WO2020156233A1 - 人机互动体感车及其车体、上盖和支撑骨架 - Google Patents

人机互动体感车及其车体、上盖和支撑骨架 Download PDF

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Publication number
WO2020156233A1
WO2020156233A1 PCT/CN2020/072697 CN2020072697W WO2020156233A1 WO 2020156233 A1 WO2020156233 A1 WO 2020156233A1 CN 2020072697 W CN2020072697 W CN 2020072697W WO 2020156233 A1 WO2020156233 A1 WO 2020156233A1
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WO
WIPO (PCT)
Prior art keywords
support frame
human
wheel
pedal
machine interactive
Prior art date
Application number
PCT/CN2020/072697
Other languages
English (en)
French (fr)
Inventor
应佳伟
肖科平
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 CN201910389339.8A external-priority patent/CN110155230A/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 US17/427,667 priority Critical patent/US20220144370A1/en
Priority to EP20748973.3A priority patent/EP3919361A4/en
Publication of WO2020156233A1 publication Critical patent/WO2020156233A1/zh

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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
    • 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
    • B62K11/02—Frames
    • 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
    • B62K2204/00—Adaptations for driving cycles by electric motor

Definitions

  • the invention relates to a balance vehicle, in particular to a human-machine interaction somatosensory vehicle and its vehicle body, upper cover and support frame.
  • Human-machine interaction motion sensing car also called electric balance car, thinking car, its operating 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 posture changes, and the servo control system is used to accurately drive the motor to make corresponding adjustments to maintain the balance of the system.
  • Existing human-computer interaction somatosensory vehicles are generally divided into two types, with operating levers and non-operating levers. Among them, the human-computer interactive somatosensory vehicles with operating levers, the forward, backward and steering of the human-computer interactive somatosensory vehicles are all controlled by the operating rods. Carry out specific operation control. For the human-machine interactive somatosensory car without a joystick, the forward and backward of the human-machine interactive somatosensory car is controlled by the tilt of the entire human-computer interactive somatosensory car, and the steering is controlled by the user’s foot on the pedal platform and passing The relative rotation angle difference between the two pedal platforms is used for control.
  • the two-wheeled human-machine interactive somatosensory car without operating lever is mainly represented by the two-wheeled self-balancing human-machine interactive somatosensory car disclosed in patent CN201410262108.8.
  • the inner cover of the balance car includes a symmetrical left inner cover and The right inner cover, and the left inner cover is rotatably connected with the right inner cover.
  • the relative rotation of the left and right pedals is used to control the turning of the vehicle, the structure is relatively complicated, the parts are many, and the manufacturing cost is high.
  • Patent documents with publication numbers CN108297999A, CN106627895A, CN108725648A, CN106560386A, CN105416486A, and their series of application documents disclose a human-computer interaction somatosensory vehicle, which detects the front and left of the left foot when the user stands on the pedal through a pressure sensor. The changes in the force received by the heel, the front of the right foot, and the stepping position of the right heel are used to obtain the user's driving operation intention, that is, to achieve steering through the pressure difference between the two feet.
  • problems such as complex structure, many parts, complicated assembly, and high manufacturing cost.
  • the purpose of the present invention is to provide a human-machine interactive somatosensory vehicle with simple and reliable structure and low manufacturing cost, and its vehicle body, upper cover and supporting frame.
  • a human-machine interactive somatosensory vehicle including a vehicle body and wheels installed on the vehicle body.
  • the vehicle body includes a support frame, a control board, a sensor, a battery, and pedal components.
  • the wheels are installed on the support frame and the pedal components are installed Above the support frame, the sensor is installed under the pedal part, the battery supplies power to the control board, and the control board controls the wheel rotation according to the signal of the sensor.
  • the vehicle body further includes an upper cover and a lower cover wrapped on the outside;
  • the pedal component is a plastic part integrally formed with the upper cover of the vehicle body.
  • the support frame includes a wheel connection part for connecting with the wheel and a support part for supporting the footrest member.
  • the wheel connection part and the support part are integrally formed or directly fixedly connected or indirectly fixedly connected via other rigid parts.
  • the support frame is an integrally formed plate-shaped structure; the support frame is made of aluminum profiles.
  • the footrest member is a footrest part integrally connected with the upper cover of the vehicle body.
  • the footrest component is a footrest base that can move independently with respect to the support frame and the upper cover of the vehicle body and can produce relative displacement changes.
  • the footrest and the upper cover of the vehicle body can be connected by a flexible member or a flexible joint.
  • anti-slip stickers or anti-slip foot pads are pasted on the upper surface of the footrest member.
  • the senor is a plate-shaped or sheet-shaped pressure sensor, and the pressure sensor is arranged between the footrest member and the support frame; the pressure sensor includes two front and rear ends and a connecting part connecting the two ends, and the connecting part is fixed at Support the top of the frame or the bottom of the foot pedal.
  • the wheel adopts a hub motor, and the wheel axles of the two wheels are respectively fixed to the two ends of the support frame by fixing parts; the wheel axle is installed under the support frame, and the support frame and the fixing part are provided with recesses matching the wheel axle. groove.
  • the upper cover of the vehicle body is an integrally formed plastic part, including two left and right footrest parts, the two footrest parts are connected by a middle part, and the outer side of the two footrest parts is provided with a wheel cover part for covering the wheels .
  • the front side and the rear side of the bottom of the footrest there are two pressure parts for transmitting pressure in contact with the pressure sensor.
  • the front and rear sides of the footrest are each provided with two pressure Positioning post with sensor.
  • the lower cover of the car body is an integrally formed plastic part, the lower cover is fixed under the support frame, the upper cover is fixedly connected to the lower cover, the battery is installed under the support frame, in the battery space of the lower cover, and the control board is installed Support above the skeleton.
  • the upper cover is fixed on the support frame, and the lower cover is fixedly connected to the upper cover; or, the upper cover and the lower cover are respectively fixedly connected to the support frame.
  • the battery is installed between the support frame and the lower cover, or the battery is installed between the support frame and the upper cover; the control board is installed between the support frame and the lower cover, or the control board is installed between the support frame and the upper cover.
  • the middle part of the upper cover is arched upwards to form an intermediate accommodation space below it, and the control board is accommodated in the intermediate accommodation space and fixed on the support frame.
  • the front side or the rear side of the vehicle body is provided with a handle hole penetrating up and down, so that a handle is formed in the middle of the front side or the rear side of the vehicle body.
  • the support frame is integrated with the lower cover.
  • the left and right wheels are installed on the left and right ends of the support frame, the left and right footrest components are installed above the support frame, the battery is installed under the support frame, and the left and right sensors are installed under the left and right footrest components respectively.
  • the battery supplies power to the control board.
  • a gyroscope is installed on the control board. The control board controls the rotation of the two wheels according to the signals of the two sensors.
  • the support frame is an integrally formed plate-shaped structure; the support frame is made of aluminum profiles.
  • the support frame includes a wheel connection part for connecting with the wheel and a support part for supporting the footrest component.
  • the wheel connection part and the support part are integrally formed or fixedly connected to form a support frame; the left and right ends of the support frame are respectively provided with one
  • the wheel connection part, the left and right wheel connection parts have a common wheel axis, the left and right support parts are arranged between the two wheel connection parts, and the sensor is a plate or piece arranged between the support part and the pedal member Shaped pressure sensor.
  • the pressure sensor includes integrally formed or fixedly connected front and rear ends and a connecting part between the two ends, the connecting part is fixed on the support frame, and the front and rear ends are suspended.
  • the front and back ends of the pressure sensor form two relatively independent pressure sensing regions.
  • the front and rear suspended ends of the pressure sensor are respectively located on the front and rear sides of the wheel axis of the two wheel connecting parts.
  • a human-machine interactive somatosensory vehicle including a vehicle body and wheels installed on the vehicle body.
  • the vehicle body includes a lower cover, a control panel, a sensor, a battery, and a pedal component.
  • the wheels are mounted on the lower cover and the pedal
  • the component is installed above the lower cover, the sensor is installed under the pedal component, the battery supplies power to the control board, and the control board controls the wheel rotation according to the signal from the sensor.
  • the lower cover is made of metal or other materials with supporting rigidity by integral molding; or, the lower cover includes a main frame portion for bearing the weight of the vehicle body and an appearance portion exposed to the outer surface of the vehicle body, the main frame portion and the appearance portion It is integrally formed with the same material, or it is formed by one-time forming or partial forming or separate assembly of different materials; the pedal part is a plastic part integrally formed with the upper cover of the car body or relative to the support frame and the car body The cover can move independently and can produce a footrest base plate with relative displacement changes.
  • the upper cover With an independent internal support frame, the upper cover is no longer used as a load-bearing component.
  • the upper cover of the car body can be made of plastic material and other materials with lower cost, lighter weight and better decorative effect.
  • the center of gravity of the car is reduced and the structure is simplified. The number of parts is greatly reduced, the manufacturing cost is greatly reduced, the vehicle body platform is thinner, the ground clearance is increased, and the passability is improved, and the vehicle body is reduced in volume, lighter and easier to carry.
  • An upper cover of a human-machine interactive somatosensory vehicle is provided with two left and right pedal parts.
  • a support frame is arranged under the two pedal parts. Between each pedal part and the support frame They are equipped with sensors, and the pedal components include pedal parts for users to step on. When a pedal part bears gravity, the pedal part transmits weight to the support frame and triggers the sensor below the pedal part to generate electrical signals.
  • a pressure sensor and a supporting frame are arranged under the pedal part of the car body cover, so that the car body cover is no longer used as a load-bearing part, and the car body cover can be made of plastic materials.
  • the cost is low, the weight is light, and the decoration effect is better.
  • the vehicle’s center of gravity is reduced, the structure is simplified, the number of parts is greatly reduced, and the manufacturing cost is greatly reduced.
  • the vehicle body platform is thinner and the ground clearance is increased, which improves the passability, and the vehicle body is reduced in size, lighter and more convenient Carry and carry.
  • the upper cover is fixed on the support frame.
  • the pedal component is a plastic part integrally formed with the upper cover.
  • the footrest component is a footrest base that can move independently with respect to the support frame and the upper cover and can produce relative displacement changes.
  • the footrest and the upper cover can be connected by a flexible member or a flexible joint.
  • an anti-slip sticker or an anti-slip foot pad is pasted on the upper surface of the foot part of the foot part.
  • the upper cover is an integrally formed plastic part, including two left and right footrest parts, the two footrest parts are connected by a middle part, and the footrest part is the footrest component.
  • a wheel cover portion for covering the wheel is provided on the outer side of the two pedal portions.
  • the senor is a plate-shaped or sheet-shaped pressure sensor.
  • the pressure sensor includes two front and rear ends and a connecting part connecting the two ends.
  • the connecting part is fixed on the support frame or the bottom of the pedal member; the front and back of the pressure sensor
  • the two ends form two relatively independent pressure sensing areas at the front and rear.
  • a wheel is installed on the left and right ends of the support frame, the left and right wheels have a common wheel axis, and the front and rear ends of the pressure sensor are respectively located on the front and rear sides of the wheel axis of the connecting part of the two wheels;
  • the front and rear sides of the bottom of the foot pedal are each provided with two pressure parts for contact with the pressure sensor to transfer pressure.
  • the front and back pressure parts correspond to the front and back ends of the pressure sensor.
  • the front side and the rear side of the bottom of the bottom part are respectively provided with a limiting structure that is coordinated and positioned with the front and rear ends of the pressure sensor.
  • the pressing portion has a block shape, a strip shape, a convex shape, a column shape or a cone shape.
  • the limiting structure is a positioning column, a positioning hole or an edge limiting structure.
  • a human-machine interactive somatosensory car includes the upper cover of the above-mentioned human-computer interactive somatosensory car.
  • the vehicle also includes wheels, control boards, batteries and pedal components.
  • the wheels are installed on the wheel connection parts at the left and right ends of the support frame.
  • the control board is fixed on the support frame.
  • the pressure sensor is connected to the control board.
  • the control board is equipped with a gyro. The instrument and the control board control the wheel rotation according to the signal of the sensor; the battery is installed under the support frame, and the pedal component is installed above the support frame.
  • a support frame for a human-machine interactive somatosensory vehicle comprising a wheel connection part for connecting with wheels and a support part for supporting a pedal component.
  • the wheel connection part and the support part are integrally formed or fixedly connected to form a support frame;
  • a wheel connecting part is respectively provided at the left and right ends.
  • the wheels connected to the left and right wheel connecting parts have a common wheel axis.
  • the left and right support parts are arranged between the two wheels.
  • a plate is provided between the support part and the pedal component. Shaped or sheet-shaped pressure sensor.
  • An independent support frame is used.
  • the two ends of the support frame are connected to the wheels.
  • the support frame supports the pedal components and the pressure sensor, so that the car body shell is no longer used as a load-bearing part, and the car body shell can be made of plastic materials with low cost and weight.
  • the center of gravity of the car is reduced, the structure is simplified, the number of parts is greatly reduced, and the manufacturing cost is greatly reduced.
  • the body platform is thinner to increase the ground clearance, improve passability, and reduce the body volume Smaller weight, lighter and easier to carry. Under the premise of meeting the functional requirements of human-computer interaction somatosensory car, the product structure is optimized and the product production cost is reduced.
  • the support frame is an integrally formed plate-like structure.
  • the support frame is made of aluminum profiles.
