CN109966068A - Intelligent elder's electric wheel-chair vehicle - Google Patents
Intelligent elder's electric wheel-chair vehicle Download PDFInfo
- Publication number
- CN109966068A CN109966068A CN201910140088.XA CN201910140088A CN109966068A CN 109966068 A CN109966068 A CN 109966068A CN 201910140088 A CN201910140088 A CN 201910140088A CN 109966068 A CN109966068 A CN 109966068A
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- Prior art keywords
- wheel
- chair vehicle
- electric wheel
- elder
- sensor
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/22—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering for automatically guiding movable devices, e.g. stretchers or wheelchairs in a hospital
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2205/00—General identification or selection means
- A61G2205/60—General identification or selection means using magnetic or electronic identifications, e.g. chips, RFID, electronic tags
Abstract
A kind of intelligent elder's electric wheel-chair vehicle of the present invention, control system comprising battery and whole control electric wheel-chair vehicle for power supply, it includes main body racks, main body rack bottom is connected with the standing platform stood for user, and standing platform two sides are provided with the driving device for driving the electric wheel-chair vehicle；The foldable cushion packed up is provided among main body rack, cushion two sides are provided with handrail, and the controller for controlling entire electric wheel-chair vehicle is arranged in an at least side handrail.Several sensors are arranged in the electric wheel-chair vehicle, sensor includes ranging localization sensor and/or obstacle avoidance sensor, sensor also includes identification sensor, identification sensor is corresponding with the one-to-one identification of mobile identification device of a wearing on the user's body, is cooperated according to mobile identification device with sensor and realizes that electric wheel-chair vehicle follows user's action automatically.The drawbacks of which solve existing similar devices enjoys more good use feeling to elder, has both practicability and economy.
Description
Technical field
The present invention is about a kind of wheel-chair, the Intelligent electric-powered wheelchair used especially for the elderly.
Background technique
The aging of population has become a global serious problems, and silver hair elder is after retirement by walk fast and vigorously can be with four
The state of place's browsing gradually degenerates to limited walking ability, then and be aged to and be unable to walking and need to take wheelchair, this is unrestrained
Long process enables the sphere of action (reachable distance) of elder gradually reduce.
The existing common equipment for solving elder's above problem, one is electric wheelchairs, and one is mobility scooter for old people.But
It is, for still there is the elder of walking ability, a kind of body the old and the weak or residual may to be generated when using above-mentioned wheelchair or scooter
The bad feeling of disease.Furthermore elder's sight level is lower than the walking moment certainly when taking wheelchair, will affect and reduce the visual field,
Ground connection may generate the feeling of " inferior to others ".Therefore the elder of many limited walking abilities is at all unwilling and displeased
Use wheelchair or mobility scooter for old people as walking-replacing tool.
It has been that postwar baby boom (baby boomer) is old now no matter in the U.S., China, Hong Kong or even world wide
Change the age, silver hair elder can only be growing on and in the following twenty or thirty year.He/her all compare and have economic capability and social status,
Also focus on very much healthy body even image.Aging be it is unavoidable, walking ability can gradually weaken, and sphere of action can constantly contract
It is small, for the elder of these limited walking abilities, a kind of equipment that can be assisted in keeping and even increase sphere of action is needed, and
It can satisfy elder or have physiology and the psychological goal of the insufficient people of body physical efficiency.
Summary of the invention
Technical problem underlying solved by the invention is to be to provide a kind of completely new intelligent elder's electric wheel-chair vehicle, with gram
Take the defect of the prior art.
The technology used in the present invention means are as described below.A kind of intelligence elder's electric wheel-chair vehicle, comprising for power supply
The control system of battery and whole control electric wheel-chair vehicle, it includes main body rack, main body rack bottom is connected with for user
The standing platform of standing, standing platform two sides are provided with the driving device for driving the electric wheel-chair vehicle；Among main body rack
It is provided with the foldable cushion packed up, cushion two sides are provided with handrail, and an at least side handrail is arranged for controlling entire Electric Motor Wheel
The controller of Wheel-chair.
