WO2019006652A1

WO2019006652A1 - Human-machine interaction motion sensing vehicle

Info

Publication number: WO2019006652A1
Application number: PCT/CN2017/091618
Authority: WO
Inventors: 应佳伟; 陈辉
Original assignee: 杭州畅动智能科技有限公司
Priority date: 2017-07-01
Filing date: 2017-07-04
Publication date: 2019-01-10

Abstract

A human-machine interaction motion sensing vehicle comprises a supporting skeleton (1), wheels (2) connected to the supporting skeleton (1), a steering rod (3) mounted on the supporting skeleton (1) and used for controlling the steering of the wheels (2), a pedal device (4) mounted on the supporting skeleton (1), a motion sensor (5), located between the pedal device (4) and the supporting skeleton (1) and used for sensing position information of the gravity center of a user on the pedal device (4), a driving device (100) for driving the wheels (2) to rotate, and a control device (6) for controlling the output force of the driving device (100) according to the position information of the gravity center. In the human-machine interaction motion sensing vehicle, the steering is controlled by means of the steering rod; the advance, retreat, acceleration, deceleration and braking are controlled by means of a forward tilt, a backward tilt and an upright stand, that is, the gravity center distribution of a human body, and accordingly, the human-machine interaction motion sensing vehicle has high safety and high playability.

Description

Human-computer interaction car

Technical field

The invention relates to the technical field of a body-sensing vehicle, and in particular to a human-machine interaction body-sensing vehicle.

Background technique

The somatosensory car and the thinking car are mainly based on a basic principle called "dynamic stability". The gyroscope and acceleration sensor inside the car body are used to detect the change of the car body posture and use servo control. The system precisely controls the unit to make the appropriate adjustments to maintain the balance of the system.

The existing body-sensing car is generally divided into two types: an operating lever and a non-operating lever. Among them, the body-sensing car with the operating lever, the forward, backward and steering of the vehicle body are controlled by the operating lever for specific operation, and the belt operation is performed. The electric balance car of the pole has poor playability.

The body-sensing car without the operating lever is controlled by the inclination of the entire vehicle body, and the steering is performed by the user's foot on the pedal platform, and the relative rotation angle difference between the two pedal platforms is adopted. Control implementation, this type of car is highly playable, but the balance is poor and the safety performance is low.

Summary of the invention

The invention aims to overcome the prior art and to provide a human-machine interaction body-sensing vehicle.

In order to achieve the above object, the present invention provides a human-machine interactive car, which comprises a support frame, a wheel connected to the support frame, and a steering rod mounted on the support frame for controlling the steering of the wheel. a pedal device mounted on the support frame, a body sensor located between the pedal device and the support frame, and configured to sense position information of a center of gravity of a user on the foot device a driving device for rotating the wheel and a control device for controlling an output force of the driving device according to the position information of the center of gravity.

Further, the number of the somatosensory sensors is one, and the number of the pedal devices is at least one, and the somatosensory sensor is located between the support frame and one of the pedal devices for sensing the center of gravity of the user. Position information, the control device controls an output force of the driving device according to the position information of the center of gravity of the user sensed by the body sensor.

Further, the somatosensory sensor is a pressure sensor, and the somatosensory sensor includes two sensing element regions that are distributed back and forth in a forward direction of the human-machine interactive body-sensing vehicle. The two sensing element regions respectively sense the front pressure and the rear pressure of the corresponding pedal device to obtain the position information of the center of gravity of the user.

Further, the control device controls an output force of the driving device according to a difference in pressure sensed by the two sensing element regions.

Further, the body sensor is an angle sensor, and a pedal device corresponding to the body sensor is rotatably connected to the support frame, and the body sensor collects relative angle information of the corresponding pedal device and the support frame. Get the user's center of gravity location information.

Further, the control device controls an output force of the driving device according to an angle information of the pedal device relative to the support frame.

Further, the body sensor includes two displacement sensing modules, and two elastic elements are further disposed between the pedal device corresponding to the body sensor and the support frame, and the two elastic components are in the person The body sensor is distributed forward and backward in the forward direction of the body, and the body sensor acquires the position information of the center of gravity of the user by collecting the shape variables of the two elastic elements.

Further, the control device controls the output force of the driving device according to the difference between the elastic deformation variables of the two elastic members.

Further, the somatosensory sensor is a mouse-like ball structure that protrudes into a corresponding pedal device, and the mouse ball structure can be freely scrolled and can collect relative rolling displacements of the mouse-like ball and the corresponding pedal device. The somatosensory sensor acquires the position information of the center of gravity of the user by collecting the relative rolling displacement of the corresponding pedal device.

Further, the control device controls an output force of the driving device according to a relative rolling displacement of the body sensor and the corresponding pedal device.

Further, the number of the somatosensory sensors is two, and the number of the pedal devices is two, and the support frame is provided with one of the somatosensory sensors between each pedal device, and the two of the somatosensory sensors sense The position information of the center of gravity of the user, the control device controls the output force of the driving device according to the position information of the center of gravity of the user sensed by the two somatosensory sensors.

Further, each of the somatosensory sensors is a pressure sensor, and the two pedal devices are distributed before and after the moving direction of the human-machine interaction body, and the two body sensors sense the pressure value on the corresponding pedal device. , to obtain the user's position of the center of gravity.

Further, the control device controls the output force of the driving device according to the difference between the pressures of the two pedal devices sensed by the two body sensors.

Further, each of the somatosensory sensors is a pressure sensor, and each of the somatosensory sensors includes two sensing element regions that are distributed forward and backward in the forward direction of the human-machine interactive body sensing vehicle, and two body sensing sensors. The device senses the front pressure and the rear pressure of the corresponding pedal device through the corresponding two sensing element regions, and acquires the position information of the center of gravity of the user.

