CN108107891A - Power-assisted stroller control system and method based on all-wheel drive Multi-sensor Fusion - Google Patents
Power-assisted stroller control system and method based on all-wheel drive Multi-sensor Fusion Download PDFInfo
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- 230000008447 perception Effects 0.000 claims abstract description 23
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses a kind of power-assisted stroller control systems and control method based on all-wheel drive Multi-sensor Fusion, it is related to intelligent power-assisted stroller technical field, driver and state aware module, data processing module including multiple wheel hub motors and drive hub motor, information fusion decision-making module, output control of engine power module；The initial data of the touch information of acquisition cart, tension and compression force information, weight information, attitude information and velocity information first；According to initial data, perception information is generated；Scene Recognition and status predication are carried out according to perception information, generate output control of engine power information；The power output of wheel hub motor is controlled according to output control of engine power information.The present invention can accurately measure power-assisted size, identify different usage scenarios, motion state prediction can be accomplished true or is intended in advance according to the implementation of trammer, so that system can adaptive various use environments, suitable power-assisted is rationally provided in time so that entire cart process is more easily comfortable.
Description
Technical field
The present invention relates to intelligent cart control system technical fields, and in particular to one kind is melted based on all-wheel drive multisensor
The power-assisted stroller control system and control method of conjunction.
Background technology
Power-assisted stroller based on Two-wheeled Multi-sensor Fusion can adaptive different road conditions, can effectively solve the problem that and push away
Burden sense when vehicle upward slope, descending, load-carrying and turning so that can be easily comfortable during the cart of various scenes.It is single at present
The defects of one power-assisted stroller exists in varying degrees, it is difficult to accomplish timely or in due course power-assisted, it is also difficult to realize adaptively not
Same road conditions, load-carrying, ramp and turn condition.
The content of the invention
It is an object of the invention to provide one kind, the technical issues of to solve in above-mentioned background technology.
To achieve these goals, this invention takes following technical solutions：
A kind of power-assisted stroller control system based on all-wheel drive Multi-sensor Fusion, including multiple wheel hub motors and driving
The driver of wheel hub motor, further includes：
State aware module, for gathering the touch information of cart, tension and compression force information, weight information, attitude information and speed
Spend the initial data of information；
Data processing module for handling and optimizing the initial data, generates perception information, and the perception information includes
Touch information, tension and compression force information, weight information, attitude information and the velocity information of cart；
Information merges decision-making module, for carrying out scene Recognition and status predication according to the perception information, generates power
Export control information；
Output control of engine power module, for being controlled the power of the wheel hub motor defeated according to the output control of engine power information
Go out.
Further, the state aware module includes touch sensing, pull pressure sensor, load measuring sensor, posture
Sensor and speed probe.
Further, the data processing module includes touch-control sensing processing unit, pressure sensing processing unit, load-carrying
Sensing processing unit, posture sensing processing unit and revolution speed sensing processing unit；
The touch-control sensing processing unit is used for the touch information initial data gathered according to the touch sensing, obtains
Cart touch information；
The pressure sensing processing unit is used for the tension and compression force information original number gathered according to the pull pressure sensor
According to obtaining cart tension and compression force information；
The Load sensor processing unit is used for the weight information initial data gathered according to the load measuring sensor, obtains
Cart weight information；
The posture sensing processing unit is used for the attitude information initial data gathered according to the attitude transducer, obtains
Cart attitude information；
The revolution speed sensing processing unit is used for the velocity information initial data gathered according to the velocity sensor, obtains
The velocity information of the wheel hub motor.
Further, linear velocity size direction and angular speed of the velocity information of the wheel hub motor including wheel hub motor are big
Small directional information.
Further, described information fusion decision-making module includes scene Recognition unit, states prediction unit and adaptively determines
Plan unit；
The scene Recognition unit is used for the scene according to residing for the perception information identifies cart, generates scene information；
The states prediction unit is used to identify cart state in which according to the perception information, generates status information；
The adaptive decision-making unit is used for according to the scene information, the status information and the tension and compression force information,
Generate output control of engine power information.
