WO2019006652A1 - 人机互动体感车 - Google Patents

人机互动体感车 Download PDF

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Publication number
WO2019006652A1
WO2019006652A1 PCT/CN2017/091618 CN2017091618W WO2019006652A1 WO 2019006652 A1 WO2019006652 A1 WO 2019006652A1 CN 2017091618 W CN2017091618 W CN 2017091618W WO 2019006652 A1 WO2019006652 A1 WO 2019006652A1
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WO
WIPO (PCT)
Prior art keywords
human
pedal
sensor
sensing
gravity
Prior art date
Application number
PCT/CN2017/091618
Other languages
English (en)
French (fr)
Inventor
应佳伟
陈辉
Original Assignee
杭州畅动智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201710530187.XA external-priority patent/CN109204647A/zh
Priority claimed from CN201720789931.3U external-priority patent/CN206954412U/zh
Priority claimed from CN201720788471.2U external-priority patent/CN206954409U/zh
Priority claimed from CN201720789286.5U external-priority patent/CN206954411U/zh
Priority claimed from CN201720788523.6U external-priority patent/CN206954410U/zh
Priority claimed from CN201720790207.2U external-priority patent/CN207972720U/zh
Application filed by 杭州畅动智能科技有限公司 filed Critical 杭州畅动智能科技有限公司
Publication of WO2019006652A1 publication Critical patent/WO2019006652A1/zh

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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
    • B62K5/00—Cycles with handlebars, equipped with three or more main road wheels
    • B62K5/01—Motorcycles with four or more wheels

Definitions

  • the invention relates to the technical field of a body-sensing vehicle, and in particular to a human-machine interaction body-sensing vehicle.
  • the somatosensory car and the thinking car are mainly based on a basic principle called "dynamic stability".
  • the gyroscope and acceleration sensor inside the car body are used to detect the change of the car body posture and use servo control.
  • the system precisely controls the unit to make the appropriate adjustments to maintain the balance of the system.
  • the existing body-sensing car is generally divided into two types: an operating lever and a non-operating lever. Among them, the body-sensing car with the operating lever, the forward, backward and steering of the vehicle body are controlled by the operating lever for specific operation, and the belt operation is performed.
  • the electric balance car of the pole has poor playability.
  • the body-sensing car without the operating lever is controlled by the inclination of the entire vehicle body, and the steering is performed by the user's foot on the pedal platform, and the relative rotation angle difference between the two pedal platforms is adopted.
  • Control implementation this type of car is highly playable, but the balance is poor and the safety performance is low.
  • the invention aims to overcome the prior art and to provide a human-machine interaction body-sensing vehicle.
  • the present invention provides a human-machine interactive car, which comprises a support frame, a wheel connected to the support frame, and a steering rod mounted on the support frame for controlling the steering of the wheel.
  • a pedal device mounted on the support frame, a body sensor located between the pedal device and the support frame, and configured to sense position information of a center of gravity of a user on the foot device a driving device for rotating the wheel and a control device for controlling an output force of the driving device according to the position information of the center of gravity.
  • the number of the somatosensory sensors is one, and the number of the pedal devices is at least one, and the somatosensory sensor is located between the support frame and one of the pedal devices for sensing the center of gravity of the user.
  • the control device controls an output force of the driving device according to the position information of the center of gravity of the user sensed by the body sensor.
  • the somatosensory sensor is a pressure sensor, and the somatosensory sensor includes two sensing element regions that are distributed back and forth in a forward direction of the human-machine interactive body-sensing vehicle.
  • the two sensing element regions respectively sense the front pressure and the rear pressure of the corresponding pedal device to obtain the position information of the center of gravity of the user.
  • control device controls an output force of the driving device according to a difference in pressure sensed by the two sensing element regions.
  • the body sensor is an angle sensor
  • a pedal device corresponding to the body sensor is rotatably connected to the support frame, and the body sensor collects relative angle information of the corresponding pedal device and the support frame. Get the user's center of gravity location information.
  • control device controls an output force of the driving device according to an angle information of the pedal device relative to the support frame.
  • the body sensor includes two displacement sensing modules, and two elastic elements are further disposed between the pedal device corresponding to the body sensor and the support frame, and the two elastic components are in the person
  • the body sensor is distributed forward and backward in the forward direction of the body, and the body sensor acquires the position information of the center of gravity of the user by collecting the shape variables of the two elastic elements.
  • control device controls the output force of the driving device according to the difference between the elastic deformation variables of the two elastic members.
  • the somatosensory sensor is a mouse-like ball structure that protrudes into a corresponding pedal device, and the mouse ball structure can be freely scrolled and can collect relative rolling displacements of the mouse-like ball and the corresponding pedal device.
  • the somatosensory sensor acquires the position information of the center of gravity of the user by collecting the relative rolling displacement of the corresponding pedal device.
  • control device controls an output force of the driving device according to a relative rolling displacement of the body sensor and the corresponding pedal device.
  • the number of the somatosensory sensors is two, and the number of the pedal devices is two, and the support frame is provided with one of the somatosensory sensors between each pedal device, and the two of the somatosensory sensors sense The position information of the center of gravity of the user, the control device controls the output force of the driving device according to the position information of the center of gravity of the user sensed by the two somatosensory sensors.
  • each of the somatosensory sensors is a pressure sensor
  • the two pedal devices are distributed before and after the moving direction of the human-machine interaction body, and the two body sensors sense the pressure value on the corresponding pedal device. , to obtain the user's position of the center of gravity.
  • control device controls the output force of the driving device according to the difference between the pressures of the two pedal devices sensed by the two body sensors.
  • each of the somatosensory sensors is a pressure sensor, and each of the somatosensory sensors includes two sensing element regions that are distributed forward and backward in the forward direction of the human-machine interactive body sensing vehicle, and two body sensing sensors.
  • the device senses the front pressure and the rear pressure of the corresponding pedal device through the corresponding two sensing element regions, and acquires the position information of the center of gravity of the user.
  • control device senses a pressure according to the two sensing element regions corresponding to the pedal device, and calculates a pressure difference between the front portion and the rear portion of the pedal device, and the control device according to the two devices The sum of the pressure differences between the front and the rear of the pedal device controls the output force of the drive device.
  • each of the somatosensory sensors is an angle sensor
  • the two pedal devices are rotatably connected to the support frame, and the two somatosensory sensors obtain the angle information of the corresponding pedal device relative to the support frame.
  • User's center of gravity location information is an angle sensor
  • control device controls the output force of the driving device according to the sum of the angle information of the two pedal devices relative to the support frame.
  • each of the sensory sensors is a displacement sensor
  • each of the pedal devices and the support frame are further provided with an elastic element
  • the two pedal devices are in front of and behind the moving direction of the human-machine interaction body
  • the two body sensors acquire the position information of the center of gravity of the user by collecting the shape variables of the corresponding elastic elements.
  • control device controls the output force of the driving device according to the difference between the elastic deformation variables of the two elastic members.
  • each of the sensory sensors includes two displacement sensing modules, and each of the pedal devices is further provided with two elastic elements between the supporting frame, and the two elastic elements are in the human body interaction sense
  • the vehicle is distributed forward and backward in the forward direction of the vehicle, and the two body sensors acquire the position information of the center of gravity of the user by collecting the shape variables of the corresponding elastic elements.
  • control device calculates a shape difference value of the two elastic elements corresponding to each pedal device according to the shape variables of the corresponding two elastic elements collected by each of the body sensor, the control device according to the two The sum of the difference values of the deformation variables controls the output force of the driving device.
  • each of the somatosensory sensors is a mouse-like ball structure that protrudes into a corresponding pedal device.
  • the mouse ball structure can be freely scrolled and can collect relative rolling displacements of the mouse-like ball and the pedal device.
  • the individual sensor acquires the position information of the center of gravity of the user by collecting the relative rolling displacement of the corresponding pedal device.
  • control device controls the output force of the driving device according to the sum of the relative rolling displacements of the two somatosensory sensors and the corresponding pedal device.
  • the number of the wheels is two, and two wheels are laterally disposed at the front and rear ends of the support frame.
  • a front end of the support frame is provided with an illumination lamp.
  • a rear end of the support skeleton is provided with a carrier.
  • the carrier is provided with a glove box.
  • the carrier is provided with a seat cushion.
  • a front end of the carrier is provided with a seat cushion, and a rear end of the carrier is provided with a glove box.
  • the support frame is provided with a receiving groove for receiving the body sensor, and the pedal device corresponding to the body sensor covers a corresponding receiving groove.
  • a receiving cavity is further disposed on the supporting frame, a battery and a circuit board are mounted in the receiving cavity, and the control device is disposed on the circuit board.
  • the present invention also provides a human-machine interaction car, comprising a support frame, a wheel connected to the support frame, a steering rod mounted on the support frame for controlling steering of the wheel, and mounted on the support frame a pedal device, located between the pedal device and the support frame and for acquiring a position of a center of gravity of a user on the pedal device by sensing a front pressure and a rear pressure of the pedal device A somatosensory sensor for information, a driving device for driving the rotation of the wheel, and a control device for controlling the output force of the driving device based on the position information of the center of gravity.
