CN105984541A - Motor vehicle and control system - Google Patents

Abstract

The invention relates to a motor vehicle and a control system. The motor vehicle supports manned/unmanned multi-mode operation and includes: a very simple platen-type footboard carrier; a foot-operated two-dimensional inching control key; a modified remote control, double drive wheels and an adapting wheel, a double or multiple operation system and a multi-sensor and multi-automation electronic operation system suitable for synergic operation; supporting equipment, the control system and various folding transformable motor vehicles are provided. The technical scheme is also applicable to other fields and vehicles.

Description

Locomotive and control system

Technical field

Carrier, due to motor drivingMotor vehicles.It is suitable for but be not limited to the chassis in manned and single driving, relate to both feet station and step on the manipulation control loop of the walk-replacing scooter skateboard of driving, compact small-sized (folding) Portable traffic means of transport and extreme light little, motor supporting about, vehicle and locomotive, automation equipment, inverted pendulum Self-balance electric vehicle.

Background technology

It is not required to the small-sized portable electric car that technology just can be driven without practice, be required for short distance individual's movement.Prior art is a lot, but is respectively arranged with shortcoming: manpower drive efficiency low velocity is slow, storage is carried, the reliability of electronic device and fault ratio, to repeat and the driving technology of consummation, car body weight and volume.Making a general survey of this area, the combination property of every kind of car is not all good enough, is difficult to significantly change the status quo.Traditional slide plate has bias steering mechanism, so car body length, volume are big, relatively heavier.The manned motor vehicles of extremely miniature light small portable need to be broken through, and managing and control system and the security of locomotive become key issue.

Content of the invention

It is contemplated that first problematic in solving, provide man-machine share can type selecting traffic mobile system, support manned/unmanned double mode, and/or, strive for extreme light little portable locomotive, innovative solution can be applicable to other field and vehicle.Invention is achieved in that employing fine motion control system, dual or multiple control system, improving setting makes machinery vehicle body mutually suitable therewith, including: lightweight battery is to the driving means of motor power supplying, carrier, dual drive wheel, fit to mechanism's (fit to wheel), the locomotive chassis of electronic control, multi-mode manipulates, under manned pattern, being manipulated by driver, electric running, man-machine hybrid electric drive system and/or overdrive clutch slide；Under unmanned pattern, being driven by automation equipment manipulation, differential drives and turns to.The also comprehensive corollary equipment providing multiple innovation, construction improve, control system.Concrete implementation hereinafter discloses further.

Accompanying drawingIllustrate:

Figure 1--6 is that the difference of first embodiment regardsFigure, it is followed successively by, left front vertical viewFigure, left back vertical viewFigure, top viewFigure, look upFigure, side-lookingFigure, lower-left looks upFigure。

Figure 7It is the once decomposition vertical view of first embodimentFigure。

Figure 8It is that pulling of first embodiment carries signalFigure。

Figure 9--14 is that the difference of the second embodiment regardsFigure, it is followed successively by, right front vertical viewFigure, left back vertical viewFigure, side-lookingFigure, top viewFigure, lower-left looks upFigure, look upFigure。

Figure 15, 16 be the 3rd embodiment, be followed successively by, right after overlookFigure, side-lookingFigure。

Figure 17, 18 be the 4th embodiment, be followed successively by, left back vertical viewFigure, lower-left looks upFigure。

Figure 19--23 is the 5th embodiment, is followed successively by, the left back vertical view of deployed conditionFigure, the left back vertical view of folded stateFigure, the top view of deployed conditionFigure, the top view of folded stateFigure, the master in folding process regardsFigure。

Figure 24--26 is the 7th embodiment, is followed successively by, the left back vertical view of deployed conditionFigure, overlook behind the right side in folding processFigure, the left front vertical view under folded stateFigure。

Figure 27--29 is the further embodiment of the 7th embodiment, is followed successively by, and overlooks behind the right side of deployed conditionFigure, overlook behind the right side in folding processFigure, overlook behind the right side under folded stateFigure。

Figure 30It is locomotive configuration and the dynamo-electric exploded pictorial arrangingFigure。

Advantage and good effect: global optimization improves experience, makes simple in construction, reliability enhancing, light practicality, turning radius little.Directly contact car body just to guide and support or carry without hand, tow.Multiple sensors, data storage cell telecommunication that vehicle-mounted data processor travels with wireless telecommunication system, control locomotive chassis are connected, and process and run related executable program.Fine motion control system, particularly dual or multiple control system, improves security, improves handling by Collaborative Control.The advantage of multiple electrification technical schemes and automation equipment is given in conjunction with the embodiments further.Complete vehicle weight can accomplish 1 to 4 kilogram.It is applicable to municipal highway and large-scale indoor place.Other advantages will be given in conjunction with the embodiments further.

Detailed description of the invention:

Term defines.Data processor, implication includes: DSP, FPGA, CPU, PLC, MCU, AP, ARM, programmable single chip computer, high-speed programmable digital signal processing chip.Terminal control device, implication includes: data processor, can write execution program and can call software, there is display and the wireless telecommunications system at interactive operation interface, (hand-held) mobile phone (being not limited to common smart mobile phone), the wearable bracelet in wrist or wrist-watch, the gloves of hand, the finger ring of finger can be presented as.Stereo vision sensor (Myriad 2 of Capri or the Movidius company of such as PrimeSense company) includes: 3 D stereo machine vision, such as laser measurement, RGB camera or motion tracking digital camera, lighting source, infrared sensor or nearly IR(infra-red radiation) light, CMOS(complementary metal semiconductor) sensor go understand scene light code, computational analysis three-dimensional data, manufacture scene by " pumped FIR laser " technology, usually use binocular vision triangulation to realize the environmental information of three-dimensional depth.Universal wheel includes being arranged on and has on eccentric throw support and can rotate around vertical axis in freely 360 degree of self-defined vertical axle center in dynamic load, any direction Turning travel earthward.According to mounting means, plate, screw type and pin-type can be divided into.Universal wheel (also including omni-directional wheel mecanum wheels, omni wheel) this specification that Chinese is often said is referred to as fitting to wheel.Fit to, refer to that (certainly) adapts to direction, including other variants, fit and can improve car body turn to usefulness to wheel, when suitable, pivot stud can be realized, for example: fit to wheel carrier, fit to wheel (include 360 degree of turns universal wheel, in limited angle turn or the universal wheel travelling for single direction--limited fit to wheel).The motor of this specification appellation includes motor.Dual control system or multi-control system, including, same instructions management and control, collaborative instruction management and control.Differential gear drives two castors respectively or simultaneously drives two castors.Including separately-driven bi-motor and drive control device, or, a driving motor drives differential gear.Lightweight battery, the motive-power battery comprising repeated charge: one or its any combination collocation in elemental lithium, ultracapacitor, fuel, metal-air, graphene battery, nano material battery are powered to motor, or other light-duty energy storage pools, typically do not refer to lead-acid battery.Load sense sensor includes: angular pose sensor, LOAD CELLS, torque sensor.Wherein, angular pose sensor includes: electronic gyroscope, multiaxis sensing, inclination angle sensing, center of gravity sensing.LOAD CELLS includes: resistance strain gage pressure-sensing, semiconductor gauge pressure-sensing, pressure drag type pressure sensing, inductance type pressure-sensing, capacitive pressure sensing, resonant mode pressure-sensing and capacitance acceleration sensing.LOAD CELLS is according to the corresponding signal of telecommunication of power output of load, and data processor is converted into corresponding weight amount after receiving the signal of telecommunication.Load sense sensor is to produce signal degree of being accelerated according to gravity, pressure, driver's centre of body weight or change in location, be arranged to detection gravity and the one or more accordingly sensor being associated of inertial force field.

Locomotive chassis: the built-in locomotive main of component, box beam formula, use lightweight construction, light material, high strength light composite material and/or light alloy material；If during two carrier internal batteries, can be respectively to the backward motor power supplying of motor power supplying or connection in series-parallel.Built-in related electronic devices is to obtain clean and tidy appearance; for example; motor controller, charging battery protecting device, data processor, data storage cell etc.; appropriate site arrange charging inlet, data line interface, motor line interface, to one or several output interfaces of other power electronic equipment, battery electric quantity shows.Being not limited to, light composite material, moulding arrange vertical rib, metal sheet punch forming, light-alloy (aluminium, magnesium, titanium) section bar integrated cavity pipe.There is at least two main drive wheel and the driven car fitting at least three-wheel constituting to wheel, or, two main drive wheels and the driven car fitting at least four-wheel constituting to wheel, three-wheel can be triangular pattern, four-wheel can be rectangle or trapezoidal layout, and dual drive wheel can operate respectively；Or (when driving wheel is relatively wide, general weakness is front and back, respectively arranges one and fits to wheel solution equilibrium problem to castor for a driving wheel and two driven fitting；There is the motor turning to and reverse control direction).Including be fixed on the integral control system of locomotive.In order to realize less vertical area, reduce locomotive volume, reach extremely small and exquisite purpose, propose but be not limited to following car body mechanism and lay.

Embodiment 1, referenceFigure 1--6, castor is positioned under deck, during side-looking locomotive, without obvious projection, two sidepiece even edges (even part pin is exposed) on deck can be trampled by foot, so, significantly arrange the vertical area of car body is very little, even accomplishes extreme small and exquisite, it is simple to carry.If castor is substantially raised in deck, then can tie up the space that foot tramples, the vertical area of locomotive then can increase, or car body is thicker.

Embodiment 2, referenceFigure 9--14, two, left and right driving wheel, fit to wheel with one.During side-looking locomotive, fit and have obvious raised to wheel position, now, can be set to triangle castor to lay, so can realize vertical vehicle body area little as far as possible, relatively big fits to wheel, there is more preferable road surface and resist small-sized roadblock by property, meanwhile, have no effect on both feet and trample, vehicle body, in the case of little as far as possible, have gap and can stand more steady between both feet, fitting of projection does not hinder both feet station to step on to wheel, because, when usual people stands, foot tends to splayed, stands more steady.Two sidepiece even edges (even part pin is exposed) on deck can be trampled by foot.

Embodiment 3, according to aforementioned signal, it is also possible to four castors are laid diamondwise, referenceFigure 15, 16, add a little weight than embodiment 2, but stationarity be preferable.Be suitable to the slightly larger vehicle of build.

Embodiment 4, seesFigure 17, 18, according to aforementioned signal, by two main drivingsWheel wheelFootpath increases, it is thus achieved that performance is passed through on more preferable road surface.Be suitable to the slightly larger vehicle of build.The following is variant locomotive

Embodiment 5, seesFigure 19--23, A two sections of B portion of portion car bodies connect by the articulated of two axles, can manned drive with under folded state in the deployed state, wherein, car A portion (front end) has two main drive wheels, and car A portion (rear end) has two and driven fits to wheel, and (rear end) also has a folding shaft；Front end, car B portion has a folding shaft, and rear end has driven fitting to wheel；Two segment bodies carry out hinged by two drift bolt axles and a twin shaft articulated, and in the deployed state, wheel base is longer, safer when running at high speed, and in a folded configuration, volume is less, are suitable for running at a low speed in the crowded place of the stream of people；It is possible if desired to fold articulated position to set up fold locking mechanisms, fixing deployed condition or folded state, articulated locking mechanism has a lot, and this easily knows in field of vehicles, is not repeated herein.If two sections of vehicle body all arrange battery, course continuation mileage is considerably longer；According to required, axle and the hinge of the car A portion two sections of car bodies in B portion can be disassembled, and car A portion canIndependentOperation, car B portion is as the split type rechargeable battery that can install or remove, and as car A portion is driven, increases course continuation mileage.Except the present embodiment, two segment bodies two are put down to (along the horizontal direction of landing ground) axle hinged, outside signal, it is also possible that

Embodiment 6, car can be set to two segment bodies, three segment bodies, moves linkwork by different axles and folds in different forms.Such as 1, three segment bodies are put down to (along the horizontal direction of landing ground) axle hinged by least two, and under deployed condition, three segment bodies are put down three segment body laminations after setting, folding and laid, and in folding process, three segment bodies are Z-shaped.

Embodiment 7, folds by vertical axle, rotational deformation of circling round along ground during application, and fitting of afterbody can make locomotive obtain the effect vacillated in land to wheel, when people foot turn trail locomotives, it may have certain motive force and steering-effecting.Such as 1,Such as figure 24--26, two segment bodies are hinged by a vertical axle, and under deployed condition, the head and the tail arrangement of two segment bodies (front and back) side by side arrangement yi word pattern, under folded state, two segment body laminations are laid, and in folding process, two segment bodies are V-shape；The derivative schemes of approximation is at one section of vehicle body of the further superposition of afterbody, such as 2, and three segment bodies are hinged by two vertical axles, under deployed condition, the head and the tail arrangement of three segment bodies (front and back) side by side arrangement yi word pattern, under folded state, three segment bodies are that Qian font is laid or lamination laying side by side；Such as 3,Such as figure 27--29, dual drive wheel+bis-is fitted to wheel, two segment body heads combine by a vertical axle and same (rigid or semi-rigid) support shaft are dynamic respectively, in the deployed state, two segment bodies and support be Qian font and when application along ground Direction distortion, in a folded configuration, binary can be with side by side arrangement, in folding or driving process, two segment bodies can be made to present variform owing to the afterbody of two sections of car bodies has the swing fitted to wheel and two vertical axles, two segment bodies can be along holder orientation head and the tail arrangement, two segment bodies and support are yi word pattern, inside two segment bodies, battery is set, arranging motor in the wheel at support two ends becomes driving wheel, support shape can also make corresponding modification, the change of derivative approximation becomes, such as 4, willFigure 27--the car of 29 makes a modification, and the support between two segment bodies is set to battery compartment, and to power as locomotive A portion to dual drive wheel, two segment body afterbodys are still respectively provided with fits to wheel, and two segment bodies are set to thin layer deck.

Variant locomotive, can also be set to telescopic, and it includes that two segment body single orders are flexible or stretch in three segment body two rank.

So far, citing describes variant locomotive.In the expanded state, locomotive area increases, and has three or four caster support are easy to travel；Under folding shrinking state, locomotive area reduces, and locomotive also has caster support and is easy to travel.Driving control modes different from two kinds can be used under folding shrinking state under extended configuration.(for example, under folded state, controlling switch by sensor or fine motion, locomotive relies on the change of load gravity to carry out manipulation and drives, under deployed condition, carrying out manipulation to locomotive by remote controller to drive) mode of locomotive variant also has other derivative schemes, other variant manner are not repeated herein, it is not limited to the citing being given, and citing is to support and claim is described, in the category being limited without departing substantially from claim, other equivalences are replaced modification and are broadly fallen into what claim limited.

Embodiment 8, locomotive has the driven pulley on the driving wheel keeping contact ground and selective exposure ground.Several castors, under first mode, travel with the drive manner of inverted pendulum Self-Balancing vehicle and turn to, and single wheel or two-wheel contact ground, under the second pattern, at least three castor contacts ground；Driving wheel contact ground in the middle part of for example during side-looking, remaining (two or four) driven pulley is positioned at two ends and every one end and is at least associated with an electric switch operating key, then, the first operating key and the second operating key, the directional correlation with vehicle form.The driven pulley of car rear and front end optionally contacts ground, the driven pulley of (keeping driving wheel to take turns contact ground all the time with other) front or behind triggers electronic switch (for example when contacting ground, touch switch or obliquity sensor or trigger electronic gyroscope) and optionally switch travel direction (front and back), or trigger electronic switch when the wheel in selective exposure direction to add and subtract travel speed.Five take turns or during six wheeler, arrange obliquity sensor, or arrange gyroscope and accelerometer, travel with the drive manner of inverted pendulum Self-Balancing vehicle (such as U.S. Sai Gewei segway) and turn to.When locomotive has dual drive wheel, travelling and turning to have different control methods, sees below literary composition.