A kind of method controlled using system as described above power-assisted stroller, is included the following steps：
Step S110：Gather the touch information of cart, tension and compression force information, weight information, attitude information and velocity information
Initial data；
Step S120：According to the initial data, perception information is generated；
Step S130：Scene Recognition and status predication are carried out according to the perception information, generate output control of engine power information；
Step S140：The power output of the wheel hub motor is controlled according to the output control of engine power information.
Further, the states prediction unit uses the characteristic value recognizer based on sliding window data stream difference,
With reference to the velocity information, cart state change coefficient is calculated by linear relationship.
Further, the scene Recognition unit is according to the weight information and the attitude information, using extension karr
Graceful filtering algorithm realizes the data fusion to weight information and cart attitude information, obtains cart scene indices.
Further, the adaptive decision-making unit is according to the cart state change coefficient and the cart scene system
Number, and the push-pull effort size and Orientation with reference to suffered by cart generate output control of engine power information.
Further, the output control of engine power that the output control of engine power module is exported according to the adaptive decision-making module
Information controls the power output of the wheel hub motor.
Advantageous effect of the present invention：The present invention is based on the power-assisted strollers of Two-wheeled Multi-sensor Fusion, can accurately survey
Amount trammer gives the strength of cart, identifies different usage scenarios, and motion state prediction can be accomplished really or in advance to understand
The implementation of trammer is intended to so that system can adaptive various use environments, rationally transfer Two-wheeled in time and export
Just right power-assisted so that entire cart process is more easily comfortable.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
It obtains substantially or is recognized by the practice of the present invention.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, for this
For the those of ordinary skill of field, without creative efforts, others are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the power-assisted stroller Control system architecture based on all-wheel drive Multi-sensor Fusion described in the embodiment of the present invention
Block diagram.
Fig. 2 is that the information described in the embodiment of the present invention merges decision-making module decision process schematic diagram.
Fig. 3 is the structure function block diagram of the cart states prediction unit described in the embodiment of the present invention.
Fig. 4 is the power-assisted trend schematic diagram provided according to cart different conditions described in the embodiment of the present invention.
Fig. 5 provides power-assisted trend schematic diagram for the cart described in the embodiment of the present invention in different scenes.
Specific embodiment
Embodiments of the present invention are described in detail below, and the example of the embodiment is shown in the drawings, wherein from beginning
Same or similar element is represented to same or similar label eventually or there is same or like element.Below by attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that is used in the specification of the present invention arranges
Diction " comprising " refers to there are the feature, integer, step, operation, element and/or component, but it is not excluded that presence or addition
Other one or more features, integer, step, operation, element and/or their group.It should be understood that " connection " used herein
Or " coupling " can include wireless connection or coupling, the wording "and/or" used includes one or more associated list
Any cell of item and all combination.
Those skilled in the art of the present technique are appreciated that unless otherwise defined all terms used herein are (including technology art
Language and scientific terminology) there is the meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, will not be with idealizing or the meaning of overly formal be explained.
It is of the invention for ease of understanding, explanation is further explained the present invention with specific embodiment below in conjunction with the accompanying drawings, and
Specific embodiment does not form the restriction to the embodiment of the present invention.
Fig. 1 is the power-assisted stroller Control system architecture based on all-wheel drive Multi-sensor Fusion described in the embodiment of the present invention
Block diagram, Fig. 2 are that the information described in the embodiment of the present invention merges decision-making module decision process schematic diagram, and Fig. 3 is the embodiment of the present invention
The structure function block diagram of the cart states prediction unit, Fig. 4 are according to cart different conditions described in the embodiment of the present invention
The power-assisted trend schematic diagram of offer, Fig. 5 provide power-assisted trend schematic diagram for the cart described in the embodiment of the present invention in different scenes.