  • the present invention also provides a human-machine interaction car, comprising a support frame, a wheel connected to the support frame, a steering rod mounted on the support frame for controlling steering of the wheel, and mounted on the support frame a pedal device, located between the pedal device and the support frame and for acquiring a center of gravity of a user on the pedal device by sensing relative angle information of the pedal device and the support frame A sensory sensor of position information, a driving device that drives the rotation of the wheel, and a control device that controls the output force of the driving device based on the position information of the center of gravity.
  • the present invention also provides a human-machine interaction car, comprising a support frame, a wheel connected to the support frame, a steering rod mounted on the support frame for controlling steering of the wheel, and mounted on the support frame a pedal device, located between the pedal device and the support frame and for sensing displacement information of the pedal device relative to the support frame to obtain a center of gravity of a user on the pedal device A sensory sensor of position information, a driving device that drives the rotation of the wheel, and a control device that controls the output force of the driving device based on the position information of the center of gravity.
  • the present invention also provides a human-machine interaction car, comprising a support frame, a wheel connected to the support frame, a steering rod mounted on the support frame for controlling steering of the wheel, and mounted on the support frame a pedal device, located between the pedal device and the support frame and configured to sense a position of a center of gravity of a user on the foot device by sensing rolling displacement information of the pedal device a somatosensory sensor, a driving device that drives the rotation of the wheel, and a control device that controls the output force of the driving device based on the position information of the center of gravity.
  • the present invention has the following advantages:
  • the steering is controlled by the steering lever, and the body-sensing sensor acquires the position information of the center of gravity of the user on the pedal device by stepping on the pedal device, and the position information of the center of gravity obtained by the control device by calculating the body-sensing sensor It is judged whether the human body is tilted forward, backward or upright, and the forward tilting of the human body is to calculate the forward tilting amplitude value of the human body and calculate the recoil amplitude of the human body when reclining, when the control device calculates that the center of gravity of the human body is tilted forward.
  • the control device controls the driving device to output a positive driving force.
  • the control device controls the driving device to output a reverse driving force.
  • the driving device calculates that the center of gravity of the human body is not tilted, the driving device The driving force is not output, and the greater the magnitude of the center of gravity tilt, the greater the driving force that the control device controls the output of the driving device; the positive driving force provided by the driving device acts on the vehicle body to cause the vehicle body to have an acceleration of forward movement.
  • the car body has a tendency to move forward, so that the car body can be added when the car body moves forward.
  • the person During the acceleration of the vehicle body, the person has a tendency to move backward, and the center of gravity of the person It is necessary to tilt forward first, so that there is no problem that the person falls from the vehicle due to excessive acceleration; the reverse driving force provided by the driving device acts on the vehicle body to make the vehicle body have the acceleration of the backward movement to make the vehicle body It has a tendency to move forward, so that the vehicle body can be accelerated and retracted when the vehicle body moves backwards, and the forward speed of the vehicle body can be reduced when the vehicle body moves forward until the forward speed is zero, if the driving device continues to output at this time. With the positive driving force, the car body starts to move backwards.
  • the driving device When the vehicle body moves backwards, the driving device provides the rearward driving force of the vehicle body to be tilted backward by the center of gravity of the person.
  • the person During the acceleration of the vehicle body, the person has a tendency to move forward, and the center of gravity needs Tilting backwards first, so that there is no problem that the person falls from the vehicle due to excessive acceleration, so that the human-machine interactive body feeling vehicle of the invention has high safety performance and strong playability.
  • FIG. 1 is a schematic structural view of a human-machine interaction body-sensing vehicle provided by the present invention.
  • FIG. 2 is a partial cross-sectional view of one embodiment of FIG. 1.
  • FIG. 3 is a partial cross-sectional view of one embodiment of FIG. 1.
  • FIG. 4 is a partial cross-sectional view of one embodiment of FIG. 1.
  • Figure 5 is a partial cross-sectional view of one embodiment of Figure 1.
  • Figure 6 is a partial cross-sectional view of one embodiment of Figure 1.
  • Figure 7 is a partial cross-sectional view of one embodiment of Figure 1.
  • Figure 8 is a partial cross-sectional view of one embodiment of Figure 1.
  • Figure 9 is a partial cross-sectional view of one embodiment of Figure 1.
  • Figure 10 is a schematic illustration of the advancement of the present invention.
  • Figure 11 is a schematic view of the present invention when it is retracted.
  • a human-computer interaction car provided by the present invention includes a support frame 1 and a wheel 2 connected to the support frame 1 and mounted on the support frame 1 for controlling the wheel 2 a steering steering rod 3, a pedal device 4 mounted on the support frame 1, between the pedal device 4 and the support frame 1 and for sensing use on the pedal device 4
  • the steering is controlled by the steering rod 3.
  • the user steps on the pedal device 4, and the body-sensing sensor 5 senses the position of the center of gravity of the user on the pedal device 4.
  • the control device 6 determines whether the human body is tilted forward, backward or upright by calculating the position of the center of gravity acquired by the body sensor 5, and calculates the forward tilting amplitude value when the human body leans forward and the human body reclining amplitude value when reclining.
  • the control device 6 controls the driving device 100 to output the forward driving force
  • the control device 6 controls the output of the driving device 100.
  • the driving device 100 does not output the driving force, and the greater the magnitude of the gravity center tilt, the larger the driving force that the control device 6 controls the driving device 100 to output.
  • the positive driving force provided by the driving device 100 acts on the vehicle body, so that the acceleration of the vehicle body having the forward moving motion causes the vehicle body to have a tendency to move forward, so that the vehicle body can accelerate forward when the vehicle body moves forward.
  • the vehicle body receding speed can be reduced until the retreating speed is zero.
  • the driving device 100 continues to output the positive driving force at this time, the vehicle body starts to move forward.
  • the driving device 100 provides a positive driving force for the vehicle body to be forwardly tilted by the center of gravity of the person.
  • the center of gravity of the person During the acceleration of the vehicle body, the person has a tendency to move backward, and the center of gravity of the person It needs to be tilted forward so that there is no problem of people falling off the car due to excessive acceleration.
  • the reverse driving force provided by the driving device 100 acts on the vehicle body, so that the acceleration of the vehicle body having the backward movement causes the vehicle body to have a tendency to move forward, so that the vehicle body can be accelerated and retracted when the vehicle body moves backward.
  • the forward speed of the vehicle body can be lowered until the forward speed is zero.
  • the driving device 100 continues to output the positive driving force at this time, the vehicle body starts to move backward.
  • the driving device 100 provides the rear driving force of the vehicle body to be tilted backward by the center of gravity of the person.
  • the person has a tendency to move forward, and the center of gravity of the person It is necessary to tilt backwards first, so that there is no problem that people fall from the car due to excessive acceleration.
  • the front-rear direction of the support frame 1 refers to the running direction of the vehicle body (the tangential method of the vehicle body motion trajectory when turning), the foot of the present invention.
  • the number of the tread devices 4 can be set to one or two, and each of the tread devices 4 corresponds to one foot position, and can be set according to actual needs.
  • the foot device 4 can be It may be two or two.
  • the somatosensory sensor 5 is only placed between one of the pedal devices 4 and the support frame 1; when the somatosensory sensor 5 is two, the number of the footrest devices 4 corresponds to two.
  • the two sensory sensors 5 are placed between the two pedal devices 4 and the support frame 1, respectively.
  • the rear end of the supporting frame 1 of the human-computer interaction car of the present invention is mounted with a carrier 7 at the rear end of the supporting frame 7.
  • the rear end of the carrier 7 can be provided with a seat cushion 8 for carrying people and a container 9 for people to use.
  • the rear end of the support frame 1 may not be mounted with the carrier 7, and the container 9 and the seat cushion 8 may also be selected one by one or any object on the carrier 7 is not placed, and people can freely assemble.
  • the illuminating lamp 10 is attached to the front end of the support frame 1 of the human-machine interactive body-sensing vehicle of the present invention to facilitate the use of lighting, and the ornamental property can also be improved.
  • the front end of the support frame 1 may not be provided with the illuminating lamp 10.
  • the two wheels 2 of the human-machine interactive body-sensing vehicle of the present invention are laterally mounted at the front and rear ends of the support frame 1, respectively, and the driving device 100 is, for example, a hub motor mounted on the wheel 2 at the rear end for driving the wheel 2 of the displacement rear end.
  • the principle that the steering rod 3 controls the steering of the front wheel 2 is similar to the steering of the bicycle, the electric vehicle and the handlebar of the tricycle, and the principle thereof will not be described herein.
  • the number of the driving devices 100 may be two, respectively installed in the two wheels 2 for driving the rotation of the two wheels 2.
  • the number of the footrest devices 4 is two and distributed front and rear. Of course, in other embodiments, the footrest devices 4 can also be arranged side by side.
  • the support frame 1 of the human-machine interactive body-sensing vehicle of the present invention is provided with a receiving groove 11 for receiving the body-sensing sensor 5, so that the body-sensing sensor 5 is conveniently disposed between the support frame 1 and the pedal device 4.
  • the support frame 1 of the human-machine interactive body-sensing vehicle of the present invention is provided with a receiving cavity 12, and a circuit board and a battery are mounted in the receiving cavity 12, and a control device 6 and an acceleration sensor are arranged on the circuit board to form a human-machine interaction.
  • a cover plate 13 can be placed on the receiving cavity 12 to cover the receiving cavity 12 to prevent water from entering the water.
  • the footrest device 4 of the present invention may include, for example, a pedal bottom plate and a protective holster sleeved on the pedal bottom plate.