  • the pressure sensor includes integrally formed or fixedly connected front and rear ends and a connecting part between the two ends, the connecting part is fixed on the support frame, and the front and rear ends are suspended.
  • the front and back ends of the pressure sensor form two relatively independent pressure sensing regions.
  • the front and rear suspended ends of the pressure sensor are respectively located on the front and rear sides of the wheel axis of the two wheel connecting parts.
  • the wheel connecting parts at the two ends of the support frame fix the wheel axle of the wheel by a fixing member, and the wheel connecting part of the support frame is provided with a groove matching the wheel axle.
  • a human-machine interactive somatosensory vehicle includes the support frame of the human-computer interactive somatosensory vehicle as described above.
  • the control board is fixed on the support frame.
  • the pressure sensor is connected to the control board.
  • the control board is equipped with a gyro. The control board controls the wheel rotation according to the signal of the sensor.
  • the battery is installed under the support frame, and the footrest is installed above the support frame.
  • a body of a human-machine interactive somatosensory vehicle includes a lower cover, a control panel, a sensor, a battery and a pedal component.
  • the wheel is installed on the lower cover, the pedal component is installed above the lower cover, and the sensor is installed on the pedal component Below, the battery supplies power to the control board, and the control board controls the rotation of the wheels installed on the car body according to the signals from the sensors.
  • the lower cover is integrally formed of metal or other materials with supporting rigidity.
  • the lower cover includes a main frame part for the load-bearing of the car body and an appearance part exposed on the outer surface of the car body.
  • the main frame part and the appearance part are integrally formed with the same material, or are formed by using different materials at one time or in stages Forming or split assembly into one body.
  • the vehicle body further includes an upper cover fixed on the lower cover, and the control board, the sensor and the battery are installed between the upper cover and the lower cover.
  • the footrest component is a plastic part integrally connected with the upper cover, or a footrest bottom plate that can move independently with respect to the upper cover and can produce relative displacement changes.
  • the lower cover includes a wheel connection part for connecting with the wheel and a support part for supporting the pedal component.
  • the wheel connection part and the support part are integrally formed or directly fixedly connected or indirectly fixedly connected via other rigid parts.
  • the wheel adopts a hub motor, and the wheel shafts of the two wheels are respectively fixed on the lower cover by a fixing member; the lower cover and the fixing member are provided with grooves matching the wheel shaft.
  • the senor is a plate-shaped or sheet-shaped pressure sensor, and the pressure sensor is arranged between the pedal part and the lower cover; the pressure sensor includes two front and rear ends and a connecting part connecting the two ends, the front and rear ends Hanging, the connecting part is fixed on the lower cover or is supported and limited by protrusions on the lower cover.
  • the upper cover of the vehicle body is an integrally formed plastic part, including two left and right footrest parts, the two footrest parts are connected by a middle part, and the outer side of the two footrest parts is provided with a wheel cover part for covering the wheels .
  • two pressure parts are provided on the front side and the rear side of the bottom of the footrest part for contacting and transmitting pressure with the pressure sensor, and the bottom part of the footrest part is positioned and matched with the pressure sensor.
  • a human-machine interactive somatosensory car includes the body of the human-machine interactive somatosensory car as described above.
  • the present invention adopts the above technical scheme, adopts an independent internal support frame or a support frame integrated with the lower cover, the upper cover is no longer used as a load-bearing component, and the upper cover of the car body can be made of plastic material with low cost and weight.
  • the center of gravity of the car is reduced, the structure is simplified, the number of parts is greatly reduced, and the manufacturing cost is greatly reduced.
  • the body platform is thinner to increase the ground clearance, improve passability, and reduce the body volume Smaller weight, lighter and easier to carry. Under the premise of meeting the functional requirements of human-computer interaction somatosensory car, the product structure is optimized and the product production cost is reduced.
  • Figure 1 is a perspective view (front side) of embodiment 1 of the present invention.
  • Figure 2 is a perspective view (rear side) of embodiment 1 of the present invention.
  • FIG. 3 is an exploded view of Embodiment 1 of the present invention.
  • FIG. 4 is a top view of Embodiment 1 of the present invention.
  • Figure 5 is a cross-sectional view taken along line A-A of Figure 4.
  • Figure 6 is a B-B cross-sectional view of Figure 4.
  • Figure 7 is a C-C cross-sectional view of Figure 4.
  • Figure 8 is a perspective view of embodiment 1 of the present invention (with the upper cover removed);
  • FIG. 9 is a perspective view of Embodiment 1 of the present invention (with the lower cover removed);
  • Figure 10 is a schematic diagram of the internal structure of the upper cover of the present invention.
  • Figure 11 is a schematic diagram of the internal structure of the lower cover of the present invention.
  • Figure 12 is a perspective view of Embodiment 2 of the present invention.
  • Figure 13 is an exploded view of Embodiment 2 of the present invention.
  • Figure 14 is a top view of Embodiment 2 of the present invention.
  • Figure 15 is a D-D cross-sectional view of Figure 14;
  • Fig. 16 is a cross-sectional view taken along the line E-E in Fig. 14.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with “first” and “second” may explicitly or implicitly include one or more of these features. In the description of the present invention, unless otherwise specified, “plurality” means two or more, unless otherwise clearly defined.
  • the terms “installed”, “connected”, “connected”, “fixed”, “fixed” and other terms should be understood in a broad sense.
  • it may be a fixed connection or It is a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components.
  • installed may be a fixed connection or It is a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components.
  • the "above” or “below” of the first feature of the second feature may include the first and second features in direct contact, or may include the first and second features Not in direct contact but through other features between them.
  • “above”, “above” and “above” the second feature of the first feature include the first feature being directly above and obliquely above the second feature, or it simply means that the level of the first feature is higher than the second feature.
  • the “below”, “below” and “below” the first feature of the second feature include the first feature directly below and obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.
  • the present invention takes the horizontal direction parallel to the straight direction of the human-machine interaction somatosensory car as the front and rear direction, takes the horizontal direction perpendicular to the straight direction of the human-machine interaction somatosensory car as the left and right direction, and takes the vertical direction of the human-computer interaction somatosensory car as the straight direction.
  • the vertical direction is up and down.
  • a human-machine interactive somatosensory car shown in Figures 1 to 11 includes a car body and wheels 1 mounted on the car body.
  • the car body includes a support frame 8, a control board 11, a sensor, a battery 7 and a pedal Components, the wheel 1 is installed below or on both sides of the support frame, the pedal component is installed above the support frame 8, the sensor is installed below the pedal component, the battery 7 supplies power to the control board 11, and the control board 11 controls the wheel 1 according to the signal from the sensor Rotate.
  • the car body also includes an upper cover 4 and a lower cover 3 wrapped on the outside.
  • the above-mentioned support frame is used for bearing the weight of the car body and installing the wheel. Therefore, the support frame includes a wheel connection part for connecting with the wheel and a support part for supporting the pedal component.
  • the wheel connection part and the support part are integrally formed or directly fixedly connected Or indirectly fixed connection via other rigid parts, so as to ensure that the user's weight is transferred to the wheel via the footrest part and the support frame.
  • the wheel connection part and the support part of the support frame 8 are integrally formed, and the support frame 8 is an integral plate structure.
  • the structure is simple, the processing is convenient, the manufacturing cost is low, and the plate-like structure has a large area, high strength, and thin thickness, which is convenient for the arrangement and installation of parts, especially the battery installation, which makes the vehicle have a large ground distance and good passability .
  • the support frame may be an integrally formed plate structure, rod-shaped structure, rod-shaped structure, tubular structure, block structure, cylindrical structure or cover structure, or it may be directly fixed or indirectly formed after separate molding
  • a structure that is fixed and connected as a whole for example, the wheel connecting part of the supporting frame is in a plate-like structure, rod-like structure, rod-like structure, tubular structure, block structure, cylinder structure or cover structure
  • the supporting part of the supporting frame is plate-shaped Structure, rod structure, rod structure, tubular structure, block structure, cylinder structure or cover structure
  • the wheel connection part and the support part are directly fixedly connected or through a rigid part (the rigid part may also be a plate structure,
  • One or more of rod-shaped structure, rod-shaped structure, tubular structure, block structure, cylindrical structure or cover structure, such as all or part of the upper cover or the lower cover) is fixedly connected.
  • the support frame can be hidden inside the car body, or can be fully or partially exposed to the outside of the car body, for example, the upper or lower cover of the car body is used as the support frame, or a part of the support frame is exposed to the upper or lower cover of the car body .
  • the plate-like structure, rod-like structure, rod-like structure, tubular structure, block-like structure, cylinder structure or cover structure of the supporting framework can be a whole and integral structure, or a frame structure formed by partially hollowing out or splicing And other similar structures.
  • the supporting frame 8 is made of aluminum profiles, which has low cost and convenient processing.
  • the supporting framework is preferably made of metal.
  • the metal material has good rigid support performance, not only can install and fix various parts, but also can effectively protect the power supply explosion-proof and improve safety.
  • the metal material is preferably an aluminum material.
  • all or part of the supporting frame may be a rigid part made of metal, or may be made of non-metallic materials such as wood, plate, hard plastic, etc., with a certain rigidity.
  • the support frame can be formed at one time or formed through multiple processes, such as turning, milling, grinding, stretching, welding, and the like.
  • the above-mentioned footrest components are for the user to step on and transfer the weight to the support frame.
  • the footrest component includes at least the footrest part for the user to step on.
  • the footrest part can directly contact the support frame (or indirectly connect the support frame through the intermediate part) to transfer weight to the support
  • the skeleton, the supporting skeleton ultimately bears the weight.
  • the pedal component is a pedal portion 42 integrally connected with the upper cover 4 of the vehicle body. Since the upper cover 4 for decoration protection is generally made of plastic, Therefore, the pedal portion 42 is also made of plastic, which has simple structure, convenient assembly, low manufacturing cost and beautiful appearance. When the user stands on the footrest of the upper cover, the weight of the user is transferred to the sensor and the support frame through the elastic deformation of the footrest 42.
  • the footrest component may be a footrest base that can move independently with respect to the support frame and the upper cover of the vehicle body and can produce small changes in relative displacement. Rubber can be passed between the pedal base and the upper cover of the vehicle body.
  • the flexible parts such as the ring are connected and sealed, or the bottom of the pedal and the upper cover of the car body can be connected into a whole through a flexible joint through processing methods such as secondary molding, multiple molding or insert injection molding.
  • a non-slip sticker or non-slip foot pad is provided on the upper surface of the footrest portion 42, and the non-slip sticker or non-slip foot pad is fixed on the footrest portion 42 in a pasting manner, which is convenient for installation or replacement and low cost.
  • an anti-slip structure such as an anti-slip pattern
  • an anti-slip component may also be provided on the pedal component (the pedal portion 42) through molding processing, covering assembly, or the like.
  • the non-slip components can be made of soft rubber or other materials, which can increase the wear resistance and friction of the pedal components, improve user comfort, and provide better waterproofing Dustproof effect.
  • the above-mentioned sensor is used to sense the user's posture change and to learn the vehicle operation intention.
  • the sensor can be a pressure sensor, a capacitive sensor, a photoelectric sensor, or other sensors that can detect small changes in the shape or displacement of an object.
  • the sensor includes a part that can be connected to the foot pedal, another part that can be connected to the supporting part, and a signal output part that is connected to the control board.
  • the application principle and specific structure of this type of sensor on a somatosensory car (or balance car) can be any of the patent documents disclosed in the patent documents such as CN108297999A, CN106627895A, CN108725648A, CN106560386A, CN105416486A, and their series of application documents. One, and any other sensor that can achieve the above detection purposes.
  • the above-mentioned sensor is a plate-shaped or sheet-shaped pressure sensor 10.
  • the pressure sensor 10 is arranged between the pedal member (the pedal portion 42) and the support frame 8.
  • the force-sensitive member of the pressure sensor 10 bears the weight and senses at the same time. Measure changes in pressure. In this way, the cost is low, the thickness is small, and the height of the vehicle body and the center of gravity of the vehicle can be reduced to the greatest extent.
  • the above-mentioned sensor may only sense the shape or displacement change of the footrest member or other intermediate parts after bearing the weight, so that the sensor can be arranged at any suitable position around the footrest member and the support frame.
  • the pressure sensor 10 is fixed on the support frame 8 by fasteners, so that the installation is convenient, and the detection is sensitive and reliable.
  • the senor can be installed on the footrest component (such as the bottom of the footrest 42), and the sensor can also be partly installed on the footrest component and partly on the support frame.
  • the type and principle of action are arranged reasonably.
  • pressure sensors 10 are provided below the left and right footrests 42.
  • Each pressure sensor 10 includes two front and rear ends and two connecting ends.
  • the connecting part is fixed on the support frame 8, and the front and back ends extend out of the support frame 8 and hang in the air.
  • the front and back ends can sense different pressure information according to the different forces of the front and rear soles.
  • the front and rear sensing areas are equivalent to two sensors with different positions to test the different forces of the front and rear soles.
  • each pressure sensor can also sense the slight deformation or displacement of the footrest member relative to the support frame as a whole.
  • each pressure sensor may have only one sensing area, or have more than two sensor areas.
  • the control device of the somatosensory car is used to control and drive the wheels to move or rotate according to the force information difference between the sensor areas of the two pressure sensors to realize steering.
