CN105783928A - Intelligent vehicle-mounted GPS - Google Patents

Intelligent vehicle-mounted GPS Download PDF

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Publication number
CN105783928A
CN105783928A CN201410836834.6A CN201410836834A CN105783928A CN 105783928 A CN105783928 A CN 105783928A CN 201410836834 A CN201410836834 A CN 201410836834A CN 105783928 A CN105783928 A CN 105783928A
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China
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gps
module
described
time
calibration
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CN201410836834.6A
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Chinese (zh)
Inventor
冯顾
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北京奇虎科技有限公司
奇智软件(北京)有限公司
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Priority to CN201410836834.6A priority Critical patent/CN105783928A/en
Publication of CN105783928A publication Critical patent/CN105783928A/en

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Abstract

The invention discloses an intelligent vehicle-mounted GPS which is characterized by including a wireless communication module, a GPS module, a driving data acquisition module, a calibration module and a processor; the GPS is used for planning a navigation route according to a user current position and map road condition information, segmenting the navigation route according to the map road conditions, and calculating the predicted passing time of each road section and the predicted arrival time; the driving data acquisition module is used for obtaining the real-time vehicle speed through a car CAN bus and obtaining the actual passing time of the current road section; the calibration module is used for calculating the specific value of the actual passing time of the current road section and the predicted passing time provided by the GPS to obtain a difference coefficient P; the processor is used for receiving the predicted arrival time of the GPS module and the P value of the calibration module, and calculating the predicted arrival time after calibration. The CAN bus is used for acquisition of the real-time vehicle speed and is complementary with GPS signals, the GPS predicted arrival time is calibrated, and the accuracy of the GPS predicted arrival time is improved. At the same time, an operating interface is arranged on a steering wheel, and the personal safety of a user during driving or walking is ensured. At the same time, the device is provided with the wireless communication module, so that when no GPS signal exists, auxiliary positioning can be performed based on a wireless communication base station.

Description

A kind of intelligent vehicle-carried GPS

Technical field

The present invention relates to GPS navigation field, especially a kind of intelligent vehicle-carried GPS.

Background technology

GPS geo-location system (GlobalPositioningSystem) can provide whole world three-dimensional position and time to object.Utilize global positioning satellite GPS navigation system, the operational factors such as the speed of movement on road, position are shown in good time.GPS measures the operation principle of moving object speed and mainly includes pseudo range measurement, location Calculation, speed calculation.GPS system employs 24 aeronautical satellites, it is ensured that the whole world any moment regional, any is available for observation all without less than 4 satellites.Terminating machine can receive the radio wave from 4 satellites, solves quaternary Nonlinear System of Equations and just can determine that the locus of vehicle.Use the method can record the terminating machine (mobile phone) two space coordinatess in 5s time starting point, so that it is determined that the displacement within the 5s time, then draw travel speed.

Due to range finding time delay, the impact of climate change and terrestrial magnetism, there is error in GPS positioning precision, if satellite clock and user clock error 10ns, is then equivalent to pseudorange error 3m.The positioning precision introduction of GPS product is generally had 15m, 24m, 35m tri-kinds by current manufacturer.

GPS distance range rate error is analyzed such as automobile and is travelled with the speed of 100km/h, and 3min distance travelled reaches 5000m.Highway plane is linearly made up of straight line, circular curve, helix, compound curve, backward curve, and the road length such as 5000m can be formed (containing straight line) by multiple curve.Enter after fast is overtaken other vehicles return rows track again from runway when overtaking other vehicles to waste time row.

When highway plane line style is circular curve, motorcycle travels on arc highway, and GPS mensuration is automobile speed of straight-line travelling on string.

Running car is 420m at radius, and when central angle is the circular curve highway of 60 °, as actual travel mileage 439.6m, the distance travelled of GPS range finding is 420m, and error is 19.6m, and error rate reaches 4.5%.If being 20s by this circular arc section time, then actual vehicle speed is the speed that 79.1km/h, GPS record is 75.6km/h, and lower than actual vehicle speed 3.5km/h, error rate is positive 4.4%.

Terrestrial magnetism impact will produce more negative error, and western plateau is apparently higher than eastern region.