  • the pedal bottom plate may be mounted on the support frame 1, and the body sensor 5 is located between the pedal bottom plate and the support frame 1.
  • the protective holster can improve the comfort of pedaling while preventing slippage.
  • the first broad type of embodiment can be summarized as sensing the position of the center of gravity of the user on the pedal device 4 by means of a somatosensory sensor 5, and the second general embodiment is to sense the pedal device 4 by the two body sensor 5s.
  • User's center of gravity location information can be summarized as sensing the position of the center of gravity of the user on the pedal device 4 by means of a somatosensory sensor 5, and the second general embodiment is to sense the pedal device 4 by the two body sensor 5s.
  • the content of the first type of embodiment is that the number of the somatosensory sensors is one, the number of the tread devices 4 is two, and the somatosensory sensor 5 is located in the support frame 1 and one of the pedal devices 4 .
  • the control device 6 controls the output force of the driving device 100 based on the position information of the center of gravity sensed by the body sensor 5.
  • the body sensor 5 is a pressure sensor, and the body sensor 5 includes two sensing element regions 501 distributed in the forward direction of the human-machine interaction car, two sensing elements.
  • the region 501 is preferably distributed at the front end portion and the rear end portion of the pedal device 4, and the sensory sensor 5 senses the front pressure and the rear pressure of the corresponding pedal device 4 through the two sensing element regions 501 to obtain the position of the center of gravity of the user. information.
  • the control device 6 controls the output force of the driving device 100 according to the difference between the front pressure and the rear pressure of the pedal device 4 sensed by the two sensing element regions 501.
  • the specific principle is that the control device 6 receives the pressure values sensed by the two sensing element regions 501, calculates the pressure difference sensed by the two sensing element regions 501, and controls the output of the driving device 100 when the pressure difference value is positive.
  • the forward driving force drives the vehicle body to advance, and when the pressure difference is negative, the driving device 100 outputs the reverse driving force to drive the vehicle body forward, and the larger the pressure difference, the larger the driving force outputted by the driving device 100.
  • the pressure sensed by the sensing element region 501 located at the front of the pedal device 4 is greater than the pressure sensed by the sensing element region 501 located at the rear of the pedal device 4, for the entire pressure sensor.
  • the pressure sensor outputs a positive pressure signal.
  • the control device 6 receives a positive pressure signal, and the control device 6 controls the driving device 100 to output a positive driving force to drive the vehicle body to advance. Tilting backward so that the pressure sensed by the sensing element region 501 at the front of the pedal device 4 is less than the pressure sensed by the sensing element region 501 located at the rear of the pedal device 4, at which time the control device 6 receives A negative pressure signal, the control device 6 controls the driving device 100 to output a reverse driving force to drive the vehicle body to retreat.
  • the sensory sensor 5 is an angle sensor
  • the pedal device 4 corresponding to the sensory sensor 5 is rotatably connected to the support frame 1.
  • the body sensor 5 is configured by collecting a corresponding pedal device 4 and
  • the relative angle information of the support frame 1 acquires the position information of the center of gravity of the user.
  • the control device 6 controls the output force of the driving device 100 according to the angle information of the pedal device 4 with respect to the support frame 1.
  • the angle sensor collects the angle signal that the pedal device 4 flips forward to be a forward angle signal, and the backward angle signal that is reversed is a reverse angle signal.
  • the control device 6 receives the positive angle signal, and the control device 6 controls the driving device 100 to output the positive driving force to drive the vehicle body to advance.
  • the larger the positive angle signal the greater the driving force of the output;
  • the principle that the control device 6 controls the driving device 100 to output the reverse driving force to drive the vehicle body to retreat and the output driving force is similar to the above, and details are not described herein again.
  • a pivot 15 is disposed in the receiving groove 11 of the supporting frame 1, and the pedal bottom plate of the pedal device 4 is rotatably connected with the pivot shaft 15, so that the pedal device 4 is rotatably connected with the supporting frame 1.
  • the body sensor 5 includes two displacement sensing modules, and two elastic members 16 are further disposed between the pedal device 4 corresponding to the sensory sensor 5 and the support frame 1.
  • the two elastic members 16 are distributed back and forth in the advancing direction of the human-machine interaction body, and the two elastic members 16 are preferably distributed at the front end portion and the rear end portion of the pedal device 4, so that the acquired converted values are more accurate.
  • the body sensor 5 acquires the position information of the center of gravity of the user by collecting the shape variables of the two elastic members 16.
  • the control device 6 controls the output force of the drive device 100 based on the difference in the elastic deformation variables of the two elastic members 16.
  • the downward deformation amount of the elastic member 16 collected by the displacement sensing module is recorded as a positive value, and the elastic deformation of the upwardly pulled upward is recorded as a negative value.
  • the human body is normally stepped on the pedal device 4, and the deformation variables of the two elastic members 16 are the same.
  • the front pressure of the pedal device 4 is greater than the rear pressure, and the front portion of the pedal device 4 is The elastic member 16 is contracted downward, and the elastic member 16 at the rear of the pedal device 4 is contracted downward or elongated upward, and the elastic member 16 located at the rear of the pedal device 4 due to poor force is applied.
  • the control device 6 calculates the elastic member of the elastic member 16 according to the elastic displacement variables of the two displacement sensing modules, and calculates the front elastic member 16 .
  • the difference between the elastic deformation variables of the rear elastic member 16 is positive, and the control device 6 controls the driving device 100 to output the positive driving force to drive the vehicle body to advance.
  • the larger the elastic shape variable difference the more the driving force output by the driving device 100 is. Big. It can be understood that the principle that the control device 6 controls the driving device 100 to output the reverse driving force to drive the vehicle body to retreat and the output driving force is similar to the above principle, and details are not described herein again.
  • the elastic member 16 is a spring
  • the body sensor 5 is disposed inside the spring for collecting the relative displacement of the bottom surface of the pedal device 4 facing the body sensor 5, which is located at the point where the elastic member 16 can be retracted. the amount.
  • the somatosensory sensor 5 is a mouse-like ball structure that protrudes into the corresponding pedal device 4
  • the mouse ball structure includes a mouse-like ball and a collection mouse ball.
  • the rolling displacement sensor of the rolling displacement, the mouse-like ball can be freely scrolled, and the rolling displacement sensor can collect the relative rolling displacement of the mouse-like ball and the corresponding pedal device 4, and the somatosensory sensor 5 is collected and corresponding to the pedal device 4
  • the relative rolling displacement acquires the position information of the center of gravity of the user, and the control device 6 controls the output force of the driving device 100 according to the relative rolling displacement of the body sensor 5 and the corresponding pedal device 4.
  • the mouse-like ball on the pedal device 4 is subjected to the forward force, the mouse-like ball rotates clockwise, and the somatosensory sensor 5 collects the relative rolling displacement of the mouse-like ball and the corresponding pedal device 4.
  • the relative rolling displacement signal received by the control device 6 is a forward displacement signal, and the control device 6 controls the driving device 100 to output a positive driving force to drive the vehicle body to advance, and of course the received elastic deformation variable is positive.
  • the principle that the control device 6 controls the driving device 100 to output the reverse driving force to drive the vehicle body to retreat and the output driving force is similar to the above principle, and details are not described herein again.
  • the content of the second type of implementation is that the number of the somatosensory sensors is two, the number of the tread devices 4 is two, and one space between the support frame 1 and each of the pedal devices 4 is provided.
  • the somatosensory sensor 5 is used to acquire the position information of the center of gravity of the user on the pedal device 4, and the control device 6 is based on the position information of the center of gravity of the user sensed by the two of the somatosensory sensors 5.
  • the output force of the driving device 100 is controlled.
  • the two pedal devices 4 are distributed before and after the forward direction of the human-machine interaction body-sensing vehicle.
  • Each of the sensory sensors 5 is a pressure sensor, and the two body sensor 5 acquires the position information of the center of gravity of the user by sensing the pressure value on the corresponding pedal device 4.
  • the control device 6 controls the output force of the driving device 100 according to the pressure values of the two pedal devices 4.
  • the working principle of the embodiment is basically the same as that of the body sensor 5 in the above embodiment. The difference is that only the difference between the pressures sensed by the two body sensor 5s needs to be calculated, and details are not described herein.
  • the two foot devices 4 may also be spaced apart in a direction perpendicular to the advancing direction of the human-machine interaction car, in this embodiment,
  • Each of the sensory sensors 5 is a pressure sensor, and each of the pressure sensors includes two sensing element regions 501 distributed front and rear. Preferably, two sensing element regions 5 of each of the body sensing sensors 5 are respectively located.
  • the front end portion and the rear end portion of the corresponding pedal device 4, the two body sensor 5 sense the front pressure and the rear pressure on the corresponding pedal device 4 through the corresponding sensing element region 501, and obtain the position information of the center of gravity of the user. .
  • the working principle of this embodiment is basically the same as that of the above-described body sensor 5 for the pressure sensor, except that the control device 6 first calculates the difference in pressure between the two sensing element regions 501 of each of the body sensor 5. Value, then calculate the difference between the two differences.
  • the structure of the pressure sensor in this embodiment is also applicable to two pedal devices distributed front and rear, and the control principle thereof is also the same as this embodiment.
  • the somatosensory sensor 5 is an angle sensor, and the two pedal devices 4 are rotatably connected to the support frame 1 , and the two somatosensory sensors 5 are opposite to the support frame 1 by collecting corresponding pedal devices 4 .
