CN106143750A - Relate to the system that traffic is moved - Google Patents
Relate to the system that traffic is moved Download PDFInfo
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- CN106143750A CN106143750A CN201510597479.6A CN201510597479A CN106143750A CN 106143750 A CN106143750 A CN 106143750A CN 201510597479 A CN201510597479 A CN 201510597479A CN 106143750 A CN106143750 A CN 106143750A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K15/00—Collapsible or foldable cycles
- B62K15/006—Collapsible or foldable cycles the frame being foldable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K17/00—Cycles not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Relate to the system that traffic is moved, including light little pocket electric foldable vehicle, the carrier laid before and after two；Heel brace lays respectively at two described carriers, and the convolution twist mechanism turned to for car body is arranged along length over ends of body direction；Folding shaft reduces length over ends of body for two carrier doublings；During folding, between two carriers, be lifted up displacement, and the bottom surface of two carriers near or laminating.Hand-held device mates combination formation handle with a car body part (telescopic lever) guides and supports for vehicle or tows, and realizes folding or launching without hands contact one step of car body.Also disclosing and be applicable to multiple mutation of this type of car, corollary equipment, auto-folder, remotely control and automatic Pilot etc., electronics and body Structure are greatly improved.Car load is the easiest, it is not necessary to exercise, and everyone can learn to drive immediately.Complete vehicle weight and folding volume etc. reach higher combination property.Support manned driving and unmanned both of which.
Description
Technical field
The chassis of single driving, slide plate skateboard, compact small-sized (folding) portable electric transportation carry
Tool, vehicle is supporting, manipulation control loop, driving means are driven and automation equipment with vehicle frame, auxiliary.
Background technology
Need not practise the small-sized Portable electric bicycle that the technology that is not required to just can be driven, it is required for moving for short distance individual
's.Prior art is a lot, but is respectively arranged with shortcoming: storage is carried, electronic reliability and fault ratio, to repeat consummation
Driving technology, heavy, car body is big.Making a general survey of this area, the combination property of every kind of car is not the best enough, is difficult to significantly change the status quo.
Summary of the invention
Present subject matter is to solve first the most problematic, it is provided that man-machine share can type selecting traffic mobile system, support manned/nothing
The light little portable locomotive that people is double mode.Invention be achieved in that powered by lightweight battery and comprise carrier, fit to mechanism (suitable
To wheel, convolution twist mechanism), electronic control, driving means constitute fold or the most folding locomotive chassis, multi-mode manipulate,
Under manned pattern, electric running, man-machine hybrid power drive；Under unmanned pattern, automation equipment manipulation is driven, and differential drives and turns
To.Corollary equipment, control system, car load structure etc. are also innovated.It is suitable with disclosing the most further.
Accompanying drawing illustrates: Fig. 1 is car load top view.
Fig. 2 is car load upward view.
Fig. 3,4 it is car load side view, car symmetrical.
Fig. 5,6 it is view before and after car load.
Fig. 7 is car load forward and backward vertical view front view.
Fig. 8 is that car load is forward and backward looks up front view.
Fig. 9 is that hand-held control device is combined schematic diagram with the handle of tie rod end.
Figure 10 is car load folding process schematic diagram.
Figure 11,12 be fold after vertical view and elevational schematic view.
Figure 13,14 it is the schematic diagram of lateral different angles after folding.
Figure 15 is the schematic diagram of the state that tows 1 after folding.
Figure 16 is the schematic diagram of the state that tows 2 during the back stay stretching, extension of folding.
Figure 17,18 it is two decomposing schematic representations of headstock.
Figure 19,20 it is two decomposing schematic representations of the tailstock.
Figure 21 is car load decomposing schematic representation.
Figure 22 is the T-shaped axle of bending and uses schematic diagram.
Figure 23 is that two schematic diagrams fitted to wheel installed by this car.
Figure 24 is that a schematic diagram fitted to axle bracket installed by this car.
Figure 25 is the schematic diagram that two kinds of vehicle frame horizontal rotations fold.
Figure 26 is made by the tricycle schematic diagram that load sensor is driven.
Figure 27 is the schematic diagram that vehicle-mounted body is integrated with reversing folding means.
Figure 28 is flexible rope tracker action and folding stand schematic diagram.
Figure 29 be car load, angularly disposed fit to wheel with dual drive wheel schematic diagram.
Advantage and good effect: preferably overall experience.Simple in construction, cost performance height, reliability enhancing, light practicality,
Turning radius is little.Directly contact car body just without hands to fold, launch, guide and support or carry, tow.Process by vehicle-mounted data
Multiple sensors, data storage cell telecommunication that device travels with wireless telecommunication system, control locomotive chassis are connected, and process and run phase
Closing executable program, the complete vehicle weight of carrying adult can be accomplished 2 to 5 kilograms, the most comprehensively embody: the lightest little compact, relatively
The automatization of high level, everyone can drive easily.Need not dress, easier than (electronic) roller skate.Multiple electrification skills
Art scheme and the advantage of automation equipment and other advantages are suitably given the most 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 software can be called, there is display and the wireless telecommunications system at interactive operation interface, (hands can be presented as
Hold) mobile phone (being not limited to common smart mobile phone), can also behave as the outer difference in functionality module relation being located at human body
The wearable intelligent electronic device being integrated in dress and personal adornment, example, be worn on head, neck, waist, wrist, trick, trunk or extremity, bag
Include a machine, wrist-watch, waist ornament, glove, bracelet, armlet, knapsack, human body accessories.Display includes: display information visual interface,
Screen, touch control screen, projector.Stereo vision sensor includes: 3 D stereo machine vision, usually uses binocular vision
Triangulation realizes the environmental information of three-dimensional depth.Universal wheel include being arranged on have on eccentric throw support and also can be in dynamic load
In freely 360 degree of self-defined vertical axle center rotate around vertical axis, any direction Turning travel earthward.By mounting means,
The most plate, screw type and pin-type.The universal wheel that Chinese is often said (also includes omni-directional wheel mecanum wheels, omni
Wheel) it is referred to herein as fitting to wheel, is referred to as when it is motor driven fitting to driving wheel.Fit to, refer to (certainly) adapt to direction.Suitable
Include to mechanism: fit to vehicle frame (convolution twist mechanism), fit to wheel (include the tilted setting of universal wheel, limited angle swing
Universal wheel), both use simultaneously, improve car body steering capability have driving usefulness concurrently.
Hereafter unit, parts, configuration, function, structure are expanded on further.There is the vehicle of biaxially rotating mechanism
Folding system: the convolution twist mechanism turned to for car body laid along vehicle lengthwise direction by two carrier hinge and is used for
The relative turn-knob of two carriers；Folding shaft is set along lateral direction of car, for axle dynamic upset two carriers of doubling, reduces length over ends of body,
During folding, middle part (between two carriers) are lifted up, two carrier displacements and bottom surface near or laminating.Folding shaft is turned round with convolution
Rotation mechanism can be biaxially rotating mechanism, such as T-shaped axle, can be with hollow metal lumen welding fabrication or use service tee
Connect with pipe group and form.Example, T-shaped axle the 3rd keeper 5 is integrated with front running board carrier drive end bearing bracket 1-a.See Figure 17,18, left
Heel brace (revolver bracing strut and left foot wheel) 6-1, right crus of diaphragm support (right wheel bracing strut and right crus of diaphragm wheel) 6-2 Intercalation respectively are in carrier
1 front port two rear flank is fastened by drift bolt, and the 3rd keeper 5 is incorporated into carrier 1 front port, rear end cap 1-b with drive end bearing bracket 1-a
Fasten by drift bolt with after carrier 1 rear port grafting.The convolution twist mechanism arranged along length over ends of body direction includes, T-shaped axle 3
The 3rd end end be combined with the 3rd keeper 5, and combined by the 3rd keeper assembly 5-a axle is dynamic, axle can be set therebetween
Hold.On first axle of T-shaped axle 3, the fin of welding is conflicted with elastic reset member 10-1 and 10-2, and T-shaped axle 3 is borrowed when reversing
Fin is helped to extrude flexible member.T-shaped axle 3 is incorporated into carrier 1 by T-shaped axle fixture 11.Seeing Figure 19,20,21, first is fixed
Position part 4-1 and the second keeper 4-2 lays along cross-car interval, by two ends of T-shaped axle 3 respectively in connection with in (aluminium profiles
Material pipe) both sides, carrier 2 bottom, become the folding shaft arranged along cross-car, for the dynamic upset doubling of car body axle, end cap 2-a
Insertion vector 2 front port, 4 drift bolts are simultaneously by keeper 4-1 and 4-2, rear end cap 2-a, carrier 2, this triplicity.
When two pedal carriers are open and flat and stepped on by people's feet station, two walls vertical or oblique between two carriers press roller 12,
Example, arranges roller 12(sector thrust bearing between rear end cap 1-b drive end bearing bracket 2-a, multiple rollers are radially towards center
Lay), roller makes the most twisted between two carriers and reduces friction.Semicircle thrust bearing can also be by annular thrust bearing
Replace.Car body in the deployed state in yi word pattern or approximation yi word pattern (inverted V-shaped at such as obtuse angle).Convolution twist mechanism is in
One carrier (below), rather than in the middle of two carriers, length over ends of body can be reduced and discharge more spaces.Reversing T-shaped axle is recognized
For being simple and easy to do, it is not limited to this, it is also possible to being that other embodies, the axle construction relatively twisted for two carriers and torsion are former
Reason can be replaced with known technology, example, and elastic reset member is traditional approach, is fixedly arranged on inside T pipe latch plate end.Other
Embodiment: example 1, the convolution resetting shaft motivation structure turned to for car body can front and back be arranged in turn, and folding shaft keeper is arranged
In front carrier, convolution reverse reset mechanism is positioned at rear carrier；Example 2, T-shaped axle is replaced by one or two L-shaped axle, to reach near
Like purpose；Example 3, two T-shaped axles or two L-shaped axles, be incorporated into the vehicle body of three segment bodies, and two folding shaft are positioned at three bodies
In the middle part of car, form three section of two folding, to reach to approximate purpose；Example 4, launches two carriers under use state by being obliquely installed
Convolution twist mechanism formed inverted V-shaped main car frame (during side-looking, the angle 140--175 degree of two carrier bottoms)；Example 5, figure
22-b and 22-d is two different visual angles of the T-shaped axle being presented with crooked position, sees Figure 22-a and 22-c after assembling.Two-way
Rotating mechanism or T-shaped axle are it may also is that the torsion folding means that can bend deformation and elastic reset (sees Figure 27-a, 27-
B, Figure 27-c), key position includes, lath a, and at least one lath is arranged along car body fore-and-aft direction (vertical), preferably two
Or more lath long and narrow, that be substantially parallel to each other is arranged along car body fore-and-aft direction；Support member b, support member and lath a
Less perpendicular and tie therewith with together with become dowel, (if the most suitable spaced setting of several support members b)；Folding
Folded axle c, for spindle-type parts and the former company of knot of vehicle folding；Folding shaft is moved hinged with another carrier shaft, and it is as torsion spring
The most also can the dynamic folding of axle.It is as an independent torsion folding means, or horizontally arranged support chip becomes one and steps on
Onboard body, is dynamically connected with another one pedal carrier shaft, becomes the torsion folding means containing pedal carrier.During twisting, plate
Bar a bending, support member b makes lath a realize deformation reset resilience by default force analysis, and the performance of this torsion spring is also
Depend on lath and the quantity of support member, gap, material, wall thickness, its injection mo(u)lding being preferably one or plastic rubber shaping soft
Tough semirigid component.When two such parts combine, two axle motivation structures are preset to adapter combination structure (such as two loads
Body is respectively provided with axis hole, and both axles are dynamically connected by a single axle), elastic torsion performance improves and with folder function, suitable
For this car of split-type accumulator, see below literary composition.T-shaped axle can be connect by two T-shaped (semicanal) parts groups and form and in-built electrical connecting line,
The electric component of two pedal carriers is electrically connected.
Fig. 7 to 16, when car body launches, take the shape of the letter U between two castors of headstock space, after folding, (driving) wheel of the tailstock
It is positioned at U-shaped space.Before or after carrier, trundle bracket extends in side, and wheel footpath can arrange relatively big, increase wheelbase, the road surface property passed through
More preferably.Folding aftercarriage is compact, and during side-looking perspective, front and back wheel essentially coincides or wheel shaft is located substantially on same tangent line, car body
Thickness after folding is less than or equal to vehicle wheel footpath (5 cun to 8 cun of wheels).If car body is setting before and after two-wheeled, after folding,
Two castors are staggered along length over ends of body direction, and wheel shaft axle center is located substantially on same phase line, to reduce spatial volume realization
Compact.Under folded state, closely it is folded into approximation yi word pattern or close C-shaped.Closely fold, be preferably substantially recline or
The most chimeric, it is not necessary to, according to circumstances, it is also possible within being presented as 20 centimetres of gap.Castor diameter be not limited to 1 to
14 cun of wheels.Example, under deployed condition, vehicle body total length 90--140 centimetre, front and back wheel wheelbase 70--120 centimetre, vehicle width
15--50 centimetre；Under folded state, vehicle body total length 45--70 centimetre, car body thickness 1--10 centimetre.
Vehicle main body: see Fig. 1 to 4, Fig. 7,8,10, brow landing of standing is deck, referred to as carrier, at least can be suitably used for station
Vertical delivery is single and accommodates both feet and tramples, and deck type carrier lays (or the vertical cloth along vehicle heading along travel direction
If), castor before and after laying along vehicle heading, a convolution twist mechanism laid along vehicle body anterior-posterior length direction carries two
Body is connected, and turns to for car body, and convolution twist mechanism can be various ways, except the torsion spring mechanism in the middle part of tradition dragon flying around plate
Outside, it is also possible to it is made by plastic material flexural deformation elastic reset and realizes convolution torsion, exist in the middle part of it and reverse axis,
Because of structural differences, sometimes exist with virtual form.Under naturalness, two carrier surface alignment, when reversing two carriers, relatively revolve
Dynamic, produce bounce-back during return unit stress, when power disappears, two carriers are by elastic reset.Convolution twist mechanism becomes around hinge
Connect the control element of the relative turn of each main part of element.Convolution twist mechanism two carriers are connected firmly, it include hinge or
Pivot or flexible deformation component, be not limited to one piece of overall flexible deformable material and/or flexible restoring organ；Reciprocating
Carrier energy fast steering is reversed in convolution and/or driving is slided.Elastic reset member can be presented as elastic polyurethane block, truncated cone steel
Silk stage clip, c-type spring, it is also possible to be the steel wire torsion spring that is placed in central siphon of traditional approach or plate torsion spring.Example, front carrier and/or
Rear carrier is that light material is made, surface configuration deck and netted hollow out and vertical rib injection mo(u)lding, and metal is installed in both sides
Plate stamping forming wheel shaft bay is strengthened, and sees Figure 22-a and 22-c, Figure 27, one or two carrier flexural deformation
The plastic material resetted improves convolution and reverses usefulness, reduces parts and reduces weight.Driver's load variations causes locomotive chassis side
It is not limited to this, it is also possible to be that the front or rear wheel bridge of traditional four wheel scooters props up to suspension and the linkage steering mechanism thereof of inclination and distortion
Frame.
The pivotal line (axis during torsion or virtual axis) of convolution twist mechanism is not parallel with ground, oblique in Horizon
Face is arranged, two carriers before and after its connection, (see figure 3) during side-looking.Tilting, contribute to car body and turn to and drive usefulness, it can be
1 to 20 centimetre (preferably 3 to 10 centimetres), or, horizontal tilt angle 1 to 25 degree (preferably 2 to 15 degree).One end is higher than another
The station pedal of end, surface configuration skid resistant course, prevent foot from sliding, a small amount of inclination does not affect to ride stands and travels, if top
Set up horizontal layers and then can increase lower tilt degree.Example, the convolution twist mechanism that one or two is obliquely installed forms V
Shape main car frame (during side-looking, bottom is 140--178 degree angle), top has the floor level that beneficially station is stepped on.
Driving means: motor drive controller, motor driven system are arranged near motor or wheel hub motor shell is interior or car
In, or split type, it is broken up into external (together with battery or wearable device) with car and motor.Motor is driven to select brushless electricity
Machine, motor drive controller sends instruction to it, if motor is rotating, then realizes deceleration by the reversion of motor moment and stops
Car.Freewheel clutch is set between motor or drive mechanism or motor and wheel, it is achieved slide.1, in wheel, formula drives motor, example
Be positioned at the housing of closing as being placed in the wheel hub motor castor 7(motor within castor, enclosure interior arranges change-speed gearing or straight
Driving, hull outside arranges elastic tyre) or it is in close proximity to the motor (motor be at least partially disposed at wheel in) of castor side.2, chain belt wheel
The gear of formula driving motor, such as motor output end rotates by the wheel of rubber cingulum or belt or the metal bracelet drive other end
And drive castor to rotate.3, friction-type drives motor, such as motor to be positioned near castor, motor output end drive hub or driving
Tire or driving wheel drive castor to rotate.4, shaft type drives motor, such as motor to be positioned near castor side or castor, motor
Angular wheel drive hub gear or driving caster axle portion gear driven vehicle wheel rotation by output shaft.5, gear type drives
Motor, such as motor are positioned near castor side or castor, the gear drive hub of motor output end or the gear in caster axle portion
Drive castor rotates.Being not limited to following form: A, driving motor is light high-speed high-power brushless direct current generator；Air-cooled or half envelope
Close air-cooled, rotor operating time band moving air flow from motor internal through and axially flow along motor, motor lay include but
Being not limited to take turns interior or axle bracket bridge (interior), Fan axial center is fixed with motor shaft portion shaft coupling, adds forced air cooling performance；A1, motor
Having air conducting cover, under motor drive mode, air-flow is from air conducting cover internal circulation；A2, under motor drive mode, air-flow
Porch arranges filter course；The junction of A3, wheel hub motor and axle bracket, its wheel shaft is open-core type, when rotor rotates
The air-flow produced circulates from hollow axle；A4, humidity sensing element is monitored the humidity of running environment and sends out to data processor
The number of delivering letters, when humidity is more than preset value when, motor circuit is cut off, and motor shuts down；A5, motor is bar type or dish
Formula, motor weighs 200 grams--between 850 grams, power of motor 800--3000W；A6, motor with air cooling regulation controller is 60--
200A；A7, the head of motor and/or afterbody have air conducting cover along motor axially and towards the bending return extended in the middle part of motor
Sheet structure；A8, the head of motor and/or afterbody have air conducting cover and extend above towards car body；A9, the head of motor and/or
Afterbody has a semi-enclosed protective cover, and protective cover and motor leave gap, do not hinder air-flow from there through；A10, the length of kuppe
Any interval value between spending more than 3--10 centimetre；A11, arranges filter course at air flow inlet, prevent water or foreign material from directly entering
Enter motor；Filter course is not limited at least one in the filter course (dismantled and assembled) of band hole, many tortuous labyrinths pipe, turbine pipe；
A12, drives motor, motor control module, radiator integral type；A13, the air-flow produced when rotor rotates is from motor internal
Circulate through while promote the air flowing heat radiation of spreader surface, or, the fan of the radiator of motor control module rotates
Time, air-flow promotes the air flowing heat radiation of spreader surface simultaneously, and air-flow circulates from the air of motor internal, described radiator
It it is the radiator of motor control module；A14, the insulated gate bipolar transistor for motor converter system is positioned at heat transmission gas circulation
In road；A15, has deafener inside the air conducting cover of motor；C, is at least driven before and after's castor to become by two motors respectively
Driving wheel, at least a part of which includes that one is fitted to driving wheel, optionally, also includes C1--C5:C1, and bi-motor operates simultaneously and is used for
Heavier load reply high pulling torque output, in bi-motor, a motor rotation tackles the output of little moment of torsion；C2, the same luck of bi-motor
Being diverted to heavier load reply high pulling torque output, in bi-motor, a motor rotation tackles the output of little moment of torsion, and, by feeling
Measurement equipment sensing load starts another motor rotation automatically；C3, bi-motor operates big for heavier load reply simultaneously
Moment of torsion exports, and in bi-motor, a motor rotation tackles the output of little moment of torsion, and, by manually switching over another motor of startup
Operating；C4, bi-motor is identical motor；C5, bi-motor is the motor differed, and wherein, the first motor is high pulling torque rotating speed
Slow motor, the second motor is the motor that little moment of torsion rotating speed is fast；Advantage, double in-wheel motors can reduce car body volume and reduce wheel
Footpath, it is simple to carry.D, lays two-wheel, also includes, D1 about the type carrier of deck, the two-wheel that left and right is laid is fixedly arranged on a shaft element,
At least one drives motor driving shaft element, two-wheel and shaft element synchronous axial system, and shaft element outer radial arranges bearing and axle sleeve,
Axle sleeve connects firmly with axle bracket, and axle bracket is combined with carrier；D2, according to D1, and drives motor to drive by gear
Shaft element or driving motor drive toothed shaft element by cingulum or drive motor by belt drives shaft element；D3,
According to D1, and at least one drives motor to be positioned at wheel；D4, axle bracket mounting seat is combined with carrier, and wheel shaft props up
Frame two ends fixed two castors respectively；At least one drives motor to drive differential gear, and differential gear drives two castors respectively
Or simultaneously drive two castors；D5, two motors drive two castor operatings to become driving wheel respectively；D6, it is straight for driving motor
Flow brushless electric machine and there is Planetary Gear Transmission gear.
