WO2019223738A1 - 人机互动体感车 - Google Patents

人机互动体感车 Download PDF

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Publication number
WO2019223738A1
WO2019223738A1 PCT/CN2019/088037 CN2019088037W WO2019223738A1 WO 2019223738 A1 WO2019223738 A1 WO 2019223738A1 CN 2019088037 W CN2019088037 W CN 2019088037W WO 2019223738 A1 WO2019223738 A1 WO 2019223738A1
Authority
WO
WIPO (PCT)
Prior art keywords
human
base
car
bubble
piece
Prior art date
Application number
PCT/CN2019/088037
Other languages
English (en)
French (fr)
Inventor
应佳伟
胡广伟
Original Assignee
杭州骑客智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201820793487.7U external-priority patent/CN208411981U/zh
Priority claimed from CN201820796393.5U external-priority patent/CN208411982U/zh
Priority claimed from CN201810730293.7A external-priority patent/CN109080742B/zh
Priority claimed from CN201821063387.5U external-priority patent/CN208665398U/zh
Application filed by 杭州骑客智能科技有限公司 filed Critical 杭州骑客智能科技有限公司
Priority to US17/058,658 priority Critical patent/US20210236951A1/en
Priority to EP19807658.0A priority patent/EP3805082A4/en
Publication of WO2019223738A1 publication Critical patent/WO2019223738A1/zh

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
    • B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
    • B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H33/00—Other toys
    • A63H33/28—Soap-bubble toys; Smoke toys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
    • B62J50/20—Information-providing devices
    • B62J50/21—Information-providing devices intended to provide information to rider or passenger
    • B62J50/22—Information-providing devices intended to provide information to rider or passenger electronic, e.g. displays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
    • B62J50/20—Information-providing devices
    • B62J50/21—Information-providing devices intended to provide information to rider or passenger
    • B62J50/225—Mounting arrangements therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
    • B62J50/20—Information-providing devices
    • B62J50/28—Information-providing devices characterised by quick release, e.g. snap on connectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J50/00—Arrangements specially adapted for use on cycles not provided for in main groups B62J1/00 - B62J45/00
    • B62J50/40—Ornaments or toys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J3/00—Acoustic signal devices; Arrangement of such devices on cycles
    • B62J3/10—Electrical devices
    • B62J3/14—Electrical devices indicating functioning of other devices, e.g. acoustic warnings indicating that lights are switched on

Definitions

  • the invention relates to a balance car, and in particular to a human-machine interactive somatosensory car with a middleware or a removable functional expansion member.
  • Human-computer interactive somatosensory car also known as electric balance car and thinking car
  • its operation principle is mainly based on a basic principle called “dynamic stability”, using the gyroscope and acceleration sensor inside the car body to detect the car
  • the body attitude changes, and the servo control system is used to precisely drive the motor to adjust accordingly to maintain the balance of the system.
  • Patent document with publication number CN104029769 discloses an electric balance twist car, including a top cover, an inner cover, a bottom cover, a hub motor, a rotation mechanism, and a balance control mechanism; the top cover, the inner cover, and the bottom cover each include two components.
  • the inner cover is located between the top cover and the bottom cover and cooperates with the two; the middle lateral position of the inner cover is fixed with a rotation mechanism; the left and right edges of the inner cover are fixed with a vertical position
  • the in-wheel motor provided; the balance control mechanism is fixed on the bottom cover and connected to the motor; the rotation mechanism includes two bearings, a shaft sleeve and two retaining springs; the two bearings are respectively fixed to two identical parts of the inner cover At the inner end, the shaft sleeve is fixed in two bearings and fixed on the inner cover by a snap spring.
  • the car body is divided into two parts that rotate left and right, and the user can control the running state of the balance car, such as forward, backward, and steering, only by using the force of the foot.
  • the human-machine interactive somatosensory car will need to be provided with function extensions such as lighting devices and display devices.
  • a function expansion member is provided in the middle of two frames that are relatively rotated, and the function expansion member may be a decorative part such as a lamp or a driving state display screen, or may be provided there.
  • Function extensions are provided with armrests or seats, as well as accessories that further expand the auxiliary functions of the body-sensored car, in order to fully develop and utilize the structure of the balanced car and further meet people's needs for human-machine interactive motion devices.
  • the left pedal and the right pedal that are independently rotated are respectively disposed on a support shaft, and the middle case is fixedly connected between the left pedal and the right pedal.
  • the supporting shaft is provided on the supporting shaft, and the supporting feet can be extended when necessary to support the vehicle body with two wheels to facilitate the parking of the car.
  • the middle box becomes the center of gravity of the entire balance car, reducing the user's unstable center of gravity when using the balance car; and the setting of avoiding the gap allows the support feet to More rationally set in the middle box.
  • the bubble machine includes a bubble movement and a liquid storage container.
  • the existing bubble machine, the liquid storage container and the bubble movement are combined on one body, and the structure is complicated.
  • the patent document with the publication number of CN203001986U discloses a bubble blowing toy, which includes a blowing and suction device, a liquid storage container and a bubble blower.
  • the bubbler includes a hollow shell connected to the blowing and suction device and the two ends of which are open.
  • a horn-shaped hollow body with a large opening at one end and a small opening at the other end is provided in the hollow housing.
  • a plurality of windows are opened on the horn-shaped hollow body.
  • a gap is formed between the horn-shaped hollow body and the hollow housing, and the horn-shaped hollow body is provided.
  • a liquid inlet pipe is provided between the hollow housing and the liquid outlet of the liquid inlet pipe is located on the inner side of the horn-shaped hollow body. The liquid inlet is in communication with the infusion tube connector provided outside the hollow housing.
  • the liquid storage container is integrated with the bubble movement.
  • the power of the balance car is provided by an electric motor. Due to the different principle of the electric motor and the fuel power, the motor does not generate sounds unique to the engine during operation. Therefore, during the work of the balance car, the operator cannot judge the motor by sound. The working state also reduces the sensory experience and fun during the ride. At the same time, because the motor is relatively quiet during work, it reduces the audible warning effect to surrounding pedestrians, which is dangerous.
  • one of the objectives of the present invention is to provide a human-computer interactive body-sensing vehicle with a removable function expansion member. Shape / function human-machine interactive car.
  • the second purpose of the present invention is to provide a human-machine interactive somatosensory car with a bubble blowing function.
  • the bubble blowing function is added to the balance car, which increases the fun of use.
  • the structure is simple and reliable, and the operation is convenient. Balance car.
  • the third object of the present invention is to provide an electric balance vehicle and a method for playing sounds of its simulated motors. According to a specified sampling rate and sampling accuracy, audio recording, software synthesis, and other means are used to obtain ignition, flameout and motor slave Accelerate to the highest speed sound data under various working conditions, store them in the memory, and then select the corresponding sound data to play according to the real-time of the balance car to realize the function of simulating the sound of the car motor.
  • the fourth object of the present invention is to provide a human-machine interactive somatosensory car and a simulated engine sound device capable of simultaneously simulating an engine sound according to a running state.
  • the human-computer interactive body-sensing car with removable function extensions includes two support frames arranged opposite to each other. The inner ends of the two support frames are rotationally connected by a rotating mechanism. An intermediate piece is provided between the two support frames.
  • the middleware includes a base and a functional expansion part detachably connected to the base. The base is detachably connected to the function expansion part, so that the middle part of the human-machine interactive somatosensory car can be quickly disassembled. In this way, the middleware of the human-machine interactive body-sensing car can be quickly disassembled, so as to be converted into a human-machine interactive body-sensing car with different shapes / functions.
  • the base is provided with an arc-shaped card slot
  • the function expansion member is provided with an arc-shaped card member.
  • the arc-shaped card member is engaged with the arc-shaped card slot to realize the connection between the base and the function expansion member.
  • the function expansion member is provided with an arc-shaped slot
  • the base is provided with an arc-shaped slot that matches the arc-shaped slot.
  • the arc-shaped slot is engaged with the arc-shaped slot to realize the base and function. Connection of extensions.
  • the base is provided with a linear card slot
  • the function expansion member is provided with a card member matching the shape of the linear card slot.
  • the card member is inserted into the linear card slot to realize the connection between the base and the function expansion member.
  • the function expansion member is provided with a linear card slot
  • the base is provided with a card member matching the linear card slot. The card member is inserted into the linear card slot to realize the connection between the base and the function expansion member.
  • a screw is also provided, and the base and the function expansion member are connected by a screw.
  • the function extension is provided with a downwardly extending hook
  • the base is provided with a bayonet corresponding to the hook.
  • the downwardly extending hook is engaged with the bayonet to realize the base and the function extension. connection.
  • the function expansion component is a display component including a display screen and a transparent upper cover.
  • the electric control module or power source of the display and the human-computer interactive body-sensing car passes through the base. Connector for electrical connection.
  • the function expansion includes a bubble movement and a shell, and the shell and the base are detachably connected.
  • the module or power supply is electrically connected via a connector on the base.
  • the rotation mechanism is a rotating shaft.
  • the rotating shaft is provided with a fixing member and a stopper capable of swinging or rotating.
  • the limiter is installed on the fixing member and the plane on which the swinging or rotating is located is related to the axis of the rotating shaft In parallel, the left and right sides of the stopper respectively cooperate with the stoppers of the left and right support frames, and the middle piece is fixed or integrally formed on the fixed piece.
  • the human-machine interactive somatosensory car with the function of blowing bubbles includes two supporting skeletons arranged opposite to each other, the inner ends of the two supporting skeletons are rotationally connected through a rotating mechanism, and an intermediate piece is provided between the two supporting skeletons.
  • a bubble machine is set in the middleware, and a bubble blowing function is added to the balance car, which increases the fun of use.
  • the structure is simple and reliable, and the operation is convenient. It is suitable for different types of balance cars.
  • the intermediate piece is provided with a fixing column, and a fixing piece is installed on the fixing piece, and the bubble movement is fixed by installing the fixing piece on the fixing column.
  • a fixing piece is installed on a pair of fixing posts.
  • a fixing piece is installed on a pair of fixing posts for more firm fixing.
  • the middleware includes a shell and a base, and the shell and the base are detachably connected.
  • the shell and the base are movably connected, so that the middleware can be quickly installed, which is convenient for adding water to the bubble machine and also for unloading the bubble machine when it is not needed.
  • an electric control module for controlling a human-machine interactive car is also included, and the bubble movement is electrically connected to the electric control module through a connector on the base.
  • the bubble movement is provided with a switch.
  • the middleware includes a housing and a base, and the housing and the base are fixed as a whole.
  • the shell is provided with a bubble outlet
  • the bubble movement core is provided with a bubble blower
  • the bubble blower passes through the bubble outlet.
  • the bubble blower passes through the bubble outlet, which is convenient for the bubble movement to blow bubbles.
  • a liquid storage container connected to the bubble movement is also provided in the middleware, and a liquid storage container is provided on at least one side of the bubble movement.
  • the liquid container of the bubble machine is separated from the bubble movement, so that the structure of the bubble machine is compact, so as to make full use of the space in the middleware.
  • the rotating mechanism is a rotating shaft.
  • the rotating shaft is provided with a fixing member and a stopper capable of swinging or rotating.