Embodiment 9, car A portion B portion two segment body does not use hinged, but laminated type, it at least includes that two segment body buttress are folded and arranges and be mutually adapted；The split type rechargeable battery storehouse of car body A portion stacked installation or removal, increases course continuation mileage, and its size approximates with car body, and after piling up neatly folded installation, side is substantially concordant.Example 1, two same locomotive laminations dispose, and the concavo-convex buttress of being easy to that top and the bottom have adaptation is folded；Example 2, arranges screw at vehicle body upper portion, passes through the corner of battery compartment (car body B portion) with screw, connects both fixing.Locomotive can be square, two or more identical locomotive buttress poststacks, can be to overlap unanimously, after side is concordant, or two locomotives buttress are folded, rotate staggered arrangement, perspective during perspectiveFigureIn 8 dihedrals.It is beneficial to transport.

Locomotive chassis has portable unit, referenceFigure 8, rope yarn (such as nylon fishing line or steel wire rope) one end connects handle, other end connection body, and is wound in the bobbin winoler (such as boxlike gage mechanism) that convolution resets, and bobbin winoler is suitably arranged on intra-locomotive or is arranged at handle.Such as figure, pull with hand the handle having on car body, therewith, rope yarn pulls out elongation, in order to guide and support or pull car body, reduces and frequently bends and remove contact locomotive (easily contacting muddy water dust near road surface) with hand.Hand unclamps, and with the bobbin winoler winding rope yarn of elasticity reset device, is accommodated in intra-locomotive.

If the pursuit of extreme is compact gently little, if locomotive is arranged when more very much not considering weight, can increase wheel footpath and, add spring shock absorption between deck carrier and wheel shaft, as required on locomotive top, wheel be provided above adapting mechanism for choosing to install seat, truss, containing box, or, above wheel and vehicle-mounted body has adapting mechanism for choosing to install accommodating container.

Inching Mechanical course key forms fine motion control system with inching electronic switch, and it sends instruction to electronic control unit and driving means；When load variations causes the locus trace change of inching Mechanical course key, its triggering fine motion electronic switch sends the signal of telecommunication and sends instruction to electronic control unit, electronic control unit to driving means, travels to manipulate driving car；When the locus trace conversion of Mechanical course key, the electric signal that control car travels is changed switching, therewith to manipulate the traveling of car, to turn to；Fine motion control system is suitably dual or multiple control system.

Fine motion control system includes following at least one electronic device: button touch-switch, LOAD CELLS switch, obliquity sensor switch, electronic gyroscope and accelerometer, distance measuring sensor switch, touch switch or touch sensitive switch, photoelectric switch, Hall-type inductive switch, the conductive switch resetting by elastic properties of materials deformation.(inching Mechanical course key often appears as the integrated of higher degree with inching electronic switch, the touch switch of such as computer mouse, at the intrinsic displacement of 2 millimeters, responsive type key switch by the change of metal spring leaf stress, inching Mechanical course key pressure then forms path, with " ticking " clear and melodious sound, remove pressure and i.e. disconnect and elastic reset；The Trackpad of notebook computer, usually use condenser type pressure cell, microdisplacement under microcosmic, even less than 0.1--0.3 millimeter).

Locomotive configuration and dynamo-electric setting.In conjunction withFigure 7、Figure 30DecompositionFigure.Left deck carrier 30 as one kind-1 and right deck carrier 30 as one kind-2 all have axis hole 30-3 respectively, and, along the axle 30-4 on locomotive main 30-5 top, in conjunction with installation.Locomotive main 30-5 is internal places data processor, motor driving module, lightweight battery, and locomotive main front port installs drive end bearing bracket 30-6.It is respectively provided with electro-motor 30-7,30-8 about front port, gear-shift mechanism can be respectively provided with in motor end, motor output end horizontal (along landing ground direction) passes through locomotive main and connects firmly with driving wheel, direct drive of wheel rotates, or, the pedestal of wheel is fixedly arranged on locomotive main front port sidewall and carWheel wheelHub arranges internal gear, it is ratcheting with described internal gear that the output of motor and external gear pass through locomotive main front port sidewall, also form one-level speed change gear while transmission, if being provided with one-level speed change gear at intra-locomotive itself, then constituting two-stage speed change gear increases gearratio.Driving wheel 30-9,30-10 are driven respectively by two motors, and constant-speed driving differential steering is taken, motor can be arranged in driving wheel, becomes hub motor wheel, is taken, also can disc type motor be set horizontally disposed, by angular wheel and driving wheel transmission.Locomotive main afterbody connects firmly two and fits to wheel 30-11, improves when turning to and turns to efficiency.Under lower-speed state, two driving wheels one rotate forward a reversion, locomotive substantially pivot stud.The upper surface of locomotive main is provided with four and little windows, and embedded four elastomeric elements, arranges fine motion electronic switch (weight of such as touch switch and/or load LOAD CELLS--inspection car driver and the dynamic change of weight) in flexible member central authorities.Deck carrier rotates along axle, it is optionally press-fitted car front portion or car rear portion, when deck carrier and the laminating of locomotive main upper surface, it is achieved spacing, trigger the fine motion electronic switch being embedded in windowing simultaneously, electronic switch sends electronic information to data processor, instruction is handed down to motor driving module by data processor, subsequently, driving instruction is sent to motor, when the load of deck upper carrier disappears or weakens, flexible member makes deck carrier reset.Two deck carriers that axle moves respectively, as mechanical key, at least can have four kinds to express and locomotive reaction: two decks are press-fitted two front switches, driving wheel rotating forward simultaneously, and locomotive accelerates to move ahead；Two decks are press-fitted two rears switches simultaneously, and driving wheel inverts, vehicle deceleration or brake or fall back；Left deck is press-fitted front switch, and simultaneously right deck is press-fitted rear switch, two driving wheel then reversion one rotating forwards (or a rotating forward one is driven), locomotive left steering；Right deck is press-fitted front switch, and simultaneously left deck is press-fitted rear switch, two driving wheel then reversion one rotating forwards (or a rotating forward one is driven), locomotive right turn.When the different load parameter of load LOAD CELLS sensing, then do the regulation of corresponding speed according to parameter preset；Work as electronic switch, when particularly touch switch is clicked or when being not easy to do complex operations instruction, then take dual control system described hereinafter or multi-control system.

A. inching Mechanical course key and inching electronic switch form fine motion control system, and it sends instruction to electronic control unit and driving means；When load variations causes the locus trace change of inching Mechanical course key, its triggering fine motion electronic switch sends the signal of telecommunication and sends instruction to electronic control unit, electronic control unit to driving means, to manipulate driving locomotive driving；When the locus trace conversion of Mechanical course key, the electric signal that control car travels is changed switching, therewith to manipulate the traveling of car, to turn to；Fine motion control system is suitably dual or multiple control system (generally comprising, be simultaneously emitted by single same instructions by dual or multiple control system)；B. in three-wheel or four-wheel, at least comprise two driving wheels, because load variations causes deck type carrier displacement and triggers the electric signal of generation and sends differential signal and perform to turn to two driving wheels, further, dual or multiple fine motion control system can be simultaneously emitted by identical control instruction；C. in three-wheel or four-wheel, at least comprise two driving wheels, because load variations causes deck type carrier displacement and triggers the electric signal of generation and sends differential signal and perform to turn to two driving wheels, and, dual or multiple fine motion control system can send identical control instruction, and what vehicle control syetem and remote controller sent jointly control, and instruction is performed by driving wheel；D. vehicle-mounted fine motion control system and remote controller jointly control instruction for locomotive driving, at least, when performing same driving instruction, selectively definition arranges vehicle-mounted fine motion control system with one of both remote controllers as the preferential Collaborative Control performing instruction, and/or, vehicle-mounted fine motion control system and remote controller perform when same driving instruction conflict via data processor processes and are defined as compound operation logic and generate Collaborative Control and instruct；nullIf double driving set up by the common slide plate of E.(，Making power steering with bias) two motors support that two driving wheels advance locomotive around wheel shaft operating respectively，And，Motor controller is configured and accepts and perform the information that fine motion control system sends，In the bias mechanism of (common in Chuan Tong) slide plate，The vertical direction being provided with at least two fine motion control system between grillage below plate body and axle bracket along locomotive driving direction is laid，And，Fine motion control system is in reset state by the elastomeric material between grillage and axle bracket，When load variations bias plate body，Two ends are provided with the axle bracket of two-wheel with mechanical force diagonally axle turn in order to realize car body Turning travel，Simultaneously，Elastomeric material deformation optionally triggers a lateral fine motion control system of car body subsequently and makes a motor sub-assembly make dual drive wheel differential operate based on the control information that a fine motion control system sends.(fine motion control system, is suitably, and by the sensing sensor of load variations or LOAD CELLS or touch switch, is obviously improved the efficiency that turns to of conventional skateboard car, reduction radius of turn with the dual drive wheel running by differential).

Deck type carrier has fine motion displacement-type Mechanical course key apparatus.A., when the load of deck carrying changes, the attitude trace change displacement of Mechanical course key apparatus and the contact oppressing soft-touch type electronic switch, the electronic signal that the contact of soft-touch type electronic switch produces is sent to electronic control unit；When the attitude of Mechanical course key apparatus has two kinds or the change of two or more microdisplacements, the contact of corresponding touch switch produces different electronic signals, is switched electronic signal to become different control instruction to electronic control unit by the different attitudes vibration of Mechanical course key apparatus；B. when the load of deck carrying changes, by the change displacement of attitude trace and the contact touching electronic load cell of Mechanical course key apparatus, the electric signal that the contact of electronic load cell produces is sent to electronic control unit, when the weight electric signal that load produces reaches default parameter, driving means makes respective reaction；When the attitude of Mechanical course key apparatus has two kinds or the change of two or more microdisplacements, corresponding electronic load cell produces different electronic signals, and is switched electronic signal to become different control instruction to electronic control unit by the different attitudes vibration of Mechanical course key apparatus；C. middle part has higher supporting part, deck type carrier is affected by gravity and tilts to other (surrounding) directions, its including but not limited to following any one: having axle dynamic formula supporting part in the middle part of C1., rigidity deck type carrier is in combination, and rigidity deck type carrier is twoIndependentPlate body, eachIndependentThe middle part of plate body is combined with axle dynamic formula supporting part, is acted on by axle dynamic formula supporting part, when the gravity of carrying changes,IndependentPlate body optionally tilts toward some direction；(acted on by axle dynamic formula supporting part, twoIndependentPlate body have at least four attitudes vibration trigger four displacement point: a, twoIndependentPlate body all tilts towards front--forward travel；B, twoIndependentPlate body all tilts towards rear--vehicle travel backwards or slowing-down brake；C, twoIndependentIt in plate body, is positioned on the left of travel directionIndependentPlate body tilts towards front, is positioned on the right side of travel direction meanwhileIndependentPlate body tilt towards rear, now, driving wheel differential travel, vehicle Turning travel to the left, when two driving wheels be set to a reversion one rotate forward when, vehicle can realize pivot stud；D, twoIndependentIt in plate body, is positioned on the right side of travel directionIndependentPlate body tilts towards front, is positioned on the left of travel direction meanwhileIndependentPlate body tilt towards rear, now, driving wheel differential travel, vehicle Turning travel to the right, when two driving wheels be set to a reversion one rotate forward when, vehicle can realize pivot stud.Under collaborative control pattern, locomotive has high speed low speed at least two driving model, when the first driving model (for example, by load change when running at a low speed of locomotive of control), differential steering is that two driving wheels one invert a rotating forward, and locomotive can realize pivot stud；When the second driving model (for example, remote controller is utilized to send control instruction to locomotive, switch over, or when the control instruction of remote controller and locomotive is simultaneously emitted by instruction, locomotive is in when running at high speed), differential steering is two driving wheels one advance operatings, and another driving wheel is inoperative is only driven rotation, the radius of turn of locomotive is bigger (in order to turn to when running at high speed, if running at high speed pivot stud, overturn accident occurs)；C2. middle part has supporting part, and type carrier activity therewith in rigid deck coordinates, and centered on supporting part, rigidity deck type carrier tilts to around, the combination of rigidity deck type carrier and supporting part, including but not limited to ball-joint bearing；C3. middle part has supporting part, and rigidity deck type carrier is in combination, and rigidity deck type carrier is semi-rigid deformable material, and when the gravity of carrying changes, rigidity deck type vector form deforming tilts toward some direction.(with this, if simple employing body burden drives tricycle, easily turn on one's side.When both feet are trampled respectively and control two decks, health will not lose center of gravity)

Acted on by axle dynamic formula supporting part, twoIndependentPlate body has at least four attitudes vibration a: a, twoIndependentPlate body all tilts towards front--forward travel；B, twoIndependentPlate body all tilts towards rear--vehicle travel backwards or slowing-down brake；C, twoIndependentIt in plate body, is positioned on the left of travel directionIndependentPlate body tilts towards front, is positioned on the right side of travel direction meanwhileIndependentPlate body tilt towards rear, now, driving wheel differential travel, vehicle Turning travel to the left, when two driving wheels be set to a reversion one rotate forward when, vehicle can realize pivot stud；D, twoIndependentIt in plate body, is positioned on the right side of travel directionIndependentPlate body tilts towards front, is positioned on the left of travel direction meanwhileIndependentPlate body tilt towards rear, now, driving wheel differential travel, vehicle Turning travel to the right, when two driving wheels be set to a reversion one rotate forward when, vehicle can realize pivot stud.Under collaborative control pattern, locomotive has high speed low speed at least two driving model, and the switch switching preset by (on remote controller), when the first driving model, differential steering is that two driving wheels one invert a rotating forward, and locomotive can realize pivot stud；When the second driving model, differential steering is two driving wheels one advance operatings, and another driving wheel is inoperative is only driven rotation, and the radius of turn of locomotive is bigger.

It is suitable for but be not limited to the electrically driven (operated) wheeled locomotive of riding type, the integral control system being fixed on locomotive chassis has (axle dynamic formula) control system of at least two dimension, it is, inching Mechanical course key forms fine motion control system with inching electronic switch, and it sends instruction to electronic control unit and driving means；Its also include following any one:

A. the first operating key is, the operating key coordinating with axle activity, when load variations, operating key axle moves displacement, the both sides (centered on axle, tilt or tilt forward and back) of selective engagement shaft；Second operating key is, (such as five take turns car or six wheeler to several castors, wheel shaft is arranged along the vertical direction of vehicle heading), driving wheel contacts ground, remaining (four wheels or four fit to wheel) wheel selective contact ground, (keep driving wheel to take turns three having with other and take turns contact ground all the time, when selecting switching, shake-up electronic switch or triggering obliquity sensor or triggering electronic gyroscope)；First operating key and the second operating key, the directional correlation with vehicle form；B. the first operating key is, the operating key coordinating with axle activity, when load variations, operating key axle moves displacement, the both sides (centered on axle, tilt or tilt forward and back) of selective engagement shaft；Second operating key is, four castors (wheel shaft is arranged along the vertical direction of vehicle heading) that rhombus is laid, and two driving wheel contact ground, two other is fitted to wheel selective contact ground；First operating key and the second operating key, the directional correlation travelling with vehicle；When C.(stands or when sitting) biased by centre of body weight and/or the two-dimentional axle fine motion control system of foot's stampede operation, when load variations causes the locus trace change of inching Mechanical course key, it triggers fine motion electronic switch and sends the signal of telecommunication to electronic control unit, electronic control unit sends instruction to driving means, travels to manipulate driving car；

When the locus trace conversion of Mechanical course key, the electric signal that control car travels is changed switching therewith, manipulating the traveling of car, to turn to, and, the first dimension axle is laid along a first direction, inching Mechanical course key and the first dimension axle activity cooperation；Second dimension axle is laid along second direction, and inching Mechanical course key and the second dimension axle activity coordinate；By external force, inching Mechanical course key is optionally in two axial activities and call and the two dimension related fine motion electronic switch of axle；When D.(stands or when sitting) biased by centre of body weight and/or the fine motion control system of foot's stampede operation, when load variations causes the locus trace change of inching Mechanical course key, it triggers fine motion electronic switch and sends the signal of telecommunication to electronic control unit, electronic control unit sends instruction to driving means, travels to manipulate driving car；When the locus trace conversion of Mechanical course key, the electric signal that control car travels is changed switching therewith, manipulating the traveling of car, to turn to, and, a dimension uses fine motion control system, and it sends instruction to electronic control unit and driving means；Another dimension uses the control system (such as steering mechanism) of mechanical system；The suitably dual or multiple manipulation of fine motion control system, or, what fine motion control system associated with remote controller is used for locomotive driving.(for example, the foot-operated electric return board driven, fine motion control system is, axle is along the horizontally set of car, trampling in rigidity deck type carrier before and after Shuan Jiao, when centre of body weight change, load also optionally oppresses front side or car rear inching electronic switch, when suitable, use remote controller that control driving model is switched over or locked；Machinery Control System be the hand of common scooter biasing mechanism or L-type scooter manipulation is turned to mechanical system--steering is similar to common bicycle)

Two dimension axle fine motion system lamination is constituted: the first dimension, locomotive top has ground floor lamination (deck type pedal carrier), and has the first axle axle motivation structure between the two；Second dimension, the second laminated plate is arranged on the first laminated plate, and has the second axle axle motivation structure between the two；Another kind of enforcement, the first dimension, locomotive top has ground floor lamination, and has the first axle axle motivation structure between the two；Second dimension, the second axle axle motivation structure is superimposed upon on the first axle axle motivation structure, and the axle of two dimensions is all located between locomotive top and deck carrier.The axle of two dimensions is when top perspective, in right-angled intersection.

