 3 hold with the phase of master board fixed seat 18.It is arranged such, the wheel 20, which can be installed, is positioned at the motor fixing seat 3 Held after upper by the motor fixing seat 3 and the phase of master board fixed seat 18, consequently facilitating the human-computer interaction body-sensing car 100 The modularization installation of each inter-module, simplifies installation steps.

Modularization plug receptacle 26 is provided between the wheel 20 and car body 10.It is arranged such, the wheel 20 is by described Modularization plug receptacle 26 docks with the car body 10, is installed beneficial to the modularization of 100 each inter-module of human-computer interaction body-sensing car, Simplify installation steps, the circuit for avoiding complexity shuttles, and improves the security and stability that car body 10 is electrically connected with wheel 20.

The modularization plug receptacle 26 is included to dock the connector 25 of the control device 15.It is arranged such, it is described Modularization plug receptacle 26 can dock with the control device 15, so as to realize control of the control device 15 to wheel 20, simplify Complicated circuit shuttles between control device 15 and wheel 20, improves the electric connection safety between control device 15 and wheel 20 Stability.

It is described to dock the connector 25 of the control device 15 be along the above-below direction of car body 10 extend frame mouth 251. It is arranged such, to dock between the connector 25 of the control device 15 and control device 15 in the vertical direction with longer Contact length, it is described docking the connector of the control device 15 when active force of the car body 10 by above-below direction 25 are not easy to depart from the control device 15.

Certainly, it is as shown in figure 5, described docking the connector 25 of the control device 15FrameThe setting side of mouth 251 Formula is not only limited to extending along the above-below direction of car body 10, in other embodiments, described docking the control device 15 Connector 25 ' or along the fore-and-aft direction of car body 10 extend frame mouth 251.It is arranged such, to dock the control device There is longer contact length in the longitudinal direction between 15 connector 25 and control device 15.

The outside of connector 25 is coated with connector fixed seat 24.It is arranged such, the connector fixed seat 24 can have Effect protects the internal structure of connector 25, prevents the damage that is collided.

The human-computer interaction body-sensing car 100 is additionally provided with to install the motor fixing seat 3 of positioning wheel 20, described to connect Plug-in unit fixed seat 24 is housed and is immobilizated in the motor fixing seat 3.It is arranged such, simplifies the structure of car body 10, improves modularization journey Degree, is easily installed.

The wheel 20 has protruded out axletree 21, and described one end of axletree 21 connects the other end of wheel 20 and is connected with car Axis fixing plate 23 is taken turns, the wheel axis fixing plate 23 is housed and is immobilizated in the motor fixing seat 3.It is arranged such, the wheel Axle 21 is immobilizated in shown motor fixing seat 3 by the wheel axis fixing plate 23, the wheel 20 is fixed with the motor Seat 3 is in integrated setting, further simplifies the structure of car body 10, improves the degree of modularity, is easily installed.

Sealing ring 22 is provided between the axletree 21 and connector fixed seat 24.In this way, described improve the wheel Seal between axle 21 and connector fixed seat 24.

The wheel axis fixing plate 23 is held with the phase of connector fixed seat 24.It is arranged such, improves the motor and consolidate The fixing power and stability of the inner structure of reservation 3.

The drive device is located in the wheel 20, is provided with the axletree 21 to transmit the cable of power supply 16 211, the cable 211 is connected with the connector 25.It is arranged such, the cable 211 can preferably be electrically connected with power supply 16 and control device 15, and the cable 211 of the axletree 21 can keep steady state that the rotation with wheel 20 does not occur, avoid The fortuitous events such as winding occur in rotary course for cable 211.

The connector 25 is provided with D type frames mouth 251 and the plug terminal 252 convexedly stretched in the frame mouth 251.So set Put the control device 15 and can consolidate to be plugged in the D types frame mouth 251 and electrically docked with the plug terminal 252.

Axletree 21 is provided between the wheel 20 and car body 10, described one end of axletree 21 is connected with wheel 20, The other end is connected with wheel axis fixing plate 23, and the wheel axis fixing plate 23 is held with the phase of car body 10.It is arranged such, makes institute It is in an overall structure that wheel 20, which is stated, with the wheel axis fixing plate 23, and the car body 10 is positioned at when needing to install wheel 20 When, it is only necessary to the described overall structure is secured on the car body 10, without axletree 21 is plugged into support frame In 11, complicated assembling positioning is carried out then at the inside of support frame 11.Ease of assembly, improve the degree of modularity of each part.