  • the limiter is installed on the fixing member and the plane on which the swinging or rotating is parallel to the axis of the rotating shaft.
  • the left and right sides of the limiter are respectively matched with the inner ends of the left and right support frames, and the middle piece is fixed or integrally formed on the fixed piece.
  • At least one of the opposite sides of the two supporting skeletons is fixed with a rotation limiter, and the middleware is limitedly connected with the rotation limiter on at least one of the support skeletons, so that the middleware is relative to one support skeleton or two The rotation angle of each supporting skeleton is limited.
  • a method for playing a motor sound of an electric balance vehicle including the following steps:
  • Acquire sound data Acquire the sound data of the car motor accelerated from idle to the highest speed for storage
  • Select sound data segment Get the current speed of the electric balance car in the forward direction, and select the sound data segment at the corresponding speed for buffering according to the speed;
  • Output sound data segment Obtain the current acceleration of the electric balance car in the forward direction, determine the reading interval for reading sound data from the cache according to the acceleration, read the buffered sound data segment according to the determined reading interval, and Play the reading results in order according to the bit rate of the sound data;
  • the sound data is stored or the sound data segment is selected, the sound data is segmented according to speed.
  • the sound data of the simulated automobile motor is stored in advance, and then the corresponding sound data segment is selected from the storage for buffering according to the real-time speed of the electric balance vehicle, and according to the current acceleration of the balanced vehicle Determine the reading interval, and read the currently buffered sound data points for output according to the reading interval, so as to simulate the car motor sound.
  • the segmenting the sound data according to speed includes: recording a start position, a length, and a corresponding speed interval of each sound data segment.
  • the step of obtaining sound data includes obtaining sound data generated by a car motor during simulated ignition and flameout, classifying the obtained sound data, and recording the start position, length, and sound data type of various types of sound data storage.
  • the electric balance vehicle includes a vehicle body and a wheel motor that drives the vehicle body.
  • the speed and acceleration of the horizontal operation of the vehicle body are obtained in real time by detecting the rotation speed of the vehicle wheel motor.
  • the cyclic output of the buffered sound data segment includes: using a timer interrupt, counting through the counting point for each interruption, and comparing the count value of the counting point with the length K of the current sound data segment When the count value reaches K, the count value of the count point is cleared, and the initial address of the playback address is set to the next playback address.
  • An electric balance vehicle adopts the above-mentioned method for playing sound of an analog motor.
  • Simulation engine sound device for human-machine interactive somatosensory car including:
  • a controller that extracts audio data in a memory according to a detection signal of the detector
  • a voice player that receives audio data selected by the controller for playback
  • the detector, the memory and the voice player are electrically connected to the controller, respectively.
  • the detector includes a sensor for directly or indirectly detecting the speed and / or acceleration of the human-machine interactive somatosensory car in the forward direction.
  • the senor is a Hall sensor provided on the in-wheel motor stator.
  • the controller is a controller for adjusting the playback speed of the selected sound and audio data according to the acceleration detected by the detector.
  • the voice player includes a power amplifier unit and a speaker.
  • the memory is a FLASH chip
  • the controller is an MCU
  • the FLASH chip and the MCU are connected through SPI communication.
  • a human-machine interactive somatosensory car includes a car body and has the simulated engine sound device as described above.
  • the vehicle body is provided with a display for displaying the running state of the vehicle.
  • the display includes an indicator light and an LED display screen, and an LED driving circuit is provided between the controller and the LED display screen.
  • the human-machine interactive somatosensory car and the simulated engine sound device used for the human-machine interactive somatosensory car can synchronize the engine sound effect through a sound generator such as a horn according to the operating state of the somatosensory car, so as to increase the user's fun during riding And it can mention the sound warning effect to the surrounding pedestrians to improve the safety during riding.
  • a sound generator such as a horn according to the operating state of the somatosensory car
  • the middle part of the human-machine interactive body-sensing car can be quickly disassembled, so as to be converted into a human-machine interactive body-sensing car with different shapes / functions.
  • FIG. 1 is a schematic structural diagram of a human-machine interactive somatosensory car with a removable function extension.
  • FIG. 2 is a schematic structural diagram of Embodiment 1.
  • FIG. 2 is a schematic structural diagram of Embodiment 1.
  • FIG. 3 is a schematic structural diagram of Embodiment 2.
  • FIG. 3 is a schematic structural diagram of Embodiment 2.
  • FIG. 4 is a schematic structural diagram of Embodiment 3.
  • FIG. 4 is a schematic structural diagram of Embodiment 3.
  • FIG. 5 is a schematic structural diagram of Embodiment 4.
  • FIG. 5 is a schematic structural diagram of Embodiment 4.
  • FIG. 6 is a schematic structural diagram of Embodiment 5.
  • FIG. 7 is a schematic structural diagram of a human-machine interactive somatosensory car with a bubble blowing function.
  • FIG. 8 is a schematic diagram of a mounting structure of a bubble movement.
  • FIG. 9 is a bottom view of FIG. 8.
  • FIG. 10 is a block diagram of main functional modules of a method for playing a sound of an analog motor of an electric balance vehicle.
  • FIG. 11 is a schematic diagram of segmenting a sound data segment.
  • FIG. 12 is a flowchart of a method for playing a sound of a simulated motor of an electric balance vehicle.
  • FIG. 13 is a flowchart of selecting a sound data segment.
  • FIG. 14 is a flowchart of outputting a sound data segment.
  • FIG. 15 is a schematic diagram of a module structure of a simulated engine sound device.
  • Human-machine interactive somatosensory car with detachable function extensions as shown in Figure 1-2, includes two support frames 1 opposite to each other, wheels are mounted on the outer ends of the two support frames 1, and two support frames 1 The inner end is connected in rotation by a rotating mechanism.
  • a middle piece 2 is provided between the two supporting frames 1.
  • the middle piece 2 includes a base 21 and a functional expansion piece 22 detachably connected to the base 21.
  • the base 21 is provided with an arc-shaped slot 211
  • the function expansion piece 22 is provided with an arc-shaped slot 221.
  • the arc-shaped slot 211 is engaged with the arc-shaped slot 211 to realize the connection between the base 21 and the function expansion piece 22.
  • the function extension 22 is a display component including a display screen 23 and a transparent cover.
  • the display screen and the electronic control module are electrically connected through a connector on the base 21, for example An electric connection socket is provided on the base, and the electric control module is connected to the electric connection socket through a wire.
  • the display screen is connected with an electric connection plug through the wire, and the electric connection plug is connected to the electric connection socket.
  • Human-computer interactive somatosensory car with detachable function extensions as shown in FIGS. 1 and 3, includes two support frames 1 opposite to each other, wheels are mounted on the outer ends of the two support frames 1, and two support frames 1 The inner end is connected in rotation by a rotating mechanism.
  • a middle piece 2 is provided between the two supporting frames 1.
  • the middle piece 2 includes a base 21 and a functional expansion piece 22 detachably connected to the base 21.
  • the base 21 is provided with a linear card slot 212
  • the function expansion member 22 is provided with a card member 222 that matches the shape of the linear card slot 212.
  • the card member 222 is inserted into the linear card slot 212 to realize the base 21 and the function expansion member. 22 connections.
  • the function expansion member 22 is a display component including a display screen 23 and a transparent upper cover.
  • the display screen and the electronic control module are electrically connected through a connector.
  • Human-computer interactive somatosensory car with detachable function extensions as shown in Figs. 1 and 4, includes two support frames 1 opposite to each other, wheels are mounted on the outer ends of the two support frames 1, and two support frames 1 The inner end is connected in rotation by a rotating mechanism.
  • a middle piece 2 is provided between the two supporting frames 1.
  • the middle piece 2 includes a base 21 and a functional expansion piece 22 detachably connected to the base 21.
  • a screw 4 is also provided, and the base 21 and the function expansion member 22 are connected by the screw 4.
  • the function expansion member 22 is a display component including a display screen 23 and a transparent upper cover.
  • the display screen and the electronic control module are electrically connected through a connector.
  • Human-machine interactive somatosensory car with detachable function extensions includes two support skeletons 1 opposite to each other, the outer ends of the two support skeletons 1 are equipped with wheels, and the inner sides of the two support skeletons 1 The end is connected by a rotation mechanism, and a middle piece 2 is provided between the two support frames 1.
  • the middle piece 2 includes a base 21 and a functional expansion piece 22 detachably connected to the base 21.
  • the function extension 22 is provided with a downwardly extending hook 223, and the base 21 is provided with a bayonet corresponding to the hook.
  • the downwardly extending hook 223 is engaged with the bayonet to realize the base 21 and the function expansion.
  • Piece 22 connection is provided.
  • the function expansion member 22 is a display component including a display screen 23 and a transparent upper cover.
  • the display screen and the electronic control module are electrically connected through a connector.
  • Human-computer interactive somatosensory car with detachable function extensions as shown in Figs. 1, 2, and 6, includes two supporting frames 1 opposite to each other, wheels are mounted on the outer ends of the two supporting frames 1, and two supporting frames The inner end of 1 is connected by a rotation mechanism, and a middle piece 2 is provided between the two support frames 1.
  • the middle piece 2 includes a base 21 and a functional expansion piece 22 detachably connected to the base 21.
  • the base 21 is provided with an arc-shaped slot 211
  • the function expansion piece 22 is provided with an arc-shaped slot 221.
  • the arc-shaped slot 211 is engaged with the arc-shaped slot 211 to realize the connection between the base 21 and the function expansion piece 22.
  • the function expansion member 22 includes a bubble movement 6 and a shell, and the shell and the base 21 are detachably connected.
  • the bubble movement 6 and the electric control module are realized through a connector. Electrical connection.
  • the rotating mechanism is a rotating shaft 51.
  • the rotating shaft 51 is provided with a fixing member 52 and a limiting member 53 capable of swinging or rotating.
  • the limiting member 53 is mounted on the fixing member 52 and the plane and the rotating shaft on which the swing or rotation is located.
  • the axis of 51 is parallel, and the left and right sides of the limiting member 53 are respectively limited to cooperate with the inner ends of the left and right supporting frames 1, and the intermediate member 2 is fixed or integrally formed on the fixing member 52.
  • Human-computer interactive somatosensory car with detachable function extensions as shown in Figs. 1, 2, and 6, includes two supporting frames 1 opposite to each other, wheels are mounted on the outer ends of the two supporting frames 1, and two supporting frames The inner end of 1 is connected by a rotation mechanism, and a middle piece 2 is provided between the two support frames 1.
  • the middle piece 2 includes a base 21 and a functional expansion piece 22 detachably connected to the base 21.
  • the base 21 is provided with an arc-shaped slot 211
  • the function expansion piece 22 is provided with an arc-shaped slot 221.
  • the arc-shaped slot 211 is engaged with the arc-shaped slot 211 to realize the connection between the base 21 and the function expansion piece 22.
  • the function expansion piece 22 includes a bubble movement 6 and a shell, and the shell and the base 21 are detachably connected.
  • the shell is provided with a control switch of the bubble movement. .
  • a human-computer interactive somatosensory car with a bubble blowing function includes two support skeletons 1 opposite to each other, the outer ends of the two support skeletons 1 are equipped with wheels, and the inner ends of the two support skeletons 1 are provided.