Example, the convolution twist mechanism of the carrier+be obliquely installed that torsional deformation resets, in-wheel motor wheel is fixedly installed on load
U-bracket between plug flat after body two, becomes the driving wheel of fast pulley bracing strut, and another carrier arranges two fixing wheel shafts
The driven pulley of support, foot's bias carrier convolution reverses, and having the lateral turn of carrier of independent castor (driving wheel) becomes and turn to
Driving wheel, it is achieved car body turns to and makes steering mechanism reset by flexible member.Front and back castor is all that rigid castors also can be real
Turning now to, structure simplification saves part.Fit to improve to wheel automatic linkage and turn to efficiency, including: current rear truckle spacing is longer
Time, two carriers twist mechanism that circled round connects a carrier simultaneously and has and fit to wheel, or, when two motors drive left and right respectively
When two wheels that two sizes are identical and constant-speed driving and differential steering, trailing wheel is to fit to wheel, left and right two-wheeled spacing and front and back wheel
Away from proportionate relationship be, if overlook time about two-wheeled spacing be 1, then when side-looking, front and back wheel spacing is 0.5--5.Suitable
Preferably, front-wheel is shorter with trailing wheel gap ratio conventional skateboard car, and two the driving wheel gap ratio conventional skateboard cars being set up in parallel are more
Wide.Reduce turning radius with relatively low electric consumption, be suitable for manned manpower legs and feet bias carrier asisted vehicle simultaneously and move ahead.
Heel brace: at least one axle is rotationally coupled at least one and takes turns element, the axle of wheel element is connected to pedal-type and carries
Body makes its displacement；Heel brace lays respectively at two carriers, and described heel brace includes that blade, Athey wheel, castor (roll castor axle set
Part).It is anti-skidding that rigid concavo-convex (such as winding brambles chain) is set outside driving wheel, the longitudinally disposed metal blade of driven heel brace, can
To travel on ice face；The horizontally arranged blade of driven heel brace, can travel on snowfield.Specialty driver uses former and later two feet
Support, ordinary person uses the heel brace of triangular layout.Carrier sets tangent line along travel direction and divides the left and right sides, and two, left and right wheel element can
It is rotationally connected to the left and right sides, respectively, the axle of at least one of which wheel element is connected to the side of deck type carrier, after
Wheel element is connected to body after the type carrier of deck；The heel brace of triangular layout is that three separate heel braces are respectively arranged at two carriers
Formed triangular support, including subtriangular layout heel brace (the narrow heel brace in one end and one end width heel brace, or, between two heel braces
Away from narrow, two other between left and right every heel brace spacing relatively wide), can reduce study drive threshold.Wide heel brace, such as 40
Between 400 millimeters, oversize vehicle can be more than 400 millimeters, including single-wheel (section has plane contact ground), or two
(coaxially or the most coaxial) two-wheel that individual next-door neighbour lays.Narrow heel brace, steerable drive wheel cross section is that circular arc tyre surface is beneficial to contact
Ground lateral turn roll, and between its section width is 10 to 100 millimeters, are formed with two other castor divided right and left
Triangular support.Being arranged to front two-wheeled, rear one take turns, vice versa.
Trample brake gear, arrange on wheel hub motor wheel 7 top, be similar to the override type machine in conventional skateboard tailstock portion
Tool brake and elastic reset assembly, the innovation has driving means and heel brace triangular pattern, thus can realize this function.
Traditional manually driven two-wheeled dragon flying around plate then cannot realize.
Fit to mechanism.Two driven rigid castors are fitted replaces to wheel, and example 1, (bull wheel footpath can make to be positioned at carrier bottom
Chassis is the highest)；Example 2, extends support cantilever from car body and extends above castor, and the suspention connection of support cantilever is fitted to driving wheel,
It is suitable for large wheel footpath；Example 3, see Figure 23,24, bull wheel footpath castor (such as 6 cun wheels--12 cun of wheels) is in the limited range specified
And within certain angular interval oblique rotation become limited fit to wheel (example, 5 degree--200 degree, preferably 10--90 degree it
Between), arrange concavo-convex spacing between fixed support and swinging wheel carrier, be arranged between both collisions of flexible member buffering, constrained
After, axle bracket and bull wheel footpath are fitted and are not collided car body to wheel, and the heel brace support of one-way traffic and castor are towards the swing of car rear.Figure
23 signals two independently fit to wheel and wheel carrier, Figure 23-a amplify illustrate vertical be obliquely installed fit and move assembly to axle,
Fit and be combined by pin-type securing member with car body mounting seat to wheel；Under same idea, Figure 24 illustrates two rigid castors supports
Integrated, middle part has the vertical axle motivation structure being obliquely installed.Between castor fixed support and castor swing support, axle is set
Holding, what drift bolt axle was worn that even fastening turn rotates in cooperatively forming limited angle fits to wheel, and drift bolt axle can be a bolt
And the nut of adaptation or two are to lock screw, bearing reduces friction and bears swing frequently.Figure 23-b, 24-a signal travels shape
The state of castor adaptive direction under state, Figure 23-c, 24-b signal turns to or under manpower driving condition, the state of castor swing.
If three castor layouts triangular in shape and fitting to wheel including at least, or four castors assume diamond in shape layout and including at least front
Two of rear laying fit to wheel, or four rectangular/trapezoidal layouts of castor and fitting to wheel, machine including at least two laid side by side
When chassis moves, fit and turn to efficiency to wheel automatic linkage raising.Castor is positioned at the front of carrier, rear, side, if not
Being positioned at the lower section of carrier, wheel footpath can be bigger.Time suitable, Fig. 1--the car in 14 is set to two driving wheels in left and right, afterbody wheel
Fitted and replaced to wheel.
Lightweight battery and associated appliance part.The motive-power battery of repeated charge shows as monomer or connection in series-parallel set of cells:
For the one in lithium battery, ultracapacitor, fuel cell, metal-air battery, graphene battery, nano material battery or its
Combination in any is powered to motor, or other light-duty energy storage pools, is called for short lightweight battery.Lead-acid battery is used under specific demand.
The built-in car body of component: lightweight battery is built in carrier, carrier is box beam formula, use lightweight construction, light material,
High strength light composite material and/or light alloy material；It is not limited in the following manner: 1, is located at the boxlike cavity of carrier.2, lightweight
Composite such as carbon fiber, the cavity of fiberglass reinforced plastics molding.3, moulding arranges some rib ribs, at least
Upper and lower two plastic cement decks are combined into cavity and a deck arranges netted vertical rib.4, metal sheet punch forming and vertical
Arranging several concavo-convex, upper and lower two plates are combined into cavity, such as metal stamping sheet metal component and be provided with concavo-convex as strengthen
Muscle.5, light-alloy (aluminum, magnesium, titanium) section bar integrated cavity pipe, example, squeeze the carrier of drawing and forming three lumen, drive end bearing bracket
The front port of 2-a insertion vector 2, the upper and lower position of moulding rear end cap 2-b has arm and the convex button of elastic deformation, and it inserts load
The hole interference adaptation that body 2 rear port has with carrier 2 top and the bottom engages, and two ports of carrier 2 are blocked in formation respectively
Put the closing storehouse of battery.Lightweight battery is positioned at main chamber, middle part, and carrier 2 afterbody extends two side chamber pipes as rear plug flat.Wheel hub
Motor wheel 7 fastens with two, left and right nut after installing with rear plug flat respectively, and wheel hub motor takes turns the motor lines of 7 sides via carrier
The side pipe of 2 enters the main lumen of carrier 2, electrically connects with its interior battery.When former and later two carrier internal batteries, can distinguish
Power to motor or the backward motor of connection in series-parallel is powered.Intracavity arranges related electronic devices to obtain clean and tidy appearance, example, motor
Controller, charging battery protecting device, data processor, data storage cell etc., appropriate site arranges charging inlet, data
Line interface, motor line interface, to one or several output interfaces (voltage 4--6V, 7--of other power electronic equipment
15V, 17--30V), battery electric quantity is set and shows (such as led or laser diode).
Split type lightweight battery: battery is moveably coupled to carrier and provides electric power to driving means.Example, battery and car body
Between leave gap or arrange softness elastomeric element, neither stop the assembling of battery, nor affect on carrier torsional deformation.Example,
It is additional to the boxlike cavity of carrier: battery compartment is placed in upper carrier or bottom, in order to the mode removed and installed is combined with carrier,
Can be as optional reserve battery, mounting means can show themselves in that and be similar to battery of mobile phone storehouse or TV remote controller battery compartment
(there is easy-off enclosing cover and built-in battery module, and electrode contacts, or, software line and energy are set in cabin
The waterproof patch plug of plug repeatedly)；Be press-fitted mounting seat and the electrode contacts that are placed on car body assemble with battery module.Split type
Lightweight battery can be the distributed battery being worn on human body, becomes wearable electronic.
Actuation means sends instruction and controls mobile unit and advance, cruise, brakes, falls back vehicle.Can adopt
Reversely rotate with electromagnetic braking or motor moment and realize retarding braking.Actuation means and control mode include:
A, wired remote control and hand-held control device: flexible manipulation line one end connects firmly (being connected with internal electrical equipment), the other end with vehicle
Being connected with hand-held control device, flexible manipulation line is by both circuit ON, and hand-held control device includes finger-moving type, the list of palm dynamic formula
Hands operates.Finger-moving type includes that stator is held in hands, and rotor is in charge of acceleration and deceleration and brake by different fingers；Palm dynamic formula is dependent on palm
Opening and closing manipulate acceleration and deceleration and brake.Flexible manipulation line can be helix or return wave molding, or, flexible manipulation line
Being combined by the tough and tensile the most ductile reinforcing cord of flexibility and flexible electronic control line, at least one section of region of Electronic Control line is curved
The coiling that Qusong relaxes is in reinforcing cord, and reinforcing cord two ends are fixing with car body and hand-held control device respectively to be connected.Can be at hand-held
Be provided with lever pulling steel wire rope on control device and castor is implemented brake, such as steel wire rope common on bicycle is stopped with disc.
Control device can also arrange led or laser diode illuminating lamp.
B, wireless remote control and hand-held control device: hand-held control device (such as rocker regulation resistance or wearable device) is launched
Wireless operated signal, receiver carried by automobile receives wireless operated signal, and signal receiver sends signal to data processor, at data
Reason device sends instruction to controller and motor and controls vehicle acceleration and deceleration, turn to and brake.But wireless communication mode includes not limiting
In radio frequency, infrared ray, bluetooth (the concurrent double frequency of 2.4GHz or 5GHz frequency range--2.4GHz), WIFI, NFC, RFID, ultrasonic
Ripple, Zigbee.Example, handheld terminal includes: master controller a1, finger-moving type manipulation regulating module (Magnet and hall sensor it
Between sense, or finger-moving type manipulation potentiometer), bluetooth b1, lightweight battery；Car body receiving terminal includes: master controller a2, bluetooth
B2, driving controller, motor, driving battery.Digiplex from be remotely-controlled car and be separated from each other and be positioned at different physical space positions
Putting, driver drives vehicle by remote control device and travels.Finger-moving type manipulation regulating module produces signal, by master controller a1
Encoding after process, bluetooth b1 send and encode to bluetooth b2, bluetooth b2 transfers to master controller a2 to decode after accepting signal
After be mapped to speed analog quantity, the pulsewidth PWM(pulse width modulating signal by driving) end regulation motor and castor rotating speed.
Trampling the driver's real-time control electric control driving device in locomotive chassis makes locomotive chassis travel, turn to.Locomotive chassis performs distant
The control vehicle driving instruction that sends of device, or, manpower and locomotive chassis jointly control and carry out semi-automatic manipulation traveling, turn to.Example,
Remote controller has at least two linearly movable potentiometer double track and is arranged close to side by side, and two speed governing bond energys move along parallel track
Dynamic, two speed governing keys administer the speed regulation of two driving wheels respectively；When remote controller is positioned at one hand, the finger of this hands (example 1,
Thumb；Example 2, forefinger and middle finger) just can stir two speed governing keys (for locomotive acceleration and deceleration) simultaneously, and, this hands
Finger can stir some (turning to for locomotive left or right) in two speed governing keys just respectively.By elastomeric element, hands
When referring to unclamp, elastic reset, potentiometer occupy zero point value.
C, sensor control device: by sensor, example, (space) attitude-measuring sensor (includes, multiaxis sensing, inclination angle
Sensing, center of gravity sensing, electronic gyroscope), load sensor (including: gravity sensitive, pressure sensing, based on driver's heavy sensation of the whole body
The heart or change in location produce weight teledata, are arranged to detect the one or more relevant of gravity and inertial force field respective change
The sensor of connection), acceleration transducer, torque sensor, velocity sensor, sensor receives signal and is signaled to data
Processor, when reaching preset value, data processor issues instructions to drive controller to start motor and is allowed to rotate and drive castor.
By moment or velocity sensor, drive motor that booster type can be used to start.
See Figure 26, before and after vehicle lengthwise direction, lay at least two parts 26-a1,26-a2, along vehicle lengthwise direction
Two parts are connected firmly hinged by the convolution twist mechanism 26-a3 turned to for car body laid；At least three heel brace respectively with two
Part combines and layout triangular in shape, and three heel braces include, a driving wheel and two driven direction-casters, or, two are driven
Driving wheel (includes that having about two spaced elastic tyres on a hub motor shell lays along wheel direction of principal axis, is subject to
The body weight bias variations of driver causes turning to when travelling) and driven fitting to wheel；The carrier element stepped on for foot station
Between driving wheel and driven pulley, or, it being positioned at main drive wheel both sides, during side-looking, the main body of carrier 26-a1 is positioned at driving wheel
Between axis vertical line (dotted line) and driven pulley, the carrier stepped on for station includes, but are not limited to two panels folded form and folding shaft axis
Along the setting of car body fore-and-aft direction, (Figure 26-b, support carrier is stepped at the station being positioned at car body (driving wheel) both sides, during folding, sets with vertical
The driving wheel direction put is consistent, and during expansion, it is consistent with the direction of principal axis of driving wheel that support carrier is stepped at station, in order to concisely, omit in figure
Driven pulley), drivewheel or its appurtenances 26-a4 be that the stress actuator abutting in shank is so that vehicle drive turns
To, appurtenances 26-a4 can be the box-beam structure of internal battery, and/or appurtenances 26-a4 has a telescopic lever
Tow so that vehicle is guided and supported；(pedal surface or stress supporting part) load sense formula sensor control device is by driver weight
The signal of load variations is sent to data processor, and when signal reaches preset value, data processor sends control to driving means
Signal processed, guides and drives electric machine rotation and drive castor, make vehicle acceleration and deceleration or brake.When front and back two carrier is long, in
Portion can be lifted up folding, and front and back carrier respectively carries a people.It is arranged as required to, hanging down relative to flatly plane
Angularly disposed convolution twist mechanism for line.
D, Intelligent Recognition control device: data processor processes, to coherent signal, the electric machine controller that backward driving castor rotates
Sending instruction, signal includes following a kind of or any number of combination: signal that the signal of speech production, color or image generate, people
Or the signal that the organ generation action of people generates.Example, the voice that people's mouth sends conveys to the sound identification module of intelligent terminal
After coding, signal is conveyed to vehicle-mounted data processor by bluetooth and the driving controller to motor generates driving instruction；Borrow
Help image recognition to gather induction apparatus (example, photographic head, infrared image induction apparatus, laser image induction apparatus), identify color, identify people
Body limb action, tracking limbs, acquisition image (including, the action that certain organ of gesture, limb action, human body sends), generate
Signal is sent to data processor and the driving controller to motor generates driving instruction.
E, tramples transfer, and the convolution twist mechanism between two pedals arranges position sensor (example, two relative turns
Axle sleeve and axle center be respectively provided with permanent magnet and Hall, during turn, permanent magnet and Hall distance change generation pulse electric signal
To regulate motor speed), two pedals are relative to regulating left and right sidesing driving wheel rotating speed during turn, rotating mechanism has elastic reset
Parts, are in zero degree value (two driving wheel rotating speed zero differences), the clockwise or counterclockwise electricity of output during turn during elastic reset
Signal is used for regulating the speed difference XOR direction of two driving wheels in left and right, or, annular or arc potentiometer, foot are set between two pedals
During turn pedal, the signal of telecommunication for two motor driving wheels changes, and turns left during a direction turn, rightabout turn
Time turn right, it is achieved differential steering.
Dual electronic control system, two kinds of different electronic controls or two kinds of identical electronic controls are used to carry out dual control
System, including: two-way, the dual pathways, binode are parallel, and between two systems, physical isolation or physical characteristic are different, any one system
When there is extraordinary failure, another system works on and guarantees security system and power system operation, reaches the purpose of dual fail-safe.
Kinematics model presets the variate-value of compliance curves pre-based on transportation condition according to motion and kinetics model
The dynamic data base of setting parameter value, the driving of different stage is made in flexible variable instruction according to kinematics model by data processor
Braking performs instruction, the different time of operation continuation, differential responses, difference degree of strength, different frequency, difference operating range,
Cruise etc. drives strategy, and manpower drives, mechanomotive force drives, man-machine hybrid power drives, and its interaction is incorporated into every trade and sails.
Interactive system: the first data processor shows as intelligent terminal；Second data processor shows as at vehicle-mounted data
Manage device or be positioned at the data processor of wearable electronic equipment；First data processor and the second data processor lead to alternately
News, carry out management and control by software and operation interface and parameter are arranged car, road pavement, travel, brake, automatic identification model enters
Row arranges regulation switching.Can show or the content of interactive operation also includes: pattern switching, current state, car load power switch
And the locking of motor and unblock, travel speed and cruise speed set, distance travelled, GPS position (vehicle present bit
Put), light setting, electric current, voltage, exothermic temperature, dump energy and low electricity are reported to the police, the influence value of related sensor is adjusted
Joint, remaining driving mileage (simulate according to dump energy and driving conditions and calculate), community's communication (multiple users of like products
Mutually cross streams), mutual (user exchanges and communication module with product producer), wireless communication function (bluetooth, telephone communication network
Network, the Internet), the setting of safe distance.Data processor, wireless telecommunication system, multiple sensor, data storage cell telecommunication
Connecting, be positioned at human body and/or vehicle-mounted, data processor processes runs relevant executable program.