Further, the control device senses a pressure according to the two sensing element regions corresponding to the pedal device, and calculates a pressure difference between the front portion and the rear portion of the pedal device, and the control device according to the two devices The sum of the pressure differences between the front and the rear of the pedal device controls the output force of the drive device.

Further, each of the somatosensory sensors is an angle sensor, and the two pedal devices are rotatably connected to the support frame, and the two somatosensory sensors obtain the angle information of the corresponding pedal device relative to the support frame. User's center of gravity location information.

Further, the control device controls the output force of the driving device according to the sum of the angle information of the two pedal devices relative to the support frame.

Further, each of the sensory sensors is a displacement sensor, and each of the pedal devices and the support frame are further provided with an elastic element, and the two pedal devices are in front of and behind the moving direction of the human-machine interaction body The two body sensors acquire the position information of the center of gravity of the user by collecting the shape variables of the corresponding elastic elements.

Further, each of the sensory sensors includes two displacement sensing modules, and each of the pedal devices is further provided with two elastic elements between the supporting frame, and the two elastic elements are in the human body interaction sense The vehicle is distributed forward and backward in the forward direction of the vehicle, and the two body sensors acquire the position information of the center of gravity of the user by collecting the shape variables of the corresponding elastic elements.

Further, the control device calculates a shape difference value of the two elastic elements corresponding to each pedal device according to the shape variables of the corresponding two elastic elements collected by each of the body sensor, the control device according to the two The sum of the difference values of the deformation variables controls the output force of the driving device.

Further, each of the somatosensory sensors is a mouse-like ball structure that protrudes into a corresponding pedal device. The mouse ball structure can be freely scrolled and can collect relative rolling displacements of the mouse-like ball and the pedal device. The individual sensor acquires the position information of the center of gravity of the user by collecting the relative rolling displacement of the corresponding pedal device.

Further, the control device controls the output force of the driving device according to the sum of the relative rolling displacements of the two somatosensory sensors and the corresponding pedal device.

Further, the number of the wheels is two, and two wheels are laterally disposed at the front and rear ends of the support frame.

Further, a front end of the support frame is provided with an illumination lamp.

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

Further, the carrier is provided with a glove box.

Further, the carrier is provided with a seat cushion.

Further, a front end of the carrier is provided with a seat cushion, and a rear end of the carrier is provided with a glove box.

Further, the support frame is provided with a receiving groove for receiving the body sensor, and the pedal device corresponding to the body sensor covers a corresponding receiving groove.

Further, a receiving cavity is further disposed on the supporting frame, a battery and a circuit board are mounted in the receiving cavity, and the control device is disposed on the circuit board.

The present invention also provides a human-machine interaction car, comprising a support frame, a wheel connected to the support frame, a steering rod mounted on the support frame for controlling steering of the wheel, and mounted on the support frame a pedal device, located between the pedal device and the support frame and for acquiring a position of a center of gravity of a user on the pedal device by sensing a front pressure and a rear pressure of the pedal device A somatosensory sensor for information, a driving device for driving the rotation of the wheel, and a control device for controlling the output force of the driving device based on the position information of the center of gravity.

The present invention also provides a human-machine interaction car, comprising a support frame, a wheel connected to the support frame, a steering rod mounted on the support frame for controlling steering of the wheel, and mounted on the support frame a pedal device, located between the pedal device and the support frame and for acquiring a center of gravity of a user on the pedal device by sensing relative angle information of the pedal device and the support frame A sensory sensor of position information, a driving device that drives the rotation of the wheel, and a control device that controls the output force of the driving device based on the position information of the center of gravity.

The present invention also provides a human-machine interaction car, comprising a support frame, a wheel connected to the support frame, a steering rod mounted on the support frame for controlling steering of the wheel, and mounted on the support frame a pedal device, located between the pedal device and the support frame and for sensing displacement information of the pedal device relative to the support frame to obtain a center of gravity of a user on the pedal device A sensory sensor of position information, a driving device that drives the rotation of the wheel, and a control device that controls the output force of the driving device based on the position information of the center of gravity.

The present invention also provides a human-machine interaction car, comprising a support frame, a wheel connected to the support frame, a steering rod mounted on the support frame for controlling steering of the wheel, and mounted on the support frame a pedal device, located between the pedal device and the support frame and configured to sense a position of a center of gravity of a user on the foot device by sensing rolling displacement information of the pedal device a somatosensory sensor, a driving device that drives the rotation of the wheel, and a control device that controls the output force of the driving device based on the position information of the center of gravity.