The wheel axis fixing plate 23 is perpendicular to the axis direction of wheel 20.It is arranged such, the wheel axis fixing plate 23 exists Deflection is not susceptible to during by the active force of the fore-and-aft direction of car body 10 and/or above-below direction, improves the wheel axis fixing plate 23 Fixing stability between car body 10.

The human-computer interaction body-sensing car 100 is provided with power supply 16, and the drive device is in the wheel 20, the wheel Be provided with cable 211 in axle 21, the cable 211 extend the wheel axis fixing plate 23 to control device 15 and/or electricity Source 16 is connected.It is arranged such, the drive device in the wheel 20 can pass through the cable through the wheel axis fixing plate 23 211 are connected with the control device 15 and/or power supply 16.

What the car body 10 was provided with depression holds the accepting groove 31 of the wheel axis fixing plate 23 to house.So set Put, the wheel axis fixing plate 23, which can house, to be positioned in the accepting groove 31, so as to improve the outer surface of car body 10 Planarization.

The wheel axis fixing plate 23 is rectangle, and the accepting groove 31 is the square corresponding with the wheel axis fixing plate 23 Shape.It is arranged such, the pluggable positioning wheel axis fixing plate 23 of accepting groove 31, prevents the wheel axis fixing plate 23 from sending out Raw mobile or rotation.

Certainly, the shape of the wheel axis fixing plate is such as square it can also be provided that various shapes, annular, ellipse etc., The shape of the wheel axis fixing plate is simultaneously not limited.

The support frame 11 is along the axially extending tubulose of wheel 20, and the foot pedal apparatus 12 includes being located at the tubulose Foot platform 121 on support frame 11.It is arranged such, the foot platform 121, which is available for users to, steadily to be trampled, and avoids using Person is directly trampled in cause to trample shakiness on the tubular support skeleton 11 situations such as, so as to the fortuitous event such as avoid slipping.

The foot platform 121 is wider than the width of the support frame 11 on the fore-and-aft direction of car body 10.It is arranged such, institute It is smaller to state the volume of car body 10, saves materials cost, and is easy to user to carry, the foot pedal apparatus 12, which is available for users to, steadily to be stepped on Step on, avoid user on the tubular support skeleton 11 to trample area too small, situations such as causing to trample shakiness.

The lower section of foot platform 121 is provided with to be recessed from bottom to top to be lacked to the installation of support frame described in partial receipt 11 Mouth 124.It is arranged such, the support frame 11 can be partially housed in the installation gap 124, reduced the height of car body 10, carried High user's stability of standing, on the other hand, also can be so that improve the overall structural stability of car body 10.

The side of foot platform 121 is provided with to be covered in the wheel cover 123 of the top of wheel 20.It is arranged such, it is described Wheel cover 123 can prevent user from slipping up when trampling the foot platform 121 to step on wheel 20, so as to avoid slipping Fortuitous event；And it is simple in construction, it is easy to assembly.

The first position sensor is located at the lower section of foot pedal apparatus 12.It is arranged such, the first position sensor The pressure information or inclination information that can be subject to by foot pedal apparatus 12, and by the information transmission sensed to control device 15。

The both ends of the control device 15 are respectively arranged with outside docking section 151 and battery docking section 152, the support rib Power supply 16 is provided with frame, the control device 15 is connected with the power supply 16 by the battery docking section 152, connected by outside Socket part 151 is connected with drive device and/or first position sensor.

The control device 15 is two and positioned at the left and right sides of power supply 16, the control device 15 to respectively with difference The drive device of wheel is connected.

Connector 25 is provided between the support frame 11 and wheel 20, the connector 25 is included to control described in grafting The frame mouth 251 of the outside docking section 151 of device 15 processed and plug terminal 252.It is arranged such, the outside docking section 151 can be direct It is plugged in the frame mouth 251 of the connector 25, it is simple in construction, it is easy to assembly, avoid and the unnecessary line of cable 211 is set Road, improve security and stability.