The driving device of every side is provided at least two wheels, and wherein at least one wheel is driving wheel, driving wheel
It is connected with the motor of autonomous working.
Wheel can directly touch the ground, or be connected with crawler belt on the outside of wheel.
The driving device of every side be sequentially provided with from front to back preposition wheel, in set wheel and postposition wheel, wherein
Each wheel respectively can be individually or simultaneously motor driven.
The main body rack is located above cushion and is connected with backrest, and the main body rack two sides of backrest two sides are provided with sliding and lead
Rail, handrail slider are connected to the slide rail, which is slided up and down along the slide rail.
The main body rack and slide rail are connected to standing platform with rotary structure, make main body rack and slide rail can
It is arrived at a station on vertical platform with rotating folding.
The standing platform bottom is provided with the electronic extension board for the slab construction that can be stretched.
The standing platform top or bottom are provided with electronic extension component, which is divided into cross bar and vertical bar,
Vertical bar is retractable structure, and rear is connected with drive motor, and front end is connected with cross bar, and depth biography is provided with below the cross bar
Sensor, and the ground engaging stabiliser wheel that can be put down and pack up.Wherein, which is T-type structure.
Several sensors are arranged in the electric wheel-chair vehicle, and sensor includes ranging localization sensor and/or obstacle avoidance sensor, pass
Sensor also includes identification sensor, identification sensor and the one-to-one identification pair of the mobile identification device of a wearing on the user's body
It answers, is cooperated according to mobile identification device with sensor and realize that electric wheel-chair vehicle follows user's action automatically.
The controller is equipped with 360 degree of control rocking bars, and is equipped with several keys.
Beneficial effects of the present invention are as described below.
Relative on the market electric wheelchair and mobility scooter for old people, the present invention will not appoint to user (elder) or onlooker
The bad feeling of what the old and the weak's disability, elder station onboard, is greater than about 80mm on ground compared with station, reduces elder not when in use
Suitable sense.
And solitary elder often faces the worry of shopping weight bearing, " walking with me " function can bring the practical carrying effect of elder
Benefit also can bring interest to elder.
Elder can select to stand in response to physical condition and easily or ride mode, and when the age is cumulative, elder may be from
It is biased to standing pattern to become to be biased to ride mode or replace at any time, the present invention can look after this and need without any additional branch
Out, a Che Sanyong, and can be used for a long time, have both practicability and economy.
Detailed description of the invention
Fig. 1 is schematic perspective view when cushion of the embodiment of the present invention is put down.
Fig. 2 is schematic perspective view of one embodiment of the invention user in ride mode.
Fig. 3 is schematic perspective view when one embodiment of the invention cushion folds standing.
Fig. 4 is schematic perspective view of one embodiment of the invention user in standing pattern.
Fig. 5 is schematic perspective view when one embodiment of the invention slide rail folds.
Fig. 6 is schematic perspective view when one embodiment of the invention main body rack folds.
Fig. 7 a, Fig. 7 b are the side structure that one embodiment of the invention utilizes the electronic extension component of T-type structure across gap
Schematic diagram, wherein Fig. 7 a does not put down ground engaging stabiliser wheel, and Fig. 7 b has put down ground engaging stabiliser wheel.
Fig. 7 c is present invention looks up structural representation when the electronic extension component of one embodiment of the invention T-type structure stretches out.
Fig. 8 one embodiment of the invention utilizes the electronic extension component of T-type structure across the schematic perspective view in gap.
Fig. 9 is when the present invention realizes " walking with me " function as the schematic perspective view for transporting cargo.