Maintaining body: two carriers are respectively provided with the maintaining body being mutually adapted so that fixing folded state after Zhe Dieing.
Itself it may be that the mechanism of interference fit (can be achieved with the unfolded of vehicle without hands contact car body, foot action can assist reality
Existing), the face of two mutual correspondences arrange magnet attraction, be provided with elastic reset part hit hook engaging, primary and secondary that interference is press-fitted
Snap-fastener (deformation by material realizes open/close), hit hook itself there is the elastic matching mechanism interference fit with opposite.
Supporting mechanism 9 when car body is erect: see Figure 13,14,19, end sets Anti-bumping protection fence, and car body is gone back after folding
As bracing frame, when car body is erect, prevent castor disorderly rolling.Preferably semi-rigid material injection mo(u)lding.There are two arms and two
Side is respectively provided with two convex buttons, and after inserting wheel, the hole (wheel shaft or the installing hole of wheel hub motor) of plug flat side is borrowed afterwards
Help elastic deformation to realize interference and be press-fitted adaptive engaging therewith, by carrier 2 both sides duct occlusion, it is achieved assemble without screw.
It is easy to vehicle folding launch, guide and support the pull bar towed: vehicle folding can reduce by the length of 30% to 70%, launches to make
Used time, front and back wheel wheelbase is long, and travel speed and safety can improve.But after folding, car is dirty and heavy, carries and but becomes
For problem.Therefore propose, after two carriers fold by folding shaft, there are a handle and telescopic lever, example, two arms of pull bar 8
Inserting drive end bearing bracket 2-a, and lay respectively in two side chamber pipes of carrier 2, handle 8-a exposes to carrier 2 end and is positioned at
Between two carriers, or convolution twist mechanism inside center arranges intussusception telescopic lever, or arranges on a carrier wherein
Can turn down the pull bar folding and launching, after expansion, pull bar is vertical or oblique in car body, example, and pull bar is in [shape or approximation Fang Huan
Shape, one end (position, turning) axle is dynamic to be fixed in the middle part of two carriers, is yi word pattern with car body, turns over the when of needs under folded state
Folding is mentioned.Pull bar is stretched by carrier, launches vehicle folding by handle and pull bar, guides and supports and tow.Pull bar can be two-stage
Or more stages is flexible, to reduce volume.Carrier has by motor control automatic telescopic or the pull bar of folding, and tie rod end can set
Put steering wheel, for controlling the angle of pitch of the also man-machine interactive system (such as smart mobile phone) of turn tie rod end.
Hand-held device is combined with car body: Portable vehicle, the common fault of folded bicycle are handss of easily making dirty during use, the miniature vehicles
Although emerging in an endless stream, but facing same problem, the slide plate or the folding scooter that approximate with this car are all the more so, thus limit car body
Structure and the development of this area industry.Therefore propose: hand-held device (hand-held control device wirelessly or non-wirelessly) and car body or car
Carrier or pull bar handle (grafting assembling) combine, vehicle unfolded, can realize connection by a step (several micromotion)
Dynamic, it is not necessary to directly contact car body with hands, on the premise of keeping hand cleaning, realization folds, tows, launches, drives.Example, is shown in figure
9,10,15,16, hand-held device is plugged on two loads along car body lateral (vehicle traveling direction vertical) by (while bending over)
Handle (Fig. 9-a and Fig. 9-b, Figure 10, a part for handle exposes to carrier upper surface) in the middle part of body；Upwards lifting and with
Camber line turn centered by the axis (dotted line in figure) of wheel hub motor wheel 7, it is achieved fold.Hand-held device and the combination side of car body
The direction folded to, car body is different.Optionally, pull bar is extracted out along straight line, and tilts to opposite side, can tow car
, see Figure 14, when car body is upright, supporting mechanism 9 stops castor to roll；When launching to use, linearly pressing pull bar handle, receive
Pulling back bar, inclined in opposite directions car body, two carriers separate (can also by foot's auxiliary separately) automatically by gravity, hand-held
Device laterally slides with pull bar handle and separates, and while body erect, hand-held device is held in hands, stands on carrier, manipulation row
Sail.Except example, in the middle part of hand-held device insertion vector or insert pull bar handle, be laterally inserted into or interference be press-fitted or use claw hook or
Screwing in (being similar to screw thread) to combine, number of ways all can realize identical purpose.
Hand-held device is combined with car body and is also applied for: non-collapsible car, does not have two-way axle and moves the car of folding, do not has driving
The car of device or slide plate, the vehicle of other identical approximations.Carrier arrange the flexible pull bar of intussusception (certain one end of slave station pedal or in
Pull bar is extracted in portion out) or the pull bar that turnover folds is set at station pedal, hand-held device is combined with tie rod end；If car or slide plate are not
Can fold, hand-held device (grafting) can also be incorporated into car body.No matter whether hand-held device can manipulate speed governing can realize this
Function, hand-held device is not limited to shown in figure, and its moulding can set as required becomes various: C-shaped, T-shaped, L-shaped etc.
Deng, can be held in the hand, it is also possible to selective (grafting) installs onboard, it is also possible to be placed in pocket or hang over pocket
On, it is also possible to it is the circulus (such as there is one section of flexible and that elastic reset is interval bracelet) being suitably fixed in wrist
When it is set to wearable items, not only there is decoration function, be alternatively arranged as RFID type car key.
Car load can behave as portable, vehicle commander 10--200 centimetre, overall width 8--40 centimetre, preferably low chassis, its away from
Overhead between 5 to 200 millimeters, and/or, carrier is arranged essentially parallel to ground, long 50--150 centimetre.Complete vehicle weight 15
The single vehicle (particularly 3--8 kilogram) of delivery below kilogram；The double vehicle of delivery below weight 20--25 kilogram.
Car weight includes motor, battery, all parts.Battery is with car body if split type, and after removing battery, car body weight 2--5 is public
Jin.Size weight, performance configuration and the load-carrying of car vary with each individual, light small children and the difference of tall and big adult, and example, car body is long
80--130 centimetre, carrier width 12--35 centimetre, vehicle commander 40--65 centimetre after folding, split external (wearable) is light-duty
Car weight 2--3.5 kilogram (700 grams of motor, wheel 800 grams, the plastic cement car body 500 grams that deformation resets, bearing, spiral shell during battery
Silk, transmission etc. other parts 300 grams), during on-vehicle battery 4--5.5 kilogram, payload ratings 100 kilograms, designs speed per hour
5--40 kilometer, limit Design speed per hour 60 kilometers, preferably speed per hour 7--30 kilometer.The voltage 6V to 70V of lightweight battery, preferably
9V to 40V, in example, voltage 10V--16V, 20V--27V, battery capacity 2AH--30AH, preferably 24V8AH/36V8AH.
Whole battery bag weight is relevant with arranging of course continuation mileage, probably between 500 grams to 3000 grams, and example, 200 grams to 400
Gram.Motor includes brushless direct-current or AC system, switched reluctance, centreless magneto, synchronous mode, vicarious, step-by-step movement, servo-type
Or other suitable motor.Power-assisted startup brushless (frequency conversion) motor, rated power 80W to 400W, preferably 100W to 200W,
Electric current 6 to 15A, motor weighs 600 grams to 2500 grams, preferably 900 grams--and 1800 grams.The configuration of another kind of small-sized motor
Scheme is, the brushless motor driving wheel shaft by belt (cingulum), power is not less than 1000W--2000W.Small and weak people is also
Can take with portable for a long time.Car is the lightest little portable, and course continuation mileage is the longest, practicality potentiation the most therewith.As needed, it is also possible to will
Car is arranged to longer heavier and suitable width.
Man-machine hybrid power and pattern switching.Man-machine hybrid power system: electronic control includes electric machine control system, its bag
Containing data processor, velocity sensor and/or torque sensor, when driver's legs and feet advance vehicle to move with stepping on, and work as
When (speed and/or moment) reaches default numerical parameter, driving means conveyer Powered Propulsion vehicle moves, and electric motor starting is transported
Turn and shut down in default parameter, becoming man-machine hybrid drive vehicle with this repeated work and travel；Car travels
Time, detect electric motor starting, the power of wheel shaft rotating torque, rotating speed, the persistent period of operating by moment sensing or velocity pick-up
Etc., preset electric motor starting or the curve category of stopping or reversion and relevant parameter.Vehicle sliding moves rear power-assisted and starts motor,
Manpower slides and mixes with driven by power, driver's legs and feet is moved vehicle and electrically helps, and reduces electric motor starting electric current, weakens
Motor moment output fully loaded power, heating is less, reduces cell discharge requirements, reduces and step on frequency (number of times on foot-operated road surface),
Significantly alleviate motor weight, battery weight and car weight, it is achieved the least.Under the conditions of identical weight, man-machine hybrid power ratio
Pure electronic course continuation mileage is longer, becomes novel with this and slides running locomotive, sports and traffic and ride instead of walk combination.B1, man-machine
Hybrid power drive pattern is to make flexible variable instruction according to the integrated kinematic data model preset, and driving wheel is added and subtracted therewith
Speed frequency conversion drive, flexible variable instruction is pre-adjusted setting, and it is relevant to following condition: the prerequisite bar of electric motor starting operating
Part, the time of motor continuous running, motor are interrupted week time that the time cycle of operating, the instantaneous operating of motor or time delay operate
Phase, motor promote and torsional strength, legs and feet are trampled ground and leave ground and enter in start of run running speed at short notice
Different time points during row cutting is got involved the position feedback of operating, wheel shaft or rotor by electric motor starting；B2, man-machine mixing is moved
Power drive pattern is to make flexible variable instruction, driving wheel acceleration and deceleration frequency conversion therewith according to the integrated kinematic data model preset
Driving, flexible variable instruction is regulated and controled by human-computer interaction device, and user is according to the different operatings using environment regulation to arrange motor
Strategy, human-computer interaction device is connected with control centre by electric wire or wireless telecommunications；B3, the manpower comprising freewheel clutch drives
Gliding system, Motor Shaft is wheel shaft, drives castor to rotate, set between motor output shaft and elastic wheel when rotor rotates
It is equipped with freewheel clutch；Motor or wheel shaft arrange freewheel clutch, such as (two) electric driver by freewheel clutch with
Wheel element combines (becoming two driving wheels), when legs and feet of driver are positioned at carrier and another legs and feet advance vehicle with stepping on
When movement and vehicle-mounted machine Powered Propulsion vehicle move, when the speed of a kind of drive manner exceedes the speed of another kind of drive manner,
Automatically switched two kinds of drive manners by freewheel clutch, elimination magnetic resistance of motor power can be separated and realize override type and smoothly slide；B4, electricity
Machine shaft is wheel shaft, or Motor Shaft is via being wheel shaft after variator, drives castor to rotate when rotor rotates, and,
One end of electric machine support is that ring-type suit is fixed on motor stator outside or motor housing, and the other end of electric machine support is with car body even
Connect；B5, electronic control includes electric machine control system, and it comprises data processor, velocity sensor and/or torque sensor, lower limb
When advancing vehicle, when speed and/or moment reach parameter preset, electric motor starting operates and in default parameter foot-operatedly
Shut down, become man-machine hybrid drive vehicle with this repeated work of taking turns and travel.Mix with mechanomotive force according to manpower
Different ratio, divides and arranges 2 or more different grades of pattern；Man-machine hybrid mode have two or more
Pattern, selectivity switching circuit or regulation signal of telecommunication coding, a certain pattern being set in man-machine hybrid mode is real
Existing different mixing ratio；Motor control software is designed as multisection type and runs program, and Three models selects the switching device bag of switching
Include but be not limited to the Hall element circuit selective on/off control of different mode；Optionally switching circuit is (such as
Two kinds or several Hall element and circuit thereof are switched over by the break-make by relay, or pass according to speed, moment
The value of sensor is set, and modulation pulsewidth realizes the different operatings of motor): motor power-assisted starts slide with manpower man-machine and mixes
Pattern, dependence motor original place rely on the manpower drive pattern that legs and feet slide with stepping on after starting the electric-only mode of operating, power-off.
The vehicle-mounted power supply interface having terminal control device and adaptive rigid fixedly mounted seat, terminal control device is by readily removable
The mechanical mechanism of dress is fixed on this combination that matches and connects firmly, and control circuit be connected with mobile unit telecommunication (display, voice,
Communication, data process, stereoscopic vision, audio-visual data are mutual), the stereo vision sensor that terminal control device has is towards traveling side
To, generate dependent instruction after its data gathered are processed and be sent to vehicle drive unit, vehicle is travelled and is controlled.Locomotive
Wireless telecommunications system access the Internet by terminal control device carries out data transmission or exchanges, and carries out corresponding operating.
Remotely controlling and automated driving system, be suitable to the foot-operated vehicle driven or be suitable to deliver people, it is: locomotive chassis
To carry out information by wireless telecommunication system mutual with strange land command centre；Driving wheel with the laying of driven heel brace is, at least three
Heel brace layout triangular in shape, a carrier has at least one and fits to wheel, and it includes following a certain configuration: a that lays, one from
Dynamic fits to wheel, and two, left and right wheels drive (such as two the wheel hub electric motor wheels in left and right) respectively with two set electric machines, with
For driving and turning to, two carriers are joined by the convolution twist mechanism turned to for car body laid along vehicle lengthwise direction
Connecing, convolution twist mechanism comprises elastic reseting part (front and back two carriers and connector three in one are by moulding molding)；B, one
Individual driven fitting to wheel, two, left and right wheels are driven by a motor, and differential gear makes two wheels speed produce changes to be become
Differential drives, for driving and turning to, and bullet car body turned to for driver's legs and feet laid along vehicle lengthwise direction
Property convolution twist mechanism two carriers are coupled；C, at least one fixing main drive wheel (such as wheel hub electric motor wheel), extremely
What two, few left and right was driven fits to wheel, reverses steering mechanism by steering wheel and turns to (such as T-shaped axle and 5-a for car body
Position steering wheel is set), before and after connection, the convolution twist mechanism of carrier is not provided with elastic reset part, or, convolution twist mechanism
Elastomeric element arranges detachable mounted connector (such as can the cone pin of plug or spiral fastener) with choosing with connecting firmly junction
Driving model needed for the switching of selecting property, the steering spindle being obliquely installed along travel direction according to driving instruct reciprocal turn
Turn regulation in the range of 120 degree.Example, steering wheel is positioned at convolution twist mechanism end and controls T-shaped axle, for automatic Pilot with long-range
Control to make car body turn to；Front carrier is deformable deck and the conduct convolution elasticity of torsion reset components of plastic cement, for people's foot
Driving is stepped at station in portion makes car body turn to potentiation, (putting driving battery in rear bearing body), then this configuration can remotely control automatically to drive
Sailing, can also be stepped on driving by people foot station simultaneously, select the connector of switching to make it have two kinds of driving models concurrently, it shares identical
Electric control driving device make locomotive chassis travel, turn to.Under manned pattern, trampling the driver in locomotive chassis can not manipulate
Locomotive chassis travels, turns to, but locomotive chassis full-automation manipulation travels, turns to, or, trample the driver in locomotive chassis
Outside manpower jointly control with locomotive chassis and carry out semi-automatic manipulation and travel, turn to that (such as manual operation remote controller sends
Instruct to vehicle-mounted reception and the system of execution).Convolution twist mechanism is when twisted by manpower, ratcheting steer motor battery core with
Rotation produce electric power be recovered in battery.
Remotely controlling and automated driving system, be suitable to the foot-operated vehicle driven or be suitable to deliver people, it is: locomotive chassis
To carry out information by wireless telecommunication system mutual with strange land command centre；Driving wheel with the laying of driven heel brace is, at least three
Heel brace layout triangular in shape, a carrier has at least one and fits to wheel, and it includes following a certain configuration: a that lays, one from
Dynamic fits to wheel, and two, left and right wheels drive (such as two the wheel hub electric motor wheels in left and right) respectively with two set electric machines, with
For driving and turning to, two carriers are joined by the convolution twist mechanism turned to for car body laid along vehicle lengthwise direction
Connecing, convolution twist mechanism comprises elastic reseting part (front and back two carriers and connector three in one are by moulding molding)；B, one
Individual driven fitting to wheel, two, left and right wheels are driven by a motor, and differential gear makes two wheels speed produce changes to be become
Differential drives, for driving and turning to, and bullet car body turned to for driver's legs and feet laid along vehicle lengthwise direction
Property convolution twist mechanism two carriers are coupled；C, at least one fixing main drive wheel (such as wheel hub electric motor wheel), extremely
What two, few left and right was driven fits to wheel, reverses steering mechanism by steering wheel and turns to (such as T-shaped axle and 5-a for car body
Position steering wheel is set), before and after connection, the convolution twist mechanism of carrier is not provided with elastic reset part, or, convolution twist mechanism
Elastomeric element arranges detachable mounted connector (such as can the cone pin of plug or spiral fastener) with choosing with connecting firmly junction
Driving model needed for the switching of selecting property, the steering spindle being obliquely installed along travel direction according to driving instruct reciprocal turn
Turn regulation in the range of 120 degree.Example, steering wheel is positioned at convolution twist mechanism end and controls T-shaped axle, for automatic Pilot with long-range
Control to make car body turn to；Front carrier is deformable deck and the conduct convolution elasticity of torsion reset components of plastic cement, for people's foot
Driving is stepped at station in portion makes car body turn to potentiation, (putting driving battery in rear bearing body), then this configuration can remotely control automatically to drive
Sailing, can also be stepped on driving by people foot station simultaneously, select the connector of switching to make it have two kinds of driving models concurrently, it shares identical
Electric control driving device make locomotive chassis travel, turn to.Under manned pattern, trampling the driver in locomotive chassis can not manipulate
Locomotive chassis travels, turns to, but locomotive chassis full-automation manipulation travels, turns to, or, trample the driver in locomotive chassis
Outside manpower jointly control with locomotive chassis and carry out semi-automatic manipulation and travel, turn to that (such as manual operation remote controller sends
Instruct to vehicle-mounted reception and the system of execution).