Two dimension axle fine motion system may be provided at and shows as omnidirectional's axle together, example, middle part is supporting part, inching Mechanical course key is horizontally disposed with, and during load bias, forms compressing to the inching electronic switch of correspondence direction, the instruction in 4 or 8 orientation can be formed, example, all around, left front, left back, right before, right after.Under normality, reset placed in the middle by material deformation.

Taken, can two dimension axle fine motion system on the basis of, then superposition dimension control, for example, the compression type switch of vertical setting, as the activate switch of locomotive, when people station is stepped at locomotive, trigger electronic switch, locomotive is made to be in the state opening energising, when people leaves locomotive, compression type switch resets, and makes locomotive be in the cold state of closedown.

The weight amount that LOAD CELLS is sensed by data processor is analyzed in real time and calculates, draw the size and Orientation of driver's centre-of gravity shift by the power of weight amount, after calculating the velocity amplitude of two driving wheels, control signal is transported to the driving module of left and right motor.During driver's health run-off the straight, centre of body weight offsets, the numerical value that four LOAD CELLSs sense changes therewith, and when leaning forward, car front weight numerical value increases, the numerical value at rear portion reduces, when tilting, the numerical value of correspondence direction can reduce, after data processor processes collects the numerical value of four LOAD CELLSs, it is sent to data processor, calculate locomotive and move accekeration and the difference of needs.Such as, when driver's body forward rear-inclined, locomotive does acceleration or deceleration motion respectively；When the health of driver tilts to the left side or the right, it is achieved left-hand turns round or dextrad is turned round.By the different speed of two driving wheel output, just can realize advancing, retreat and left and right turn.

Inching Mechanical course key, including at least three Displacement Contact point, and, three inching electronic switches of corresponding physical distribution, or, including at least four Displacement Contact point, and, four inching electronic switches of corresponding physical distribution, that orientation that inching electronic switch senses is related to traveling target orientation, it also includes: A. is when inching electronic switch is electronic load cell, when the electric signal that electronic signal receiver receives is not etc. equal or the electric signal average such as not beyond the parameter preset when, sense that heavier orientation related to traveling target orientation；B., when inching electronic switch is compressing touch switch, compressing touch switch receives electric signal, and that heavier orientation suffers oppression and related to traveling target orientation；(described?Fine motion can action within even a millimeter within 3 millimeters, the touch switch of such as computer mouse) C. is when inching electronic switch is obliquity sensor, that orientation that the electric signal of electronic signal receiver reception senses inclination is related to traveling target orientation；(for example, middle part has higher supporting part, the type carrier activity therewith of rigidity deck coordinates, and electronic gyroscope is arranged on has electric lead for conducting in the middle part of deck carrier and deck carrier, sends electric signal instruction to electronic control module, motor driving module, drive motor.Centered on supporting part, when rigidity deck type carrier to around tilt when, electronic gyroscope tilts therewith, thus control vehicle and travel or turn to) D. is when inching electronic switch is distance measuring sensor, different distributed the connecting firmly of physical location, several (such as three or four) distance measuring sensors are set, detect the relative distance change in the position in space and with car for the inching Mechanical course key by it respectively, and the electronic signal receiving is sent to electronic control unit, and that orientation that Mechanical course key tilts is related to traveling target orientation；E. when inching electronic switch is (electric capacity) touch switch or touch sensitive switch sensor, different physical locations have the touch switch sensor connecting firmly setting, it is detected trace attitudes vibration that inching Mechanical course key produces (can accomplish within 0.1 millimeter--within 1 millimeter) in the position in space and when accepting load, and the electronic signal receiving is sent to electronic control unit, and that orientation that Mechanical course key is tilted by the bigger trace of load is related to traveling target orientation；(when suitable, inching electronic switch is arranged around mechanical type position limitation protection, when load exceeds more greatly the ability category that inching electronic switch is born, spacing by the step of periphery, limiting and it oppressed) F. is when inching electronic switch is photoelectric switch sensor, different distributed the connecting firmly of physical location, several (such as three or four) optoelectronic switch sensors are set, detect the relative distance change in the position in space and with car for the inching Mechanical course key by it respectively, and the electronic signal receiving is sent to electronic control unit, that orientation that Mechanical course key tilts is related to traveling target orientation；G. when inching electronic switch is Hall element, different distributed the connecting firmly of physical location, several (such as three or four) Hall elements or magnet are set, detect the Hall element that inching Mechanical course key is provided with or the magnet position in space by it respectively, and the relative distance change with car, and the electronic signal receiving is sent to electronic control unit, and that orientation that Mechanical course key tilts is related to traveling target orientation；(strictly speaking, the stroke of Hall element is long, can increase complexity and locomotive volume, its not preferred fine motion control at last, but, do after coordinated signals then different from remote controller.) H. Mechanical course key be (horizontally arranged) deck type carrier, the foot station of people is stepped in deck type carrier, position of centre of gravity change as people, cause locus trace change (tilt displacement occurring relative to horizontal level) of inching Mechanical course key, it triggers fine motion electronic switch and sends the signal of telecommunication to electronic control unit, electronic control unit sends instruction to driving means, travels to manipulate driving vehicle；I. Mechanical course key is (vertical setting) seat, people is sitting in seat, position of centre of gravity change as people, cause locus trace change (tilt displacement occurring relative to vertical position) of inching Mechanical course key, it triggers fine motion electronic switch and sends the signal of telecommunication to electronic control unit, electronic control unit sends instruction to driving means, travels to manipulate driving vehicle；J. Mechanical course key is steering wheel, (driver's hand) steer direction dish, when load changes, cause locus trace change (changing relative to original position) of inching Mechanical course key, it triggers fine motion electronic switch and sends the signal of telecommunication to electronic control unit, electronic control unit sends instruction to driving means, travels to manipulate driving vehicle；K. Mechanical course key includes following at least one, foot's (trampling) operating key, body-sensing (centre of body weight skew) operating key, arm (finger, or, hand and arm) operating key, neck (face upward head bow rotary head drive) operating key.

Remote controller, can be wired connection locomotive, preferably Digiplex, and remote controller and button are not limited to conventional known mode, such as TV remote controller or Wireless computer mouse button, and simply being illustrated by it is easily understood by other people.Control system, it at least includes forwardly and rearwardly two buttons, and it also includes:

A. by load variations, the electric signal that inching Mechanical course key and inching electronic switch send includes, click the signal of generation be first (running at a low speed) control instruction, double-click the signal generating and be second (running at high speed or acceleration) control instruction, the long signal generating by (such as 1--3 second) is the 3rd (running at high speed or acceleration) control instruction；Button forward, for example: click, sends and runs at a low speed instruction；Doubly-linked hit or be spaced some seconds within superposition click on twice, send instruction of driving at moderate speed；Three double hits or be spaced within some seconds superposition and click on for three times, send instruction of running at high speed；Long is linear acceleration by the signal of telecommunication instruction generating, and at interval of the 1--5 second, automatic staged raises speed.During operation, click on and length is by more than the 3--10 second, i.e. enter cruising condition, even if mechanical key resets, also keep transport condition.It is similar to automobile speed gear.Button backward, for example: click deceleration (motor shuts down and enters sliding state), double-clicks brake (motor reversion causes vehicle to stop), and three double hits are fall back (antiports).If omnidirectional type manipulation key (cross key, disc button, comprehensive rocking bar), the such as operated key of electronic game machine, can have left and right turn, advance, slow down or brake, or the driving instruction in four or 8 orientation.

Traditional scooter remote controller, general uses Slidable potentiometer governing speed, takes up room, power consumption, uses AAA type cylindrical battery also to tie up space therewith, hand-held remote control unit, hand held just occupies whole hand, it is impossible to do other thing again.The present embodiment is then preferably serondary lithium battery and powers to remote controller, particularly flexible lithium battery, also can be the poly-lithium battery free degree of shaping (manufacture bigger), the remote controller contributing to being miniaturized heteromorphosis realizes, and arranges small-sized usb charging inlet and power to remote controller.Touch switch is used to carry out button switching, with the mode operational control clicking on switching, click mode is directly inputted data signal instruction, use and preset programming to click input instruction management and control (the concrete gap periods of click or the implication of click input can preset definition), without long-time power consumption, it is possible to achieve miniaturization.

Remote controller can be arranged on the steering wheel of electric bicycle, the handlebar of battery-operated motor cycle or electric automobile, becomes wireless or wired remote controller, if wireless mode sends instruction and then can remove trifling electrical wiring from.

It is applicable to the small-sized locomotive chassis that lightweight battery is constituted to motor power supplying, it has the station that can carry people foot arranging along ground direction and steps on formula pallet, electronic control, driving means, turn to when travelling when there is at least two driving wheel and constant speed drive with differential operating, when locomotive moves, at least one is fitted and turns to efficiency to wheel automatic linkage to improve；For example, two, single deck differential driving wheel is trampled for both feet；For example, two decks, are respectively provided with driving wheel, trample for both feet.(traditional correlation technique: not there is station and smash that platform is manned and remote driving function；Automatic transportation platform device it is generally required to stepper motor；Remote-controlled electric skateboard typically only advances and brake operating key, turn to dumb, when particularly starting to walk and frequently slide with stepping on, can only drive at opening, can not precisely prosecutor to, dual drive wheel and the slide plate fitted to wheel have possessed the basis of the problem of solution, but when being by when manpower slides initial or frequently step on ground, can not precisely prosecutor to, traditional remote controller can regulate direction, but, precisely regulating and hold travel direction dynamically is the problem needing to solve, particularly solve man-machine hybrid power when sliding, solve prosecutor to problem；The remote controller of the innovation and control system can also solve rely on load variations body-sensing center of gravity drive locomotive when, prosecutor to problem.) remote controller and the integral control system telecom communication being fixed on locomotive and be sent to operational order, locomotive accept remote driving instruction, its also include following any one: A. remote controller and vehicle-mounted control system telecom communication and locomotive accept remote control transmission operation steering instructions enterEvery tradeSail and turn to；Locomotive supports that manpower legs and feet slide driving model, manned driving model, non-manned driving model (full-automatic unmanned driving, remote driving), manual operation driving model with stepping on simultaneously, and it is selected (it shares identical driving means makes locomotive chassis advance) by driver；And, (pedal) carrier is provided with (weight) load sense sensor for detecting the dynamic change of (the such as weight data and weight parameter) of driver, bias (pedal) carrier and (weight) information of being generated by (weight) load sense sensor after changing load is sent to data processor, when signal reaches the condition pre-setting, data processor sends control signal to driving means, drive motor is guided to operate and drive castor, foundation in this, as locomotive driving instruction, make vehicle acceleration and deceleration, brake, and/or, using information on load (weight information) difference as the foundation of steering order.Under non-manned driving model, locomotive chassis is in unmanned state, is manipulated locomotive driving by driver by remote controller, turns to.Travel when having at least two driving wheel and constant speed drive, differential turns to when operating, and when locomotive turns to, at least one is fitted and turns to efficiency to wheel automatic linkage to improve；B. remote controller and vehicle electronics control system Collaborative Control are used for travelling；C. man-machine hybrid power system and/or the manpower comprising freewheel clutch drive gliding system for travelling；D. vehicle control syetem includes by load variations and the orientation gained information of sensor sensing driver's weight relevant with Turning travel, and meanwhile, (by data processor management and control) remote controller and vehicle electronics control system work in coordination with complex controll instruction makes locomotive advance；E. remote controller and vehicle-mounted control system telecom communication and locomotive accept remote control send operation steering instructions enterEvery tradeSail and turn to, and, two remote controllers being manipulated by both hands respectively；F. ring-shape remote controller is inching electronic switch, and clicking operation controls, and remote controlled locomotives travels；(with touch switch, be worn on forefinger, or be worn on forefinger and two fingers of middle finger, suitably operated by thumb)；Finger ring type remote controller+analog stick, for example: based on the touch-control of pressure sensitive components and parts, comprise the combined type action bars of orientation control and load pressure, dynamics according to promotion or pressing rocking bar, speed, identify strength weight, call correlation function, the translational speed of regulation locomotive and turning velocity, regulation steering angle that can be careful in shorter stroke.Such as cross key control azimuth, pressure sensitive regulation turning velocity, travel speed.With this, integrated level is high, and volume is less, ensures control operation smoothness.Due to miniaturization, the form of rocking bar action bars is not exclusively under the jurisdiction of traditional form；G. overlapping hand-type remote controller and having inching electronic switch, operating mechanism is worn on hand and finger, is suitably, and has and is respectively arranged at two operating mechanisms to four finger tips.It (is worn on hand, it is similar to gloves, but, large-area covering, it is thus not essential to, only need necessary executing agency to be worn on hand, can be to pull displacement switch or touch switch, circuit board and battery can be distributed in the back of the hand or the palm of the hand, and whole remote controller is integrally worn on H. remote controller on hand and has roller type or touch operating key for regulating control locomotive speed, and the left and right press key of its both sides is respectively used to left and right turn.Example, conventional wireless bluetooth computer mouse and the receiver communication of this vehicle radio, both can be with computer matching operation, it is also possible to mate with this vehicle radio receiver and data processor (simultaneously closing off cursor), thumb manipulation roller governing speed, and right and left key controls Vehicular turn；I. when foot-operated operating key length press electrical contact controller, the generation signal of telecommunication instructs to operate to data processor and driving means makes locomotive linearly raise speed, by slow-to-fast, when speed is taken by driver, driver's first method clicks on (for example clicking a forward key) remote controller, remote controller sends instruction to vehicle control syetem and keeps speed, locomotive is in cruise pattern, (now, driver tramples operating key and does not generate control instruction, or, driver trample operating key generate control instruction be interrupted invalid) when driver's second method click on (for example, superposition again click a forward key, i.e., the double-click forward key of intermittent) remote controller, remote controller sends releasing instruction to vehicle control syetem, locomotive is in linear acceleration pattern；When driver's Third Way clicks on remote controller (for example, Clicking on Back key), driving means shuts down, and locomotive deceleration travels；Suitable, when driver's fourth way clicks on remote controller (for example, double-clicking back spacer), brake is carried out in driving means reversion.

