CN113002378A - IMU-based multi-link vehicle seat inclination angle compensation platform - Google Patents
IMU-based multi-link vehicle seat inclination angle compensation platform Download PDFInfo
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- CN113002378A CN113002378A CN202110339528.1A CN202110339528A CN113002378A CN 113002378 A CN113002378 A CN 113002378A CN 202110339528 A CN202110339528 A CN 202110339528A CN 113002378 A CN113002378 A CN 113002378A
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- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 238000005259 measurement Methods 0.000 claims description 10
- 230000005484 gravity Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 5
- 239000000725 suspension Substances 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 14
- 230000001133 acceleration Effects 0.000 description 11
- 230000036544 posture Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
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- 239000002699 waste material Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
- B60N2/0224—Non-manual adjustments, e.g. with electrical operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/002—Seats provided with an occupancy detection means mounted therein or thereon
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/02—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable
- B60N2/0224—Non-manual adjustments, e.g. with electrical operation
- B60N2/02246—Electric motors therefor
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Seats For Vehicles (AREA)
Abstract
The invention discloses an IMU-based multi-link vehicle seat inclination angle compensation platform, which comprises: the upper supporting plate is fixed at the bottom of the vehicle seat; the lower supporting plate is fixed on a bottom plate of the vehicle; a first driving unit connected between the upper and lower support plates and located at a front side and/or a rear side of the vehicle seat; a second driving unit connected between the upper support plate and the lower support plate and located at a left side and/or a right side of the vehicle seat; the swinging support assembly is arranged in the middle of the upper support plate and the lower support plate; and the control unit is connected with the first driving unit and the second driving unit. The invention can actively adjust the angle posture of the vehicle seat, offset the inertia force generated by the vehicle movement, improve the driving comfort and reduce the danger.
Description
Technical Field
The invention relates to the technical field of automobile seats, in particular to an IMU-based multi-link vehicle seat inclination angle compensation platform.
Background
In the prior art, a vehicle is generally provided with a seat electric adjustment, which is a technical function of adjusting various positions and angles of a seat by using a motor as power through a transmission device and an actuating mechanism. According to the difference of the number of seat motors and the number of adjusting modes, the electric seat generally has four-way, six-way, eight-way, multi-way adjustment and the like. The more degrees of freedom such as the position and the angle of the seat adjustment are, the more the driver can better find the driving posture suitable for the driver, the driving fatigue is reduced, and the driving misoperation probability is reduced.
However, the electric adjustment function of the vehicle seat only allows the relative position, angle, and the like of the vehicle seat to be adjusted by manually operating a key, a knob, a touch screen, and the like, and belongs to passive adjustment. After the manual adjustment is finished, the position and the angle of the seat relative to the vehicle body (chassis) are fixed, and the relative position is not changed in a non-adjustment state or under the condition of not being influenced by external force. Therefore, in the moving process of the vehicle, the postures of the vehicle body, such as rolling and pitching, generated by the road condition changing in real time are synchronously transmitted to the seat, the angles of the surfaces of the seat relative to the horizontal plane are frequently and irregularly changed, and the body of a driver and passengers cannot be attached to the seat all the time, so that discomfort is caused.
Disclosure of Invention
Therefore, in order to solve the above technical problems, it is necessary to provide an IMU-based multi-link vehicle seat tilt angle compensation platform that actively compensates for adverse effects on a driver and passengers caused by changes in the posture of a vehicle body during movement of the vehicle, and improves driving comfort and safety.
An IMU-based multi-link vehicle seat tilt compensation platform, comprising:
an IMU-based multi-link vehicle seat tilt compensation platform, comprising:
the upper supporting plate is fixed at the bottom of the vehicle seat;
the lower supporting plate is fixed on a bottom plate of the vehicle;
a first driving unit connected between an upper support plate and a lower support plate and located at a front side and/or a rear side of the vehicle seat, the first driving unit being capable of driving the upper support plate to tilt in a front-rear direction with respect to the lower support plate;
a second driving unit connected between an upper support plate and a lower support plate and located at a left side and/or a right side of the vehicle seat, the second driving unit being capable of driving the upper support plate to tilt in a left-right direction with respect to the lower support plate;
the swinging support assembly is arranged in the middle of the upper support plate and the lower support plate, and the support unit can support the upper support plate;
and the control unit is connected with the first driving unit and the second driving unit and can control the first driving unit and the second driving unit to act according to the posture change of the vehicle.