Specific embodiment
As shown in figs. 1-7, the present invention discloses a kind of intelligent elder's electric wheel-chair vehicle, includes the battery and entirety for power supply
The control system of electric wheel-chair vehicle is controlled, battery 20 can use existing various batteries, such as lead-acid battery or lithium battery
Deng quantity and position can also be arranged according to demand.It focuses on, and it includes main body rack 1,1 bottom of main body rack connects
It is connected to the standing platform 2 stood for user, 2 two sides of standing platform are provided with for driving the driving of the electric wheel-chair vehicle to fill
It sets；It is provided with the foldable cushion 3 packed up among main body rack 1, passes through above-mentioned standing platform 2 and the foldable cushion packed up
3 structure, elder when in use, can select standing or ride mode, when such as needing to stand, such as Fig. 3 and Fig. 4 because of physical condition
It is shown turn up cushion 3 and can stand directly on electric wheel-chair vehicle use, when needing to take, put down cushion as shown in Figures 1 and 2
3, which can be sitting on electric wheel-chair vehicle similar common wheelchair, equally uses, and the checker that can be convenient at any time, structure simply may be used
It leans on.3 two sides of cushion, which are provided with handrail 4 elder is facilitated to help, holds, and at least a side handrail 4 is provided with for controlling entire electric wheel-chair vehicle
Controller 5.The various Electronic control functions of electric wheel-chair vehicle, the controller and battery, control may be implemented using controller 5
System is connected, this is that those of ordinary skill in the art may be implemented, and details are not described herein.
For ease of use, in this embodiment, which is equipped with 360 degree of control rocking bars 51, and cooperates and be equipped with
52,360 degree of control rocking bars 51 of several keys can control moving direction and forward-reverse.Key can be set flicker key,
Power switch key, horn bar, accelerator key, deceleration key, " walking with me " mode key, charging and electricity can also be arranged in flicker key
Indicator light, speed light, battery charging interface etc. are measured, this can all increase or decrease setting on demand.
Electric wheel-chair vehicle of the invention, the driving device of every side are provided at least two wheels 6, wherein at least one
Wheel 6 is driving wheel, and driving wheel is connected with the motor 7 of autonomous working.It is also provided with crawler belt 8 on the outside of wheel, with enhancing
The passage capacity of electric wheel-chair vehicle.Here motor 7 can be d.c. motor, independently the wheel or shoe of the control left and right sides
Band driving wheel.Motor 7 can be connected with battery 20.
In embodiment in figures 1-7, the driving device of every side be sequentially provided with from front to back preposition wheel 62, in
Wheel 63 and postposition wheel 64 are set, wherein each wheel respectively can be individually or simultaneously motor driven.Due to of the invention
Electric wheel-chair vehicle design using area include be relatively the place (such as market and dining room) more than people, turning radius must be tiny,
Yaw or the amplitude wagged the tail are subtracted into cause at least when steering, peripheral objects or human body is avoided collision, pivot stud is ideally provided
(turning radius=0) ability.The optimal scheme of this case is that wheel driving is set in using in the case where not using crawler belt.Such as
When setting wheel in left side forward, wheel is set in right side and is synchronized backward, other wheels freely swing, and pivot stud can be realized.
Secondly, another Preferable scheme is that being driven and being turned to using preposition wheel in the case where not using crawler belt, postposition wheel is certainly
By swinging or the driving of postposition wheel and turning to, preposition wheel freely swings.
Main body rack 1 of the invention is located at 3 rear of cushion, and backrest 9,1 two sides of main body rack are connected with above main body rack 1
It is provided with slide rail 10, handrail 4 is slidably connected to the slide rail 10, allows the handrail 4 along the slide rail 10
Lower slider.This sliding can be personal control and slide up and down, and be also possible to Electronic control, in addition with the position of cushion 3 into
Row linkage.For example, cushion 3 lays flat, then handrail 4 slides into lower position, when elder makes if elder uses ride mode
With standing pattern, cushion 3, which erects, to be come, then handrail 4 slides into top and is suitble to highly, so that user's more comfort and convenient.Equally
Ground, the slide construction also can be applied on cushion 3, allow user that can adjust the height of cushion 3 as required.