Dual control system.Mechanical course key has (elastic) resetting-mechanism, and when load disappears, Mechanical course key resets, and releases the compressing to electronic switch.Although the soft-touch type electronic switch being similar to button of computer mouse one class is easy, even tens of thousands of fault-free of thousands of times use, but the time point damaging cannot accurately be predicted, again for example, LOAD CELLS, or too expensive or inexpensively easily bad, and the time point of damage cannot accurately be predicted.There is congenital defect in the manufacturing of electronic product also unavoidable meeting, for traffic application, this defect never allows.Although being driven by foot control system and can discharging both hands, but make action less than finger such fast reaction flexibly.Conventional art uses vehicle control syetem or remote controller to send single control instruction to locomotive mostly, selects one and carries out locomotive driving, carries out complex control accurately and has difficulty, also can be limited to, the attitude of such as health under conditions of dynamically jolting.The innovation proposes, dual or multiple control system, including, collaborative instruction pipe diameter design (is worked in coordination with complex controll the onboard system control signal made and the control signal that remote controller is made by data processor and is carried out combined type management and control generation locomotive driving instruction, steering order), and/or, identical control instruction pipe diameter design is (parallel with two-way, binary channels, binode, between two systems, physical isolation, physical characteristic are similar and different, during one of them system exception, another system works on and guarantees safety, reaches the purpose of dual fail-safe).

nullB. the same instructions pipe diameter design of dual control system，Two kinds of different fine motion control systems are set simultaneously，Or，Two identical fine motion control systems are set simultaneously，The dual instruction manipulation signal (being generated single control instruction by data processor or electronic control unit) that dual control system sends is electronically controlled unit or driving means accepts locomotive operating therewith，When a certain fine motion control system (accidentally) therein occurs malfunctioning，The manipulation signal that another fine motion control system sends still can be electronically controlled unit or driving means accepts and drives locomotive to operate，Simultaneously suitable (to driver) sends alarm signal (such as sound and light signal、Vibration signal，Although duplex system increases parts adds fault rate，But，When triangular web damages malfunctioning, another system still can keep work，Thus stop electronic device and break down caused potential safety hazard)；C. the same instructions pipe diameter design of dual control system, two kinds of different fine motion control systems are set simultaneously, or, two identical fine motion control systems are set simultaneously, the dual instruction manipulation signal that dual control system sends is electronically controlled unit or driving means accepts locomotive operating therewith, when the manipulation signal that two fine motion control systems send has difference (and more than the parameter preset), electronic control unit or driving means accept the instruction of its middle value parameter and continue and drive vehicle to travel temporarily, and simultaneously suitable (to driver) sends alarm signal；D. the same instructions pipe diameter design of dual control system, two or more electronic switches execution one identical instruction of generation simultaneously is triggered in two or more contacts that the Mechanical course key in any one orientation has coordinated type simultaneously；

E. the same instructions pipe diameter design of dual control system, two kinds of different fine motion control systems are set simultaneously, or, two identical fine motion control systems are set simultaneously, the dual instruction manipulation signal that dual control system sends is electronically controlled unit or driving means accepts locomotive operating therewith, when the manipulation signal that two fine motion control systems therein send has difference, electronic control unit or driving means perform driver and are repeated once or operate more times, send control correction instruction, and drive vehicle traveling with this, simultaneously, suitably send alarm signal (to driver)；Following f:f.(can also be performed for example simultaneously, when driver is repeated once or sends more times control correction instruction with remote controller) control instruction that meets driver's wish is preferentially performed, and the control instruction by mechanically controlled switch or by relay switching switch cutoff non-driver wish.System down or control system can be tackled by illegal invasion.Mechanically controlled switch can be arranged on vehicle body or handlebar or steering wheel.

The same instructions pipe diameter design of dual control system, two kinds of different fine motion control systems are set simultaneously, the dual instruction manipulation signal that dual control system sends is electronically controlled unit or driving means accepts locomotive operating therewith, when a certain fine motion control system (accidentally) therein occurs malfunctioning, the manipulation signal that another fine motion control system sends still can be electronically controlled unit or driving means accepts and drives locomotive to operate；Can show as following coordinated signals: rigidity deck carrier, plate-sheet-type LOAD CELLS, soft-touch type touch switch, this three successively from top to bottom, lay by lamination, or, plate-sheet-type LOAD CELLS and touch switch are laid side by side.

A. when deck is trampled by people foot, analysis of weighing is carried out to load；B. when the mechanical key pushing down front, deck is trampled by people foot, rigidity deck carrier is via plate-sheet-type LOAD CELLS compressing touch switch or triggers both simultaneously, it sends instruction allowance locomotive and runs at a low speed, and, two LOAD CELLSs square before and after being distributed in deck, or being distributed in side and right and left four LOAD CELLSs before and after deck, the weight signal receiving is the different load signal of parameter；Now, the speed moving ahead is related to the weight parameter change that LOAD CELLS receives, and (that is, gravity center of human body's reach, front side load is heavier, forward travel；Default load variations parameter value is carried out corresponding corresponding acceleration parameter value)；When unexpected generation, when the damage of some electronic device is malfunctioning, another electronic device keeps work in a short time, for example, also run at a low speed according to default parameter because of the existence of touch-switch when LOAD CELLS damages, send early warning to driver's report, for example simultaneously: when any one device damage in touch switch or LOAD CELLS is malfunctioning, another device keeps work in a short time, sends early warning to driver simultaneously；When any one device damage in two touch switch is malfunctioning, another device keeps work in a short time, sends early warning to driver's report simultaneously；When any one device damage in two LOAD CELLSs is malfunctioning, another device keeps work in a short time, sends early warning to driver's report simultaneously；When the instruction that two electronic devices send is variant and difference is more than the parameter preset, response median is as obeing instruction, (when driver is when awaring driving instruction and the driving wish of oneself is not inconsistent), driver repeats instruction, now, the contrary or different operational order that the electronic device of damage sends is cancelled.At this moment driver changes pair of electrons device rather than the single electronic device breaking down, and with this, substantially can stop unexpected malfunctioning the occurred accident of electronic device.When driver leaves locomotive and load disappears, touch-switch is by spring element returns and the operating disconnecting motor, and locomotive stops travelling.

The attitudes vibration that driver's (health and center of gravity) produces for locomotive, detected by vehicle-mounted sensor, the dynamic load parameter drawing is for wagon control and driving, and then manipulate locomotive driving and turn to, for example, by LOAD CELLS (weight detecting), by IMU, accelerometer, gyroscope, send to electronic control unit and driving means and travel operation instruction.

The collaborative instruction pipe diameter design of dual control system: collaborative complex controll instruction, for example, the timer interval of setting controller 50 milliseconds triggering is once interrupted, the data that 50 milliseconds of remote controllers receiving gathering in a data buffer storage are made, the data that 50 milliseconds of LOAD CELLSs receiving gathering in a data buffer storage are made, with this secondary of taking turns, generate the velocity information needed for motor rotation, corresponding PWM signal is input to motor drive module and then controls two motor runnings.

Cutting load testing and locomotive control+remote controller, manipulate driving locomotive safety and reliability than simple by load variations, either, the obliquity sensor of detection locomotive attitudes vibration (such as Self-Balancing vehicle), electronic gyroscope, also the LOAD CELLS that either locomotive possesses, under urgent or accidental situation, driver because centre of body weight is out of control or the chance failure of electronic device, and can cause locomotive to acceptMistakeSteering instructions, now drive vehicle with finger inching operation remote controller, can adapter locomotive driving timely, the locomotive control instruction that remote controller sends has precedence over the traveling control instruction that vehicle control syetem self sends, the traveling control instruction that vehicle control syetem self sends refers to, the steering instructions that the obliquity sensor of detection locomotive attitudes vibration or the LOAD CELLS of detection locomotive load produce.Remote controller send more higher leveled have precedence over car control system native instructions traveling order (locomotive by driver centre of body weight manipulation travel, when remote controller sends steering instructions, locomotive performs remote command, the manipulation instruction of locomotive is electronically controlled unit ignorance and filters out, or is closed).Driven by the wireless remote control of hand and take over weight loading control driving vehicle, when people runs into road barrier or complex road condition, or, when crowded crowd runs into accident collision change attitude, even if leaving locomotive, it is also possible to remote controlled locomotives is at road surface deadhead operation, it is not necessary to bend frequently to contact locomotive or carry locomotive, sewage-sludge dirt on locomotive is not easy hand of making dirty, and locomotive of being more convenient for carries.

Locomotive control can also be set to, and station is stepped on and travelled when being carried on locomotive, and driver is changed by centre of body weight, changes load operation locomotive and turns to, and in the unloaded state, locomotive protects self-actuating brake to shut down automatically.

A. locomotive has induction type protection switch, including but not limited to following a kind of: optoelectronic induction protection switch, gravity sensing protection switch, Hall-type protection switch, RFID sensing protection switch；(locomotive is manned or non-manned; can be checked by onboard system, to perform associative operation, such as; after people leaves car; induction type protection switch is had an effect, then switching circuit, self-actuating brake; it is in holding state) advantage of dual control system is; not only realizing the function of aforementioned Collaborative Control, meanwhile, locomotive can realize unmanned and manned driving both of which.When locomotive delivery article, even if the attitude of article and load will not torsional variation or as road conditions are madeMistakeThe improper traveling of attitude, driver also can drive delivery article or correction by the Digiplex operation outside locomotiveMistakeTravel route, for example, child drives onboard, adult nearby nurse correct locomotive travel route.

G. dual control system, under collaborative control pattern, locomotive has high speed low speed at least two driving model, and when the first driving model, differential steering is that two driving wheels one invert a rotating forward, and locomotive can realize pivot stud；When the second driving model, differential steering is that two driving wheels one advance operating, and another driving wheel is inoperative or driven rotation, and the radius of turn of locomotive is bigger.Remote controller may also operate as locomotive instruction really take as with or more higher leveled instruction carry out insurance control.For example, under scorch pattern, unless clicked on the acknowledgement key of remote controller, otherwise, differential steering is that two driving wheels one advance operating, and another driving wheel is inoperative or driven rotation, and the radius of turn of locomotive is bigger.Again for example, unless clicked on the acknowledgement key of remote controller, otherwise, locomotive can not enter scorch pattern.

Arrange people foot on the deck of locomotive chassis tramples type operating key, the electric signal being sent with inching electronic switch by load variations, inching Mechanical course key, operating key such as the remote controller of aforesaid hand operation, but, foot operation is dumb, is not provided with the click commands of complexity.It is realized by Collaborative Control.

The collaborative instruction pipe diameter design of dual control system: embodiment, except being suitable to controlled in wireless, the present embodiment applies also for station and steps on driving, with standpipe and hand steered locomotive, including, the Segway Human Transporter of L-type vehicle frame, also include by body-sensing center of gravity load variations control Self-Balancing vehicle (by obliquity sensor, electronic gyroscope and electronics accelerometer) Self-Balancing vehicle (two-wheel car that controls, wheelbarrow) the collaborative instruction pipe diameter design of dual control system, embodiment 1, arranged by locomotive or hand remote controller sends initial signal, full car enters energising state standby；Driver ride deck trigger advance operating key, locomotive enter first grade, low-speed forward travel, now driving wheel can invert, locomotive have falling back, slow down, brake function；Forward key clicked on by (on the premise of foot is without departing from locomotive station pedal) hand remote controller, locomotive enters second gear, and middling speed is advanced and travelled, and now remote controller sends instruction and also releases the reversion of motor therewith and fall back driving functions, slow down or reverse brake function however, it is possible to retain reversion；The carrying out second time of (on the premise of foot is without departing from locomotive station pedal) hand remote controller superposition clicks on (or long by more than five seconds) forward key, and locomotive enters third gear, and advance at utmost speed traveling；Any one Mechanical course key in pedal or hand remote controller clicks on button backward, locomotive enters deceleration regime, under middling speed or pattern of running at high speed, driving wheel has reversion deceleration and reverse brake function, not there is reversion fall back driving functions, when the Mechanical course key of hand remote controller again taps on button backward, locomotive brake stops.When operation do not implemented by remote controller, button resets, and driving means shuts down, and locomotive slides.It can also be simply interpreted as a kind of embodiment: the instruction that locomotive is sent by the body burden of driver is only used for running at a low speed control instruction, when remote controller and both locomotives are simultaneously emitted by Driving control instruction Collaborative Control, locomotive could enter middling speed or scorch pattern.

The collaborative instruction pipe diameter design of dual control system, embodiment 2, is arranged by locomotive or hand remote controller sends initial signal, and full car enters energising state standby；Driver rides deck and triggers operating key, by the load made or the centre of body weight of load sense sensor detection driver, makes the driving instruction of different speed according to centre of body weight or load variations, and load is related to speed；And the control instruction that hand remote controller sends can intervene the instruction that motor supply shop enters.For example, the advance of locomotive and deceleration, left and right turn is controlled by the centre of body weight of driver, now, when forward key clicked on by hand remote controller, locomotive enters and locks into automatic cruise mode, at the uniform velocity moving ahead of low speed, even if changing before and after the centre of body weight of driver, Mechanical course key is subjected to displacement, its electronic signal triggering also is ignored by filtration, locomotive is also not responding to acceleration and deceleration order, (when locomotive changes in the attitude in space, Self-Balancing vehicle only keeps poised state and the low-speed running mode of car, the pattern of running at high speed can not be entered), optionally, when changing about driver's centre of body weight, locomotive responds left and right turn order；When hand remote controller again taps on forward key, locomotive enters and locks into automatic cruise mode, enter the second gear, at the uniform velocity moving ahead of middling speed, even if changing before and after the centre of body weight of driver, locomotive is also not responding to acceleration and deceleration order, optionally, when changing about driver's centre of body weight, locomotive responds left and right turn order；When driver needs to slow down, hand remote controller click keys mode release is (for example, arrange between front button and rear button and individually release button), or rear button clicked on by hand remote controller, release cruise mode and slow down, subsequently, the driving instruction power of locomotive gives the body-sensing gravity's center control of driver, the body-sensing gravity's center control instruction of now locomotive response driver, driver rides deck and triggers operating key, by the load made or the centre of body weight of load sense sensor detection driver, make the driving instruction of different speed according to centre of body weight or load variations, load is related to speed.

The present embodiment fundamentally changes this type of car under manipulation driving condition, and the attitude of driver can not change, it is necessary to accomplishes the problem that people's car is unified, even if by accident collision on the crowded road of the stream of people,MistakeDriving instruction also will not be contrary with driver's wish, moreover it is possible to prevent locomotive from jolting and cause load trace to change, sendMistakeDriving instruction, to avoid having an accident.Easily by remote controller, own switching is carried out to low-speed running mode and the pattern of running at high speed, significant for beginner.

The collaborative instruction pipe diameter design of dual control system, embodiment 3, according to foregoing embodiments, advance, slow down and brake, controlled by change before and after the body burden of driver；Owing to ring-shape Digiplex is smaller, left and right both hands wear two remote controllers respectively on finger, or, two remote controllers are separately positioned on two walking vehicles in left and right upper, are sent the instruction of locomotive left and right turn by left and right both hands Crush trigger operating key.Under same idea, left and right both hands wear two remote controllers respectively on finger, or, two remote controllers are separately positioned on two, left and right walking vehicle upper, the rotating speed (under Mechanical course key reset state, dual drive wheel constant speed drive) of two driving wheels in left and right can be manipulated respectively, left and right both hands Crush trigger operating key is sent locomotive advance, slowing-down brake instruction, controlled by change about the body burden of driver and turn to, also may be used.The Turning travel instruction sending when right-hand man's remote controller is contrary, and locomotive response median or command signal ignorance filter out, and when some instruction repeats input, responds thereto；The driving instruction sending when right-hand man's remote controller is contrary with the driving instruction that locomotive is had by oneself, locomotive response median or command signal ignorance filter out, when some instruction send more afterwards and also when repeating input, respond thereto, and the instruction first sending be cut off.Also a priority be can formulate, the instruction of remote controller or the control instruction (that is, being manipulated by the body burden change of driver) that execution locomotive is own performed；Turning to the left when two, left and right remote controller is simultaneously emitted by instructing, two driving wheels one rotate forward a reversion, can realize pivot stud, it is adaptable to locomotive runs at a low speed；Turning to the left when some remote controller in the remote controller of two, left and right sends instruction or turning to the right, one rotating forward of two driving wheels is another inoperative as driven pulley, can realize turning to of relatively large radius, it is adaptable to locomotive is run at high speed.