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

In the use of the machine-interactive body-sensing vehicle of the present invention, the steering is controlled by the steering lever, and the body-sensing sensor acquires the position information of the center of gravity of the user on the pedal device by stepping on the pedal device, and the position information of the center of gravity obtained by the control device by calculating the body-sensing sensor It is judged whether the human body is tilted forward, backward or upright, and the forward tilting of the human body is to calculate the forward tilting amplitude value of the human body and calculate the recoil amplitude of the human body when reclining, when the control device calculates that the center of gravity of the human body is tilted forward. The control device controls the driving device to output a positive driving force. When the control device calculates that the center of gravity of the human body is tilted backward, the control device controls the driving device to output a reverse driving force. When the control device calculates that the center of gravity of the human body is not tilted, the driving device The driving force is not output, and the greater the magnitude of the center of gravity tilt, the greater the driving force that the control device controls the output of the driving device; the positive driving force provided by the driving device acts on the vehicle body to cause the vehicle body to have an acceleration of forward movement. The car body has a tendency to move forward, so that the car body can be added when the car body moves forward. Forward, backward movement in the body can make the body back up to speed is reduced back to zero speed brake that is, if the output at this time to continue to drive forward the driving force, the vehicle starts to move forward. When the vehicle body moves forward, the driving device provides the positive driving force for the vehicle body to be tilted forward by the center of gravity of the person. During the acceleration of the vehicle body, the person has a tendency to move backward, and the center of gravity of the person It is necessary to tilt forward first, so that there is no problem that the person falls from the vehicle due to excessive acceleration; the reverse driving force provided by the driving device acts on the vehicle body to make the vehicle body have the acceleration of the backward movement to make the vehicle body It has a tendency to move forward, so that the vehicle body can be accelerated and retracted when the vehicle body moves backwards, and the forward speed of the vehicle body can be reduced when the vehicle body moves forward until the forward speed is zero, if the driving device continues to output at this time. With the positive driving force, the car body starts to move backwards. When the vehicle body moves backwards, the driving device provides the rearward driving force of the vehicle body to be tilted backward by the center of gravity of the person. During the acceleration of the vehicle body, the person has a tendency to move forward, and the center of gravity needs Tilting backwards first, so that there is no problem that the person falls from the vehicle due to excessive acceleration, so that the human-machine interactive body feeling vehicle of the invention has high safety performance and strong playability.

DRAWINGS

FIG. 1 is a schematic structural view of a human-machine interaction body-sensing vehicle provided by the present invention.

2 is a partial cross-sectional view of one embodiment of FIG. 1.

3 is a partial cross-sectional view of one embodiment of FIG. 1.

4 is a partial cross-sectional view of one embodiment of FIG. 1.

Figure 5 is a partial cross-sectional view of one embodiment of Figure 1.

Figure 6 is a partial cross-sectional view of one embodiment of Figure 1.

Figure 7 is a partial cross-sectional view of one embodiment of Figure 1.

Figure 8 is a partial cross-sectional view of one embodiment of Figure 1.

Figure 9 is a partial cross-sectional view of one embodiment of Figure 1.

Figure 10 is a schematic illustration of the advancement of the present invention.

Figure 11 is a schematic view of the present invention when it is retracted.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to FIG. 1-11, a human-computer interaction car provided by the present invention includes a support frame 1 and a wheel 2 connected to the support frame 1 and mounted on the support frame 1 for controlling the wheel 2 a steering steering rod 3, a pedal device 4 mounted on the support frame 1, between the pedal device 4 and the support frame 1 and for sensing use on the pedal device 4 The sensory sensor 5 of the center of gravity position information, the drive device 100 that drives the rotation of the wheel 2, and the control device 6 that controls the output of the drive device 100 based on the position of the center of gravity.

When the human-machine interactive body-sensing vehicle of the present invention is used, the steering is controlled by the steering rod 3. During the riding, the user steps on the pedal device 4, and the body-sensing sensor 5 senses the position of the center of gravity of the user on the pedal device 4. The control device 6 determines whether the human body is tilted forward, backward or upright by calculating the position of the center of gravity acquired by the body sensor 5, and calculates the forward tilting amplitude value when the human body leans forward and the human body reclining amplitude value when reclining. When the control device 6 calculates that the center of gravity of the human body is tilted forward, the control device 6 controls the driving device 100 to output the forward driving force, and when the control device 6 calculates that the center of gravity of the human body is tilted backward, the control device 6 controls the output of the driving device 100. In the reverse driving force, when the control device 6 calculates that the center of gravity of the human body is not tilted, the driving device 100 does not output the driving force, and the greater the magnitude of the gravity center tilt, the larger the driving force that the control device 6 controls the driving device 100 to output.

The positive driving force provided by the driving device 100 acts on the vehicle body, so that the acceleration of the vehicle body having the forward moving motion causes the vehicle body to have a tendency to move forward, so that the vehicle body can accelerate forward when the vehicle body moves forward. When the vehicle body moves backward, the vehicle body receding speed can be reduced until the retreating speed is zero. If the driving device 100 continues to output the positive driving force at this time, the vehicle body starts to move forward. When the vehicle body moves forward, the driving device 100 provides a positive driving force for the vehicle body to be forwardly tilted by the center of gravity of the person. During the acceleration of the vehicle body, the person has a tendency to move backward, and the center of gravity of the person It needs to be tilted forward so that there is no problem of people falling off the car due to excessive acceleration.

The reverse driving force provided by the driving device 100 acts on the vehicle body, so that the acceleration of the vehicle body having the backward movement causes the vehicle body to have a tendency to move forward, so that the vehicle body can be accelerated and retracted when the vehicle body moves backward. When the vehicle body moves forward, the forward speed of the vehicle body can be lowered until the forward speed is zero. If the driving device 100 continues to output the positive driving force at this time, the vehicle body starts to move backward. When the vehicle body moves backward, the driving device 100 provides the rear driving force of the vehicle body to be tilted backward by the center of gravity of the person. During the acceleration of the vehicle body, the person has a tendency to move forward, and the center of gravity of the person It is necessary to tilt backwards first, so that there is no problem that people fall from the car due to excessive acceleration.

In order to facilitate the description of the present invention, it is first described that in the present invention, the front-rear direction of the support frame 1 refers to the running direction of the vehicle body (the tangential method of the vehicle body motion trajectory when turning), the foot of the present invention. The number of the tread devices 4 can be set to one or two, and each of the tread devices 4 corresponds to one foot position, and can be set according to actual needs. For example, when the body sensor 5 is one, the foot device 4 can be It may be two or two. In this case, the somatosensory sensor 5 is only placed between one of the pedal devices 4 and the support frame 1; when the somatosensory sensor 5 is two, the number of the footrest devices 4 corresponds to two. In this case, the two sensory sensors 5 are placed between the two pedal devices 4 and the support frame 1, respectively.