There is many aspects needing and optimizing in current vehicle GPS:

1, GPS information is shown in console, and driver needs transfer sight, causes driving danger.

2, GPS controls button at console, and driver needs transfer sight, causes driving danger.

3, gps signal is unstable, weak or enter the situation in tunnel when running into signal, it is impossible to obtain real-time speed, cause E.T.A to estimate inaccurate.

4, due to range finding time delay, the impact of climate change and terrestrial magnetism, GPS tests the speed and itself there is error, and GPS measures the operation principle of moving object speed and mainly includes pseudo range measurement, location Calculation, speed calculation.

5, GPS navigation E.T.A is forbidden, actual time of arrival is often very big with the relation of road conditions, traditional optimization method is to select optimal route in conjunction with electronic chart real-time road, but, electronic chart can only obtain current road conditions, and road conditions can change when driving, then precalculated E.T.A is not accurate enough.

Visible, prior art still exists a lot of problem needing optimization and improvement.

Summary of the invention

For the problems referred to above, it is an object of the invention to provide one and can calibrate navigation E.T.A, and there is operation and control interface on the steering wheel, there is the intelligent vehicle-carried GPS of one of higher ease-to-operate and safety compensate for GPS according to this system simultaneously and test the speed and there is error, it is contemplated that the shortcoming that the time of advent is inaccurate.

A kind of intelligent vehicle-carried GPS, it is characterised in that including:

Wireless communication module: include one of GSM, GPRS, 3G/4G, WIFI or its combination;

GPS module: obtain user current location and map traffic information;

Travelling data acquisition module: including CAN interface, it is connected with automobile CAN-bus;

Calibration module: compare GPS module and the data of travelling data acquisition module;

Processor: coordinating each module and run, process each module data, above-mentioned each module is connected with processor;

Described GPS, according to user current location and map traffic information, plans navigation way, and road conditions, by navigation way segmentation, calculates each section estimated time of passing and E.T.A according to the map;Described travelling data acquisition module obtains real-time speed by automobile CAN-bus, obtains the actual of current road segment and passes through the time;The reality of described calibration module current road segment carries out ratio calculation by the time with the GPS estimated time of passing provided, and obtains difference FACTOR P;Described processor, receives the E.T.A of described GPS module and the P value of calibration module, calculates E.T.A after calibration.

Also include input module and output module.

Described input module includes phonetic entry end and/or touch input end, and described touch input end is arranged on console or/and on steering wheel.

Described output module, including voice output end block and display outfan, speech output end is used for playing place's navigation hint;Described display outfan, is used for showing map driving situation and providing operation interface, described display outfan is screen;Described screen is arranged on console or/and on steering wheel.

Described travelling data acquisition module connects the vehicle speed data obtaining instrument assembly by CAN, and described GPS module also includes electronic compass, gyroscope.

Described input module includes GPS setting module, can set the various functions of GPS, and customer priorities is arranged.

Also including power module, memory module, USB interface, described power module is used for as the electric energy needed for vehicle control syetem offer work;Described power module is rechargeable battery;Described memory module includes for storing each phonetic order performing correspondence set by instruction and storage electronic chart, and described phonetic order includes quick phonetic order;Described USB interface is used for connecting mobile phone and power module being powered.

A kind of vehicle control syetem controls the method for intelligent cooking electrical equipment, it is characterised in that including:

S1 setting path: according to the phonetic order of user's input or enter the operating instructions in respective interface, controls what GPS set, and calculates best traffic route on electronic chart;

The S2 scheduled time: obtain user current location and real-time road, calculate E.T.A;

S3 travelling data is sampled: travelling data acquisition module is connected the real-time speed of collection with automobile CAN-bus, obtains the actual of current road segment and passes through the time;

S4 calculates difference coefficient: calculates the actual ratio by time with current road segment estimated time of passing of current road segment, obtains ratio coefficient P;

S5 calibrates E.T.A: is multiplied with FACTOR P with follow-up each section estimated time of passing, is calibrated rear E.T.A;

S6 feeds back: exported to user by voice or display screen E.T.A after calibration;

Described acquisition user current location and true road conditions are to be obtained from gps satellite signal by gps antenna, electronic compass, gyroscope combination.