By above example, have expressed remote controller and intervention is carried out to the vehicle control syetem that locomotive is own realize Collaborative Control, under same idea, other more related embodiment can also be made and carry out inference and derivative, be not repeated herein.

Previous embodiment is suitable for small-sized miniature locomotive, is particularly suitable for smallest Portable locomotive the most miniature.The collaborative instruction pipe diameter design of dual control system, can also be applied to the relatively large locomotive of ratio, such as electric automobile or similar associated vehicle.Traditional large automobile, use the steering of mechanical mechanism, sometimes booster etc. is also needed to, mechanism is complicated, heavy, bulky to take up room, cost and cost are very high, if simple employing electronic control mode, reliability and security are accomplished by being substantially improved, and stop the defect of electronic product itself.When the technical scheme of previous embodiment carry out compound do suitable adjustment carry out different application when, clearly can by collocation make solution, for example, dual control system is set to double above multiple control system, the more safety measures of superposition, rigidity deck carrier and plural touch switch can be integrated one, rigidity deck carrier is trampled the deformation plural touch switch of coordinated signals by foot.Arranging on the steering wheel remote controller, pedal administers left and right turn, deceleration and brake, is carried out Collaborative Control by hand remote controller, need not significantly torsional direction dish also can realize turning to.Touch switch can be greatly reduced space, mitigates the load of vehicle.

Dual control system can switch by relay or vehicle-mounted mechanical device, select some instruction as preferentially performing instruction, for example, when vehicle-mounted automatically control there is accident or run counter to driver's wish traveling when, driver's manipulationIndependentSystem (remote controller, finger ring type remote controller, the remote controller being positioned on steering wheel), this signal is set to preferentially perform and carries out physics switching by relay or vehicle-mounted mechanical device, prevents unexpectedly by other people illegal invasion electronic control system.Again for example, the electric vehicle of four-wheel drive, two driving wheels above as a performance element, two driving wheels below as a performance element, or when being defined as different performance elements by other model split, probability out of control is all by reduction, as long as travel direction is by driver's definition, (driver repeats a same instructions, thus terminate another driving instruction not meeting driver's wish), some executable unit will correct and take over malfunctioning executable unit, to be obviously improved security performance.

Collaborative instruction pipe diameter design, embodiment 4, man-machine hybrid power and the pattern switching of dual control system.Man-machine hybrid power system and/or the manpower comprising freewheel clutch drive gliding system: electronic control includes motor control system, and it comprises data processor, velocity sensor and/or torque sensor.When ground coasting vehicle is stepped on by people foot, when speed and/or moment reach parameter preset, motor starting operates and shuts down in default parameter, becomes man-machine hybrid drive vehicle with this repeated work and travels；Curve category that preset motor starts or stops or inverts and relevant parameter, when car travels, by moment sensing or the velocity pick-up duration detecting motor starting, the power of castor moment, rotating speed, operating etc..Motor or wheel shaft arrange freewheel clutch, and manpower slides power-assisted and starts motor, and manpower slides and mixes with driven by power, manpower is slided and electrically helps, reduce motor start-up current, weaken motor moment output fully loaded power, heating is less, reduces and steps on frequency (number of times on manpower pedal road surface).B1, man-machine hybrid power drive pattern is to make flexible variable instruction according to the integrated kinematic data model preset, driving wheel acceleration and deceleration frequency conversion drive therewith, flexible variable instruction is pre-adjusted setting, it is related to following condition: the prerequisite of motor starting operating, the time of motor continuous running, motor is interrupted the time cycle of operating, the instantaneous operating of motor or the time cycle of time delay operating, motor promotes and torsional strength in start of run running speed at short notice, ground is trampled by manpower foot and the different time points left when ground is driven is operated by motor starting intervention, the position feedback of wheel or axle or motor rotor；B2, man-machine hybrid power drive pattern is to make flexible variable instruction according to the integrated kinematic data model preset, driving wheel acceleration and deceleration frequency conversion drive therewith, flexible variable instruction is regulated and controled by human-computer interaction device, user is according to the different operating strategies using environment regulation to arrange motor, and human-computer interaction device is connected by electric wire or by wireless telecommunications with control centre；B3, motor shaft is wheel shaft, drives castor to rotate, optionally, be provided with freewheel clutch between motor output shaft and elastic wheel when motor rotor rotates；B4, man-machine hybrid power, according to different ratio, is divided and arranges out 2 or multiple different grades of pattern；Man-machine hybrid mode has two or more pattern, optionally switching or linear regulating circuit, a certain pattern being set in man-machine hybrid mode；The man-machine mixed mode that motor-assisted startup is slided with manpower；Motor original place is relied on to start the electric-only mode of operating；The manpower drive pattern of pedal sliding is relied on after power-off.Become with thisNovelSlide running locomotive, sports and traffic are ridden instead of walk combination.Man-machine hybrid power slides, for example, the vertical area of microminiature locomotive only tramples (half pin is only used for trampling temporarily) for single pin or one and half pin, power-assisted slides, drive locomotive under half running state, or, in the state of microminiature locomotive folding shrinking reduces volume, vertical area is only trampled for single pin and is driven, when trailing, two carriers trample pure motor-driven driving for both feet.Under the conditions of identical weight, man-machine hybrid power is longer than pure electronic course continuation mileage, can significantly mitigate motor weight, battery weight and car weight, it is achieved extremely gently little.

J. various modes selects the motor driver of switching: by the freewheel clutch of motor and wheel shaft position, after power-off, the manpower sliding mode of unregulated power；Manpower starts the man-machine hybrid mode of motor after sliding；Fully rely on the electric model that motor original place starts；Man-machine hybrid power, according to different ratio, is divided and arranges out 2 or more different grades of patterns；The switching device of pattern includes but is not limited to the Hall element circuit selective on/off control of different mode；K. optionally switching circuit, it is set to man-machine hybrid mode, manual operation pattern, a certain pattern in electric-only mode, or man-machine hybrid mode has two or more patterns, optionally switching circuit, a certain pattern being set in man-machine hybrid mode.

Realizing that man-machine hybrid power drives, needing to slide with frequently stepping on, for fitting for the vehicle of wheel, it slides effect with " land drift ", and the handle control in direction is very crucial.Locomotive is driven in simple employing body burden change manipulation, also cannot realize that man-machine hybrid power drives, because when locomotive initiates phase run or in taxiing procedures, single pin tramples vehicle body, when another foot-operated ground, the change of centre of body weight left and right trace can cause locomotive auto-steering, and travel direction is out of control.If the man-machine hybrid power of simple use drives function, initiateing in phase run or taxiing procedures at locomotive, single pin tramples vehicle body, when another foot-operated ground, it is impossible to turning to of operation locomotive, travel direction is uncontrolled.In addition, use hand remote control to be controlled to be well adapted to by everyone to locomotive direction completely, precisely control travel direction in particularly smaller space, for some people, there is difficulty.It is very little that the remote controller of the innovation is just set, its can specifically be used for the locomotive starting stage as direction adjust and use.For example, that clicks on remote controller turns to button, Double-motor differential after configured rotates and is frequency conversion type rather than continuous schedule, the different instruction that the operation mode that Double-motor differential rotates clicks on input with remote controller key is relevant, Double-motor differential after configured rotates and is frequency conversion type rather than continuous schedule, the different instruction that the operation mode that Double-motor differential rotates clicks on input with remote controller key is relevant, the steering rate of locomotive at least has two patterns of high speed low speed or the flexibility turning to relevant with the azimuth of button (cross button or circular key), or, the flexibility turning to is relevant with the duration of compressing button.Specifically, clicking once, driving wheel was spaced fast turn-around several times within 1 second, or continued the low-speed running less than 1 second, and differential steering is low-speed mode, i.e. differential is inconspicuous, and radius of turn is big；Double-clicking, the cycle shorter fast turn-around that driving wheel was spaced within 1 second, or continuing the middling speed operating less than 1 second, differential steering is middle fast mode, i.e. differential is obvious, and radius of turn is obviously reduced；Length is pressed or three double hits, and the effect turning to then clearly, turns to the tertiary gradient that is added to that efficiency is gone forward one by one；After direction is adjusted, click on reset key (being normally at center), then at the uniform velocity the sliding of constant speed, click on advance key, straight-line travelling, automatically terminate and turn to.The flexibility turning to is relevant with the azimuth of button, or, the flexibility turning to is relevant with the time length of compressing button.Like this, in order to adjust locomotive direction accurately by remote controller.The present embodiment is under man-machine hybrid mode, and/or, body burden change manipulation is driven under the pattern of locomotive, by remote controller control travel direction, when vehicle initiates, single pin tramples vehicle body, when another foot-operated ground, do not carry out control direction by centre of body weight, even if center of gravity left-right deviation, also will not out of control turn to.

The collaborative instruction pipe diameter design of dual control system, embodiment 5, by the button switching locomotive driving model of remote controller, when being set to man-machine hybrid power sliding mode, left foot tramples locomotive, trigger touch switch, locomotive is made to be in holding state, now load LOAD CELLS is closed, make locomotive slide right threading, when locomotive reaches default speed, motor starting operating drives driving wheel, vehicle forward, now, remote controller in hand and button are controlled turning to of locomotive, when driver leaves locomotive, the touch switch on locomotive top resets, locomotive stops slowing down and sliding or reverse brake；When driver is by the button switching locomotive driving model of remote controller, when being set to manned Transportation Model, load LOAD CELLS is opened, driver's both feet trample locomotive top, the attitude of driver and four detection contacts on dynamic weight change control locomotive top, the dynamic parameter detecting is for turning to and travelling, and remote controller is in holding state.

Split type lightweight battery: battery is moveably coupled to locomotive and provides electric power to driving means.For example, it is additional to the battery compartment of locomotive.It can also show as wearable electronic.The wearable article of people are combined into wearable high-power high capacity cell with lightweight battery adaptation, battery has interface for supplying electrical power to the driving means of car body, or, drive the vehicle-mounted light battery of vehicle traveling and there is interface to human body wearable electronic for electric power.Split type lightweight battery, can discharge vehicle body space and mitigate car weight, electrically connect between battery with car body；Connecting electric wire can be helix or return wave molding, or, the not ductile reinforcing cord of tough and tensile flexibility and flexible electronic control line combine, and the lax coiling of at least one section of region bends of electric wire is respectively fixedly connected with in reinforcing cord, reinforcing cord two ends；Electric plug with shutter, it may be that have the electric connecting joint of magnet attraction device, runs into accident,People dashes forwardWhen so leaving car body, magnet arrangement separates stopping and powering to car body.It also includes: f1, the decorative layer decoration that the electrical wiring distribution of wearable lightweight battery is located under surface layer or outside setting is covered up；Wearable lightweight battery is that several battery units are spaced apart by flexible connector connection in series-parallel, battery unit and connector are incorporated into material of main part and the joint portion between battery unit is to bend but not ductile material, (the flexible connector between battery unit is not easy the material of main part being incorporated into not ductile at least part of energy bending extending and bending return is interval), flexible connecting member includes flexible circuit, flexible circuit plate, energy flexion and distribution laying between battery unit is worn on human body, battery unit distributed is worn on human body with flat；If battery is laid in waist and shows as waist ornament；Battery is worn on neck or shoulder, is placed in predecessor or rear body；F2, thermostat includes: the one in human body thermostat, battery thermostat or its combination, can be called relevant apparatus regulating and controlling temperature by sensor according to the constant temperature value preset；Human body thermostat includes, the flexible heating device (such as heating carbon fiber or flexible semiconductor) of linear or the netted or surface layer of close application on human skin on clothes；F3, according to required constant temperature value, temperature sensor next to the skin heats automatically according to the body temperature sensing, regulating and controlling temperature.Wearable battery relies on the temperature of outer 5--35 DEG C of human body to maintain suitable working environment, lithium battery group monolayer alignment or multiple cell distribution.F4, battery has circuit and is fixedly arranged on trousers or coat-sleeve；F5, arranges magnet attraction between arrangements of electric connection and flexible member contributes to being accurately positioned during electrical connection, consolidates combination.F6, the bottom of s trouser leg or knee downwardly extend out wire terminal and electrically connect with car body, the wire terminal not used time, are accommodated in clothes or trousers, are such as accommodated in the interlayer under trousers top layer after wire terminal turnover, and wire terminal does not expose not to be affected on foot.F7, can be respectively provided with wireless charging end at the bottom of s trouser leg (or footwear portion), car body, and two ends are combined into wireless power transmission device.F8, solar concentrating generating plate or film type solar light harvesting generating plate charge to lightweight battery, for example, be arranged at pedal surface.

Car load, vehicle commander 10--200 centimetre, overall width 8--40 centimetre, preferably low chassis, between its 5 millimeters to 200 millimeters of ground of distance, and/or, carrier lengths 10--40 centimetre.Design weight 1--4 kilogram, is less than 8 kilograms.The size of car, weight, performance configuration and load-carrying vary with each individual.Payload ratings 100 kilograms, designs speed per hour 5--30 kilometer.The voltage 6V to 70V of lightweight battery, battery capacity 2AH--30AH.Battery weighs between 500 grams to 3000 grams.Motor includes brushless direct-current or AC system, switched reluctance, centreless magneto, synchronous mode, induction type, step-by-step movement, servo-type or other suitable motors.Power-assisted starts brushless (speed change) motor, and rated power 60W to 400W, electric current 6 to 12A, motor weighs 600 grams to 2500 grams.Another configuration, brushless motor, power is not less than 1000W--2000W.Preferably, the floor space of locomotive is set to 20*20 square centimeter to 30*30 centimetre, below thickness 10 centimetres.The vertical area of locomotive is only trampled drive for single pin or one and half pin, or, in the state of locomotive folding shrinking reduces volume, vertical area is only trampled drive for single pin or one and half pin, and during stretching, extension, two carriers trample driving for both feet.

Front side arranges led illuminating lamp, and locomotive arranges (usb) interface and is used for charging.Driving wheel can be increased as required and/or fit to wheel.