  • the angle information obtains the position information of the user's center of gravity.
  • the control device 6 controls the output force of the driving device 100 based on the angle information of the two pedal devices 4 with respect to the support frame 1.
  • the working principle of the embodiment is basically the same as that of the above-described body sensor 5 for the angle sensor, except that the control device 6 needs to calculate the sum of the angle information sensed by the two angle sensors first, and calculate the sum of the angle information. After the control.
  • the two pedal devices 4 are distributed before and after the moving direction of the human-machine interaction vehicle. In other embodiments, the two pedal devices 4 interact with the human-machine.
  • the forward direction of the vehicle is distributed in a vertical direction.
  • the two footrests 4 need to be rotatably connected to the support frame 1 by means of two pivots 15.
  • each of the body sensor 5s is a displacement sensor
  • each of the pedal devices 4 and the support frame 1 is further provided with an elastic member 16, and the two pedals are
  • the device 4 is distributed before and after the forward direction of the human-machine interaction car, preferably, the body sensor 5 is distributed in the middle of the two foot devices 4, and the two body sensor 5s are acquired by acquiring the shape variables of the corresponding elastic members 16.
  • the control device 6 controls the output force of the drive device 100 based on the difference in the elastic deformation variables of the two elastic members 16.
  • the working principle of this embodiment is basically different from that of the above-described body sensor 5 for the displacement sensor, the difference being that the control device 6 calculates the difference in the elastic shape of the elastic member 16 below the two pedal devices 4.
  • each of the sensory sensors 5 includes two displacement sensing modules, and each of the pedal devices 4 and the support frame 1 is further provided with two elastic elements 16 that are distributed forward and backward.
  • the two displacement sensing modules are preferably distributed at the front end portion and the rear end portion of the corresponding pedal device 4, and the two body sensor 5s acquire the position information of the center of gravity of the user by collecting the shape variable corresponding to the elastic member 16.
  • the control principle of this embodiment is basically the same as that of the above-described body sensor 5 for the displacement sensor, except that the control device 6 needs to first calculate the bullet of the two elastic members 16 under each pedal device 4. The difference between the characteristic variables and then the sum of the elastic deformation differences corresponding to the two pedal devices 4 is controlled, and the control device 6 controls the output force of the driving device 100 based on the difference between the two elastic deformation differences.
  • each of the somatosensory sensors 5 is a mouse-like ball structure that protrudes into the corresponding pedal device 4, and the mouse ball structure can be freely scrolled and can be collected into a mouse-like structure.
  • the relative rolling displacement of the ball and the corresponding pedal device 4, the two of the body sensor 5 acquire the position information of the center of gravity of the user by collecting the relative rolling displacement with the corresponding pedal device 4, the control device 6 according to the The relative rolling displacement of the sensory sensor 5 and the corresponding pedal device 4 controls the output force of the driving device 100.
  • the control principle of this embodiment is basically the same as the control principle of the embodiment in which the somatosensory sensor 5 is a ball-like mouse structure, and the difference is that the control device 6 needs to sum the rolling displacement information corresponding to the two pedal devices 4,
  • the two pedal devices 4 are spaced apart in a direction perpendicular to the advancing direction of the human-machine interaction vehicle, and in other embodiments, the two pedal devices 4 may be distributed back and forth.
