CN215553840U

CN215553840U - Human-computer interaction somatosensory vehicle

Info

Publication number: CN215553840U
Application number: CN202121961822.8U
Authority: CN
Inventors: 刘亿军; 傅丹; 颜俊
Original assignee: Hangzhou Chic Intelligent Technology Co Ltd
Current assignee: Hangzhou Chic Intelligent Technology Co Ltd
Priority date: 2021-08-19
Filing date: 2021-08-19
Publication date: 2022-01-18
Anticipated expiration: 2031-08-19

Abstract

The utility model discloses a human-computer interaction somatosensory vehicle, wherein a vehicle body comprises a support framework, a battery, a master control circuit board and pedals for a user to tread, a first wheel shaft and a second wheel shaft are respectively arranged at the left side and the right side of the support framework, the first wheel shaft is arranged on the support framework and can rotate, the first pedal is fixed on the first wheel shaft, the second wheel shaft is arranged on the support framework and can rotate, and the second pedal is fixed on the second wheel shaft; the pedal type bicycle is characterized by further comprising a tilting angle sensing device, a controller and a rotation angle sensing device, wherein the tilting angle sensing device detects front and back tilting angle change information of the supporting framework, the first rotation angle sensing device detects rotation angle change information of the first pedal relative to the supporting framework, and the second rotation angle sensing device detects rotation angle change information of the second pedal relative to the supporting framework. This scheme is simple structure not only reliable, low in manufacturing cost, rides moreover and controls and experience well.

Description

Human-computer interaction somatosensory vehicle

Technical Field

The utility model relates to an electric balance car, in particular to a human-computer interaction motion sensing car.

Background

The operation principle of the man-machine interaction motion sensing vehicle, namely an electric balance vehicle and a thinking vehicle, is mainly based on the basic principle called dynamic stability, the gyroscope and the acceleration sensor in the vehicle body are utilized to detect the change of the vehicle body posture, and a servo control system is utilized to accurately drive a motor to carry out corresponding adjustment so as to keep the balance of the system.

The existing man-machine interaction motion sensing vehicle is generally divided into two types, namely an operation rod and a non-operation rod, wherein the man-machine interaction motion sensing vehicle with the operation rod is provided with the man-machine interaction motion sensing vehicle, and the forward movement, the backward movement and the steering of the man-machine interaction motion sensing vehicle are specifically controlled by the operation rod. The human-computer interaction motion sensing vehicle without the operating rod is characterized in that the forward and backward movement of the human-computer interaction motion sensing vehicle is controlled by the inclination of the whole human-computer interaction motion sensing vehicle, and the steering is realized by the fact that a user steps on the pedal platforms and the relative rotation angle difference between the two pedal platforms is used for controlling. Among the prior art, the two-wheeled human-computer interaction body that does not take the action bars feels the car and mainly has two kinds: a product is that the left and right car body parts are movably connected through the middle part (rotating shaft) of the car body to form the angle difference of relative motion to realize steering, the left and right pedal parts are respectively arranged in the left and right car bodies, which is represented by a two-wheeled self-balancing man-machine interaction body sensing car disclosed in the patent document with the publication number of CN104029769A, an inner cover in the man-machine interaction body sensing car comprises a left inner cover and a right inner cover which are symmetrically arranged, and the left inner cover is rotatably connected with the right inner cover, the structure of the balance car product is more complex, the double-platform inclination angle detection is adopted, the circuit is complex, more parts are provided, and the manufacturing cost is higher; the other product is that the middle part of the car body is not movably connected, namely, does not rotate, and the steering is realized through the pressure induction difference of the pedal parts, and the human-computer interaction body sensing car disclosed by the patent document with the publication number of CN111591382A is taken as a representative.

Disclosure of Invention

In order to solve the technical problems, the utility model aims to provide a human-computer interaction motion sensing vehicle which is simple and reliable in structure, few in parts, low in manufacturing cost, good in riding control experience and good in playability.

In order to achieve the purpose, the utility model adopts the following technical scheme:

a man-machine interaction somatosensory vehicle comprises a vehicle body, a first wheel (51) and a second wheel (52) which are respectively arranged on the left side and the right side of the vehicle body, wherein the vehicle body comprises a supporting framework (1), a battery (2), a main control circuit board (3) and pedals for a user to step on, and the pedals comprise a first pedal (41) and a second pedal (42); the first wheel (51) and the second wheel (52) are both hub motors, a hub motor shaft of the first wheel (51) is a first wheel shaft (511), a hub motor shaft of the second wheel (52) is a second wheel shaft (521), the first wheel shaft (511) and the second wheel shaft (521) are respectively installed on the left side and the right side of the support framework (1), the first wheel shaft (511) is installed on the support framework (1) and can rotate, the first pedal (41) is fixed on the first wheel shaft (511), the second wheel shaft (521) is installed on the support framework (1) and can rotate, and the second pedal (42) is fixed on the second wheel shaft (521).

Preferably, the bicycle further comprises a tilting angle sensing device, a controller and a rotation angle sensing device, wherein the tilting angle sensing device detects the front and back tilting angle change information of the supporting framework (1), the rotation angle sensing device comprises a first rotation angle sensing device (61) and a second rotation angle sensing device (62), the first rotation angle sensing device (61) detects the rotation angle change information of the first pedal (41) relative to the supporting framework (1), and the second rotation angle sensing device (62) detects the rotation angle change information of the second pedal (42) relative to the supporting framework (1); the inclination angle sensing device and the controller are arranged on the main control circuit board (3), and the main control circuit board (3) and the battery (2) are fixedly arranged on the supporting framework (1).