It also includes: a. locomotive includes Portable light battery, the including but not limited to lithium battery of recharging；B. motor include following any one: electro-motor, hub motor, be positioned at wheel motor, be positioned at wheel side motor, be positioned at wheel top motor, along carrier direction arrange motor, put down to arrange motor, bar type motor, disc type motor, hollow cup type electro-motor, Brushless DC motor, high rotating speed little torsion type brushless motor；C. to apply to stand-type delivery single and accommodate the deck type carrier that both feet are trampled for deck type carrier；D. the weighing load inductive switch of fine motion control system is positioned at locomotive and vertical setting and/or is horizontally disposed with；E. locomotive has seat, including but not limited to: seat root dismounts, seat integrated with locomotive in locomotive, seat root or bottom, seat is provided with and drives battery to locomotive power supply；F. the manipulation signal that the weighing load inductive switch of fine motion control system sends at least includes, advance, left steering, right turn, and brakes or fall back；G. locomotive has fast mode and low-speed mode, including two grades or more grades switchings；When hand remote controller sends the first instruction, the control signal that locomotive is made by fine motion control system is scorch pattern；When hand remote controller sends the second instruction, the control signal that locomotive is made by fine motion control system is the pattern of driving at low speed；H. locomotive has induction type protection switch, including but not limited to following a kind of: optoelectronic induction protection switch, gravity sensing protection switch, Hall-type protection switch, RFID sensing protection switch；When wheel is four wheels, rectangle is laid or rhombus is laid；I., when wheel is four wheels, rhombus is laid, and front and back wheel is two respectively and fits to wheel；J. when two main drive wheels and the driven car fitting at least three-wheel constituting to wheel, layout triangular in shape；K. when two main drive wheels and the driven car fitting at least four-wheel constituting to wheel, rectangular/trapezoidal layout, lay two side by side and fit to wheel；L. locomotive has automatic traveling system, it includes, locomotive, distance measuring sensor, mobile target, by the distance between the mobile target of distance measuring sensor detection and car, when the distance of mobile target and car changes, car automatically moves and remains corresponding distance with mobile target；M. fine motion control system, described fine motion, refer to, the attitude displacement of mechanical device any one interval value within 50 millimeters, within suitable 10 millimeters；N., during side-looking, wheel is positioned under pedal；O. locomotive portable unit, rope yarn one end connects handle, other end connection body, and it is wound in the bobbin winoler that convolution resets, bobbin winoler is suitably arranged on intra-locomotive or is arranged at handle, pull with hand the handle having on car body, therewith, rope yarn pulls out elongation, in order to guides and supports or pulls car body, hand unclamps, bobbin winoler being collected in winding manner rope yarn；P. locomotive main onboard data processor, motor driving module, power-supply battery, the locomotive main front end left and right sides is respectively provided with electro-motor, suitably arranges speed change gear between motor output end and wheel；Motor output end laterally connects firmly with the driving wheel of car both sides, and direct drive of wheel rotates, or, the pedestal of wheel is fixedly arranged on locomotive main and carWheel wheelHub arranges gear, and motor output end gear is ratcheting with gear wheel, forms speed change gear while transmission, being taken, motor can be arranged in driving wheel, becomes hub motor wheel, taken, it is also possible to it is horizontally disposed that disc type motor is set, by angular wheel and driving wheel transmission；Driving wheel is driven respectively by motor, constant-speed driving differential steering；Q. described locomotive includes the car that the inverted pendulum self-balancing mode of single wheel or two-wheel travels；R. dual drive wheel also can show as single motor and differential gear.

The vehicle-mounted power supply interface having terminal control device (smart mobile phone) and rigid fixedly mounted seat, terminal control device is installed on by easy-to-dismount mechanical mechanism that this combination that matches is fixing and control circuit is connected (display, voice, communication, data process, stereoscopic vision) with mobile unit telecommunication, the stereo vision sensor that terminal control device has is towards travel direction, generate dependent instruction after its data gathering are processed and be sent to vehicle drive unit, vehicle is travelled and is controlled.

Remotely controlling and automated driving system, it is: it is mutual that locomotive and strange land command centre carry out information by wireless telecommunication system, makes car body turn to for automatic Pilot and remotely control；Remotely control automatic Pilot, also can be stepped on driving by people foot station simultaneously, and two kinds of functions have both.Comprising: specify driving path and according to the basis of reference on map, or path planning specifies the driving trace between starting point and destination, presets the data related to distance and travels for automatic tracking；(set destination and vehicle line be used for module and the system of automatic running)

Vehicle-mounted have optical navigation, sensing directional, vehicle current geographic position sensing, electromagnetism guiding, 3 dimension stereo vision sensors, the one found range in sensing module or its combination, guides for automobile navigation；Remote control terminal, vehicle arranges the vehicle-mounted interactive system of wireless telecommunications, and remote control terminal interacts to its monitoring and scheduling by wireless telecommunication system, for the long-range control of vehicle.Alarm module, when service condition is more than default value, caution device sends prompting, (for example detect, environment, distance, whether normally-open, temperature, humidity, collision, load capacity), recording-related information (record time of origin, the image of periphery and sound), transmits data to other positions outside body by wireless communication networks；The locking of locomotive and unblock, including, electronic cipher, electronic fingerprint, recognition of face, language identification, touch pressure identification, be also suitably, can by wireless communication networks by other positions outside body remotely operate locking and unlock；LED or laser diode litillumination devices.

By sensor, such as load sensor, torque sensor, velocity sensor, sensor receipt signal is simultaneously signaled to data processor, and when reaching preset value, data processor issues instructions to drive control device startup motor and is allowed to rotate and drives castor.If moment or velocity sensor, drive motor can use booster type to start.The signal of driver weight load variations is sent to data processor by load sense sensor, and when signal reaches preset value, data processor sends control signal to driving means, guides drive motor rotate and drive castor, makes vehicle acceleration and deceleration or brake.(top arranges double plate laminated type switch to locomotive carrier, it is arranged between LOAD CELLS for detecting load value) it is provided with the load value that LOAD CELLS detects vehicle, when service condition meets default value, data processor sends signal of telecommunication instruction and connection circuit makes driving means operate, when weight data is beyond the category preset, data processor does not send signal of telecommunication instruction and cut-out circuit makes driving means inoperative or brake, suitably sends warning；When weight exceed rating number and transient change produce numerical fluctuations when, do not cut off the power supply of driving means, when weight exceed rating number and lasting when, cut off power supply or the brake of driving means.In practice, so-called lamination, it is less that its vertical area can be arranged.

By (pressure load) LOAD CELLS detection load (scale of construction of driver), the difference control driving wheel being detected by two or four LOAD CELLSs.Specifically: when the load of the duty ratio rear sensor of front sensors is big, vehicle advances；When the load of the duty ratio front sensors of rear sensor is big, vehicle rollback；The load of front sensors and the load difference size of rear sensor, the execution with acceleration and deceleration is relevant.First analysis of weighing is carried out to driver；Former and later two LOAD CELLSs, or four LOAD CELLSs all around, draw the load difference that the body weight of driver and gravity center shift produce, and feed speed control and left and right turn control.

Intelligent Recognition control device: data processor sends instruction to the motor controller driving castor to rotate after coherent signal process, and signal includes following a kind of or any number of combination: the signal that the organ generation action of signal, people or people that the signal of speech production, color or image generate generates.

Kinematics model is variate-value the dynamic data base based on different condition preset parameter value presetting compliance curves according to different motions and kinetics model: miniature roadblock?Current spacing (real-time quantization measurement), the size of miniature roadblock, the real-time speed of vehicle body traveling, relevant traffic environment；Also including, under people's force mode of non-maneuver power or under the sliding mode of non-maneuver power, duration when sliding in conjunction with manpower, single coasting distance, the repulsion process of resistance, the parameter value that dynamic data base is preset is as Variable Conditions；Flexible variable instruction is that the driving braking being processed by microcomputer according to kinematics model and making different stage performs instruction, and the different time of operation continuation, differential responses, different degree of strength, different frequency, different operating range, cruise etc. driving is tactful；The miniature barrier in road refers to the male female of 0.4--8 centimetre of size；(more than 8 centimetres be considered routine techniques automatic stopping or manually easily perceivable need not carry out auxiliary drive)；When sensing miniature roadblock, instruction made by data processor, is pointed out by caution device, and driver's (with hand held controller) selects to release or closes DAS (Driver Assistant System).Carrying out Collaborative Control based on the DAS (Driver Assistant System) of the miniature roadblock of detection, vehicle obedience driver selects to release or perform to assist the switching control driven to instruct, and manpower drives, mechanomotive force drives, the driving of man-machine hybrid power, interactive combination.

Interactive system: the first data processor shows as intelligent terminal control device；Second data processor shows as vehicle-mounted data processor；First data processor and the second data processor interactive correspondence, carry out management and control and parameter setting by software and operation interface to vehicle, be configured regulation switching to vehicle condition, road surface, driving mode, speed, brake, automatic identification model.

Automatically search retinue system, remote controller is mutual with onboard wireless communication, and remote controller traveling can automatically be followed by locomotive with unmanned becomes retinue vehicle.Wireless remote-control system: user carries or be positioned at the remote controller (or terminal control device) of other vehicles；Onboard wireless retinue system: automatic traveling device (such as ultrasonic ranging), central data processor and control system, motor drive controller are in order to control rotation direction and the running speed of motor and driving wheel；Onboard system is accompanied according to preset value and moves according to the motion path of remote controller.This locomotive can artificially manipulate driving and also can automatically controlled manipulation drive, and automatically controlled driving model includes, (automatically) retinue is driven, remote driving.

As described above, disclosure of the invention, including multiple different havingIndependentThe invention of effectiveness.Take several measures to reduce car body volume, to mitigate car body weight, simplification body construction, it is adaptable to the small-sized vehicle that small-wheel-diameter and locomotive chassis are constituted.The present invention includes their various combinations or decomposes.Applicant is at specificationAccompanying drawingWith specification discloses the parts of unit, modules, principle, technical scheme, construction, be embodied as the place for main technical scheme and innovation purpose, how to reach these purposes, the technological means realizing these purposes, technical schemeIndependentWhen weaken patent three property, improve just more notable during combination, they reconfigured, by it singlyOnly stand, decompose, any one is given from specification interval range (for example use dash, " extremely ") carries out description becomes any one endpoint value (owing to the endpoint value between each interval is relatively more, cannot point out one by one, in this together statement), simultaneously use two or several combined measures collocation can be mutually improved can preferably realize goal of the invention embody technique effect, these are all the scopes of this specification.If the scope disclosing without departing from the present invention, can also have multiple embodiments, demonstration case is used to announcement, and unilateral embodiment is not exhaustive, should be with demonstration case limitation specification self.According to the innovation thought, different purposes according to car, those of ordinary skill in the art can also be by other different technologies scheme equivalent substitution and equivalent modifications to reach identical purpose and technique effect without performing creative labour, and these broadly fall into the content of this specification.On the premise of without departing substantially from claim, applicant has the right to make various modification and expresses and write claims, increases or modification right requires, or the purposes as divisional application.The general understanding of those skilled in the art does not limit the present invention, and the scope of the present invention is limited by claims summary.

Claims (11)

1. locomotive, its feature includes any one in A--D:

A. two main drive wheels and the driven car fitting at least three-wheel constituting to wheel, or, two main drive wheels and the driven car fitting at least four-wheel constituting to wheel, being positioned at the inching Mechanical course key of carrier and inching electronic switch forming fine motion control system, it sends instruction to electronic control unit and driving means；When load variations causes the locus trace change of inching Mechanical course key, its triggering fine motion electronic switch sends the signal of telecommunication and sends instruction to electronic control unit, electronic control unit to driving means, travels to manipulate driving car；When the locus trace conversion of Mechanical course key, the electric signal that control car travels is changed switching, therewith to manipulate the traveling of car, to turn to；Fine motion control system is suitably dual or multiple control system；

B. two main drive wheels and the driven car fitting at least three-wheel constituting to wheel, or, two main drive wheels and the driven car fitting at least four-wheel constituting to wheel, dual drive wheel can operate respectively, differential steering, and constant speed moves ahead；Or, a driving wheel and two driven cars fitting at least three-wheel constituting to castor；Locomotive supports that manpower legs and feet slide driving model, manned driving model, non-manned driving model, manual operation driving model with stepping on simultaneously, and it is selected by driver；

C. two main drive wheels and the driven car fitting at least three-wheel constituting to wheel, or, two main drive wheels and the driven car fitting at least four-wheel constituting to wheel, dual drive wheel can operate respectively, differential steering, and constant speed moves ahead；Or, a driving wheel and two driven cars fitting at least three-wheel constituting to castor；Locomotive has manpower legs and feet slide driving model, manned driving model, non-manned driving model, manual operation driving model with stepping on, and it is selected by driver；And, carrier be provided with load sense sensor for detect driver dynamic change, bias carrier and the information that generated by load sense sensor after changing load is sent to data processor, when signal reaches the condition pre-setting, data processor sends control signal to driving means, guides drive motor operate and drive castor, foundation in this, as locomotive driving instruction, make vehicle acceleration and deceleration, brake, and/or, using information on load difference as the foundation of steering order；

D. locomotive comprises data processor, electrical source of power, motor and driving means, vehicle-mounted body, two main drive wheels and the driven car fitting at least three-wheel constituting to wheel, or, two main drive wheels and the driven car fitting at least four-wheel constituting to wheel, have automatic traveling module, interactive operation module by software and operation interface vehicle carried out management and control and parameter is arranged, above wheel and vehicle-mounted body has adapting mechanism for choosing to install accommodating container, feature D also includes following at least one:

D1, position locating module, automatic protection module, alarm module；

D2, locomotive carrier is provided with the load value of LOAD CELLS detection vehicle, when service condition meets default value, data processor sends signal of telecommunication instruction and connection circuit makes driving means operate, when weight data is beyond the category preset, data processor does not send signal of telecommunication instruction and cut-out circuit makes driving means inoperative or brake, suitably sends warning；

D3, carrier be provided with load sense sensor for detect driver dynamic change, bias carrier and the information that generated by load sense sensor after changing load is sent to data processor, when signal reaches the condition pre-setting, data processor sends control signal to driving means, guides drive motor operate and drive castor, foundation in this, as locomotive driving instruction, make vehicle acceleration and deceleration, brake, and/or, using information on load difference as the foundation of steering order；

D4, the one or more terminal control devices being positioned at outside car body with locomotive communication interactive operation；

D5, accommodating container top has the seat taken for driver；

D6, several driving model is available for driver and selects, or, locomotive supports that manpower legs and feet slide driving model, manned driving model, non-manned driving model, manual operation driving model with stepping on；

D7, dual or multiple control system；

D8, the integral control system being fixed on locomotive chassis has the control system of at least two dimension, and inching Mechanical course key forms fine motion control system with inching electronic switch, and it sends instruction to electronic control unit and driving means；

D9, is worked in coordination with complex controll the onboard system control signal made and the control signal that remote controller is made by data processor and generates locomotive driving instruction, steering order.

2. locomotive, it is suitable for but be not limited to the electrically driven (operated) wheeled locomotive of riding type, it is characterized in that, the integral control system being fixed on locomotive chassis has the control system of at least two dimension, inching Mechanical course key forms fine motion control system with inching electronic switch, and it sends instruction to electronic control unit and driving means；Its also include following any one:

A. the first operating key is, the Mechanical course key coordinating with axle motivation structure, and when load variations, Mechanical course key axle moves displacement, the both sides of selective engagement shaft；Second operating key is, several castors, and driving wheel contacts ground, and remaining wheel optionally contacts ground；First operating key and the second operating key are related to the direction controlling that vehicle travels；

B. the first operating key is, the operating key coordinating with axle motivation structure, and when load variations, operating key axle moves displacement, the both sides of selective engagement shaft；Second operating key is, four castors that rhombus is laid, two driving wheel contact ground, and two other is fitted to wheel selective contact ground；First operating key and the second operating key, the directional correlation travelling with vehicle；

C. biased by centre of body weight and/or the two-dimentional axle fine motion control system of foot's stampede operation, when load variations causes the locus trace change of inching Mechanical course key, it triggers fine motion electronic switch and sends the signal of telecommunication to electronic control unit, electronic control unit sends instruction to driving means, travels to manipulate driving car；

When the locus trace conversion of Mechanical course key, the electric signal that control car travels is changed switching therewith, manipulating the traveling of car, to turn to, and,

Locomotive main and pedal carrier are laid and connected to first dimension axle along locomotive driving direction, and inching Mechanical course key and the first dimension axle activity coordinate；Locomotive main and pedal carrier are laid and connected to second dimension axle along the vertical direction in locomotive driving direction, and inching Mechanical course key and the second dimension axle activity coordinate；By external force, inching Mechanical course key is optionally in two axial activities and call and the two dimension related fine motion electronic switch of axle；

D. biased by centre of body weight and/or the fine motion control system of foot's stampede operation, when load variations causes the locus trace change of inching Mechanical course key, it triggers fine motion electronic switch and sends the signal of telecommunication to electronic control unit, electronic control unit sends instruction to driving means, travels to manipulate driving car；

When the locus trace conversion of Mechanical course key, the electric signal that control car travels is changed switching therewith, manipulating the traveling of car, to turn to, and,

One dimension uses fine motion control system, and it sends instruction to electronic control unit and driving means；Another dimension uses the control system of mechanical system；The suitably dual or multiple manipulation of fine motion control system, or, fine motion control system is used for locomotive driving with remote controller Collaborative Control；