  • the machine-interactive body-sensing vehicle of the present invention controls the steering by the steering rod 3 during use, and the body-sensing sensor 5 acquires the position information of the center of gravity of the user on the pedal device 4 by stepping on the pedal device 4, and the control device 6 Calculating the position of the center of gravity obtained by the sensory sensor 5 determines whether the human body is tilted forward, backward or upright, and the forward tilting of the human body is calculated as the forward tilting amplitude value and the reclining amplitude value is calculated when the reclining is performed.
  • control device 6 When the control device 6 calculates that the center of gravity of the human body is tilted forward, the control device 6 controls the driving device 100 to output the forward driving force, and when the control device 6 calculates that the center of gravity of the human body is tilted backward, the control device 6 controls the driving device 100 to output the reverse direction.
  • Driving force when the control device 6 calculates that the center of gravity of the human body is not tilted, the driving device 100 does not output the driving force, and the greater the magnitude of the center of gravity tilt, the greater the driving force that the control device 6 controls the driving device 100 to output, therefore, the control The device 6 can control the body forward, backward, brake and forward acceleration and deceleration according to the position information of the body weight sensor collected by the body sensor 5, backward Speed and deceleration, so that the man-machine interaction somatosensory high vehicle safety performance of the invention has a strong and playability.

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Abstract

一种人机互动体感车，包括支撑骨架（1）、与支撑骨架（1）连接的车轮（2）、安装在支撑骨架（1）上且用于控制车轮（2）转向的转向杆（3）、安装在支撑骨架（1）上的脚踏装置（4）、位于脚踏装置（4）与支撑骨架（1）之间且用于感测在脚踏装置（4）上的使用者的重心位置信息的体感传感器（5）、驱动车轮（2）转动的驱动装置（100）以及根据重心位置信息控制驱动装置（100）的输出力的控制装置（6）。该人机互动体感车通过转向杆控制转向，通过人体的重心分布也就是人体的前倾、后仰以及直立控制车体的前进、后退、减速、加速及控制刹车，安全性能高且可玩性强。

Description

人机互动体感车 技术领域
本发明涉及一种体感车技术领域，具体涉及一种人机互动体感车。
背景技术
体感车、思维车，其运作原理主要是建立在一种被称为“动态稳定”的基本原理上，利用车体内部的陀螺仪和加速度传感器，来检测车体姿态的变化，并利用伺服控制***，精确地控制装置进行相应的调整，以保持***的平衡。
现有的体感车一般分为有操作杆和无操作杆这两类，其中带操作杆的体感车，其车体的前进、后退及转向均由操作杆来进行具体操作控制，这类带操作杆的电动平衡车的可玩性差。
而不带操作杆的体感车，其前进、后退是由整个车体的倾斜来控制，转向则由使用者脚踏在脚踏平台上，并通过两个脚踏平台之间相对旋转角度差来进行控制实现，该类体感车的可玩性强，但是平衡性差安全性能低。
发明内容
本发明为了克服现有技术而提出的一种人机互动体感车。
为了实现上述目的，本发明所提供一种人机互动体感车，其特征在于，包括支撑骨架、与所述支撑骨架连接的车轮、安装在支撑骨架上且用于控制所述车轮转向的转向杆、安装在所述支撑骨架上的脚踏装置、位于所述脚踏装置与所述支撑骨架之间且用于感测在所述脚踏装置上的使用者的重心位置信息的体感传感器、驱动所述车轮转动的驱动装置以及根据所述重心位置信息控制所述驱动装置的输出力的控制装置。
进一步地，所述体感传感器的数量为一个，所述脚踏装置的数量至少为一个，所述体感传感器位于所述支撑骨架及一个所述脚踏装置之间，用于感测使用者的重心位置信息，所述控制装置根据所述体感传感器感应到的使用者的重心位置信息控制所述驱动装置的输出力。
进一步地，所述体感传感器为压力传感器，所述体感传感器包括在所述人机互动体感车的前进方向上前后分布的两个感应元件区域，所述体感传感器通 过所述两个感应元件区域分别感应对应的脚踏装置的前部压力与后部压力，获取使用者的重心位置信息。
进一步地，所述控制装置根据所述两个感应元件区域感应到压力的差值控制所述驱动装置的输出力。
进一步地，所述体感传感器为角度传感器，与所述体感传感器对应的脚踏装置与所述支撑骨架转动连接，所述体感传感器通过采集对应的脚踏装置与所述支撑骨架的相对角度信息，获取使用者的重心位置信息。
进一步地，所述控制装置根据所述脚踏装置相对所述支撑骨架的角度信息控制所述驱动装置的输出力。
进一步地，所述体感传感器包括两个位移传感模块，与所述体感传感器对应的脚踏装置与所述支撑骨架之间还设有两个弹性元件，所述两个弹性元件在所述人机互动体感车的前进方向上前后分布，所述体感传感器通过采集所述两个弹性元件的形变量，获取使用者的重心位置信息。
进一步地，所述控制装置根据两个所述弹性元件的弹性形变量的差值控制所述驱动装置的输出力。
进一步地，所述体感传感器为一伸入到对应的脚踏装置的类鼠标球结构，该类鼠标球结构可自由滚动并可采集到类鼠标球与对应的脚踏装置的相对滚动位移，所述体感传感器通过采集与对应的脚踏装置的相对滚动位移，获取使用者的重心位置信息。
进一步地，所述控制装置根据所述体感传感器与对应的脚踏装置的相对滚动位移控制所述驱动装置的输出力。
进一步地，所述体感传感器的数量为两个，所述脚踏装置的数量为两个，所述支撑骨架每个脚踏装置之间设有一个所述体感传感器，两个所述体感传感器感应使用者的重心位置信息，所述控制装置根据两个所述体感传感器感应到的使用者的重心位置信息控制所述驱动装置的输出力。
进一步地，每个体感传感器均为压力传感器，两个所述脚踏装置在所述人机互动体感车的前进方向前后分布，两个所述体感传感器通过感应对应的脚踏装置上的压力值，获取使用者的重心位置信息。
进一步地，所述控制装置根据两个体感传感器感应到的两个所述脚踏装置的压力的差值控制所述驱动装置的输出力。
进一步地，每个体感传感器均为压力传感器，每个体感传感器均包括在所述人机互动体感车的前进方向上前后分布的两个感应元件区域，两个体感传感 器通过对应的两个感应元件区域感应对应的脚踏装置的前部压力与后部压力，获取使用者的重心位置信息。
进一步地，所述控制装置根据所述脚踏装置对应的所述两个感应元件区域感应到压力，计算出所述脚踏装置前部与后部的压力差，所述控制装置根据两个所述脚踏装置前部与后部的压力差之和控制所述驱动装置的输出力。
进一步地，每个体感传感器均为角度传感器，两个所述脚踏装置与所述支撑骨架转动连接，所述两个体感传感器通过采集对应的脚踏装置相对所述支撑骨架的角度信息，获取使用者的重心位置信息。
进一步地，所述控制装置根据两个脚踏装置相对所述支撑骨架的角度信息之和控制所述驱动装置的输出力。
进一步地，每个体感传感器均为位移传感器，每个脚踏装置与所述支撑骨架之间还设有弹性元件，并且两个所述脚踏装置在所述人机互动体感车的前进方向前后分布，两个体感传感器通过采集对应弹性元件的形变量，获取使用者的重心位置信息。
进一步地，所述控制装置根据两个所述弹性元件的弹性形变量的差值控制所述驱动装置的输出力。
进一步地，每个体感传感器均为包括两个位移传感模块，每个脚踏装置与所述支撑骨架之间还设有两个弹性元件，所述两个弹性元件在所述人机互动体感车的前进方向上前后分布，两个体感传感器通过采集对应的弹性元件的形变量，获取使用者的重心位置信息。
进一步地，所述控制装置根据每个体感传感器采集到的对应的两个弹性元件的形变量，计算每个脚踏装置对应的两个弹性元件的形变量差值，所述控制装置根据两个形变量差值的和值控制所述驱动装置的输出力。
进一步地，每个体感传感器均为一伸入到对应的脚踏装置的类鼠标球结构，该类鼠标球结构可自由滚动并可采集到类鼠标球与该脚踏装置的相对滚动位移，两个体感传感器通过采集与对应的脚踏装置的相对滚动位移，获取使用者的重心位置信息。
进一步地，所述控制装置根据两个所述体感传感器与对应的脚踏装置的相对滚动位移之和控制所述驱动装置的输出力。
进一步地，所述车轮的数量为两个，且两个车轮横向设置在所述支撑骨架的前后两端。
进一步地，所述支撑骨架的前端设置有照明灯。
进一步地，所述支撑骨架的后端设置有承载架。
进一步地，所述承载架上设有盛物箱。
进一步地，所述承载架上设有坐垫。