Support the system that manipulation full-automatic, semi-automatic travels, turns to.Vehicle-mounted have optical navigation, sensing directional, position
One in the guiding of sensing, electromagnetism, range finding sensing module or its combination, guide for automobile navigation；Remote control terminal, refers to
Vehicle is provided with the vehicle-mounted interactive system of wireless telecommunications, remote control terminal by wireless telecommunication system interact to its monitoring with
Scheduling, for the long-range control of vehicle.By vehicle-mounted mutual control system, with the people near locomotive chassis or locomotive chassis
The information of carrying out is mutual；Vehicle-mounted mutual control system includes following a kind of device or its various combinations: image acquisition (is such as laid in
In the middle part of front side or car or the photographic head of car surrounding, 360 degree of photographic head rotating regulation directions, by motor-driven (flexible or
Folding) standpipe (lifting arm) top that lifts arranges photographic head, full-view camera--and several photographic head constitute compound eye type or envelope
Close the security protection photographic head of Double axial rotation in hemispherical shell body), (receiver and speaker are for people for voice collecting and acoustical generator
Machine is talked with), LED or laser diode luminous lighting (be laid in Herba Plantaginis rear, together with rotating the photographic head in regulation direction, shine
Penetrate the laser marker on ground or side-marker lamp), display (the display visual interface of information or projector), the operation of man-machine interaction
Interface (such as touch screen or operation button, image is mutual, phonetic entry is interactive with mobile unit), range finding and collision avoidance (detection car
The barrier of travel direction, keeps safe distance, car below knock into the back near time, vehicle can accelerate to move ahead to maintain safe distance,
Do not rolled by vehicle below or collide, specifically can refer to search retinue system automatically hereafter).Automatic charging (when not having electricity, from
The dynamic signal searching for charging base also travels entrance base according to default attitude, contacts charging head).Data processor and data
Memory element is the terminal control device in mobile unit or driver's hands, by wireless telecommunication system (example, the Internet, wireless shifting
Dynamic the Internet, GPRS, CDMA, 3G, 4G communication module), locomotive chassis gather near information and by wireless communication networks
Transmitting data to other positions outside body, data are restored at the bottom of locomotive by wireless telecommunication system after being processed
Dish, such as send the data to the vehicle-mounted or wireless local of du vehicule again after sending the data to data processor processes
Net base station (WIFI module or bluetooth module), carries out communication and letter by WLAN between remote control terminal and mobile unit
Breath is mutual, remotely controls to include: vehicle brake of retreating turns to the people of vehicle and du vehicule that to carry out audiovisual mutual.Locomotive
Chassis and the extraneous information interacted include other information outside the instruction of locomotive real time running.Automatic protective system, is suitable for
The car of driving is stepped on, it is simple to the car load of differently configured load-bearing grade and being suitable in electronic small-sized car, Portable vehicle, folded bicycle, station
Electric system, serve the targeted customer in the range of specific body weight accurately with this, it is to avoid user unexpectedly beyond safety permitted
Excessive load can be used accidents caused, and thus car load is designed to the least, when service condition surpasses more than default value
When crossing working limit, circuitry cuts, vehicle-mounted motor shuts down；When service condition meets default value, circuit ON, vehicle-mounted
Electric motor starting operates；Alternative arranges alarm module, when service condition exceedes working limit more than default value, vehicle-mounted
Caution device sends acousto-optic hint or voice message；The vehicle load condition preset, default load-carrying numerical value, detector arrive
This three of the signal of telecommunication is correlated with, and it includes that the data collected are sent at data by following any one or more kinds of sensing unit
Reason device: be arranged at moment values, distance measuring sensor or the gradient sensor of the torque sensor detection-sensitive motor operating of motor or wheel shaft
The inclined slope angle value on (or gyroscope) sensing road surface, it is positioned at LOAD CELLS sensing vehicle negative of pedal surface or support zone
Load value；(speed-limiting protection is conventional configuration)；Pedal carrier (upper surface) is provided with the double plate laminated type of pedal of LOAD CELLS
Switch, is arranged between LOAD CELLS (such as foil gauge, capacitance-type, pressure resistance type, inductance type, condenser type, resonant mode) inspection
Measured weight, weight data is when default category, and data processor sends signal of telecommunication instruction and connection circuit makes driving means transport
Turning, when weight data is beyond the category preset, data processor does not send signal of telecommunication instruction and cut-out circuit makes driving means not
Operating；Sensing unit electrically connects with data processor, when numerical value beyond specified carrying capacity or loses suddenly launch weight and wink
Time (such as 1--3 second) change produce numerical fluctuations time, driving means performs operating, when numerical value exceed specified carrying capacity or dash forward
So lose launch weight and generation numerical value continue the most constant time, driving means does not perform operating.The ripple that weight data dynamically changes
Dynamic frequency, persistent period, speed, the time point of generation, weight numerical value, it is according to required and be selectively applied and arrange relevant
Executable program and data base, the automated operation strategy of driving means is associated or related data is remembered by data storage
Record is so that monitoring and surveying.Thus tackle the numerical fluctuations under road bump or accident and similar accidental situation thereof.
Automatic traveling system 1, wireless remote-control system includes, the remote controller that user carries；Onboard wireless retinue system includes,
Automatic traveling device, central data processor and control system, motor drive controller are in order to control the fortune of motor and driving wheel
Turn direction and running speed；Onboard system is allowed according to preset value retinue and to move according to the motion path of remote controller.From
Dynamic retinue device includes, remote controller is connected by the mutual communication of specific coding with onboard system, searches for and identify the side of remote controller
Position, the signal of distance, motion track, translational speed, identification information reaches central processing unit and carries out processing and issuing instructions to electricity
Machine and driving wheel, the operating of regulation driving wheel, two driving motors are sent operation instruction (direction or rotating speed) different from each other,
Remote controller controls vehicle retinue control making respective action, rotation direction, angle, travel distance etc..Limit with row distance
Device: (range finding, ultrasonic pulse runs into the echo that object back reflection returns and detected by receptor, calculates transmitted wave and echo
Time difference, to determine the distance of measured object) the vehicle-mounted range finder module detection roadblock of travel direction and the information detected is issued
Central processing unit, when reaching preset value with the spacing of measured object, intervenes drive system, and instruction drives motor to stop or operating, limit
Determining and automatically keep object and the spacing of car or two following distances, when spacing reaches preset value farther out, onboard system sends warning.
Two cars or more car are followed, and retinue vehicle can be with unmanned.Preferably, even if remote controller is at vehicle body side, distance measuring sensor
Sense car laterally have barrier closer easy collision time, safe avoidance instruction there is priority, vehicle does not perform turning
Instruction, onboard system sends warning；The path of regulation preset parameter value self-defined vehicle traveling and accompanying spacing.User by
The operation interface of remote controller issues instructions to onboard system makes vehicle reach the desired position of user, and operable content includes, adds
Slow down, automatic/hand manipulates, all around travels.Example, wireless transmitter sends (ultrasound wave) pulse signal to be believed as one
Mark, receiver carried by automobile detection identifies its azimuth, and the receptor that can be in two fixed drive wheel tops detects two respectively
Individual driving wheel and the spacing of beacon, make corresponding actions according to spacing and adjust and keep angle and distance, it is also possible to be more (arcs
Ring shape) array lay receptor or rotation sweep receptor detection beacon which orientation being in locomotive to make
Move accordingly and adjust.Can also be with the specific beacon of digital camera identification (Quick Response Code, colour code, icon), or by vertical
Body vision sensor identification.When remote controller is positioned at a vehicle, another vehicle tailstock with.Under cruise automatic running state, if
Dry car head and the tail tandem retinue, Artificial Control main frame (main vehicle), fleet travels on same paths, mutual communication between vehicle,
Retinue, carrying out specifying arranged array to travel according to default parameter, example, between some cars, head and the tail retinue tandem is crawled or laterally
Side by side or by specified arrays, travelling according to the spacing specified, many cars keep spacing to accompany mutually in an identical track,
Only need an Artificial Control main frame just can control whole fleet and complete identical action.It (eye of driver on following vehicle
Eyeball) head is higher than the leading car in front, or the camera collection image information (by wireless telecommunications) of leading front side is sent to
Display in the following vehicle driver's sight line of rear, driver observes the road conditions of leading front side by display.
Automatic traveling system 2.The advantage of automatic traveling is, a leading car can lead many cars transport people or goods to arrive mesh
Ground, following vehicle can realize unmanned save manpower；Shortcoming is, it is impossible under reply complex environment, (such as urban road is handed over
Logical and the passerby of different identity) traveling, need to look after the retinue vehicle at rear the people keeping an eye on car or thing frequently.Therefore carry
Go out, at least two cars, the first vehicle be leading car, the second vehicle be with rear vehicle, driver be positioned at rear vehicle and this drive
The person of sailing is signaled to the leading car in front, the romote controlled receiving system of leading car and driving means with Digiplex and performs remote control
Manipulation that device sends instruction travels, residing for driver with rear vehicle (manipulate without driver, but) by retinue system
System is automatically followed leading car and is travelled and maintain safe distance, and has one or during more retinue vehicles, some vehicles between two cars
Tandem travels, turns to, stops.Each car has independent operating system, and after releasing with row mode, vehicle can be driven respectively,
Each car both can individually control tandem to travel；Leading car is by the speed of self, steering angle, run trace, path letter
Breath is sent to rear following vehicle, and with this, following vehicle determines movement locus；The parameter that regulation is preset, the road that definition following vehicle travels
Footpath, retinue in real time or time delay retinue.
Automatic traveling system 3.The electro-tricycle of people or thing can be delivered, support Manpower operating to drive and automatically controlled manipulation is driven
Sailing, when Manpower operating is driven, the driver's real-time operation mechanical steering gear being positioned at main vehicle carries out turning to driving, and it includes passing
The Zhou Dong steering mechanism (such as bicycle) of system, axle sleeve, shaft core, bearing, axle bracket, the combination of handle, or, pedal, convolution
Twist mechanism, dual drive wheel+fit the combination to wheel；When automatically controlled manipulation is driven, the signal of telecommunication and driving means control operation and turn to
Mechanism carries out turning to driving, it driving motor and steer motor (example, dual drive wheel of including driving wheel operating；Single driven wheel+
Steering-engine)；Axle moves mechanical steering gear+dual drive wheel+fit when wheel, and Zhou Dong steering mechanism arranges detachable mounted machinery even
Connect keeper (such as arrange between axle sleeve and axle center run through can the cone pin of plug or the securing member that is spirally connected) with according to required
Manned/non-manned two kinds of driving models of selective switching, when releasing the dynamic rotation of keeper axle, are suitable to manned；Install keeper additional
Time, be suitable to non-manned (automatically controlled manipulation, automatically) driving model.Dual drive wheel+fit when wheel, optionally uses remote controller, cuts
Change two kinds of driving models.Automatically controlled manipulation is driven: include automatic traveling, main vehicle and following vehicle communication, one or more cars with
With main vehicle and maintain safe distance, if main vehicle travels, turns to, stops, following vehicle also makes same action.Example, main vehicle has
Having axle motivation structure, axle sleeve and shaft core are respectively provided with Hall and permanent magnet (such as electric bicycle speed-regulating handle), when turning to,
The radially turn transfer of axle motivation structure, the magnetic field position change between Hall and Magnet produces the signal of telecommunication, and it transfers to the master of main vehicle
Controller a1 processes and encodes, (wireless remote controller) bluetooth b1 of main vehicle send coding to the bluetooth of following vehicle
B2, bluetooth b2 is transferred to following vehicle master controller a2 decoded map to become speed analog quantity, (is converted into fortune after accepting signal
Turn instruction), by drive pulsewidth PWM(pulse width modulating signal) regulation following vehicle turn to (steering-engine or Dual Drive
The differential of wheel)；Time initial, this two cars (pivotal line) correction for direction of main vehicle and following vehicle is consistent or this two cars direction is put to institute
The angle needed, the angle zero point value when wireless blue tooth of two cars initiates and corresponding encoding calibration turns to as two cars, main vehicle turns
Xiang Shi, the steering mechanism of following vehicle and main vehicle steering mechanism Tong Bu turn to, and it is consistent that the steering mechanism of two cars is located direction.Retinue
If car is identical with main vehicle, the axle sleeve of that following vehicle and shaft core are respectively provided with Hall and permanent magnet, when rotating use
The changes of magnetic field produced and the signal of telecommunication send to data processor, the steering mechanism of main vehicle and following vehicle its be located orientation and enter
Row comparing, to realize accurately synchronizing location, when data generation difference, suitably sends information warning to driver.With
Step turns to and includes: 1, and main vehicle is carried out turning to driving and following vehicle Tong Bu to turn to mechanical steering gear by driver manipulator；
2, main vehicle is operated about control two (motor-driven) driving wheels by driver, and to realize differential steering constant-speed driving (the most permissible
It is that driver foot tramples and turns to, it is also possible to be that driver's arm manipulation remote controller turns to) Tong Bu turn to following vehicle.Same above
Step steering mode, after presetting adjustment, communicate with one another mutual manipulation, it is achieved synchronizes to turn to.Example, the main car of driver's legs and feet turn
Pedal and convolution twist mechanism, magnetic field position signal is sent to unattended electric three-wheel following vehicle (steering-engine
Turn hands mechanical steering axle motivation structure, or, dual drive wheel) realize synchronization and turn to.Use photoelectric encoder detection turn target
When the position being located and turn mode, the magnetic field signal of telecommunication coded system of aforementioned Hall and permanent magnet can be replaced；When wheel shaft portion
When position arranges position detection (photoelectric coding or magnetic field coding), main vehicle rotates and Vehicle Speed with the castor of following vehicle
Synchronization Control can also be realized.
Automatic traveling system 4.(the opposite direction application of automatic traveling system 1, i.e. remote controller is located behind, and following vehicle is positioned at
Front) at least two cars, the first vehicle be front vehicles and be called following vehicle, the second vehicle is front vehicle and is called master
Vehicle (delivery people or driver), (example sets following vehicle (particularly afterbody) fixed reading devices on left driving wheel top
Put a supersonic range finder, one supersonic range finder be set on right driving wheel top) and data processor to
The instruction travelled before and after driving means transmission realizes controlling to keep two following distances, main vehicle (particularly headstock) setting to be available for it and reads
The beacon (example arranges one or is set up in parallel two ultrasonic transmitters along stringcourse position on wheel) taken, following vehicle reads
The beacon of main vehicle (whichever car arranges which car of transmitting terminal and arranges receiving terminal, or, which car another car of identification
Beacon, or the multi-form of beacon, its purpose is the most identical) form the wave beam of two virtual radios, identified thing, identify device,
Two wave beams, three forms isosceles triangle or rectangle or trapezoidal in this, as Basis, and adjustment also sets out the pivot of two cars in advance
Axis (parking stall and the center line of travel direction) is the most corresponding consistent, when main vehicle travels and turns to, and the most original traveling
For direction, beacon and the change of following vehicle generation angle and distance, the pivotal line change of two cars front and back becomes inconsistent, left and right
The signal read is sent to data processor by two readers on driving wheel top, and data processor (changes this signal
Speed analog quantity) send the timely travel direction adjusting following vehicle of instruction and angle (example, driving to two driving means respectively
Turbin generator and steering-engine, or dual-molor drive wheel differential), with this, all the time correction before and after lead with two cars pivotal line or
Travel direction keeps consistent；When travelling or stop before and after main vehicle, following vehicle detect distance change and make corresponding actions with
Maintain safe distance.By that analogy, front and back set up one or more vehicle between two cars also may be used；Release with row mode, can be by leading
Automobile wireless controls or is positioned at the driver of following vehicle to release；By 3 d stereoscopic sense sensor to specific action and
Target is read out and identifies, carries out function and replaces the purpose that can also reach identical；Main vehicle is moved main body and is replaced, such as
People wears beacon and defaults in ad-hoc location in order to identify the angle and distance of itself and following vehicle, it is also possible to reach identical purpose.
Make following vehicle be positioned at other orientation (such as left front, right front, left side, right side) of main vehicle also can, example, preset multiple readable
The beacon taken or reading manner (including, annular array is laid multiple ultrasound wave and read equipment), adjusted by switching, and following vehicle can
The different azimuth being positioned at main vehicle is set, it is intended that select following vehicle to be in the different azimuth of mobile main body；If it is double between vehicle
If the transmission manipulation driving instruction that communicates with one another, one car of any of which arranges reading devices and enters the beacon of other car
Row identifies the manipulation that can realize identical purpose；The light of main wagon control following vehicle also may be used.If open wireless telecommunications connect
Mouthful, after main vehicle code is permitted, increasing and decreasing vehicle unit, it is fleet that some vehicles are compiled, and the whole fleet of management and control coordinated by main vehicle,
Real-time management, adapts to coordinative operation under varying environment, and by operation and control interface, main vehicle and the main frame management and control of delivery driver are many
Multiple retinue vehicles are each numbered by individual following vehicle, and following vehicle is formed into columns by each numbering vehicle according to default program, with
Driving near-field communication array travels and (includes the various forms of tandem of some vehicles, arrangement arranged side by side, oblique, by range finding avoidance mould
Block keeps specific distance therebetween).During some same vehicle energy two-way interactive communications, travel management and control power and specified by driver.By
This, main vehicle travels the variable signal produced when turning to and is sent to data processor, and data processor sends finger to driving means
Order adjusts the traveling action of following vehicle in time, and following vehicle makes respective reaction, steering mechanism's synchronization action travel direction of two cars
Unanimously；When travelling or stop before and after main vehicle, following vehicle makes identical reaction and detecting distance change maintains safe distance therewith.
Traditional towed vehicle, greatest problem is reversing, antiparallel when parking problem more prominent.The innovation use automatically with
Row and fuzzy control, managing and control system is simple, and vehicle unit is that both forward and reverse directions travels double-end vehicle, has to fit and turns to wheel and both forward and reverse directions
Dynamic dual drive wheel energy pivot stud, has circuit switching, support remote control and be remotely-controlled, other cars and by other cars of supporting to accompany
Retinue, at least two cars can mutually remote controls, accompany mutually；Vehicle unit residing for driver can manipulate alone driving and (under normality, drive
The person of sailing drives oneself residing vehicle, optionally, is switching to, other vehicles of remote control)；When reversing is stopped, fleet rear and front end
Vehicle there is romote controlled receiving system and perform device, a certain vehicle of remote control reaches desired location, and fleet can travel by both forward and reverse directions；
Jointly control, in the plane of top view by remote controller, range finding sensing, angle (such as electronic compass, sensing directional) sensor
In coordinate system, tractor with by the axisymmetrical of trailer, or, tractor is consistent along travel direction line with by trailer, in real time with
Row or employing delay algorithm, in order to the line of driving path is consistent；By wireless operated, it is achieved semi-automatic or the most virtual drag
Hang, traditional traction towed vehicle can be replaced, reduce cost of labor and vehicle manufacturing cost, improve conevying efficiency, increase transport energy
Power, easy expanding function (changing trailer joint number the most flexibly).According to concrete road conditions and purposes, the existing skill can being correlated with superposition
Art.Described vehicle is replaced by ship and aircraft and also may be used.
The vehicle (being not limited to this car) of various modes manipulation: locomotive supports that manned and non-manned two kinds are driven mould simultaneously
Formula, manpower is driven and automatically controlled driving is available for user and selects voluntarily；Under manpower driving model, it is adaptable to manned and by driver to car
Mechanical steering gear turns to driving；Under manned pattern, driver is positioned at carrier and turns round locomotive chassis real-time control, two legs and feet
Turn or arm torsional direction dish or gravity center shift or finger move change manipulation and drive；Under automatically controlled driving model, it is adaptable to vehicle-mounted
Equipment is completed to small part manipulation and drives, example, and driver drives by remote controller wireless remote control, automatic Pilot (automatically or half
Automatically, example, automatic tracking traveling, at least one being automatically positioned in navigation traveling, automatic traveling traveling)；Combination and cooperation is driven
Under pattern, driver does not manipulate the vehicle oneself trampled, and this vehicle is remotely-controlled or automatically follows other vehicles, or, driver is distant
Control the vehicle oneself trampled and optionally fit to mechanism with legs and feet torsion, or, driver's legs and feet reverse fits to mechanism and fits
Carry out manipulation to driving wheel to drive；Under self-service cruise mode, driver sets driving trace, car on plane coordinate system or map
It is automatically performed traveling.There is on car handle socket, when inserting handle, can be driven by manual operation；There is on car wireless access
Interface, can be by remote driving.Realize car body by automation equipment control convolution twist mechanism to turn to, with automation equipment or electricity
Ji Shi mechanism realize axle move bidirectional reciprocating operating (such as steering wheel) regulation control wheels travel turn to (with motor horizontal direction revolve
Turn) it is known technology, it is not repeated herein.