  • the rotating connection is realized by a rotating mechanism.
  • a middle piece 2 is provided between the two supporting frames 1, and a bubble movement 6 is provided in the middle piece 2.
  • the middle piece 2 is provided with a fixing post 311, and a fixing piece 312 is mounted on the fixing post 311.
  • the fixing piece 312 is mounted on the fixing post 311 to fix the bubble movement 6.
  • the bubble movement 6 is electrically connected to the electric control module through a connector on the base.
  • the middle piece 2 includes a shell 31 and a base 21, and the shell 31 and the base 21 are detachably connected.
  • the shell 31 is provided with a bubble outlet 313, and the bubble movement core 6 is provided with a bubble blower 61, and the bubble blower 61 passes through the bubble outlet 313.
  • a liquid storage container 62 connected to the bubble movement is also provided in the middle piece 2, and a liquid storage container 62 is provided on at least one side of the bubble movement 6.
  • the user steps on the upper side of the support frame 1, and when the bubble needs to be blown, it can be realized by controlling the electronic control module to open the bubble machine.
  • the shell 31 and the base 21 are detachably connected, and the bubble machine is filled with water, and the liquid storage container can be filled with water by quickly opening the shell.
  • a human-computer interactive somatosensory car with a bubble blowing function includes two support skeletons 1 opposite to each other, the outer ends of the two support skeletons 1 are equipped with wheels, and the inner ends of the two support skeletons 1 are provided.
  • the rotating connection is realized by a rotating mechanism.
  • a middle piece 2 is provided between the two supporting frames 1, and a bubble movement is provided in the middle piece 2.
  • the middle piece 2 is provided with a fixing post 311, and a fixing piece 312 is mounted on the fixing post 311.
  • the fixing piece 312 is mounted on the fixing post 311 to fix the bubble movement 6.
  • the bubble movement 6 is provided with a switch.
  • the middle piece 2 includes a case 31 and a base 21, and the case 31 and the base 21 are fixed integrally.
  • the shell 31 is provided with a bubble outlet
  • the bubble movement core 6 is provided with a bubble blower 61
  • the bubble blower 61 passes through the bubble outlet.
  • a liquid storage container 62 connected to the bubble movement is also provided in the middle piece 2, and a liquid storage container 62 is provided on at least one side of the bubble movement 6.
  • the power of the bubble movement can come with its own battery, or the battery of a human-machine interactive car.
  • Human-machine interactive somatosensory car with bubble blowing function as shown in Fig. 6-9, includes two support frames 1 opposite to each other, wheels are mounted on the outer ends of the support frames 1, and the inner ends of the two support frames 1 are provided.
  • the rotating connection is realized by a rotating mechanism.
  • a middle piece 2 is provided between the two supporting frames 1, and a bubble movement is provided in the middle piece 2.
  • the middle piece 2 is provided with a fixing post 311, and a fixing piece 312 is mounted on the fixing post 311.
  • the fixing piece 312 is mounted on the fixing post 311 to fix the bubble movement 6.
  • the middle piece 2 includes a shell 31 and a base 21, and the shell 31 and the base 21 are detachably connected.
  • the shell 31 is provided with a bubble outlet
  • the bubble movement core 6 is provided with a bubble blower 61, and the bubble blower 61 passes through the bubble outlet.
  • It also includes an electric control module for controlling the human-machine interactive somatosensory car.
  • the bubble movement 6 is electrically connected to the electric control module through a connector on the base.
  • a liquid storage container 62 connected to the bubble movement is also provided in the middle piece 2, and a liquid storage container 62 is provided on at least one side of the bubble movement 6.
  • the rotating mechanism is a rotating shaft 51.
  • the rotating shaft 51 is provided with a fixing member 52 and a limiting member 53 capable of swinging or rotating.
  • the limiting member 53 is mounted on the fixing member 52 and the plane on which the swinging or rotating is located and the rotating shaft 51.
  • the axis of the stopper 53 is parallel, and the left and right sides of the stopper 53 are respectively limited to the inner ends of the left and right support frames 1.
  • the middle piece 2 is fixed or integrally formed on the holder 52.
  • the user steps on the upper side of the support frame 1 and when it is necessary to spit bubbles, it can be achieved by controlling the electronic control module to open the bubble machine.
  • Human-machine interactive somatosensory car with bubble blowing function includes two support frames 1 opposite to each other, wheels are mounted on the outer ends of the support frames 1, and the inner ends of the two support frames 1 are provided.
  • the rotating connection is realized by a rotating mechanism.
  • a middle piece 2 is provided between the two supporting frames 1, and a bubble movement is provided in the middle piece 2.
  • the middle piece 2 is provided with a fixing post 311, and a fixing piece 312 is mounted on the fixing post 311.
  • the fixing piece 312 is mounted on the fixing post 311 to fix the bubble movement 6.
  • It also includes an electric control module for controlling the human-machine interactive somatosensory car.
  • the bubble movement 6 is electrically connected to the electric control module through a connector on the base.
  • the middle piece 2 includes a shell 31 and a base 21, and the shell 31 and the base 21 are detachably connected.
  • the shell 31 is provided with a bubble outlet
  • the bubble movement core 6 is provided with a bubble blower 61
  • the bubble blower 61 passes through the bubble outlet.
  • a liquid storage container 62 connected to the bubble movement is also provided in the middle piece 2, and a liquid storage container 62 is provided on at least one side of the bubble movement 6.
  • At least one of the opposite sides of the two supporting frames 1 is fixed with a rotation limiter 54, and the middle piece 2 is limitedly connected with the rotation limiter 54 on at least one of the support frames 1, so that the middle piece is relative to one supporting frame.
  • the rotation angle of 1 or two supporting frames 1 is limited.
  • the user steps on the upper side of the support frame 1 and when it is necessary to spit bubbles, it can be achieved by controlling the electronic control module to open the bubble machine.
  • the rotating mechanism in each of the above embodiments is a rotating shaft 51.
  • the rotating shaft 51 is provided with a fixing member 52 and a limiting member 53 capable of swinging or rotating.
  • the limiting member 53 is mounted on the fixing member 52.
  • the left and right sides of the limiting member 53 are respectively limited to cooperate with the inner ends of the left and right two supporting frames 1, and the intermediate member 2 is fixed or integrally formed on the fixing member 52. In this way, because the left and right sides of the stopper are respectively stopped by the left and right support frames, the stopper and the fixed parts connected to it are restricted relative to the entire vehicle body, that is, basically relative to the ground.
  • the middleware When the left and right support skeletons rotate relative to each other, the middleware generates a relatively small amplitude displacement, and the stopper swings or rotates around the center of rotation, and the range of swing and rotation is basically in the same plane.
  • the same plane described here is not an absolute same plane, but also includes a slight displacement of the stopper around the rotation center of the rotation center, and it is still considered that the range of swing and rotation of the stopper is basically on the same plane.
  • the limiting member 53 is mounted on the fixing member 52 and a plane on which the limiting member 53 swings or rotates is parallel to the axis of the rotation shaft 51.
  • the fixing member 52 has at least three functions: one is for connecting the rotating shaft, the other is for fixing the middle piece, and the third is to provide the center of swing or rotation for the limit piece.
  • the fixing member 52 is installed as an independent component on the rotating shaft through an empty sleeve, a snap connection, a plug connection, a fixed connection, a front-rear limit, or a left-right limit. For example, as shown in FIG.
  • the fixing member 52 has a through hole to be sleeved on the rotating shaft 51, has an extension extending forward and backward to facilitate fixing of the middle piece, and has a positioning pin 5201 to communicate with the positioning hole on the stopper 53.
  • the rotation center of the stopper is provided in cooperation; wherein the through hole may have a complete hole shape or most of the hole shape (for example, a hole shape formed by two arms) as long as it can be provided on a rotating shaft,
  • the extension can also extend left and right or up and down as long as it can fix the middle piece.
  • the fixation piece and the stopper can be realized by the positioning hole and the positioning pin, or by positioning.
  • the fixing member is integrated with the rotating shaft, that is, the rotating shaft communicates with the rotating shaft. Intermediate pieces are installed through empty sleeves, snap connections, pin connections, direct fixation or indirect fixation, and positioning pins or holes are directly set on the rotating shaft to facilitate the rotation of the setting stopper and provide the center of swing or rotation;
  • the fixing member is integrated with the middleware, that is, the middleware is installed on the rotating shaft through an empty sleeve, a snap connection, a pin connection, a direct fixation, an indirect fixation, or a limit position, and the middleware is provided with a positioning pin. , Positioning holes, positioning protrusions or positioning grooves to set the rotation limit and provide the center of swing or rotation.
  • the limiting member 53 has at least two functions: First, it is connected to the left and right support skeletons through the two sides to ensure that the limiting member, the fixing member and the middle piece can be relatively fixed without the left and right supporting skeletons being relatively rotated. Secondly, by swinging or rotating around the rotation center to ensure that the position-limiting member, the fixing member and the middle piece can remain relatively fixed when the left and right supporting skeletons are relatively rotated.
  • the specific form of the limiting member can be various: one embodiment, the limiting member is a pendulum rod, for example, as shown in FIG.
  • the two ends of the pendulum rod are respectively connected with the left and right supporting frame limits, and the middle of the pendulum rod is positioned by positioning Holes, positioning pins, positioning protrusions, or positioning grooves are installed on the fixing member; among them, the inside ends of the left and right support frames are provided with a limiting groove 1011, and the limiting member accommodates the end portion in the limiting groove 1011.
  • the inner end realizes the limit fit and can swing back and forth; in another variant structure, the two ends of the limit piece are movably connected to the left and right support skeletons through pins to achieve the limit fit and swing, such as the limit position
  • the left end of the piece is provided with a pin extending in the up-and-down direction.
  • the pin is mated with the arc-shaped hole provided on the left support skeleton to achieve a movable connection.
  • the right-side end of the limit piece is provided with the up-and-down direction.
  • Another extended pin which is connected with the arc-shaped hole provided on the right support skeleton to achieve a movable connection.
  • the ground can also be left.
  • the side supporting frame is provided with a pin extending in the up-and-down direction.
  • the pin is mated with an arc-shaped hole provided on the stopper to achieve a movable connection.
  • the right supporting frame is provided with another pin extending in the up-down direction.
  • the pin shaft is mated with another arc-shaped hole provided on the stopper to achieve movable connection.
  • the arc-shaped hole may also be a waist-shaped hole, a fan-shaped hole, or a semi-circular hole.
  • the above pins can also be rollers, rollers, etc .; in the above-mentioned limiting groove structure, the opening of the limiting groove near the inner end face of the supporting skeleton is large, and the limiting groove is far away.
  • the depth of the groove on the inner end face of the supporting skeleton is small, that is, the limiting groove is triangular, the tip of the triangle is matched with the end of the limiting piece, and the bottom of the triangle is open for the limiting piece to be fixed. Swing within range.
  • the limiting member is a gear
  • the inner end surfaces of the left and right support frames are provided with transmission teeth.
  • the transmission teeth are distributed in a ring shape or a sector shape. Relatively speaking, it is easier and cheaper to manufacture and assemble using the swing bar limiter structure, and the gear limiter structure is required to manufacture and assemble more accurately and cost more.
