CN110254556A - A kind of new-type unmanned machine people automobile - Google Patents

A kind of new-type unmanned machine people automobile Download PDF

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Publication number
CN110254556A
CN110254556A CN201910375762.2A CN201910375762A CN110254556A CN 110254556 A CN110254556 A CN 110254556A CN 201910375762 A CN201910375762 A CN 201910375762A CN 110254556 A CN110254556 A CN 110254556A
Authority
CN
China
Prior art keywords
mounting rack
frame chassis
wheel
controller
laser range
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910375762.2A
Other languages
Chinese (zh)
Inventor
杜元源
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Duni Intelligent Robot Engineering Research Center Co Ltd
Original Assignee
Guangdong Duni Intelligent Robot Engineering Research Center Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangdong Duni Intelligent Robot Engineering Research Center Co Ltd filed Critical Guangdong Duni Intelligent Robot Engineering Research Center Co Ltd
Priority to CN201910375762.2A priority Critical patent/CN110254556A/en
Publication of CN110254556A publication Critical patent/CN110254556A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G13/00Resilient suspensions characterised by arrangement, location or type of vibration dampers
    • B60G13/02Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
    • B60G13/04Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally mechanically, e.g. having frictionally-engaging springs as damping elements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00Arrangement or mounting of electrical propulsion units
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00Arrangement or mounting of electrical propulsion units
    • B60K1/04Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60NSEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/005Arrangement or mounting of seats in vehicles, e.g. dismountable auxiliary seats
    • B60N2/015Attaching seats directly to vehicle chassis
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D61/00Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/10Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00Arrangement or mounting of electrical propulsion units
    • B60K1/04Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B60K2001/0405Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion characterised by their position
    • B60K2001/0438Arrangement under the floor

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)

Abstract

The invention discloses a kind of new-type unmanned machine people automobiles, the seat mounting rack in its frame chassis upper surface middle position installs automotive seat, lithium battery is installed in the battery case of frame chassis following table front end, panel controller is installed, lithium battery is electrically connected by power transmission line and panel controller in the controller case of frame chassis lower surface rear end;Two front components are installed in frame chassis front end, and two wheel assemblies are installed in frame chassis rear end;The left and right end side of frame chassis is installed with the automobile driving wheel driven by drive motor respectively;Frame chassis leading edge portion installing front side laser range sensor, frame chassis back end edge edge installing rear side laser range sensor;The sensor mount of automotive seat rear end side includes mounting rack vertical bar, mounting rack cross bar, and top lasers distance measuring sensor is installed in mounting rack cross bar front end.By said structure design, the present invention has the advantages that novel in structural design, intelligence degree are high.