E. the footstep mechanism on locomotive top is that two dimension axle fine motion system lamination is constituted, and, locomotive main and pedal carrier are laid and connected to the first dimension axle along a first direction, and inching Mechanical course key and the first dimension axle axle motivation structure activity coordinate；Locomotive main and pedal carrier are laid and connected to second dimension axle along second direction, and inching Mechanical course key and the second dimension axle axle motivation structure activity coordinate；By external force, inching Mechanical course key is optionally in two axial activities and call and the two dimension related fine motion electronic switch of axle；

F. being acted on by axle dynamic formula supporting part, two independent plate bodys have at least four attitudes vibration: f1, and two independent plate bodys all tilt towards front；F2, two independent plate bodys all tilt towards rear；F3, in two independent plate bodys, is positioned at the independent plate body on the left of travel direction and tilts towards front, meanwhile, is positioned at the independent plate body on the right side of travel direction and tilts towards rear；F4, in two independent plate bodys, is positioned at the independent plate body on the right side of travel direction and tilts towards front, meanwhile, is positioned at the independent plate body on the left of travel direction and tilts towards rear；

G. two respectively the dynamic deck carriers of axle as mechanical key, four kinds at least can be had to express and locomotive reaction: two decks are press-fitted two fronts switches simultaneously, and driving wheel operates, and locomotive accelerates to move ahead, or, vehicle deceleration or brake or fall back；Two decks are press-fitted two rear switches, driving wheel antiport simultaneously；Left deck is press-fitted front switch, and simultaneously right deck is press-fitted rear switch, two driving wheel then reversion one rotating forwards, or a rotating forward one is driven, and locomotive turns to；Right deck is press-fitted front switch, and simultaneously left deck is press-fitted rear switch, and two driving wheels then reversion one rotating forward or rotating forwards one are driven, and locomotive turns to；

H. left deck carrier and right deck carrier all have axle motivation structure respectively, and, along the axle motivation structure combination installation on locomotive main top；Elastomeric element and fine motion electronic switch are set between locomotive main top and two decks；Deck carrier rotates along axle, it is optionally press-fitted car front portion or car rear portion, when deck carrier and the laminating of locomotive main upper surface, it is achieved spacing, trigger embedded fine motion electronic switch simultaneously, electronic switch sends electronic information to data processor, instruction is handed down to motor driving module by data processor, subsequently, driving instruction is sent to motor, when the load of deck upper carrier disappears or weakens, flexible member makes deck carrier reset；

I. the footstep mechanism on locomotive top has two-dimentional axle fine motion system and shows as omnidirectional's axle, and, locomotive main and pedal carrier are laid and connected to the first dimension axle along a first direction, and inching Mechanical course key and the first dimension axle axle motivation structure activity coordinate；Locomotive main and pedal carrier are laid and connected to second dimension axle along second direction, and inching Mechanical course key and the second dimension axle axle motivation structure activity coordinate；By external force, inching Mechanical course key is optionally in two axial activities and call and the two dimension related fine motion electronic switch of axle, and remote controller control in unison is for locomotive driving.

3. locomotive, it is applicable to the small-sized locomotive chassis that lightweight battery is constituted to motor power supplying, it has the station that can carry people foot arranging along ground direction and steps on formula pallet for standing driving, electronic control system, driving means, and it also resides in following any one or the more kinds of feature comprising remote controller:

A. remote controller and vehicle-mounted control system telecom communication and locomotive accept the operation steering instructions traveling that remote control sends；Further, locomotive supports that manpower legs and feet slide driving model, manned driving model, non-manned driving model, manual operation driving model with stepping on, and is selected switch mode by driver；

B. remote controller and vehicle-mounted control system telecom communication and locomotive accept the operation steering instructions traveling that remote control sends；Further, locomotive supports that manpower legs and feet slide driving model, manned driving model, non-manned driving model, manual operation driving model with stepping on, and is selected switch mode by driver；Travel when having at least two driving wheel and constant speed drive, differential turns to when operating, and when locomotive turns to, at least one is fitted and turns to efficiency to wheel automatic linkage to improve；

C. remote controller and vehicle-mounted control system telecom communication and locomotive accept the operation steering instructions traveling that remote control sends, and, remote controller and vehicle electronics control system work in coordination with complex controll instruction makes locomotive chassis advance；Travel when having at least two driving wheel and constant speed drive, differential turns to when operating, and when locomotive turns to, at least one is fitted and turns to efficiency to wheel automatic linkage to improve；

D. remote controller and vehicle-mounted control system telecom communication and locomotive accept the operation steering instructions traveling that remote control sends, and, under manned pattern, manpower legs and feet slide under driving model with stepping on, and man-machine hybrid power system and/or the manpower comprising freewheel clutch drive gliding system to advance for locomotive chassis；Travel when having at least two driving wheel and constant speed drive, differential turns to when operating, and when locomotive turns to, at least one is fitted and turns to efficiency to wheel automatic linkage to improve；The instruction that Digiplex sends is relevant with direction controlling；

E. remote controller and vehicle-mounted control system telecom communication and locomotive accept the operation steering instructions traveling that remote control sends, and, vehicle control syetem includes by load variations and the orientation gained information of sensor sensing driver's weight relevant with Turning travel, meanwhile, remote controller and vehicle electronics control system work in coordination with complex controll instruction for locomotive chassis travel, turn to；

F. remote controller and vehicle-mounted control system telecom communication and locomotive accept the operation steering instructions traveling that remote control sends, and, two remote controllers being manipulated respectively by left and right both hands respectively；

G. ring-shape remote controller is inching electronic switch, and advances to click on mode or analog stick operation remote controlled locomotives；

H. overlapping hand-type remote controller is inching electronic switch, and operating mechanism is worn on hand and finger, is suitably, and has and is respectively arranged at two operating mechanisms to four finger tips；

I. remote controller has roller type or touch operating key for regulating control locomotive speed, the right and left key of its both sides is respectively used to left and right turn, or, the mouse with computer interactive operation is that the remote controller of this locomotive carries out communication, is used to adjust for locomotive speed and/or turns to；

J. when foot-operated operating key length press electrical contact controller, the generation signal of telecommunication instructs to operate to data processor and driving means makes locomotive linearly raise speed, by slow-to-fast, when speed is taken by driver, driver's first method clicks on remote controller, remote controller sends instruction to locomotive control and keeps speed, and locomotive is in cruise pattern；When driver's second method clicks on remote controller, remote controller sends releasing instruction to locomotive control, and locomotive is in linear acceleration pattern；Also suitable but be not limited to, when driver's alternate manner clicks on remote controller, driving means shuts down or inverts, locomotive deceleration or brake；

K. driver rides deck and triggers operating key, the load made by load sense sensor detection driver or centre of body weight, make the driving instruction of different speed according to centre of body weight or load variations, load is related to speed, and the control instruction that the Digiplex of hand sends can intervene the instruction that motor supply shop enters；

L. vehicle-mounted fine motion control system and the instruction of remote controller Collaborative Control is used for locomotive driving, at least, when performing same driving instruction,

Selectively definition arranges vehicle-mounted fine motion control system and one of both remote controllers as the preferential Collaborative Control performing instruction, and vehicle-mounted fine motion control system and remote controller perform when same driving instruction conflicts via data processor processes and be defined as compound operation logic generation Collaborative Control and instruct；

M. remote controller is based on the touch-control of pressure sensitive components and parts, contain the combined type action bars of orientation control and load pressure, according to promoting or pressing the dynamics of rocking bar, speed, identify weight, and call corresponding function, the speed regulation that locomotive moves produces respective change.

4. locomotive, two main drive wheels and the car fitting at least three-wheel constituting to wheel, or, two main drive wheels and the car fitting at least four-wheel constituting to wheel；It also includes, several driving model is available for driver and selects, or, data processor is worked in coordination with complex controll the onboard system control signal made and the control signal that remote controller is made and generates locomotive driving instruction, steering order, or, dual or multiple control system；It also resides in any one or its various combinations in A, B, C:

A. locomotive footboard carrier is provided with pedal double plate laminated type switch of LOAD CELLS, it is arranged between LOAD CELLS, LOAD CELLS sense weight, weight data is when default category, and data processor sends signal of telecommunication instruction and connection circuit makes driving means operate；

B. load sensor includes gravity sensitive, pressure sensing, produces the acceleration transducer of signal based on driver's centre of body weight or change in location, is arranged to detection gravity and the one or more accordingly sensor being associated of inertial force field, sensor receives weight information and sends weight data to data processor, when reaching preset value, data processor issues instructions to drive control device and guides motor running and drive castor；Regulate dual drive wheel rotating speed control locomotive by load sensor, data processor, motor rotary speed, driver's legs and feet the dynamic weight data sending by load sensor advance and turn to；

C. the weight information of driver weight load variations is sent to data processor by load sense formula sensor control device, when weight data reaches preset value, data processor sends control signal to driving means, drive motor is guided to operate and drive castor, locomotive is made to advance, during vertical perspective, the carrier element that station is stepped on is positioned between driving wheel and driven pulley, and the carrier that station is stepped on includes but is not limited to folded form.

5. control system, is suitable for but is not limited to the locomotive described in claim 1--4 any one, it is characterised in that below any one:

A. inching Mechanical course key and inching electronic switch form fine motion control system, and it sends instruction to electronic control unit and driving means；

When load variations causes the locus trace change of inching Mechanical course key, its triggering fine motion electronic switch sends the signal of telecommunication and sends instruction to electronic control unit, electronic control unit to driving means, to manipulate driving locomotive driving；

When the locus trace conversion of Mechanical course key, the electric signal that control car travels is changed switching, therewith to manipulate the traveling of car, to turn to；

Fine motion control system is suitably dual or multiple control system；

B. in three-wheel or four-wheel, at least comprise two driving wheels, because load variations causes deck type carrier displacement and triggers the electric signal of generation and sends differential signal and perform to turn to two driving wheels, and, dual or multiple fine motion control system can send identical control instruction, and is accepted by data processor；

C. in three-wheel or four-wheel, at least comprise two driving wheels, because load variations causes deck type carrier displacement and triggers the electric signal of generation and sends differential signal and perform to turn to two driving wheels, and, dual or multiple fine motion control system can send identical control instruction, and the Collaborative Control instruction that vehicle control syetem and remote controller send is performed by driving wheel；

D. two motors support that two driving wheels advance locomotive around wheel shaft operating respectively, and, motor controller is configured and accepts and perform the information that fine motion control system sends, in the bias mechanism of slide plate, the vertical direction being provided with at least two fine motion control system between grillage below plate body and axle bracket along locomotive driving direction is laid, and, fine motion control system is in reset state by the elastomeric material between grillage and axle bracket, when load variations bias plate body, two ends are provided with the axle bracket of two-wheel with mechanical force diagonally axle turn in order to realize car body Turning travel, simultaneously, elastomeric material deformation optionally triggers a lateral fine motion control system of car body subsequently and makes a motor sub-assembly make dual drive wheel differential operate based on the control information that a fine motion control system sends；

E. the collaborative instruction pipe diameter design of dual control system, including, cutting load testing and locomotive control+remote controller, the locomotive control instruction that remote controller sends has precedence over the traveling control instruction that vehicle control syetem self sends, the traveling control instruction that vehicle control syetem self sends refers to, the steering instructions that the obliquity sensor of detection locomotive attitudes vibration or the LOAD CELLS of detection locomotive load produce.

6. the locomotive according to claim 1--4 any one, or control system according to claim 5, be further characterized in that following any one:

A. kinematics model is variate-value the dynamic data base based on different condition preset parameter value presetting compliance curves according to different motions and kinetics model: miniature roadblock current spacing, the size of miniature roadblock, vehicle body travel real-time speed, relevant traffic environment；Also including, under people's force mode of non-maneuver power or under the sliding mode of non-maneuver power, duration when sliding in conjunction with manpower, single coasting distance, the repulsion process of resistance, the parameter value that dynamic data base is preset is as Variable Conditions；Flexible variable instruction is that the driving braking being processed by microcomputer according to kinematics model and making different stage performs instruction, and the different time of operation continuation, differential responses, different degree of strength, different frequency, different operating range, cruise etc. driving is tactful；

B. interactive system: the first data processor shows as intelligent terminal control device；Second data processor shows as vehicle-mounted data processor；First data processor and the second data processor interactive correspondence, carry out management and control and parameter setting by software and operation interface to vehicle, be configured regulation switching to vehicle condition, road surface, driving mode, speed, brake, automatic identification model；

C. the vehicle-mounted power supply interface having terminal control device and rigid fixedly mounted seat, terminal control device is installed on by easy-to-dismount mechanical mechanism that this combination that matches is fixing and control circuit is connected with mobile unit telecommunication, generate dependent instruction after its data gathering are processed and be sent to vehicle drive unit, vehicle is travelled and is controlled；

D. locomotive and strange land command centre carry out information alternately by wireless telecommunication system, for automatic Pilot and long-range control；

E. remotely controlling automatic Pilot, also can being stepped on driving by people foot station simultaneously, two kinds of functions have both；

F. vehicle-mounted have optical navigation, sensing directional, position sensing, electromagnetism guiding, the one found range in sensing module or its combination, guides for automobile navigation；

G. vehicle arranges the vehicle-mounted interactive system of wireless telecommunications, and remote control terminal interacts to its monitoring and scheduling by wireless telecommunication system, for the long-range control of vehicle;

H. automatic protective system, when service condition is more than default value, circuitry cuts, vehicle-mounted motor shuts down；

I. Intelligent Recognition control device: data processor sends instruction to the motor controller driving castor to rotate after coherent signal process, and signal includes following a kind of or any number of combination: the signal that the organ generation action of signal, people or people that the signal of speech production, color or image generate generates；

J. automatically searching for retinue system, remote controller is mutual with onboard wireless communication, and remote controller traveling can automatically be followed by locomotive with unmanned becomes retinue vehicle；Wireless remote-control system: user carries or is positioned at the remote controller of other vehicles；Onboard wireless retinue system: automatic traveling device, central data processor and control system, motor drive controller are in order to control rotation direction and the running speed of motor and driving wheel；Onboard system is accompanied according to preset value and moves according to the motion path of remote controller；

K. locomotive has automatic traveling system, it includes, locomotive, distance measuring sensor, mobile target, by the distance between the mobile target of distance measuring sensor detection and car, when the distance of mobile target and car changes, car automatically moves and remains corresponding distance with mobile target.

7. the locomotive according to claim 1--4 any one, or control system according to claim 5, be further characterized in that, fine motion control system includes,

A. type carrier in deck has fine motion displacement-type Mechanical course key apparatus, when the load of deck carrying changes, the attitude trace change displacement of Mechanical course key apparatus and the contact oppressing soft-touch type electronic switch, the electronic signal that the contact of soft-touch type electronic switch produces is sent to electronic control unit；When the attitude of Mechanical course key apparatus has two kinds or the change of two or more microdisplacements, the contact of corresponding touch switch produces different electronic signals, is switched electronic signal to become different control instruction to electronic control unit by the different attitudes vibration of Mechanical course key apparatus；

B. type carrier in deck has fine motion displacement-type Mechanical course key apparatus, when the load of deck carrying changes, by the change displacement of attitude trace and the contact touching electronic load cell of Mechanical course key apparatus, the electric signal that the contact of electronic load cell produces is sent to electronic control unit, when the weight electric signal that load produces reaches default parameter, driving means makes respective reaction；When the attitude of Mechanical course key apparatus has two kinds or the change of two or more microdisplacements, corresponding electronic load cell produces different electronic signals, and is switched electronic signal to become different control instruction to electronic control unit by the different attitudes vibration of Mechanical course key apparatus；

C. type carrier in deck has fine motion displacement mechanical device, and middle part has higher supporting part, and deck type carrier is affected by gravity and tilts to other directions, and it includes but is not limited to any one in C1--C3:

C1. middle part has axle dynamic formula supporting part, rigidity deck type carrier is in combination, rigidity deck type carrier is two independent plate bodys, the middle part of each independent plate body is combined with axle dynamic formula supporting part, acted on by axle dynamic formula supporting part, when the gravity of carrying changes, independent plate body optionally tilts toward some direction；

C2. middle part has supporting part, and type carrier activity therewith in rigid deck coordinates, and centered on supporting part, rigidity deck type carrier tilts to around, the combination of rigidity deck type carrier and supporting part, including but not limited to ball-joint bearing；

C3. middle part has supporting part, and rigidity deck type carrier is in combination, and rigidity deck type carrier is semi-rigid deformable material, and when the gravity of carrying changes, rigidity deck type vector form deforming tilts toward some direction.