  • a cylindrical body 101 for inserting a rotating shaft 51 is provided on the inner end of the supporting frame 1, and a shaft sleeve 5101 is respectively sleeved on both ends of the rotating shaft 51 and is respectively inserted on the left and right supporting frames 1 Inside the barrel body 101.
  • the rotating shaft 51 is preferably a hollow shaft, so as to facilitate the installation of a conducting wire.
  • the rotating shaft may not be a hollow shaft, for example, a partial hole or a slot is provided on the rotating shaft.
  • One end of the rotating shaft 51 may be fixed to the supporting frame on one side, and the other end may be rotationally connected to the supporting frame on the other side. Alternatively, both ends of the rotating shaft 51 may be rotationally connected to the supporting frame on the corresponding side.
  • the axis of the rotation shaft 51 and the rotation axis of the two wheels are the same rotation axis, that is, the three axes are collinear.
  • a collar 5102 for restricting the axial movement of the sleeve 5101 is provided on the outside of the cylinder 101.
  • a rotation limiter 54 is provided between the left and right support frames 1 to limit the maximum rotation angle between the two.
  • the rotation limiter 54 is a limit axis.
  • One end of the limiting shaft is fixed on the cylindrical body 101 of one supporting skeleton, and the other end is limited to cooperate with the cylindrical body 101 of the other supporting skeleton.
  • the cylindrical body of the other supporting skeleton is provided with a corresponding corresponding to the limiting axis. It is understood that the maximum rotation angle between the left and right support frames is limited by the cooperation between the limit shaft and the limit groove 1012. It can be understood that the limit groove is an arc structure.
  • a method for playing a sound of a simulated motor of an electric balance vehicle is used for the electric balance vehicle.
  • the electric balance vehicle includes a vehicle body and a hub motor that drives the movement of the vehicle body.
  • the device for implementing the method is installed in the electric balance vehicle.
  • the vehicle body mainly includes the following parts: a memory, a controller, and a sound player.
  • the memory is used to store sound data.
  • the controller is used to process the sound data in the memory and select sound data fragments from the memory to convert the sound data. After digital-to-analog conversion, it is output to a sound player.
  • the sound player mainly includes a voice coil for playing sound data.
  • the FLASH chip is used as the memory
  • the MCU is used as the controller.
  • the controller and the sound player are connected through a power amplifier, the FLASH chip and the MCU are connected through SPI, and the MCU and the power amplifier are connected through a DAC chip.
  • a method for playing a motor sound of an electric balance vehicle includes the following steps:
  • Acquire sound data Acquire the sound data of the car motor accelerated from idle to the highest speed for storage
  • Select sound data segment Get the current speed of the electric balance car in the forward direction, and select the sound data segment at the corresponding speed for buffering according to the speed.
  • Output sound data segment Obtain the current acceleration of the electric balance car in the forward direction, determine the reading interval for reading sound data from the cache according to the acceleration, read the buffered sound data segment according to the determined reading interval, and The reading results are played in order at the bit rate of the sound data.
  • the step of obtaining sound data is completed in advance, for example, it can be completed by the manufacturer in the production process, and then the remaining steps can be directly performed when the motor sound is simulated.
  • the sound data (acceleration sound effect) of the automobile motor accelerating from idle to the highest speed it also includes a sound data segment (ignition sound effect) that simulates ignition and a sound data segment (extinguishing sound effect) that is flameout.
  • the above sound data can be obtained by means of recording or synthesizing audio by software, etc., and convert it into a digital signal and write it into the memory, which is used to balance the sound source of the analog car driving sound of a car. For these sound data obtained in advance, after classifying them, the starting position, length and sound data type of various types of sound data storage are recorded.
  • the sound data is segmented by speed when the sound data is stored or the sound data segment is selected, so that the real-time speed of the vehicle can be matched with the motor sound.
  • the segmenting the sound data according to the speed includes recording a start position, a length, and a corresponding speed or speed interval of each sound data segment.
  • the step of segmenting when storing sound data is to first divide the sound effect data into multiple sound data segments according to the speed and then store them separately (each data segment may be continuous or discontinuous between each other).
  • the sound data segment is directly selected according to the real-time speed according to the storage address of the sound data segment in the corresponding speed interval.
  • the controller's call to the sound data segment is simple, but you need to manually record the addresses of the corresponding sound data segments at all speeds in advance, and you can number each sound data segment according to the speed interval during recording.
  • L1, L2 ••• LM generates a set of data for each sound data segment number, corresponding speed or speed interval, initial position and length of the sound data segment for storage.
  • segmenting the sound data according to the speed does not necessarily mean dividing the sound data, but may also continuously store the sound data, and only divide the storage address into sections.
  • the steps of segmenting when selecting sound data segments are the same as the steps of segmenting when storing sound data, except that the storage address of each sound data segment is recorded by the controller.
  • the stored accelerated sound effect is a piece of continuous sound data that accelerates at a constant speed.
  • each sound effect data segment (ie, sound data segment) corresponds to a speed or a motor sound in a speed interval.
  • K L / M
  • the controller After detecting the speed and acceleration of the human-computer interactive body-sensing car, the controller selects the sound data segment corresponding to its speed interval according to the speed, stores it into the buffer, and reads it according to the acceleration setting. interval. The controller monitors the speed change in real time, and plays the sound data in the buffer according to the set reading interval when the speed changes.
  • an embodiment of selecting a sound data segment is selected.
  • the controller selects a corresponding sound data segment according to the current running speed of the balance car, and buffers the sound data segment into a Buf (buffer area).
  • Buf buffer area
  • the corresponding sound data is re-selected for buffering.
  • Figures 13 and 14 The realization of outputting or playing sound data segments is shown in Figures 13 and 14.
  • a timer interrupt is used to select sound data points from the sound data segments for playback, and the playback address is defined as the cached position index (specifically to The sound data is stored in the cache), the data is read from the cache according to the playback address and output by the DAC.
  • the reading interval is an integer.
  • the correspondence between the acceleration and the reading interval can be selected through a limited number of experiments or debugging to establish the correspondence between the reading interval and the acceleration interval.
  • the sound data segment in the cache is updated, and at the same time, the current playback address is set as the starting position of the sound data segment stored in the cache. For example, if the acceleration is greater than a set threshold, the sound data segment in the update buffer is updated to a sound data segment with a relatively high speed.
  • the sound data segment is cyclically output. Specifically, each interruption is counted by counting points, and the count value of the count point is compared with the length K of the current sound data segment. When the count value reaches K, the count value of the count point is cleared. Zero, set the initial address of the playback address to the next playback address.
  • the ignition sound effect, flameout sound effect, and alarm sound effect are similar to the accelerated sound effect.
  • the sound effect data is stored in the memory, and the address and length are recorded without segmentation. When it is necessary to play, the MCU will play the corresponding sound effect data points according to the address and length. .
  • the human-machine interactive car detects that someone is standing, it plays the ignition sound effect; when the human-machine interactive car detects the rider getting off the car, the flameout sound effect is played; when the human-machine interactive car detects a failure, the alarm sound effect is played.
  • different alarm sound effects can be set according to different fault types. In this way, when the detected fault types are different, corresponding fault sound effects are played.
  • a human-machine interactive somatosensory vehicle includes a vehicle body and two wheels provided on the vehicle body.
  • the vehicle body includes a supporting skeleton.
  • the supporting skeleton is provided with a pedal device or a pedal area.
  • the two wheels are driven by a hub motor.
  • the supporting skeleton may include a first supporting skeleton and a second supporting skeleton which are arranged opposite to each other and can be relatively rotated, and the first supporting skeleton and the second supporting skeleton are respectively provided with pedal regions.
  • the human body interactive car with this structure can refer to the electric balance car disclosed in the invention patents disclosed in CN107719549A and CN105939922A.
  • the supporting skeleton may also be an integrated structure.
  • the car body is provided with an indicator for displaying the power-on status of the motor and an LED display for displaying the speed and single mileage.
  • a controller and an LED display are provided LED driving circuit.
  • An artificial engine sound device is installed on the body of the human-machine interactive somatosensory car. As shown in FIG. 15, the simulated engine sound device includes:
  • a detector 71 for detecting the current running state of the body-sensory car can directly or indirectly acquire the running speed and / or acceleration of the human-machine interactive somatosensory car in the forward direction.
  • the memory 72 is configured to store audio data, which is a previously recorded sound of the engine accelerating from idle to the highest speed.
  • the receiving controller buffers the selected audio data and sends it to the player 73 for playing.
  • the memory, the detector, and the player are all electrically connected to the controller.
  • the detector 71 may be a sensor that detects the current speed of the human-machine interactive somatosensory car, so that the acceleration can be calculated from the speed.
  • the detector is a Hall sensor provided on the stator of the in-wheel motor, and the running speed is obtained by counting the rotation speed of the in-wheel motor, and the acceleration is further calculated according to the speed.
  • the memory 72 is implemented by a FLASH chip.
  • the controller 73 may select an MCU or other common programmable chips.
  • the voice player 74 mainly includes a power amplifier unit and a speaker, and is used to play audio data fragments processed by the controller.
  • the PWM modulation signal can be output directly to the voice player, and the audio decoding chip is not required to support direct playback of audio, and the functional module is simple.
  • the human-machine interactive car is provided with a main control board for controlling the operation of the human-machine interactive car.
  • the memory and controller in the simulated engine device are integrated into the host of the human-machine car. Dashboard.
  • the voice player is fixed on the body of the human-computer interactive body-sensing car. There are no special requirements for the specific position. Most of it is set inside, and a hollow design is made in the corresponding position of the car shell.
  • the memory 72 may be a memory that stores audio data of the engine accelerating from idle speed to the highest rotation speed, or may be a plurality of audio data segments corresponding to a specific length under each operating condition of the engine.
  • the controller 73 intercepts or directly selects the audio data segment of the corresponding working condition according to the detection signal of the detector, and the working condition may be determined by the driving speed of the vehicle or the driving state of the vehicle; according to the obtained by the detector 71 Acceleration, which performs frequency modulation processing on the extracted audio data fragments under the corresponding working conditions.
  • the frequency modulation processing refers to acceleration or deceleration processing of the audio data playback speed.
  • the above-mentioned balanced car can simultaneously simulate the engine sound effect through a sound sounder such as a horn according to the operating state of the human-machine interactive somatosensory car, so as to increase the user's fun during riding, and can mention the sound warning effect to the surrounding pedestrians, improving Safety during riding.