  • the pressure sensor can also be used to sense whether there is a user on the pedal component, so as to control the start and stop of the wheel. With this arrangement, there is no need to separately set an induction switch, thereby simplifying the structure of the vehicle body.
  • the induction switch can also be provided separately.
  • the human-machine interaction motion sensing vehicle may further include a position sensor (not shown) for sensing the tilt information of the support frame relative to the wheel, that is, the tilt information of the support frame relative to the ground.
  • a position sensor for sensing the tilt information of the support frame relative to the wheel, that is, the tilt information of the support frame relative to the ground.
  • the position sensor senses the tilt and sends a signal to the control panel, which controls the driving wheel to move forward, and makes the whole tilt backward under the action of inertia
  • the force plays a balancing role.
  • the position sensor includes a gyroscope, an acceleration sensor and/or a photoelectric sensor.
  • the above-mentioned wheels are used for bearing the weight and driving the vehicle body to move by being driven to rotate.
  • the wheels can be installed on both sides of the supporting frame or under the supporting frame.
  • a driving embodiment of the wheel can be driven by an external motor, that is, the wheel includes a fixedly connected wheel frame and a wheel shaft, and the wheel shaft is rotatably mounted on the support frame and connected with the drive motor fixed on the support frame.
  • the use of external motors for the wheels will result in a complex and bloated car body structure.
  • the vehicle components are greatly reduced, and the internal space of the car body is reduced. With more space, the drive motors of the wheels can be arranged reasonably.
  • the wheel is driven by a built-in motor, that is, a hub motor is used.
  • the wheel frame and the wheel shaft are driven by the hub motor to achieve relative rotation, so that the wheel shaft can be directly fixed on the support frame.
  • the structure is simple and reasonable, the installation is convenient and quick, the internal space of the car body is small, and the manufacturing cost is low.
  • the wheel 1 adopts an in-wheel motor, and the wheel shafts 101 of the two wheels 1 are fixed to the two ends of the support frame 8 by fixing members 9 respectively. Further, the wheel axle 101 is installed under the support frame 8 to prevent the fixing parts from occupying the space above the support frame, increasing the height of the vehicle body and affecting the installation of sensors.
  • the supporting frame 8 and the fixing member 9 are provided with grooves that cooperate with the wheel axle 101, so that the fixing is firmer and more reliable, the installation is more convenient, and the volume is smaller.
  • the wheel axle 101 has a tubular structure, and the wire harness passes through the wheel axle tube hole.
  • the wire harness can also be routed from the outside of the wheel axle.
  • the wheel axle is provided with a keyway that matches with the support frame 8 or the fixing member 9.
  • the wheel axle may also be installed above the support frame.
  • a shaft hole is provided on the support frame, and the wheel shaft is inserted into the shaft hole and fixed.
  • the structure in which one end of the wheel axle is connected to the wheel, the other end is connected with a wheel axle fixing plate, and the wheel axle fixing plate is fixed to the support frame of the vehicle body the above-mentioned mounting structure of the support frame and the wheel axle, Lower cost, more convenient installation, and more reliable connection.
  • the weight of the components above the support frame is relatively light and very close to the wheel axis, while the main weight components such as the battery are arranged below the wheel axis.
  • This structure already makes the center of gravity of the car body lower than There are many below the wheel axis, and intermediate parts such as wheel shaft fixing plate and motor fixing seat are no longer needed to lower the center of gravity.
  • the upper cover 4 of the vehicle body is an integrally formed plastic part, including two left and right footrests 42.
  • the two footrests 42 are connected by a middle part 41, and the outer sides of the two footrests 42 are provided with To cover the wheel cover portion 43 of the wheel 1, so that the manufacturing cost is low, the integration is good, and the assembly is convenient.
  • the pedal portion 42, the middle portion 41, and the wheel cover portion 43 may be formed by assembling separate components, or several of them may be integrally formed and then assembled with other parts.
  • the bottom of the footrest 42 is provided with a pressing part 421 and a positioning post 422.
  • the pressing part 421 is used to contact the pressure sensor 10 to transmit pressure
  • the positioning post 422 is The positioning hole 1001 on the pressure sensor 10 is coordinated and positioned to ensure the relative position of the pressure sensor 10 and the footrest 42 and improve the detection sensitivity of the sensor.
  • Two pressure parts 421 are respectively provided on the front side and the rear side of the bottom of the footrest part 42, and two pressure sensors 10 are respectively provided on the front and rear sides of the bottom of the footrest part 42 Positioning column 422.
  • the pressing portion 421 may be one or more of a block shape, a strip shape, a convex shape, a column shape, a cone shape, and other shapes that can transmit force.
  • the positioning and matching structure may not be provided between the footrest 42 and the pressure sensor 10, or any other structure that can achieve the matching and limiting position may be provided, for example, the position of the positioning post and the positioning hole are exchanged.
  • the edge limit structure can realize the coordinated limit, and so on.
  • the lower cover 3 of the vehicle body is an integrally formed plastic part, the lower cover 3 is fixed under the support frame 8, the upper cover 4 is fixedly connected to the lower cover 3, and the battery 7 is installed under the support frame 8, and the lower cover In the battery space 302 of 3, the control board 11 is installed above the support frame 8.
  • the structure is simple and reasonable, which facilitates the assembly of various components and facilitates wiring and debugging.
  • the upper cover 4 may be fixed on the support frame 8 and the lower cover 3 and the upper cover 4 may be fixedly connected; or the upper cover 4 and the lower cover 3 may be fixedly connected to the support frame 8 respectively.
  • the battery 7 can also be installed above the support frame 8.
  • control board 11 may also be installed under the support frame 8. Multiple control panels can also be fixed at different positions in the vehicle body.
  • the middle portion 41 of the upper cover 4 is arched upwards to form an intermediate accommodating space 411 below it, and the control board 11 is accommodated in the intermediate accommodating space 411 and fixed on the support frame 8. This is convenient for installation, simple structure, and convenient for wiring.
  • control board 11 may also be fixed on the middle portion 41 of the upper cover 4 or on the lower cover 3.
  • the support frame 8 is suspended and fixed on the lower cover 3 by a plurality of fixing posts 306 on the lower cover 3, and is further limited by ribs and/or columns on the upper cover 4 and/or the lower cover 3, and the upper cover 4 Realize the upper and lower fixed connection through a plurality of upper connecting columns 401, lower connecting columns 301 and fasteners.
  • the middle portion 41 of the upper cover 4 is provided with an indicator hole 412 for installing the indicator light 5.
  • the middle of the lower cover 3 is provided with a battery space 302, the left or right side is provided with a speaker space 304, the front side of the lower cover 3 is provided with a front light hole 303 for installing the headlight 2, and the rear side of the lower cover 3 is provided for Two rear light holes 305 of the rear light 6 are installed.
  • the rear side of the vehicle body is provided with a handle hole 45 that penetrates up and down, so that a handle 44 is formed in the middle of the rear side of the vehicle body, which can facilitate the user to carry the vehicle without increasing the volume of the vehicle body, and the cost is low.
  • the structure is firm.
  • the handle may also be provided on the front side, top, bottom or other parts of the vehicle body.
  • the handle may be fixed and visible, or may have a hidden structure such as folding or pulling.
  • the left and right wheels are arranged on both sides of the support frame, and the wheel shafts are basically coaxial.
  • the support frame is arranged between the upper cover and the lower cover for fixing the wheels and load-bearing functions.
  • the left and right stepping areas on the support frame are each provided with pressure Sensors, each foot area has at least two sensors for detecting pressure data, which are used to detect the front and back pressure values of the two feet.
  • the control board and the battery are respectively arranged between the support frame and the upper cover or the support frame and the lower cover, and can also be arranged between the support frame and the lower cover or between the support frame and the upper cover at the same time.
  • the support frame adopts the stretching profile or profile welding process, which can ensure the strength while reducing the volume and weight of the support frame.
  • the battery adopts a single-layer flat plan, which can greatly reduce the thickness of the product, increase the height from the ground, and increase the passability. There is a handle on the tail for easy transportation.
  • the support frame and the lower cover are integrated, and there is no obvious independent part of the frame type, and the other is the same as the first embodiment.
  • the function of the above-mentioned supporting frame is realized by the lower cover, or by the rigid support member in the lower cover.
  • the entire lower cover is integrally formed from metal or other materials with certain supporting rigidity.
  • the lower cover includes a main frame portion for bearing the weight of the vehicle body and an appearance portion exposed to the surface of the vehicle body.
  • the main frame part and the appearance part can be integrally formed of the same material, such as a metal material, or they can be formed by one-time molding or partial molding or separate assembly of different materials, for example, the exposed surface of the metal main frame part Or all fix one or more appearance parts by bonding, clamping, sleeve joint, riveting, compounding or fasteners, etc.
  • the appearance part can be made of various materials such as metal, plastic, rubber or wood. This can save manufacturing costs, diversify the appearance, and avoid defects such as high requirements for metal surface processing technology, high cost, and single appearance.
  • a human-machine interaction somatosensory car as shown in Figures 12 to 16, including a car body and wheels 1 mounted on the car body.
  • the car body includes a lower cover 3 with supporting rigidity, a control board 11, a sensor, and a battery 7 , Foot pedal components, the wheel 1 is installed on both sides of the lower cover 3, the pedal components are installed above the lower cover 3, the sensor is installed below the pedal component, the battery 7 supplies power to the control board 11, and the control board 11 according to the signal of the sensor Control wheel 1 to rotate.
  • the footrest member and the lower cover 3 have a better combination, and the upper cover or outer cover and other wrapping decorations may not be provided; however, preferably, for the purpose of decoration and covering and protecting internal parts
  • the vehicle body also includes an upper cover 4 covering the lower cover 3, and all or part of the footrest components are provided on the upper cover 4.
  • the above-mentioned lower cover 3 with supporting rigidity is used for bearing the weight of the vehicle body and installing wheels. Therefore, it includes a wheel connecting portion for connecting with the wheel and a supporting portion for supporting the pedal components.
  • the wheel connecting portion and the supporting portion are integrally formed Either directly or indirectly through other rigid components, so as to ensure that the user's weight is transmitted to the wheel through the pedal component and the lower cover.
  • the wheel connection part and the support part of the lower cover 3 are integrally formed, and the whole lower cover is integrally formed of metal or other materials with certain supporting rigidity, such as steel or aluminum frame structure. High, safe and reliable, such as made of hard plastic that meets the strength requirements, low cost and convenient processing.
  • a number of rigid reinforcement members are provided in the lower cover, and the rigid reinforcement members are connected with the wheel, the pedal member and the sensor to provide rigid support.
  • the lower cover includes a main frame portion for bearing the weight of the vehicle body and an appearance portion exposed to the surface of the vehicle body to provide protection and decoration.
  • the above-mentioned footrest member is used for the user to step on and transfer the weight to the lower cover with supporting rigidity.
  • the footrest component includes at least a footrest part for the user to step on. When the user steps on the footrest part, the footrest part can directly contact the lower cover 3 (or indirectly connect the lower cover through an intermediate part) to transmit weight to The lower cover 3 finally bears the weight.
  • the footrest part is a footrest 42 integrally connected to the upper cover 4 of the vehicle body. Since the upper cover 4 for decoration protection is generally made of plastic, the foot The tread 42 is also made of plastic, which has a simple structure, convenient assembly, low manufacturing cost, and beautiful appearance. When the user stands on the footrest of the upper cover, the weight of the user is transferred to the sensor and the lower cover through the elastic deformation of the footrest 42.
  • the pedal component may be a pedal soleplate that can move independently with respect to the upper cover of the vehicle body and can produce small changes in relative displacement.
  • the pedal soleplate and the upper cover of the vehicle body may be flexible such as rubber rings.
  • the components are connected and sealed, and the bottom of the pedal and the upper cover of the car body can also be connected into a whole through a flexible joint through processing methods such as secondary molding, multiple molding or insert injection molding.
  • a non-slip sticker or non-slip foot pad is provided on the upper surface of the footrest portion 42, and the non-slip sticker or non-slip foot pad is fixed on the footrest portion 42 in a pasting manner, which is convenient for installation or replacement and low cost.
  • an anti-slip structure such as an anti-slip pattern
  • an anti-slip component may also be provided on the pedal component (the pedal portion 42) through molding processing, covering assembly, or the like.
  • the non-slip components can be made of soft rubber or other materials, which can increase the wear resistance and friction of the pedal components, improve user comfort, and provide better waterproofing Dustproof effect.
  • the above-mentioned sensor is used to sense the user's posture change and to learn the vehicle operation intention.
  • the sensor can be a pressure sensor, a capacitive sensor, a photoelectric sensor, or other sensors that can detect small changes in the shape or displacement of an object.
  • the sensor includes a part that can be connected to the foot pedal, another part that can be connected to the supporting part, and a signal output part that is connected to the control board.
  • the application principle and specific structure of this type of sensor on a somatosensory car (or balance car) can be any of the patent documents disclosed in the patent documents such as CN108297999A, CN106627895A, CN108725648A, CN106560386A, CN105416486A, and their series of application documents. One, and any other sensor that can achieve the above detection purposes.
  • the above-mentioned sensor is a plate-shaped or sheet-shaped pressure sensor 10.
  • the pressure sensor 10 is arranged between the footrest part (footrest 42) and the lower cover 3.
  • the force sensitive part of the pressure sensor 10 bears the weight and senses at the same time. Measure changes in pressure. In this way, the cost is low, the thickness is small, and the height of the vehicle body and the center of gravity of the vehicle can be reduced to the greatest extent.
