Human-machine interaction vehicle

Abstract

A human-machine interaction vehicle includes a vehicle body and a pair of wheels coupled with the vehicle body. The vehicle body includes a support frame, at least one pedal disposed on the support frame, a first position sensor, and a controller. The support frame is rotatably connected to the wheels. The first position sensor is configured to detect attitude information of the two pedals relative to the support frame. The actuation device drives the wheels to rotate based on the attitude information. The human-machine interaction vehicle includes a support frame, and the pedal is arranged on the support frame independently.

What is claimed is: 
     
         1 . A human-machine interaction vehicle comprising a vehicle body and a pair of wheels coupled with the vehicle body, wherein the vehicle body comprises a support frame, at least one pedal, a first position sensor, and a controller, the at least one pedal is located on the support frame, the support frame is rotatably connected to the pair of wheels, the first position sensor is configured to detect attitude information of a user standing on the at least one pedal, and the controller is configured to drive the wheels to rotate based on the detected attitude information. 
     
     
         2 . The human-machine interaction vehicle of  claim 1 , wherein the at least one pedal is rotatably connected on the support frame, the attitude information comprises tilt angles, and the first position sensor is configured to detect a tilt angle of the at least one pedal relative to the support frame. 
     
     
         3 . The human-machine interaction vehicle of  claim 2 , wherein the support frame is a rigid shaft, two opposite ends of the rigid shaft are rotatably connected to the pair of wheels, respectively, the first position sensor is configured to detect rotation angle of the at least one pedal relative to the rigid shaft, and the rotation angle is the tilt angle of the at least one pedal relative to the support frame. 
     
     
         4 . The human-machine interaction vehicle of  claim 1 , wherein a receiving groove for receiving is defined on a side of the support frame, a protrusion facing towards the pair of wheels is provided at each side of the at least one pedal, and the at least one pedal is pivoted to the vehicle body via the protrusion. 
     
     
         5 . The human-machine interaction vehicle of  claim 1 , wherein the at least one pedal comprises a plurality of flexible supports configured to make the at least one pedal return or buffer. 
     
     
         6 . The human-machine interaction vehicle of  claim 1 , wherein the attitude information is position information, and the first position sensor is configured to detect the position information of the user standing on the at least one pedal. 
     
     
         7 . The human-machine interaction vehicle of  claim 6 , wherein the first position sensor is a flexible support arranged between the at least one pedal and the support frame, and the first position sensor is configured to detect an amount of deformation of the flexible support in different directions, in order to detect the attitude information of the user standing on the at least one pedal. 
     
     
         8 . The human-machine interaction vehicle of  claim 6 , wherein the first position sensor is configured to detect an amount of deformation of the flexible support based on a balanced position of the flexible support, in order to detect the attitude information of the user standing on the at least one pedal. 
     
     
         9 . The human-machine interaction vehicle of  claim 6 , wherein the vehicle body further comprises a plurality of flexible supports arranged between the at least one pedal and the support frame in different directions, and the first position sensor is configured to detect amounts of deformation of the flexible supports in different directions, in order to detect the position information of the user standing on the at least one pedal. 
     
     
         10 . The human-machine interaction vehicle of  claim 1 , wherein the first position sensor is a pressure sensor, and the pressure sensor is configured to detect pressure on the at least one pedal, in order to detect the attitude information of the user standing on the at least one pedal. 
     
     
         11 . The human-machine interaction vehicle of  claim 10 , wherein the at least one pedal is rotatably connected on the support frame, and the first position sensor is configured to detect rotation information of the at least one pedal. 
     
     
         12 . The human-machine interaction vehicle of  claim 10 , wherein one or more pressure sensors are arranged in the at least one pedal. 
     
     
         13 . The human-machine interaction vehicle of  claim 1 , wherein the attitude information is pressure information, and the first position sensor is configured to detect the pressure information of the at least one pedal. 
     
     
         14 . The human-machine interaction vehicle of  claim 13 , wherein the first position sensor is configured to detect pressure value information of the user standing on the at least one pedal, and the controller is configured to drive the pair of wheels to rotate based on the detected pressure value information and make turns based on a speed difference of the pair of wheels. 
     
     
         15 . The human-machine interaction vehicle of  claim 1 , wherein the first position sensor is further configured to detect whether the at least one pedal is pressed or not in order to respectively control the pair of wheels to rotate or stop. 
     
     
         16 . The human-machine interaction vehicle of  claim 1 , wherein the first position sensor is a tracking ball placed into a space between the at least one pedal and the support frame with a capability of freely moving in arbitrary directions within the space, and the attitude information of the user standing on the at least one pedal is detected by detecting a relative position of the tracking ball with respect to the at least one pedal. 
     
     
         17 . The human-machine interaction vehicle of  claim 1 , wherein a pedal area is defined on a side of the support frame away from a ground and configured for two feet standing, the at least one pedal is disposed in the pedal area, and when the attitude information in different directions is asymmetrical, the vehicle body makes a turn. 
     
     
         18 . The human-machine interaction vehicle of  claim 17 , wherein the first position sensor is arranged between the at least one pedal and the support frame, and the at least one pedal sways toward or away from the support frame based on the first position sensor as a fulcrum. 
     
     
         19 . The human-machine interaction vehicle of  claim 17 , wherein the first position sensor is arranged between the at least one pedal and the support frame, the at least one pedal is movably connected to the support frame, and the first position sensor is located beside a fulcrum. 
     
     
         20 . The human-machine interaction vehicle of  claim 1 , wherein two pedal areas are defined on a side of the support frame away from the ground, the vehicle body comprises two pedals, the two pedals are respectively disposed in the two pedal areas, and when the attitude information of the two pedals is asymmetrical, the vehicle body makes a turn. 
     
     
         21 . The human-machine interaction vehicle of  claim 1 , wherein a pedal area is defined on a side of the support frame away from the ground and configured for one foot standing, the vehicle body comprises a pedal, the pedal is respectively disposed in the pedal area, and the vehicle body makes a turn based on the attitude information of the pedal. 
     
     
         22 . The human-machine interaction vehicle of  claim 1 , wherein the support frame is a rigid plate-type structure. 
     
     
         23 . The human-machine interaction vehicle of  claim 22 , wherein an extractable shell is arranged on a side of the support frame, the extractable shell comprises a first shell and a second shell, the first shell and the second shell are extractable along a direction perpendicular to an axle of the wheels, the extractable shell comprises two end portions facing the wheels, a side portion for connecting the two end portions, a top portion away from the ground, a bottom portion facing the top portion, and a groove arranged on the top portion and configured to accommodate the at least one pedal. 
     
     
         24 . The human-machine interaction vehicle of  claim 23 , wherein the first shell and the second shell are extractable forward or backward parallel to the ground. 
     
     
         25 . The human-machine interaction vehicle of  claim 1 , wherein the vehicle body further comprises a second position sensor, and the second position sensor is configured to detect tilt information of the support frame relative to the ground, the controller is configured to drive the wheels to move forward or backward based on the tilt information detected by the second position sensor, and the controller is configured to drive the wheels to make a turn based on the attitude information detected by the first position sensor.