The rear end of the supporting frame 1 of the human-computer interaction car of the present invention is mounted with a carrier 7 at the rear end of the supporting frame 7. The rear end of the carrier 7 can be provided with a seat cushion 8 for carrying people and a container 9 for people to use. Of course, the rear end of the support frame 1 may not be mounted with the carrier 7, and the container 9 and the seat cushion 8 may also be selected one by one or any object on the carrier 7 is not placed, and people can freely assemble.

The illuminating lamp 10 is attached to the front end of the support frame 1 of the human-machine interactive body-sensing vehicle of the present invention to facilitate the use of lighting, and the ornamental property can also be improved. Of course, the front end of the support frame 1 may not be provided with the illuminating lamp 10.

The two wheels 2 of the human-machine interactive body-sensing vehicle of the present invention are laterally mounted at the front and rear ends of the support frame 1, respectively, and the driving device 100 is, for example, a hub motor mounted on the wheel 2 at the rear end for driving the wheel 2 of the displacement rear end. The principle that the steering rod 3 controls the steering of the front wheel 2 is similar to the steering of the bicycle, the electric vehicle and the handlebar of the tricycle, and the principle thereof will not be described herein. Of course, the number of the driving devices 100 may be two, respectively installed in the two wheels 2 for driving the rotation of the two wheels 2. In the illustration of the present invention, the number of the footrest devices 4 is two and distributed front and rear. Of course, in other embodiments, the footrest devices 4 can also be arranged side by side.

The support frame 1 of the human-machine interactive body-sensing vehicle of the present invention is provided with a receiving groove 11 for receiving the body-sensing sensor 5, so that the body-sensing sensor 5 is conveniently disposed between the support frame 1 and the pedal device 4.

The support frame 1 of the human-machine interactive body-sensing vehicle of the present invention is provided with a receiving cavity 12, and a circuit board and a battery are mounted in the receiving cavity 12, and a control device 6 and an acceleration sensor are arranged on the circuit board to form a human-machine interaction. The necessary electronic components of the body car, the functions of the various electronic components will not be described here. Preferably, a cover plate 13 can be placed on the receiving cavity 12 to cover the receiving cavity 12 to prevent water from entering the water.

The footrest device 4 of the present invention may include, for example, a pedal bottom plate and a protective holster sleeved on the pedal bottom plate. The pedal bottom plate may be mounted on the support frame 1, and the body sensor 5 is located between the pedal bottom plate and the support frame 1. The protective holster can improve the comfort of pedaling while preventing slippage.

It should be further noted that the specific embodiments of the human-machine interaction car of the present invention can be divided into two categories. The first broad type of embodiment can be summarized as sensing the position of the center of gravity of the user on the pedal device 4 by means of a somatosensory sensor 5, and the second general embodiment is to sense the pedal device 4 by the two body sensor 5s. User's center of gravity location information.

The content of the first type of embodiment is that the number of the somatosensory sensors is one, the number of the tread devices 4 is two, and the somatosensory sensor 5 is located in the support frame 1 and one of the pedal devices 4 . Between and for obtaining the position information of the center of gravity of the user on the pedal device 4, the control device 6 controls the output force of the driving device 100 based on the position information of the center of gravity sensed by the body sensor 5.

Specifically, for example, as shown in FIG. 2, the body sensor 5 is a pressure sensor, and the body sensor 5 includes two sensing element regions 501 distributed in the forward direction of the human-machine interaction car, two sensing elements. The region 501 is preferably distributed at the front end portion and the rear end portion of the pedal device 4, and the sensory sensor 5 senses the front pressure and the rear pressure of the corresponding pedal device 4 through the two sensing element regions 501 to obtain the position of the center of gravity of the user. information. The control device 6 controls the output force of the driving device 100 according to the difference between the front pressure and the rear pressure of the pedal device 4 sensed by the two sensing element regions 501. The specific principle is that the control device 6 receives the pressure values sensed by the two sensing element regions 501, calculates the pressure difference sensed by the two sensing element regions 501, and controls the output of the driving device 100 when the pressure difference value is positive. The forward driving force drives the vehicle body to advance, and when the pressure difference is negative, the driving device 100 outputs the reverse driving force to drive the vehicle body forward, and the larger the pressure difference, the larger the driving force outputted by the driving device 100. Specifically, when the human body is tilted forward, the pressure sensed by the sensing element region 501 located at the front of the pedal device 4 is greater than the pressure sensed by the sensing element region 501 located at the rear of the pedal device 4, for the entire pressure sensor. The pressure sensor outputs a positive pressure signal. At this time, the control device 6 receives a positive pressure signal, and the control device 6 controls the driving device 100 to output a positive driving force to drive the vehicle body to advance. Tilting backward so that the pressure sensed by the sensing element region 501 at the front of the pedal device 4 is less than the pressure sensed by the sensing element region 501 located at the rear of the pedal device 4, at which time the control device 6 receives A negative pressure signal, the control device 6 controls the driving device 100 to output a reverse driving force to drive the vehicle body to retreat.

For example, as shown in FIG. 3, the sensory sensor 5 is an angle sensor, and the pedal device 4 corresponding to the sensory sensor 5 is rotatably connected to the support frame 1. The body sensor 5 is configured by collecting a corresponding pedal device 4 and The relative angle information of the support frame 1 acquires the position information of the center of gravity of the user. The control device 6 controls the output force of the driving device 100 according to the angle information of the pedal device 4 with respect to the support frame 1. The angle sensor collects the angle signal that the pedal device 4 flips forward to be a forward angle signal, and the backward angle signal that is reversed is a reverse angle signal. When the human body is tilted forward, the front pressure of the pedal device 4 is greater than the rear pressure, and the pedal device 4 is turned forward, and the angle sensor acquires a positive angle signal, and the information of the flip angle signal and the position of the center of gravity of the user is Correspondingly, at this time, the control device 6 receives the positive angle signal, and the control device 6 controls the driving device 100 to output the positive driving force to drive the vehicle body to advance. Of course, the larger the positive angle signal, the greater the driving force of the output; The principle that the control device 6 controls the driving device 100 to output the reverse driving force to drive the vehicle body to retreat and the output driving force is similar to the above, and details are not described herein again.