Description

A kind of new-type unmanned machine people automobile
Technical field
The present invention relates to pilotless automobile technical fields, more particularly to a kind of new-type unmanned machine people automobile.
Background technique
With the constantly progress of unmanned technology, pilotless automobile is promoted and applied in certain occasions, example Such as airport, station.
It is noted that still remaining for existing pilotless automobile and designing unreasonable, intelligence degree Need the defect further increased.
Summary of the invention
The purpose of the present invention is to solve the shortcomings of the prior art and a kind of new-type unmanned machine people automobile is provided, should New-type pilotless automobile is novel in design, intelligence degree is high.
In order to achieve the above objectives, the present invention is achieved through the following technical solutions.
A kind of new-type unmanned machine people automobile, includes frame chassis, the middle position spiral shell of frame chassis upper surface Equipped with seat mounting rack, the upper end of seat mounting rack is installed with automotive seat;
The front end of frame chassis lower surface is screwed with battery case, and the inside of battery case forms cell containing cavity, battery case Lithium battery is embedded in cell containing cavity;The rear end of frame chassis lower surface is screwed with controller case, the inside of controller case Controller accommodating cavity is formed, is embedded with panel controller in the controller accommodating cavity of controller case, lithium battery passes through power supply Transmission line and panel controller are electrically connected;
In the side installing of battery case, there are two left and right face and spaced apart front components for the front end of frame chassis, before each Wheel assembly respectively includes front-wheel mounting rack, is installed on the vehicle front of front-wheel mounting rack lower end, frame chassis by shaft Front end be installed with front-wheel spring damper, the upper part of each front-wheel mounting rack respectively in the upper end side of each front-wheel mounting rack It is not connect with front-wheel spring damper;The rear end of frame chassis in controller case side installing there are two left and right face and Every the wheel assembly of arrangement, each wheel assembly has respectively included rear-wheel mounting rack, has been installed on rear-wheel mounting rack lower end by shaft The rear end of the automobile back wheel in portion, frame chassis is installed with rear wheel spring shock absorption device in the upper end side of each rear-wheel mounting rack respectively, The upper end of each rear-wheel mounting rack is connect with rear wheel spring shock absorption device respectively;
The left end side of frame chassis, right end side are installed with the automobile driving wheel between vehicle front and automobile back wheel respectively, Frame chassis corresponds to each automobile driving wheel and is screwed with drive motor respectively, each drive motor respectively with the automobile driving wheel of corresponding side It is drivingly connected, each drive motor is electrically connected with panel controller respectively;
The leading edge portion of frame chassis is installed with front side laser range sensor, after the back end edge edge of frame chassis is installed with Side laser range sensor, front side laser range sensor, rear side laser range sensor are in diagonal distribution, front side laser ranging Sensor, rear side laser range sensor are electrically connected with panel controller respectively;
The rear end side of automotive seat is installed with sensor mount, and sensor mount includes perpendicular in the mounting rack being vertically arranged Bar, the lower end spiral shell of mounting rack vertical bar load the upper surface for being fixed in frame chassis, and the upper end of mounting rack vertical bar is provided with forward The mounting rack cross bar that level protrusion extends, the front end of mounting rack cross bar is installed with top lasers distance measuring sensor, top lasers Distance measuring sensor and panel controller are electrically connected.
Wherein, each drive motor is fitted with motor rotary speed counter respectively, each motor rotary speed counter respectively with institute State panel controller electric connection.
Wherein, the mounting rack cross bar is installed with GPS module, GPS mould in the side of the top lasers distance measuring sensor Block and the panel controller are electrically connected.
