CN112587325A - Intelligent obstacle avoidance self-balancing wheelchair and control system thereof - Google Patents
Intelligent obstacle avoidance self-balancing wheelchair and control system thereof Download PDFInfo
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- CN112587325A CN112587325A CN202011429915.6A CN202011429915A CN112587325A CN 112587325 A CN112587325 A CN 112587325A CN 202011429915 A CN202011429915 A CN 202011429915A CN 112587325 A CN112587325 A CN 112587325A
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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
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
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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
- A61G5/10—Parts, details or accessories
- A61G5/1051—Arrangements for steering
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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
- A61G5/10—Parts, details or accessories
- A61G5/1089—Anti-tip devices
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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
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
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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
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
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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
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/40—General characteristics of devices characterised by sensor means for distance
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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
- A61G2203/00—General characteristics of devices
- A61G2203/30—General characteristics of devices characterised by sensor means
- A61G2203/42—General characteristics of devices characterised by sensor means for inclination
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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
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
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Abstract
The invention discloses an intelligent obstacle avoidance self-balancing wheelchair and a control system thereof, belonging to the technical field of electric wheelchairs; an intelligent obstacle avoidance self-balancing wheelchair comprises an installation chassis, wherein servo motors are fixedly connected to four corners of the bottom surface of the installation chassis, walking wheels are fixedly connected to output shafts of the servo motors, a self-balancing mechanism is fixedly connected to the upper surface of the installation chassis, a seat is connected to the self-balancing mechanism, a handrail is fixedly connected to the seat, and an integrated control device is further arranged on the upper surface of the installation chassis; the intelligent obstacle avoidance self-balancing wheelchair control system comprises a single chip microcomputer main control system, wherein the single chip microcomputer main control system is linked with a wheelchair self-balancing control system, a wheelchair obstacle avoidance control system and a wheelchair safety positioning system; the invention effectively solves the problems that when the old and the disabled use the electric wheelchair, due to physical reasons or visual field blind areas, judgment errors are easily caused, and further accidents such as rubbing, side turning, collision and the like are easily caused.
Description
Technical Field
The invention relates to the technical field of electric wheelchairs, in particular to an intelligent obstacle avoidance self-balancing wheelchair and a control system thereof.
Background
In recent years, with the continuous improvement of the living standard of people, the demand market of electric wheelchairs in China is larger and larger, and the market scale of the electric wheelchairs in China reaches 98.2 hundred million yuan by 2018. However, due to the complexity of road conditions, the increase in the number of electric wheelchairs also brings more and more traffic accidents, and the demand of the elderly and disabled for the intelligent function of the wheelchairs is continuously increasing. Meanwhile, the safety-based protection of electric wheelchairs produced at home and abroad is still generally in a passive mode, and the control of the common electric wheelchairs per se is still in an artificial subjective control operating lever or rocker.
However, due to physical reasons of the old and the disabled, accidents such as rubbing, side turning, collision and the like caused by visual field blind areas and human judgment errors are frequent, and further development of the electric wheelchair is limited by uncontrollable human factors. In order to solve the series of problems, an intelligent obstacle avoidance self-balancing wheelchair and a control system thereof are provided, so that the life and property safety of the old and the disabled can be comprehensively guaranteed while pursuing freedom of movement.
Disclosure of Invention
1. Technical problem to be solved by the invention
The invention aims to solve the problems that when the electric wheelchair is used by old people and disabled people, due to physical reasons or visual field blind areas, judgment errors are easily caused, and further accidents such as rubbing, side turning, collision and the like are easily caused.
2. Technical scheme
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides an obstacle self-balancing wheelchair is kept away to intelligence, includes the installation chassis, the inside fixed mounting on installation chassis has battery and transformer, fixedly connected with servo motor on the bottom surface four corners on installation chassis, servo motor and battery and transformer electric connection, fixedly connected with walking wheel on servo motor's the output shaft, the last fixed surface of installation chassis is connected with self-balancing mechanism, be connected with the seat in the self-balancing mechanism, fixedly connected with handrail on the seat, the upper surface on installation chassis still is provided with integrated control device.