There is the driving system of path learning function, when driver drives locomotive and opens switch, driving wheel and turn
Being read by position coder (such as photo-electric or magnetic field type) to the rotation mode of mechanism, its rotation mode of recording learning, it is extremely
Comprise slewing rate, the rotation number of turns, (turning to) angle, generation and duration less, motion arranges along timeline order,
Related data is stored in data storage, and closing switch terminates a demons；If under equivalent environment, open reduction and open
Guan Shi, the related data that mnemonic learning arrives reads from data storage and repeats driving wheel and steering mechanism as driving instruction
Spinning movement, reduce identical traveling action and can be along original route；(with this, made by the demonstration of driving path
Travel route remembered by locomotive, and not employment is repeated several times same route, and car can be restrained oneself movement) default when detecting that data exceed
When parameter value presents abnormal, driving wheel terminates operating and suitably reports to the police to manager, (prevents driving wheel blind when such as occurring unexpected
Mesh operates), it comprises following one or more of monitoring modular: locomotive attitude detection, weight detecting, Rotating speed measring, moment of torsion are examined
Survey, range measurement, sense of touch pressure detecting.Can repeat to reduce identical traveling action under equivalent environment, secondary record drives
The running data of the relevant rotation mode of wheel and steering mechanism and this data and precedence record is compared, with this, counterweight
Multiple travel route is monitored, and when data are inconsistent, driving wheel terminates operating, the most suitably reports to the police to manager.Reduction phase
With traveling action time, when driver assign instruction brake stop time, driving instruction interrupts temporarily；Continue when driver assigns instruction
Continuing when sailing, unless driver assigns other instruction, driving instruction starts to continue executing with from the point of interruption.
Automatization's folding stand.During vehicle zero load, vehicle-mounted control key or remote control or remotely control are to folding shaft motor and electricity
Road sends instruction, and the motor of programming Control rotarily drives associated mechanisms (such as rope winder or gear), car according to preset value
Two end movements of frame near evolve as open and flat--obtuse angle--right angle--acute angle--near or laminating in a kind of state, in order to
Auto-folder/expansion in vehicle.Folding shaft axial dimension is more than 30--100 millimeter.Main car frame is at right angles or during acute angle, vehicle
Radius of turn is little.This folding stand applies also for the cycle frame of other manned loadings, particularly three-wheel or carriage.Pedal
Carrier end can arrange that (one or two) is small-sized fits under wheel, car body (partly) folded state, small-sized fits to wheel and driving wheel
Contacting ground, car body launches under transport condition simultaneously, small-sized fits to wheel castor contact ground not in contact with the ground, large-scale.
Example 1, rope winder and folding stand, when main car frame launches, at least one interval is that inverted V-shaped is (based on institute above
State), at least partially in yi word pattern when main car frame launches, rope 28-a(is tough flexibility, such as steel wire rope) the first end is fixed on
Front carrier front portion fixing point 28-b；Roller 28-c is positioned at rear carrier and after roller is positioned at rear carrier with rotating winder 28-d
Portion；The mesozone of rope turn back via roller and be fixed on winder (according to structure difference, without roller also can)；Rope edge
Car body fore-and-aft direction is arranged at lower car body；Control device send instruction makes the motor of winder rotate, rope gradually wound and
Rope is kept to tighten up state by rotation-stop device (such as ratchet and ratchet)；For moving up in the middle part of folding shaft and vehicle frame in the middle part of vehicle frame
Fold, otherwise then launch；In simple configuration, can manually release rotation-stop device to rope when the folded state near laminating launches
The locking of rope, utilizes deadweight to return to initial point and launches vehicle frame；When realizing in an automated manner (the most at an acute angle between vehicle frame), at volume
Motor rotating part around device arranges link gear and automatically terminates rotation-stop device (such as push the card between ratchet and ratchet aside when reversion
Close), the mechanical action of electrification automatically terminates spin-ended mechanism and can be realized by multiple known technology.Rope winding device can be arranged
In the middle part of car body one, or the both sides spacing parallel arranging in the middle part of car body arranges two, and curling up of two ropes is in opposite direction, such as
This type of other mutation.Rope winder is referred to tradition lifting machine, crane, winch realize, including motor and subtract
Speed device, shaft coupling, braking (spin-ended) device, steel wire rope and winch spool, roller, installing rack.If arranging roller, winder then compares
It is arranged at car body diverse location freely, such as, is built in vehicle frame.During load, hinged two parts of main car frame mutually push against.
Example 2, under same idea, when carrier and convolution twist mechanism are collectively forming 3 segmentations or 2 segmentation, rope is along car body pivot side
To being arranged at side body, it is to launch along ground shifted laterally/fold in the middle part of folding shaft and vehicle frame in the middle part of vehicle frame；It is suitable for arranging
Two rope winders, two ropes are respectively arranged in the middle part of car body both sides and car body and arrange roller；Example 3, under same idea,
When main car frame launches, at least one interval is yi word pattern, and the folding shaft in the middle part of car body arranges steering wheel, such as, with the folding of T-shaped axle
The gear that axle connects firmly and steering wheel gear mesh, steering wheel rotarily drives gear, the two end movements gradually folded/expanded of vehicle frame；(vehicle frame
Middle part moves up folding, otherwise then launches).During load, hinged two parts of main car frame mutually push against.
Locomotive chassis (top) arranges and stands to parts, and it is L-shaped with locomotive chassis, and both can behave as adaptive dismounting choosing
Mounting mechanism；(stand and include to parts, elongated elements, support, bar, post, pipe, bar, plate.Being preferably flexible or collapsible, top is arranged
Hands is handrail) L-shaped, refer to the form of vehicle side apparent time, including different mutation；When forward sight or backsight, (two) stand to car
Frame member is inverted V-shaped, and be combined triangular in shape or trapezoidal support (front two-wheel is respectively in connection with in both sides, chassis, triangle with chassis
Two base angles of shape fore-stock)；During side-looking, stand to L-shaped (preferably, the Liang Zhecheng in frame member (being obliquely installed) and chassis
Acute angle)；Frame upper extends handle；At least one end of car has fits to wheel；Dual drive wheel is respectively in connection with in chassis two
Side and the vertical spacing along travel direction are laid；Differential steering that dual drive wheel is driven respectively by motor and constant speed moves ahead；Stand to
Frame member is mutually adapted with chassis and chooses to install, and dismounting separately or mutually installs combination；Dismantle with chassis to frame member when standing
Time separately, chassis can be driven with independent operation；U1, under riding condition, frame upper or middle part are provided with to the extension of car one end
Seat, seat is substantially parallel with chassis；U2, seat is Dismountable and/or foldable type, suitable, and seat is folded form, seat
Chair leading section combines to support shaft is dynamic with standing, under folded state, seat with stand to frame member direction consistent, and/or, folding
Under state, seat stand to frame member between；The bottom of u3, T shape handle is combined with frame upper, suitable hinged knot
Synthesizing folded form, junction is folded form (tee handle bar is turn turnover below Herba Plantaginis) or the concertina type (bottom of T-shaped handle
Be combined with front riser upper intussusception)；U4, the bottom of handlebar is combined with frame upper, and junction is turn folded form, is using
Under state, the direction that handlebar at least part of sensing seat extends, and/or, the side that handlebar at least part of sensing seat extends
To rightabout, u5, handlebar with stand to frame member be articulated and connected, in a folded configuration, handlebar with stand to vehicle frame structure
Part direction is consistent, and/or, stand to frame member be suitably articulated and connected with chassis, in a folded configuration, stand to frame member
Consistent with direction, chassis；U6, stand to frame member be mutually adapted with chassis and to choose to install, dismounting separately or mutually installs combination；
U7, handlebar is U-shaped, and in a state of use, during top view, seat is between handlebar；Stand to component or seat or handlebar built-in
Drive battery.Sensor control device controls the circuit of driving means thus vehicle acceleration and deceleration, when sensor receives or sends
When signal reaches the condition pre-set, the signal that sensor sends drives electric machine rotation via processor and controller and orders about
Castor rotates, it is achieved the control of vehicle, and described control device and equipment thereof include: gyro sensor and/or load sense pass
Sensor；Its most optionally include any one in t1 to t7 or more: t1, riser upper has image collector
Put, one or more of in voice collection device, display；T2, locomotive chassis has the Vertical Square along vehicle heading
To the carrier laid and two, the left and right castor being positioned at carrier；T3, standpipe, it is L-shaped with trailing arm, and trailing arm afterbody has
Have locomotive chassis and carrier that the vertical direction along vehicle heading lays and at least can accommodate both feet and trample, trailing arm with
Carrier collectively forms locomotive chassis, locomotive carrier and carrier two ends and lays at least two castor respectively；T4, according to t3 institute
State, and, trailing arm afterbody comprises elastic deformation material and/or convolution twist machine with the connecting portion of locomotive chassis and carrier
Structure, in order to the vertical direction along vehicle heading carries out turn and/or along vehicle for axially (in the range of certain angle)
Travel direction is for axially carrying out turn (in the range of certain angle)；T5, according to t3, and, described carrier is two loads
Its twist mechanism that circled round of body connects firmly and turn and/or described trailing arm can have convolution twist mechanism respectively；T6, according to t4
Described, and, standpipe hands is locomotive chassis L-shaped for, trailing arm, that lay along the vertical direction of vehicle heading and load
Body, the various combinations of this three part are arranged, and become three parts or two parts of readily accessible installation；T7, standpipe and and locomotive
Chassis is L-shaped, and both is folded form, and under folded state, both distances are close, approximation in-line or approximate U shape；T8,
Standpipe hands handrail, highly 50---140 centimetre, and/or, at least include that one or two is fitted to wheel, and/or, riser interiors
If the lightweight battery of centrally-mounted driving becomes rod battery；And/or, standpipe side arranges the delivery of detachable optional bracing frame
Article or installation container or installation battery bag are to driving motor to power.
Under same idea, structure can be made different amendment and expanded application, if the pursuit of extreme is compact the least and makes
With experience, it should it is to be understood that modular vehicle matching component, combination is used for customizing execution different task as required.Example
As: 1, design braces car is born with or the adaptive knapsack of design accommodate this car born with.2, if arranged
Becoming large-scale car body, can trample a carrier control direction by both feet, people is sitting in another carrier, and upper carrier arranges seat bottom and sets
Putting both feet support, the top of carrier arranges seat, and it includes, but are not limited to detachable optional seat.Carrier is arranged essentially parallel to
Ground, is suitable to foot and tramples (10 centimetres--200 centimetres, particularly 15--120 centimetre), can be positioned above removable truss
(triangle or trapezoidal or rectangle or abnormity), for seat or its extended use.When locomotive chassis is than relatively large tricycle,
At least one upper carrier installation settings storage tank or container, the box beam of the most built-in lightweight battery, box beam top arranges seat,
People sits long-distance running on the seat.3, front and back carrier is set to two heel braces, spider, such as rhombus and arranges four heel braces.Locomotive
Chassis have several castors be front in after layout time (such as 5 or 6 take turns car, middle part bull wheel, front and back arrange steamboat), middle
Wheel element contacts with ground plane all the time, and its front square wheel element contacts with ground level selectively with rear square wheel element.4, castor
And it is provided with bias roll steer mechanism between carrier, such as, is set up in parallel the axle bracket employing conventional skateboard car installing two-wheel
Suspension, the bias steering mechanism that the both feet support of a carrier or carrier one end has with traditional four-wheel manpower slide plate, its
With elastic reset and the convolution torsional axis mechanism that is obliquely installed, during tilting of car body bias, the wheel carrier that makes of actuator linkage revolves
Dynamic realization turns to, and resets by flexible convolute when distress resolves；Locomotive chassis (laterally) is caused to incline by driver's load variations
Tiltedly the suspension of deformation and tilting of car body perform to be biased to return to turn-knob walk around to link gear, if set up respectively at wheel carrier two ends
Fit to wheel for two, can improve further and turn to efficiency.5, locomotive chassis is that a platform is for extending loading difference in functionality module
And machine structural parts；Become hardware system operation circuit.6, same vehicle (locomotive domain) assembles with the apolegamy of multiple heel brace, many
Planting heel brace and have identical mounting seat and car body heel brace mounting seat adaptation, car body can select install and change adaptation as required
Different heel braces, therefore possess translation function.Comprising: various sizes of wide heel brace, fixing heel brace, fit to heel brace, triangle
Roller castor, the blade in ice face or snowfield that the heel brace of layout, two heel braces, two-wheeled heel brace, three-wheel heel brace, ground use are used
Blade, Athey wheel.7, there are several different vehicle frames of removable length and an identical driving wheel adaptation chooses to install, institute
State length difference and refer to that the driving wheel of locomotive chassis is different from driven pulley wheelspan.
Vehicle frame mutation, arranges the convolution twist mechanism of swing in the horizontal direction between former and later two carriers, a carrier sets
Putting motor-driven driving wheel, another carrier arranges driven pulley；At least three heel brace is set；Reduce volume and be easy to carry about with one.Example 1,
Seeing Figure 25-a, Figure 25-b, pedal carrier and convolution twist mechanism are collectively forming 3 segmentations, and each carrier has one and vertical sets
The turn axle put, when folding in the horizontal direction, with two turn axles for axle center turn, under folded state, two carriers are also arranged
If；Example 2, is shown in that Figure 25-c, Figure 25-d, pedal carrier and convolution twist mechanism are 2 segmentations, has one between two carriers
The turn axle of vertical setting, when folding in the horizontal direction, with turn axle for axle center turn, under folded state, two carrier overlappings
Lay.Example 3, it is axial that the vertical direction along travel direction arranges folding shaft, is folded axle hinged between at least two carrier,
In before travel direction, (middle part is provided with two driving wheels and spaced apart point to rear three sections of castors being provided with at least 4 contact ground
Not being arranged at the left and right sides, be respectively provided with and fit to wheel after Herba Plantaginis, castor laid by such as rhombus), under deployed condition, two carrier edges
Travel direction arrangement and two carrier upper surfaces accommodate both feet respectively and trample and drive；During folding, the end of the first carrier is moved
Move with folding shaft for axle center from the close Second support of top turn turnover；Under folded state, the bottom surface of the first carrier upward, two
The upper surface of carrier is close or fits, at least three castor contact ground that now Second support has, and, the first carrier
Bottom surface accommodates at least one foot and tramples, under the state reducing volume after folding, it is also possible to coverlet foot is trampled and driven.(i.e.,
Optionally, during expansion, both feet trample driving, and during folding, list foot tramples driving) driving wheel that arranges motor is suitable for rigid castors.As
When need to rotate, it can be provided for fitting to driving wheel device.
Fit to driving wheel device, including, battery electrically connects with car body, fits and connects in-wheel motor to wheel support or drive motor
Be positioned at and fit to wheel support, become and automatically fit to driving wheel, and, fit to have between wheel support and car body one annular (include arc
Shape or annular) electric conductor assembly, the battery electric power on car body is conducted to motor, annular electro conductor via annular electro conductor assembly
At least including two mutual corresponding contacts and the part of electrical connection, a part is positioned at car body, and another part is positioned at fits to wheel support,
Annular electro conductor two parts activity is adaptive (can be presented as annular potentiometer or the roller bearing of spin friction), such as, and two
Individual or annular electrode terminal that several diameters are different is around same axle center and is fixed on car body and becomes first annular electrode terminal,
Two or the different annular electrode terminal of several diameters are around same axle center and be fixed on to fit and become the second annular to wheel support
Electrode terminal, annular bearing is at car body and fits between wheel support and is positioned at annular electrode terminal external diameter or internal diameter, drift bolt
Three is assembled consolidation and has an identical axle center by axle, first annular electrode terminal and the electrical connection of the second annular electrode terminal,
Electrical apparatus insulation layer can be set between electrode.On the basis of flatly plane, fit between driving wheel and car body along 360 degree from
Fitted to or arrange position-limit mechanism by rotation and make its reciprocal swing around axle center in limited angle, or, limited fit to driving wheel
Device limited is fitted and is fixedly installed in-wheel motor to trundle bracket or drives motor, flexible wire one end be fixed on car body and with electricity
Pond connects, and motor is fixed and accessed to the flexible wire other end, and flexible wire (such as screw type flexible wire) middle part is freely to live
Dynamic built on stilts bridge areas as there, bridge areas as there long 1--10 centimetre for frequent activities, carry out electric power biography by flexible wire
Lead, fit and make its reciprocal swing around axle center in limited angle, at certain angle to arranging position-limit mechanism between driving wheel and car body
Horizontally Plane Rotation in the range of degree.Preferably outside flexible wire, protective layer is set.Fit and have only to one to driving wheel device
Individual motor, also can manned traveling being turned to by manpower legs and feet, mechanism is easy；If realized, unmanned automatization is automatically controlled to be turned to, permissible
It is arranged at least three-wheel, sets up a motor turn convolution twist mechanism and make car body turn to.
There is the drive manner fitting the Motor driven skateboard to driving wheel, including step: by external force make vehicle move make to fit to
Wheel is towards travel direction；Starting driving means makes driving wheel rotate.(by manpower or people's legs and feet by car body to vehicle heading
Mobile, or make vehicle slide to travel direction by manpower, cause and fit to wheel towards travel direction, afterwards or in this with
Time, start driving means and make driving wheel rotate, otherwise, fitting to the direction of wheel is any direction, when vehicle initially travels, can
Can be able to be to turn rather than keep straight on.)
As it has been described above, disclosure of the invention, including multiple different inventions with independent utility.Several measures are taked to subtract
Little car body volume, alleviate car body weight, simplify body construction, it is adaptable to the small-sized vehicle that small-wheel-diameter and locomotive chassis are constituted.
The present invention includes they various combinations or decomposition.Applicant discloses the portion of unit in drawings and description
Part, modules, principle, technical scheme, structure, embody and become main technical scheme and the place of innovation purpose, how
Reach these purposes, realize the technological means of these purposes, weaken patent three property during technical scheme independence, improve the most more during combination
Significantly, they being reconfigured, by its individually independence, decomposition, from description, any one interval range be given (such as makes
Dash, " extremely ") carry out description become any one endpoint value (owing to the endpoint value between each interval is the most, nothing
Method is pointed out one by one, in this together statement), use two or the collocation of several combined measures can be mutually improved can be preferable simultaneously
Realizing goal of the invention and embody technique effect, these are all the scopes of this specification.If the scope disclosed without departing from the present invention, also
Multiple embodiments, demonstration case can be had to be used to announcement, and unilateral embodiment is not exhaustive, should be by demonstration case
Limitation needs category to be protected.According to the innovation thought, according to the different purposes of car, those of ordinary skill in the art need not create
The work of the property made can also be imitated to reach identical purpose and technology by other different technologies scheme equivalent substitution and equivalent modifications
Really, 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 amendment and table
Reach and write claims, increase or modification right requirement, or the purposes as divisional application.Those skilled in the art's
Being commonly understood by not limiting the present invention, the scope of the present invention is limited by claims summary.