In one embodiment, the first driving unit and the second driving unit respectively comprise a steering engine, a steering engine rocker arm and a connecting rod, the steering engine is fixed on the lower supporting plate, the steering engine is connected with one end of the steering engine rocker arm, the other end of the steering engine rocker arm is connected with the bottom of the connecting rod, and the top of the connecting rod is rotatably connected with the upper supporting plate.
In one embodiment, a ball head is arranged at the top of the connecting rod, an upper connecting lifting lug is arranged on the upper supporting plate, and the ball head is connected with the upper connecting lifting lug through a bushing.
In one embodiment, the swing support assembly includes a support shaft, an upper coupling and a lower coupling; the upper end of back shaft warp go up the shaft coupling with it is connected to go up the backup pad, the lower extreme warp of back shaft down the shaft coupling with the bottom suspension fagging is connected, wherein, the middle part of back shaft is equipped with the cross axle type universal joint.
In one embodiment, the control unit comprises an IMU inertia measurement unit, an ECU driving computer and a driving module, the IMU inertia measurement unit is connected with the ECU driving computer, the ECU driving computer is connected with the input end of the driving module, and the output end of the driving module is connected with the steering engine.
In one embodiment, the vehicle seat is provided with a gravity sensor inside.
When the IMU-based multi-link vehicle seat inclination angle compensation platform is used and when a vehicle generates inclination and shake in the motion process, the control unit can control the first driving unit and the second driving unit to act according to the posture change of the vehicle, so that the upper supporting plate can incline in all directions relative to the lower supporting plate; therefore, the vehicle seat can actively adjust the angle posture, offset the inertia force generated by the vehicle movement, improve the driving comfort and reduce the danger.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural view of an IMU based multi-link vehicle seat tilt compensation platform of the present invention;
FIG. 2 is a schematic view of the distribution of the first drive unit, the second drive unit and the swing support assembly of the present invention;
FIG. 3 is a schematic view of a ball head of the present invention;
fig. 4 is a schematic structural view of the swing support assembly of the present invention.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1-4, an embodiment of the present invention provides an IMU-based multi-link vehicle seat tilt compensation platform, which includes:
an upper support plate 1 fixed to the bottom of a vehicle seat 6;
a lower support plate 2 fixed to a floor of a vehicle;
a first driving unit 3 connected between an upper support plate 1 and a lower support plate 2 and located at a front side and/or a rear side of the vehicle seat 6, the first driving unit 3 being capable of driving the upper support plate 1 to tilt in a front-rear direction with respect to the lower support plate 2; in the present embodiment, the rear side of the vehicle seat 6 is a side close to the backrest of the vehicle seat 6, and the front side of the vehicle seat 6 is a side away from the backrest of the vehicle seat 6.
A second driving unit 4 connected between an upper support plate 1 and a lower support plate 2 and positioned at a left side and/or a right side of the vehicle seat 6, the second driving unit 4 being capable of driving the upper support plate 1 to be tilted in a left-right direction with respect to the lower support plate 2;
the swing support assembly 5 is arranged in the middle of the upper support plate 1 and the lower support plate 2, and the support unit 5 can support the upper support plate 1;
and a control unit 7 connected to the first drive unit 3 and the second drive unit 4, wherein the control unit 7 can control the first drive unit 3 and the second drive unit 4 to operate according to the posture change of the vehicle.