Preferably, the self-balancing mechanism comprises a longitudinal axis direction steering engine, the longitudinal axis direction steering engine is fixedly connected to the upper surface of the mounting chassis, a transverse axis direction steering engine is fixedly connected to an output shaft of the longitudinal axis direction steering engine, a fixing rod is fixedly connected to an output shaft of the transverse axis direction steering engine, and the top end of the fixing rod is fixedly connected with the bottom surface of the seat; and angle sensors are fixedly arranged on the longitudinal axis direction steering engine and the transverse axis direction steering engine.
Preferably, integrated control device is including the installation shell, installation shell fixed connection is at the upper surface on installation chassis, the inside fixed mounting of installation shell has singlechip control chip and GPS orientation module, fixedly connected with ultrasonic sensor on the preceding lateral wall of installation shell, singlechip control chip and self-balancing mechanism and ultrasonic sensor electric connection.
Preferably, the specific model of the angle sensor is an MPU6050 angle sensor, and the specific model of the ultrasonic sensor is an HC-SR04 ultrasonic ranging module.
An intelligent obstacle avoidance self-balancing wheelchair control system is applied to the intelligent obstacle avoidance self-balancing wheelchair disclosed in claims 1-5, and comprises a single-chip microcomputer main control system, wherein the single-chip microcomputer main control system is linked with the wheelchair self-balancing control system, the wheelchair obstacle avoidance control system and a wheelchair safety positioning system;
the wheelchair self-balancing control system is linked with an angle change detection module, an angle motion digital processing module and a steering engine adjusting control module;
the wheelchair obstacle avoidance control system is linked with an obstacle automatic detection module, an active obstacle avoidance control module and an automatic shock absorption control module;
the wheelchair safety positioning system is linked with a wheelchair state monitoring module, a GPS real-time positioning module and an automatic data abnormity alarming module.
Preferably, the angle change detection module is matched with an MPU6050 angle sensor, and the angle change detection module comprises a longitudinal rotation angle detection unit and a transverse rotation angle detection unit; the steering engine adjusting control module is matched with the self-balancing mechanism and comprises a longitudinal axis direction steering engine control unit and a transverse axis direction steering engine control unit.
Preferably, the automatic obstacle detection module is matched with the HC-SR04 ultrasonic ranging module, and the automatic obstacle detection module includes an ultrasonic transmitting unit, an ultrasonic receiving unit, and a distance determination unit.
Preferably, the data abnormity automatic alarm module comprises a speed abnormity monitoring unit, an angle abnormity monitoring unit, a buzzing alarm unit and a network communication unit.
3. Advantageous effects
(1) The invention is based on the traditional electric wheelchair on the market, adds the environment sensing function, and can realize autonomous obstacle avoidance under dangerous condition and autonomous balance under emergency condition by combining a set of complete obstacle avoidance and autonomous balance algorithm. Compared with the traditional wheelchair on the market, the wheelchair can help the old people avoid unnecessary rubbing, colliding and uncomfortable inclination and side turning by virtue of the autonomous obstacle avoidance and autonomous balance functions, provides certain comfort for the old people, and also provides more perfect safety guarantee for the old people.
(2) Compared with the traditional wheelchair on the market, the wheelchair provided by the invention considers the personal safety of the old people. The elderly are generally weak in constitution and generally cannot complete self-rescue when accidents are found. If the elderly cannot be rescued in time after an accident, the life safety of the elderly cannot be guaranteed. The wheelchair has the GPS positioning function, relatives of the old can know the movement of the old in time through the mobile phone terminal, meanwhile, when an accident happens, the single chip microcomputer can send an alarm signal to the mobile phone of the relatives through analyzing abnormal angle information, and the relatives can rescue the old through the positioning information of the device body and the location of the relatives.
Drawings
Fig. 1 is a schematic structural view of an intelligent obstacle avoidance self-balancing wheelchair according to the present invention;
fig. 2 is a schematic diagram of an explosion structure of an intelligent obstacle avoidance self-balancing wheelchair according to the present invention;
fig. 3 is a schematic structural diagram of an intelligent obstacle avoidance self-balancing wheelchair control system provided by the invention;
fig. 4 is a schematic structural diagram of a wheelchair self-balancing control system of an intelligent obstacle avoidance self-balancing wheelchair control system according to the present invention;
fig. 5 is a schematic structural diagram of a wheelchair obstacle avoidance control system of an intelligent obstacle avoidance self-balancing wheelchair control system according to the present invention;
FIG. 6 is a schematic view of the working principle of an HC-SR04 ultrasonic ranging module of the intelligent obstacle avoidance self-balancing wheelchair control system provided by the invention;
fig. 7 is a schematic view of the working principle of an obstacle automatic detection module of the intelligent obstacle avoidance self-balancing wheelchair control system according to the present invention;
fig. 8 is a schematic structural diagram of a wheelchair safety positioning system of an intelligent obstacle avoidance self-balancing wheelchair control system according to the present invention.