  • a sound sounder such as a horn according to the operating state of the human-machine interactive somatosensory car

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Abstract

一种人机互动体感车，包括左右相对设置的两个支撑骨架（1），两个支撑骨架（1）的内侧端通过转动机构实现转动连接，两个支撑骨架（1）之间设有中间件（2）。中间件（2）可方便设置各种功能扩展件（22），以便改装成不同形状/功能的人机互动体感车。

Description

人机互动体感车 技术领域
本发明涉及平衡车，具体涉及了一种带中间件或可拆装功能扩展件的人机互动体感车。
 背景技术
人机互动体感车，又叫电动平衡车、思维车，其运作原理主要是建立在一种被称为“动态稳定”的基本原理上，利用车体内部的陀螺仪和加速度传感器，来检测车体姿态的变化，并利用伺服控制系统，精确地驱动电机进行相应的调整，以保持系统的平衡。
公开号为CN104029769的专利文献公开了一种电动平衡扭扭车，包括顶盖、内盖、底盖、轮毂电机、转动机构、平衡控制机构；顶盖、内盖、底盖均包括两个成对称布置且可相互转动的部件，内盖处于顶盖及底盖之间并与这两者配合在一起；内盖的中间横向位置固定有转动机构；内盖的左右两侧边缘位置固定有纵向设置的轮毂电机；平衡控制机构固定在底盖上并与电机连接；所述转动机构包括两个轴承、一个轴套、两个卡簧；两个轴承分别固定在内盖的两个相同部件的内端，轴套固定在两个轴承内并通过卡簧固定在内盖上。该结构中，车体被分为左右转动的两部分，使用者仅仅通过利用脚部施力即可对平衡车的运行状态进行控制，例如向前、向后和转向。为了提高使用者的体验和实际使用需要，人机互动体感车上会需要设置有照明装置、显示装置等功能扩展件。
例如公开号为CN106184529的专利文献公开的结构中，在相对转动的两个车架的中间设置一个功能扩展件，该功能扩展件可以是灯饰或者行车状态显示屏等的装饰件，也可在该功能扩展件加设扶手杆或者座椅，以及进一步扩展体感车的其它辅助功能的附件，以实现对平衡车整车结构的充分开发及利用，进一步满足人们对于人机互动运动装置的使用需求。
再例如，公开号为CN106184531、CN106184531、CN106515957的专利文献所公开的结构中，分别独立转动的左踏板和右踏板设置在支撑轴上，中间箱体固定连接于在左踏板和右踏板之间的支撑轴上，且中间箱体设置有支撑脚，在需要时，支撑脚可以伸出以配合两个轮子支撑车体，方便平衡车的停放；另外，由于中间箱体的设置，鉴于中间箱体设置在中部，且许多物件可以设置在中间箱体内，使得中间箱体成为整个平衡车的重心，减少用户在使用平衡车时，重心不稳的情况发生；而避让缺口的设置则使得支撑脚可以更合理的设置于中间箱体处。
但是，这些功能扩展件不可拆装，安装耗时，结构比较单一。
此外，市场上专门针对儿童或者新晋父母的平衡车少之又少，儿童不但喜欢玩平衡车，也喜欢玩吹泡泡玩具，如果平衡车具有吹泡泡功能，能增加儿童玩平衡车的乐趣。泡泡机包括泡泡机芯和储液容器，现有的泡泡机，储液容器和泡泡机芯是组合在一个机体上的，结构繁琐。如：公开号为CN203001986U的专利文献公开了一种吹泡泡玩具，包括吹吸装置、储液容器和吹泡器，吹泡器包括连接在吹吸装置上的两端开口的空心壳体及设置在空心壳体内的一端开口大、另一端开口小的喇叭状空心体，喇叭状空心体上开设有若干个窗口，喇叭状空心体与空心壳体之间形成有空隙，且喇叭状空心体与空心壳体之间设置有进液管道，进液管道的出液口位于喇叭状空心体的内侧面上，其进液口与空心壳体外侧设置的输液管接头相连通。该结构中，储液容器是和泡泡机芯整合一体的。
再有，平衡车的动力由电动机提供，电动机由于其与燃油动力的原理不同，运行过程中不会产生发动机工作特有的声音，故而在平衡车工作过程中，操控者无法通过声音感受来判断电动机的工作状态，也减少了骑行过程中的感官体验和乐趣。同时，由于电动机工作过程中比较安静，降低对周围行人的声音警示作用，危险性较高。
 技术问题
针对现有技术的上述缺点，本发明的发明目的之一是提供一种带可拆装功能扩展件的人机互动体感车，人机互动体感车的中间部分可快速拆装，以便改装成不同形状/功能的人机互动体感车。
本发明的发明目的之二是提供一种具有吹泡泡功能的人机互动体感车，在平衡车上增加了吐泡泡功能，增加了使用趣味，结构简单可靠、操作方便，适用于不同型号的平衡车。
本发明的发明目的之三是提供一种电动平衡车及其模拟马达声播放的方法，根据指定的采样率和采样精度，通过录音或软件合成音频等手段，获得汽车马达点火、熄火和马达从怠速加速到最高速的各种工况下的声音数据，将它们存储到存储器中，然后根据平衡车的实时选取相应声音数据进行播放，以实现模拟汽车马达声音播放的功能。
本发明的发明目的之四是提供一种人机互动体感车及其能根据运行状态同步模拟出发动机声音的模拟发动机声音装置。
 技术解决方案
为了解决上述技术问题，本发明通过下述技术方案得以解决：
带可拆装功能扩展件的人机互动体感车，包括左右相对设置的两个支撑骨架，两个支撑骨架的内侧端通过转动机构实现转动连接，两个支撑骨架之间设有的中间件。中间件包括基座、与基座可拆装连接的功能扩展件。基座与功能扩展件可拆装连接，使人机互动体感车中间部位可快速拆装。这样，人机互动体感车的中间件可快速拆装，以便改装成不同形状/功能的人机互动体感车。
作为优选，基座设有弧形卡槽，功能扩展件设有弧形卡件，通过弧形卡件卡合于弧形卡槽实现基座和功能扩展件的连接。当然，也可以是，功能扩展件设有弧形卡槽，基座设有与弧形卡槽相匹配的弧形卡件，通过弧形卡件卡合于弧形卡槽实现基座和功能扩展件的连接。
作为优选，基座设有直线型卡槽，功能扩展件设有与直线型卡槽形状相匹配的卡件，通过卡件卡入直线型卡槽实现基座和功能扩展件的连接。当然，也可以是，功能扩展件设有直线型卡槽，基座设有与直线型卡槽相匹配的卡件，通过卡件卡入直线型卡槽实现基座和功能扩展件的连接。
作为优选，还设有螺钉，基座和功能扩展件通过螺钉连接。
作为优选，功能扩展件设有向下延伸的卡钩，基座设有与所述卡钩相对应的卡口，通过向下延伸的卡钩卡合于卡口实现基座和功能扩展件的连接。
作为优选，还包括控制人机互动体感车的电控模块，所述功能扩展件为显示组件包括显示屏和透明上盖，显示屏与人机互动体感车的电控模块或电源通过基座上的接插件实现电连接。
作为优选，还包括控制人机互动体感车的电控模块，功能扩展件包括泡泡机芯和壳体，壳体和基座可拆卸连接，泡泡机芯与人机互动体感车的电控模块或电源通过基座上的接插件实现电连接。
作为优选，包括控制人机互动体感车的电控模块，功能扩展件包括泡泡机芯和壳体，壳体和基座可拆卸连接，所述壳体上设有泡泡机芯的控制开关。作为优选，转动机构为一转轴，转轴上设置有一固定件和一能够摆动或转动的限位件，该限位件安装在固定件上且其摆动或转动所处的平面与所述转轴的轴线平行，该限位件的左右两侧分别与左右两个支撑骨架的限位配合，中间件固定或一体成型在固定件上。
具有吹泡泡功能的人机互动体感车，包括左右相对设置的两个支撑骨架，两个支撑骨架的内侧端通过转动机构实现转动连接，两个支撑骨架之间设有的中间件。这样在中间件内设置泡泡机，在平衡车上增加了吐泡泡功能，增加了使用趣味性，结构简单可靠、操作方便，适用于不同型号的平衡车。
作为优选，中间件上设有固定柱，固定柱上安装有固定片，通过将固定片安装在固定柱上实现泡泡机芯的固定。一对固定柱上安装一个固定片。一个固定片安装于一对固定柱上，固定更加牢固。
作为优选，中间件包括壳体和基座，壳体和基座之间可拆装连接。这样，壳体和基座活动连接，使中间件可快速安装，方便为泡泡机加水，也方便不需要泡泡机时卸载泡泡机。
作为优选，还包括控制人机互动体感车的电控模块，泡泡机芯通过基座上的接插件与电控模块实现电连接。
作为优选，泡泡机芯设有开关。
作为优选，中间件包括壳体和基座，壳体和基座固定为一体。
作为优选，壳体设有出泡口，泡泡机芯设有吹泡器，吹泡器通过出泡口。吹泡器通过出泡口，方便泡泡机芯吹泡泡。
作为优选，中间件内还设有与泡泡机芯连接的储液容器，泡泡机芯至少一侧设有储液容器。这样将泡泡机的储液容器与泡泡机芯分开，使泡泡机结构小巧，以便充分利用中间件内空间。
作为优选，转动机构为一转轴，转轴上设置有一固定件和一能够摆动或转动的限位件，该限位件安装在固定件上且其摆动或转动所处的平面与转轴的轴线平行，该限位件的左右两侧分别与左右两个支撑骨架的内侧端限位配合，中间件固定或一体成型在固定件上。
作为优选，两个支撑骨架相对侧上至少有一侧固定有旋转限位件，中间件与至少一个支撑骨架上的旋转限位件进行限位连接，以对该中间件相对于一个支撑骨架或两个支撑骨架的转动角度进行限位。
一种电动平衡车模拟马达声播放的方法，包括以下步骤：
获取声音数据：获取汽车马达由怠速加速到最高速的声音数据进行存储；
选取声音数据段：获取电动平衡车在前进方向上的当前速度，根据速度选取对应速度下的声音数据段进行缓存；
输出声音数据段：获取电动平衡车在前进方向上的当前加速度，根据加速度确定从缓存中读取声音数据的读取间隔，按照确定的读取间隔对所缓存的声音数据段进行读取，并按声音数据的位速依次播放读取结果；
其中，在存储声音数据或选取声音数据段时将声音数据按速度进行分段。
上述电动平衡车模拟马达声播放的方法，事先将模拟汽车马达的声音数据进行存储，然后根据电动平衡车的实时速度，从存储其中选取相应的声音数据片段进行缓存，并根据平衡车当前的加速度确定读取间隔，根据读取间隔读取当前缓存的声音数据点进行输出，从而实现模拟汽车马达声音。
作为优选，所述将声音数据按速度进行分段，包括：记录每个声音数据段的起始位置、长度以及对应的速度区间。
作为优选，所述获取声音数据步骤，包括获取模拟点火和熄火时汽车马达产生的声音数据，并将获取的声音数据分类，记录各类声音数据存储的起始位置、长度和声音数据类型。
作为优选，电动平衡车包括车体和驱动车体运动的轮毂电机，通过检测车体轮毂电机转速以实时获取车体水平运行的速度和加速度。
作为优选，所述根据加速度确定从缓存中读取声音数据的读取间隔，包括：预设读取间隔a=1，加速度在设定阈值内增加，读取间隔a相应增大；若加速度超出设定阈值，更新缓存的声音数据段为较当前速度大的区间所对应的声音数据段。