Claims (11)
1. relate to the system that traffic is moved, including, the lightweight battery small-sized locomotive chassis powered: carrier, driving wheel, fit to
Mechanism, electronic control, driving means, wherein,
A, at least can be suitably used for stand-type delivery single and accommodate the deck type carrier that both feet are trampled, and deck type carrier is along traveling side
To laying, and/or deck type carrier is along the vertical laying of vehicle heading, castor before and after laying along vehicle heading, extremely
A few axle is rotationally coupled at least one and takes turns element, and the axle of wheel element is connected to pedal-type carrier makes its displacement；
B, two, left and right wheel element is rotatably connected to the carrier left and right sides, and at least one is taken turns element and is connected to deck type carrier
End；
C, at least three castor layout triangular in shape and fitting to wheel including at least, or four castors assume diamond in shape layout and at least
Comprise two front and back laid and fit to wheel, or four rectangular/trapezoidal layouts of castor and fitting including at least two laid side by side
To wheel, or the heel brace of subtriangular layout and fitting to wheel including at least；When locomotive chassis moves, fit to wheel automatic linkage
Can improve and turn to efficiency；
D, including any one feature following or its various combinations:
D1, man-machine hybrid power system；
D2, locomotive supports that manned and non-two kinds of manned driving models, the traveling that locomotive chassis execution remote controller sends refer to simultaneously
Order, under manned pattern, two legs and feet of driver are positioned at carrier and by legs and feet, locomotive chassis are made load variations with manipulation turn
To；
D3, locomotive supports that manned and non-two kinds of manned driving models, the traveling that locomotive chassis execution remote controller sends refer to simultaneously
Order, and comprise, the change of driver's gravity load cause suspension and the linkage steering mechanism thereof of locomotive chassis inclination and distortion；
D4, manned and non-two kinds of manned driving models supported by locomotive simultaneously, and under manned pattern, two legs and feet of driver are positioned at
Carrier and by legs and feet, locomotive chassis made load variations and turn to manipulation；
D5, locomotive chassis and the extraneous information interacted include other information outside the instruction of locomotive real time running；
D6, the first carrier and the Second support that connect by hinged member in the middle part of locomotive chassis become convolution twist mechanism, circle round
Twist mechanism two ends stress makes carrier two ends become the phase around each main part of hinged member relative to turn, convolution twist mechanism
Control element to turn；
D7, the first carrier and the Second support that connect by hinged member in the middle part of locomotive chassis become convolution twist mechanism, circle round
Twist mechanism two ends stress makes carrier two ends become the phase around each main part of hinged member relative to turn, convolution twist mechanism
Control element to turn, and the first carrier and Second support accommodate left and right bipod respectively and trample.
2. relate to the system that traffic is moved, including, the lightweight battery small-sized locomotive chassis powered: carrier, fit to mechanism, drive
Driving wheel, electronic control at least two motor operates respectively, and it also resides in,
A, it is adaptable to stand-type delivery is single and accommodates the deck type carrier that both feet are trampled, deck type carrier is laid along travel direction
Front and back castor and/or deck type carrier are along the vertical laying of vehicle heading, and at least one axle is rotationally coupled at least
One wheel element, the axle of wheel element is connected to pedal carrier makes its displacement；
B, two, left and right wheel element is rotatably connected to the carrier left and right sides, and at least one is taken turns element and is connected to deck type carrier
End；
C, at least three castor layout triangular in shape and fitting to wheel including at least, or four castors assume diamond in shape layout and at least
Comprise two front and back laid and fit to wheel, or four rectangular/trapezoidal layouts of castor and fitting including at least two laid side by side
To wheel, or the heel brace of subtriangular layout and fitting to wheel including at least；
D, electric control driving device drives at least one to take turns element to control its turn and make locomotive chassis forwardly and/or backwardly move, and
At least one electric control driving device drives steering mechanism to control its turn and make locomotive chassis turn to along ground；
E, supports manned pattern and unmanned pattern, and the electric control driving device that manned pattern is identical with unmanned mode common makes at the bottom of locomotive
Dish travels, turns to, and when locomotive chassis moves, fits and turns to efficiency to wheel automatic linkage raising；Under manned pattern, locomotive chassis is in
Manned state, tramples the driver in locomotive chassis and manipulates electric control driving device and make locomotive chassis travel, turn to, the two of driver
Individual legs and feet are positioned at carrier and by legs and feet, locomotive chassis are made load variations and turn to real-time control；Under unmanned pattern, at the bottom of locomotive
Dish is in unmanned state, and the manipulation of mobile unit automatization makes locomotive chassis travel, turn to；
F, including any one feature in f1--f14 or its various combinations:
F1, under manned pattern, tramples the driver in locomotive chassis and can not manipulate locomotive chassis traveling, turn to, but locomotive
Chassis full-automation manipulation travels, turns to, or, trample the manpower outside the driver of locomotive chassis and combine with locomotive chassis
Control to carry out semi-automatic manipulation to travel, turn to；
F2, under unmanned pattern, locomotive chassis full-automation manipulation is driven and turns to, or, manpower jointly controls with locomotive chassis
Carry out semi-automatic manipulation to travel, turn to；
F3, locomotive chassis performs the vehicle driving instruction that remote controller sends；
F4, it is adaptable to the man-machine hybrid power system under manned pattern；
F5, uses at least one in vehicle-mounted automatic traveling system, remote control system when travelling and turn to；
F6, it is mutual that locomotive chassis and strange land command centre carry out information by wireless telecommunication system；
F7, carries out information by the people near vehicle-mounted mutual control system, with locomotive chassis or locomotive chassis mutual；
F8, mutual control system, including image collecting device, voice acquisition device and sound-producing device, display information can visual field
Face or projector, any one or its various combinations in the operation interface of man-machine interaction；
F9, information near locomotive chassis collection and transmit data to other positions outside body by wireless communication networks
Put, and/
Or, information near locomotive chassis collection and transmitting data at the data outside body by wireless communication networks
Reason center,
Data are restored to locomotive chassis by wireless telecommunication system after being processed；
F10, the information that locomotive chassis and people interact includes other information outside driving instruction；
F11, locomotive chassis is provided with 3-dimensional stereo vision sensor and data processor；
F12, the first carrier and the Second support that connect by hinged member in the middle part of locomotive chassis become convolution twist mechanism, circle round
Twist mechanism two ends stress makes carrier two ends become the phase around each main part of hinged member relative to turn, convolution twist mechanism
Control element to turn；
F13, is caused suspension and the linkage steering mechanism thereof of locomotive chassis inclination and distortion by the change of driver's gravity load；
F14, fits and turns to efficiency, feature to include, but are not limited to wheel automatic linkage raising: when current rear truckle spacing is long,
By a convolution twist mechanism connection carrier simultaneously, be there is at least one in the middle part of two carriers to fit to wheel, or, when two motors
Driving two wheels and constant-speed driving and differential steering respectively, carrier also includes that at least one is fitted to wheel simultaneously；Left and right two-wheeled spacing
It is that, if two axles is in the heart away from being 1 about when overlooking, during that side-looking, front and back wheel axle center spacing is with the proportionate relationship of wheel base
0.5--5。
3. relate to the system that traffic is moved, including, the lightweight battery small-sized locomotive chassis powered: carrier, driving wheel, fit to
Mechanism, electronic control, driving means, be folding in the middle part of locomotive chassis, wherein,
At least can deliver single and accommodate the deck type carrier that both feet are trampled, before and after carrier is laid along vehicle heading and is provided with
Castor；Having convolution twist mechanism in the middle part of locomotive chassis, convolution twist mechanism stress makes rear and front end relative to turn；Manned pattern
Under, locomotive chassis is in manned state, tramples driver's real-time control electric control driving device and/or legs and feet in locomotive chassis and turns round
Turning manipulation makes locomotive chassis drive, turn to；Following any one feature is optionally set:
A, has folding shaft between two carriers, folds for two carriers and reduces length over ends of body；
B, during folding, is lifted up displacement between two carriers, and the bottom surface of two carriers near or laminating；
C, carrier and convolution twist mechanism are collectively forming 3 segmentations, and each carrier has the turn axis mechanism of a vertical setting, edge
When horizontal direction folds, with two turn axles for axle center turn, under folded state, two carriers are laid side by side；
D, carrier and convolution twist mechanism are collectively forming 2 segmentations, have the turn axle of a vertical setting, edge between two carriers
When horizontal direction folds, with turn axle for axle center turn, under folded state, two carrier overlappings are laid；
E, locomotive supports manned driving model, non-manned driving model.
4. relate to the system that traffic is moved, its feature include following any one or its arbitrarily combine:
A, hand-held device: be suitable for but be not limited to station and step on the vehicle of driving；Mate a part of with car body of hand-held device, combines shape
Handle is become to guide and support for vehicle or tow；Under vehicle running state, hand-held device separates with car body；Hand-held device not office
It is limited to hand-held control device；
B, can bend deformation and the torsion folding means of elastic reset, and it is suitable for but is not limited to the one-body molded parts of plastic cement,
At least two carrier is laid before and after vehicle lengthwise direction, and heel brace lays respectively at two carriers, along vehicle lengthwise direction cloth
If the convolution twist mechanism that car body turns to of being easy to two carriers are coupled, make the position of two carriers during convolution twist mechanism stress
Put relative turn；Between two carriers, there is folding shaft, fold for two carriers and reduce length over ends of body；Further, lath a, extremely
A few lath is arranged along car body fore-and-aft direction, or two or more lath edge long and narrow, that be substantially parallel to each other
Car body fore-and-aft direction is arranged；Support member b, support member and lath a less perpendicular and the therewith company of knot；Folding shaft c, for folding shaft
Parts are with lath a knot even；Folding shaft is moved hinged with another carrier shaft, thus, as being used for again fold mechanism while torsion spring,
It is independent to reverse folding means or it is the torsion folding means containing pedal carrier；
C, the camera collection of leading vehicle front to image information be sent in accompanying front vehicle driver's sight line
Display,
Driver observes the road conditions of leading vehicle front by display；
D, the vehicle of different mode manipulation, support manned driving and unmanned, comprise person-carrying vehicle, heel brace is positioned at carrier, behaviour
Control device and control unit send signal to controller, and controller sends control signal to driving means after receiving signal, makes car
Completing different instruction, lightweight battery is powered to driving means, and driving means drives castor to rotate, and it also resides in: man-machine mixing
Pilotage en Force pattern, manual steering driving model and automatically controlled turn to driving model to be available for user to select voluntarily, manual steering is driven
Under pattern, it is adaptable to manned and turned to driving by driver real-time operation vehicle mechanical steering mechanism；Automatically controlled turn to driving model
Under, it is adaptable to mobile unit is completed to small part manipulation and drives, and driving motor or steer motor by driving vehicle to travel are carried out
Turn to driving；Described automatically controlled turn to driving model to include, manually drive by remote controller long-range wireless remote control, automatic Pilot,
Described automatic Pilot also include automatic tracking travel, be automatically positioned navigation travel, automatic traveling travel at least one；
E, the vehicle of different mode manipulation, support manned driving and unmanned, comprise person-carrying vehicle, heel brace is positioned at carrier, behaviour
Control device and control unit send signal to controller, and controller sends control signal to driving means after receiving signal, makes car
Completing different instruction, battery is powered to driving means, and driving means drives castor to rotate；Manual steering driving model and automatically controlled
Turn to driving model to be available for user to select voluntarily, under manual steering driving model, it is adaptable to manned and by driver's real-time operation
Vehicle mechanical steering mechanism turns to driving；Automatically controlled turn under driving model, it is adaptable to mobile unit is completed to small part manipulation and drives
Sailing, driving motor or steer motor by driving vehicle to travel carry out turning to driving；Automatically controlled turn to driving model to include, automatically follow
Mark travels, be automatically positioned that navigation travels, automatic traveling travels, manually drive by remote controller long-range wireless remote control at least one
Kind；The mechanical steering gear of described vehicle is, at least two carrier horizontally in-plane is laid, it is simple to what car body turned to returns
Two carriers are coupled by turn-knob rotation mechanism, and convolution twist mechanism stress makes the position of two carriers relative to turn；
F, the vehicle of different mode manipulation, support manned driving and unmanned, comprise person-carrying vehicle, heel brace is positioned at carrier, behaviour
Control device and control unit send signal to controller, and controller sends control signal to driving means after receiving signal, makes car
Completing different instruction, battery is powered to driving means, and driving means drives castor to rotate；Man-machine hybrid power driving model,
Manual steering driving model and automatically controlled turn to driving model to be available for user to select voluntarily, under manual steering driving model, it is adaptable to
Manned and turned to driving by driver real-time operation vehicle mechanical steering mechanism；Automatically controlled turn under driving model, it is adaptable to vehicle-mounted
Equipment is completed to small part manipulation and drives, and driving motor or steer motor by driving vehicle to travel carry out turning to driving；Described
Automatically controlled turn to driving model to include, manually drive by remote controller long-range wireless remote control, automatic Pilot, described automatic Pilot
At least one also include automatic tracking traveling, being automatically positioned in navigation traveling, automatic traveling traveling；The machinery of described vehicle turns
To mechanism it is, axle sleeve, shaft core, axle bracket, handle；
G, the vehicle of different mode manipulation, support manned driving and unmanned, comprise person-carrying vehicle, heel brace is positioned at carrier, behaviour
Control device and control unit send signal to controller, and controller sends control signal to driving means after receiving signal, makes car
Completing different instruction, lightweight battery is powered to driving means, and driving means drives castor to rotate, and it also resides in: man-machine mixing
Pilotage en Force pattern and automatically controlled turn to driving model to be available for user to select voluntarily；Automatically controlled turn under driving model, it is adaptable to vehicle-mounted
Equipment is completed to small part manipulation and drives, and driving motor or steer motor by driving vehicle to travel carry out turning to driving；Described
Automatically controlled turn to driving model to include, drive by remote controller wireless remote control；Described vehicle is slide plate；
H, the vehicle of different mode manipulation, it is adapted for the slide plate of manned operation, control device and control unit and sends letter to controller
Number, controller sends control signal to driving means after receiving signal, makes vehicle complete different instruction, and lightweight battery is to driving
Device is powered, and driving means drives castor to rotate, and it also resides in: man-machine hybrid power driving model and remote control device drive mould
Formula is available for user and selects voluntarily；Under man-machine hybrid power driving model, when legs and feet advance vehicle move and reach default
During numerical parameter, driving means conveyer Powered Propulsion vehicle moves；Under remote driving pattern, it is adaptable to mobile unit completes
At least partly manipulating driving, driving motor or steer motor by driving vehicle to travel carry out turning to driving；
I, the vehicle of different mode manipulation, it is adapted for the armless light small portable Motor driven skateboard of stand-type manned operation；Gently
Type battery is powered to driving means, and driving means drives castor to rotate, and it also resides in man-machine hybrid power system: when driver's lower limb
Advancing vehicle to move and time telecommunication data reaches default numerical parameter, driving means starts conveyer Powered Propulsion foot-operatedly
Vehicle moves, and/or, electric driver is combined, when legs and feet of driver are positioned at load with wheel element by freewheel clutch
Body and another legs and feet advance vehicle to move operating and time vehicle-mounted machine Powered Propulsion vehicle moves operating with stepping on, and, Yi Zhongyun
When turning the speed that the speed of mode exceedes another kind of drive manner, freewheel clutch automatically switch two kinds of drive manner override types
Slide, elimination magnetic resistance of motor power can be separated and make vehicle smoothly slide；
J, launches under transport condition at vehicle, and two carriers are provided with oblique two wall and seize roller on both sides by the arms, roller include but
It is not limited to bearing, or, under vehicle launches transport condition, two carriers are provided with two walls and seize roller on both sides by the arms, at car
Under folded state, roller is located in one of the wall of carrier, and roller includes, but are not limited to bearing；
K, includes the vehicle of sensing gravity load change steer mode, and locomotive chassis is provided with and stands to parts and and locomotive chassis
L-shaped, or, locomotive chassis is provided with readily accessible optional stand to parts and L-shaped with locomotive chassis；At least three foot
Wheel；Sensor control device controls the circuit of driving means thus vehicle acceleration and deceleration, and the signal receiving when sensor or sending reaches
During to the condition pre-set, the signal that sensor sends drives electric machine rotation via processor and controller and orders about castor and turn
Dynamic, it is achieved the control of vehicle, described control device and equipment thereof include attitude-measuring sensor and/or gravity load sensing sensing
Device；Further, standing to parts L-shaped with trailing arm, trailing arm afterbody has the machine of the vertical direction laying along vehicle heading
Chassis and carrier and at least can accommodate both feet and trample, trailing arm and carrier collectively form locomotive chassis, locomotive carrier and
At least two castor is laid at carrier two ends respectively；
It also includes any one in K1, K2, K3 or its various combinations:
K1, trailing arm afterbody comprises elastic deformation material and/or convolution twist mechanism with the connecting portion of locomotive chassis, and it is along vehicle
The vertical direction of travel direction is for axially carrying out turn and/or along vehicle heading for axially carrying out turn；
K2, trailing arm afterbody comprises elastic deformation material and/or convolution twist mechanism with the connecting portion of carrier, and it travels along vehicle
The vertical direction in direction is for axially carrying out turn and/or along vehicle heading for axially carrying out turn；
K3, described carrier is that its twist mechanism that circled round of two carriers connects firmly and can turn and/or described trailing arm have respectively
Convolution twist mechanism；
When L, forward sight or backsight, stand to frame member be combined triangular in shape or trapezoid support with chassis, during side-looking, stand to
Frame member L-shaped with chassis；Frame upper extends handle, and the bottom of T type handle and frame upper are articulated and connected combination
Become folded form, and/or, stand and be articulated and connected with chassis to frame member, in a folded configuration, stand to frame member and chassis side
To unanimously；Frame upper is provided with the seat extended to car one end, and seat is substantially parallel with chassis, and seat is suitably folded form, folding
Under overlapping state, seat with stand to frame member direction consistent, and/or, under folded state, seat be positioned at stand to frame member it
Between；Dual drive wheel is respectively in connection with in both sides, chassis and along the vertical laying of travel direction；Dual drive wheel is driven respectively by motor
And constant speed moves ahead differential steering；At least one end of car has fits to wheel；Stand to be mutually adapted with chassis to frame member and choose to install,
Dismounting separately or mutually installs combination；When stand dismantle to frame member and chassis separate time, chassis can be driven with independent operation；
M, remote controller has at least two linearly movable potentiometer double track and is arranged close to side by side, and two speed governing bond energys are put down along track
Row is mobile, and two speed governing keys administer the speed regulation of two driving wheels respectively；When remote controller is positioned at one hand, the finger of this hands is proper
Two speed governing keys can be stirred well simultaneously, and, it is a certain that the finger of this hands can be stirred in two speed governing keys just respectively
Individual；
N, tramples transfer, and two pedals arrange position sensor or potentiometer relative to turn portion, and two pedals are relative to turn
During regulation control left and right sidesing driving wheel rotating speed, rotating mechanism has elastic reseting part, under elastic reset state, is in zero
Angle value, exports the signal of telecommunication clockwise or counterclockwise and is used for regulating the speed difference of two driving wheels in left and right during turn；
O, automatic protective system, when service condition is more than default value, circuitry cuts, driving wheel shuts down；When running bar
When part meets default value, circuit ON, driving wheel starts operating；Alarm module is suitably set, when service condition is more than presetting
During numerical value, caution device sends prompting；This three of weight signal that vehicle load condition, default load-carrying numerical value, sensor arrive
Relevant, it is positioned at the load value of the LOAD CELLS sensing vehicle of pedal surface or support zone；Weight data dynamically changes
Speed that persistent period that vibration frequency, weight data dynamically change, weight data dynamically change, weight data dynamically change to be sent out
The weight numerical value that raw time point, weight data dynamically change, its according to required and be selectively applied and arrange relevant can
Execution program and data base, the operating strategy of driving means is associated or related data by data storage record so that prison
Survey investigation；
P, has the driving system of path learning function, when driver drives locomotive and opens switch, driving wheel and turn
Being read by position coder to the rotation mode of mechanism, it includes at least slewing rate, the rotation number of turns, corner, occurs and continue
Time, motion along timeline order arrange, related data is stored in data storage, and closing switch terminates a demonstration
Study course；Open reduction switch time, mnemonic learning to related data from data storage read and repeat to drive as driving instruction
Driving wheel and the spinning movement of steering mechanism, reducing identical traveling action can be along original route；When detecting that data are different
Chang Shi, driving wheel terminates operating and suitably reports to the police to manager, and it comprises following one or more of monitoring modular: locomotive attitude
Detection, weight detecting, Rotating speed measring, moment of torsion detection, range finding detection, sense of touch pressure detecting；
P1, according to feature P, and, secondary record driving wheel and the rotation mode of steering mechanism and this data and elder generation
The data of front record carry out real-time comparison, are monitored repeating travel route with this, when comparing result difference, drive
Wheel terminates operating and suitably reports to the police to manager；
P2, according to feature P, and, when driver assigns instruction brake stopping, driving instruction interrupts temporarily；Work as driving
When person assigns instruction continuation traveling, unless driver assigns other instruction, driving instruction starts to continue executing with from the point of interruption.