8. the locomotive according to claim 1--4 any one, or control system according to claim 5, it also resides in, inching Mechanical course key, including at least three Displacement Contact point, and, three inching electronic switches of corresponding physical distribution, or, including at least four Displacement Contact point, and, four inching electronic switches of corresponding physical distribution, that orientation that inching electronic switch senses is related to traveling target orientation, and it also includes any one feature following:

A. when inching electronic switch is electronic load cell, when electric signal that electronic signal receiver receives is not etc. equal or the electric signal average such as not beyond the parameter preset when, sense that heavier orientation related to traveling target orientation；

B., when inching electronic switch is compressing touch switch, compressing touch switch receives electric signal, and that heavier orientation suffers oppression and related to traveling target orientation；

C., when inching electronic switch is obliquity sensor, that orientation that the electric signal of electronic signal receiver reception senses inclination is related to traveling target orientation；

D. when inching electronic switch is distance measuring sensor, different distributed the connecting firmly of physical location, several distance measuring sensors are set, detect the relative distance change in the position in space and with car for the inching Mechanical course key by it respectively, and the electronic signal receiving is sent to electronic control unit, and that orientation that Mechanical course key tilts is related to traveling target orientation；

E. when inching electronic switch is touch-control or touch sensitive switch sensor, different physical locations have the touch switch sensor connecting firmly setting, it is detected the trace attitudes vibration that inching Mechanical course key produces in the position in space and when accepting load, and the electronic signal receiving is sent to electronic control unit, and that orientation that Mechanical course key is tilted by the bigger trace of load is related to traveling target orientation；

F. when inching electronic switch is photoelectric switch sensor, different distributed the connecting firmly of physical location, several optoelectronic switch sensors are set, detect the relative distance change in the position in space and with car for the inching Mechanical course key by it respectively, and the electronic signal receiving is sent to electronic control unit, and that orientation that Mechanical course key tilts is related to traveling target orientation；

G. when inching electronic switch is Hall element, different distributed the connecting firmly of physical location, several Hall elements or magnet are set, detect the Hall element that inching Mechanical course key is provided with or the magnet position in space by it respectively, and the relative distance change with car, and the electronic signal receiving is sent to electronic control unit, and that orientation that Mechanical course key tilts is related to traveling target orientation；

H. Mechanical course key is deck type carrier, the foot station of people is stepped in deck type carrier, position of centre of gravity change as people, cause the locus trace change of inching Mechanical course key, it triggers fine motion electronic switch and sends the signal of telecommunication to electronic control unit, electronic control unit sends instruction to driving means, travels to manipulate driving vehicle；

I. Mechanical course key is seat, people is sitting in seat, position of centre of gravity change as people, cause the locus trace change of inching Mechanical course key, it triggers fine motion electronic switch and sends the signal of telecommunication to electronic control unit, electronic control unit sends instruction to driving means, travels to manipulate driving vehicle；

J. Mechanical course key is steering wheel, steer direction dish, when load changes, cause the locus trace change of inching Mechanical course key, its triggering fine motion electronic switch sends the signal of telecommunication and sends instruction to electronic control unit, electronic control unit to driving means, travels to manipulate driving vehicle；

K. Mechanical course key includes following at least one, foot's operating key, motion sensing control key, arm operating key, neck operating key.

9. the locomotive according to claim 1--4 any one, or control system according to claim 5, it also includes following at least one feature:

A. by load variations, the electric signal that inching Mechanical course key and inching electronic switch send includes, click the signal of generation be the first control instruction, double-click the signal generating and be the second control instruction, long be the 3rd control instruction by the signal generating, when suitable, also include that three signals hitting generation are the 4th control instructions；

B. the same instructions pipe diameter design of dual control system, two kinds of different fine motion control systems are set simultaneously, or, two identical fine motion control systems are set simultaneously, the dual instruction manipulation signal that dual control system sends is electronically controlled unit or driving means accepts locomotive operating therewith, when a certain fine motion control system therein occurs malfunctioning, the manipulation signal that another fine motion control system sends still can be electronically controlled unit or driving means accepts and drives locomotive to operate, and suitably sends alarm signal simultaneously；

C. the same instructions pipe diameter design of dual control system, two kinds of different fine motion control systems are set simultaneously, or, two identical fine motion control systems are set simultaneously, the dual instruction manipulation signal that dual control system sends is electronically controlled unit or driving means accepts locomotive operating therewith, when the manipulation signal that two fine motion control systems send has difference, electronic control unit or driving means accept the instruction of its middle value parameter and continue and drive vehicle to travel temporarily, suitably send alarm signal simultaneously；

D. the same instructions pipe diameter design of dual control system, one the identical instruction of generation of two or more electronic switches is triggered in two or more contacts that the Mechanical course key in any one orientation has coordinated type simultaneously；

E. the same instructions pipe diameter design of dual control system, two kinds of different fine motion control systems are set simultaneously, or, two identical fine motion control systems are set simultaneously, the dual instruction manipulation signal that dual control system sends is electronically controlled unit or driving means accepts locomotive operating therewith, when the manipulation signal that two fine motion control systems therein send has difference, electronic control unit or driving means perform the control correction instruction that driver is repeated once or sends more times, and drive vehicle traveling with this, meanwhile, alarm signal is suitably sent；

F. the control instruction meeting driver's wish is preferentially performed, and by vehicle-mounted mechanical device switching switch or the control instruction by relay switching switch cutoff non-driver wish, selects some instruction conduct preferentially to perform instruction；

G. the electric vehicle of four-wheel drive, two driving wheels above as a performance element, two driving wheels below as a performance element, or it is defined as different performance elements by other model split, as long as travel direction is defined by driver, some executable unit will correct and take over malfunctioning executable unit；

H. working in coordination with under pipe diameter design, locomotive has high speed low speed at least two driving model, and when the first driving model, differential steering is that two driving wheels one invert a rotating forward, and locomotive can realize pivot stud；When the second driving model, differential steering is that two driving wheels one advance operating, and another driving wheel is inoperative or driven rotation, and the radius of turn of locomotive is bigger；

That I. clicks on remote controller turns to button, Double-motor differential after configured rotates and is frequency conversion type rather than continuous schedule, the different instruction that the operation mode that Double-motor differential rotates clicks on input with remote controller key is relevant, the steering rate of locomotive at least has two patterns of high speed low speed or the flexibility turning to is relevant with the azimuth of button, or, the flexibility turning to is relevant with the time length of compressing button；

J. various modes selects the motor driver of switching: by the freewheel clutch of motor and wheel shaft position, after power-off, nothing

The manpower sliding mode of electric power；Manpower starts the man-machine hybrid mode of motor after sliding；Fully rely on what motor original place started

Electric model；Man-machine hybrid power, according to different ratio, is divided and arranges out 2 or more different grades of patterns；The switching device of pattern includes but is not limited to the Hall element circuit selective on/off control of different mode；

K. optionally switching circuit, is set to man-machine hybrid mode, manual operation pattern, a certain in electric-only mode

Plant in pattern, or man-machine hybrid mode and there is two or more patterns, optionally switching circuit, be set to

A certain pattern in man-machine hybrid mode.

10. the locomotive according to claim 1--4 any one, or control system according to claim 5, its feature at least also include following any one:

Locomotive is variant locomotive, and it includes but is not limited to any one:

A1. the hinged part of at least two, in the deployed state, locomotive area increases；In a folded configuration, locomotive area reduces；

A2. the hinged part of at least two, in the deployed state, locomotive has caster support and is easy to travel, and, in a folded configuration, locomotive also has caster support and is easy to travel；

A3. under extended configuration under folding shrinking state use two kinds of different driving control modes；

A4. two sections of B portion of locomotive A portion car body connects by the articulated of two axles, and wherein, car A portion has two main drive wheels, and car A portion has two and driven fits to wheel, and an also folding shaft, front end, car B portion has a folding shaft, and rear end has driven fitting to wheel；Two segment bodies carry out hinged by two drift bolt axles and a twin shaft articulated；According to required, axle and the hinge of the car A portion two sections of car bodies in B portion can be disassembled, and car A portion can work with independent operation, and car B portion, as the split type rechargeable battery can installed or dismantle, increases course continuation mileage；

A5. two segment bodies are put down to axle hinged by two；

A6. locomotive is three segment bodies, moves linkwork by axle and folds, and three segment bodies are put down to axle hinged by least two, and under deployed condition, three segment bodies are put down three segment body laminations after setting, folding and laid, and in folding process, three segment bodies are Z-shaped；

A7. folding by vertical axle, rotational deformation of circling round along ground during application, locomotive afterbody has fits to wheel, and two segment bodies are hinged by a vertical axle, under deployed condition, two segment body side by side arrangement yi word pattern head and the tail arrangements, under folded state, two segment body laminations are laid, and in folding process, two segment bodies are V-shape；Or, three segment bodies are hinged by two vertical axles, and under deployed condition, three segment body side by side arrangement yi word pattern head and the tail arrangements, under folded state, three segment bodies are Qian font or lamination；

A8. dual drive wheel+bis-is fitted to wheel, two segment body heads combine by a vertical axle and same support shaft are dynamic respectively, in the deployed state, two segment bodies and support be Qian font and when application along ground Direction distortion, in a folded configuration, binary can be with side by side arrangement, in folding or driving process, two segment bodies can be made to present variform owing to the afterbody of two sections of car bodies has the swing fitted to wheel and two vertical axles, two segment bodies can be along holder orientation head and the tail arrangement in yi word pattern, and support two ends are driving wheel；

A9. dual drive wheel+bis-is fitted to wheel, two segment body heads combine by a vertical axle and same support shaft are dynamic respectively, in the deployed state, two segment bodies and support be Qian font and when application along ground Direction distortion, in a folded configuration, binary can be with side by side arrangement, in folding or driving process, two segment bodies can be made to present variform owing to the afterbody of two sections of car bodies has the swing fitted to wheel and two vertical axles, two segment bodies can be along holder orientation head and the tail arrangement in yi word pattern, and support two ends are driving wheel；

A10. the support between two segment bodies is battery compartment, and to power as locomotive A portion to dual drive wheel, two segment body afterbodys are respectively provided with fits to wheel；

A11. locomotive is horizontally oriented the pallet of setting；

A12. locomotive is laminated type, and it at least includes that two segment body buttress are folded and arranges and be mutually adapted；

A13. locomotive is block form, and it at least includes that two segment bodies are set up in parallel and are mutually adapted installation；

A14. locomotive is telescopic, and it includes that two segment body single orders are flexible or stretch in three segment body two rank.

11. locomotives according to claim 1--3 any one, or the control system described in claim 4, its feature at least also include following any one or more kinds of:

A. locomotive includes Portable light battery, the including but not limited to lithium battery of recharging；

B. motor include following any one: electro-motor, hub motor, be positioned at wheel motor, be positioned at wheel side motor, be positioned at wheel top motor, along carrier direction arrange motor, put down to arrange motor, bar type motor, disc type motor, hollow cup type electro-motor, Brushless DC motor, high rotating speed little torsion type brushless motor；

C. to apply to stand-type delivery single and accommodate the deck type carrier that both feet are trampled for deck type carrier；

D. the weighing load inductive switch of fine motion control system is positioned at locomotive and vertical setting and/or is horizontally disposed with；

E. locomotive has seat, including but not limited to: seat root dismounts, seat integrated with locomotive in locomotive, seat root or bottom, seat is provided with and drives battery to locomotive power supply；

F. the manipulation signal that the weighing load inductive switch of fine motion control system sends at least includes, advance, left steering, right turn, and brakes or fall back；

G. locomotive has fast mode and low-speed mode, including two grades or more grades switchings；When hand remote controller sends the first instruction, the control signal that locomotive is made by fine motion control system is scorch pattern；When hand remote controller sends the second instruction, the control signal that locomotive is made by fine motion control system is the pattern of driving at low speed；

H. locomotive has induction type protection switch, including but not limited to following a kind of: optoelectronic induction protection switch, gravity sensing protection switch, Hall-type protection switch, RFID sensing protection switch；When wheel is four wheels, rectangle is laid or rhombus is laid；

I., when wheel is four wheels, rectangle is laid or rhombus is laid, and when rhombus is laid, front and back wheel is two respectively and fits to wheel；

J. when two main drive wheels and the driven car fitting at least three-wheel constituting to wheel, layout triangular in shape；

K. when two main drive wheels and the driven car fitting at least four-wheel constituting to wheel, rectangular/trapezoidal layout, lay two side by side and fit to wheel；

L. fine motion control system, described fine motion, refer to, the attitude displacement of mechanical device any one interval value within 50 millimeters, within suitable 10 millimeters；

M., during side-looking, wheel is positioned under pedal；

N. locomotive portable unit, rope yarn one end connects handle, other end connection body, and it is wound in the bobbin winoler that convolution resets, bobbin winoler is suitably arranged on intra-locomotive or is arranged at handle, pull with hand the handle having on car body, therewith, rope yarn pulls out elongation, in order to guides and supports or pulls car body, hand unclamps, bobbin winoler being collected in winding manner rope yarn；

O. locomotive main onboard data processor, motor driving module, power-supply battery, the locomotive main front end left and right sides is respectively provided with electro-motor, suitably arranges speed change gear between motor output end and wheel；Motor output end laterally connects firmly with the driving wheel of car both sides, direct drive of wheel rotates, or, the pedestal of wheel is fixedly arranged on locomotive main and hub for vehicle wheel arranges gear, motor output end gear is ratcheting with gear wheel, forming speed change gear while transmission, being taken, motor can be arranged in driving wheel, become hub motor wheel, taken, it is also possible to it is horizontally disposed that disc type motor is set, by angular wheel and driving wheel transmission；Driving wheel is driven respectively by motor, constant-speed driving differential steering；

P. locomotive has several castors, and comprise the castor on selective exposure ground, it is provided with obliquity sensor, or gyroscope and accelerometer are set, under first mode, travel with the drive manner of inverted pendulum Self-Balancing vehicle and turn to, single wheel or two-wheel contact ground, under second pattern, at least three castor contacts ground；

Q. dual drive wheel also can show as single motor and differential gear；

R. the vertical area of locomotive is only trampled drive for single pin or one and half pin, or, in the state of locomotive folding shrinking reduces volume, vertical area is only trampled drive for single pin or one and half pin, and during stretching, extension, two carriers trample driving for both feet；

S. wearable battery has interface and electric wire for supplying electrical power to the driving means of car body, or, drive the vehicle-mounted light battery that vehicle travels and there is interface and electric wire to human body wearable electronic for electric power；

T. vehicle commander 10--200 centimetre, overall width 8--40 centimetre, between 5 millimeters to 200 millimeters of ground of distance, chassis, design weight 1--4 kilogram, it is less than 8 kilograms, design speed per hour 5--30 kilometer, the voltage 6V to 70V of lightweight battery, battery capacity 2AH--30AH；

U. fine motion control system includes following at least one electronic device: button touch-switch, LOAD CELLS switch, obliquity sensor switch, electronic gyroscope and accelerometer, distance measuring sensor switch, touch switch or touch sensitive switch, photoelectric switch, Hall-type inductive switch, the conductive switch resetting by elastic properties of materials deformation；

V, when weight exceed rating number and transient change produce numerical fluctuations when, do not cut off the power supply of driving means, when weight exceed rating number and lasting when, cut off power supply or the brake of driving means.