作为优选，所述输出声音数据段，包括：定义播放地址为缓存位置索引，根据播放地址从缓存读取数据并DAC输出；播放地址的初始地址根据被选取的声音数据段的起始位置确定，下一播放地址=当前播放地址+读取间隔。
作为优选，所述输出声音数据段时，对缓存的声音数据段循环输出，包括：采用定时器中断，每进一次中断通过计数点计数，将计数点计数值与当前声音数据段的长度K比较，当计数值达到K后，计数点计数值清零，设置播放地址的初始地址为下一播放地址。
一种电动平衡车采用上述模拟马达声播放的方法。
用于人机互动体感车的模拟发动机声音装置，包括：
用于检测体感车当前运行状态的检测器；
存储有发动机声音音频数据的存储器；
根据检测器的检测信号提取存储器中的音频数据的控制器；
接收控制器选取的音频数据进行播放的语音播放器；
其中，检测器、存储器和语音播放器分别与控制器电连接。
作为优选，所述检测器包括用于直接或间接检测人机互动体感车在前进方向上的速度和/或加速度的传感器。
作为优选，所述传感器为设置于轮毂电机定子上的霍尔传感器。
作为优选，所述控制器用于根据检测器检测到的加速度，对选取的声音音频数据的播放速度进行调节的控制器。
作为优选，语音播放器包括功放单元和扬声器。
作为优选，所述存储器为FLASH芯片，所述控制器为MCU，FLASH芯片与MCU通过SPI通讯连接。
一种人机互动体感车，包括车体，具有如上所述的模拟发动机声音装置。
作为优选，车体上设有用于显示车辆运行状态的显示器。
作为优选，显示器包括指示灯和LED显示屏，控制器与LED显示屏之间设有LED驱动电路。
上述人机互动体感车及用于人机互动体感车的模拟发动机声音装置，能根据体感车的运行状态通过喇叭等声音发声器同步模拟出发动机声音效果，以增加用户骑行过程中的乐趣，并且能对周围的行人提到声音警示作用，提高骑行过程中的安全性。
 有益效果
这样，人机互动体感车的中间部分可快速拆装，以便改装成不同形状/功能的人机互动体感车。
 附图说明
图1是带可拆装功能扩展件的人机互动体感车的结构示意图。
图2是实施例1的结构示意图。
图3是实施例2的结构示意图。
图4是实施例3的结构示意图。
图5是实施例4的结构示意图。
图6是实施例5的结构示意图。
图7是具有吹泡泡功能人机互动体感车的结构示意图。
图8是泡泡机芯的安装结构示意图。
图9是图8的仰视图。
图10为电动平衡车模拟马达声播放方法的主要功能模块框图。
图11为对声音数据段进行分割的示意图。
图12为电动平衡车模拟马达声播放的方法流程图。
图13为选取声音数据段的流程图。
图14为输出声音数据段的流程图。
图15为模拟发动机声音装置的模块结构示意图。
 本发明的最佳实施方式
实施例1
带可拆装功能扩展件的人机互动体感车，如图1-2所示，包括左右相对设置的两个支撑骨架1，两个支撑骨架1的外侧端安装车轮，两个支撑骨架1的内侧端通过转动机构实现转动连接，两个支撑骨架1之间设有的中间件2，中间件2包括基座21、与基座21可拆装连接的功能扩展件22。
基座21设有弧形卡槽211，功能扩展件22设有弧形卡件221，通过弧形卡件221卡合于弧形卡槽211实现基座21和功能扩展件22的连接。
还包括控制人机互动体感车的电控模块，所述功能扩展件22为显示组件包括显示屏23和透明上盖，显示屏与电控模块通过基座21上的接插件实现电连接，例如基座上设置电连接插座，电控模块通过导线与该电连接插座连接，显示屏通过导线连接有电连接插头，该电连接插头与该电连接插座插接。
 本发明的实施方式
实施例2
带可拆装功能扩展件的人机互动体感车，如图1和3所示，包括左右相对设置的两个支撑骨架1，两个支撑骨架1的外侧端安装车轮，两个支撑骨架1的内侧端通过转动机构实现转动连接，两个支撑骨架1之间设有的中间件2，中间件2包括基座21、与基座21可拆装连接的功能扩展件22。
基座21设有直线型卡槽212，功能扩展件22设有与直线型卡槽212形状相匹配的卡件222，通过卡件222卡入直线型卡槽212实现基座21和功能扩展件22的连接。
还包括控制人机互动体感车的电控模块，所述功能扩展件22为显示组件包括显示屏23和透明上盖，显示屏与电控模块通过接插件实现电连接。
实施例3
带可拆装功能扩展件的人机互动体感车，如图1、4所示，包括左右相对设置的两个支撑骨架1，两个支撑骨架1的外侧端安装车轮，两个支撑骨架1的内侧端通过转动机构实现转动连接，两个支撑骨架1之间设有的中间件2，中间件2包括基座21、与基座21可拆装连接的功能扩展件22。
还设有螺钉4，基座21和功能扩展件22通过螺钉4连接。
还包括控制人机互动体感车的电控模块，所述功能扩展件22为显示组件包括显示屏23和透明上盖，显示屏与电控模块通过接插件实现电连接。
实施例4
带可拆装功能扩展件的人机互动体感车，如1和5所示，包括左右相对设置的两个支撑骨架1，两个支撑骨架1的外侧端安装车轮，两个支撑骨架1的内侧端通过转动机构实现转动连接，两个支撑骨架1之间设有的中间件2，中间件2包括基座21、与基座21可拆装连接的功能扩展件22。
功能扩展件22设有向下延伸的卡钩223，基座21设有与所述卡钩相对应的卡口，通过向下延伸的卡钩223卡合于卡口实现基座21和功能扩展件22的连接。
还包括控制人机互动体感车的电控模块，所述功能扩展件22为显示组件包括显示屏23和透明上盖，显示屏与电控模块通过接插件实现电连接。
实施例5
带可拆装功能扩展件的人机互动体感车，如图1、2、6所示，包括左右相对设置的两个支撑骨架1，两个支撑骨架1的外侧端安装车轮，两个支撑骨架1的内侧端通过转动机构实现转动连接，两个支撑骨架1之间设有的中间件2，中间件2包括基座21、与基座21可拆装连接的功能扩展件22。
基座21设有弧形卡槽211，功能扩展件22设有弧形卡件221，通过弧形卡件221卡合于弧形卡槽211实现基座21和功能扩展件22的连接。
还包括控制人机互动体感车的电控模块，功能扩展件22包括泡泡机芯6和壳体，壳体和基座21可拆卸连接，泡泡机芯6与电控模块通过接插件实现电连接。
上述转动机构为一转轴51，转轴51上设置有一固定件52和一能够摆动或转动的限位件53，该限位件53安装在固定件52上且其摆动或转动所处的平面与转轴51的轴线平行，该限位件53的左右两侧分别与左右两个支撑骨架1的内侧端限位配合，中间件2固定或一体成型在固定件52上。
实施例6
带可拆装功能扩展件的人机互动体感车，如图1、2、6所示，包括左右相对设置的两个支撑骨架1，两个支撑骨架1的外侧端安装车轮，两个支撑骨架1的内侧端通过转动机构实现转动连接，两个支撑骨架1之间设有的中间件2，中间件2包括基座21、与基座21可拆装连接的功能扩展件22。
基座21设有弧形卡槽211，功能扩展件22设有弧形卡件221，通过弧形卡件221卡合于弧形卡槽211实现基座21和功能扩展件22的连接。
包括控制人机互动体感车的电控模块，功能扩展件22包括泡泡机芯6和壳体，壳体和基座21可拆卸连接，所述壳体上设有泡泡机芯的控制开关。
实施例7
具有吹泡泡功能的人机互动体感车，如图7-9所示，包括左右相对设置的两个支撑骨架1，两个支撑骨架1的外侧端安装车轮，两个支撑骨架1的内侧端通过转动机构实现转动连接，两个支撑骨架1之间设有的中间件2，中间件2内设有泡泡机芯6。中间件2上设有固定柱311，固定柱311上安装有固定片312，通过将固定片312安装在固定柱311上实现泡泡机芯6的固定。还包括控制人机互动体感车的电控模块，泡泡机芯6通过基座上的接插件与电控模块实现电连接。
中间件2包括壳体31和基座21，壳体31和基座21之间可拆装连接。壳体31设有出泡口313，泡泡机芯6设有吹泡器61，吹泡器61通过出泡口313。中间件2内还设有与泡泡机芯连接的储液容器62，泡泡机芯6至少一侧设有储液容器62。
使用时，使用者踩到支撑骨架1上侧，需要吹泡泡时，通过控制电控模块打开泡泡机即可实现。
壳体31和基座21之间可拆装连接，泡泡机加水，快速打开壳体即可对储液容器加水。
实施例8
具有吹泡泡功能的人机互动体感车，如图7-9所示，包括左右相对设置的两个支撑骨架1，两个支撑骨架1的外侧端安装车轮，两个支撑骨架1的内侧端通过转动机构实现转动连接，两个支撑骨架1之间设有的中间件2，中间件2内设有泡泡机芯。中间件2上设有固定柱311，固定柱311上安装有固定片312，通过将固定片312安装在固定柱311上实现泡泡机芯6的固定。泡泡机芯6设有开关。
中间件2包括壳体31和基座21，壳体31和基座21固定为一体。壳体31设有出泡口，泡泡机芯6设有吹泡器61，吹泡器61通过出泡口。中间件2内还设有与泡泡机芯连接的储液容器62，泡泡机芯6至少一侧设有储液容器62。泡泡机芯的电源可自带电池，也可以用人机互动体感车的电池。
使用时，使用者踩到支撑骨架1上侧，需要吐泡泡时，通过泡泡机芯6独立的开关，打开泡泡机芯6即可实现。
实施例9
具有吹泡泡功能的人机互动体感车，如图6-9所示，包括左右相对设置的两个支撑骨架1，两个支撑骨架1的外侧端安装车轮，两个支撑骨架1的内侧端通过转动机构实现转动连接，两个支撑骨架1之间设有的中间件2，中间件2内设有泡泡机芯。中间件2上设有固定柱311，固定柱311上安装有固定片312，通过将固定片312安装在固定柱311上实现泡泡机芯6的固定。
中间件2包括壳体31和基座21，壳体31和基座21之间可拆装连接。壳体31设有出泡口，泡泡机芯6设有吹泡器61，吹泡器61通过出泡口。还包括控制人机互动体感车的电控模块，泡泡机芯6通过基座上的接插件与电控模块实现电连接。中间件2内还设有与泡泡机芯连接的储液容器62，泡泡机芯6至少一侧设有储液容器62。
转动机构为一转轴51，转轴51上设置有一固定件52和一能够摆动或转动的限位件53，该限位件53安装在固定件52上且其摆动或转动所处的平面与转轴51的轴线平行，该限位件53的左右两侧分别与左右两个支撑骨架1的内侧端限位配合，中间件2固定或一体成型在固定件52上。
使用时，使用者踩到支撑骨架1上侧，需要吐泡泡时，通过控制电控模块打开泡泡机即可实现。
实施例10
具有吹泡泡功能的人机互动体感车，如图6-9所示，包括左右相对设置的两个支撑骨架1，两个支撑骨架1的外侧端安装车轮，两个支撑骨架1的内侧端通过转动机构实现转动连接，两个支撑骨架1之间设有的中间件2，中间件2内设有泡泡机芯。中间件2上设有固定柱311，固定柱311上安装有固定片312，通过将固定片312安装在固定柱311上实现泡泡机芯6的固定。还包括控制人机互动体感车的电控模块，泡泡机芯6通过基座上的接插件与电控模块实现电连接。