When the IMU-based multi-link vehicle seat inclination angle compensation platform is used and when a vehicle tilts and shakes in the moving process, the control unit 7 can control the first driving unit 3 and the second driving unit 4 to act according to the posture change of the vehicle, so that the upper support plate 1 can tilt in all directions, namely front, back, left and right relative to the lower support plate 2; therefore, the vehicle seat 6 can actively adjust the angle posture, offset the inertia force generated by the vehicle movement, improve the driving comfort and reduce the danger.
In an embodiment of the invention, each of the first driving unit 3 and the second driving unit 4 comprises a steering engine 31, a steering engine rocker 32 and a connecting rod 33, the steering engine 31 is fixed on the lower supporting plate 2, the steering engine 31 is connected with one end of the steering engine rocker 32, the other end of the steering engine rocker 32 is connected with the bottom of the connecting rod 33, and the top of the connecting rod 33 is rotatably connected with the upper supporting plate 1. In this embodiment, rotate through steering wheel 31, can drive steering wheel rocking arm 32 rotatory to the messenger connecting rod 33 swings, and then realizes going up backup pad 1 for the slope of backup pad 2 down.
Further, a ball 331 is disposed at the top of the connecting rod 33, an upper connecting lifting lug 11 is disposed on the upper support plate 1, and the ball 331 is connected to the upper connecting lifting lug 11 through a bushing 34. So set up, the flexible motion of bulb 331 can be guaranteed to bush 34 to reduce the rotation jamming phenomenon of connecting rod 33 and last connection lug 11.
In an embodiment of the present invention, the swing support assembly 5 includes a support shaft 51, an upper coupling 52 and a lower coupling 53; the upper end of the supporting shaft 51 is connected with the upper supporting plate 1 through the upper coupler 52, the lower end of the supporting shaft 51 is connected with the lower supporting plate 2 through the lower coupler 53, and a cross-axle universal joint 54 is arranged in the middle of the supporting shaft 51. In this embodiment, the upper coupling 52 and the lower coupling 53 are provided to facilitate the installation and connection of the support shaft 51 with the upper support plate 1 and the lower support plate 2. The universal joint cross 54 can adjust the corresponding positions of the upper and lower ends of the support shaft 51 so as to be suitable for different inclination states of the upper support plate 1 with respect to the lower support plate 2.
In an embodiment of the present invention, the control unit 7 includes an IMU inertia measurement unit, an ECU running computer, and a driving module 71, the IMU inertia measurement unit is connected to the ECU running computer, the ECU running computer is connected to an input end of the driving module 71, and an output end of the driving module 71 is connected to the steering engine 31. In some embodiments, an embedded microcontroller such as STM32 may be used as the platform main controller instead of the ECU running computer.
It should be noted that the IMU, that is, the inertial measurement unit, is composed of three single-axis accelerometers and three single-axis gyroscopes, the accelerometers detect acceleration signals of the object in three independent axes of the carrier coordinate system, the gyroscopes detect angular velocity signals of the carrier relative to the navigation coordinate system, and after these signals are processed in the system, the attitude of the object can be calculated and data can be output. When the IMU inertia measurement unit is arranged on the vehicle body, the attitude information of the vehicle can be acquired immediately, wherein the attitude information includes but is not limited to the pitching or sinking angle of the vehicle body, the inclination angle formed by the vehicle body relative to the horizontal plane, the acceleration of the vehicle and the like. The IMU inertia measurement unit transmits the data to the ECU driving computer, the ECU driving computer then combines other sensor data carried by the vehicle to make judgment according to a set program, and the control on the driving state of the vehicle is actively intervened by measures such as limiting the power output of an engine, reasonably distributing the braking force and the like when necessary, so that the risks of vehicle slip, runaway and the like caused by human judgment errors or external sudden factors are reduced.
Optionally, a gravity sensor is provided inside the vehicle seat.