Preferably, the rotation angle sensing device comprises a large gear (611), a small gear (613), a mounting frame (615) and an encoder assembly, the mounting frame (615) is fixed on the supporting framework (1), a rotating shaft (614) of the small gear (613) is rotatably mounted on the mounting frame (615), the large gear (611) is fixed on the first wheel shaft (511) or the second wheel shaft (521) and is in meshing transmission with the small gear (613), and the transmission ratio of the large gear to the small gear is larger than (1); the encoder assembly comprises a trigger component and a sensing component, wherein the trigger component is fixed on a rotating shaft (614) and rotates along with the rotating shaft (614), and the sensing component is fixed on a mounting frame (615).

Preferably, the first rotation angle sensing device (61) is arranged on the first wheel shaft (511), the first pedal (41) or the support frame (1), and the second rotation angle sensing device (62) is arranged on the second wheel shaft (521), the second pedal (42) or the support frame (1); the inclination angle sensing device comprises a gyroscope and an acceleration sensor; the rotation angle sensing device is a photoelectric encoder or a Hall encoder.

Preferably, the first pedal (41) is fixedly mounted on the first pedal mounting seat (411) through a fastener, and the first pedal mounting seat (411) is fixedly connected with the first wheel axle (511) or integrally formed; the second pedal (42) is fixedly arranged on the second pedal mounting seat (421) through a fastener, and the second pedal mounting seat (421) is fixedly connected with the second wheel shaft (521) or integrally formed.

Preferably, the first pedal (41) is fixedly mounted on the first pedal mounting seat (411) through a fastener, and the first pedal mounting seat (411) is sleeved on the first wheel shaft (511) and fixedly connected through a positioning pin, a positioning key and/or a locking nut; the second pedal (42) is fixedly arranged on the second pedal mounting seat (421) through a fastener, and the second pedal mounting seat (421) is sleeved on the second wheel shaft (521) and is fixedly connected with the second wheel shaft through a positioning pin, a positioning key and/or a locking nut.

Preferably, the first wheel shaft (511) is rotatably arranged on one side of the support framework (1) through a first bearing (111), the second wheel shaft (521) is rotatably arranged on the other side of the support framework (1) through a second bearing (121), the first bearing (111) is sleeved on the first wheel shaft (511) and is fixedly arranged on the support framework (1) through a first bearing mounting piece (11), and the second bearing (121) is sleeved on the second wheel shaft (521) and is fixedly arranged on the support framework (1) through a second bearing mounting piece (12).

Preferably, the first bearing mounting piece (11) and the second bearing mounting piece (12) are both press blocks with bearing mounting grooves, correspondingly, a first bearing mounting part (112) and a second bearing mounting part (122) which are matched with the first bearing mounting piece (11) and the second bearing mounting piece (12) are respectively arranged on the left side and the right side of the supporting framework (1), the first bearing mounting piece (11) is fixed on the first bearing mounting part (112) of the supporting framework (1) through a fastener and presses and fixes the first bearing (111), and the second bearing mounting piece (12) is fixed on the second bearing mounting part (122) of the supporting framework (1) through a fastener and presses and fixes the second bearing (121).

Preferably, the first bearing mount (11) is arranged on the first wheel axle (511) between the first wheel (51) and the first foot mount (411), and the second bearing mount (12) is arranged on the second wheel axle (521) between the second wheel (52) and the second foot mount (421).

Preferably, the bicycle further comprises a shell (10) wrapped outside the supporting framework (1), the left side and the right side of the shell (10) are respectively provided with a first wheel cover (101) used for covering the first wheel (51) and a second wheel cover (102) used for covering the second wheel (52), and the first pedal (41) and the second pedal (42) are respectively and independently movably arranged above the left side and the right side of the bicycle body shell (10).

Preferably, the intelligent foot pedal device further comprises a first inductive switch (71) used for detecting whether a person is on the first foot pedal (41) and a second inductive switch (72) used for detecting whether a person is on the second foot pedal (42), wherein the first inductive switch (71) and the second inductive switch (72) are infrared induction devices comprising an infrared emission end and an infrared receiving end.

According to the technical scheme, the left pedal part and the right pedal part are independently arranged relative to the supporting framework and are integrated with the motor shafts of the two wheels, so that the driving feedback between the pedals and the wheels is simpler and more direct, the structure is simplified, and the human-computer interaction experience is better; the supporting framework is adopted for suspension, so that the pedal part is simple in structure, few in parts and more simple and convenient to assemble. The balance car is simple and reliable in structure, few in parts, low in manufacturing cost, good in riding control experience and good in playability.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a schematic structural view of the present invention;

FIG. 3 is a schematic view of the structure of the present invention with the non-slip mat installed;

FIG. 4 is an exploded view of the present invention;

FIG. 5 is a schematic view of an arrangement of the inductive switch of the present invention (first pedal);

FIG. 6 is a schematic view of an arrangement of the inductive switch of the present invention (second foot pedal);