中间件2包括壳体31和基座21，壳体31和基座21之间可拆装连接。壳体31设有出泡口，泡泡机芯6设有吹泡器61，吹泡器61通过出泡口。中间件2内还设有与泡泡机芯连接的储液容器62，泡泡机芯6至少一侧设有储液容器62。
两个支撑骨架1相对侧上至少有一侧固定有旋转限位件54，中间件2与至少一个支撑骨架1上的旋转限位件54进行限位连接，以对该中间件相对于一个支撑骨架1或两个支撑骨架1的转动角度进行限位。
使用时，使用者踩到支撑骨架1上侧，需要吐泡泡时，通过控制电控模块打开泡泡机即可实现。
如图6所示，上述各实施例中的转动机构为一转轴51，转轴51上设置有一固定件52和一能够摆动或转动的限位件53，该限位件53安装在固定件52上，该限位件53的左右两侧分别与左右两个支撑骨架1的内侧端限位配合，中间件2固定或一体成型在固定件52上。这样，因为限位件的左右两侧分别被左右两个支撑骨架限位，所以限位件及其连接的固定件相对于整个车体来说是受限不动的，即基本相对于地面是水平的，避免了中间件随意活动或晃动；当左右两个支撑骨架产生相对转动时，限位件在左右两侧的支撑骨架的带动下产生摆动，这样，左右两个支撑骨架的转动位移差异被转化为限位件的摆动或转动，同时保证了限位件的转动轴线相对居中不动，即保证了固定件及中间件不会随左右支撑骨架相对转动而活动。
当左右两个支撑骨架产生相对转动时，中间件产生相对微小幅度位移，限位件围绕转动中心摆动或转动，摆动和转动的范围基本处于同一平面内。此处所述同一平面并非绝对的同一平面，也包括，限位件绕转动中心的转动平面略有微小位移，仍视为限位件摆动和转动的范围基本处于同一平面。优选的实施方式中，限位件53安装在固定件52上且其摆动或转动所处的平面与转轴51的轴线平行。
上述机械定位结构中，固定件52的作用至少有三个：一是用于连接转轴，二是用于固定中间件，三是为限位件提供摆动或转动的中心。至于固定件的具体形式可以有多种：一种实施方式，该固定件52作为一个独立的部件通过空套、卡接、插接、固定连接、前后限位或者左右限位的方式安装在转轴上，例如图6所示，该固定件52具有通孔以便于套设在转轴51上，具有前后延伸的延伸部以便于固定中间件，具有定位销5201以便与限位件53上的定位孔配合提供限位件的转动中心；其中，所述通孔可以是具有完整孔形，也可以是大部分孔形（例如，两抱臂形成的孔形）只要能够设置在转轴上即可，所述延伸部也还可以左右延伸或者上下延伸只要能够固定中间件即可，为了提供限位件的转动中心，固定件和限位件之间可以通过定位孔和定位销配合实现，也可以通过定位凹槽和定位凸起配合实现，还可以是其他已知的能够实现的形式；另一种实施方式中，该固定件与转轴融合成一体，即在转轴上通过空套、卡接、销接、直接固定或者间接固定等方式安装设置中间件，在转轴上直接设置定位销或定位孔以便于转动设置限位件并提供摆动或转动的中心；还有一种实施方式中，该固定件与中间件融合成一体，即中间件通过空套、卡接、销接、直接固定、间接固定或者限位等方式安装设置在转轴上，中间件上设有定位销、定位孔、定位凸起或定位凹槽以转动设置限位件并提供摆动或转动的中心。
所述限位件53的作用至少有两个：一是通过两侧分别与左右支撑骨架限位连接以保证限位件、固定件及中间件在左右支撑骨架没有相对转动的情况下能够相对固定不动；二是通过绕转动中心摆动或者转动以保证限位件、固定件及中间件在左右支撑骨架产生相对转动的情况下能够保持相对固定不动。限位件的具体形式可以有多种：一种实施方式，限位件为一摆杆，例如图6所示，摆杆的两端分别与左右支撑骨架限位配合连接，摆杆中间通过定位孔、定位销、定位凸起或定位凹槽安装在固定件上；其中，左右两个支撑骨架的内侧端均设有限位凹槽1011，限位件将端部容置在限位凹槽1011内以实现限位配合并能够前后摆动；在另一变形结构中，限位件的两个端部分别通过销轴与左右两个支撑骨架活动连接以实现限位配合并能够摆动,例如限位件的左侧端部设有上下方向延伸的一销轴，该销轴与设在左侧支撑骨架上的弧形孔插接配合实现活动连接，限位件的右侧端部设有上下方向延伸的另一销轴，该销轴与设在右侧支撑骨架上的弧形孔插接配合实现活动连接，这样，左右支撑骨架产生相对转动时，通过销轴带动限位件前后摆动，显而易见地也可以是，左侧支撑骨架上设有上下方向延伸的一销轴，该销轴与设在限位件上的一弧形孔插接配合实现活动连接，右侧支撑骨架上设有上下方向延伸的另一销轴，该销轴与设在限位件上的另一弧形孔插接配合实现活动连接，在其他实施方式中，上述弧形孔还可以是腰形孔、扇形孔或半圆孔等具有一侧弧形导向面的各种孔，上述销轴还可以是滚柱、滚轮等；在上述限位凹槽结构中，限位凹槽靠近支撑骨架的内侧端面的开口大，限位凹槽远离支撑骨架的内侧端面的凹槽深处小，即该限位凹槽呈类三角形，三角形的尖端与限位件的端部相配合，三角形的底边部为敞口以供限位件在一定范围内摆动。另一种实施方式，限位件为一齿轮，左右两个支撑骨架的内侧端面设有传动齿，该传动齿呈环形或扇形分布，该传动齿与上述限位件啮合传动。相对来说，采用摆杆限位结构制造和组装更加容易，成本更低，采用齿轮限位结构制造和组装精度要求更高，成本更高。
如图6所示，所述支撑骨架1的内侧端设有用于插设转轴51的筒体101，转轴51的两端分别套设有轴套5101并且分别插设在左右两个支撑骨架1的桶体101内。
所述转轴51优选是空心轴，以方便穿设导线。但是，在条件允许的情形下，转轴也可以不是空心轴，例如其上设有供导线穿行的局部孔或槽。
所述转轴51可以是一端与一侧支撑骨架固定，另一端与另一侧支撑骨架呈转动连接；也可以是，转轴51的两端分别与相应侧的支撑骨架呈转动连接。所述转轴51的轴线和两个车轮的转动轴线为同一转动轴线，即三轴共线。
优选的实施方式，在筒体101的外侧设有用于限制轴套5101轴向移动的卡圈5102。
优选的实施方式，左右两个支撑骨架1之间设有对两者之间的最大转动角度进行限位的旋转限位件54，如图6所示，旋转限位件54为一限位轴，限位轴的一端固定在一个支撑骨架的筒体101上，另一端与另一支撑骨架的筒体101限位配合，该另一支撑骨架的筒体上开设有与所述限位轴对应的限位槽1012，并通过限位轴与限位槽1012间的配合来限制左右两个支撑骨架之间的最大转动角度，可以理解的，所述限位槽为弧状结构。
实施例11
如图10所示，一种电动平衡车模拟马达声播放的方法，用于电动平衡车，电动平衡车包括车体和驱动车体运动的轮毂电机，实现该方法的装置安装在电动平衡车的车体上，主要包括以下几部分：存储器、控制器和声音播放器，存储器用于存储声音数据，控制器用于对存储器中的声音数据进行处理，并从存储器中选取声音数据片段，将声音数据进行数模转化后输出到声音播放器，声音播放器主要包括音圈，用于播放声音数据。本实施例中，存储器选用FLASH芯片，控制器选用MCU，控制器与声音播放器之间通过功放连接，FLASH芯片与MCU之间通过SPI通信，MCU与功放之间通过DAC芯片连接。
如图12所示，一种电动平衡车模拟马达声播放的方法，包括以下步骤：
获取声音数据：获取汽车马达由怠速加速到最高速的声音数据进行存储；
选取声音数据段：获取电动平衡车在前进方向上的当前速度，根据速度选取对应速度下的声音数据段进行缓存。
输出声音数据段：获取电动平衡车在前进方向上的当前加速度，根据加速度确定从缓存中读取声音数据的读取间隔，按照确定的读取间隔对所缓存的声音数据段进行读取，并按声音数据的位速依次播放读取结果。
需要说明的是，获取声音数据步骤预先完成，例如，可在生产过程中由生产厂家完成，之后在模拟马达声音时，直接执行其余步骤即可。
本实施例中除汽车马达由怠速加速到最高速的声音数据（加速音效）外，还包括模拟点火的声音数据段（点火音效）和熄火的声音数据段（熄火音效）。上述声音数据可以通过录音或软件合成音频等手段获取，并将其转化为数字信号写入存储器中，用于平衡车模拟汽车行驶声音播放的音源。对于事先获取的这些声音数据，将它们进行分类后记录各类声音数据存储的起始位置、长度和声音数据类型。
由于加速音效涉及多个速度下的不同的马达声音，因此在存储声音数据或选取声音数据段时将声音数据按速度进行分段，以便能将车辆的实时速度与马达声音对应。所述将声音数据按速度进行分段，包括：记录每个声音数据段的起始位置、长度以及对应的速度或速度区间。
本实施例中，在存储声音数据时进行分段的步骤是，先按速度将音效数据分割为多个声音数据段后分别存储（各个数据段时之间可连续也可以不连续），在选取声音数据段时直接按实时速度根据相应速度区间下的声音数据片段的存储地址进行选取。在这种方式下，控制器对声音数据段的调用简单，但是，需要人工事先将所有速度下对应的声音数据段的地址一一记录，记录时可以按速度区间对每个声音数据段编号为L1、L2••• LM,将每个声音数据段的编号、对应的速度或速度区间、声音数据段的初始位置以及长度生成一组数据进行存储。
实时监测电动平衡车的行驶速度，通过检测车体轮毂电机转速以实时获取车体水平运行的速度。
需要说明的是，按照速度对声音数据进行分段并不一定指将声音数据进行分割，也可以是将声音数据进行连续存储，仅通过对存储地址进行区间划分。在选取声音数据段时进行分段的步骤与在存储声音数据时进行分段的步骤相同，只是通过控制器记录每个声音数据段的存储地址。例如，存储的加速音效是一段匀速加速的连续的声音数据，加速音效在存储器中存储的起始位置为A（FLASH芯片中的数据存放地址），数据长度为L（L个数据点，若已知采样率为NHz，加速音效的时间长度为T秒，则L = T*N）。如图11所示，将整段加速音效平均分为M段，每段音效数据段（即声音数据段）对应一个速度或速度区间下的马达声音，每个数据段的长度为K ,即K = L/M，这样就可以知道每个速度下的存储地址，为了方便使用，可以对每个声音数据段进行编号，例如图11中的L1、L2…LM。针对每个声音数据段与速度的对应关系，通过控制每个声音数据段的存储地址与速度的对应关系即可。具体地，如图11所示，各个声音数据段对应一个速度区间。
人机互动体感车运行过程中：检测到人机互动体感车的速度和加速度后，控制器根据速度选择其所在速度区间对应的声音数据段，存入到缓存中，并根据加速度设定读取间隔。控制器实时监控速度变化，在速度变化时按照设定的读取间隔播放缓存中声音数据。播放时：定义播放地址为缓存的位置索引，根据播放地址从缓存读取数据并DAC输出；播放地址的初始地址根据被选取的声音数据段的起始位置确定，下一播放地址=当前播放地址+读取间隔。