  • the above-mentioned sensor can also only sense the shape or displacement change of the footrest member or other intermediate parts after being loaded, so that the sensor can be arranged at any suitable position around the footrest member.
  • the pressure sensor 10 is fixed on the lower cover 3, so that the installation is convenient and the detection is sensitive and reliable.
  • the senor can be installed on the footrest part (such as the bottom of the footrest part 42), and the sensor can also be partly installed on the footrest part and partly on the lower cover 3.
  • the type and principle of action are arranged reasonably.
  • each pressure sensor 10 includes two front and rear ends and two connecting ends.
  • the connecting part is fixedly connected with the raised reinforcing ribs on the lower cover 3, or when compressed, the connecting part is supported by the raised reinforcing ribs on the lower cover 3 Limit position, so that the front and rear ends can sense different pressure information according to the different force of the front and rear soles, that is, the front and rear sensing areas are equivalent to two sensors with different positions to test the front and rear soles respectively Different force.
  • each pressure sensor can also sense the slight deformation or displacement of the footrest member relative to the lower cover as a whole.
  • each pressure sensor may have only one sensing area, or have more than two sensor areas.
  • the control device of the somatosensory car is used to control and drive the two wheels to move or rotate according to the force information difference between the sensor areas of the two pressure sensors to realize steering.
  • the pressure sensor can also be used to sense whether there is a user on the pedal component, so as to control the start and stop of the wheel. With this arrangement, there is no need to separately set an induction switch, thereby simplifying the structure of the vehicle body.
  • the induction switch can also be provided separately.
  • the human-computer interaction body sensing vehicle may further include a position sensor (not shown) for sensing the tilt information of the vehicle body relative to the ground.
  • a position sensor (not shown) for sensing the tilt information of the vehicle body relative to the ground.
  • the position sensor when the user and the car body lean forward, the position sensor will send a signal to the control panel, which controls the driving wheel to move forward, and makes the whole body tilt backward under the action of inertia. Force, play a balance role.
  • the position sensor includes a gyroscope, an acceleration sensor and/or a photoelectric sensor.
  • the above-mentioned wheels are used for bearing the weight and driving the vehicle body to move by being driven to rotate.
  • the wheels can be installed on both sides of the lower cover with supporting rigidity.
  • a driving embodiment of the wheel can be driven by an external motor, that is, the wheel includes a fixedly connected wheel frame and a wheel shaft, and the wheel shaft is rotatably installed on the lower cover 3 and connected in transmission with the driving motor fixed on the lower cover 3.
  • the use of external motors for the wheels will result in a complex and bloated car body structure.
  • the vehicle components are greatly reduced, and the internal space of the car body is relatively large.
  • the drive motors of the wheels can be arranged reasonably.
  • the wheel is driven by a built-in motor, that is, a hub motor is used.
  • the wheel frame and the wheel shaft are driven by the hub motor to achieve relative rotation, so that the wheel shaft can be directly fixed on a rigid support
  • the structure is simple and reasonable, the installation is convenient and quick, the internal space of the car body is small, and the manufacturing cost is low.
  • the wheel 1 adopts an in-wheel motor, and the wheel shafts 101 of the two wheels 1 are fixed to the two ends of the lower cover 3 by the fixing members 9 respectively.
  • the lower cover 3 and the fixing member 9 are provided with grooves that cooperate with the wheel axle 101, so that the fixing is firmer and more reliable, the installation is more convenient, and the volume is smaller.
  • the wheel axle 101 has a tubular structure, and the wire harness passes through the wheel axle tube hole.
  • the wire harness can also be routed from the outside of the wheel axle.
  • a keyway that matches the lower cover 3 or the fixing member 9 is provided on the wheel axle.
  • the wheel axle is connected to the wheel at one end, the wheel axle fixing plate is connected to the other end, and the wheel axle fixing plate is fixed to the support frame of the car body
  • the above-mentioned lower cover with supporting rigidity and the wheel axle The installation structure, the cost is lower, the installation is more convenient, and the connection is more reliable.
  • the support rigid lower cover because of the support rigid lower cover, the weight of the upper parts is relatively light and very close to the wheel axis, and the main weight parts such as the battery are arranged below the wheel axis.
  • This structure has made the center of gravity of the car body lower than the wheel axis. More, intermediate parts such as wheel shaft fixing plate and motor fixing seat are no longer needed to lower the center of gravity, and the structure is simple and stable.
  • the upper cover 4 of the vehicle body is an integrally formed plastic part, including two left and right footrests 42.
  • the two footrests 42 are connected by a middle part 41, and the outer sides of the two footrests 42 are provided with To cover the wheel cover portion 43 of the wheel 1, so that the manufacturing cost is low, the integration is good, and the assembly is convenient.
  • the pedal portion 42, the middle portion 41, and the wheel cover portion 43 may be formed by assembling separate components, or several of them may be integrally formed and then assembled with other parts.
  • the bottom of the footrest 42 is provided with a pressing part and a positioning post.
  • the pressing part is used to contact the pressure sensor 10 to transfer pressure.
  • the positioning post cooperates with the positioning hole 1001 on the pressure sensor 10 to ensure positioning.
  • the relative position of the pressure sensor 10 and the footrest 42 improves the sensor detection sensitivity.