The working principle of the invention is as follows:
1) and in the running process of the vehicle, if the IMU inertia measurement unit detects that the vehicle is in a static or uniform linear motion state, namely the acceleration in the horizontal direction is 0, the ECU running computer only controls the platform to correct the inclination angle of the vehicle seat generated by the inclination of the vehicle body, so that the vehicle seat is always kept horizontal, and the relative position and the angle of the vehicle seat with the ground are consistent with the initial state. The visual effect is that the vehicle tilts due to the conditions of bumpiness and the like of the road surface, the vehicle seat does not tilt synchronously but always keeps a horizontal stable state, the stability and the coating property of the vehicle seat on drivers and passengers are improved, and the drivers and passengers are prevented from generating discomfort and even causing potential safety hazards due to irregular factors such as irregular tilting and shaking.
2) If the vehicle is in a motion state of steering, acceleration, deceleration and the like, namely the acceleration in the horizontal direction is not 0, the main control chip can calculate the motion state, actively correct the inclination angle of the vehicle seat generated by the inclination of the vehicle body and then control the inclination of the vehicle seat to generate 'over compensation' for the centrifugal acceleration, so that the vehicle seat is actively inclined to a reasonable angle of unfavorable external force which influences driving experience and safety, such as centrifugal force, inertia force and the like which can resist the whole or part of the driving experience and safety and bring about 'throwing-off' tendency by utilizing the component force of the supporting force. The specifically achieved angle numerical value is calculated by a main control chip according to data such as acceleration, load value, vehicle speed, turning radius and the like obtained by the existing sensor of the vehicle, and the steering engine is controlled to generate a corresponding swing angle.
It should be noted that, in the initial state of the platform, the deflection angles of the steering engines 31 of the first drive unit 3 and the second drive unit 4 are the same (i.e. horizontally centered), the upper support plate 1 and the lower support plate 2 are completely parallel, and the vehicle seat is in an absolutely parallel static state relative to the vehicle body floor.
When a vehicle starts to move, and the vehicle body generates acceleration and deflection due to movement, the attitude detection module IMU gyroscope of the platform can detect the acceleration and deflection in different directions, the acceleration and deflection are converted through the built-in AD converter, digital quantity is sent to a main control chip (STM32 or an ECU driving computer of the vehicle) through an I2C bus interface, the main control chip calculates signals of the attitude detection sensor, signals are output according to a system algorithm to control two groups of steering engines 31 to generate the deflection, the steering engines drive the connecting rods 33 to enable the vehicle seats to deflect to generate corresponding inclination angles with the vehicle body bottom plate, the throwing-off feeling brought to drivers and passengers by the acceleration and the inertia force of the vehicle movement is compensated, and the driving experience of the vehicle is improved. When the signal input is interrupted, the algorithm defaults that the vehicle stops moving, and then the two groups of steering engines 31 are controlled to return to the horizontal position and are locked.
It should be noted that the present invention also has a locking function, and the function can be automatically controlled by an algorithm or manually set to realize the conversion from an automatic control mode. Under the automatic control condition, the main control chip judges whether the corresponding seat is manned or not by reading the numerical value of a gravity sensor preset in each seat of the vehicle, and if the gravity sensor detects that the seat is manned, the main control chip which obtains feedback starts the inclination angle compensation function of the corresponding seat; if the pressure on the upper part of the seat is too small, the gravity sensor cannot detect the weight, namely, the seat is in an idle state, the main control chip stops controlling the platform, namely, the operation is stopped under the condition that a person does not sit on the seat, the corresponding seat is automatically locked (the initial state is kept), and the purpose of avoiding energy waste is achieved. Under the condition of human intervention, a driver and a passenger can automatically select to turn on or turn off the inclination angle compensation function of each seat, when the platform is turned on, the platform works normally, when the platform is turned off, the platform is locked, the seat maintains the posture of an initial state, and the relative rest between the seat and the floor of a vehicle body is kept.