进一步地，所述承载架的前端设有坐垫，所述承载架的后端设有盛物箱。
进一步地，所述支撑骨架上设有***述体感传感器的收容槽，与所述体感传感器对应的脚踏装置盖合对应的收容槽。
进一步地，所述支撑骨架上还设有收容腔，所述收容腔内安装电池及电路板，所述控制装置设置在所述电路板上。
本发明还提供一种人机互动体感车，包括支撑骨架、与所述支撑骨架连接的车轮、安装在支撑骨架上且用于控制所述车轮转向的转向杆、安装在所述支撑骨架上的脚踏装置、位于所述脚踏装置与所述支撑骨架之间且用于通过感测所述脚踏装置的前部压力与后部压力获取在所述脚踏装置上的使用者的重心位置信息的体感传感器、驱动所述车轮转动的驱动装置以及根据所述重心位置信息控制所述驱动装置输出力的控制装置。
本发明还提供一种人机互动体感车，包括支撑骨架、与所述支撑骨架连接的车轮、安装在支撑骨架上且用于控制所述车轮转向的转向杆、安装在所述支撑骨架上的脚踏装置、位于所述脚踏装置与所述支撑骨架之间且用于通过感测所述脚踏装置与所述支撑骨架的相对角度信息获取在所述脚踏装置上的使用者的重心位置信息的体感传感器、驱动所述车轮转动的驱动装置以及根据所述重心位置信息控制所述驱动装置输出力的控制装置。
本发明还提供一种人机互动体感车，包括支撑骨架、与所述支撑骨架连接的车轮、安装在支撑骨架上且用于控制所述车轮转向的转向杆、安装在所述支撑骨架上的脚踏装置、位于所述脚踏装置与所述支撑骨架之间且用于通过感测所述脚踏装置相对所述支撑骨架的位移信息以获取在所述脚踏装置上的使用者的重心位置信息的体感传感器、驱动所述车轮转动的驱动装置以及根据所述重心位置信息控制所述驱动装置输出力的控制装置。
本发明还提供一种人机互动体感车，包括支撑骨架、与所述支撑骨架连接的车轮、安装在支撑骨架上且用于控制所述车轮转向的转向杆、安装在所述支撑骨架上的脚踏装置、位于所述脚踏装置与所述支撑骨架之间且用于通过感测自身相对所述脚踏装置的滚动位移信息以获取在所述脚踏装置上的使用者的重心位置信息的体感传感器、驱动所述车轮转动的驱动装置以及根据所述重心位置信息控制所述驱动装置输出力的控制装置。
由于上述技术方案的运用，本发明具备以下优点：
本发明的机互动体感车在使用时，通过转向杆控制转向，通过踩踏脚踏装置使体感传感器获取在脚踏装置上的使用者的重心位置信息，控制装置通过计算体感传感器获取的重心位置信息判断出人体是向前倾斜、后仰还是直立并在人体前倾是计算出人体前倾幅度值以及在后仰时计算出人体后仰幅度值，在控制装置计算出人体的重心向前倾斜时，控制装置控制驱动装置输出正向驱动力，控制装置在计算出人体的重心向后倾斜时，控制装置控制驱动装置输出反向驱动力，控制装置在计算出人体的重心没有倾斜时，驱动装置不在输出驱动力，同时重心倾斜的幅度越大，控制装置控制驱动装置输出的驱动力就越大；驱动装置提供的正向驱动力作用在车体上可以使得车体具有向前放运动的加速度使车体具有向前运动的趋势，这样在车体向前运动时可以让车体加速前进，在车体向后运动时可以让车体后退速度降低直至后退速度为零也就是刹车，如果此时驱动装置继续输出正向驱动力，车体开始向前运动。在车体向前运动时，驱动装置为车体提供正向驱动力通过人的重心向前倾斜移实现，在车体加速过程中，人会有一个向后运动的趋势，而人的重心的需要先向前倾斜，这样就不会出现由于加速过大，人从车上跌落的问题；驱动装置提供的反向驱动力作用在车体上可以使得车体具有向后运动的加速度使车体具有向前运动的趋势，这样在车体向后运动时可以让车体加速后退，在车体向前运动时可以让车体前进速度降低直到前进速度为零然，如果此时驱动装置继续输出正向驱动力，车体开始向后运动。在车体向后运动时，驱动装置为车体提供向后驱动力通过人的重心向后倾斜实现，在车体加速过程中，人会有一个向前运动的趋势，而人的重心的需要先向后倾斜，这样就不会出现由于加速过大，人从车上跌落的问题，从而使得本发明的人机互动体感车安全性能高且具有较强的可玩性。
附图说明
图1所示为本发明所提供的人机互动体感车的结构示意图。
图2为图1的一个实施例的局部剖视示意图。
图3为图1的一个实施例的局部剖视示意图。
图4为图1的一个实施例的局部剖视示意图。
图5为图1的一个实施例的局部剖视示意图。
图6为图1的一个实施例的局部剖视示意图。
图7为图1的一个实施例的局部剖视示意图。
图8为图1的一个实施例的局部剖视示意图。
图9为图1的一个实施例的局部剖视示意图。
图10为本发明前进时的示意图。
图11为本发明后退时的示意图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
请参阅图1-11，本发明所提供的一种人机互动体感车，包括支撑骨架1、与所述支撑骨架1连接的车轮2、安装在支撑骨架1上且用于控制所述车轮2转向的转向杆3、安装在所述支撑骨架1上的脚踏装置4、位于所述脚踏装置4与所述支撑骨架1之间且用于感测在所述脚踏装置4上的使用者的重心位置信息的体感传感器5、驱动所述车轮2转动的驱动装置100以及根据所述重心位置信息控制所述驱动装置100输出力的控制装置6。
本发明的人机互动体感车在使用时，通过转向杆3控制转向，骑行过程中，用户踩踏脚踏装置4，通过体感传感器5感应在脚踏装置4上的使用者的重心位置信息，控制装置6通过计算体感传感器5获取的重心位置信息判断出人体是向前倾斜、后仰还是直立并在人体前倾是计算出人体前倾幅度值以及在后仰时计算出人体后仰幅度值，在控制装置6计算出人体的重心向前倾斜时，控制装置6控制驱动装置100输出正向驱动力，控制装置6在计算出人体的重心向后倾斜时，控制装置6控制驱动装置100输出反向驱动力，控制装置6在计算出人体的重心没有倾斜时，驱动装置100不在输出驱动力，同时重心倾斜的幅度越大，控制装置6控制驱动装置100输出的驱动力就越大。
驱动装置100提供的正向驱动力作用在车体上可以使得车体具有向前放运动的加速度使车体具有向前运动的趋势，这样在车体向前运动时可以让车体加速前进，在车体向后运动时可以让车体后退速度降低直至后退速度为零然，如果此时驱动装置100继续输出正向驱动力，车体开始向前运动。在车体向前运动时，驱动装置100为车体提供正向驱动力通过人的重心向前倾斜实现，在车体加速过程中，人会有一个向后运动的趋势，而人的重心的需要先向前倾斜，这样就不会出现由于加速过大，人从车上跌落的问题。
驱动装置100提供的反向驱动力作用在车体上可以使得车体具有向后运动的加速度使车体具有向前运动的趋势，这样在车体向后运动时可以让车体加速后退，在车体向前运动时可以让车体前进速度降低直到前进速度为零然，如果此时驱动装置100继续输出正向驱动力，车体开始向后运动。在车体向后运动时，驱动装置100为车体提供向后驱动力通过人的重心向后倾斜实现，在车体加速过程中，人会有一个向前运动的趋势，而人的重心的需要先向后倾斜，这样就不会出现由于加速过大，人从车上跌落的问题。
为了方便对本发明进行更好的描述，首先需要说明，在本发明中，支撑骨架1的前后方向指的是车体的运行方向(转弯时为车体运动轨迹的切线方法)，本发明的脚踏装置4的数量可以设置成一个也可以设置成两个，每个脚踏装置4均对应一个脚踏位置，可以根据实际需要设置，例如，体感传感器5为一个的情况，脚踏装置4可以为一个也可以为两个，在该情况，体感传感器5只会放在其中一个脚踏装置4与支撑骨架1之间；当体感传感器5为两个时，脚踏装置4的数量对应为两个，在该情况，两个体感传感器5分别放置在两个脚踏装置4与支撑骨架1之间。
本发明的人机互动体感车的任意一实施方式中的支撑骨架1的后端安装承载架7，承载架7的后端可以设置坐垫8以供载人以及设置盛物箱9以供人们使用，当然，支撑骨架1的后端也可以不安装承载架7，盛物箱9与坐垫8也可以两者选其一或者承载架7上任何物体都不放置，人们能可以自由组装。
本发明的人机互动体感车的支撑骨架1的前端安装照明灯10，以方便照明使用，也可以提高观赏性，当然支撑骨架1的前端也可以不安装照明灯10。
本发明的人机互动体感车的两个车轮2分别横向安装在支撑骨架1的前后两端，驱动装置100例如为轮毂电机安装在位于后端的车轮2内用于驱动位移后端的车轮2运动，转向杆3控制前端的车轮2转向的原理类于自行车、电动车以及三轮车的车把控制车轮转向，其原理在此不再赘述。当然，驱动装置100数量可以为两个，分别安装在位于两个车轮2内，用于驱动两个车轮2转动。在本发明的图示中，脚踏装置4的数量均为两个，并且前后分布，当然，在其他实施例中，脚踏装置4也可以左右并排排布。
本发明的人机互动体感车的支撑骨架1上设有安装收容体感传感器5的收容槽11，以方便将体感传感器5设在支撑骨架1与脚踏装置4之间。
本发明的人机互动体感车的支撑骨架1上设有收容腔12，收容腔12内安装电路板及电池，电路板上例如设置控制装置6与加速传感器等构成人机互动 体感车的必要电子元件，各个电子元件的功能在此不再赘述。优选地，收容腔12上可以放置盖板13，以盖合收容腔12，防止进水进灰尘。
本发明的脚踏装置4例如可以包括脚踏底板及套在脚踏底板上的保护皮套，脚踏底板可以安装在支撑骨架1上，体感传感器5位于脚踏底板与支撑骨架1之间，保护皮套可以提高踩踏的舒适度同时可以防止打滑。
需要进一步说明的是，本发明的人机互动体感车具体实施方式可以分为两大类。第一大类实施方式可以概括为通过一个体感传感器5感应在脚踏装置4上的使用者的重心位置信息，第二大类实施方式是通过两个体感传感器5感应在脚踏装置4上的使用者的重心位置信息。
第一大类实施方式的内容为，所述体感传感器的数量为一个，所述脚踏装置4的数量为两个，所述体感传感器5位于所述支撑骨架1及一个所述脚踏装置4之间，并用于获取在脚踏装置4上的使用者的重心位置信息，所述控制装置6根据体感传感器5感应到的重心位置信息控制所述驱动装置100输出力。
具体地，例如图2所示，所述体感传感器5为压力传感器，所述体感传感器5包括在所述人机互动体感车的前进方向上前后分布的两个感应元件区域501，两个感应元件区域501优选分布在脚踏装置4的前端部与后端部，所述体感传感器5通过两个感应元件区域501感应对应的脚踏装置4的前部压力与后部压力获取使用者的重心位置信息。所述控制装置6根据述两个感应元件区域501感应到的所述脚踏装置4的前部压力与后部压力的差值控制所述驱动装置100的输出力。具体原理为，控制装置6接收两个感应元件区域501感应到的压力值，计算两个感应元件区域501感应到的压力差值，并在压力差值为正值的情况下控制驱动装置100输出正向驱动力驱动车体前进，在压力差值为负值的情况控制驱动装置100输出反向驱动力驱动车体前进，并且压力差值越大，驱动装置100输出的驱动力越大。具体地，当人体向前倾斜，位于脚踏装置4的前部的感应元件区域501感应到的压力大于位于脚踏装置4的后部的感应元件区域501感应到的压力，对于整个压力传感器而言，压力传感器输出的是一个正值的压力信号，此时控制装置6接收到的是一个为正值的压力信号，控制装置6控制驱动装置100输出正向驱动力驱动车体前进，当人体向后倾斜，这样位于脚踏装置4的前部的感应元件区域501感应到的压力小于位于脚踏装置4的后部的感应元件区域501感应到的压力，此时控制装置6接收到的是一个为负值的压力信号，控制装置6控制驱动装置100输出反向驱动力驱动车体后退。