  • the pressing portion may be one or more of a block shape, a strip shape, a convex shape, a column shape, a cone shape, and other shapes that can transmit force.
  • the positioning and matching structure may not be provided between the footrest 42 and the pressure sensor 10, or any other structure that can achieve the matching and limiting position may be provided, for example, the position of the positioning post and the positioning hole are exchanged.
  • the edge limit structure can realize the coordinated limit, and so on.
  • the upper cover 4 and the lower cover 3 are fixedly connected, the battery 7 is installed in the battery space of the lower cover 3, the control board 11 is installed in the cavity of the lower cover 3, and the lower cover 3 is mounted on the pressure sensor 10 and/or the fixing member.
  • a plurality of staggered ribs are arranged below 9 to support and fix the pressure sensor 10 and the wheel axle 101. In this way, the structure is simple and reasonable, the support is firm and reliable, the assembly of various components is convenient, and the wiring debugging is also convenient.
  • multiple control boards may also be provided, and the multiple control boards may also be fixed at different positions of the lower cover 3 respectively.
  • the left and right wheels are arranged on both sides of the lower cover with supporting rigidity
  • the wheel shafts are basically coaxial
  • the lower cover is used to fix the wheels and the load-bearing function
  • the left and right pedal areas are respectively provided with pressure sensors
  • each pedal area has at least Two sensors that detect pressure data are used to detect the front and back pressure values of the feet.
  • the lower cover is made of stretched profiles or profile welding or injection molding, which not only guarantees the strength but also reduces the volume and weight of the car body.
  • the battery adopts a single-layer tiling scheme, which can greatly reduce the thickness of the product, increase the height from the ground, and increase the passability .
  • the upper cover or support frame used to set the pedal components is also a load-bearing component, which leads to a high center of gravity of the somatosensory vehicle, a complex structure of the pedal device, and many parts.
  • the manufacturing cost is high, the volume is large, and the weight is heavy.
  • an independent internal support frame or a support frame integrated with the lower cover is adopted, and the upper cover is no longer used as a load-bearing component, and the upper cover of the vehicle body can be made of plastic material, etc.
  • the cost is lower, the weight is light, and the decorative effect is better.
  • the vehicle’s center of gravity is reduced, the structure is simplified, the number of parts is greatly reduced, and the manufacturing cost is greatly reduced.
  • the vehicle body platform is thinner and the ground clearance is increased, which improves the passability, and the vehicle body is reduced in size, lighter and more convenient Carry and carry. Under the premise of meeting the functional requirements of human-computer interaction somatosensory car, the product structure is optimized and the product production cost is reduced.

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Abstract

一种人机互动体感车及其车体、上盖和支撑骨架，包括车体以及安装在车体上的车轮（1），所述车体包括支撑骨架（8）、控制板（11）、传感器、电池（7）和脚踏部件，车轮（1）安装在支撑骨架（8）上，脚踏部件安装在支撑骨架（8）上方，传感器安装在脚踏部件下方，电池（7）给控制板（11）供电，控制板（11）根据传感器的信号控制车轮（1）转动。该人机互动体感车结构简单可靠，零部件少，制造成本低。

Description

人机互动体感车及其车体、上盖和支撑骨架 技术领域
本发明涉及一种平衡车，具体涉及一种人机互动体感车及其车体、上盖和支撑骨架。
 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。
现有的人机互动体感车一般分为有操作杆和无操作杆这两类，其中带操作杆的人机互动体感车，其人机互动体感车的前进、后退及转向均由操作杆来进行具体操作控制。而不带操作杆的人机互动体感车，其人机互动体感车的前进、后退是由整个人机互动体感车的倾斜来控制，转向则由使用者脚踏在脚踏平台上，并通过两个脚踏平台之间相对旋转角度差来进行控制实现。其中，不带操作杆的两轮人机互动体感车主要为专利CN201410262108.8所揭示的两轮自平衡人机互动体感车为代表，该平衡车中的内盖包括对称设置的左内盖与右内盖，且左内盖相对右内盖转动连接。但是采用左右两侧脚踏部位的相对转动来控制车辆转弯，结构相对复杂，零部件较多，制造成本较高。
公开号为CN108297999A、CN106627895A、CN108725648A、CN106560386A、CN105416486A等专利文献以及他们的系列申请文献公开了一种人机互动体感车，通过压力传感器检测使用者站立在脚踏板上时左脚前部、左脚跟部、右脚前部与右脚跟部踩踏的位置所受的力的变化情况，获取使用者的驾驶操作意图，即通过两脚压力差来实现转向。但是这些专利文献所公开的方案在实际实施过程中，仍旧存在结构复杂、零部件多、组装繁琐、制造成本高等问题。
 技术问题
为了解决上述的技术问题，本发明的目的是提供一种结构简单可靠、制造成本低的人机互动体感车及其车体、上盖和支撑骨架。
 技术解决方案
为了达到上述的目的，本发明采用了以下的技术方案：
一种人机互动体感车，包括车体以及安装在车体上的车轮，所述车体包括支撑骨架、控制板、传感器、电池和脚踏部件，车轮安装在支撑骨架上，脚踏部件安装在支撑骨架上方，传感器安装在脚踏部件下方，电池给控制板供电，控制板根据传感器的信号控制车轮转动。
作为优选，车体还包括包裹在外面的上盖和下盖；脚踏部件是与车体上盖一体成型的塑料件。
作为优选，支撑骨架包括用于与车轮连接的车轮连接部和用于支撑脚踏部件的支撑部，车轮连接部和支撑部一体成型或者直接固定连接或者经由其他刚性部件间接固定连接。
作为优选，支撑骨架为一体成型的板状结构；支撑骨架采用铝质型材制成。
作为优选，脚踏部件为与车体上盖连为一体的脚踏部。
作为优选，脚踏部件是相对于支撑骨架和车体上盖能够独立活动并能产生相对位移变化的脚踏底板，脚踏底板与车体上盖之间可以通过柔性部件或柔性结合部相连。
作为优选，脚踏部件的上表面粘贴有防滑贴或防滑脚垫。
作为优选，传感器为板状或片状的压力传感器，压力传感器设置在脚踏部件和支撑骨架之间；压力传感器包括前后两个端部以及连接两个端部的连接部，该连接部固定在支撑骨架上面或者脚踏部件底部。
作为优选，车轮采用轮毂电机，两个车轮的车轮轴分别通过固定件固定在支撑骨架的两端；车轮轴安装在支撑骨架的下方，支撑骨架和固定件上开设有与车轮轴相配合的凹槽。
作为优选，车体的上盖为一体成型的塑料件，包括左右两个脚踏部，两个脚踏部之间通过中间部相连，两个脚踏部外侧设有用于遮盖车轮的轮盖部。
作为优选，在脚踏部的底部前侧和后侧各设有两个用于与压力传感器相抵接触传递压力的施压部，脚踏部的底部前侧和后侧各设有两个与压力传感器配合的定位柱。
作为优选，车体的下盖为一体成型的塑料件，下盖固定在支撑骨架的下方，上盖与下盖固定连接，电池安装在支撑骨架下方、下盖的电池空间内，控制板安装在支撑骨架上方。
作为优选，上盖固定在支撑骨架上，下盖与上盖固定连接；或者，上盖和下盖分别与支撑骨架固定连接。
作为优选，电池安装在支撑骨架和下盖之间，或者电池安装在支撑骨架和上盖之间；控制板安装支撑骨架和下盖之间，或者控制板安装在支撑骨架和上盖之间。
作为优选，上盖的中间部向上拱起从而在其下方形成有中间容纳空间，控制板容纳在该中间容纳空间内并固定在支撑骨架上面。
作为优选，车体前侧或后侧设置有上下贯通的提手孔，从而在车体前侧或后侧中间形成一个提手。
作为优选，支撑骨架与下盖融为一体。
作为优选，左右两个车轮安装在支撑骨架的左右两端，左右两个脚踏部件安装在支撑骨架上方，电池安装在支撑骨架下方，左右两个传感器分别安装在左右两个脚踏部件下方，电池给控制板供电，控制板上安装有陀螺仪，控制板根据两个传感器的信号控制两个车轮转动。
作为优选，支撑骨架为一体成型的板状结构；支撑骨架采用铝质型材制成。
作为优选，支撑骨架包括用于与车轮连接的车轮连接部和用于支撑脚踏部件的支撑部，车轮连接部和支撑部一体成型或者固定连接形成支撑骨架；支撑骨架的左右两端分别设置一个车轮连接部，左右两个车轮连接部具有共同的车轮轴线，左右两个支撑部设置在两个车轮连接部之间，所述传感器是设置在支撑部和脚踏部件之间的板状或片状的压力传感器。
作为优选，压力传感器包括一体成型或固定连接的前后两个端部以及两个端部之间的连接部，该连接部固定在支撑骨架上，前后两个端部悬空。
作为优选，压力传感器的前后两个端部形成前后两个相对独立的压力传感区域。
作为优选，压力传感器的前后两个悬空的端部分别位于两个车轮连接部的车轮轴线的前后两侧。
一种人机互动体感车，包括车体以及安装在车体上的车轮，作为优选，所述车体包括下盖、控制板、传感器、电池和脚踏部件，车轮安装在下盖上，脚踏部件安装在下盖上方，传感器安装在脚踏部件下方，电池给控制板供电，控制板根据传感器的信号控制车轮转动。
作为优选，下盖由金属或其他具有支撑刚性的材料一体成型制成；或者，下盖包括用于车体承重的主架部和暴露于车体外表面的外观部，该主架部和外观部是同种材质一体成型，或者是采用不同种材质一次成型或分次成型或分体组装成一体；脚踏部件是与车体上盖一体成型的塑料件或者是相对于支撑骨架和车体上盖能够独立活动并能产生相对位移变化的脚踏底板。
采用独立的内部支撑骨架，上盖不再作为承重部件，车体上盖就可以由塑料材质等成本较低、重量轻、装饰效果更好的材料制成，并且车体重心下降，结构简化，零部件数量大大减少，大大降低制造成本，车体平台更薄增加离地高度，提高了通过性，车体体积减小重量更轻更便于携带搬运。
一种人机互动体感车的上盖，上盖上设有设有左右两个脚踏部件，作为优选，两个脚踏部件下方设有一个支撑骨架，每个脚踏部件和支撑骨架之间都设有传感器，脚踏部件包括供使用者踩踏的脚踏部位，当一个脚踏部位承受重力时，该脚踏部位将重量传递至支撑骨架并触发该脚踏部位下方的传感器产生电信号。
在车体上盖的脚踏部件下方设置压力传感器和支撑骨架，这样使得车体上盖不再作为承重部件，车体上盖就可以由塑料材质等成本较低、重量轻、装饰效果更好的材料制成，并且车体重心下降，结构简化，零部件数量大大减少，大大降低制造成本，车体平台更薄增加离地高度，提高了通过性，车体体积减小重量更轻更便于携带搬运。
作为优选，上盖固定在支撑骨架上。
作为优选，脚踏部件是与上盖一体成型的塑料件。