The power supply 16 is connected with battery interface 177, and the battery docking section 152 plugs with the battery interface 177. It is arranged such, the control device 15 can be directly plugged in the battery interface 177, simple in construction, easy to assembly, avoided The unnecessary circuit of cable 211 is set, improves security and stability.

The outside docking section 151 and the 152 perpendicular setting of battery docking section.It is arranged such, when both sides are all docked accordingly After part, the vertical stratification can improve the overall structure stability of the control device 15, avoid control device 15 from inserting Glanced off in termination process.

It is to be flexibly connected or be fixedly connected between the foot pedal apparatus 12 and support frame 11.It is arranged such, when activity connects When connecing, the first position sensor can be used to sense the inclination information of the foot pedal apparatus 12；It is described when being fixedly connected First position sensor can be used to sense the pressure information on the foot pedal apparatus 12.

The first position sensor is pressure sensor.It is arranged such, it is foot-operated that first position sensor can be used to sensing Pressure information on device 12.

The first position sensor is sensing the gradient change information of foot pedal apparatus 12.On the other hand, described first Position sensor can sense the sensor of gradient change for gyroscope etc..

The control device 15 is to according to the stress information gap between two foot pedal apparatus 12 or inclination information difference control System drives the wheel 20 to move or rotate, and realizes and turns to.It is arranged such, when two foot pedal apparatus 12 are identical or incline by force information When slope information is identical, the translational speed of two wheel 20 is identical, when two foot pedal apparatus 12 are by force information difference or inclination information During information difference, wherein the translational speed of single wheel 20 is more than the translational speed of opposite side wheel 20, or both sides wheel 20 Moving direction so as to realize on the contrary, turn to.

The same foot pedal apparatus 12 is provided with to sense same sole different parts inclination information or pressure information Two first position sensors, the control device 15 to according to described two first position sensors gradient difference or Pressure differential drives the wheel 20 to move or rotate.It is arranged such, when two stress information gaps of foot pedal apparatus 12 are identical or tilt When degree information gap is identical, the translational speed of two wheel 20 is identical, when two stress information gaps of foot pedal apparatus 12 are different or gradient letter When breath difference is different, wherein the translational speed of single wheel 20 is more than the translational speed of opposite side wheel 20, or both sides wheel 20 Moving direction so as to realize on the contrary, turn to.

Whether the first position sensor has user to sense on foot pedal apparatus 12, to control opening for wheel 20 Stop.It is arranged such, without being separately provided an inductive switch, so as to simplify the structure of car body 10.Certainly, in other embodiment In, inductive switch can also be separately provided.

The drive device can be arranged in wheel 20, so the drive can be set come in using the existing volume of wheel 20 Dynamic device, space availability ratio are high；In other embodiments, the drive device can also be arranged in support frame 11.Such as This set, can be applicable to wheel 20 it is relatively small in the case of.

The foot pedal apparatus 12 includes foot platform 121 and the foot pad 122 above foot platform 121, and described One position sensor is arranged at the lower section of foot platform 121.It is arranged such, user can be trampled on the foot pad 122, expired Foot is specific anti-skidding or improves the demand for trampling comfortableness.

The human-computer interaction body-sensing car 100 further comprises a second place sensor (not shown), to sense support The inclination information of the relative wheel 20 of skeleton 11.It is arranged such, it is described when user and support frame 11 are overall toward when leaning forward Second place sensor senses inclination, will be signaled to control device 15, and the control device 15 controls driving moment 20 travel forward so that and it is overall that there is sweptback power, play a part of balance.Specifically, the second place sensor Including gyroscope, acceleration transducer and/or photoelectric sensor.

In summary, human-computer interaction body-sensing car 100 of the present utility model, only include one in two wheels 20 and play support work Tubular support skeleton 11, and foot pedal apparatus 12 is independently arranged on support frame 11, is connected without two mutually rotations The mechanism connect is used for setting foot pedal apparatus 12 respectively, contrasts existing balance car or swing car on the market, simple in construction, car body 10 is Integral type, scalability is strong, simplifies steering yoke or vehicle body separates rotational structure, vehicle body is firmer.

Although the utility model is disclosed above by preferred embodiment, but the utility model is not limited to, it is any This known those skilled in the art, do not departing from spirit and scope of the present utility model, a little change and retouching, therefore this practicality can be made New protection domain is worked as to be defined depending on claims scope claimed.