The reference numbers in the figures illustrate:
1. installing a chassis; 2. a servo motor; 3. a traveling wheel; 4. a self-balancing mechanism; 401. a longitudinal axis direction steering engine; 402. a cross shaft direction steering engine; 403. fixing the rod; 5. a seat; 6. a handrail; 7. an integrated control device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
referring to fig. 1-2, an intelligent obstacle avoidance self-balancing wheelchair comprises an installation chassis 1, a storage battery and a transformer are fixedly installed inside the installation chassis 1, four corners of the bottom surface of the installation chassis 1 are fixedly connected with servo motors 2, the servo motors 2 are electrically connected with the storage battery and the transformer, walking wheels 3 are fixedly connected onto output shafts of the servo motors 2, a self-balancing mechanism 4 is fixedly connected onto the upper surface of the installation chassis 1, a seat 5 is connected onto the self-balancing mechanism 4, handrails 6 are fixedly connected onto the seat 5, and an integrated control device 7 is further arranged on the upper surface of the installation chassis 1.
The self-balancing mechanism 4 comprises a longitudinal axis direction steering engine 401, the longitudinal axis direction steering engine 401 is fixedly connected to the upper surface of the mounting chassis 1, an output shaft of the longitudinal axis direction steering engine 401 is fixedly connected with a transverse axis direction steering engine 402, an output shaft of the transverse axis direction steering engine 402 is fixedly connected with a fixing rod 403, and the top end of the fixing rod 403 is fixedly connected with the bottom surface of the seat 5; an angle sensor is fixedly arranged on the longitudinal axis direction steering engine 401 and the transverse axis direction steering engine 402.
The specific model of the angle sensor is an MPU6050 angle sensor, and the specific model of the ultrasonic sensor is an HC-SR04 ultrasonic ranging module.
Compared with the existing design, the intelligent obstacle avoidance self-balancing wheelchair provided by the invention is characterized in that a self-balancing mechanism 4 is fixedly arranged on an installation chassis 1, a longitudinal axis direction steering engine 401 and a transverse axis direction steering engine 402 of the self-balancing mechanism 4 are matched with a single chip microcomputer control chip, and meanwhile, an angle sensor, an ultrasonic sensor and a GPS positioning module are also arranged on the intelligent obstacle avoidance self-balancing wheelchair provided by the invention; compared with the traditional wheelchair on the market, the wheelchair can help the old people avoid unnecessary rubbing, bumping, uncomfortable inclination and side turning by means of the autonomous obstacle avoidance and autonomous balance functions, provides certain comfort for the old people, and simultaneously provides more perfect safety guarantee for the old people; in addition, compared with the traditional wheelchair on the market, the wheelchair disclosed by the invention takes the personal safety of the old into consideration; the constitution of the old is usually weak, and self rescue can not be completed when accidents are found; if the elderly cannot be rescued in time after an accident, the life safety of the elderly cannot be guaranteed. The wheelchair has the GPS positioning function, relatives of the old can know the movement of the old in time through the mobile phone terminal, meanwhile, when an accident happens, the single chip microcomputer can send an alarm signal to the mobile phone of the relatives through analyzing abnormal angle information, and the relatives can rescue the old through the positioning information of the device body and the location of the relatives.
Example 2:
referring to fig. 3-4, the difference between the embodiments 1 is that an intelligent obstacle-avoiding self-balancing wheelchair control system is applied to an intelligent obstacle-avoiding self-balancing wheelchair of claims 1-5, and the system is characterized in that: the wheelchair self-balancing wheelchair positioning system comprises a singlechip main control system, wherein the singlechip main control system is linked with a wheelchair self-balancing control system, a wheelchair obstacle avoidance control system and a wheelchair safety positioning system;
an angle change detection module, an angle motion digital processing module and a steering engine adjusting control module are linked to the wheelchair self-balancing control system;
the wheelchair obstacle avoidance control system is linked with an obstacle automatic detection module, an active obstacle avoidance control module and an automatic shock absorption control module;
the wheelchair safety positioning system is linked with a wheelchair state monitoring module, a GPS real-time positioning module and an automatic data abnormity alarming module.