In this embodiment, a pivot 15 is disposed in the receiving groove 11 of the supporting frame 1, and the pedal bottom plate of the pedal device 4 is rotatably connected with the pivot shaft 15, so that the pedal device 4 is rotatably connected with the supporting frame 1.

For example, as shown in FIG. 4, the body sensor 5 includes two displacement sensing modules, and two elastic members 16 are further disposed between the pedal device 4 corresponding to the sensory sensor 5 and the support frame 1. The two elastic members 16 are distributed back and forth in the advancing direction of the human-machine interaction body, and the two elastic members 16 are preferably distributed at the front end portion and the rear end portion of the pedal device 4, so that the acquired converted values are more accurate. The body sensor 5 acquires the position information of the center of gravity of the user by collecting the shape variables of the two elastic members 16. The control device 6 controls the output force of the drive device 100 based on the difference in the elastic deformation variables of the two elastic members 16. It should be noted that the downward deformation amount of the elastic member 16 collected by the displacement sensing module is recorded as a positive value, and the elastic deformation of the upwardly pulled upward is recorded as a negative value. It can be understood that the human body is normally stepped on the pedal device 4, and the deformation variables of the two elastic members 16 are the same. When the human body is tilted forward, the front pressure of the pedal device 4 is greater than the rear pressure, and the front portion of the pedal device 4 is The elastic member 16 is contracted downward, and the elastic member 16 at the rear of the pedal device 4 is contracted downward or elongated upward, and the elastic member 16 located at the rear of the pedal device 4 due to poor force is applied. Even if the deformation variable is smaller than the elastic deformation of the elastic member 16 located at the front portion, the control device 6 calculates the elastic member of the elastic member 16 according to the elastic displacement variables of the two displacement sensing modules, and calculates the front elastic member 16 . The difference between the elastic deformation variables of the rear elastic member 16 is positive, and the control device 6 controls the driving device 100 to output the positive driving force to drive the vehicle body to advance. Of course, the larger the elastic shape variable difference, the more the driving force output by the driving device 100 is. Big. It can be understood that the principle that the control device 6 controls the driving device 100 to output the reverse driving force to drive the vehicle body to retreat and the output driving force is similar to the above principle, and details are not described herein again.

In this embodiment, the elastic member 16 is a spring, and the body sensor 5 is disposed inside the spring for collecting the relative displacement of the bottom surface of the pedal device 4 facing the body sensor 5, which is located at the point where the elastic member 16 can be retracted. the amount.

In addition, as shown in FIG. 8 , in other embodiments, the somatosensory sensor 5 is a mouse-like ball structure that protrudes into the corresponding pedal device 4 , and the mouse ball structure includes a mouse-like ball and a collection mouse ball. The rolling displacement sensor of the rolling displacement, the mouse-like ball can be freely scrolled, and the rolling displacement sensor can collect the relative rolling displacement of the mouse-like ball and the corresponding pedal device 4, and the somatosensory sensor 5 is collected and corresponding to the pedal device 4 The relative rolling displacement acquires the position information of the center of gravity of the user, and the control device 6 controls the output force of the driving device 100 according to the relative rolling displacement of the body sensor 5 and the corresponding pedal device 4. Specifically, when the human body leans forward, the mouse-like ball on the pedal device 4 is subjected to the forward force, the mouse-like ball rotates clockwise, and the somatosensory sensor 5 collects the relative rolling displacement of the mouse-like ball and the corresponding pedal device 4. And the forward displacement, at this time, the relative rolling displacement signal received by the control device 6 is a forward displacement signal, and the control device 6 controls the driving device 100 to output a positive driving force to drive the vehicle body to advance, and of course the received elastic deformation variable is positive. The larger the displacement signal is, the larger the driving force is. It can be understood that the principle that the control device 6 controls the driving device 100 to output the reverse driving force to drive the vehicle body to retreat and the output driving force is similar to the above principle, and details are not described herein again.

The content of the second type of implementation is that the number of the somatosensory sensors is two, the number of the tread devices 4 is two, and one space between the support frame 1 and each of the pedal devices 4 is provided. The somatosensory sensor 5 is used to acquire the position information of the center of gravity of the user on the pedal device 4, and the control device 6 is based on the position information of the center of gravity of the user sensed by the two of the somatosensory sensors 5. The output force of the driving device 100 is controlled.

Specifically, as shown in FIG. 5, in this embodiment, the two pedal devices 4 are distributed before and after the forward direction of the human-machine interaction body-sensing vehicle. Each of the sensory sensors 5 is a pressure sensor, and the two body sensor 5 acquires the position information of the center of gravity of the user by sensing the pressure value on the corresponding pedal device 4. The control device 6 controls the output force of the driving device 100 according to the pressure values of the two pedal devices 4. The working principle of the embodiment is basically the same as that of the body sensor 5 in the above embodiment. The difference is that only the difference between the pressures sensed by the two body sensor 5s needs to be calculated, and details are not described herein.