The invention has the benefit that the new-type unmanned machine people automobile of one kind of the present invention comprising there is vehicle Frame chassis, the middle position of frame chassis upper surface are screwed with seat mounting rack, and the upper end of seat mounting rack is installed with automobile Seat;The front end of frame chassis lower surface is screwed with battery case, and the inside of battery case forms cell containing cavity, battery case Lithium battery is embedded in cell containing cavity;The rear end of frame chassis lower surface is screwed with controller case, the inside of controller case Controller accommodating cavity is formed, is embedded with panel controller in the controller accommodating cavity of controller case, lithium battery passes through power supply Transmission line and panel controller are electrically connected;In the side installing of battery case, there are two left and right faces for the front end of frame chassis And spaced apart front component, each front component have respectively included front-wheel mounting rack, have been installed on front-wheel mounting rack by shaft The front end of the vehicle front of lower end, frame chassis is installed with front-wheel spring shock absorption in the upper end side of each front-wheel mounting rack respectively The upper end of device, each front-wheel mounting rack is connect with front-wheel spring damper respectively;The rear end of frame chassis is in controller case There are two left and right face and spaced apart wheel assembly, each wheel assembly has respectively included rear-wheel mounting rack, has led to for side installing The automobile back wheel that shaft is installed on rear-wheel mounting rack lower end is crossed, the rear end of frame chassis is in the upper end side of each rear-wheel mounting rack It is installed with rear wheel spring shock absorption device respectively, the upper end of each rear-wheel mounting rack is connect with rear wheel spring shock absorption device respectively;Vehicle frame bottom The left end side of disk, right end side are installed with the automobile driving wheel between vehicle front and automobile back wheel, frame chassis pair respectively Each automobile driving wheel is answered to be screwed with drive motor respectively, each drive motor is drivingly connected with the automobile driving wheel of corresponding side respectively, Each drive motor is electrically connected with panel controller respectively;The leading edge portion of frame chassis is installed with front side laser ranging and passes Sensor, the back end edge edge of frame chassis are installed with rear side laser range sensor, front side laser range sensor, rear side laser Distance measuring sensor in diagonal distribution, front side laser range sensor, rear side laser range sensor respectively with panel controller It is electrically connected;The rear end side of automotive seat is installed with sensor mount, and sensor mount includes in the peace being vertically arranged Vertical bar is shelved, the lower end spiral shell of mounting rack vertical bar loads the upper surface for being fixed in frame chassis, the upper end setting of mounting rack vertical bar There is the mounting rack cross bar that horizontal protrusion extends forward, the front end of mounting rack cross bar is installed with top lasers distance measuring sensor, pushes up Portion's laser range sensor and panel controller are electrically connected.By said structure design, the present invention has structure design new The high advantage of grain husk, intelligence degree.
Detailed description of the invention
The present invention is further detailed below with attached drawing, but the embodiment in attached drawing is not constituted to this hair Bright any restrictions.
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structural schematic diagram at another visual angle of the present invention.
Include in fig. 1 and 2:
1 --- frame chassis 21 --- seat mounting rack
22 --- automotive seat 3 --- battery cases
4 --- controller case 51 --- front-wheel mounting racks
52 --- vehicle front 53 --- front-wheel spring dampers
61 --- rear-wheel mounting rack 62 --- automobile back wheels
63 --- rear wheel spring shock absorption device 71 --- automobile driving wheels
72 --- drive motor 81 --- front side laser range sensors
82 --- rear side laser range sensor 83 --- top lasers distance measuring sensors
91 --- mounting rack vertical bar 92 --- mounting rack cross bars
100 --- GPS module.
Specific embodiment
Below with reference to specific embodiment, the present invention will be described.
As depicted in figs. 1 and 2, a kind of new-type unmanned machine people automobile comprising have frame chassis 1, frame chassis 1 The middle position of upper surface is screwed with seat mounting rack 21, and the upper end of seat mounting rack 21 is installed with automotive seat 22.
Wherein, the front end of 1 lower surface of frame chassis is screwed with battery case 3, and the inside of battery case 3 forms battery containing Chamber, the cell containing cavity of battery case 3 is interior to be embedded with lithium battery;The rear end of 1 lower surface of frame chassis is screwed with controller case 4, The inside of controller case 4 forms controller accommodating cavity, controls in the controller accommodating cavity of controller case 4 embedded with wiring board Device, lithium battery are electrically connected by power transmission line and panel controller.
Further, in the side installing of battery case 3, there are two left and right face and arranged for interval for the front end of frame chassis 1 Front component, each front component respectively included front-wheel mounting rack 51, has been installed on 51 lower end of front-wheel mounting rack by shaft Vehicle front 52, the front end of frame chassis 1 is installed with front-wheel spring shock absorption in the upper end side of each front-wheel mounting rack 51 respectively The upper end of device 53, each front-wheel mounting rack 51 is connect with front-wheel spring damper 53 respectively;The rear end of frame chassis 1 is in control There are two left and right face and spaced apart wheel assembly, each wheel assembly has respectively included rear-wheel peace for the side installing of device case 4 It shelves 61, be installed on the automobile back wheel 62 of 61 lower end of rear-wheel mounting rack by shaft, the rear end of frame chassis 1 is in each rear-wheel The upper end side of mounting rack 61 is installed with rear wheel spring shock absorption device 63 respectively, the upper end of each rear-wheel mounting rack 61 respectively with rear-wheel bullet Spring damper 63 connects.