The angle change detection module is matched with the MPU6050 angle sensor and comprises a longitudinal rotation angle detection unit and a transverse rotation angle detection unit; the steering engine adjusting control module is matched with the self-balancing mechanism 4 and comprises a longitudinal axis direction steering engine control unit and a transverse axis direction steering engine control unit.
In daily life, old people often encounter downhill slopes, uphill slopes and uneven road sections when driving a wheelchair, and uncomfortable inclination feeling and bumpiness are usually brought to the old people when the old people pass through the road sections.
Example 3:
referring to fig. 5-7, the embodiment 1-2 is different in that an automatic obstacle detection module is matched with the HC-SR04 ultrasonic ranging module, and the automatic obstacle detection module includes an ultrasonic wave transmitting unit, an ultrasonic wave receiving unit, and a distance determination unit.
According to the invention, an HC-SR04 ultrasonic sensor which can meet functional requirements and is low in price is used as a sensing module of the surrounding environment, a pulse trigger pin is input with a high-level square wave with the length of 20 microseconds through a single chip microcomputer, the ultrasonic ranging sensor automatically transmits 8 ultrasonic waves of 40KHz to the surrounding environment, the time for the ultrasonic waves to be rebounded back can be measured through an interruption system in the single chip microcomputer, and finally the distance of the surrounding obstacles can be calculated through the transmission speed of the ultrasonic waves, so that the distance of the surrounding environment obstacles can be measured; if the distance range between the vehicle and the obstacle reaches a dangerous range, if the old or the disabled can timely make a correct obstacle avoidance response, the automatic obstacle avoidance algorithm is not started, the obstacle avoidance process is completed only under the obstacle avoidance operation of the driver, and the vehicle enters a safe driving range; if the old people do not take timely avoidance measures because of slow response. The single chip microcomputer does not receive the remote control instruction of the old, the rotating speed difference of the left motor and the right motor is adjusted by adopting a set of obstacle avoidance algorithm of the single chip microcomputer, the obstacle avoidance is completed, and after the single chip microcomputer enters a safety range, the single chip microcomputer starts to receive the remote control instruction of the old again.
Example 4:
referring to fig. 8, the embodiment 1-3 is based on, but different from, the above embodiments in that the data anomaly automatic alarm module includes a speed anomaly monitoring unit, an angle anomaly monitoring unit, a buzzer alarm unit, and a network communication unit.
In many cases, the elderly are generally out alone. For the traditional wheelchairs in the market, family relatives cannot remotely monitor the state and the positioning information of the wheelchairs, so that the family relatives can timely know the emergency and the occurrence of accidents, and the best period of the old people can be missed. The invention can constantly acquire the inclination angle of the wheelchair chassis through the MPU6050 angle sensor, transmits angle data to the mobile phone end of the relative, and simultaneously, when the angle is abnormal, the wheelchair can send an alarm signal to the mobile phone of the relative. At the moment, relatives can transmit positioning information back through the wheelchair and timely know the conditions of the middle-aged and old people.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the equivalent replacement or change according to the technical solution and the modified concept of the present invention should be covered by the scope of the present invention.
Claims (8)
1. The utility model provides an obstacle self-balancing wheelchair is kept away to intelligence, includes installation chassis (1), its characterized in that: the utility model discloses an installation chassis, including installation chassis (1), the inside fixed mounting of installation chassis (1) has battery and transformer, fixedly connected with servo motor (2) on the bottom surface four corners of installation chassis (1), servo motor (2) and battery and transformer electric connection, fixedly connected with walking wheel (3) on the output shaft of servo motor (2), the last fixed surface of installation chassis (1) is connected with self-balancing mechanism (4), be connected with seat (5) on self-balancing mechanism (4), fixedly connected with handrail (6) on seat (5), the upper surface of installation chassis (1) still is provided with integrated control device (7).