Of course, in other embodiments (the embodiment is not shown), the two foot devices 4 may also be spaced apart in a direction perpendicular to the advancing direction of the human-machine interaction car, in this embodiment, Each of the sensory sensors 5 is a pressure sensor, and each of the pressure sensors includes two sensing element regions 501 distributed front and rear. Preferably, two sensing element regions 5 of each of the body sensing sensors 5 are respectively located. The front end portion and the rear end portion of the corresponding pedal device 4, the two body sensor 5 sense the front pressure and the rear pressure on the corresponding pedal device 4 through the corresponding sensing element region 501, and obtain the position information of the center of gravity of the user. . The working principle of this embodiment is basically the same as that of the above-described body sensor 5 for the pressure sensor, except that the control device 6 first calculates the difference in pressure between the two sensing element regions 501 of each of the body sensor 5. Value, then calculate the difference between the two differences. Of course, the structure of the pressure sensor in this embodiment is also applicable to two pedal devices distributed front and rear, and the control principle thereof is also the same as this embodiment.

As shown in FIG. 6 , the somatosensory sensor 5 is an angle sensor, and the two pedal devices 4 are rotatably connected to the support frame 1 , and the two somatosensory sensors 5 are opposite to the support frame 1 by collecting corresponding pedal devices 4 . The angle information obtains the position information of the user's center of gravity. The control device 6 controls the output force of the driving device 100 based on the angle information of the two pedal devices 4 with respect to the support frame 1. The working principle of the embodiment is basically the same as that of the above-described body sensor 5 for the angle sensor, except that the control device 6 needs to calculate the sum of the angle information sensed by the two angle sensors first, and calculate the sum of the angle information. After the control. In this embodiment, the two pedal devices 4 are distributed before and after the moving direction of the human-machine interaction vehicle. In other embodiments, the two pedal devices 4 interact with the human-machine. The forward direction of the vehicle is distributed in a vertical direction. Of course, in this embodiment, the two footrests 4 need to be rotatably connected to the support frame 1 by means of two pivots 15.

As shown in FIG. 7, in this embodiment, each of the body sensor 5s is a displacement sensor, and each of the pedal devices 4 and the support frame 1 is further provided with an elastic member 16, and the two pedals are The device 4 is distributed before and after the forward direction of the human-machine interaction car, preferably, the body sensor 5 is distributed in the middle of the two foot devices 4, and the two body sensor 5s are acquired by acquiring the shape variables of the corresponding elastic members 16. User's center of gravity location information. The control device 6 controls the output force of the drive device 100 based on the difference in the elastic deformation variables of the two elastic members 16. The working principle of this embodiment is basically different from that of the above-described body sensor 5 for the displacement sensor, the difference being that the control device 6 calculates the difference in the elastic shape of the elastic member 16 below the two pedal devices 4.

In other embodiments (not shown), each of the sensory sensors 5 includes two displacement sensing modules, and each of the pedal devices 4 and the support frame 1 is further provided with two elastic elements 16 that are distributed forward and backward. The two displacement sensing modules are preferably distributed at the front end portion and the rear end portion of the corresponding pedal device 4, and the two body sensor 5s acquire the position information of the center of gravity of the user by collecting the shape variable corresponding to the elastic member 16. The control principle of this embodiment is basically the same as that of the above-described body sensor 5 for the displacement sensor, except that the control device 6 needs to first calculate the bullet of the two elastic members 16 under each pedal device 4. The difference between the characteristic variables and then the sum of the elastic deformation differences corresponding to the two pedal devices 4 is controlled, and the control device 6 controls the output force of the driving device 100 based on the difference between the two elastic deformation differences.

In addition, as shown in FIG. 9, in other embodiments, each of the somatosensory sensors 5 is a mouse-like ball structure that protrudes into the corresponding pedal device 4, and the mouse ball structure can be freely scrolled and can be collected into a mouse-like structure. The relative rolling displacement of the ball and the corresponding pedal device 4, the two of the body sensor 5 acquire the position information of the center of gravity of the user by collecting the relative rolling displacement with the corresponding pedal device 4, the control device 6 according to the The relative rolling displacement of the sensory sensor 5 and the corresponding pedal device 4 controls the output force of the driving device 100. The control principle of this embodiment is basically the same as the control principle of the embodiment in which the somatosensory sensor 5 is a ball-like mouse structure, and the difference is that the control device 6 needs to sum the rolling displacement information corresponding to the two pedal devices 4, In this embodiment, the two pedal devices 4 are spaced apart in a direction perpendicular to the advancing direction of the human-machine interaction vehicle, and in other embodiments, the two pedal devices 4 may be distributed back and forth.

In summary, the machine-interactive body-sensing vehicle of the present invention controls the steering by the steering rod 3 during use, and the body-sensing sensor 5 acquires the position information of the center of gravity of the user on the pedal device 4 by stepping on the pedal device 4, and the control device 6 Calculating the position of the center of gravity obtained by the sensory sensor 5 determines whether the human body is tilted forward, backward or upright, and the forward tilting of the human body is calculated as the forward tilting amplitude value and the reclining amplitude value is calculated when the reclining is performed. When the control device 6 calculates that the center of gravity of the human body is tilted forward, the control device 6 controls the driving device 100 to output the forward driving force, and when the control device 6 calculates that the center of gravity of the human body is tilted backward, the control device 6 controls the driving device 100 to output the reverse direction. Driving force, when the control device 6 calculates that the center of gravity of the human body is not tilted, the driving device 100 does not output the driving force, and the greater the magnitude of the center of gravity tilt, the greater the driving force that the control device 6 controls the driving device 100 to output, therefore, the control The device 6 can control the body forward, backward, brake and forward acceleration and deceleration according to the position information of the body weight sensor collected by the body sensor 5, backward Speed and deceleration, so that the man-machine interaction somatosensory high vehicle safety performance of the invention has a strong and playability.