5. relate to the system that traffic is moved, the feature small-sized locomotive chassis as described in Claims 1-4 any one, at least
Two motors drive two castors to rotate respectively, or at least one motor driving at least one motor of castor reverses back turn-knob and turns
Mechanism is so that car body turns to, or at least one motor drives at least two driving wheel by differential gear, and it also includes a extremely
Any one feature in e or its various combinations:
A, the acceleration and deceleration of the signal control motor operating of driving means response sensor become electronic control system, by driver's body
Body moves the information of generation gravity load change and transfers to sensor, and load sense formula sensor control device is by driver weight load
The signal of change is sent to data processor, and when signal reaches the condition pre-set, driving means is sent out by data processor
Go out control signal, guide and drive electric machine rotation and drive castor, make driving wheel acceleration and deceleration or brake；
B, at least one carrier has at least one and fits to wheel, and/or, there is in the middle part of car body convolution twist mechanism, wherein, convolution
Twist mechanism is not provided with the elastic reseting part of elastic reseting part or convolution twist mechanism setting and does not hinder steer motor pair
The control that car body turns to；
C, Zhou Dong steering mechanism arranges detachable mounted and is mechanically connected keeper with according to manned/non-load of required selective switching
Two kinds of driving models of people；
D, at least one fixing main drive wheel, at least two driven the fitting to wheel in left and right, reverse back turn-knob by steer motor
Rotation mechanism is so that car body turns to, and the steering spindle being obliquely installed along travel direction instructs reciprocal turn according to driving；
E, station is stepped on support carrier and is positioned at driving wheel both sides, and during side-looking, carrier element is positioned at driving wheel axis vertical line and driven pulley
Between,
Drivewheel or appurtenances be the stress actuator abutting in shank so that vehicle drive turns to, drivewheel or attached
The box-beam structure of the suitable internal battery of parts, appurtenances suitably have a telescopic lever so that vehicle is guided and supported tows.
6. relate to the system that traffic is moved, its feature small-sized locomotive chassis as described in Claims 1-4 any one, its
In vehicle part be suitable for but be not limited to folded form vehicle and motor vehicles, its feature also includes following any one or it is each
Plant and combine:
A, during side-looking perspective, convolution twist mechanism axis is oblique in ground level；
B, wireless remote-control system and onboard wireless retinue system, wherein, wireless remote-control system includes, the remote controller that user carries；
Onboard wireless retinue system includes, automatic traveling device, central data processor and control system, motor drive controller are used
To control motor and the rotation direction of driving wheel and running speed；Allow onboard system according to preset value retinue and according to remote controller
Motion path move；
C, automatic traveling device includes, remote controller is connected by the mutual communication of specific coding with onboard system, searches for and identifies distant
The control orientation of device, distance, motion track, the signal of translational speed, identification information reaches central processing unit and processes and send
Instruct to motor and driving wheel, the operating of regulation driving wheel, two driving motors are sent operation instruction different from each other, remote control
Device controls vehicle retinue and makes the control of respective action, rotation direction, angle, travel distance, keeps and limits spacing；
D, under automatic navigation mode, cruise, mutual communication between vehicle, retinue, according to default parameter and specify arrangement
Array travel；
E, under auto-steering driving model, travels according to the basis of reference automatic tracking on map, meanwhile, and can be selective,
The driving trace of vehicle records in vehicle-mounted data storehouse or uploads and by servicing by communication network after being converted into e-file
Device is shown in map interface after processing.
7. relate to the system that traffic is moved, including, the lightweight battery small-sized locomotive chassis powered, locomotive chassis be fold or
Not folding, it also resides in, it is adaptable to two wheeler or more wheels car fit under driving wheel device, manned pattern, at the bottom of locomotive
Dish is in manned state, the convolution twist mechanism having in the middle part of carrier, trample in carrier driver can with Manpower operating or
Legs and feet reverse manipulation and drive and turn to；Locomotive chassis has at least one and fits and include following at least one to driving wheel device and feature
Kind:
A, fits to driving wheel device, including, power line is connected with car body, fits and connects in-wheel motor to trundle bracket or drive motor
It is fixedly arranged on and fits to trundle bracket, become and fit to driving wheel, and, fit to having an annular electro conductor between trundle bracket and car body
Assembly, the battery electric power on car body is conducted to motor via annular electro conductor assembly, and annular electro conductor at least includes two mutually
Corresponding contact and the part of electrical connection, a part is positioned at car body, and another part is positioned at fits to trundle bracket, annular electro conductor two
Point movable adaptive, on the basis of flatly plane, fit to rotate freely along 360 degree between driving wheel and car body fit to or setting
Position-limit mechanism makes to fit to driving wheel reciprocal swing around axle center in limited angle；
B, limited fits to driving wheel device, including, power line is connected with car body, limited fit to trundle bracket connect in-wheel motor or
Motor is driven to be fixedly arranged on and fits to trundle bracket, its horizontally Plane Rotation, flexible wire one end in certain angular range
Being fixed on car body and be connected with battery, motor is fixed and accessed to the flexible wire other end, is the most movable in the middle part of flexible wire
Built on stilts bridge areas as there, carries out electric power conduction by flexible wire, fits and makes to fit to arranging position-limit mechanism between driving wheel and car body
To driving wheel reciprocal swing around axle center in limited angle, described bridge areas as there includes, but are not limited to screw type flexible electrical
Line；
C, according to feature a or feature b, it also includes, fits the turn axle to mechanism and is obliquely installed；
D, according to feature a or feature b, it also includes, the first carrier and the Second support that connect by hinged member become back
Turn-knob rotation mechanism.
8. according to the small-sized locomotive chassis described in claim 1 to 7 any one, its also include any one feature following or
The various combination of following characteristics:
A, driving motor is the powerful brshless DC motor of light high-speed；Air-cooled or semiclosed air-cooled, rotor
During operating band moving air flow from motor internal through and axially flow along motor, the laying of motor include, but are not limited to wheel in or
In person's axle bracket bridge, optionally by Fan axial center and the coaxially connected setting in motor shaft portion, add forced air cooling performance；
A1, motor has air conducting cover, and under motor drive mode, air-flow is from air conducting cover internal circulation；
A2, under motor drive mode, is provided with filter course at air flow inlet；
The junction of A3, wheel hub motor and axle bracket, its wheel shaft is open-core type, and the air-flow produced when rotor rotates is from sky
Heart wheel shaft circulates；
A4, humidity sensing element is monitored the humidity of running environment and sends signal to data processor, when humidity is more than preset value
When, motor circuit is cut off, and motor shuts down；
A5, motor is bar type or disc type, and motor weight is at 200 grams--between 850 grams, power of motor is 800--3000W；
A6, motor with air cooling regulation controller is 60--200A；
A7, the head of motor and/or afterbody have air conducting cover along motor axially and towards the bending return extended in the middle part of motor
Sheet structure；
A8, the head of motor and/or afterbody have air conducting cover and extend above towards car body；
A9, the head of motor and/or afterbody have a semi-enclosed protective cover, and protective cover and motor leave gap, do not hinder air-flow by
This passes through；
A10, the length of kuppe is more than any interval value between 3--10 centimetre；
A11, arranges filter course at air flow inlet, prevent water or foreign material to be directly entered motor；Filter course is not limited to band hole
At least one in filter course, many tortuous labyrinths pipe, turbine pipe；
A12, drives motor, motor control module, radiator integral type；
A13, the air-flow produced when rotor rotates from motor internal circulation through while promote the air of spreader surface
Flowing heat radiation, or, when the fan of the radiator of motor control module rotates, air-flow promotes that the air flowing of spreader surface dissipates
Simultaneously, air-flow circulates heat from the air of motor internal, and described radiator is the radiator of motor control module；
A14, the insulated gate bipolar transistor for motor converter system is positioned at radiating airflow passage；
A15, has deafener inside the air conducting cover of motor；
B1, man-machine hybrid power drive pattern is to make flexible variable instruction according to the integrated kinematic data model preset, and drives
Driving wheel acceleration and deceleration frequency conversion drive therewith, flexible variable instruction is pre-adjusted setting, and it is relevant to following condition: electric motor starting
The prerequisite of operating, the time of motor continuous running, motor are interrupted the time cycle of operating, the instantaneous operating of motor or time delay fortune
Time cycle of turning, motor promote and ground is trampled on by torsional strength, manpower foot in start of run running speed at short notice
The position that face is got involved operating, wheel or axle or rotor with the different time points left when ground is driven by electric motor starting is anti-
Feedback；
B2, man-machine hybrid power drive pattern is to make flexible variable instruction according to the integrated kinematic data model preset, and drives
Driving wheel acceleration and deceleration frequency conversion drive therewith, flexible variable instruction is regulated and controled by human-computer interaction device, and user is according to different use environment
Regulation arranges the operating strategy of 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 when rotor rotates, optionally, motor output shaft and elastic car
Freewheel clutch it is provided with between wheel；
B4, Motor Shaft is wheel shaft, or Motor Shaft is via being wheel shaft after variator, drives castor when rotor rotates
Rotate, and, one end of electric machine support is that ring-type suit is fixed on that motor stator is outside or motor housing, another of electric machine support
End is connected with car body；
B5, electronic control includes electric machine control system, and it comprises data processor, velocity sensor and/or torque sensor, drives
When the person's of sailing legs and feet step on ground coasting vehicle, when speed and/or moment reach parameter preset, electric motor starting operates and default
Shut down in parameter, become man-machine hybrid drive vehicle with this repeated work and travel；
C, is at least driven before and after's castor to become driving wheel by two motors respectively, and at least a part of which includes that one is fitted to driving wheel, its
Also include any one feature in C1--C5 or more feature:
C1, bi-motor operates for heavier load reply high pulling torque output, a motor rotation reply in bi-motor simultaneously
Little moment of torsion exports；
C2, bi-motor operates for heavier load reply high pulling torque output, a motor rotation reply in bi-motor simultaneously
Little moment of torsion exports, and, sensor device sensing load automatically start another motor rotation；
C3, bi-motor operates for heavier load reply high pulling torque output, a motor rotation reply in bi-motor simultaneously
Little moment of torsion exports, and, by manually switching over another motor rotation of startup；
C4, bi-motor is identical motor；
C5, bi-motor is the motor differed, and wherein, the first motor is the motor that high pulling torque rotating speed is slow, and the second motor is little torsion
The motor that square rotating speed is fast；
D, deck type carrier has the two-wheel that left and right is laid side by side, and driving wheel also includes the one in D1 to D6,
D1, the two-wheel that left and right is laid is fixedly arranged on a shaft element, and at least one drives motor driving shaft element, and two-wheel is same with shaft element
Step rotates, and shaft element outer radial arranges bearing and axle sleeve, and axle sleeve connects firmly with axle bracket, and axle bracket is combined with carrier；
D2, the two-wheel that left and right is laid is fixedly arranged on a shaft element, and at least one drives motor driving shaft element, and two-wheel is same with shaft element
Step rotates, and shaft element outer radial arranges bearing and axle sleeve, and axle sleeve connects firmly with axle bracket, and axle bracket is combined with carrier, its
In, drive motor by gear drive shaft member or to drive motor drive toothed shaft element by cingulum or drive motor
By belt drives shaft element；
D3, the two-wheel that left and right is laid is fixedly arranged on a shaft element, drives motor driving shaft element, two-wheel and shaft element synchronous axial system,
Shaft element outer radial arranges bearing and axle sleeve, and axle sleeve connects firmly with axle bracket, and axle bracket is combined with carrier, wherein, at least
One driving motor is positioned at wheel；
D4, axle bracket mounting seat is combined with carrier, axle bracket two ends fixed two castors respectively；At least one drives motor
Driving differential gear, differential gear drives two castors respectively or simultaneously drives two castors；
D5, two motors drive two castor operatings to become driving wheel respectively；
D6, driving motor is DC brushless motor, and has Planetary Gear Transmission gear.
9., according to the small-sized locomotive chassis described in claim 1 to 7 any one, at where applicable, also comprise the most any one
Individual or more features:
A, fits and is positioned at tailstock portion or headstock portion to driving wheel；
B, fit have to castor and car body joint portion vertical be obliquely installed fit and move assembly to axle；
C, extends support cantilever from car body, and the suspention connection of support cantilever is fitted to driving wheel；
D, front carrier has one or two or more castor, and/or rear carrier has one or two or more castor；
E, castor is positioned at the front of carrier, rear, side, is not located at the lower section of carrier；
F, convolution twist mechanism connects firmly between two carriers and by two carriers, and it includes hinge or pivot or flexible
Deformation component, it includes, but are not limited to one piece of overall flexible deformable material and/or flexible restoring organ；
G, carrier and convolution twist mechanism are collectively forming 3 segmentations, and each carrier has the turn axle of a vertical setting, with two
Turn axle is to circle round torsion in the horizontal direction in axle center, or, carrier and convolution twist mechanism are 2 segmentations, have between two carriers
There is the turn axle of a vertical setting, torsion of circling round in the horizontal direction with turn axle for axle center；
H, electronic control: control device and control unit send signal to controller, to driving means after controller reception signal
Sending control signal, make vehicle complete different instruction, lightweight battery is powered to driving means, and driving means drives castor to rotate,
About during vehicle forward, two castor constant velocity rotation travel, and during Vehicular turn, two castor differentials rotate；
I, electronic control at least includes the one in wired manipulation, wireless operated, the conversion sensing manipulation of load gravity；
E, electronic control includes the automatically controlled driving model that turns to: reverse back turn-knob rotation mechanism by steer motor so that car body turns
To；
J, front carrier has two castors that left and right is laid, and is provided with bias roll steer mechanism between castor and carrier；
K, electronic control includes that rocker-type control device is for driving wagon control acceleration and deceleration and turning to；
L, the when that convolution twist mechanism being twisted by manpower, the electric power that ratcheting steer motor battery core concomitant rotation produces is recovered
In battery；
M, is set up in parallel the suspension of the axle bracket employing conventional skateboard car installing two-wheel, and it is with elastic reset and is obliquely installed
Convolution torsional axis mechanism, during tilting of car body bias, the wheel carrier turn that makes of actuator linkage realizes turning to, when distress resolves
Reset by flexible convolute；
N, is set up in parallel the suspension of the axle bracket employing conventional skateboard car installing two-wheel, and it is with elastic reset and is obliquely installed
Convolution torsional axis mechanism, during tilting of car body bias, the wheel carrier turn that makes of actuator linkage realizes turning to, when distress resolves
Reset by flexible convolute, set up two respectively at wheel carrier two ends and fit to wheel, improve further and turn to efficiency；
O, at least one upper carrier of locomotive chassis is provided with storage tank or container；
P, is positioned at human body and/or vehicle-mounted data processor, main driving plate, wireless telecommunication system, sensor, data storage list
Unit, human-computer interaction device telecommunication connect the relevant executable program of operation；
Q, solar concentrating generating plate or film type solar light harvesting generating plate charge to lightweight battery；
R, vehicle-mounted have power supply interface and rigid fixedly mounted seat, and terminal controller matches, and combination is fixing to be connected；
S, the vehicle-mounted power supply interface having terminal control device and adaptive rigid fixedly mounted seat, terminal control device is by easy to assemble
Mechanical mechanism install be fixed on this match combination and control circuit be connected with mobile unit telecommunication, terminal control device and car
Collaborative travel vehicle of driving means is controlled；
S1, according to feature S, and, the stereo vision sensor that terminal control device has is towards travel direction, and it gathers
Generate dependent instruction after data are processed and be sent to vehicle drive unit, vehicle is travelled and is controlled；
S2, according to feature S, and, locomotive carries out data by the wireless telecommunications system access the Internet of terminal control device
Transmission or exchange, carry out corresponding operating；
T, has several different vehicle frames of removable length and an identical driving wheel adaptation chooses to install, and described length is different
Refer to that the driving wheel of locomotive chassis is different from driven pulley wheelspan；
U, locomotive chassis is provided with and stands to frame member and L-shaped with locomotive chassis, or, locomotive chassis is provided with readily accessible
Optional stand to frame member and L-shaped with locomotive chassis；
U1, founds have in image collecting device, voice collection device, display to frame member top one or more of；
U2, locomotive chassis has the carrier of the vertical direction laying along vehicle heading and is positioned at two, the left and right foot of carrier
Wheel；
U3, locomotive chassis is provided with and stands to frame member, and it is L-shaped with trailing arm, and trailing arm afterbody has along vehicle traveling side
To the locomotive chassis laid of vertical direction and carrier and at least can accommodate both feet and trample, trailing arm and carrier collectively form machine
At least two castor is laid at chassis, locomotive carrier and carrier two ends respectively；
U4, according to u3, and, described carrier is that its twist mechanism that circled round of two carriers connects firmly and/or described trailing arm
There is convolution twist mechanism；
U5, according to t4, and, stand to frame member hands L-shaped to handrail, trailing arm, vertical along vehicle heading
Direction lay locomotive chassis and carrier, this three part various combination arrange, become readily accessible installation three parts or
Person's two parts；
U6, stands to frame member L-shaped with locomotive chassis, and both is folded form, and under folded state, both are close, approximates one
Font or approximate U shape；
U7, locomotive chassis is provided with and stands to frame member and L-shaped with locomotive chassis, and gravity load change sensor controls to drive
The circuit of device thus vehicle acceleration and deceleration；
U8, locomotive chassis is provided with and stands to frame member, highly 50---140 centimetre, and/or, at least include that one or two is fitted
To wheel,
And/or, stand and inside frame member, set the lightweight battery of centrally-mounted driving become rod battery；And/or, stand to vehicle frame structure
Part side arranges detachable optional bracing frame delivery article or installs container or install battery bag to driving motor to power;
U9, stands to component or seat or handlebar built-in driving battery;
V, several castors be front in after layout time, middle wheel element contact with ground plane all the time, its front square wheel element with
Rear square wheel element contacts with ground level selectively；
W, locomotive chassis is low chassis, is suitable to foot and tramples, between its 5 millimeters to 200 millimeters of ground of distance, and/or, carrier base
Ground it is parallel to, length 10 centimetres on Ben--200 centimetres；
X, automatic protective system includes described in any one in x1 to x5:
X1, automatic protective system, it is adaptable to the car of driving stepped on by electronic small-sized car, Portable vehicle, folded bicycle, station, it is simple to configuration
The car load of different load-bearing grades and applicable electric system, serve the targeted customer in the range of specific body weight accurately with this,
Avoiding user to use excessive load accidents caused beyond security clearance unexpectedly, thus car load is designed to the least,
When service condition exceedes working limit more than default value, circuitry cuts, vehicle-mounted motor shuts down；When service condition meets
During default value, circuit ON, vehicle-mounted electric motor starting operates；Alarm module is suitably set, when service condition is more than default value
When exceeding working limit, caution device sends prompting；The signal that vehicle load condition, default load-carrying numerical value, sensor arrive this
Three is correlated with, and it also includes that the data collected are sent to data by any one sensing unit following or more kinds of sensing unit
Processor: be arranged at moment values, distance measuring sensor or the gradient of the torque sensor detection-sensitive motor operating of motor or wheel shaft
Sensor senses the inclined slope angle value on road surface, is positioned at the load of the LOAD CELLS sensing vehicle of pedal surface or support zone
Value；
X2, automatic protective system, pedal carrier is provided with pedal double plate laminated type switch of LOAD CELLS, is arranged between claiming
Weight sensor, LOAD CELLS sense weight, weight data when default category, data processor send the signal of telecommunication instruction and
Connect circuit make driving means operate, weight data beyond preset category time, data processor do not send the signal of telecommunication instruct and
Cutting off circuit makes driving means inoperative；
X3, automatic protective system, sensing unit electrically connects with data processor, when the numerical value sensed is beyond specified carrying capacity
Or the when of losing suddenly launch weight and transient change generation numerical fluctuations, the interim driving means that terminates operates, when numerical value surpasses
Go out specified carrying capacity or lose suddenly launch weight and generation numerical value continue the most constant time, driving means shuts down；
X4, automatic protective system, feature automatic protective system as described in x1, x2, x3 any one, LOAD CELLS includes should
Become chip cutting load testing, capacitance-type sensor, pressure drag type pressure sensing, inductance type pressure-sensing, capacitive pressure sense,
At least one in resonant mode pressure-sensing and capacitance acceleration sensing；
X5, is provided with the switch of load value sensing, user tackles different road conditions and switch switching voluntarily；
Y, dual electronic control system, two kinds of different electronic controls or two kinds of identical electronic controls carry out two ore control bag
Include: two-way,
The dual pathways, binode are parallel, and between two systems, physical isolation or physical characteristic are different, and abnormal mistake occurs in any one system
During effect,
Another system works on and guarantees security system and power system operation, reaches the purpose of dual fail-safe.