2. The intelligent obstacle avoidance self-balancing wheelchair as claimed in claim 1, wherein: the self-balancing mechanism (4) comprises a longitudinal axis direction steering engine (401), the longitudinal axis direction steering engine (401) is fixedly connected to the upper surface of the mounting chassis (1), a transverse axis direction steering engine (402) is fixedly connected to an output shaft of the longitudinal axis direction steering engine (401), a fixing rod (403) is fixedly connected to an output shaft of the transverse axis direction steering engine (402), and the top end of the fixing rod (403) is fixedly connected with the bottom surface of the seat (5); and angle sensors are fixedly arranged on the longitudinal axis direction steering engine (401) and the transverse axis direction steering engine (402).
3. The intelligent obstacle avoidance self-balancing wheelchair as claimed in claim 1, wherein: integrated control device (7) is including the installation shell, installation shell fixed connection is at the upper surface on installation chassis (1), the inside fixed mounting of installation shell has singlechip control chip and GPS orientation module, fixedly connected with ultrasonic sensor on the preceding lateral wall of installation shell, singlechip control chip and self-balancing mechanism (4) and ultrasonic sensor electric connection.
4. The intelligent obstacle avoidance self-balancing wheelchair as claimed in claim 2 or 3, wherein: the specific model of the angle sensor is an MPU6050 angle sensor, and the specific model of the ultrasonic sensor is an HC-SR04 ultrasonic ranging module.
5. An intelligent obstacle avoidance self-balancing wheelchair control system is applied to the intelligent obstacle avoidance self-balancing wheelchair disclosed in claims 1-5, and comprises a single-chip microcomputer main control system, wherein the single-chip microcomputer main control system is linked with the wheelchair self-balancing control system, the wheelchair obstacle avoidance control system and a wheelchair safety positioning system;
the wheelchair self-balancing control system is linked with an angle change detection module, an angle motion digital processing module and a steering engine adjusting control module;
the wheelchair obstacle avoidance control system is linked with an obstacle automatic detection module, an active obstacle avoidance control module and an automatic shock absorption control module;
the wheelchair safety positioning system is linked with a wheelchair state monitoring module, a GPS real-time positioning module and an automatic data abnormity alarming module.
6. The intelligent obstacle avoidance self-balancing wheelchair as claimed in claim 4 or 5, wherein: the angle change detection module is matched with the MPU6050 angle sensor and comprises a longitudinal rotation angle detection unit and a transverse rotation angle detection unit; the steering engine adjusting control module is matched with the self-balancing mechanism (4), and comprises a longitudinal axis direction steering engine control unit and a transverse axis direction steering engine control unit.
7. The intelligent obstacle avoidance self-balancing wheelchair as claimed in claim 4 or 5, wherein: the automatic obstacle detection module is matched with the HC-SR04 ultrasonic ranging module, and comprises an ultrasonic transmitting unit, an ultrasonic receiving unit and a distance judgment unit.
8. The intelligent obstacle avoidance self-balancing wheelchair as claimed in claim 3 or 5, wherein: the data abnormity automatic alarm module comprises a speed abnormity monitoring unit, an angle abnormity monitoring unit, a buzzing alarm unit and a network communication unit.
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| CN202011429915.6A CN112587325A (en) | 2020-12-09 | 2020-12-09 | Intelligent obstacle avoidance self-balancing wheelchair and control system thereof |
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| CN202011429915.6A CN112587325A (en) | 2020-12-09 | 2020-12-09 | Intelligent obstacle avoidance self-balancing wheelchair and control system thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI799985B (en) * | 2021-09-12 | 2023-04-21 | 南開科技大學 | Electric wheelchair |
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| CN109259947A (en) * | 2018-11-13 | 2019-01-25 | 南昌航空大学 | A kind of nursing self-balancing wheelchair |
| CN210138252U (en) * | 2019-04-25 | 2020-03-13 | 营口理工学院 | Intelligent wheelchair |
| CN110613565A (en) * | 2019-09-24 | 2019-12-27 | 安徽信息工程学院 | Self-balancing wheelchair of riding instead of walk |
| CN111374841A (en) * | 2020-03-18 | 2020-07-07 | 南通大学 | Self-service self-balancing electric multifunctional wheelchair for old people to climb stairs |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI799985B (en) * | 2021-09-12 | 2023-04-21 | 南開科技大學 | Electric wheelchair |
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Application publication date: 20210402 |