Although the present invention has been disclosed in the above preferred embodiments, it is not intended to limit the invention, and the invention may be modified and modified without departing from the spirit and scope of the invention. The scope of protection is subject to the scope of the claims.

Claims

A human-machine interactive car, characterized in that it comprises a supporting frame (1), a wheel (2) connected to the supporting frame (1), mounted on the supporting frame (1) and used for controlling the wheel ( 2) a steering steering rod (3), a pedal device (4) mounted on the support frame (1), between the pedal device (4) and the support frame (1) and for a body sensor (5) that senses position information of a center of gravity of a user on the footrest device (4), a driving device (100) that drives rotation of the wheel (2), and the control according to the position information of the center of gravity A control device (6) for driving the output of the device (100).
The human-machine interaction car according to claim 1, wherein the number of the sensory sensors is one, the number of the pedal devices (4) is at least one, and the sensory sensor (5) is located in the Between the supporting frame (1) and one of the pedal devices (4) for sensing the position of the center of gravity of the user, the control device (6) is based on the user sensed by the body sensor (5) The center of gravity position information controls the output force of the driving device (100).
The human-machine interactive body-sensing vehicle according to claim 2, wherein the body-sensing sensor (5) is a pressure sensor, and the body-sensing sensor (5) includes front-rear distribution in a forward direction of the human-machine interaction body-sensing vehicle. Two sensing element regions (501), the body sensing sensor (5) respectively senses the front pressure and the rear pressure of the corresponding pedal device (4) through the two sensing element regions (501) to acquire the user The position of the center of gravity.
The human-machine interactive body-sensing vehicle according to claim 3, characterized in that: the control device (6) controls the driving device (100) according to the difference in pressure sensed by the two sensing element regions (501) Output force.
The human-machine interaction car according to claim 2, wherein the body sensor (5) is an angle sensor, and the pedal device (4) corresponding to the body sensor (5) and the support frame ( 1) Rotating connection, the body sensor (5) acquires the position information of the center of gravity of the user by collecting the relative angle information of the corresponding pedal device (4) and the support frame (1).
The human-machine interactive body-sensing vehicle according to claim 5, characterized in that: the control device (6) controls the driving device according to the angle information of the footrest device (4) with respect to the supporting frame (1) ( 100) output force.
The human-machine interactive body-sensing vehicle according to claim 2, wherein the body-sensing sensor (5) comprises two displacement sensing modules, and a footrest device (4) corresponding to the body-sensing sensor (5) There are also two elastic elements (16) disposed between the supporting skeletons (1), and the two elastic elements (16) are distributed back and forth in the advancing direction of the human-machine interaction body, the body sensor (5) The position information of the center of gravity of the user is obtained by collecting the shape variables of the two elastic elements (16).
The human-machine interaction car according to claim 7, characterized in that the control device (6) controls the driving device (100) according to the difference between the elastic deformation variables of the two elastic members (16) Output force.
The human-machine interaction car according to claim 2, wherein the body sensor (5) is a mouse-like ball structure that protrudes into a corresponding foot device (4), and the mouse ball structure is free. Rolling and collecting the relative rolling displacement of the mouse-like ball and the corresponding pedal device (4), the body sensor (5) acquiring the center of gravity of the user by collecting the relative rolling displacement of the corresponding pedal device (4) location information.
The human-machine interaction car according to claim 9, characterized in that the control device (6) controls the driving device according to the relative rolling displacement of the body sensor (5) and the corresponding foot device (4) (100) output force.
The human-machine interactive body-sensing vehicle according to claim 1, wherein the number of the body-sensing sensors (5) is two, and the number of the pedal devices (4) is two, the support frame (1) Each of the pedal devices (4) is provided with one of the body sensor (5), and the two of the body sensor (5) sense position information of a user's center of gravity, and the control device (6) is based on two The position information of the center of gravity of the user sensed by the body sensor (5) controls the output force of the driving device (100).
The human-machine interactive body-sensing vehicle according to claim 11, wherein each of the body-sensing sensors (5) is a pressure sensor, and the two pedal devices (4) are in the forward direction of the human-machine interaction body-sensing vehicle. Before and after the distribution, the two somatosensory sensors (5) obtain the position information of the center of gravity of the user by sensing the pressure value on the corresponding pedal device (4).
The human-machine interaction car according to claim 12, characterized in that the control device (6) varies the pressures of the two pedal devices (4) sensed by the two body sensor (5) The output force of the driving device (100) is controlled.
The human-machine interaction car according to claim 11, wherein each of the body sensor (5) is a pressure sensor, and each of the body sensor (5) is included in a forward direction of the human-machine interaction car. Two sensing element regions (501) distributed before and after, the two body sensor (5) sense the front pressure and the rear pressure of the corresponding pedal device (4) through the corresponding two sensing element regions (501), and obtain the use The position of the center of gravity of the person.
The human-machine interactive body-sensing vehicle according to claim 14, wherein the control device (6) senses pressure according to the two sensing element regions (501) corresponding to the pedal device (4), and calculates The pressure difference between the front and the rear of the pedal device (4), the control device (6) according to two The sum of the pressure differences between the front and the rear of the pedal device (4) controls the output force of the driving device (100).
The human-machine interactive body-sensing vehicle according to claim 11, wherein each of the body-sensing sensors (5) is an angle sensor, and the two pedal devices (4) are rotatably connected to the support frame (1). The two somatosensory sensors (5) obtain the position information of the center of gravity of the user by collecting the angle information of the corresponding pedal device (4) relative to the support frame (1).
The human-machine interaction car according to claim 16, characterized in that the control device (6) controls the drive according to the sum of the angle information of the two foot devices (4) with respect to the support frame (1) The output force of the device (100).