作为优选，脚踏部件是相对于支撑骨架和上盖能够独立活动并能产生相对位移变化的脚踏底板，脚踏底板与上盖之间可以通过柔性部件或柔性结合部相连。
作为优选，脚踏部件的脚踏部位的上表面粘贴有防滑贴或防滑脚垫。
作为优选，上盖为一体成型的塑料件，包括左右两个脚踏部，两个脚踏部之间通过中间部相连，该脚踏部即为所述脚踏部件。
作为优选，两个脚踏部外侧设有用于遮盖车轮的轮盖部。
作为优选，传感器为板状或片状的压力传感器，压力传感器包括前后两个端部以及连接两个端部的连接部，该连接部固定在支撑骨架上面或者脚踏部件底部；压力传感器的前后两个端部形成前后两个相对独立的压力传感区域。
作为优选，支撑骨架的左右两端分别安装一个车轮，左右两个车轮具有共同的车轮轴线，压力传感器的前后两个悬空的端部分别位于两个车轮连接部的车轮轴线的前后两侧；在脚踏部的底部前侧和后侧各设有两个用于与压力传感器相抵接触传递压力的施压部，前后两个施压部分别与压力传感器的前后两个端部相对应，脚踏部的底部前侧和后侧分别设有与压力传感器的前后两个端部相配合定位的限位结构。
作为优选，施压部呈块状、条状、凸起状、柱状或锥状。
作为优选，限位结构为定位柱、定位孔或者边缘限位结构。
一种人机互动体感车，包括如上所述的一种人机互动体感车的上盖。
作为优选，还包括车轮、控制板、电池和脚踏部件，车轮安装在支撑骨架左右两端的车轮连接部上，控制板固定在支撑骨架上，压力传感器与控制板连接，控制板上安装有陀螺仪，控制板根据传感器的信号控制车轮转动；电池安装在支撑骨架下方，脚踏部件安装在支撑骨架上方。
一种人机互动体感车的支撑骨架，包括用于与车轮连接的车轮连接部和用于支撑脚踏部件的支撑部，车轮连接部和支撑部一体成型或者固定连接形成支撑骨架；支撑骨架的左右两端分别设置一个车轮连接部，左右两个车轮连接部分别连接的车轮具有共同的车轮轴线，左右两个支撑部设置在两个车轮之间，支撑部和脚踏部件之间设有板状或片状的压力传感器。
采用独立的支撑骨架，该支撑骨架两端连接车轮，该支撑骨架支撑脚踏部件和压力传感器，这样使得车体外壳不再作为承重部件，车体外壳就可以由塑料材质等成本较低、重量轻、装饰效果更好的材料制成，并且车体重心下降，结构简化，零部件数量大大减少，大大降低制造成本，车体平台更薄增加离地高度，提高了通过性，车体体积减小重量更轻更便于携带搬运。在达到人机互动体感车的功能要求前提下，优化了产品结构，降低了产品生产成本。
作为优选，支撑骨架为一体成型的板状结构。
作为优选，支撑骨架采用铝质型材制成。
作为优选，压力传感器包括一体成型或固定连接的前后两个端部以及两个端部之间的连接部，该连接部固定在支撑骨架上，前后两个端部悬空。
作为优选，压力传感器的前后两个端部形成前后两个相对独立的压力传感区域。
作为优选，压力传感器的前后两个悬空的端部分别位于两个车轮连接部的车轮轴线的前后两侧。
作为优选，支撑骨架的两端的车轮连接部上通过固定件固定车轮的车轮轴，支撑骨架的车轮连接部上开设有与车轮轴相配合的凹槽。
一种人机互动体感车，包括如上所述的一种人机互动体感车的支撑骨架。
作为优选，还包括车轮、控制板、电池和脚踏部件，车轮安装在支撑骨架左右两端的车轮连接部上，控制板固定在支撑骨架上，压力传感器与控制板连接，控制板上安装有陀螺仪，控制板根据传感器的信号控制车轮转动。
作为优选，电池安装在支撑骨架下方，脚踏部件安装在支撑骨架上方。
一种人机互动体感车的车体，所述车体包括下盖、控制板、传感器、电池和脚踏部件，车轮安装在下盖上，脚踏部件安装在下盖上方，传感器安装在脚踏部件下方，电池给控制板供电，控制板根据传感器的信号控制安装在车体上的车轮转动。
作为优选，下盖由金属或其他具有支撑刚性的材料一体成型制成。
作为优选，下盖包括用于车体承重的主架部和暴露于车体外表面的外观部，该主架部和外观部是同种材质一体成型，或者是采用不同种材质一次成型或分次成型或分体组装成一体。
作为优选，车体还包括固定在下盖上的上盖，控制板、传感器和电池安装在上盖和下盖之间。
作为优选，脚踏部件是与上盖连为一体的塑料件，或者是相对于上盖能够独立活动并能产生相对位移变化的脚踏底板。
作为优选，下盖包括用于与车轮连接的车轮连接部和用于支撑脚踏部件的支撑部，车轮连接部和支撑部一体成型或者直接固定连接或者经由其他刚性部件间接固定连接。
作为优选，车轮采用轮毂电机，两个车轮的车轮轴分别通过固定件固定在下盖上；下盖和固定件上开设有与车轮轴相配合的凹槽。
作为优选，传感器为板状或片状的压力传感器，压力传感器设置在脚踏部件和下盖之间；压力传感器包括前后两个端部以及连接两个端部的连接部，前后两个端部悬空，连接部固定在下盖上或者被下盖上凸起物支撑限位。
作为优选，车体的上盖为一体成型的塑料件，包括左右两个脚踏部，两个脚踏部之间通过中间部相连，两个脚踏部外侧设有用于遮盖车轮的轮盖部。
作为优选，在脚踏部的底部前侧和后侧各设有两个用于与压力传感器相抵接触传递压力的施压部，脚踏部的底部与压力传感器定位配合。
一种人机互动体感车，包括如上所述的一种人机互动体感车的车体。
 有益效果
本发明由于采用了以上的技术方案，采用独立的内部支撑骨架或者与下盖融为一体的支撑骨架，上盖不再作为承重部件，车体上盖就可以由塑料材质等成本较低、重量轻、装饰效果更好的材料制成，并且车体重心下降，结构简化，零部件数量大大减少，大大降低制造成本，车体平台更薄增加离地高度，提高了通过性，车体体积减小重量更轻更便于携带搬运。在达到人机互动体感车的功能要求前提下，优化了产品结构，降低了产品生产成本。
 附图说明
图1为本发明实施例1的立体图（前侧）；
图2为本发明实施例1的立体图（后侧）；
图3为本发明实施例1的爆炸图；
图4为本发明实施例1的俯视图；
图5为图4的A-A剖视图；
图6为图4的B-B剖视图；
图7为图4的C-C剖视图；
图8为本发明实施例1的立体图（去除上盖）；
图9为本发明实施例1的立体图（去除下盖）；
图10为本发明上盖的内部结构示意图；
图11为本发明下盖的内部结构示意图；
图12为本发明实施例2的立体图；
图13为本发明实施例2的爆炸图；
图14为本发明实施例2的俯视图；
图15为图14的D-D剖视图；
图16为图14的E-E剖视图。
其中，附图标记说明如下：
车轮1；车轮轴101；前灯2；下盖3；下连接柱301；电池空间302；前灯孔303；扬声器空间304；后灯孔305；固定柱306；上盖4；上连接柱401；中间部41；中间容纳空间411；指示灯孔412；脚踏部42；施压部421；定位柱422；轮盖部43；提手44；提手孔45；指示灯5；后灯6；电池7；支撑骨架8；固定件9；压力传感器10；定位孔1001；控制板11。
 本发明的实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上，除非另有明确的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”、“固持”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用以限定本发明。
本发明为了表述方便，以与人机互动体感车直行方向平行的水平方向为前后方向，以与人机互动体感车直行方向垂直的水平方向为左右方向，以与人机互动体感车直行方向垂直的竖直方向为上下方向。
实施例1：
如图1至图11所示的一种人机互动体感车，包括车体以及安装在车体上的车轮1，所述车体包括支撑骨架8、控制板11、传感器、电池7和脚踏部件，车轮1安装在支撑骨架的下方或两侧，脚踏部件安装在支撑骨架8上方，传感器安装在脚踏部件下方，电池7给控制板11供电，控制板11根据传感器的信号控制车轮1转动。
出于装饰和遮盖保护内部零部件的目的，如图1、图2所示，车体还包括包裹在外面的上盖4和下盖3。
上述支撑骨架，用于车体承重和安装车轮，因此，支撑骨架包括用于与车轮连接的车轮连接部和用于支撑脚踏部件的支撑部，车轮连接部和支撑部一体成型或者直接固定连接或者经由其他刚性部件间接固定连接，从而保证使用者的重量经由脚踏部件、支撑骨架传递至车轮。
本实施例中，如图3所示，支撑骨架8的车轮连接部和支撑部为一体成型，支撑骨架8为一体板状结构。这样，结构简单，加工取材方便，制造成本低，并且板状结构面积大、强度高、厚度薄，便于零部件布置安装，尤其是电池安装方便，使得车辆的离地距离较大，通过性好。
在其他实施方式中，支撑骨架可以是一体成型的板状结构、杆状结构、棒状结构、管状结构、块状结构、筒体结构或者盖体结构，也可以是分体成型后直接固定或者间接固定连为一体的结构，例如，支撑骨架的车轮连接部呈板状结构、杆状结构、棒状结构、管状结构、块状结构、筒体结构或者盖体结构，支撑骨架的支撑部呈板状结构、杆状结构、棒状结构、管状结构、块状结构、筒体结构或者盖体结构，车轮连接部和支撑部之间直接固定连接或者通过刚性部件（该刚性部件也可以是板状结构、杆状结构、棒状结构、管状结构、块状结构、筒体结构或者盖体结构中的一种或多种，如上盖或下盖的全部或部分）固定连接。支撑骨架可以隐藏于车体内部，也可以全部或者部分暴露于车体外部，例如，将车体的上盖或下盖作为支撑骨架，再或者支撑骨架的一部分露出车体的上盖或下盖。所述支撑骨架的板状结构、杆状结构、棒状结构、管状结构、块状结构、筒体结构或者盖体结构可以是整体完整的一体结构，也可以是部分挖空或拼接形成的框架结构等类似结构。
本实施例中，支撑骨架8采用铝质型材制成，成本低、加工方便。
所述支撑骨架优选为金属材质。金属材质刚性支撑性能好，不仅可以安装固定各部件，并且可以有效保障电源防爆，提高安全性。金属材质优选为铝质材料。
在其他实施方式中，支撑骨架的全部或者部分，可以是由金属制成的刚性部件，也可以是由具有一定刚性强度的木材、板材、硬质塑料等非金属材料制成。支撑骨架可以是一次成型，也可以是经由多次加工成型，例如车加工、铣加工、磨削加工、拉伸加工、焊接加工等。
上述脚踏部件，供使用者踩踏并将重量传递至支撑骨架。脚踏部件至少包括供使用者踩踏的脚踏部位，当使用者脚踩在脚踏部位上时，脚踏部位能够直接接触支撑骨架（或者通过中间部件间接连接支撑骨架）从而将重量传递至支撑骨架，由支撑骨架最终承载重量。
本实施例中，如图1、图2、图3所示，脚踏部件为与车体上盖4连为一体的脚踏部42，由于装饰保护用的上盖4一般采用塑料制成，所以该脚踏部42也为塑料，这样结构简单、组装方便、制造成本低、外形美观。当使用者站在上盖的脚踏部上时，其重量通过脚踏部42的弹性形变传递至传感器和支撑骨架。
在其他实施方式中，脚踏部件可以是相对于支撑骨架和车体上盖能够独立活动并能产生较小的相对位移变化的脚踏底板，脚踏底板与车体上盖之间可以通过橡胶圈等柔性部件相连密封，也可以是脚踏底部与车体上盖之间通过二次成型、多次成型或者嵌件注塑等加工方式通过柔性结合部连为一体。
本实施例中，在脚踏部42的上表面设置有防滑贴或防滑脚垫，防滑贴或防滑脚垫采用粘贴的方式固定在脚踏部42上，这样安装或更换方便、成本低。
在其他实施方式中，也可以在脚踏部件（脚踏部42）上通过成型加工、覆盖组装等方式设置防滑结构（如防滑花纹）或防滑部件。防滑部件（如防滑贴或防滑脚垫）可以为软性橡胶材质或其他，这样可增加脚踏部件的耐磨性和摩擦力，也可提高用户使用舒适性，还有起到较好的防水防尘效果。
上述传感器，用于感测使用者的姿态变化进而获知其车辆操作意图。传感器，可以是压力传感器、电容传感器、光电传感器以及其他能够检测物体形状或位移的微小变化的传感器。传感器包括能够与脚踏部件相连的一部分、能够与支撑部件相连的另一部分以及与控制板相连的信号输出部分。这类传感器在体感车（或称平衡车）上的应用原理和具体结构可以是公开号为CN108297999A、CN106627895A、CN108725648A、CN106560386A、CN105416486A等专利文献以及他们的系列申请文献中所公开的方案中的任何一个，以及其他任何一个能够达成上述检测目的的传感器。
本实施例中，上述传感器为板状或片状的压力传感器10，压力传感器10设置在脚踏部件（脚踏部42）和支撑骨架8之间，压力传感器10的力敏部件承重并同时感测压力的变化。这样，成本低、厚度小，能够最大程度的降低车体高度和车体重心。
在其他实施方式中，上述传感器也可以仅感测脚踏部件或其他中间部件在承重后的形状或位移变化，这样传感器可以设置在脚踏部件和支撑骨架周围的任何合适位置。
本实施例中，压力传感器10通过紧固件固定在支撑骨架8上面，这样安装方便，检测灵敏可靠。
在其他实施方式中，传感器可以安装在脚踏部件（如脚踏部42的底部）上，传感器也可以一部分安装在脚踏部件上，一部分安装在支撑骨架上，本领域技术人员可以根据传感器的类型和作用原理进行合理布置。
本实施例中，如图3、图6、图8所示，左右两个脚踏部42下方均设有压力传感器10，每个压力传感器10均包括前后两个端部以及连接两个端部的连接部，该连接部固定在支撑骨架8上，前后两个端部伸出支撑骨架8并悬空，这样，前后两个端部可分别根据前后脚掌的不同发力感测到不同的压力信息，也就是说，前后两个传感区域相当于两个位置不同的传感器来分别测试前后脚掌的不同发力。在其他实施方式中，每个压力传感器也可以是从整体上感测脚踏部件相对于支撑骨架微小形变或位移的。在其他实施方式中，每个压力传感器也可以是仅具有一个传感区域，或者具有两个以上的传感器区域。
体感车的控制装置用以根据两个压力传感器的传感器区域之间的受力信息差控制驱动所述车轮移动或转动，实现转向。在其他实施方式中，所述压力传感器还可以用以感测脚踏部件上是否有使用者，以控制车轮的启停。如此设置，无需单独设置一个感应开关，从而简化车体结构。当然，在其他实施方式中，也可以单独设置感应开关。
所述人机互动体感车还可以进一步包括位置传感器（未图示），用以感测支撑骨架相对车轮的倾斜信息，即支撑骨架相对于地面的倾斜信息。如此设置，当使用者及支撑骨架整体往前倾的时候，位置传感器感测到倾斜，就会发出信号给控制板，控制板控制驱动车轮向前运动，在惯性作用下使得整体具有向后倾斜的力，起到平衡的作用。具体的，所述位置传感器包括陀螺仪、加速度传感器和/或光电传感器。
上述车轮，用于承重和通过被驱动转动从而带动车体移动。车轮可以安装在支撑骨架的两侧，也可以安装在支撑骨架的下方。车轮的一种驱动实施方式，可以采用外装电机驱动转动，即，车轮包括固定连接的轮架和车轮轴，车轮轴转动安装在支撑骨架上并与固定在支撑骨架上的驱动电机传动连接，现有技术中车轮采用外部电机会导致车体结构复杂体积臃肿，但是本实施例中，由于采用一体板状结构的支撑骨架和压力传感器控制结构，使得整车零部件大大减少，车体内部空间有较多空余，可合理布置车轮的驱动电机。车轮的另一种驱动实施方式中，车轮采用内装电机驱动转动，即采用轮毂电机，车轮的轮架和车轮轴之间通过轮毂电机实现相对转动驱动，这样车轮轴可以直接固定在支撑骨架上，结构简单合理、安装方便快捷、占用车体内部空间少、制造成本低。
本实施例中，如图5、图6、图7、图9所示，车轮1采用轮毂电机，两个车轮1的车轮轴101分别通过固定件9固定在支撑骨架8的两端。进一步地，车轮轴101安装在支撑骨架8的下方，以避免固定件挤占支撑骨架上方空间，增加车体高度和影响传感器设置。
更进一步地，支撑骨架8和固定件9上开设有与车轮轴101相配合的凹槽，这样固定更加牢固可靠、安装更加方便、体积更加小巧。为了便于走线，车轮轴101呈管状结构，线束从车轮轴管孔内通过，当然，在其他实施方式，线束也可以从车轮轴的外面走线。为了便于固定牢固，车轮轴上开有与支撑骨架8或固定件9相配合的键槽。