It should be appreciated by those skilled in the art that attached drawing is the schematic diagram of embodiment, the component in attached drawing is not necessarily
Necessary to the implementation present invention.
As shown in Figures 1 to 5, an embodiment of the present invention provides a kind of power-assisteds based on all-wheel drive Multi-sensor Fusion to push away
Vehicle control, the driver including multiple wheel hub motors and drive hub motor, further includes：
State aware module, for gathering the touch information of cart, tension and compression force information, weight information, attitude information and speed
Spend the initial data of information；
Data processing module for handling and optimizing the initial data, generates perception information, and the perception information includes
Touch information, tension and compression force information, weight information, attitude information and the velocity information of cart；
Information merges decision-making module, for carrying out scene Recognition and status predication according to the perception information, generates power
Export control information；
Output control of engine power module, for being controlled the power of the wheel hub motor defeated according to the output control of engine power information
Go out.
In one particular embodiment of the present invention, the state aware module includes touch sensing, pressure senses
Device, load measuring sensor, attitude transducer and speed probe.
In one particular embodiment of the present invention, the data processing module includes touch-control sensing processing unit, tension and compression
Power sensing processing unit, Load sensor processing unit, posture sensing processing unit and revolution speed sensing processing unit；
The touch-control sensing processing unit is used for the touch information initial data gathered according to the touch sensing, obtains
Cart touch information；
The pressure sensing processing unit is used for the tension and compression force information original number gathered according to the pull pressure sensor
According to obtaining cart tension and compression force information；
The Load sensor processing unit is used for the weight information initial data gathered according to the load measuring sensor, obtains
Cart weight information；
The posture sensing processing unit is used for the attitude information initial data gathered according to the attitude transducer, obtains
Cart attitude information；
The revolution speed sensing processing unit is used for the velocity information initial data gathered according to the velocity sensor, obtains
The velocity information of the wheel hub motor.
In one particular embodiment of the present invention, the velocity information of the wheel hub motor includes the linear velocity of wheel hub motor
Size direction and angular speed size directional information.
In one particular embodiment of the present invention, described information fusion decision-making module includes scene Recognition unit, state
Predicting unit and adaptive decision-making unit；
The scene Recognition unit is used for the scene according to residing for the perception information identifies cart, generates scene information；
The states prediction unit is used to identify cart state in which according to the perception information, generates status information；
The adaptive decision-making unit is used for according to the scene information, the status information and the tension and compression force information,
Generate output control of engine power information.
A kind of method controlled using above system power-assisted stroller, is included the following steps：
Step S110：Gather the touch information of cart, tension and compression force information, weight information, attitude information and velocity information
Initial data；
Step S120：According to the initial data, perception information is generated；
Step S130：Scene Recognition and status predication are carried out according to the perception information, generate output control of engine power information；
Step S140：The power output of the wheel hub motor is controlled according to the output control of engine power information.
In embodiment of the method for the present invention, the states prediction unit is used based on sliding window data stream difference
Characteristic value recognizer, with reference to the velocity information, cart state change coefficient is calculated by linear relationship.
In embodiment of the method for the present invention, the scene Recognition unit is according to the weight information and the posture
Information using expanded Kalman filtration algorithm, realizes the data fusion to weight information and cart attitude information, obtains cart field
Scape coefficient.
In embodiment of the method for the present invention, the adaptive decision-making unit is according to the cart state change coefficient
With the cart scene indices, and the push-pull effort size and Orientation with reference to suffered by cart generates output control of engine power information.
In embodiment of the method for the present invention, the output control of engine power module is according to the adaptive decision-making module
The output control of engine power information of output controls the power output of the wheel hub motor.
In practical applications, the quantity of wheel hub motor of the embodiment of the present invention can be two or more, the installation of wheel hub motor
Position can be mounted on suitable position according to actual conditions.