The human-machine interaction car according to claim 11, characterized in that each of the body sensor (5) is a displacement sensor, and each foot device (4) is further provided between the footrest device (4) and the support frame (1). An elastic member (16), and two of the pedal devices (4) are distributed back and forth in a forward direction of the human-machine interaction body, and the two body sensors (5) acquire a shape variable corresponding to the elastic member (16). Get the user's center of gravity location information.
The human-machine interactive body-sensing vehicle according to claim 18, characterized in that the control device (6) controls the driving device (100) according to the difference of the elastic deformation variables of the two elastic members (16) Output force.
The human-machine interactive body-sensing vehicle according to claim 11, wherein each of the body-sensing sensors (5) comprises two displacement sensing modules, each of the pedal devices (4) and the supporting frame (1) There are also two elastic elements (16) disposed between the two elastic elements (16) in the forward direction of the human-machine interaction body, and the two body sensors (5) are collected by corresponding elastic elements. The shape variable of (16) acquires the position information of the center of gravity of the user.
The human-machine interaction car according to claim 20, characterized in that the control device (6) calculates each shape according to the shape variables of the corresponding two elastic elements (16) collected by each of the body sensor (5) The differential value of the two elastic elements (16) corresponding to the pedal device (4), the control device (6) controlling the output force of the driving device (100) according to the sum of the difference values of the two deformation variables .
The human-machine interactive body-sensing vehicle according to claim 11, wherein each of the body-sensing sensors (5) is a mouse-like ball structure extending into the corresponding pedal device (4), and the mouse ball structure can be Free rolling and acquiring the relative rolling displacement of the mouse-like ball and the pedal device (4), the two body sensor (5) acquiring the center of gravity of the user by collecting the relative rolling displacement of the corresponding pedal device (4) location information.
The human-machine interactive body-sensing vehicle according to claim 22, wherein the control device (6) controls the sum of relative rolling displacements of the two of the body sensor (5) and the corresponding foot device (4). The output force of the drive device (100).
The human-machine interactive car according to any one of claims 1 to 23, characterized in that the number of the wheels (2) is two, and two wheels (2) are laterally disposed on the support frame (1) ) front and rear ends.
The human-machine interactive car according to any one of claims 1 to 23, characterized in that the front end of the support frame (1) is provided with an illumination lamp (10).
The human-machine interactive car according to any one of claims 1 to 23, characterized in that the rear end of the support frame (1) is provided with a carrier (7).
The human-machine interactive car according to claim 26, characterized in that the carrier (7) is provided with a container (9).
The human-machine interactive car according to claim 26, characterized in that the carrier (7) is provided with a seat cushion (8).
The human-machine interactive car according to claim 26, characterized in that: the front end of the carrier (7) is provided with a seat cushion (8), and the rear end of the carrier (7) is provided with a glove box (9). ).
The human-machine interaction car according to any one of claims 1 to 23, characterized in that: the support frame (1) is provided with a receiving groove (11) for accommodating the body sensor (5), and the The footrest device (4) corresponding to the body sensor (5) covers the corresponding receiving groove (11).
The human-machine interactive body-sensing vehicle according to any one of claims 1 to 23, characterized in that: the supporting frame (1) further comprises a receiving cavity (12), wherein the receiving cavity (12) is provided with a battery and A circuit board on which the control device (6) is disposed.
A human-machine interactive car, characterized in that it comprises a supporting frame (1), a wheel (2) connected to the supporting frame (1), mounted on the supporting frame (1) and used for controlling the wheel ( 2) a steering steering rod (3), a pedal device (4) mounted on the support frame (1), between the pedal device (4) and the support frame (1) and for A body sensor (5) that acquires position information of a center of gravity of a user on the footrest device (4) by sensing a front pressure and a rear pressure of the pedal device (4), driving the wheel (2) a rotating drive device (100) and a control device (6) for controlling the output force of the drive device (100) based on the position of the center of gravity.
A human-machine interactive car, characterized in that it comprises a supporting frame (1), a wheel (2) connected to the supporting frame (1), mounted on the supporting frame (1) and used for controlling the wheel ( 2) a steering steering rod (3), a pedal device (4) mounted on the support frame (1), at the foot Between the tread device (4) and the support frame (1) and for acquiring the relative angle information of the pedal device (4) and the support frame (1) at the pedal device (4) a somatosensory sensor (5) for the position information of the center of gravity of the user, a driving device (100) for driving the rotation of the wheel (2), and a control device for controlling the output force of the driving device (100) according to the position information of the center of gravity (6).
A human-machine interactive car, characterized in that it comprises a supporting frame (1), a wheel (2) connected to the supporting frame (1), mounted on the supporting frame (1) and used for controlling the wheel ( 2) a steering steering rod (3), a pedal device (4) mounted on the support frame (1), between the pedal device (4) and the support frame (1) and for A body sensor (5), a driving station that senses position information of the center of gravity of the user on the footrest device (4) by sensing displacement information of the pedal device (4) relative to the support frame (1) A driving device (100) for rotating the wheel (2) and a control device (6) for controlling the output force of the driving device (100) according to the position information of the center of gravity.
A human-machine interactive car, characterized in that it comprises a supporting frame (1), a wheel (2) connected to the supporting frame (1), mounted on the supporting frame (1) and used for controlling the wheel ( 2) a steering steering rod (3), a pedal device (4) mounted on the support frame (1), between the pedal device (4) and the support frame (1) and for A body sensor (5) for sensing the positional information of the center of gravity of the user on the footrest device (4) by sensing the rolling displacement information of the pedal device (4), driving the wheel (2) A rotating drive device (100) and a control device (6) for controlling the output force of the drive device (100) based on the position of the center of gravity.