As shown in Figures 5 and 6, the present invention gives another preferred embodiment, and being provided among main body rack 1 can roll over
The cushion 3 that overlapping rises, cushion 3 are connected in a manner of moving up and down on bracket 1, are allowed user to adjust the height of seat, are leaned on
Back 9 is connected to 1 top of main body rack, and slide rail 10 is set to 1 two sides of main body rack, is connected with handrail 4 on slide rail 10,
Handrail 4 is equipped with rotary structure, enables direction folding of the handrail 4 to slide rail 10.In the present embodiment, main body rack 1
It is all made of rotary structure with slide rail 10 to be connected on standing platform 2, with 10 folding of realization body bracket 1 and slide rail
To on standing platform 2, so that cushion 3, backrest 9 and 4 folding of handrail be made to be collected on standing platform 2.The present embodiment meaning can
Rotational structure can be the structure well known in the art such as hinge, to implement rotation and lock the component.Fig. 5 shows right side
On slide rail 10 folding to standing platform 2, it is provided with controller 5 on handrail 4 also folding together.Fig. 6 shows this
Situation of the intelligent elder's electric wheel-chair vehicle after folding in embodiment, shared space significantly reduce, and facilitate carrying and collection.
As shown in Fig. 2, 2 bottom of standing platform of the invention is provided with the electronic extension board for the slab construction that can be stretched
21, starting can stretch out bottom standing platform 2 when needed, increase the area of contact Chinese herbaceous peony bottom surface, in case of need (such as
Gap is crossed from subway platform to enter in subway carriage) start the electronic extension board, electric wheel-chair vehicle of the invention can be voluntarily
Safety enters compartment, places springboard completely without platform assistant and assists, very convenient.
As shown in Fig. 7 a, Fig. 7 b, Fig. 7 c and Fig. 8, the present invention gives another preferred embodiment, the standing platform 2
Top or bottom (the present embodiment is set to top) are provided with electronic extension component 22, which divides for cross bar 221
And vertical bar 222, vertical bar 222 are retractable structure, rear is connected with drive motor 23, and front end is connected with cross bar 221, the cross
Depth transducer 24 is provided with below bar 221, and the ground engaging stabiliser wheel 25 that can be put down and pack up, Fig. 7 a is that ground engaging stabiliser wheel is not put down, Fig. 7 b
It is put down for ground engaging stabiliser wheel.Ground engaging stabiliser wheel 25 can also lean on separate motors 251 to drive.In use, stretching out electronic extension when encountering gap
The depth transducer 24 of component 22,221 lower section of cross bar works, and if following depth is excessive, then continues to forward extend out, works as cross bar
221 continue forward, depth transducer 24 detect lower section be bottom surface when, stretch out ground engaging stabiliser wheel 25 resist bottom surface, entire electric wheelchair
Vehicle can cross over forward gap, pack up the electronic extension component 22 of T-type structure again later.The whole operation can lead to manually
It crosses controller 5 to be operated, also can use various sensors and be automatically performed.Electronic extension component 22 of the invention is in addition to can be such as
Outside Fig. 7 a, Fig. 7 b, Fig. 7 c and T-type structure shown in Fig. 8, be also possible to cross-shaped configuration, can also as needed by
The cross bar and vertical bar of different number form, such as intersecting parallels structure.
Several sensors 11 can be set in electric wheel-chair vehicle of the invention, and sensor 11 may include ranging localization sensor
And/or obstacle avoidance sensor, it can be set to multiple positions of electric wheel-chair vehicle as shown in Figure 1, can also be arranged in as shown in Figure 6
221 front end of cross bar of the electronic extension component 22 of T-type structure.Sensor 11 can also include identification sensor, identification sensor
It is corresponding with the one-to-one identification of mobile identification device 12 of a wearing on the user's body, matched according to mobile identification device with sensor
It closes and realizes that electric wheel-chair vehicle follows user's action automatically.Mobile identification device can be bracelet, mobile phone or smartwatch etc..
Cooperate multiple sensors, " walking with me " function may be implemented in the present invention.