例如图3所示，所述体感传感器5为角度传感器，与所述体感传感器5对应的脚踏装置4与所述支撑骨架1转动连接，所述体感传感器5通过采集对应的脚踏装置4与所述支撑骨架1的相对角度信息，获取使用者的重心位置信息。所述控制装置6根据所述脚踏装置4相对所述支撑骨架1的角度信息控制所述驱动装置100的输出力。角度传感器采集脚踏装置4向前翻转的角度信号为正向角度信号，向后翻转的转角度信号为反向角度信号。当人体向前倾斜，脚踏装置4的前部压力大于后部压力，脚踏装置4向前翻转，角度传感器会获取一个正向的角度信号，该翻转角度信号与使用者的重心位置信息是对应的，此时控制装置6接收到正向的角度信号，控制装置6控制驱动装置100输出正向驱动力驱动车体前进，当然正向的角度信号越大，输出的驱动力越大；当然，控制装置6控制驱动装置100输出反向驱动力驱动车体后退以及输出的驱动力大小的原理与上述类似，在此不再赘述。
在该实施例中，支撑骨架1的收容槽11内设有枢轴15，脚踏装置4的脚踏底板与枢轴15转动连接，从而使得脚踏装置4与支撑骨架1转动连接。
例如图4所示，所述体感传感器5包括两个位移传感模块，与所述体感传感器5对应的脚踏装置4与所述支撑骨架1之间还设有两个弹性元件16，所述两个弹性元件16在所述人机互动体感车的前进方向上前后分布，两个弹性元件16优选分布在脚踏装置4的前端部与后端部，这样采集到的变换值会更精确，所述体感传感器5通过采集所述两个弹性元件16的形变量，获取使用者的重心位置信息。所述控制装置6根据两个所述弹性元件16的弹性形变量的差值控制所述驱动装置100的输出力。需要说明的是，位移传感模块采集到的弹性元件16的向下变形量记为正值，向上被拉升的弹性变形两记为负值。可以理解的是，人体正常踩在脚踏装置4上，两个弹性元件16的形变量相同，当人体向前倾斜，脚踏装置4的前部压力大于后部压力，脚踏装置4前部的弹性元件16向下收缩，而位于脚踏装置4的后部的弹性元件16向下收缩或者被向上拉长，且由于受力差的原因，位于脚踏装置4的后部的弹性元件16即使向下形变其形变量小于位于前部的弹性元件16的弹性形变量，此时控制装置6根据两个位移传感模块采集到弹性元件16的弹性形变量，计算出的前部弹性元件16与后部弹性元件16的弹性形变量差值为正值，控制装置6控制驱动装置100输出正向驱动力驱动车体前进，当然弹性形变量差值越大，驱动装置100输出的驱动力越大。可以理解是，控制装置6控制驱动装置100输出反向驱动力驱动车体后退以及输出驱动力大小的原理与上述原理类似，在此不再赘述。
在该实施例中，弹性元件16为弹簧，体感传感器5设置在弹簧的内部，用于采集脚踏装置4底面正对体感传感器5的那个点相对位移，该点位于可以反应弹性元件16的伸缩量。
另外，如图8所示，在其他实施例中，所述体感传感器5为一伸入到对应的脚踏装置4的类鼠标球结构，该类鼠标球结构包括类鼠标球及采集类鼠标球的滚动位移的滚动位移传感器，类鼠标球可自由滚动，滚动位移传感器可采集到类鼠标球与对应的脚踏装置4的相对滚动位移，所述体感传感器5通过采集与对应的脚踏装置4的相对滚动位移，获取使用者的重心位置信息，所述控制装置6根据所述体感传感器5与对应的脚踏装置4的相对滚动位移控制所述驱动装置100的输出力。具体地，当人体前倾，脚踏装置4上的类鼠标球受到向前的作用力，类鼠标球顺时针转动，体感传感器5采集到类鼠标球与对应的脚踏装置4的相对滚动位移并且为正向位移，此时控制装置6接收到的相对滚动位移信号为正向位移信号，控制装置6控制驱动装置100输出正向驱动力驱动车体前进，当然接收到的弹性形变量为正向位移信号越大驱动力越大。可以理解是，控制装置6控制驱动装置100输出反向驱动力驱动车体后退以及输出驱动力大小的原理与上述原理类似，在此不再赘述。
第二大类实施方式的内容为，所述体感传感器的数量为两个，所述脚踏装置4的数量为两个，所述支撑骨架1与每个脚踏装置4之间设有一个所述体感传感器5，两个体感传感5用于获取在脚踏装置4上的使用者的重心位置信息，所述控制装置6根据两个所述体感传感器5感应到的使用者的重心位置信息控制所述驱动装置100的输出力。
具体地，如图5所示，在该实施例中，两个所述脚踏装置4在所述人机互动体感车的前进方向前后分布。每个体感传感器5均为压力传感器，两个体感传感器5通过感应对应的脚踏装置4上的压力值，获取使用者的重心位置信息。所述控制装置6根据两个所述脚踏装置4的压力值控制所述驱动装置100的输出力。该实施例的工作原理与上述实施例中的体感传感器5为压力传感器的工作原理基本相同，不同之处在于只是需要计算两个体感传感器5感应到压力的差值，在此不再赘述。
当然，其他实施例中(图未示出该实施例)，两个脚踏装置4也可以在与所述人机互动体感车的前进方向垂直的方向上间隔地分布，在该实施例中，每个体感传感器5均为压力传感器，并且每个压力传感器均包括前后分布的两个感应元件区域501，优选地，每个体感传感器5的两个感应元件区域5分别位于 对应的脚踏装置4的前端部与后端部，两个体感传感器5通过对应的感应元件区域501感应对应的脚踏装置4上的前部压力与后部压力，获取使用者的重心位置信息。该实施例的工作原理与上述体感传感器5为压力传感器的工作原理基本相同，不同之处仅在于，控制装置6首先计算每个体感传感器5的前后两个感应元件区域501感应到的压力的差值，然后计算两个差值的差值。当然该实施例中的压力传感器的结构也适用于前后分布的两个脚踏装置中，其控制原理也与该实施例相同。
图6所示，所述体感传感器5为角度传感器，两个所述脚踏装置4与所述支撑骨架1转动连接，两个体感传感器5通过采集对应的脚踏装置4相对所述支撑骨架1的角度信息，获取使用者的重心位置信息。所述控制装置6根据两个脚踏装置4相对所述支撑骨架1的角度信息控制所述驱动装置100的输出力。该实施例的工作原理与上述体感传感器5为角度传感器的工作原理基本相同，不同之处仅在于控制装置6需要先计算两个角度传感器感应到的角度信息之和，在计算出角度信息之和后在进行控制。在本实施例中，两个所述脚踏装置4在所述人机互动体感车的前进方向前后分布，在其他实施例中，两个所述脚踏装置4在与所述人机互动体感车的前进方向的垂直方向上间隔地分布。当然，在该实施例中，两个脚踏装置4需要通过两个枢轴15与支撑骨架1转动连接。
如图7所示，在该实施例中，每个体感传感器5均为位移传感器，每个脚踏装置4与所述支撑骨架1之间还设有弹性元件16，并且两个所述脚踏装置4在所述人机互动体感车的前进方向前后分布，优选地，体感传感器5分布在两个脚踏装置4的中部，两个体感传感器5通过采集对应的弹性元件16的形变量，获取使用者的重心位置信息。所述控制装置6根据两个所述弹性元件16的弹性形变量的差值控制所述驱动装置100的输出力。该实施例的工作原理与上述体感传感器5为位移传感器的工作原理基本不同，其不同之处是，控制装置6计算的是两个脚踏装置4下方的弹性元件16的弹性形变量差值。
在其他实施例中(图未示出)，每个体感传感器5包括两个位移传感模块，每个脚踏装置4与所述支撑骨架1之间还设有前后分布的两个弹性元件16，两个位移传感模块优选分布在对应脚踏装置4的前端部与后端部，两个体感传感器5通过采集对应弹性元件16的形变量，获取使用者的重心位置信息。该实施例的控制原理与上述体感传感器5为位移传感器的控制原理基本相同，其不同之处在于，控制装置6需要先计算每个脚踏装置4下面的两个弹性元件16的弹 性形变量差值，然后计算两个脚踏装置4对应的弹性形变差值的和值，控制装置6根据两个弹性形变差值的差值控制驱动装置100的输出力。
另外，如图9所示，在其他实施例中，每个体感传感器5为一伸入到对应的脚踏装置4的类鼠标球结构，该类鼠标球结构可自由滚动并可采集到类鼠标球与对应的脚踏装置4的相对滚动位移，两个所述体感传感器5通过采集与对应的脚踏装置4的相对滚动位移，获取使用者的重心位置信息，所述控制装置6根据所述体感传感器5与对应的脚踏装置4的相对滚动位移控制所述驱动装置100的输出力。该实施例的控制原理与上述体感传感器5为类球类鼠标结构的实施例的控制原理基本相同，其不同之处在于控制装置6需要将两个脚踏装置4对应的滚动位移信息求和，在该实施两个所述脚踏装置4在与所述人机互动体感车的前进方向垂直的方向上间隔地分布，在其他实施力中，两个脚踏装置4也可以前后分布。
综上所述，本发明的机互动体感车在使用时，通过转向杆3控制转向，通过踩踏脚踏装置4使体感传感器5获取在脚踏装置4上的使用者的重心位置信息，控制装置6通过计算体感传感器5获取的重心位置信息判断出人体是向前倾斜、后仰还是直立并在人体前倾是计算出人体前倾幅度值以及在后仰时计算出人体后仰幅度值，在控制装置6计算出人体的重心向前倾斜时，控制装置6控制驱动装置100输出正向驱动力，控制装置6在计算出人体的重心向后倾斜时，控制装置6控制驱动装置100输出反向驱动力，控制装置6在计算出人体的重心没有倾斜时，驱动装置100不在输出驱动力，同时重心倾斜的幅度越大，控制装置6控制驱动装置100输出的驱动力就越大，因此，控制装置6可以根据体感传感器5采集到人体重心位置信息控制车体前进、后退、刹车及向前加速与减速，向后加速与减速，从而使得本发明的人机互动体感车安全性能高且具有较强的可玩性。
虽然本发明已由较佳实施例揭露如上，然而并非用以限定本发明，任何熟知此技艺者，在不脱离本发明的精神和范围内，可作些许的更动与润饰，因此本发明的保护范围当视权利要求书所要求保护的范围为准。

Claims (35)

  1. 一种人机互动体感车，其特征在于，包括支撑骨架(1)、与所述支撑骨架(1)连接的车轮(2)、安装在支撑骨架(1)上且用于控制所述车轮(2)转向的转向杆(3)、安装在所述支撑骨架(1)上的脚踏装置(4)、位于所述脚踏装置(4)与所述支撑骨架(1)之间且用于感测在所述脚踏装置(4)上的使用者的重心位置信息的体感传感器(5)、驱动所述车轮(2)转动的驱动装置(100)以及根据所述重心位置信息控制所述驱动装置(100)的输出力的控制装置(6)。