10., according to the small-sized locomotive chassis described in claim 1 to 7 any one, at where applicable, also comprise the most any one
Individual or more features:
A, wired remote control and hand-held control device: flexible manipulation line one end is fixedly connected with the vehicle, the other end is connected with hands handle, soft
Property manipulation line both circuit is electrically connected, during flexible manipulation line, helix or flexible manipulation line are by flexible anti-pull reinforcing cord
Combine with flexible electronic control line, and/or hands pulls steel wire rope to castor enforcement brake being provided with lever；
B, lightweight battery and vehicle are split type, and battery is movably attached to car body and to driving means offer electric power, and/
Or, driving when, lightweight battery power supply is connected by flexible electric connection line with car body, and the joint that electrical connection combines has
Magnet attraction device；
C, the pull bar that carrier has a flexible pull bar of intussusception or upset folds, in order to car body is guided and supported or towed to manpower, and/
Or, carrier has by motor control automatic telescopic or the pull bar of folding, and tie rod end can arrange steering wheel, is used for controlling and revolving
The different angles of the man-machine interactive system of dynamic tie rod end；
D, makes the position of two carriers relative to turn and have flexible member and make two carrier recoveries during convolution twist mechanism stress
Unanimously, or, it is consistent that convolution torsion mechanism reverses two carrier recoveries when using its reset of elastic deformation material；
E, two or more separate lightweight batteries, by circuit control device, select the circuit of different electrical power
Selecting switching, select to use a certain battery, the electric power controlling different battery is powered to driving means respectively, or, two or two
Individual above separate lightweight battery, powers to driving means by after circuit control device serial or parallel connection；
F, lightweight battery and car body are split type, and lightweight battery is placed on driver in wearable mode or is placed on car body also
And separate with car body, the arrangements of electric connection between lightweight battery and car body is wireless power transmission device, and wireless power transmits dress
Put and not there is hard contact contact electrode；
G, the top of carrier arranges seat, and it includes, but are not limited to detachable optional seat；
G1, locomotive chassis is arranged to large-scale car body, and both feet trample a carrier control direction, and people is sitting in another carrier and this carrier
Top arranges seat；
G2, locomotive chassis is arranged above with removable truss；
G3, locomotive chassis is the relatively large tricycle of ratio, at least one upper carrier installation settings storage tank or container, in becoming
Putting the box beam of lightweight battery, box beam top arranges seat and takes for people；
H, upper carrier arranges standpipe and hands handrail, and it includes, but are not limited to, detachable optional standpipe and hands handle
Handrail,
Standpipe side arranges simple mechanical realization as bracing frame delivery article or container；When lightweight battery is built in standpipe,
Independent mobile battery storehouse is become during dismounting；
I, automatically controlled turns to driving model to include automatic driving mode and/or artificial by remote controller wireless remote control driving model；
J1, various modes selects the motor driver of switching: by motor and the freewheel clutch at wheel shaft position, power-off
After, the manpower sliding mode of unregulated power；Manpower starts the man-machine hybrid mode of motor after sliding；Fully rely on motor original place
The electric model started；Man-machine hybrid power, according to different ratio, is divided and arranges out 2 or more different grades of mould
Formula；The switching device of pattern includes, but are not limited to the selective on/off of Hall element circuit of different mode and controls；
J2, optionally switching circuit, be set in man-machine hybrid mode, pure people's force mode, electric-only mode
A certain pattern, or man-machine hybrid mode have two or more patterns, optionally switching circuit, arranges
Become a certain pattern in man-machine hybrid mode；
K, lightweight battery and car body are built-in, the one that the built-in car body of component is not limited in K1 to K5: k1, and light-alloy squeezes
Stretching manufactures the cavity of molding；K2, fiber-reinforced resin is blended the cavity of molding；K3, at least two plate is combined into
Cavity, at least one plate arranges netted vertical rib；K4, metal sheet punch forming and vertical arrange that several are concavo-convex,
Upper and lower two plates are combined into cavity；K5, the boxlike cavity on carrier；
L, during side-looking perspective, convolution twist mechanism axis is oblique in ground level, it is simple to the convolution twist mechanism that car body turns to is also
Including:
Angularly disposed convolution twist mechanism for flatly plane, or, vertical relative to flatly plane
Angularly disposed convolution twist mechanism for line；
M, identical carrier can select to install and change the different heel braces of adaptation as required, comprising: triangular layout
Three-wheel
Roller castor, the blade in ice face or the blade of snowfield, the Athey wheel that heel brace, two-wheeled heel brace, ground use；
N, castor fixed support and castor swing support worn link and close by the vertical drift bolt axle being obliquely installed, and drift bolt axle, castor are solid
Fixed rack, castor swing support, between this three, turn cooperatively forms limited fitting to castor, and it is in the limited range specified
And at 5 degree--within the angular interval of 200 degree rotate fit to；
O, it is simple to the convolution twist mechanism that car body turns to also includes: the angularly disposed convolution for flatly plane is turned round
Rotation mechanism, or, the angularly disposed convolution twist mechanism for the vertical line of flatly plane；The layout of castor is
One driving wheel and two driven fitting to castor, or, two driving wheels and at least one driven fitting to castor；Load sense
The signal of driver weight load variations is sent to data processor by survey formula sensor control device, when signal reaches to pre-set
Condition time, data processor sends control signal to driving means, guides and drives electric machine rotation also to drive castor, makes vehicle add
Slow down, brake；
P, it is adaptable to the small-sized vehicle that small-wheel-diameter and locomotive chassis are constituted, takes several measures to reduce car body volume, to subtract
Light car body weight, simplification body construction, including any one in p1 to p4 or its combination: p1, lightweight battery is lithium unit
One in element, ultracapacitor, fuel, metal-air, graphene battery, nano material battery or the collocation of its combination in any to
Motor is powered, and lightweight battery is powered to driving motor；P2, pedal is lightweight construction, light material, uses high-strength light multiple
Condensation material and/or light alloy material, light alloy material includes, but are not limited to aluminum, magnesium, titanium；Light composite material include but
It is not limited to carbon fiber, fiberglass reinforced plastics；Pedal includes, but are not limited to metal stamping sheet metal component and is provided with concavo-convex
As reinforcement, or moulding arranges densely covered rib ribs；P3, complete vehicle weight is any one between 2--10 kilogram
Individual interval value, or, battery and car body are split type, after removing battery, and car body weight 2--5 kilogram；P4,1 cun of vehicle wheel footpath
To 14 cun；
Q, wired remote control and hand-held control device, flexible manipulation line one end is fixedly connected with the vehicle, and the other end manipulates with hand-held
Device connects, and both circuit are electrically connected by flexible manipulation line, and hand-held control device includes finger-moving type and/or palm dynamic formula, optionally
It is provided with led or laser diode illuminating lamp；
R, wireless remote control and hand-held control device, the manipulation signal that the transmitting of hand-held control device is wireless, the receptor on car body connects
Receive wireless operated signal, signal receiver sends signal to signal processor, signal processor to driving means send instruction from
And control vehicle, wireless communication signal and equipment thereof include, but are not limited to following at least one: radio frequency, infrared ray, bluetooth,
WIFI、
NFC, RFID, ultrasound wave, Zigbee；
S, sensor control device, when the signal that sensor receives or sends reaches the condition pre-set, sensor sends
Signal drive electric machine rotation via processor and controller and order about castor and rotate, it is achieved the control of vehicle, described manipulation
Device and equipment thereof include, but are not limited to following at least one: gyro sensor, load sense sensor, torque sensor,
Velocity sensor；
T, Intelligent Recognition control device, data processor sends to the electric machine controller driving castor to rotate after processing coherent signal
Instruction,
Signal include, but are not limited to following at least one: signal that voice or sound generate, by the shape of color or image
Shape generates
Signal, people or people organ generation action generate signal；
U, automatic Pilot control system, it include following a kind of device or its arbitrarily combine and guide for automobile navigation, its bag
Include: optical navigation device, aspect sensor, position sensor, electromagnetic guiding device, range finding sensing and collision avoidance device, automatically fill
Electricity system, it also includes, but are not limited to: LED or laser diode litillumination devices；
V, remotely controls control system, refers to that vehicle is provided with the vehicle-mounted interactive system of wireless telecommunications, strange land command centre by
Wireless telecommunication system interacts its monitoring and scheduling, for the long-range control of vehicle；
W, mutual manipulation and the system of execution, including following one or its various combinations: image collecting device, voice acquisition device
With sound-producing device, light-emitting device, the visual interface of display information, operation interface for man-machine interaction, car is provided with data
Processor and data storage cell, send information to command centre by wireless telecommunication system, and command centre includes that people can grasp
The man-machine dialog interface made and remote control, remotely control to include the advance controlling vehicle, fall back, turn to, with vehicle with
And the people of du vehicule to carry out audiovisual mutual；
When X, forward sight or backsight, stand to frame member be combined triangular in shape or trapezoidal with chassis, during side-looking, stand to car
Frame member is L-shaped with chassis；Dual drive wheel is respectively in connection with in both sides, chassis and along the vertical laying of travel direction；Dual drive wheel
Driven respectively by motor and constant speed moves ahead differential steering；At least one end of car has fits to wheel；Frame upper extends handle
Hands；
X1, according to X, under riding condition, frame upper or middle part are provided with the seat extended to car one end, seat and chassis
Substantially parallel；
X2, according to X, seat is folded form, under folded state, seat with stand to frame member direction consistent, and/or,
Under folded state, seat stand to frame member between；
X3, according to X, the bottom of T shape handle is combined with frame upper, and junction is folded form or concertina type；
X4, according to X, the bottom of handlebar is combined with frame upper, and junction is turn folded form, in a state of use,
The direction that handlebar at least part of sensing seat extends, and/or, direction contrary that handlebar at least part of sensing seat extends
Direction；
X5, according to X, handlebar with stand to frame member be articulated and connected, in a folded configuration, handlebar with stand to vehicle frame structure
Part direction is consistent, and/or, stand to frame member be articulated and connected with chassis, in a folded configuration, stand to frame member and the end
Dish direction is consistent；
X6, according to X, stand to frame member be mutually adapted with chassis and to choose to install, dismounting separately or mutually installs combination；
X7, according to X, handlebar is U-shaped, and in a state of use, during top view, seat is between handlebar；
Y, small-sized locomotive chassis, farther include folded form carrier or carrier and replaced by following folded form carrier: along travelling
It is axially that the vertical direction in direction arranges folding shaft, is folded axle hinged between two carriers, before travel direction in after three
Individual region is provided with the castor at least 4 contact ground, and under deployed condition, two carriers are in travel direction arrangement and two carriers
Surface accommodates both feet respectively and tramples and drive；During folding, the end of the first carrier is moved and is revolved from top with folding shaft for axle center
Dynamic turnover is near Second support；Under folded state, upward, the upper surface of two carriers is close or fits in the bottom surface of the first carrier,
At least three castor contact ground that now Second support has, and, the bottom surface of the first carrier accommodates at least one foot and tramples,
Under the state reducing volume after folding, it is also possible to the single foot of receiving is trampled and driven；
Z, two carriers are folded form；Under folded state, carrier has at least three castor contact ground, and, carrier also may be used
Trample with the single foot of receiving and drive.
11. relate to the system that traffic is moved, and its feature includes the system that following any one automatic traveling is driven:
A, at least two cars, the first vehicle be leading vehicle, the second vehicle be with rear vehicle, driver be positioned at rear vehicle and
Driver is signaled to the leading vehicle in front by remote controller, and romote controlled receiving system and the driving means of leading vehicle are held
Manipulation that row remote controller sends instruction travels, and automatically follows leading car with rear vehicle by retinue system residing for driver
Travel；
B, at least two cars, including retinue vehicle and main vehicle, adjustment also sets out the position of two cars in advance and makes it synchronize travel direction,
When main Vehicular turn, the signal of telecommunication of generation is sent to data processor, and data processor sends instruction in time to driving means
Adjusting the travel direction of retinue vehicle, same reaction made by retinue vehicle, and steering mechanism's turn action of two cars synchronizes and travels
Direction is consistent；When travelling or stop before and after main vehicle, retinue vehicle is made identical reaction and senses distance change holding
Spacing；
C, in the wings, retinue vehicle is in front, and at least two beacon detects in order to identify mobile main body and following vehicle for mobile main body
Angle and distance between, retinue vehicle is with mobile main body run and keeps corresponding distance, or, mobile main body is rear
Side, retinue vehicle is in front, and mobile main body is provided with wireless transmitter, its two or more receptors arranged by vehicle of accompanying
Detection, in order to identify the angle and distance between mobile main body and retinue vehicle, retinue vehicle is with mobile main body run and guarantor
Hold corresponding distance；
D, at least two cars, including retinue vehicle and main vehicle, main vehicle supports Manpower operating to drive and automatically controlled manipulation is driven, people
Under power manipulation driving model, driver operate mechanical steering axle motivation structure and turn in real time and drive；Automatically controlled driving model
Under, the signal of telecommunication control operation steering mechanism and turn to and drive；Under retinue driving model, if leading car turns to, phase
Induction signal is sent to vehicle of accompanying, following vehicle can follow in the case of unmanned main vehicle make identical turn to dynamic
Make；
E, supports Manpower operating to drive and automatically controlled manipulation is driven, and under Manpower operating driving model, driver operates on main vehicle
Mechanical steering gear carries out turning to driving；Under automatically controlled manipulation driving model, the signal of telecommunication and driving means control operation and turn to machine
Structure carries out turning to driving；Including automatic traveling, leading car and following vehicle communication, one or more cars are followed main vehicle and keep
Spacing, if leading car travels, turns to, stops, following vehicle also acts accordingly；
F, at least two cars；Time initial, the travel direction of main vehicle and this two car of following vehicle is associated after presetting adjustment；Turn to
Time, main vehicle has Zhou Dong steering mechanism, the signal of telecommunication that its change in location is detected and is converted into, wireless remote controller send out
Give following vehicle for regulating turning to of following vehicle；During main Vehicular turn, following vehicle synchronizes to turn to, main vehicle and following vehicle two car
The position that is located of steering mechanism and directional correlation；
G, according to feature A to F any one, and, there are between two cars one or more retinue vehicles；
H, according to feature A to F any one, and, after releasing with row mode, vehicle can be driven respectively；
I, according to feature A to F any one, and, two cars or some car tandems travel, turn to, stop and automatically
Maintain safe distance；
J, according to feature A to F any one, and, described vehicle is replaced by ship or aircraft is replaced；
K, according to feature A to F any one, and, each car has independent operating system, after releasing with row mode,
Vehicle can be driven respectively, and each car both can individually control tandem to travel；
L, according to feature A to F any one, and, front vehicles is by travel speed, steering angle, run trace, path
Information is sent to front vehicle, and with this, front vehicle determines the movement locus of self；
M, according to feature A to F any one, and, open wave point, permit it through main vehicle and host code
After, increasing and decreasing vehicle unit, it is fleet that many cars are compiled, and master control vehicle in rear coordinates to control whole fleet, real-time management, adapts to different rings
Multiple vehicles, by main vehicle driver and host computer control multiple retinue vehicle, are entered by coordinative operation under border by operation and control interface
Multiple retinue vehicles are each numbered by row manipulation, form into columns retinue vehicle according to default program, and retinue vehicle near field leads to
News formation array of automatically forming into columns, multiple vehicle arrays travel；
N, according to feature A to F any one, and, main vehicle is used for delivering driver；
O, according to feature A to F any one, and, the beacon of reading defaults in ad-hoc location, and retinue vehicle is designated position
In main vehicle or other different azimuth of mobile main body；
P, according to feature A to F any one, and, the parameter that regulation is preset, the path that definition retinue vehicle travels, real
Time retinue or time delay retinue；
Q, according to feature A to F any one, and, the head of the driver in accompanying front vehicle is higher than front
Leading vehicle；
R, according to feature A to F any one, and, remote driving pattern, Digiplex is separated from each other with vehicle and is positioned at
Different physical spatial location, operator is by remote controller wireless remote control driving main vehicle and/or retinue vehicle；
S, according to feature A to F any one, and, vehicle unit is the double-end vehicle that both forward and reverse directions travels pivot stud, tool
Have and fit the driving wheel rotated to wheel and both forward and reverse directions, there is circuit switching and support remote control and be remotely-controlled, there is circuit switching and support
Accompany other cars and being accompanied by other cars, at least two cars can remote controls mutually, accompany mutually, the vehicle unit residing for driver can be solely
Drive from manipulation；When reversing is stopped, the vehicle of fleet rear and front end has remote control system and performs device, and fleet can both forward and reverse directions
Travel；
T, according to feature A to F any one, and, by jointly controlling, at top view of remote controller and angular transducer
Plane coordinate system in, tractor with by the axisymmetrical of trailer, or, tractor with by trailer along travel direction line phase one
Causing, retinue in real time or employing delay algorithm, in order to the line of driving path is consistent.
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| CN201520003515 | 2015-01-06 | ||
| CN2015200035157 | 2015-01-06 | ||
| CN201510127171 | 2015-03-23 | ||
| CN2015101271715 | 2015-03-23 |
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| CN201510538156.XA Pending CN105984541A (en) | 2015-01-06 | 2015-08-28 | Motor vehicle and control system |
| CN201510597479.6A Pending CN106143750A (en) | 2015-01-06 | 2015-09-19 | Relate to the system that traffic is moved |
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| CN201510538156.XA Pending CN105984541A (en) | 2015-01-06 | 2015-08-28 | Motor vehicle and control system |
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