在其他实施方式中，车轮轴也可以安装在支撑骨架的上方。
在其他实施方式中，支撑骨架上设置有轴孔，车轮轴插入轴孔内并固定。
相对于现有技术中“车轮轴一端与车轮相连接，另一端连接有车轮轴固定板，车轮轴固定板再与车体的支撑骨架固定的结构”，上述支撑骨架与车轮轴的安装结构，成本更低、安装更加方便、连接更加可靠。并且由于采用一体板状结构的支撑骨架，支撑骨架上方部件重量相对较轻并且非常靠近车轮轴线，而主要重量部件如电池等均设置在车轮轴线下方，这样的结构已然使得车体的重心低于车轮轴线以下较多，不再需要车轮轴固定板、电机固定座等中间部件来降低重心。
本实施例中，车体的上盖4为一体成型的塑料件，包括左右两个脚踏部42，两个脚踏部42之间通过中间部41相连，两个脚踏部42外侧设有用于遮盖车轮1的轮盖部43，这样制造成本低、一体性好、方便组装。
在其他实施方式中，上述脚踏部42、中间部41和轮盖部43可以是各自独立的部件组装形成，也可以是其中的若干个部分一体成型后再与其他部分组装形成。
本实施例中，如图8、图10所示，脚踏部42的底部设有施压部421和定位柱422，施压部421用于与压力传感器10相抵接触传递压力，定位柱422与压力传感器10上的定位孔1001相配合定位以确保压力传感器10和脚踏部42的相对位置，提高传感器检测灵敏度。在脚踏部42的底部前侧和后侧各设有两个施压部421（两条加强筋），脚踏部42的底部前侧和后侧各设有两个与压力传感器10配合的定位柱422。
在其他实施方式中，施压部421可以是块状、条状、凸起状、柱状、锥状以及其他可以传递作用力的形状中的一种或者多种。
在其他实施方式中，脚踏部42和压力传感器10 之间也可以不设置定位配合结构，也可以设置其他任何能够实现配合限位的结构，例如将上述定位柱和定位孔进行位置互换，例如通过边缘限位结构实现配合限位，等等。
本实施例中，车体的下盖3为一体成型的塑料件，下盖3固定在支撑骨架8的下方，上盖4与下盖3固定连接，电池7安装在支撑骨架8下方、下盖3的电池空间302内，控制板11安装在支撑骨架8上方。这样，结构简单合理，方便各部件组装，也方便接线调试。
在其他实施方式中，也可以是上盖4固定在支撑骨架8上，下盖3与上盖4固定连接；还可以是上盖4和下盖3分别与支撑骨架8固定连接。
在其他实施方式中，电池7也可以安装在支撑骨架8上方。
在其他实施方式中，控制板11也可以安装在支撑骨架8下方。多个控制板也可以分别固定在车体内的不同位置。
本实施例中，上盖4的中间部41向上拱起从而在其下方形成有中间容纳空间411，控制板11容纳在该中间容纳空间411内并固定在支撑骨架8上面。这样安装方便，结构简单，便于接线。
在其他实施方式中，控制板11也可以固定在上盖4的中间部41上，或者固定在下盖3上。
本实施例中，支撑骨架8通过下盖3上的多个固定柱306悬空固定在下盖3上，并且进一步通过上盖4和/或下盖3上的筋和/或柱限位，上盖4通过多个上连接柱401、下连接柱301和紧固件实现上下固定连接。上盖4的中间部41上设有用于安装指示灯5的指示灯孔412。下盖3的中间设有电池空间302，左侧或右侧设有扬声器空间304，下盖3的前侧设有用于安装前灯2的前灯孔303，下盖3的后侧设有用于安装后灯6的两个后灯孔305。
在其他实施方式中，本领域技术人员还可以在本实施例的设计原理基础上，将各零部件的具体安装位置和安装结构进行简单调整和常规替换。
本实施例中，车体后侧设置有上下贯通的提手孔45，从而在车体后侧中间形成一个提手44，这样可以方便使用者搬运车辆，并且不增加车体体积，成本低，结构牢固。
在其他实施方式中，也可以将提手设置在车体的前侧、顶部、底部或者其他部位。
在其他实施方式中，提手可以是固定并可见的，也可以是折叠方式的、抽拉方式等隐藏结构的。
本实施例中，左右车轮设置在支撑骨架两边，车轮轴基本共轴线，支撑骨架设置在上盖与下盖之间，用于固定车轮和承重作用，支撑骨架上左右踏脚区域各设置有压力传感器，每个踏脚区域至少有两个检测压力数据的传感器，用于检测两脚前后压力值。控制板和电池分别设置在支撑骨架与上盖或支撑骨架与下盖之间，也可同时设置在支撑骨架与下盖之间或支撑骨架与上盖之间。支撑骨架采用拉伸型材或型材焊接工艺，即保证强度又可以减小支撑骨架体积和重量，电池采用单层平铺方案，可大大减小产品的厚度，提高离地高度，增加通过性。尾部设置有一提手方便搬运。
实施例2：
与实施例1的不同仅在于；支撑骨架与下盖融为一体，不具有明显可见的骨架类的独立部件，其他与实施例1相同。这样，上述支撑骨架的作用由下盖实现，或者由下盖中的刚性支撑部件实现。
在一种实施方式中，下盖整体是由金属或其他具有一定支撑刚性的材料一体成型制成。
在另一实施方式中，在下盖中设置有若干个刚性加强部件，通过这些刚性加强部件与车轮、脚踏部件及传感器连接。这样，下盖包括用于车体承重的主架部和暴露于车体外表面的外观部。该主架部和外观部可以是同种材质一体成型，例如金属材质，也可以是采用不同种材质一次成型或分次成型或分体组装成一体，例如，在金属主架部外露表面的部分或全部通过粘合、卡接、套接、铆接、复合或紧固件等方式固持一个或多个外观部，该外观部可以是金属、塑料、橡胶或木质等各种材质。这样可以节约制造成本、外观多样化，避免金属材料表面加工工艺要求高、成本高、外观单一等缺陷。
对本实施例的具体说明如下：
如图12至16所示的一种人机互动体感车，包括车体以及安装在车体上的车轮1，所述车体包括具有支撑刚性的下盖3以及控制板11、传感器、电池7、脚踏部件，车轮1安装在该下盖3的两侧，脚踏部件安装在下盖3的上方，传感器安装在脚踏部件下方，电池7给控制板11供电，控制板11根据传感器的信号控制车轮1转动。
在其他实施方式中，脚踏部件与下盖3之间具有较好的结合，可以不再设置上盖或外盖等包裹装饰件；但作为优选，出于装饰和遮盖保护内部零部件的目的，本实施中，车体还包括覆盖在下盖3在上面的上盖4，脚踏部件的全部或部分设置上盖4上。
上述具有支撑刚性的下盖3，用于车体承重和安装车轮，因此，其包括用于与车轮连接的车轮连接部和用于支撑脚踏部件的支撑部，车轮连接部和支撑部一体成型或者直接固定连接或者经由其他刚性部件间接固定连接，从而保证使用者的重量经由脚踏部件、下盖传递至车轮。
本实施例中，下盖3的车轮连接部和支撑部为一体成型，下盖整体是由金属或其他具有一定支撑刚性的材料一体成型制成，如采用钢铁或铝质框架结构制成，强度高、安全可靠，如采用符合强度要求的硬塑料等制成，成本低、加工方便。在其他实施方式中，在下盖中设置有若干个刚性加强部件，通过这些刚性加强部件与车轮、脚踏部件及传感器连接，以提供刚性支撑。这样，下盖包括用于车体承重的主架部和暴露于车体外表面的外观部，以提供保护和装饰。
上述脚踏部件，供使用者踩踏并将重量传递至具有支撑刚性的下盖。脚踏部件至少包括供使用者踩踏的脚踏部位，当使用者脚踩在脚踏部位上时，脚踏部位能够直接接触下盖3（或者通过中间部件间接连接下盖）从而将重量传递至下盖3，由下盖3最终承载重量。
本实施例中，如图12、图13所示，脚踏部件为与车体上盖4连为一体的脚踏部42，由于装饰保护用的上盖4一般采用塑料制成，所以该脚踏部42也为塑料，这样结构简单、组装方便、制造成本低、外形美观。当使用者站在上盖的脚踏部上时，其重量通过脚踏部42的弹性形变传递至传感器和下盖。
在其他实施方式中，脚踏部件可以是相对于车体上盖能够独立活动并能产生较小的相对位移变化的脚踏底板，脚踏底板与车体上盖之间可以通过橡胶圈等柔性部件相连密封，也可以是脚踏底部与车体上盖之间通过二次成型、多次成型或者嵌件注塑等加工方式通过柔性结合部连为一体。
本实施例中，在脚踏部42的上表面设置有防滑贴或防滑脚垫，防滑贴或防滑脚垫采用粘贴的方式固定在脚踏部42上，这样安装或更换方便、成本低。
在其他实施方式中，也可以在脚踏部件（脚踏部42）上通过成型加工、覆盖组装等方式设置防滑结构（如防滑花纹）或防滑部件。防滑部件（如防滑贴或防滑脚垫）可以为软性橡胶材质或其他，这样可增加脚踏部件的耐磨性和摩擦力，也可提高用户使用舒适性，还有起到较好的防水防尘效果。
上述传感器，用于感测使用者的姿态变化进而获知其车辆操作意图。传感器，可以是压力传感器、电容传感器、光电传感器以及其他能够检测物体形状或位移的微小变化的传感器。传感器包括能够与脚踏部件相连的一部分、能够与支撑部件相连的另一部分以及与控制板相连的信号输出部分。这类传感器在体感车（或称平衡车）上的应用原理和具体结构可以是公开号为CN108297999A、CN106627895A、CN108725648A、CN106560386A、CN105416486A等专利文献以及他们的系列申请文献中所公开的方案中的任何一个，以及其他任何一个能够达成上述检测目的的传感器。
本实施例中，上述传感器为板状或片状的压力传感器10，压力传感器10设置在脚踏部件（脚踏部42）和下盖3之间，压力传感器10的力敏部件承重并同时感测压力的变化。这样，成本低、厚度小，能够最大程度的降低车体高度和车体重心。
在其他实施方式中，上述传感器也可以仅感测脚踏部件或其他中间部件在承重后的形状或位移变化，这样传感器可以设置在脚踏部件周围的任何合适位置。
本实施例中，压力传感器10固定在下盖3上面，这样安装方便，检测灵敏可靠。
在其他实施方式中，传感器可以安装在脚踏部件（如脚踏部42的底部）上，传感器也可以一部分安装在脚踏部件上，一部分安装在下盖3上，本领域技术人员可以根据传感器的类型和作用原理进行合理布置。
本实施例中，如图13、图15、图16所示，左右两个脚踏部42下方均设有压力传感器10，每个压力传感器10均包括前后两个端部以及连接两个端部的连接部，前后两个端部悬空，下方没有支撑，连接部与下盖3上凸起的加强筋固定连接，或者在受压时，该连接部被下盖3上凸起的加强筋支撑限位，这样，前后两个端部可分别根据前后脚掌的不同发力感测到不同的压力信息，也就是说，前后两个传感区域相当于两个位置不同的传感器来分别测试前后脚掌的不同发力。在其他实施方式中，每个压力传感器也可以是从整体上感测脚踏部件相对于下盖微小形变或位移的。在其他实施方式中，每个压力传感器也可以是仅具有一个传感区域，或者具有两个以上的传感器区域。
体感车的控制装置用以根据两个压力传感器的传感器区域之间的受力信息差控制驱动两个车轮移动或转动，实现转向。在其他实施方式中，所述压力传感器还可以用以感测脚踏部件上是否有使用者，以控制车轮的启停。如此设置，无需单独设置一个感应开关，从而简化车体结构。当然，在其他实施方式中，也可以单独设置感应开关。
所述人机互动体感车还可以进一步包括位置传感器（未图示），用以感测车体相对地面的倾斜信息。如此设置，当使用者及车体往前倾的时候，位置传感器感测到倾斜，就会发出信号给控制板，控制板控制驱动车轮向前运动，在惯性作用下使得整体具有向后倾斜的力，起到平衡的作用。具体的，所述位置传感器包括陀螺仪、加速度传感器和/或光电传感器。
上述车轮，用于承重和通过被驱动转动从而带动车体移动。车轮可以安装在具有支撑刚性的下盖的两侧。车轮的一种驱动实施方式，可以采用外装电机驱动转动，即，车轮包括固定连接的轮架和车轮轴，车轮轴转动安装在下盖3上并与固定在下盖3上的驱动电机传动连接，现有技术中车轮采用外部电机会导致车体结构复杂体积臃肿，但是本实施例中，由于采用具有支撑刚性的下盖和压力传感器控制结构，使得整车零部件大大减少，车体内部空间有较多空余，可合理布置车轮的驱动电机。车轮的另一种驱动实施方式中，车轮采用内装电机驱动转动，即采用轮毂电机，车轮的轮架和车轮轴之间通过轮毂电机实现相对转动驱动，这样车轮轴可以直接固定在具有支撑刚性的下盖上，结构简单合理、安装方便快捷、占用车体内部空间少、制造成本低。
本实施例中，如图13、图15所示，车轮1采用轮毂电机，两个车轮1的车轮轴101分别通过固定件9固定在下盖3的两端。
更进一步地，下盖3和固定件9上开设有与车轮轴101相配合的凹槽，这样固定更加牢固可靠、安装更加方便、体积更加小巧。为了便于走线，车轮轴101呈管状结构，线束从车轮轴管孔内通过，当然，在其他实施方式，线束也可以从车轮轴的外面走线。为了便于固定牢固，车轮轴上开有与下盖3或固定件9相配合的键槽。
相对于现有技术中“车轮轴一端与车轮相连接，另一端连接有车轮轴固定板，车轮轴固定板再与车体的支撑骨架固定的结构”，上述具有支撑刚性的下盖与车轮轴的安装结构，成本更低、安装更加方便、连接更加可靠。并且由于采用具有支撑刚性的下盖，上方部件重量相对较轻并且非常靠近车轮轴线，而主要重量部件如电池等均设置在车轮轴线下方，这样的结构已然使得车体的重心低于车轮轴线以下较多，不再需要车轮轴固定板、电机固定座等中间部件来降低重心，结构简单运行稳定。
本实施例中，车体的上盖4为一体成型的塑料件，包括左右两个脚踏部42，两个脚踏部42之间通过中间部41相连，两个脚踏部42外侧设有用于遮盖车轮1的轮盖部43，这样制造成本低、一体性好、方便组装。
在其他实施方式中，上述脚踏部42、中间部41和轮盖部43可以是各自独立的部件组装形成，也可以是其中的若干个部分一体成型后再与其他部分组装形成。
本实施例中，脚踏部42的底部设有施压部和定位柱，施压部用于与压力传感器10相抵接触传递压力，定位柱与压力传感器10上的定位孔1001相配合定位以确保压力传感器10和脚踏部42的相对位置，提高传感器检测灵敏度。
在其他实施方式中，施压部可以是块状、条状、凸起状、柱状、锥状以及其他可以传递作用力的形状中的一种或者多种。
在其他实施方式中，脚踏部42和压力传感器10 之间也可以不设置定位配合结构，也可以设置其他任何能够实现配合限位的结构，例如将上述定位柱和定位孔进行位置互换，例如通过边缘限位结构实现配合限位，等等。
本实施例中，上盖4与下盖3固定连接，电池7安装在下盖3的电池空间内，控制板11安装在下盖3的空腔内，下盖3在压力传感器10和/或固定件9的下方设置多个纵横交错排布的加强筋以支撑固定压力传感器10和车轮轴101。这样，结构简单合理，支撑牢固可靠，方便各部件组装，也方便接线调试。
在其他实施方式中，也可以设置多个控制板，多个控制板也可以分别固定在下盖3的不同位置。
在其他实施方式中，本领域技术人员还可以在本实施例的设计原理基础上，将各零部件的具体安装位置和安装结构进行简单调整和常规替换。
本实施例中，左右车轮设置在具有支撑刚性的下盖两边，车轮轴基本共轴线，下盖用于固定车轮和承重作用，左右踏脚区域各设置有压力传感器，每个踏脚区域至少有两个检测压力数据的传感器，用于检测两脚前后压力值。下盖采用拉伸型材或型材焊接或注塑成型，即保证强度又可以减小车体体积和重量，电池采用单层平铺方案，可大大减小产品的厚度，提高离地高度，增加通过性。
综上所述，现有技术中，用于设置脚踏部件的上盖或支撑骨架同时也为承重部件，这样就导致体感车的车体重心偏高、脚踏装置结构复杂、零部件多、制造成本高、体积大、重量重。
本发明中，采用独立的内部支撑骨架或者与下盖融为一体的支撑骨架，上盖不再作为承重部件，车体上盖就可以由塑料材质等成本较低、重量轻、装饰效果更好的材料制成，并且车体重心下降，结构简化，零部件数量大大减少，大大降低制造成本，车体平台更薄增加离地高度，提高了通过性，车体体积减小重量更轻更便于携带搬运。在达到人机互动体感车的功能要求前提下，优化了产品结构，降低了产品生产成本。