Optionally, the invention can adjust the working mode and the power according to the weight, age and other characteristics of the driver and the passenger. The working mode refers to the compensation amplitude of the platform during inclination angle compensation, and the higher the adjustment value is, the larger the compensation angle and the motion amplitude are, and the smaller the compensation angle and the motion amplitude are, otherwise, the compensation angle and the motion amplitude are. The working efficiency refers to the reaction speed of the platform for inclination angle compensation, and the higher the adjustment value is, the faster the power applying speed of the steering engine is, and the slower the power applying speed is.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-described examples merely represent several embodiments of the present application and are not to be construed as limiting the scope of the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. An IMU-based multi-link vehicle seat tilt compensation platform, comprising:
the upper supporting plate is fixed at the bottom of the vehicle seat;
the lower supporting plate is fixed on a bottom plate of the vehicle;
a first driving unit connected between an upper support plate and a lower support plate and located at a front side and/or a rear side of the vehicle seat, the first driving unit being capable of driving the upper support plate to tilt in a front-rear direction with respect to the lower support plate;
a second driving unit connected between an upper support plate and a lower support plate and located at a left side and/or a right side of the vehicle seat, the second driving unit being capable of driving the upper support plate to tilt in a left-right direction with respect to the lower support plate;
the swinging support assembly is arranged in the middle of the upper support plate and the lower support plate, and the support unit can support the upper support plate;
and the control unit is connected with the first driving unit and the second driving unit and can control the first driving unit and the second driving unit to act according to the posture change of the vehicle.
2. The IMU-based multi-link vehicle seat inclination compensation platform of claim 1, wherein the first and second drive units each comprise a steering engine, a steering engine rocker arm and a connecting rod, the steering engine is fixed on the lower support plate, the steering engine is connected with one end of the steering engine rocker arm, the other end of the steering engine rocker arm is connected with the bottom of the connecting rod, and the top of the connecting rod is rotatably connected with the upper support plate.
3. The IMU-based multi-link vehicle seat tilt angle compensation platform of claim 2, wherein a ball is provided at a top of the connecting rod, and an upper connecting lug is provided on the upper support plate, the ball being connected to the upper connecting lug via a bushing.
4. The IMU-based multi-link vehicle seat tilt compensation platform of claim 1, wherein the pendulum support assembly comprises a support shaft, an upper coupling, and a lower coupling; the upper end of back shaft warp go up the shaft coupling with it is connected to go up the backup pad, the lower extreme warp of back shaft down the shaft coupling with the bottom suspension fagging is connected, wherein, the middle part of back shaft is equipped with the cross axle type universal joint.
5. The IMU-based multi-link vehicle seat tilt angle compensation platform of claim 2, wherein the control unit comprises an IMU inertial measurement unit, an ECU trip computer and a drive module, the IMU inertial measurement unit is connected with the ECU trip computer, the ECU trip computer is connected with an input end of the drive module, and an output end of the drive module is connected with the steering engine.
6. The IMU-based multi-link vehicle seat tilt compensation platform of claim 1, wherein the vehicle seat is internally provided with a gravity sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110339528.1A CN113002378A (en) | 2021-03-30 | 2021-03-30 | IMU-based multi-link vehicle seat inclination angle compensation platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110339528.1A CN113002378A (en) | 2021-03-30 | 2021-03-30 | IMU-based multi-link vehicle seat inclination angle compensation platform |
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| CN113002378A true CN113002378A (en) | 2021-06-22 |
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| CN202110339528.1A Pending CN113002378A (en) | 2021-03-30 | 2021-03-30 | IMU-based multi-link vehicle seat inclination angle compensation platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR19990003131U (en) * | 1997-06-30 | 1999-01-25 | 양재신 | Tilt adjustment seat device for vehicle |
| KR20050048239A (en) * | 2003-11-19 | 2005-05-24 | 현대모비스 주식회사 | Slope control seat for vehicles |
| JP2007117113A (en) * | 2005-10-24 | 2007-05-17 | Arizono Orthopedic Supplies Co Ltd | Wheelchair |
| CN101698394A (en) * | 2009-11-19 | 2010-04-28 | 北京明航技术研究所 | Automatic balance sickness-preventing chair |
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