  2. 根据权利要求1所述的人机互动体感车，其特征在于：所述体感传感器的数量为一个，所述脚踏装置(4)的数量至少为一个，所述体感传感器(5)位于所述支撑骨架(1)及一个所述脚踏装置(4)之间，用于感测使用者的重心位置信息，所述控制装置(6)根据所述体感传感器(5)感应到的使用者的重心位置信息控制所述驱动装置(100)的输出力。
  3. 根据权利要求2所述的人机互动体感车，其特征在于：所述体感传感器(5)为压力传感器，所述体感传感器(5)包括在所述人机互动体感车的前进方向上前后分布的两个感应元件区域(501)，所述体感传感器(5)通过所述两个感应元件区域(501)分别感应对应的脚踏装置(4)的前部压力与后部压力，获取使用者的重心位置信息。
  4. 根据权利要求3所述的人机互动体感车，其特征在于：所述控制装置(6)根据所述两个感应元件区域(501)感应到压力的差值控制所述驱动装置(100)的输出力。
  5. 根据权利要求2所述的人机互动体感车，其特征在于：所述体感传感器(5)为角度传感器，与所述体感传感器(5)对应的脚踏装置(4)与所述支撑骨架(1)转动连接，所述体感传感器(5)通过采集对应的脚踏装置(4)与所述支撑骨架(1)的相对角度信息，获取使用者的重心位置信息。
  6. 根据权利要求5所述的人机互动体感车，其特征在于：所述控制装置(6)根据所述脚踏装置(4)相对所述支撑骨架(1)的角度信息控制所述驱动装置(100)的输出力。
  7. 根据权利要求2所述的人机互动体感车，其特征在于：所述体感传感器(5)包括两个位移传感模块，与所述体感传感器(5)对应的脚踏装置(4)与所述支撑骨架(1)之间还设有两个弹性元件(16)，所述两个弹性元件(16)在所述人机互动体感车的前进方向上前后分布，所述体感传感器(5)通过采集所述两个弹性元件(16)的形变量，获取使用者的重心位置信息。
  8. 根据权利要求7所述的人机互动体感车，其特征在于：所述控制装置(6)根据两个所述弹性元件(16)的弹性形变量的差值控制所述驱动装置(100)的输出力。
  9. 根据权利要求2所述的人机互动体感车，其特征在于：所述体感传感器(5)为一伸入到对应的脚踏装置(4)的类鼠标球结构，该类鼠标球结构可自由滚动并可采集到类鼠标球与对应的脚踏装置(4)的相对滚动位移，所述体感传感器(5)通过采集与对应的脚踏装置(4)的相对滚动位移，获取使用者的重心位置信息。
  10. 根据权利要求9所述的人机互动体感车，其特征在于：所述控制装置(6)根据所述体感传感器(5)与对应的脚踏装置(4)的相对滚动位移控制所述驱动装置(100)的输出力。
  11. 根据权利要求1所述的人机互动体感车，其特征在于：所述体感传感器(5)的数量为两个，所述脚踏装置(4)的数量为两个，所述支撑骨架(1)每个脚踏装置(4)之间设有一个所述体感传感器(5)，两个所述体感传感器(5)感应使用者的重心位置信息，所述控制装置(6)根据两个所述体感传感器(5)感应到的使用者的重心位置信息控制所述驱动装置(100)的输出力。
  12. 根据权利要求11所述的人机互动体感车，其特征在于：每个体感传感器(5)均为压力传感器，两个所述脚踏装置(4)在所述人机互动体感车的前进方向前后分布，两个所述体感传感器(5)通过感应对应的脚踏装置(4)上的压力值，获取使用者的重心位置信息。
  13. 根据权利要求12所述的人机互动体感车，其特征在于：所述控制装置(6)根据两个体感传感器(5)感应到的两个所述脚踏装置(4)的压力的差值控制所述驱动装置(100)的输出力。
  14. 根据权利要求11所述的人机互动体感车，其特征在于：每个体感传感器(5)均为压力传感器，每个体感传感器(5)均包括在所述人机互动体感车的前进方向上前后分布的两个感应元件区域(501)，两个体感传感器(5)通过对应的两个感应元件区域(501)感应对应的脚踏装置(4)的前部压力与后部压力，获取使用者的重心位置信息。
  15. 根据权利要求14所述的人机互动体感车，其特征在于：所述控制装置(6)根据所述脚踏装置(4)对应的所述两个感应元件区域(501)感应到压力，计算出所述脚踏装置(4)前部与后部的压力差，所述控制装置(6)根据两个 所述脚踏装置(4)前部与后部的压力差之和控制所述驱动装置(100)的输出力。
  16. 根据权利要求11所述的人机互动体感车，其特征在于：每个体感传感器(5)均为角度传感器，两个所述脚踏装置(4)与所述支撑骨架(1)转动连接，所述两个体感传感器(5)通过采集对应的脚踏装置(4)相对所述支撑骨架(1)的角度信息，获取使用者的重心位置信息。
  17. 根据权利要求16所述的人机互动体感车，其特征在于：所述控制装置(6)根据两个脚踏装置(4)相对所述支撑骨架(1)的角度信息之和控制所述驱动装置(100)的输出力。
  18. 根据权利要求11所述的人机互动体感车，其特征在于：每个体感传感器(5)均为位移传感器，每个脚踏装置(4)与所述支撑骨架(1)之间还设有弹性元件(16)，并且两个所述脚踏装置(4)在所述人机互动体感车的前进方向前后分布，两个体感传感器(5)通过采集对应弹性元件(16)的形变量，获取使用者的重心位置信息。
  19. 根据权利要求18所述的人机互动体感车，其特征在于：所述控制装置(6)根据两个所述弹性元件(16)的弹性形变量的差值控制所述驱动装置(100)的输出力。
  20. 根据权利要求11所述的人机互动体感车，其特征在于：每个体感传感器(5)均为包括两个位移传感模块，每个脚踏装置(4)与所述支撑骨架(1)之间还设有两个弹性元件(16)，所述两个弹性元件(16)在所述人机互动体感车的前进方向上前后分布，两个体感传感器(5)通过采集对应的弹性元件(16)的形变量，获取使用者的重心位置信息。
  21. 根据权利要求20所述的人机互动体感车，其特征在于：所述控制装置(6)根据每个体感传感器(5)采集到的对应的两个弹性元件(16)的形变量，计算每个脚踏装置(4)对应的两个弹性元件(16)的形变量差值，所述控制装置(6)根据两个形变量差值的和值控制所述驱动装置(100)的输出力。
  22. 根据权利要求11所述的人机互动体感车，其特征在于：每个体感传感器(5)均为一伸入到对应的脚踏装置(4)的类鼠标球结构，该类鼠标球结构可自由滚动并可采集到类鼠标球与该脚踏装置(4)的相对滚动位移，两个体感传感器(5)通过采集与对应的脚踏装置(4)的相对滚动位移，获取使用者的重心位置信息。
  23. 根据权利要求22所述的人机互动体感车，其特征在于：所述控制装置(6)根据两个所述体感传感器(5)与对应的脚踏装置(4)的相对滚动位移之和控制所述驱动装置(100)的输出力。
  24. 根据权利要求1-23任一项所述的人机互动体感车，其特征在于：所述车轮(2)的数量为两个，且两个车轮(2)横向设置在所述支撑骨架(1)的前后两端。
  25. 根据权利要求1-23任一项所述的人机互动体感车，其特征在于：所述支撑骨架(1)的前端设置有照明灯(10)。
  26. 根据权利要求1-23任一项所述的人机互动体感车，其特征在于：所述支撑骨架(1)的后端设置有承载架(7)。
  27. 根据权利要求26所述的人机互动体感车，其特征在于：所述承载架(7)上设有盛物箱(9)。
  28. 根据权利要求26所述的人机互动体感车，其特征在于：所述承载架(7)上设有坐垫(8)。
  29. 根据权利要求26所述的人机互动体感车，其特征在于：所述承载架(7)的前端设有坐垫(8)，所述承载架(7)的后端设有盛物箱(9)。
  30. 根据权利要求1-23任一项所述的人机互动体感车，其特征在于：所述支撑骨架(1)上设有***述体感传感器(5)的收容槽(11)，与所述体感传感器(5)对应的脚踏装置(4)盖合对应的收容槽(11)。
  31. 根据权利要求1-23任一项所述的人机互动体感车，其特征在于：所述支撑骨架(1)上还设有收容腔(12)，所述收容腔(12)内安装电池及电路板，所述控制装置(6)设置在所述电路板上。
  32. 一种人机互动体感车，其特征在于，包括支撑骨架(1)、与所述支撑骨架(1)连接的车轮(2)、安装在支撑骨架(1)上且用于控制所述车轮(2)转向的转向杆(3)、安装在所述支撑骨架(1)上的脚踏装置(4)、位于所述脚踏装置(4)与所述支撑骨架(1)之间且用于通过感测所述脚踏装置(4)的前部压力与后部压力获取在所述脚踏装置(4)上的使用者的重心位置信息的体感传感器(5)、驱动所述车轮(2)转动的驱动装置(100)以及根据所述重心位置信息控制所述驱动装置(100)输出力的控制装置(6)。
  33. 一种人机互动体感车，其特征在于，包括支撑骨架(1)、与所述支撑骨架(1)连接的车轮(2)、安装在支撑骨架(1)上且用于控制所述车轮(2)转向的转向杆(3)、安装在所述支撑骨架(1)上的脚踏装置(4)、位于所述脚 踏装置(4)与所述支撑骨架(1)之间且用于通过感测所述脚踏装置(4)与所述支撑骨架(1)的相对角度信息获取在所述脚踏装置(4)上的使用者的重心位置信息的体感传感器(5)、驱动所述车轮(2)转动的驱动装置(100)以及根据所述重心位置信息控制所述驱动装置(100)输出力的控制装置(6)。
  34. 一种人机互动体感车，其特征在于，包括支撑骨架(1)、与所述支撑骨架(1)连接的车轮(2)、安装在支撑骨架(1)上且用于控制所述车轮(2)转向的转向杆(3)、安装在所述支撑骨架(1)上的脚踏装置(4)、位于所述脚踏装置(4)与所述支撑骨架(1)之间且用于通过感测所述脚踏装置(4)相对所述支撑骨架(1)的位移信息以获取在所述脚踏装置(4)上的使用者的重心位置信息的体感传感器(5)、驱动所述车轮(2)转动的驱动装置(100)以及根据所述重心位置信息控制所述驱动装置(100)输出力的控制装置(6)。
  35. 一种人机互动体感车，其特征在于，包括支撑骨架(1)、与所述支撑骨架(1)连接的车轮(2)、安装在支撑骨架(1)上且用于控制所述车轮(2)转向的转向杆(3)、安装在所述支撑骨架(1)上的脚踏装置(4)、位于所述脚踏装置(4)与所述支撑骨架(1)之间且用于通过感测自身相对所述脚踏装置(4)的滚动位移信息以获取在所述脚踏装置(4)上的使用者的重心位置信息的体感传感器(5)、驱动所述车轮(2)转动的驱动装置(100)以及根据所述重心位置信息控制所述驱动装置(100)输出力的控制装置(6)。
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