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、替换和变型。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (59)

  1. 一种人机互动体感车，包括车体以及安装在车体上的车轮（1），其特征在于，所述车体包括支撑骨架（8）、控制板（11）、传感器、电池（7）和脚踏部件，车轮（1）安装在支撑骨架（8）上，脚踏部件安装在支撑骨架（8）上方，传感器安装在脚踏部件下方，电池（7）给控制板（11）供电，控制板（11）根据传感器的信号控制车轮（1）转动。
  2. 根据权利要求1所述的一种人机互动体感车，其特征在于，车体还包括包裹在外面的上盖（4）和下盖（3）；脚踏部件是与车体上盖（4）一体成型的塑料件。
  3. 根据权利要求1所述的一种人机互动体感车，其特征在于，支撑骨架（8）包括用于与车轮连接的车轮连接部和用于支撑脚踏部件的支撑部，车轮连接部和支撑部一体成型或者直接固定连接或者经由其他刚性部件间接固定连接。
  4. 根据权利要求1所述的一种人机互动体感车，其特征在于，支撑骨架（8）为一体成型的板状结构；支撑骨架（8）采用铝质型材制成。
  5. 根据权利要求1所述的一种人机互动体感车，其特征在于，脚踏部件为与车体上盖（4）连为一体的脚踏部（42）。
  6. 根据权利要求1所述的一种人机互动体感车，其特征在于，脚踏部件是相对于支撑骨架（8）和车体上盖（4）能够独立活动并能产生相对位移变化的脚踏底板，脚踏底板与车体上盖（4）之间可以通过柔性部件或柔性结合部相连。
  7. 根据权利要求1所述的一种人机互动体感车，其特征在于，脚踏部件的上表面粘贴有防滑贴或防滑脚垫。
  8. 根据权利要求1所述的一种人机互动体感车，其特征在于，传感器为板状或片状的压力传感器（10），压力传感器（10）设置在脚踏部件和支撑骨架（8）之间；压力传感器（10）包括前后两个端部以及连接两个端部的连接部，该连接部固定在支撑骨架（8）上面或者脚踏部件底部。
  9. 根据权利要求1所述的一种人机互动体感车，其特征在于，车轮（1）采用轮毂电机，两个车轮（1）的车轮轴（101）分别通过固定件（9）固定在支撑骨架（8）的两端；车轮轴（101）安装在支撑骨架（8）的下方，支撑骨架（8）和固定件（9）上开设有与车轮轴（101）相配合的凹槽。
  10. 根据权利要求1所述的一种人机互动体感车，其特征在于，车体的上盖（4）为一体成型的塑料件，包括左右两个脚踏部（42），两个脚踏部（42）之间通过中间部（41）相连，两个脚踏部（42）外侧设有用于遮盖车轮（1）的轮盖部（43）。
  11. 根据权利要求10所述的一种人机互动体感车，其特征在于，在脚踏部（42）的底部前侧和后侧各设有两个用于与压力传感器（10）相抵接触传递压力的施压部（421），脚踏部（42）的底部前侧和后侧各设有两个与压力传感器（10）配合的定位柱（422）。
  12. 根据权利要求1所述的一种人机互动体感车，其特征在于，车体的下盖（3）为一体成型的塑料件，下盖（3）固定在支撑骨架（8）的下方，上盖（4）与下盖（3）固定连接，电池（7）安装在支撑骨架（8）下方、下盖（3）的电池空间（302）内，控制板（11）安装在支撑骨架（8）上方。
  13. 根据权利要求1所述的一种人机互动体感车，其特征在于，上盖（4）固定在支撑骨架（8）上，下盖（3）与上盖（4）固定连接；或者，上盖（4）和下盖（3）分别与支撑骨架（8）固定连接。
  14. 根据权利要求1所述的一种人机互动体感车，其特征在于，电池（7）安装在支撑骨架（8）和下盖（3）之间，或者电池（7）安装在支撑骨架（8）和上盖（4）之间；控制板（11）安装支撑骨架（8）和下盖（3）之间，或者控制板（11）安装在支撑骨架（8）和上盖（4）之间。
  15. 根据权利要求1所述的一种人机互动体感车，其特征在于，上盖（4）的中间部（41）向上拱起从而在其下方形成有中间容纳空间（411），控制板（11）容纳在该中间容纳空间（411）内并固定在支撑骨架（8）上面。
  16. 根据权利要求1所述的一种人机互动体感车，其特征在于，车体前侧或后侧设置有上下贯通的提手孔（45），从而在车体前侧或后侧中间形成一个提手（44）。
  17. 根据权利要求1所述的一种人机互动体感车，其特征在于，支撑骨架与下盖融为一体。
  18. 根据权利要求1所述的一种人机互动体感车，其特征在于，左右两个车轮（1）安装在支撑骨架（8）的左右两端，左右两个脚踏部件安装在支撑骨架（8）上方，电池（7）安装在支撑骨架（8）下方，左右两个传感器分别安装在左右两个脚踏部件下方，电池（7）给控制板（11）供电，控制板（11）上安装有陀螺仪，控制板（11）根据两个传感器的信号控制两个车轮（1）转动。
  19. 根据权利要求18所述的一种人机互动体感车，其特征在于，支撑骨架（8）为一体成型的板状结构；支撑骨架（8）采用铝质型材制成。
  20. 根据权利要求19所述的一种人机互动体感车，其特征在于，支撑骨架（8）包括用于与车轮连接的车轮连接部和用于支撑脚踏部件的支撑部，车轮连接部和支撑部一体成型或者固定连接形成支撑骨架；支撑骨架的左右两端分别设置一个车轮连接部，左右两个车轮连接部具有共同的车轮轴线，左右两个支撑部设置在两个车轮连接部之间，所述传感器是设置在支撑部和脚踏部件之间的板状或片状的压力传感器（10）。
  21. 根据权利要求20所述的一种人机互动体感车，其特征在于，压力传感器（10）包括一体成型或固定连接的前后两个端部以及两个端部之间的连接部，该连接部固定在支撑骨架（8）上，前后两个端部悬空。
  22. 根据权利要求21所述的一种人机互动体感车的支撑骨架，其特征在于，压力传感器（10）的前后两个端部形成前后两个相对独立的压力传感区域。
  23. 根据权利要求21所述的一种人机互动体感车的支撑骨架，其特征在于，压力传感器（10）的前后两个悬空的端部分别位于两个车轮连接部的车轮轴线的前后两侧。
  24. 一种人机互动体感车，包括车体以及安装在车体上的车轮（1），其特征在于，所述车体包括下盖、控制板（11）、传感器、电池（7）和脚踏部件，车轮（1）安装在下盖上，脚踏部件安装在下盖上方，传感器安装在脚踏部件下方，电池（7）给控制板（11）供电，控制板（11）根据传感器的信号控制车轮（1）转动。
  25. 根据权利要求24所述的一种人机互动体感车，其特征在于，下盖由金属或其他具有支撑刚性的材料一体成型制成；或者，下盖包括用于车体承重的主架部和暴露于车体外表面的外观部，该主架部和外观部是同种材质一体成型，或者是采用不同种材质一次成型或分次成型或分体组装成一体；脚踏部件是与车体上盖（4）一体成型的塑料件或者是相对于支撑骨架（8）和车体上盖（4）能够独立活动并能产生相对位移变化的脚踏底板。
  26. 一种人机互动体感车的上盖，上盖上设有设有左右两个脚踏部件，其特征在于，两个脚踏部件下方设有一个支撑骨架（8），每个脚踏部件和支撑骨架（8）之间都设有传感器，脚踏部件包括供使用者踩踏的脚踏部位，当一个脚踏部位承受重力时，该脚踏部位将重量传递至支撑骨架并触发该脚踏部位下方的传感器产生电信号。
  27. 根据权利要求26所述的一种人机互动体感车的上盖，其特征在于，上盖（4）固定在支撑骨架（8）上。
  28. 根据权利要求26所述的一种人机互动体感车的上盖，其特征在于，脚踏部件是与上盖（4）一体成型的塑料件。
  29. 根据权利要求26所述的一种人机互动体感车的上盖，其特征在于，脚踏部件是相对于支撑骨架（8）和上盖（4）能够独立活动并能产生相对位移变化的脚踏底板，脚踏底板与上盖（4）之间可以通过柔性部件或柔性结合部相连。
  30. 根据权利要求26所述的一种人机互动体感车的上盖，其特征在于，脚踏部件的脚踏部位的上表面粘贴有防滑贴或防滑脚垫。
  31. 根据权利要求26所述的一种人机互动体感车的上盖，其特征在于，上盖（4）为一体成型的塑料件，包括左右两个脚踏部（42），两个脚踏部（42）之间通过中间部（41）相连，该脚踏部（42）即为所述脚踏部件。
  32. 根据权利要求31所述的一种人机互动体感车的上盖，其特征在于，两个脚踏部（42）外侧设有用于遮盖车轮（1）的轮盖部（43）。
  33. 根据权利要求26所述的一种人机互动体感车的上盖，其特征在于，传感器为板状或片状的压力传感器（10），压力传感器（10）包括前后两个端部以及连接两个端部的连接部，该连接部固定在支撑骨架（8）上面或者脚踏部件底部；压力传感器（10）的前后两个端部形成前后两个相对独立的压力传感区域。
  34. 根据权利要求33所述的一种人机互动体感车的上盖，其特征在于，支撑骨架的左右两端分别安装一个车轮，左右两个车轮具有共同的车轮轴线，压力传感器（10）的前后两个悬空的端部分别位于两个车轮连接部的车轮轴线的前后两侧；在脚踏部（42）的底部前侧和后侧各设有两个用于与压力传感器（10）相抵接触传递压力的施压部（421），前后两个施压部（421）分别与压力传感器（10）的前后两个端部相对应，脚踏部（42）的底部前侧和后侧分别设有与压力传感器（10）的前后两个端部相配合定位的限位结构。
  35. 根据权利要求34所述的一种人机互动体感车的上盖，其特征在于，施压部（421）呈块状、条状、凸起状、柱状或锥状。
  36. 根据权利要求34所述的一种人机互动体感车的上盖，其特征在于，限位结构为定位柱、定位孔或者边缘限位结构。
  37. 一种人机互动体感车，其特征在于，包括如权利要求26至36中任一项所述的一种人机互动体感车的上盖。
  38. 根据权利要求37所述的一种人机互动体感车，其特征在于，还包括车轮（1）、控制板（11）、电池（7）和脚踏部件，车轮（1）安装在支撑骨架（8）左右两端的车轮连接部上，控制板（11）固定在支撑骨架（8）上，压力传感器（10）与控制板（11）连接，控制板（11）上安装有陀螺仪，控制板（11）根据传感器的信号控制车轮（1）转动；电池（7）安装在支撑骨架（8）下方，脚踏部件安装在支撑骨架（8）上方。
  39. 一种人机互动体感车的支撑骨架，其特征在于，包括用于与车轮连接的车轮连接部和用于支撑脚踏部件的支撑部，车轮连接部和支撑部一体成型或者固定连接形成支撑骨架；支撑骨架的左右两端分别设置一个车轮连接部，左右两个车轮连接部分别连接的车轮具有共同的车轮轴线，左右两个支撑部设置在两个车轮之间，支撑部和脚踏部件之间设有板状或片状的压力传感器（10）。
  40. 根据权利要求39所述的一种人机互动体感车的支撑骨架，其特征在于，支撑骨架（8）为一体成型的板状结构。
  41. 根据权利要求40所述的一种人机互动体感车的支撑骨架，其特征在于，支撑骨架（8）采用铝质型材制成。
  42. 根据权利要求39所述的一种人机互动体感车的支撑骨架，其特征在于，压力传感器（10）包括一体成型或固定连接的前后两个端部以及两个端部之间的连接部，该连接部固定在支撑骨架（8）上，前后两个端部悬空。
  43. 根据权利要求42所述的一种人机互动体感车的支撑骨架，其特征在于，压力传感器（10）的前后两个端部形成前后两个相对独立的压力传感区域。
  44. 根据权利要求43所述的一种人机互动体感车的支撑骨架，其特征在于，压力传感器（10）的前后两个悬空的端部分别位于两个车轮连接部的车轮轴线的前后两侧。
  45. 根据权利要求39所述的一种人机互动体感车的支撑骨架，其特征在于，支撑骨架（8）的两端的车轮连接部上通过固定件（9）固定车轮（1）的车轮轴（101），支撑骨架（8）的车轮连接部上开设有与车轮轴（101）相配合的凹槽。
  46. 一种人机互动体感车，其特征在于，包括如权利要求39至45中任一项所述的一种人机互动体感车的支撑骨架。
  47. 根据权利要求46所述的一种人机互动体感车，其特征在于，还包括车轮（1）、控制板（11）、电池（7）和脚踏部件，车轮（1）安装在支撑骨架（8）左右两端的车轮连接部上，控制板（11）固定在支撑骨架（8）上，压力传感器（10）与控制板（11）连接，控制板（11）上安装有陀螺仪，控制板（11）根据传感器的信号控制车轮（1）转动。
  48. 根据权利要求47所述的一种人机互动体感车，其特征在于，电池（7）安装在支撑骨架（8）下方，脚踏部件安装在支撑骨架（8）上方。
  49. 一种人机互动体感车的车体，其特征在于，所述车体包括下盖、控制板（11）、传感器、电池（7）和脚踏部件，车轮（1）安装在下盖上，脚踏部件安装在下盖上方，传感器安装在脚踏部件下方，电池（7）给控制板（11）供电，控制板（11）根据传感器的信号控制安装在车体上的车轮（1）转动。
  50. 根据权利要求49所述的一种人机互动体感车的车体，其特征在于，下盖由金属或其他具有支撑刚性的材料一体成型制成。
  51. 根据权利要求49所述的一种人机互动体感车的车体，其特征在于，下盖包括用于车体承重的主架部和暴露于车体外表面的外观部，该主架部和外观部是同种材质一体成型，或者是采用不同种材质一次成型或分次成型或分体组装成一体。
  52. 根据权利要求49所述的一种人机互动体感车的车体，其特征在于，车体还包括固定在下盖（3）上的上盖（4），控制板（11）、传感器和电池（7）安装在上盖（4）和下盖（3）之间。
  53. 根据权利要求52所述的一种人机互动体感车的车体，其特征在于，脚踏部件是与上盖（4）连为一体的塑料件，或者是相对于上盖（4）能够独立活动并能产生相对位移变化的脚踏底板。
  54. 根据权利要求49所述的一种人机互动体感车的车体，其特征在于，下盖（3）包括用于与车轮连接的车轮连接部和用于支撑脚踏部件的支撑部，车轮连接部和支撑部一体成型或者直接固定连接或者经由其他刚性部件间接固定连接。
  55. 根据权利要求49所述的一种人机互动体感车的车体，其特征在于，车轮（1）采用轮毂电机，两个车轮（1）的车轮轴（101）分别通过固定件（9）固定在下盖（3）上；下盖（3）和固定件（9）上开设有与车轮轴（101）相配合的凹槽。
  56. 根据权利要求49所述的一种人机互动体感车的车体，其特征在于，传感器为板状或片状的压力传感器（10），压力传感器（10）设置在脚踏部件和下盖（3）之间；压力传感器（10）包括前后两个端部以及连接两个端部的连接部，前后两个端部悬空，连接部固定在下盖（3）上或者被下盖（3）上凸起物支撑限位。
  57. 根据权利要求56所述的一种人机互动体感车的车体，其特征在于，车体的上盖（4）为一体成型的塑料件，包括左右两个脚踏部（42），两个脚踏部（42）之间通过中间部（41）相连，两个脚踏部（42）外侧设有用于遮盖车轮（1）的轮盖部（43）。
  58. 根据权利要求57所述的一种人机互动体感车的车体，其特征在于，在脚踏部（42）的底部前侧和后侧各设有两个用于与压力传感器（10）相抵接触传递压力的施压部（421），脚踏部（42）的底部与压力传感器（10）定位配合。
  59. 一种人机互动体感车，其特征在于，包括如权利要求49至58中任一项所述的一种人机互动体感车的车体。
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