Various sensors can devices in electric wheel-chair vehicle different height and direction, detect surrounding whether barrier and its away from
From elder needs to dress a signal transmitting/receiving device or signal buoy, such as a wrist-watch, bracelet or mobile phone, electric wheel-chair vehicle meeting
It using the detection of various sensors and measurement and the relative direction and distance of elder on vehicle, is then shifted near to elder's straight line, when supporting
Up to the preset distance (such as 1 meter) with elder, electric wheel-chair vehicle will stop, as elder continue walking far from electric wheel-chair vehicle extremely
Another distance (such as 2 meters), electric wheel-chair vehicle can restart continuation and shift near elder automatically.As electric wheel-chair vehicle detects advance
There is barrier in direction, understands slow immediately or stops, and if barrier remains motionless, electric wheel-chair vehicle can be according to the information of each sensor
It turns left or turns right and move on after avoiding obstacles.If electric wheel-chair vehicle can not find outlet, it can stop and issue the sound and news
Number notify elder, it is desirable that assistance.This function can be as shown in fig. 7, being used to help user transports cargo.
Realize ranging localization sensor/obstacle avoidance sensor of above-mentioned function, main function is to detect neighbouring obstacle
The distance of object and direction, feasible selection have:
Optical radar (LiDAR)
Ultrasonic sensor (Ultrasonic sensor)
Infrared sensor (Infrared Proximity Sensor/Distance sensor)
GPS sensor (GPS sensor)
Stereopsis (Stereoscopic imaging)
Body-sensing 3D image (Kinect 3D imaging)
- WiFi access point (WiFi access point)
It can be seen that optical communication (Li-Fi Visible Light Communication)
Ultra wide band signal (Ultra Wide Band).
Realize the identification sensor of above-mentioned function, it is one-to-one that main function is that determining electric wheel-chair vehicle has with user
Identification, user must wear, and feasible selection has:
Infra-red signal buoy (Beacon Infrared)
Bluetooth signal buoy (iBeacon)
Smart phone (Smart phone)
Ultra wide band signal buoy (Ultra Wide Band)
Intelligent bracelet
Intelligent meter.
Consider that accuracy, reliability, price and the electricity consumption of various sensors, electric wheel-chair vehicle of the present invention can preferably be adopted
With:
Ranging localization sensor/obstacle avoidance sensor:
Ultrasonic sensor (Ultrasonic sensor) and/or
Infrared sensor (Infrared Proximity Sensor/Distance sensor) and/or
Optical radar (LiDAR) and/or
GPS sensor (GPS sensor) and/or
Ultra wide band signal (Ultra Wide Band).
Identification sensor:
Infra-red signal buoy (Beacon Infrared) and/or
Bluetooth signal buoy (iBeacon) and/or
Smart phone GPS sensor (Smart phone GPS sensor) and/or
Intelligent mobile phone Bluetooth sensor (Smart phone Bluetooth sensor) and/or
Ultra wide band signal buoy (Ultra Wide Band).
Above-mentioned technology is existing mature technology, can be convenient and is reliably employed in the present invention.
Above-mentioned " walking with me " function of the invention and pivot stud function, can also apply and be mounted on common Electric Motor Wheel
On chair, especially before (two) wheel drive electric wheelchair, in addition with postponing, similar function is also may be implemented in various sensors substantially
Energy.
Claims (10)
1. a kind of intelligence elder's electric wheel-chair vehicle, the control system comprising battery and whole control electric wheel-chair vehicle for power supply
System, which is characterized in that it includes main body rack, main body rack bottom is connected with the standing platform stood for user, stands flat
Platform two sides are provided with the driving device for driving the electric wheel-chair vehicle；
The foldable cushion packed up is provided among main body rack, cushion two sides are provided with handrail, and the setting of an at least side handrail is used
In the controller for controlling entire electric wheel-chair vehicle.
2. intelligence elder's electric wheel-chair vehicle as described in claim 1, which is characterized in that the driving device of every side is provided with
At least two wheels, wherein at least one wheel are driving wheel, and driving wheel is connected with the motor of autonomous working.
3. intelligence elder's electric wheel-chair vehicle as claimed in claim 2, which is characterized in that be connected with crawler belt on the outside of wheel.