FIG. 7 is a schematic view of another arrangement of the inductive switch of the present invention (first pedal);

FIG. 8 is a schematic view of another arrangement of the inductive switch of the present invention (second foot pedal);

FIG. 9 is a schematic view of a third embodiment of the inductive switch of the present invention;

FIG. 10 is a perspective view of embodiment 2;

FIG. 11 is a schematic structural view of example 2;

FIG. 12 is a partial sectional view of embodiment 2;

FIG. 13 is an exploded view of example 2;

FIG. 14 is an enlarged view at A of FIG. 12;

fig. 15 is a perspective view of a rotation angle sensing device in embodiment 2;

fig. 16 is an exploded view of a rotation angle sensing device in embodiment 2;

fig. 17 is a schematic structural view of a rotation angle sensing device in embodiment 2;

FIG. 18 is a perspective view of embodiment 3;

FIG. 19 is a schematic structural view of embodiment 3;

FIG. 20 is a partial sectional view of embodiment 3;

FIG. 21 is an exploded view of example 3;

FIG. 22 is an enlarged view at B of FIG. 20;

fig. 23 is a perspective view of a rotation angle sensing device in embodiment 3;

fig. 24 is an exploded view of a rotation angle sensing device in accordance with embodiment 3;

wherein the reference numerals are as follows:

a support frame 1; a housing 10; a first wheel cover 101; a second wheel cover 102; a first bearing mount 11; a first bearing 111; a first bearing mounting portion 112; a second bearing mount 12; a second bearing 121; a second bearing mounting portion 122; a battery 2; a battery holder 21; a main control circuit board 3; a first foot pedal 41; a first foot mount 411; a first step cleat 412; a first foot circuit board 413; a second foot board 42; a second foot mount 421; a second tread cleat 422; a second foot circuit board 423; a first wheel 51; a first wheel axle 511; a second wheel 52; a second wheel axle 521; a first rotation angle sensing means 61; a Hall circuit board 610; a bull gear 611; a magnetic element 612; a pinion gear 613; a rotating shaft 614; a mounting block 615; a third bearing 616; a third bearing mount 617; a magnet mount 618; a second rotation angle sensing device 62; a first inductive switch 71; a first photoemitter 711; a first photoelectric receiver 712; a second inductive switch 72; a second photoemitter 721; a second photo-receiver 722.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the utility model and are not to be construed as limiting the utility model.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.

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

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," "retained," and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

For convenience in expression, the horizontal direction parallel to the straight-going direction of the human-computer interaction motion sensing vehicle is taken as the front-back direction, the horizontal direction perpendicular to the straight-going direction of the human-computer interaction motion sensing vehicle is taken as the left-right direction, and the vertical direction perpendicular to the straight-going direction of the human-computer interaction motion sensing vehicle is taken as the up-down direction.

Example 1:

as shown in fig. 1 to 4, the human-computer interaction somatosensory vehicle comprises a vehicle body, and a first wheel 51 and a second wheel 52 which are respectively installed on the left side and the right side of the vehicle body, wherein the vehicle body comprises a support framework 1, a battery 2, a main control circuit board 3 and pedals for a user to step on, and the pedals comprise a first pedal 41 and a second pedal 42; the first wheel 51 and the second wheel 52 are both hub motors, a hub motor shaft of the first wheel 51 is a first wheel shaft 511, a hub motor shaft of the second wheel 52 is a second wheel shaft 521, the first wheel shaft 511 and the second wheel shaft 521 are respectively installed on the left side and the right side of the support frame 1, the first wheel shaft 511 is installed on the support frame 1 and can rotate, the first pedal 41 is fixed on the first wheel shaft 511, the second wheel shaft 521 is installed on the support frame 1 and can rotate, and the second pedal 42 is fixed on the second wheel shaft 521.

The device further comprises a tilting angle sensing device, a controller and a rotation angle sensing device, in the embodiment, the tilting angle sensing device detects the front and back tilting angle change information of the supporting framework 1, the rotation angle sensing device comprises a first rotation angle sensing device 61 and a second rotation angle sensing device 62, the first rotation angle sensing device 61 detects the rotation angle change information of the first pedal 41 relative to the supporting framework 1, and the second rotation angle sensing device 62 detects the rotation angle change information of the second pedal 42 relative to the supporting framework 1; the controller obtains the forward and backward inclination angle change information of the first pedal 41 according to the inclination angle sensing device and the angle change information of the first rotation angle sensing device 61 and drives the first wheel 51 to move, and the reaction force of the first wheel 51 to move is transmitted to the first pedal 41 so as to promote the first pedal 41 to realize balance; the controller obtains the forward and backward tilting angle variation information of the second pedal plate 42 according to the tilting angle sensing device and the angle variation information of the second rotation angle sensing device 62 and drives the second wheel 52 to move, and the reaction force of the movement of the second wheel 52 is transmitted to the second pedal plate 42 to promote the second pedal plate 42 to realize balance.

Therefore, the left pedal part and the right pedal part are independently arranged relative to the supporting framework and are integrated with the motor shaft, so that the driving feedback between the pedals and the wheels is simpler and more direct, the structure is simplified, and the human-computer interaction experience is better; the supporting framework is adopted for suspension, and only one inclination angle sensing device (a gyroscope and an acceleration sensor) is arranged, so that the pedal part has a simple structure, few parts and a simpler vehicle body structure.