The sampling of described travelling data is connected the vehicle speed data obtaining instrument assembly by travelling data acquisition module with CAN.

Described input instruction also includes GPS set-up function, can set the various functions of GPS, and customer priorities is arranged.

Also including the functions such as storage and USB connection, described memory module includes for storing each phonetic order performing correspondence set by instruction and storage electronic chart, and described phonetic order includes quick phonetic order;Described USB interface is used for connecting mobile phone and power module being powered.

In the present invention, except the signal accepting gps satellite, also by the CAN real-time speed of collection vehicle.Adopt the solution of the present invention, it is possible to the E.T.A that GPS is provided is calibrated.Bring great convenience to user and enjoy, operation interface is set simultaneously on the steering wheel, having ensured user's personal safety in driving or walking.Obtain real-time speed, complementary with satellite-signal, calibrate real-time road.There is wireless communication module simultaneously, can according to wireless communication base station auxiliary positioning when there is no gps signal.

Accompanying drawing explanation

Fig. 1 is the structured flowchart of a kind of intelligent vehicle-carried GPS of the present invention

Fig. 2 is the circuit diagram of a kind of intelligent vehicle-carried GPS of the present invention

Detailed description of the invention

Rise along with GPS technology, development along with science and technology, present automobile all has navigation feature, but GPS navigator there is also many deficiencies, a kind of intelligent vehicle-carried GPS of the present invention is in E.T.A, and GPS operation and control interface aspect is optimized, and brings better Consumer's Experience simultaneously to user, improve the accurately fixed of navigation time, travel safety.

Below in conjunction with the drawings and the specific embodiments, the present invention is further described.

As shown in Figure 2, the present invention provides a kind of intelligent vehicle-carried GPS, it is characterised in that including:

Wireless communication module: include one of GSM, GPRS, 3G/4G, WIFI or its combination;

GPS module: obtain user current location and map traffic information;

Travelling data acquisition module: including CAN interface, it is connected with automobile CAN-bus;

Calibration module: compare GPS module and the data of travelling data acquisition module;

Processor: coordinating each module and run, process each module data, above-mentioned each module is connected with processor;

Described GPS, according to user current location and map traffic information, plans navigation way, and road conditions, by navigation way segmentation, calculates each section estimated time of passing and E.T.A according to the map;Described travelling data acquisition module obtains real-time speed by automobile CAN-bus, obtains the actual of current road segment and passes through the time;The reality of described calibration module current road segment carries out ratio calculation by the time with the GPS estimated time of passing provided, and obtains difference FACTOR P;Described processor, receives the E.T.A of described GPS module and the P value of calibration module, calculates E.T.A after calibration.

Relying on GPS map traffic information to calculate E.T.A in prior art, and actual road conditions are continually changing under steam, the deviation of GPS map road conditions and actual road conditions certainly exists, it is contemplated that the problem that the time of advent is forbidden is difficult to overcome.

On the other hand, GPS tests the speed and itself there is deviation, and due to range finding time delay, the impact of climate change and terrestrial magnetism, GPS positioning precision exists error, if satellite clock and user clock error 10ns, is then equivalent to pseudorange error 3m.

Travel for the speed of automobile 100km/h.3min distance travelled reaches 5000m.When highway plane line style is circular curve, motorcycle travels on arc highway, and GPS mensuration is car speed of straight-line travelling on string.Running car is 420m at radius, and when central angle is the circular curve highway of 60 °, as actual travel mileage 439.6m, the distance travelled of GPS range finding is 420m, and error is 19.6m, and error rate reaches 4.5%.If being 20s by this circular arc section time, then actual vehicle speed is the speed that 79.1km/h, GPS record is 75.6km/h, and lower than actual vehicle speed 3.5km/h, error rate is positive 4.4%.

Visible GPS tests the speed and itself there is error rate, and GPS map road conditions there is also error's synthetic error will be bigger, and accurately estimation is difficult to the time of advent.