The present invention is when specifically used, by taking Two-wheeled cart as an example, as shown in Figure 1, the power-assisted stroller control of all-wheel drive
System processed includes：State aware module 1, data processing module 2, information fusion decision-making module 3 and output control of engine power module 4；
State aware module 1 utilizes the touch sensing 11 of own hardware acquisition power-assisted stroller, pull pressure sensor 12, load
The initial data of weight force snesor 13, attitude transducer 14 and motor speed sensor 15；Wherein：The touch sensing peace
On cart handle；The hand handle pull pressure sensor totally 2, cart or so respectively installation 1；The load-carrying pressure sensor
In drive shaft；The cart attitude transducer integrates on the control circuitry, and the motor speed sensor is mounted on
On wheel hub motor and driver.
Whether the initial data of 2 reception state sensing module 1 of data processing module acquisition, hand handle is obtained by data processing
By touch information, the pressure size, cart load-carrying size, cart pitch attitude and the lateral attitude that are subject at left and right sides of cart with
And the movement linear velocity angular velocity information of cart；
Information fusion decision-making module 3 receives treated the accurate information of data processing module 2.As shown in Fig. 2, it first determines whether
Whether someone touches hand handle, if unmanned touch hand handle, non helping hand output.If someone touches handle, pass through cart field
Scape recognition unit 31 carries out intelligent recognition and information merges to obtain cart scene indices, passes through 32 intelligence of cart states prediction unit
Matching obtains cart state change coefficient；Adaptive decision-making unit 33 integrate cart scene indices, cart state change coefficient and
Cart left and right sides tension and compression force value size, is calculated the power-assisted value suitable for various scenes and motion state.
Preferably, cart usage scenario recognition unit 31, comprehensive cart weight information, cart attitude information are recognizable to push away
Vehicle usage scenario, and Extended Kalman filter (EKF) algorithm is used, it realizes and the data of weight information and cart attitude information is melted
It closes, obtains cart scene indices ks.Cart usage scenario is divided into：Level road, upward slope, descending, flat road surface, bumpy road.
Preferably, as shown in figure 3, cart states prediction unit 32 uses the characteristic value based on sliding window data stream difference
Recognizer cart state is realized and predicted；By way of sliding window, to the cart speed data in some cycles
Stream is sampled, and by the mathematic interpolation of different dimensions, obtains the feature samples in the cycle, by being matched with model sample point
Analysis, so as to obtain current cart state feature and cart state change coefficient；Cart state feature is divided into：Starting, straight trip are turned
And parking；Cart state change coefficient is km:
km=a* (vl-vr)；
Wherein, a represents constant；vlRepresent left side drive wheel speed；vrRepresent right side drive wheel speed.
Preferably, adaptive decision-making unit 33 obtains tension and compression force value at left and right sides of cart, cart linear velocity magnitude of angular velocity, pushes away
Vehicle scene indices and cart state change coefficient carry out power-assisted calculating.
Tension and compression force value in cart both sides is calculated as independent input, and power-assisted and the right side of left side wheel hub motor are calculated respectively
The power-assisted of side wheel hub motor, left and right sides power-assisted separate computations neither influence the power-assisted effect of straight trip, can also pass through when turning
The realization turning power-assisted of different size power-assisted is provided, while may also adapt to the situation of cart or so laod unbalance, is realized each
Reasonable power-assisted under kind state.
Cart power-assisted curve carries out continuous whole power-assisted using exponential function, and when tension and compression force value is close to 0, power-assisted is very
Small, when tension and compression force value is bigger, power-assisted increase is faster, can rapidly provide power-assisted；Power-assisted curve is in all tension and compression force value simultaneously
It is lower to keep continuous so that power-assisted output is very steady in actual use.In addition, above-mentioned cart scene is introduced in power-assisted function
Coefficient ksIt is k with cart state change coefficientm, the output of power-assisted will be according to scene indices ksIt is k with state change coefficientmChange
Change and real-time change realizes the requirement of adaptive different use states to adapt to current usage scenario and motion change.