Further, the left end side of frame chassis 1, right end side are installed with respectively positioned at vehicle front 52 and automobile back wheel Automobile driving wheel 71 between 62, the corresponding each automobile driving wheel 71 of frame chassis 1 are screwed with drive motor 72 respectively, respectively drive horse It is drivingly connected respectively with the automobile driving wheel of corresponding side 71 up to 72, each drive motor 72 electrically connects with panel controller respectively It connects.
In addition, the leading edge portion of frame chassis 1 is installed with front side laser range sensor 81, the rear end of frame chassis 1 Edge part is installed with rear side laser range sensor 82, and front side laser range sensor 81, rear side laser range sensor 82 are in Diagonal distribution, front side laser range sensor 81, rear side laser range sensor 82 are electrically connected with panel controller respectively.
There are also being exactly that the rear end side of automotive seat 22 is installed with sensor mount, sensor mount includes in perpendicular To the mounting rack vertical bar 91 of arrangement, the lower end spiral shell of mounting rack vertical bar 91 loads the upper surface for being fixed in frame chassis 1, and mounting rack is perpendicular The upper end of bar 91 is provided with the mounting rack cross bar 92 that horizontal protrusion extends forward, and the front end of mounting rack cross bar 92 is installed with top Portion's laser range sensor 83, top lasers distance measuring sensor 83 and panel controller are electrically connected.
It need to explain, each drive motor 72 is fitted with motor rotary speed counter, each motor rotary speed counter difference respectively It is electrically connected with panel controller.
It is further to be pointed out that mounting rack cross bar 92 is installed with GPS mould in the side of top lasers distance measuring sensor 83 Block 100, GPS module 100 and panel controller are electrically connected.
In walking process of the present invention, lithium battery is powered for panel controller, and panel controller control is left and right The drive motor 72 of two sides starts, and the automobile driving wheel 71 in the driving of drive motor 72 left side in left side rotates, the driving horse on right side Automobile driving wheel 71 up to 72 driving right sides rotates, and under the driving effect of the automobile driving wheel 71 of left and right side, automobile realizes row Walk movement.Wherein, during walking turning, the present invention controls the revolving speed of drive motor 72 by panel controller come real It is existing, such as: when realizing walking, the revolving speed of the drive motor 72 on right side is big compared with the revolving speed of the drive motor 72 in left side; When realizing right-hand bend walking, the revolving speed of the drive motor 72 in left side is big compared with the revolving speed of the drive motor 72 on right side.It need to point out It is that the present invention feeds back the rotary speed information of respective drive motor 72 by each motor rotary speed counter, to realize walking motion standard Really control.
For front side laser range sensor 81 of the invention, rear side laser range sensor 82, front side Laser Measuring Away from sensor 81 for detecting vehicle front barrier, rear side laser range sensor 82 is for detecting rear of vehicle barrier; When work, when encountering barrier, front side laser range sensor 81 or rear side laser range sensor 82 are in real time by vehicle Panel controller is fed back to the distance between barrier information, panel controller realizes barrier according to above-mentioned range information Hinder object avoiding action.
For top lasers distance measuring sensor 83 of the invention, it is used for composition positioning, to guarantee vehicle according to pre- If path is walked.
For GPS module 100 of the invention, the position signal of real-time collecting vehicle and in real time by the position of vehicle Signal feeds back to panel controller, and when vehicle within the scope of large area when walking, such as very big square, monitoring personnel can The signal fed back by panel controller accurately knows the location information of vehicle.
Based on the above situation, it may be appreciated that the present invention has novel in structural design, intelligence degree high by said structure design The advantages of.
The above is only a preferred embodiment of the present invention, for those of ordinary skill in the art, according to the present invention Thought, there will be changes in the specific implementation manner and application range, and the content of the present specification should not be construed as to the present invention Limitation.