The advantage adopting such scheme is in that, the present invention utilizes the CAN interface of travelling data acquisition module directly to obtain the actual speed of running car, GPS is tested the speed and E.T.A is calibrated, it is thus achieved that E.T.A value more accurately.Concrete grammar is, utilizes the CAN interface of travelling data acquisition module directly to obtain the actual speed of running car, obtains the actual of current road segment and pass through the time.The expectation meter that the reality of current road segment is provided by described calibration module by time and GPS module carries out ratio calculation by the time, obtains difference FACTOR P.Difference FACTOR P is multiplied with each section estimated time of passing, E.T.A after being calibrated follow-up each section estimated time of passing and calibrating.Computing formula is:

The actual time of the passing through/current road segment estimated time of passing of P=current road segment

After calibration E.T.A=E.T.A * P

Owing to each section on travel route has seriality, situation about getting congestion often also has seriality and tendency, if current road segment jam situation and GPS map road conditions have deviation, then also can there is deviation with GPS map road conditions in the actual road conditions of subsequent section in certain journey, therefore the difference FACTOR P of deviation between current road segment and GPS map road conditions is substituted into the E.T.A of subsequent section so that estimate that the accuracy of the time of advent is greatly improved.

Such scheme is adopted to be further advantageous in that, except the calibration to the error of GPS own, collecting vehicle information module can also make up the deficiency of GPS module, when gps signal is unstable or vehicle does not have gps signal when sailing tunnel into, it is possible to continue to obtain real-time speed by CAN interface and E.T.A is calibrated.

Meanwhile, the wireless communication module of the present invention when not having gps signal or gps signal is bad, can utilize radio communication base station to play the effect of auxiliary positioning.

Further, vehicle control syetem of the present invention also includes input module and output module.

Its function is in that, input module sends instructions under being used for carrying out and arranges functional mode.Output module is used for the information such as feedback operation state.

Further, described input module includes phonetic entry end touch input end, and described touch input end is arranged on console and on steering wheel.

The advantage adopting this scheme is in that, overcomes control button at console, and operator needs transfer sight, it is easy to cause the hidden danger that driving is dangerous.Being simultaneously located at by touch input end on steering wheel and console, driver touches the button on steering wheel under steam can complete operation, and safety is greatly improved.Meanwhile, the personnel in copilot can also assist operator by console.Driver more can directly adopt phonetic entry be operated control, safer reliably.Owing to interior space is little, the installation site of phonetic entry end is not required to be particularly limited to, as long as the phonetic order of driver can be received.

Further, described output module, including voice output end block and display outfan, speech output end is for the voice messaging of playback process device feedback;Described display outfan, is used for showing content and providing operation interface, described display outfan is screen;Described screen is arranged on console and steering wheel.

The advantage adopting this scheme is in that, display output is intuitively careful, and voice output driver does not need to divert sb.'s attention i.e. acceptable key message, and the two has his own strong points, and has complementary advantages.Described speech output end directly adopts automobile audio.Showing that outfan is simultaneously located on console and steering wheel and is advantageous in that, in driving, driver need not divert sb.'s attention i.e. observable, brings very big raising to traffic safety.

Further, described travelling data acquisition module connects the vehicle speed data obtaining instrument assembly by CAN, and described GPS module also includes electronic compass, gyroscope.

The advantage adopting this scheme is in that, electronic compass, gyroscope coordinate the real-time speed information of CAN interface acquisition, it is possible to or entrance tunnel unstable at gps signal does not have during gps signal to play miscellaneous function, continue to calculate the time of advent.

Further, also including power module, memory module, USB interface, described power module is used for as the electric energy needed for vehicle control syetem offer work;Described power module is rechargeable battery;Described memory module includes for storing each phonetic order performing correspondence set by instruction and storage electronic chart, and described phonetic order includes quick phonetic order;Described USB interface is used for connecting mobile phone and power module being powered.

Wherein, power module, memory module, setting module and USB interface are the conventional modules within vehicle control syetem, omit the description to its function herein, introduce other modules start-up course at control intelligent cooking electrical equipment in real time below.It is to be noted when user manipulates vehicle control syetem use quick phonetic order, it is necessary to corresponding quick phonetic order is set in the setting module of vehicle control syetem, and is stored in memory module.