Claims (25)

1. a kind of human-computer interaction body-sensing car, it includes car body and two wheels on car body, and the wheel is in radial direction On can be rotated around car body；It is characterized in that：The car body further comprises a support frame, be arranged on the support frame two Individual foot pedal apparatus, sensing first of the stress of the relatively described support frame of described two foot pedal apparatus or inclination information Put sensor, driving the drive device of the wheel and to control the drive according to the stress or inclination information Dynamic device drives the control device that the wheel is mobile or rotates, and the support frame is integral structure and connected with vehicle wheel rotation Connect, be provided with the support frame along the axially extending power supply of wheel.

2. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The power supply before and after car body and/or on The upward size in lower section is less than wheel diameter.

3. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The power supply is axially extending along wheel It is cylindric.

4. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The power supply includes slender type battery pack, The slender type battery pack includes the slender type battery of some clusters side by side.

5. human-computer interaction body-sensing car according to claim 4, it is characterised in that：The power supply includes some front and rear connect The slender type battery pack.

6. human-computer interaction body-sensing car according to claim 4, it is characterised in that：The power supply is coated on described elongated Battery case on the outside of type battery pack.

7. human-computer interaction body-sensing car according to claim 6, it is characterised in that：The battery case include it is some to point The locating support of the slender type battery is not positioned.

8. human-computer interaction body-sensing car according to claim 7, it is characterised in that：The power supply includes what is connected before and after three groups Slender type battery pack, the battery case are included to coat the both side ends of both ends slender type battery pack and positioned at both side ends Between to coat the medial end portions of middle part slender type battery pack, in the medial end portions be provided with the locating support.

9. human-computer interaction body-sensing car according to claim 8, it is characterised in that：The battery case side end be provided with to House the empty cylinder portion of slender type battery pack and be coated on the outside of empty cylinder portion and towards the side wall in corresponding wheel direction, the sky The locating support is contained in cylinder portion.

10. human-computer interaction body-sensing car according to claim 6, it is characterised in that：The power supply includes protruding out the electricity Pond shell to electrical butt-joint control device battery interface.

11. human-computer interaction body-sensing car according to claim 10, it is characterised in that：The both ends of power be respectively equipped with to The control device of the corresponding wheel of control, the both ends of power, which is equipped with, protrudes out battery case electrically to dock two control The battery interface of device.

12. human-computer interaction body-sensing car according to claim 10, it is characterised in that：The end set of the power supply has battery Protection board, the battery interface are arranged on the battery protecting plate.

13. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The support frame before and after car body and/ Or the size on above-below direction is respectively less than wheel diameter.

14. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The control device is located at the support In skeleton.

15. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The control device be provided with to institute State the battery docking section of power supply docking.

16. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The foot pedal apparatus and support frame it Between for be flexibly connected or be fixedly connected.

17. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The first position sensor is pressure Sensor.

18. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The first position sensor is feeling Survey the gradient change information of the foot pedal apparatus.

19. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The control device is to according to two Stress information gap or inclination information difference between foot pedal apparatus drive the wheel mobile or rotated.

20. human-computer interaction body-sensing car according to claim 1, it is characterised in that：It is same on the same foot pedal apparatus When provided with sensing two first position sensors of same sole different parts inclination information or pressure information, the control Device processed drives the wheel mobile or rotated to the gradient difference according to described two first position sensors or pressure differential.

21. human-computer interaction body-sensing car according to claim 1, it is characterised in that：It is described to be on foot pedal apparatus to sense It is no to have user to control the first position sensor of the start and stop of wheel to be connected with the control device.

22. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The drive device is arranged at support rib In frame or in wheel.

23. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The foot pedal apparatus includes foot platform And the foot pad above foot platform, the first position sensor are arranged at below the foot platform.

24. human-computer interaction body-sensing car according to claim 1, it is characterised in that：The human-computer interaction body-sensing car is further Including sensing the second place sensor of the inclination information of support frame relative wheel.

25. human-computer interaction body-sensing car according to claim 24, it is characterised in that：The second place sensor includes top Spiral shell instrument, acceleration transducer and/or photoelectric sensor.