Wherein, FlRepresent left motor power-assisted value；FrRepresent right motor power-assisted value；plRepresent left side tension and compression force value；prTable
Show right side tension and compression force value；ksIt represents scene indices, adaptively changes with usage scenario and change；kmRepresent state change coefficient,
Adaptively change with motion state and change；kcConstant is represented, available for adjusting power-assisted size.
As shown in figure 4, the figure depicts the power-assisted output schematic diagram of cart in the present invention under different motion state, when pushing away
Vehicle can provide larger power-assisted output in the ground zero stage, can be according to force situation and load condition, steadily after starting is stablized
Fixed output power-assisted；When force person has steering to be intended to, the left and right sides can intelligently provide power-assisted according to cart situation, help to exert a force
Person reaches labour-saving purpose.
As shown in figure 5, the figure depicts cart in the present invention exports schematic diagram in the power-assisted that different scenes provide, work as cart
In flat road surface, steady power-assisted is exported according to load condition, when cart is in bumpy road, according to variation of jolting, appropriateness increases
Power-assisted is added to export, help overcomes the resistance that jolts；During upward slope, it can correspondingly increase power-assisted, descending according to gradient size
In the process, resistance is moderately increased according to gradient size；The power-assisted of whole process output and resistance and the gradient, load-carrying and jolt it is adaptable,
Reach and force person is allowed to have carefree implementation experience.
Preferably, output control of engine power module 4 includes motor driving 41 and two wheel hub motors 42.Motor is operated in torque
Pattern, i.e. system only control the output torque of motor, and the velocity of rotation without controlling motor could so realize that motor and people are total to
With the effect for promoting cart.The output control of engine power module 4 obtains the power-assisted number that described information fusion decision-making module 3 provides
According to, and according to the parameter of real electrical machinery, current value is converted the data into, control motor completes power-assisted output, realizes assist function.
In conclusion the power-assisted stroller control system and method based on all-wheel drive Multi-sensor Fusion of the present invention, gram
Having taken traditional power-assisted stroller can not adaptive various road conditions, it is impossible to the problem of timely exporting appropriate power；According to force person
The information such as strength size, cart current state, residing scene are given, export optimal power automatically, reaches and cart person is allowed to have
It is carefree to carry out experience.
One of ordinary skill in the art will appreciate that：The component in device in the embodiment of the present invention can be according to embodiment
Description be distributed in the device of embodiment, one or more dresses that respective change is disposed other than the present embodiment can also be carried out
In putting.The component of above-described embodiment can be merged into a component, can also be further split into multiple subassemblies.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
Subject to.
Claims (10)
1. a kind of power-assisted stroller control system based on all-wheel drive Multi-sensor Fusion, including multiple wheel hub motors and driving wheel
The driver of hub motor, which is characterized in that further include：
State aware module, for gathering the touch information of cart, tension and compression force information, weight information, attitude information and speed letter
The initial data of breath；
Data processing module for handling and optimizing the initial data, generates perception information, and the perception information includes cart
Touch information, tension and compression force information, weight information, attitude information and velocity information；
Information merges decision-making module, for carrying out scene Recognition and status predication according to the perception information, generates power output
Control information；
Output control of engine power module, for controlling the power output of the wheel hub motor according to the output control of engine power information.
2. the power-assisted stroller control system according to claim 1 based on all-wheel drive Multi-sensor Fusion, feature exist
In the state aware module includes touch sensing, pull pressure sensor, load measuring sensor, attitude transducer and rotating speed and passes
Sensor.
3. the power-assisted stroller control system according to claim 2 based on all-wheel drive Multi-sensor Fusion, feature exist
In, the data processing module include touch-control sensing processing unit, pressure sensing processing unit, Load sensor processing unit,
Posture sensing processing unit and revolution speed sensing processing unit；
The touch-control sensing processing unit is used for the touch information initial data gathered according to the touch sensing, obtains cart
Touch information；
The pressure sensing processing unit is used for the pressure information raw data gathered according to the pull pressure sensor, obtains
To cart tension and compression force information；
The Load sensor processing unit is used for the weight information initial data gathered according to the load measuring sensor, obtains cart
Weight information；
The posture sensing processing unit is used for the attitude information initial data gathered according to the attitude transducer, obtains cart
Attitude information；
The revolution speed sensing processing unit is used for the velocity information initial data gathered according to the velocity sensor, obtains described
The velocity information of wheel hub motor.