For the stroke that user goes home:

A kind of vehicle control syetem controls the method for intelligent cooking electrical equipment, it is characterised in that including:

S1 setting path: according to the phonetic order of user's input or enter the operating instructions in respective interface, controls what GPS set, and calculates best traffic route on electronic chart;

The S2 scheduled time: obtain user current location and real-time road, calculate E.T.A;

S3 travelling data is sampled: travelling data acquisition module is connected the real-time speed of collection with automobile CAN-bus, obtains the actual of current road segment and passes through the time;

S4 calculates difference coefficient: calculates the actual ratio by time with current road segment estimated time of passing of current road segment, obtains ratio coefficient P;

S5 calibrates E.T.A: is multiplied with FACTOR P with follow-up each section estimated time of passing, is calibrated rear E.T.A;

S6 feeds back: exported to user by voice or display screen E.T.A after calibration;

1) phonetic order or the operational order setting path of user's input are obtained: gathered the phonetic order of user by the phonetic entry end of input module, and the execution instruction that the phonetic order of searching coupling in a storage module is corresponding, or by touch input end, enter the operating instructions, thus learning the coordinate of getting home that user issues, and then planning navigation way;

2) obtain user current location and calculate E.T.A: being obtained user current location programme path by GPS module, the GPS map traffic information in each section on programme path is obtained by map road condition acquiring module, map road conditions according to each section provide the estimated time of passing in each section, being added and obtain E.T.A, the such as time of advent needs 1 hour;

In the inventive method, the location mode that can adopt the combination of GPS location or GPS and acceleration transducer, electronic compass, gyroscope obtains the current location information of user, namely can by a current location information obtaining user in the mode of above several location.Concrete, when landform residing for user is comparatively open, it is possible to just can obtain the current location information of relatively accurate user only with GPS locating module therein;When residing for user, landform is complex, exist more when blocking building and be likely to the positioning precision affecting GPS locating module, can adopt GPS and acceleration transducer, electronic compass, gyroscope with the use of location mode position, obtain the current location information of user.

3) travelling data sampling: in the present invention, adopt GPS to test the speed to test the speed with the scheme adopting the real-time speed of CAN interface acquisition to combine, it is primarily to and overcomes GPS to test the speed problem devious with actual vehicle speed, and GPS map road conditions and actual road conditions shortcoming devious.The present invention utilizes the CAN interface of travelling data acquisition module directly to obtain the actual speed of running car, calculates the actual of current road segment and passes through the time.

4) difference coefficient is calculated: the estimated time of passing that the reality of current road segment is provided by described calibration module by time and GPS module carries out ratio calculation, obtains difference FACTOR P.

5) the calibration scheduled time: difference FACTOR P is multiplied with each section estimated time of passing, E.T.A after being calibrated follow-up each section estimated time of passing and calibrating.

Computing formula is:

The actual time of the passing through/current road segment estimated time of passing of P=current road segment

After calibration E.T.A=E.T.A * P

6) feedback: E.T.A after calibration is exported to user by voice or display screen.

Use a kind of intelligent vehicle-carried GPS of the present invention, improve the accurately fixed of GPS E.T.A, manipulate convenience, the life being more close to the users;The speech voice input function of vehicle control syetem can also be utilized, bring different voice real-time experience for user.

Embodiment in above-described embodiment can combine further or replace; and embodiment is only that the preferred embodiments of the present invention are described; not the spirit and scope of the present invention are defined; under the premise without departing from design philosophy of the present invention; the various changes and modifications that in this area, technical scheme is made by professional and technical personnel, belong to protection scope of the present invention.

Claims (10)