In this embodiment, the inclination angle sensing device and the controller are disposed on the main control circuit board 3, and the main control circuit board 3 and the battery 2 are fixedly mounted on the support frame 1. The controller can be a main controller which controls and drives two wheels to move simultaneously, or two sub-controllers which respectively and independently control and drive the two wheels to move. In other embodiments, there may be a plurality of sub-circuit boards for respectively providing the tilt angle sensing device and/or the sub-controller. The sub circuit board may also be a foot circuit board mounted below the foot pedal.

In the present embodiment, the first rotation angle sensing device 61 is disposed between the first wheel shaft 511 and the support frame 1, and the second rotation angle sensing device 62 is disposed between the second wheel shaft 521 and the support frame 1. In other embodiments, the rotation angle sensing device may be directly disposed between the foot board and the support frame.

In this embodiment, the tilt angle sensing device includes a gyroscope and an acceleration sensor. The rotation angle sensing device is a photoelectric encoder, a Hall encoder and the like.

In this embodiment, as shown in fig. 3 and 4, the first pedal 41 is fixedly mounted on the first pedal mounting seat 411 by a fastener, and the first pedal mounting seat 411 is fixedly connected with or integrally formed with the first wheel axle 511; the second pedal 42 is fixedly mounted on the second pedal mounting seat 421 by a fastener, and the second pedal mounting seat 421 is fixedly connected with or integrally formed with the second wheel shaft 521. In a preferred embodiment, the first pedal mounting seat 411 is sleeved on the first wheel axle 511 and fixedly connected with the first wheel axle 511 through a positioning pin, a positioning key and/or a locking nut; the second pedal mounting seat 421 is sleeved on the second wheel axle 521 and is fixedly connected with the second wheel axle through a positioning pin, a positioning key and/or a locking nut.

In this embodiment, as shown in fig. 3 and 4, a first tread anti-slip pad 412 is installed on the first tread 41, and a second tread anti-slip pad 422 is installed on the second tread 42. Set up anti-skidding callus on the sole above the running-board, multiplicable pedal parts's wearability and frictional force also can improve user's use travelling comfort, play better waterproof dustproof effect in addition to increase comfort level, pleasing to the eye degree, degree of safety. In other embodiments, an anti-slip structure (e.g., anti-slip pattern) or an anti-slip component (e.g., anti-slip patch or anti-slip mat) may be disposed on the footrest by molding, covering, assembling, or adhering.

In this embodiment, as shown in fig. 3 and 4, the first wheel axle 511 is rotatably disposed on one side of the support frame 1 through the first bearing 111, the second wheel axle 521 is rotatably disposed on the other side of the support frame 1 through the second bearing 121, the first bearing 111 is sleeved on the first wheel axle 511 and is fixedly mounted on the support frame 1 through the first bearing mounting part 11, and the second bearing 121 is sleeved on the second wheel axle 521 and is fixedly mounted on the support frame 1 through the second bearing mounting part 12.

Preferably, the first bearing mounting part 11 and the second bearing mounting part 12 are both press blocks with bearing mounting grooves, correspondingly, the left side and the right side of the supporting framework 1 are respectively provided with a first bearing mounting part 112 and a second bearing mounting part 122 which are matched with the first bearing mounting part 11 and the second bearing mounting part 12, the first bearing mounting part 11 is fixed on the first bearing mounting part 112 of the supporting framework 1 through a fastener and presses and fixes the first bearing 111, and the second bearing mounting part 12 is fixed on the second bearing mounting part 122 of the supporting framework 1 through a fastener and presses and fixes the second bearing 121. Thus, the structure is simple and the installation is convenient. In other embodiments, the bearing mounting member may also be a bearing seat, the bearing seat is fixedly connected to the support frame or integrally formed with the support frame, and the bearing seat are sleeved on the wheel axle and axially fixed by a snap spring or a nut.

Preferably, the first bearing mount 11 is disposed on the first wheel axle 511 between the first wheel 51 and the first foot mount 411, and the second bearing mount 12 is disposed on the second wheel axle 521 between the second wheel 52 and the second foot mount 421. In other embodiments, the first wheel axle 511 is mounted to the support frame 1 by a plurality of first bearing mounts 11, the first foot mount 411 is located between two first bearing mounts 11, the second wheel axle 521 is mounted to the support frame 1 by a plurality of second bearing mounts 12, and the second foot mount 421 is located between two second bearing mounts 12. The wheel shafts are used as bearing parts, and the supporting framework is used as a rigid connecting part of the two wheel shafts, so that the structure is simpler and more reasonable, and the structural strength is better.

In the embodiment, the supporting framework 8 is made of aluminum section, so that the cost is low and the processing is convenient. The support framework is preferably made of metal. The metal material rigidity support performance is good, not only can install each part fixed to can effectively ensure the power explosion-proof, improve the security. The metal material is preferably an aluminum material. In other embodiments, all or part of the supporting framework may be a rigid component made of metal, or may be made of non-metallic materials with certain rigidity, such as wood, plate, rigid plastic, etc. The support framework can be formed in one step, or can be formed through multiple processes, such as turning, milling, grinding, drawing, welding and the like.