4. the power-assisted stroller control system according to claim 3 based on all-wheel drive Multi-sensor Fusion, feature exist
In the velocity information of the wheel hub motor includes the linear velocity size direction of wheel hub motor and angular speed size directional information.
5. the power-assisted stroller control system according to claim 4 based on all-wheel drive Multi-sensor Fusion, feature exist
In described information fusion decision-making module includes scene Recognition unit, states prediction unit and adaptive decision-making unit；
The scene Recognition unit is used for the scene according to residing for the perception information identifies cart, generates scene information；
The states prediction unit is used to identify cart state in which according to the perception information, generates status information；
The adaptive decision-making unit is used for according to the scene information, the status information and the tension and compression force information, generation
Output control of engine power information.
6. a kind of using the method that such as claim 1-5 any one of them system controls power-assisted stroller, feature exists
In including the following steps：
Step S110：Gather the original of the touch information of cart, tension and compression force information, weight information, attitude information and velocity information
Data；
Step S120：According to the initial data, perception information is generated；
Step S130：Scene Recognition and status predication are carried out according to the perception information, generate output control of engine power information；
Step S140：The power output of the wheel hub motor is controlled according to the output control of engine power information.
7. control method according to claim 6, which is characterized in that the states prediction unit is used based on sliding window
With reference to the velocity information, cart state change is calculated by linear relationship in the characteristic value recognizer of data flow difference
Coefficient.
8. control method according to claim 7, which is characterized in that the scene Recognition unit is according to the weight information
With the attitude information, using expanded Kalman filtration algorithm, the data fusion to weight information and cart attitude information is realized,
Obtain cart scene indices.
9. control method according to claim 8, which is characterized in that the adaptive decision-making unit is according to the cart shape
State variation coefficient and the cart scene indices, and the push-pull effort size and Orientation with reference to suffered by cart generate output control of engine power
Information.
10. control method according to claim 9, which is characterized in that the output control of engine power module according to it is described from
The output control of engine power information of decision-making module output is adapted to, controls the power output of the wheel hub motor.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108839699A (en) * | 2018-06-08 | 2018-11-20 | 好孩子儿童用品有限公司 | Intelligent power-assisted stroller |
| CN111806464A (en) * | 2019-04-03 | 2020-10-23 | 伟摩有限责任公司 | Detection of abnormal trailer behaviour |
| CN113852314A (en) * | 2021-09-14 | 2021-12-28 | 北京无疆科技有限公司 | Motor drive control system and control method for electric wheelchair |
| CN116954131A (en) * | 2023-07-28 | 2023-10-27 | 重庆明月湖智能科技发展有限公司 | Intelligent control method and system for trolley |
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| CN111806464A (en) * | 2019-04-03 | 2020-10-23 | 伟摩有限责任公司 | Detection of abnormal trailer behaviour |
| CN111806464B (en) * | 2019-04-03 | 2023-10-20 | 伟摩有限责任公司 | Detection of abnormal trailer behavior |
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| CN113852314B (en) * | 2021-09-14 | 2023-06-02 | 安徽金百合医疗器械有限公司 | Motor drive control system and control method for electric wheelchair |
| CN116954131A (en) * | 2023-07-28 | 2023-10-27 | 重庆明月湖智能科技发展有限公司 | Intelligent control method and system for trolley |
| CN116954131B (en) * | 2023-07-28 | 2024-02-02 | 重庆明月湖智能科技发展有限公司 | Intelligent control method and system for trolley |
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Application publication date: 20180601 |