1. an intelligent vehicle-carried GPS, it is characterised in that including:
Wireless communication module: include one of GSM, GPRS, 3G/4G, WIFI or its combination;
GPS module: obtain user current location and map traffic information;
Travelling data acquisition module: including CAN interface, it is connected with automobile CAN-bus;
Calibration module: compare GPS module and the data of travelling data acquisition module;
Processor: coordinating each module and run, process each module data, above-mentioned each module is connected with processor;
Described GPS, according to user current location and map traffic information, plans navigation way, and road conditions, by navigation way segmentation, calculates each section estimated time of passing and E.T.A according to the map;Described travelling data acquisition module obtains real-time speed by automobile CAN-bus, obtains the actual of current road segment and passes through the time;The reality of described calibration module current road segment carries out ratio calculation by the time with the GPS estimated time of passing provided, and obtains difference FACTOR P;Described processor, receives the E.T.A of described GPS module and the P value of calibration module, calculates E.T.A after calibration.
2. the intelligent vehicle-carried GPS of one according to claim 1, it is characterised in that also include input module and output module.
3. the intelligent vehicle-carried GPS of one according to claim 2, it is characterised in that described input module includes phonetic entry end and/or touch input end, described touch input end is arranged on console or/and on steering wheel.
4. the intelligent vehicle-carried GPS of one according to claim 2, it is characterised in that described output module, including voice output end block and display outfan, speech output end is used for playing place's navigation hint;Described display outfan, is used for showing map driving situation and providing operation interface, described display outfan is screen;Described screen is arranged on console or/and on steering wheel.
5. the intelligent vehicle-carried GPS of one according to claim 1, it is characterised in that described travelling data acquisition module connects the vehicle speed data obtaining instrument assembly by CAN, and described GPS module also includes electronic compass, gyroscope.
6. the intelligent vehicle-carried GPS of one according to claim 2, it is characterised in that described input module includes GPS setting module, can set the various functions of GPS, and customer priorities is arranged.
7. the intelligent vehicle-carried GPS of one according to claim 1, it is characterised in that also include power module, memory module, USB interface, described power module is used for as the electric energy needed for vehicle control syetem offer work;Described power module is rechargeable battery;Described memory module includes for storing each phonetic order performing correspondence set by instruction and storage electronic chart, and described phonetic order includes quick phonetic order;Described USB interface is used for connecting mobile phone and power module being powered.
8. the air navigation aid of an intelligent vehicle-carried GPS, it is characterised in that including:
S1 setting path: according to the phonetic order of user's input or enter the operating instructions in respective interface, controls what GPS set, and calculates best traffic route on electronic chart;
The S2 scheduled time: obtain user current location and real-time road, calculate E.T.A;
S3 travelling data is sampled: travelling data acquisition module is connected the real-time speed of collection with automobile CAN-bus, obtains the actual of current road segment and passes through the time;
S4 calculates difference coefficient: calculates the actual ratio by time with current road segment estimated time of passing of current road segment, obtains ratio coefficient P;
S5 calibrates E.T.A: is multiplied with FACTOR P with follow-up each section estimated time of passing, is calibrated rear E.T.A;
S6 feeds back: exported to user by voice or display screen E.T.A after calibration;
Preferably, described acquisition user current location and true road conditions are to be obtained from gps satellite signal by gps antenna, electronic compass, gyroscope combination;
Preferably, described travelling data is sampled, and is connected the vehicle speed data obtaining instrument assembly with CAN by travelling data acquisition module.
9. method according to claim 8, it is characterised in that described input instruction also includes GPS set-up function, can set the various functions of GPS, and customer priorities is arranged.
10. method according to claim 8, it is characterized in that, also including the functions such as storage and USB connection, described memory module includes for storing each phonetic order performing correspondence set by instruction and storage electronic chart, and described phonetic order includes quick phonetic order;Described USB interface is used for connecting mobile phone and power module being powered.
CN201410836834.6A 2014-12-26 2014-12-26 Intelligent vehicle-mounted GPS CN105783928A (en)

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CN106291632A (en) * 2016-07-21 2017-01-04 芜湖航飞科技股份有限公司 A kind of vehicle carried pick device based on triones navigation system
CN107092025A (en) * 2017-05-25 2017-08-25 维沃移动通信有限公司 A kind of signal processing method, device, mobile terminal and car-mounted device
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CN108051000A (en) * 2017-11-29 2018-05-18 来宾市华元通科技有限公司 A kind of automobile intelligent navigator
CN108253955A (en) * 2017-12-27 2018-07-06 重庆柚瓣家科技有限公司 Old man's trip auxiliary system based on outdoor leading type walking robot

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CN108253955A (en) * 2017-12-27 2018-07-06 重庆柚瓣家科技有限公司 Old man's trip auxiliary system based on outdoor leading type walking robot

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