Claims (3)

1. a kind of new-type unmanned machine people automobile, it is characterised in that: include frame chassis (1), table in frame chassis (1) The middle position in face is screwed with seat mounting rack (21), and the upper end of seat mounting rack (21) is installed with automotive seat (22);
The front end of frame chassis (1) lower surface is screwed with battery case (3), and the inside of battery case (3) forms cell containing cavity, Lithium battery is embedded in the cell containing cavity of battery case (3);The rear end of frame chassis (1) lower surface is screwed with controller case (4), the inside of controller case (4) forms controller accommodating cavity, is embedded with route in the controller accommodating cavity of controller case (4) Plate controller, lithium battery are electrically connected by power transmission line and panel controller;
In the side installing of battery case (3), there are two left and right face and spaced apart front wheels for the front end of frame chassis (1) Part, each front component respectively include front-wheel mounting rack (51), are installed on the vapour of front-wheel mounting rack (51) lower end by shaft Chinese herbaceous peony wheel (52), the front end of frame chassis (1) are installed with front-wheel spring in the upper end side of each front-wheel mounting rack (51) respectively and subtract It shakes device (53), the upper end of each front-wheel mounting rack (51) is connect with front-wheel spring damper (53) respectively;After frame chassis (1) In the side installing of controller case (4), there are two left and right face and spaced apart wheel assembly, each wheel assembly difference for end It include rear-wheel mounting rack (61), the automobile back wheel (62) for being installed on by shaft rear-wheel mounting rack (61) lower end, vehicle frame bottom The rear end of disk (1) is installed with rear wheel spring shock absorption device (63) respectively in the upper end side of each rear-wheel mounting rack (61), each rear-wheel peace The upper end for shelving (61) is connect with rear wheel spring shock absorption device (63) respectively;
The left end side of frame chassis (1), right end side are installed with respectively between vehicle front (52) and automobile back wheel (62) Automobile driving wheel (71), the corresponding each automobile driving wheel (71) of frame chassis (1) are screwed with drive motor (72) respectively, respectively drive horse It is drivingly connected respectively with the automobile driving wheel of corresponding side (71) up to (72), each drive motor (72) is electric with panel controller respectively Property connection;
The leading edge portion of frame chassis (1) is installed with front side laser range sensor (81), the back edge of frame chassis (1) Portion is installed with rear side laser range sensor (82), front side laser range sensor (81), rear side laser range sensor (82) In diagonal distribution, front side laser range sensor (81), rear side laser range sensor (82) are electric with panel controller respectively Property connection;
The rear end side of automotive seat (22) is installed with sensor mount, and sensor mount includes in the installation being vertically arranged Frame vertical bar (91), the lower end spiral shell of mounting rack vertical bar (91) load the upper surface for being fixed in frame chassis (1), mounting rack vertical bar (91) Upper end be provided with the mounting rack cross bar (92) that horizontal protrusion extends forward, the front end of mounting rack cross bar (92) is installed with top Portion's laser range sensor (83), top lasers distance measuring sensor (83) and panel controller are electrically connected.
2. the new-type unmanned machine people automobile of one kind according to claim 1, it is characterised in that: each drive motor (72) it is fitted with motor rotary speed counter respectively, each motor rotary speed counter is electrically connected with the panel controller respectively.
3. the new-type unmanned machine people automobile of one kind according to claim 1, it is characterised in that: the mounting rack cross bar (92) side of Yu Suoshu top lasers distance measuring sensor (83) is installed with GPS module (100), GPS module (100) and the line Road plate controller is electrically connected.
CN201910375762.2A 2019-05-07 2019-05-07 A kind of new-type unmanned machine people automobile Pending CN110254556A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910375762.2A CN110254556A (en) 2019-05-07 2019-05-07 A kind of new-type unmanned machine people automobile

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910375762.2A CN110254556A (en) 2019-05-07 2019-05-07 A kind of new-type unmanned machine people automobile

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Publication Number Publication Date
CN110254556A true CN110254556A (en) 2019-09-20

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910375762.2A Pending CN110254556A (en) 2019-05-07 2019-05-07 A kind of new-type unmanned machine people automobile

Country Status (1)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112124128A (en) * 2020-09-24 2020-12-25 广东杜尼智能机器人工程技术研究中心有限公司 Automatic alignment charging method depending on vision

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US5904214A (en) * 1997-07-11 1999-05-18 Lin; David Jung-Ching Power assist anti-tip wheel system for invalid carriage
EP1493418A1 (en) * 2003-06-30 2005-01-05 Pride Mobility Products Corporation Suspension system for a powered wheelchair
CN204192896U (en) * 2014-11-07 2015-03-11 济宁中科先进技术研究院有限公司 Novel intelligent wheel chair
CN107636546A (en) * 2015-06-10 2018-01-26 株式会社道具 Autonomous system
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US5904214A (en) * 1997-07-11 1999-05-18 Lin; David Jung-Ching Power assist anti-tip wheel system for invalid carriage
EP1493418A1 (en) * 2003-06-30 2005-01-05 Pride Mobility Products Corporation Suspension system for a powered wheelchair
CN204192896U (en) * 2014-11-07 2015-03-11 济宁中科先进技术研究院有限公司 Novel intelligent wheel chair
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CN112124128A (en) * 2020-09-24 2020-12-25 广东杜尼智能机器人工程技术研究中心有限公司 Automatic alignment charging method depending on vision

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Application publication date: 20190920

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