相应的，如图13所示为选取声音数据段的一种实施方式，控制器根据当前平衡车的行驶速度选择对应的声音数据段，将该声音数据段缓存到Buf（缓存区）中，一旦检测到当前速度变化，则重新选取对应的声音数据进行缓存。输出或播放声音数据段的实现如图13和图14所示，本实施例中，采用定时器中断的方式从声音数据段选取声音数据点进行播放，定义播放地址为缓存的位置索引（具体至声音数据在缓存中存储位置），根据播放地址从缓存读取数据并DAC输出。设定当前选取的声音数据段的起始位置为播放地址的初始地址，下一播放地址=当前播放地址+读取间隔。本实施例中读取间隔为整数。预设读取间隔a=1，如果当前加速度为0，则读取间隔a=1，加速度在设定阈值内变化，读取间隔a相应变化，加速度越大则a的值也相应增大，加速度与读取间隔的对应关系可以通过有限次的实验或调试选取若干读取间隔与加速度区间建立对应关系。
作为一种优选实现方式，若加速度超出设定阈值，更新缓存中的声音数据段，同时设定当前播放地址为缓存中声音数据段存储的起始位置。例如，加速度大于设定阈值，则更新缓存中的声音数据段为对应速度较大的声音数据段。本实施例中对声音数据段循环输出，具体是，每进一次中断通过计数点计数，将计数点计数值与当前声音数据段的长度K比较，当计数值达到K后，计数点计数值清零，设置播放地址的初始地址为下一播放地址。
点火音效、熄火音效和报警音效的实现方式与加速音效类似，将音效数据存入存储器中，记录地址和长度，无需分段，当需要播放的时候MCU会根据地址和长度播放相应的音效数据点。当人机互动体感车检测到有人站立时，播放点火音效；当人机互动体感车检测到骑行者下车时，播放熄火音效；当人机互动体感车检测到故障时，播放报警音效。进一步，可根据不同的故障类型设定不同的报警音效，如此，在检测到的故障类型不同时，播放相应的故障音效。
实施例12
一种人机互动体感车，包括车体和设置在车体上的两个车轮，车体包括支撑骨架，支撑骨架上设有脚踏装置或脚踏区域，两个车轮由轮毂电机驱动分别可转动地固定于支撑骨架两侧。支撑骨架可以包括左右相对设置且能相对转动的第一支撑骨架和第二支撑骨架，第一支撑骨架和第二支撑骨架上分别设有脚踏区域。这种结构的人体互动体感车可参考公开号为CN107719549A、CN105939922A的发明专利公开的电动平衡车。支撑骨架也可以为一整体结构，这种结构的人体互动体感车可参考公开号为CN207045552U、CN206644916U等专利文件公开的人体互动体感车。为了便于观察人体互动体感车的工作状态，车体上设有用于显示电机上电状态的指示灯和用于显示速度及单次里程数的LED显示屏，控制器与LED显示屏之间设有LED驱动电路。
上述人机互动体感车的车体上安装有模拟发动机声音装置，如图15所示，所述模拟发动机声音装置包括：
用于检测体感车当前运行状态的检测器71。检测器71可以直接或间接获取人机互动体感车的在前进方向上的行驶速度和/或加速度。
存储器72，用于存储音频数据，该音频数据为事先录制的发动机从怠速加速到最高速度的声音。根据检测器的检测信号提取存储器中的音频数据的控制器73；
以及用于接收控制器对选取的音频数据进行缓存，并发送至播放器73进行播放。
存储器、检测器、以及播放器均与控制器电连接。
检测器71可以为检测人机互动体感车当前速度的传感器，这样通过速度即可计算得到加速度。在本实施例中，检测器为设置在轮毂电机定子上的霍尔传感器，通过统计轮毂电机的转速得到行驶的速度，并进一步根据速度计算得到加速度。
本实施例中存储器72采用FLASH芯片实现。
控制器73可以选用MCU或其他常见的可编程芯片。
语音播放器74，主要包括功放单元和扬声器，用于播放经过控制器处理的音频数据片段。当选用单片机作为控制器时，可以直接对语音播放器输出PWM调制信号，无需音频解码芯片支持直接播放音频，功能模块简单。
考虑到，人机互动体感车本身设有控制人机互动体感车运行的主控板，为便于实现，本实施例中，将模拟发动机装置中的存储器和控制器集成至人机体感车的主控板上。
语音播放器固定在人机互动体感车的车体上，具体位置无特殊要求，多设置在内部，并在车体外壳的相应位置做镂空设计。存储器72可以是存储有发动机从怠速加速到最高转速的音频数据的存储器；也可以是存储有对应发动机各工况下特定长度的多个音频数据片段。
控制器73根据检测器的检测信号从存储器中截取或直接选取对应工况的音频数据片段，所述工况可以通过车辆行驶速度确定，也可以通过车辆的行驶状态确定；根据检测器71获取的加速度，对提取的对应工况下的音频数据片段进行频率调制处理，此处的频率调制处理指的是对音频数据的播放速度进行加速或减速处理。
以人机互动体感车快速加速为例说明平衡车模拟发动机加速声音的过程：人机互动体感车开始加速时，检测器72检测到人机互动体感车速度和加速度的大小；控制器73根据速度和加速度的大小从存储器72中提取相应的音频数据，然后根据加速度的大小对音频数据进行频率压缩处理以模拟发动机快速加速时的效果，并输出经过相应的PWM调制信号；语音播放器64根据PWM调制信号播放经过压缩处理后的音频。
上述平衡车，能根据人机互动体感车的运行状态通过喇叭等声音发声器同步模拟出发动机声音效果，以增加用户骑行过程中的乐趣，并且能对周围的行人提到声音警示作用，提高骑行过程中的安全性。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在不脱离本发明的原理和宗旨的情况下在本发明的范围内可以对上述实施例进行变化、修改、替换、组合和变型，凡是依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本发明技术方案的范围内。

Claims (20)

  1. 人机互动体感车，其特征在于：包括左右相对设置的两个支撑骨架（1），两个支撑骨架（1）的内侧端通过转动机构实现转动连接，两个支撑骨架（1）之间设有的中间件（2）。
  2. 根据权利要求1所述的人机互动体感车，其特征在于：中间件（2）包括基座（21）、与基座（21）可拆装连接的功能扩展件（22）。
  3. 根据权利要求2所述的人机互动体感车，其特征在于：基座（21）设有弧形卡槽（211），功能扩展件（22）设有与弧形卡槽（211）相匹配的弧形卡件（221），通过弧形卡件（221）卡合于弧形卡槽（211）实现基座（21）和功能扩展件（22）的连接。
  4. 根据权利要求2所述的人机互动体感车，其特征在于：功能扩展件（22）设有弧形卡槽，基座（21）设有与弧形卡槽相匹配的弧形卡件，通过弧形卡件卡合于弧形卡槽实现基座（21）和功能扩展件（22）的连接。
  5. 根据权利要求2所述的人机互动体感车，其特征在于：基座（21）设有直线型卡槽（212），功能扩展件（22）设有与直线型卡槽（212）相匹配的卡件（222），通过卡件（222）卡入直线型卡槽（212）实现基座（21）和功能扩展件（22）的连接。
  6. 根据权利要求2所述的人机互动体感车，其特征在于：功能扩展件（22）设有直线型卡槽，基座（21）设有与直线型卡槽相匹配的卡件，通过卡件卡入直线型卡槽实现基座（21）和功能扩展件（22）的连接。
  7. 根据权利要求2所述的人机互动体感车，其特征在于：还设有螺钉（4），基座（21）和功能扩展件（22）通过螺钉（4）连接。
  8. 根据权利要求2所述的人机互动体感车，其特征在于：功能扩展件（22）设有向下延伸的卡钩（223），基座（21）设有与所述卡钩相对应的卡口，通过向下延伸的卡钩（223）卡合于卡口实现基座（21）和功能扩展件（22）的连接。
  9. 根据权利要求2所述的人机互动体感车，其特征在于：还包括控制人机互动体感车的电控模块，所述功能扩展件（22）为显示组件，包括显示屏（23）和透明上盖，显示屏与人机互动体感车的电控模块或电源通过基座（21）上的接插件实现电连接。
  10. 根据权利要求2所述的人机互动体感车，其特征在于：还包括控制人机互动体感车的电控模块，功能扩展件（22）包括泡泡机芯（6）和壳体，壳体和基座可拆卸连接，泡泡机芯（6）与人机互动体感车的电控模块或电源通过基座上的接插件实现电连接。
  11. 根据权利要求2所述的人机互动体感车，其特征在于：还包括控制人机互动体感车的电控模块，功能扩展件（22）包括泡泡机芯（6）和壳体，壳体和基座（21）可拆卸连接，所述壳体上设有泡泡机芯的控制开关。
  12. 根据权利要求1所述的人机互动体感车，其特征在于：转动机构为一转轴（51），转轴（51）上设置有一固定件（52）和一能够摆动或转动的限位件（53），该限位件（53）安装在固定件（52）上，该限位件（53）的左右两侧分别与左右两个支撑骨架（1）的内侧端限位配合，中间件（2）固定或一体成型在固定件（52）上。
  13. 根据权利要求12所述的人机互动体感车，其特征在于：该限位件（53）摆动或转动所处的平面与所述转轴（51）的轴线平行。
  14. 根据权利要求1所述的人机互动体感车，其特征在于：中间件（2）内设有泡泡机芯（6）。
  15. 根据权利要求14所述的人机互动体感车，其特征在于：中间件（2）上设有固定柱（311），固定柱（311）上安装有固定片（312），通过将固定片（312）安装在固定柱（311）上实现泡泡机芯（6）的固定。
  16. 根据权利要求14所述的人机互动体感车，其特征在于：中间件（2）包括壳体（31）和基座（21），壳体（31）和基座（21）之间可拆装连接。
  17. 根据权利要求14所述的人机互动体感车，其特征在于：中间件（2）包括壳体（31）和基座（21），壳体（31）和基座（21）固定为一体。
  18. 根据权利要求16或17所述的人机互动体感车，其特征在于：壳体（31）设有出泡口（313），泡泡机芯（6）设有吹泡器（61），吹泡器（61）通过出泡口（313）。
  19. 根据权利要求14所述的人机互动体感车，其特征在于：中间件（2）内还设有与泡泡机芯（6）连接的储液容器（62），泡泡机芯（6）至少一侧设有储液容器（62）。
  20. 根据权利要求1所述的人机互动体感车，其特征在于：两个支撑骨架（1）相对侧上至少有一侧固定有旋转限位件，中间件与至少一个支撑骨架（1）上的旋转限位件进行限位连接，以对该中间件相对于一个支撑骨架（1）或两个支撑骨架（1）的转动角度进行限位。
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