In this embodiment, the main body of the supporting frame 1 is a plate-shaped frame structure, a battery compartment for storing the battery 2 is disposed in the center of the frame structure, and the main control circuit board 3 is mounted above the battery 2. The first bearing mounting portion 112 and the second bearing mounting portion 122 are integrally formed on both left and right sides of the support frame 1. Like this, adopt frame structure's support chassis, the structure is succinct, and processing materials are convenient for, low in manufacturing cost to the area space is big, intensity is high, thickness is thin, and the spare part of being convenient for arranges the installation, especially battery simple to operate, makes the ground clearance of vehicle great, and trafficability characteristic is good. In other embodiments, the supporting frame may be an integrally molded plate-like structure, rod-like structure, tubular structure, block-like structure, tubular structure, or lid structure, or may be a structure that is molded separately and then directly fixed or indirectly fixed and integrally connected.

For the purpose of decorating and covering and protecting internal parts, as shown in fig. 9, the vehicle body further includes a housing 10 wrapped outside the support frame 1, and the left and right sides of the housing 10 are respectively provided with a first wheel cover 101 for covering the first wheel 51 and a second wheel cover 102 for covering the second wheel 52. The housing 10 generally includes an upper housing and a lower housing fixed to a support frame, or a front housing and a rear housing fixed to a support frame. The support frame is not limited to be hidden inside the vehicle body, and in other embodiments, the support frame may be entirely or partially exposed outside the vehicle body, for example, the support frame may be used as a lower shell or an upper shell of the vehicle body, or a small portion of the support frame may be exposed outside the vehicle body shell.

First and

second pedals

41 and 42 are preferably made of metal. The metal material has good rigid supporting performance, and the metal material is preferably an aluminum material. In other embodiments, all or part of the pedal may be a rigid member made of metal, or may be made of non-metallic materials with certain rigidity, such as wood, plate, rigid plastic, etc. The pedal plate may be formed in one step, or may be formed by multiple processes, such as turning, milling, grinding, drawing, and welding.

In this embodiment, as shown in fig. 9, the first pedal 41 and the second pedal 42 are independently and movably disposed above the left and right sides of the body shell 10, so that the interior space of the body shell is large, and it is convenient to dispose various components and functional components such as lights and sounds, and the pedals can rotate flexibly, and the pedals and the body naturally form a limit position without specially disposing a limit component. In other embodiments, the first pedal 41 and the second pedal 42 may be accommodated in a receiving groove or a space of the vehicle body housing 10, and the pedals and the vehicle body housing may be connected by a flexible member, an elastic member, or a corrugated member adapted to deform so as to close the gap and prevent dust. In other embodiments, a relatively separate housing is also secured to the footrest.

In order to detect whether a person is stepped on the pedal plates, a first inductive switch 71 for detecting whether a person is on the first pedal plate 41 and a second inductive switch 72 for detecting whether a person is on the second pedal plate 42 are provided, respectively. In this embodiment, as shown in fig. 4, 5 and 6, the first inductive switch 71 includes a first photo-emitter 711 and a first photo-receiver 712, the first photo-emitter 711 and the first photo-receiver 712 are disposed on the same side of the first pedal 41, the second inductive switch 72 includes a second photo-emitter 721 and a second photo-receiver 722, and the second photo-emitter 721 and the second photo-receiver 722 are disposed on the same side of the second pedal 42. In other embodiments, as shown in fig. 7 and 8, the first photo-emitter 711 and the first photo-receiver 712 are disposed opposite to each other on the left and right sides of the first foot pedal 41, and the second photo-emitter 721 and the second photo-receiver 722 are disposed opposite to each other on the left and right sides of the second foot pedal 42. In other embodiments, as shown in fig. 9, the first inductive switch 71 is disposed on a side wall of the first wheel cover 101 near the first pedal 41, and the second inductive switch 72 is disposed on a side wall of the second wheel cover 102 near the second pedal 42. The first inductive switch 71 and the second inductive switch 72 are preferably infrared inductive devices including an infrared emitting end and an infrared receiving end.

In this embodiment, in order to facilitate installation of the inductive switch on the foot pedal, a first foot circuit board 413 is installed below the first foot pedal 41, and a second foot circuit board 423 is installed below the second foot pedal 42.

The control method of the human-computer interaction somatosensory vehicle comprises the following steps: the controller obtains the front-back inclination angle change information of the first pedal 41 according to the inclination angle sensing device and the angle change information of the first rotation angle sensing device 61 and drives the first wheel 51 to move; the controller obtains the front and back tilting angle variation information of the second pedal 42 according to the tilting angle sensing device and the angle variation information of the second rotation angle sensing device 62 and drives the second wheel 52 to move; when the front-back inclination angle change information of the first pedal 41 is the same as the front-back inclination angle change information of the second pedal 42, the human-computer interaction somatosensory vehicle moves straight (including advancing, retreating, accelerating or decelerating) or stops; when the front-back inclination angle change information of the first pedal 41 is different from the front-back inclination angle change information of the second pedal 42, the human-computer interaction somatosensory vehicle turns (including forward turning, backward turning or pivot turning).