4. intelligence elder electric wheel-chair vehicle as claimed in claim 2 or claim 3, which is characterized in that the driving device of every side from
Be sequentially provided with after going to preposition wheel, in set wheel and postposition wheel, wherein each wheel can respectively individually or simultaneously
It is motor driven.
5. intelligence elder's electric wheel-chair vehicle as described in claim 1, which is characterized in that the main body rack is located above cushion simultaneously
It is connected with backrest, the main body rack two sides of backrest two sides are provided with slide rail, which is connected to the slide rail, makes
Obtaining the handrail can slide up and down along the slide rail.
6. intelligence elder's electric wheel-chair vehicle as claimed in claim 5, which is characterized in that the main body rack and the slide rail with
Rotary structure is connected to the standing platform, and the main body rack and the slide rail is allowed to rotate folding to the standing platform
On.
7. intelligence elder's electric wheel-chair vehicle as described in claim 1, which is characterized in that the standing platform bottom is provided with can be with
The electronic extension board of flexible slab construction.
8. intelligence elder's electric wheel-chair vehicle as described in claim 1, which is characterized in that the standing platform top or bottom setting
There is electronic extension component, which is divided into cross bar and vertical bar, and vertical bar is retractable structure, and rear is connected with driving
Motor, front end are connected with cross bar, are provided with depth transducer, and the ground engaging stabiliser wheel that can be put down and pack up below the cross bar.
9. intelligence elder's electric wheel-chair vehicle as described in claim 1, which is characterized in that several sensings are arranged in the electric wheel-chair vehicle
Device, sensor include ranging localization sensor and/or obstacle avoidance sensor, and sensor also includes identification sensor, identification sensor
It is corresponding with the one-to-one identification of mobile identification device of a wearing on the user's body, cooperated according to mobile identification device and sensor
Realize that electric wheel-chair vehicle follows user's action automatically.
10. intelligence elder's electric wheel-chair vehicle as described in claim 1, which is characterized in that the controller is equipped with 360 degree of controls and shakes
Bar, and it is equipped with several keys.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910140088.XA CN109966068A (en) | 2019-02-26 | 2019-02-26 | Intelligent elder's electric wheel-chair vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910140088.XA CN109966068A (en) | 2019-02-26 | 2019-02-26 | Intelligent elder's electric wheel-chair vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111714299A (en) * | 2020-06-22 | 2020-09-29 | 西安交通大学医学院第一附属医院 | Intelligent old-people assisting chair and using method thereof |
| CN114115220A (en) * | 2021-12-29 | 2022-03-01 | 桂林航天工业学院 | Wheelchair autonomous following and obstacle avoiding system based on mobile robot technology |
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| CN103112510A (en) * | 2013-02-01 | 2013-05-22 | 北京理工大学 | Multi-terrain self-balancing two-wheel car |
| EP3285708A1 (en) * | 2015-04-22 | 2018-02-28 | Brian Harrison | A reconfigurable wheeled personal mobility device |
| CN206334032U (en) * | 2016-08-09 | 2017-07-18 | 刘纪旋 | A kind of running gear of six center wheel drive power wheelchairs |
| CN208301852U (en) * | 2017-07-28 | 2019-01-01 | 项琳 | A kind of folding utility walk helper |
| CN107600232A (en) * | 2017-10-31 | 2018-01-19 | 开平陆域机电科技有限公司 | A kind of scooter of rumble seat and the application rumble seat |
| CN108743086A (en) * | 2018-01-19 | 2018-11-06 | 西安电子科技大学 | Method for controlling intelligent wheelchair for tracking front entourage's target |
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| CN111714299A (en) * | 2020-06-22 | 2020-09-29 | 西安交通大学医学院第一附属医院 | Intelligent old-people assisting chair and using method thereof |
| CN114115220A (en) * | 2021-12-29 | 2022-03-01 | 桂林航天工业学院 | Wheelchair autonomous following and obstacle avoiding system based on mobile robot technology |
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