Example 2:

as shown in fig. 10 to 13, the human-computer interaction somatosensory vehicle comprises a vehicle body, and a first wheel 51 and a second wheel 52 which are respectively installed on the left side and the right side of the vehicle body, wherein the vehicle body comprises a support framework 1, a battery 2, a main control circuit board 3 and pedals for a user to step on, and the pedals comprise a first pedal 41 and a second pedal 42; the first wheel 51 and the second wheel 52 are both hub motors, a hub motor shaft of the first wheel 51 is a first wheel shaft 511, a hub motor shaft of the second wheel 52 is a second wheel shaft 521, the first wheel shaft 511 and the second wheel shaft 521 are respectively installed on the left side and the right side of the support frame 1, the first wheel shaft 511 is installed on the support frame 1 and can rotate, the first pedal 41 is fixed on the first wheel shaft 511, the second wheel shaft 521 is installed on the support frame 1 and can rotate, and the second pedal 42 is fixed on the second wheel shaft 521.

Therefore, the left pedal part and the right pedal part are independently arranged relative to the supporting framework and are integrated with the motor shaft, so that the driving feedback between the pedals and the wheels is simpler and more direct, the structure is simplified, and the human-computer interaction experience is better; the supporting framework is adopted for suspension, and the inclination angles of the two pedal parts can be detected only by arranging one inclination angle sensing device (a gyroscope and an acceleration sensor) and a rotation angle sensing device, so that the pedal parts are simple in structure, few in parts and simpler in structure of the vehicle body.

The present embodiment is further modified based on embodiment 1 as follows:

as shown in fig. 10 to 13, the support frame 1 is shaped like a flat plate, the main control circuit board 3 is mounted above the support frame 1, the battery 2 is mounted at the center of the lower portion of the support frame 1 through two battery holders 21, and the detecting portions of the first rotation angle sensing device 61 and the second rotation angle sensing device 62 are also mounted below the support frame 1 and located at the left and right sides of the battery 2, respectively. The first bearing mounting portion 112 and the second bearing mounting portion 122 are fixed to the left and right sides above the support frame 1 by fasteners. Therefore, the vehicle body structure is simpler and more reasonable, and the manufacturing cost is lower.

As shown in fig. 14 to 17, the rotation angle sensing device includes a large gear 611, a small gear 613, a mounting block 615 and an encoder assembly, the mounting block 615 is fixed on the support frame 1, a rotating shaft 614 of the small gear 613 is rotatably mounted on the mounting block 615, the large gear 611 is fixed on the first wheel shaft 511 or the second wheel shaft 521 and is in meshing transmission with the small gear 613, and the transmission ratio of the large gear to the small gear is greater than 1. The encoder assembly includes a trigger member fixed to the shaft 614 and rotating with the shaft 614, and a sensing member fixed to the mounting block 615. When the pedal drives the wheel shaft to rotate (or change the angle), the big gear can drive the small gear to rotate quickly, and the small gear drives the rotating shaft and the trigger part on the rotating shaft to rotate synchronously, so that correspondingly amplified angle change is formed, and the sensitivity of angle detection is improved. The encoder assembly is a Hall encoder assembly or a photoelectric encoder assembly.

In this embodiment, the triggering component is a magnetic element 612, the sensing component is a hall circuit board 610, and the hall circuit board 610 is provided with a plurality of hall elements which are in inductive fit with the magnetic element 612. When the pedal drives the wheel shaft to rotate (or change the angle), the large gear can drive the small gear to rotate quickly, and the small gear drives the rotating shaft and the magnet on the rotating shaft to rotate synchronously, so that the magnet and the Hall element on the Hall circuit board form correspondingly amplified angle change, and the sensitivity of angle detection is improved.

In the preferred embodiment, the mounting frame 615 is disposed below the plate-shaped supporting frame 1, and the large gear 611 passes through a hollow hole disposed on the supporting frame 1 to mesh with the small gear 613 for transmission. The pinion gear 613 is fixedly connected to or integrally formed with its rotating shaft 614. The bull gear 611 is a sector gear. In the balance car field because compact structure, the space that interior structural design can occupy is little, use gear drive's rotation angle detection sensing assembly very few, and sectorial gear wheel structure occupation space is little, so that with other structures (structure such as the upper cover of running-board or balance car) installation around, furthermore, owing to sectorial structural design, the gear wheel part volume near first wheel axle or second wheel axle is less, do not influence other structures, sectorial structure's intermediate part has the advantage that structural design is nimble, can be according to structural design, lead to other big space departments (such as support skeleton lower part) installation with sectorial structure's gear portion, improve the flexibility of gear wheel mounted position, in addition, sectorial structure's gear portion can be according to the gear drive ratio demand, the size of design tooth more freely, quantity isoparametric.

In the present embodiment, the rotation shaft 614 of the pinion gear 613 is preferably mounted on the mounting frame 615 through a third bearing 616 and a third bearing mounting member 617. In other embodiments, the third bearing 616 may be a bushing. The third bearing mount 617 is a bearing gland. The use of the third bearing 616 and the third bearing mounting part 617 can reduce the wear at the joint between the rotating shaft 614 and the mounting frame 615, and prolong the service life of the rotating shaft, and on the other hand, can buffer the influence on the rotation angle of the rotating shaft 614 through the transmission of the mounting frame 615 under the condition that the stress of the supporting framework 1 borne by the bearing is unequal, and further improve the detection sensitivity. In addition, the mounting frame 615 is fixed to the support frame 1, and the large gear 611 is fixed to the first wheel shaft 511 or the second wheel shaft 521, so that the mounting stability of the rotation angle sensing device is improved, the displacement between the parts caused by uneven stress is reduced, and the service life is prolonged.

Preferably, as shown in fig. 17, a magnet mounting seat 618 is fixed at one end of the rotating shaft 614, the magnet mounting seat 618 includes an arc-shaped structure, the magnetic element 612 is fixed at the arc-shaped structure, the magnetic element 612 includes at least one magnet arranged in the thickness direction of the magnet mounting seat 618, and at least one hall element is arranged on the hall circuit board 610 around the arc-shaped structure.

In this embodiment, as shown in fig. 17, the magnetic element 612 is two rows of magnets arranged along the rotation direction of the magnet mounting seat 618, each row of magnets is arranged with the same polarity in the same direction, and the two rows of magnets are arranged with opposite polarities. For example, the N-level of one row of magnets is placed downwards, the S-level of the other row of magnets is placed downwards (one row of magnets may be one or more, and the magnetic poles of the same row of magnets are the same), the hall circuit board 610 is installed on one side of the mounting frame 615, a plurality of hall elements are arranged on the hall circuit board 610, and are arranged according to the circular arc distribution and cover the rotation range of the two rows of magnets, so that the plurality of hall elements and the magnets cooperate to realize the detection of the angular rotation of the rotating shaft. Therefore, the sensitivity of angle detection is improved, and the reliability and the accuracy of angle detection are improved.

Other structures and control methods of the balance car in the present embodiment are the same as those of embodiment 1, and various alternative structures and various embodiments of embodiment 1 can be applied to the present embodiment.

Example 3:

as shown in fig. 18 to 21, the human-computer interaction somatosensory vehicle comprises a vehicle body and a first wheel 51 and a second wheel 52 which are respectively installed on the left side and the right side of the vehicle body, wherein the vehicle body comprises a support framework 1, a battery 2, a main control circuit board 3 and foot pedals for a user to step on, and the foot pedals comprise a first foot pedal 41 and a second foot pedal 42; the first wheel 51 and the second wheel 52 are both hub motors, a hub motor shaft of the first wheel 51 is a first wheel shaft 511, a hub motor shaft of the second wheel 52 is a second wheel shaft 521, the first wheel shaft 511 and the second wheel shaft 521 are respectively installed on the left side and the right side of the support frame 1, the first wheel shaft 511 is installed on the support frame 1 and can rotate, the first pedal 41 is fixed on the first wheel shaft 511, the second wheel shaft 521 is installed on the support frame 1 and can rotate, and the second pedal 42 is fixed on the second wheel shaft 521.

The present embodiment is further modified based on embodiment 1 as follows:

as shown in fig. 18 to 21, the support frame 1 is shaped like a flat plate, the main control circuit board 3 is mounted above the support frame 1, the battery 2 is mounted at the central position below the support frame 1 through two battery holders 21, and the detecting portions of the first rotation angle sensing device 61 and the second rotation angle sensing device 62 are also mounted below the support frame 1 and located at the left and right sides of the battery 2, respectively. The first bearing mounting portion 112 and the second bearing mounting portion 122 are fixed to the left and right sides above the support frame 1 by fasteners. Therefore, the vehicle body structure is simpler and more reasonable, and the manufacturing cost is lower.

As shown in fig. 22 to 24, the rotation angle sensing device includes a large gear 611, a small gear 613, a mounting block 615 and an encoder assembly, the mounting block 615 is fixed on the support frame 1, a rotating shaft 614 of the small gear 613 is rotatably mounted on the mounting block 615, the large gear 611 is fixed on the first wheel shaft 511 or the second wheel shaft 521 and is in meshing transmission with the small gear 613, and the transmission ratio of the large gear to the small gear is greater than 1. The encoder assembly includes a trigger member fixed to the shaft 614 and rotating with the shaft 614, and a sensing member fixed to the mounting block 615. When the pedal drives the wheel shaft to rotate (or change the angle), the big gear can drive the small gear to rotate quickly, and the small gear drives the rotating shaft and the trigger part on the rotating shaft to rotate synchronously, so that correspondingly amplified angle change is formed, and the sensitivity of angle detection is improved. The encoder assembly is a Hall encoder assembly or a photoelectric encoder assembly.

Preferably, in this embodiment, as shown in fig. 22 to 24, a magnet mounting seat 618 is fixed at one end of the rotating shaft 614, at least one magnet mounting hole is formed in the magnet mounting seat 618, the magnetic element is a magnet, the magnet is mounted in the magnet mounting hole, a hall element is arranged on the hall circuit board 610, and the hall element and the magnet cooperate to detect the angular rotation of the rotating shaft.

In this embodiment, only one hall element is disposed on the hall circuit board 610, and the hall element is located at a position close to the axial center of the rotating shaft 614 in the axial direction; the magnet mounting base 618 is provided with a plurality of magnets, which are distributed around and rotate around the hall element, and the plurality of magnets are disposed in the same direction of magnetic poles to increase the magnetic field. The structure is simple and the cost is low.

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

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A man-machine interaction somatosensory vehicle comprises a vehicle body, a first wheel (51) and a second wheel (52) which are respectively arranged on the left side and the right side of the vehicle body, wherein the vehicle body comprises a supporting framework (1), a battery (2), a main control circuit board (3) and pedals for a user to step on, and the pedals comprise a first pedal (41) and a second pedal (42); the bicycle is characterized in that the first wheel shaft (511) is mounted on the supporting framework (1) and can rotate, the first pedal (41) is fixed on the first wheel shaft (511), the second wheel shaft (521) is mounted on the supporting framework (1) and can rotate, and the second pedal (42) is fixed on the second wheel shaft (521).

2. The human-computer interaction somatosensory vehicle is characterized by further comprising a tilting angle sensing device, a controller and a rotation angle sensing device, wherein the tilting angle sensing device detects front and back tilting angle change information of the supporting framework (1), the rotation angle sensing device comprises a first rotation angle sensing device (61) and a second rotation angle sensing device (62), the first rotation angle sensing device (61) detects rotation angle change information of the first pedal (41) relative to the supporting framework (1), and the second rotation angle sensing device (62) detects rotation angle change information of the second pedal (42) relative to the supporting framework (1); the inclination angle sensing device and the controller are arranged on the main control circuit board (3), and the main control circuit board (3) and the battery (2) are fixedly arranged on the supporting framework (1).

3. The human-computer interaction somatosensory vehicle according to claim 2, wherein the rotation angle sensing device comprises a large gear (611), a small gear (613), a mounting frame (615) and an encoder assembly, the mounting frame (615) is fixed on the support frame (1), a rotating shaft (614) of the small gear (613) is rotatably mounted on the mounting frame (615), the large gear (611) is fixed on the first wheel shaft (511) or the second wheel shaft (521) and is in meshing transmission with the small gear (613), and the transmission ratio of the large gear to the small gear is greater than 1; the encoder assembly comprises a trigger component and a sensing component, wherein the trigger component is fixed on a rotating shaft (614) and rotates along with the rotating shaft (614), and the sensing component is fixed on a mounting frame (615).

4. The human-computer interaction somatosensory vehicle according to claim 2, wherein the first rotation angle sensing device (61) is arranged on the first wheel axle (511), the first pedal (41) or the supporting framework (1), and the second rotation angle sensing device (62) is arranged on the second wheel axle (521), the second pedal (42) or the supporting framework (1); the inclination angle sensing device comprises a gyroscope and an acceleration sensor; the rotation angle sensing device is a photoelectric encoder or a Hall encoder.

5. The human-computer interaction somatosensory vehicle according to claim 1, wherein the first pedal (41) is fixedly mounted on the first pedal mounting seat (411) through a fastener, and the first pedal mounting seat (411) is fixedly connected with or integrally formed with the first wheel axle (511); the second pedal (42) is fixedly arranged on the second pedal mounting seat (421) through a fastener, and the second pedal mounting seat (421) is fixedly connected with the second wheel shaft (521) or integrally formed.

6. The human-computer interaction somatosensory vehicle is characterized in that a first pedal (41) is fixedly mounted on a first pedal mounting seat (411) through a fastener, the first pedal mounting seat (411) is sleeved on a first wheel shaft (511) and is fixedly connected through a positioning pin, a positioning key and/or a locking nut; the second pedal (42) is fixedly arranged on the second pedal mounting seat (421) through a fastener, and the second pedal mounting seat (421) is sleeved on the second wheel shaft (521) and is fixedly connected with the second wheel shaft through a positioning pin, a positioning key and/or a locking nut.

7. The human-computer interaction somatosensory vehicle is characterized in that the first wheel shaft (511) is rotatably arranged on one side of the supporting framework (1) through a first bearing (111), the second wheel shaft (521) is rotatably arranged on the other side of the supporting framework (1) through a second bearing (121), the first bearing (111) is sleeved on the first wheel shaft (511) and is fixedly installed on the supporting framework (1) through a first bearing installation part (11), and the second bearing (121) is sleeved on the second wheel shaft (521) and is fixedly installed on the supporting framework (1) through a second bearing installation part (12).

8. The human-computer interaction somatosensory vehicle is characterized in that the first bearing mounting piece (11) and the second bearing mounting piece (12) are pressing blocks with bearing mounting grooves, correspondingly, a first bearing mounting part (112) and a second bearing mounting part (122) which are matched with the first bearing mounting piece (11) and the second bearing mounting piece (12) are respectively arranged on the left side and the right side of the supporting framework (1), the first bearing mounting piece (11) is fixed on the first bearing mounting part (112) of the supporting framework (1) through a fastener and presses and fixes the first bearing (111), and the second bearing mounting piece (12) is fixed on the second bearing mounting part (122) of the supporting framework (1) through a fastener and presses and fixes the second bearing (121).

9. The human-computer interaction somatosensory vehicle according to claim 8, wherein the first bearing mount (11) is arranged on the first wheel shaft (511) at a position between the first wheel (51) and the first pedal mount (411), and the second bearing mount (12) is arranged on the second wheel shaft (521) at a position between the second wheel (52) and the second pedal mount (421).

10. The human-computer interaction somatosensory vehicle according to any one of claims 1-9, further comprising a first inductive switch (71) for detecting whether a person is on the first pedal (41) and a second inductive switch (72) for detecting whether a person is on the second pedal (42), wherein the first inductive switch (71) and the second inductive switch (72) are infrared induction devices comprising an infrared emitting end and an infrared receiving end.