CN201716580U - Electric wheelchair control system - Google Patents
Electric wheelchair control system Download PDFInfo
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- CN201716580U CN201716580U CN 201020211831 CN201020211831U CN201716580U CN 201716580 U CN201716580 U CN 201716580U CN 201020211831 CN201020211831 CN 201020211831 CN 201020211831 U CN201020211831 U CN 201020211831U CN 201716580 U CN201716580 U CN 201716580U
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Abstract
The utility model relates to an intelligent electric wheelchair control system, especially a move-assistant and traveling tool or an advanced medical rehabilitation equipment for persons with moving difficulty. The system comprises an upper computer module, a lower computer module, a motor drive module, a monitoring module, a display module, a control input module, a power supply management module, a circuit protection module and a communication module. The system, being able to achieve a real-time and reliable data transmission and processing, has advantages of easy operation, humanized design, high performance and good application effect.
Description
Technical field
The utility model relates to a kind of control system, particularly relates to a kind of control system of electric wheelchair.
Background technology
Along with the development of society, the problem of an aging population more and more highlights, and the elderly population of the whole world more than 60 years old reach about 600,000,000.According to the prediction of the World Health Organization (WHO), the year two thousand twenty whole world elderly population will reach 6.9 hundred million.Present Chinese over-65s the elderly has 100,000,000 people, about 3,000 ten thousand people of lower limb disability people, and a large amount of wheel of needs such as hospital, sanatorium, home for destitute Wheel-chair provides effective life auxiliary for handicapped person.
It is reported, the manufacturer of high-performance electric wheelchair concentrates on abroad, and domestic correlative study still is in the elementary step, most electric wheelchair productions commercial city is to adopt the wheelchair of state's outer controller and production voluntarily to assemble, steering behaviour is bad, not good enough in the security consideration, and very expensive on the price.Simultaneously, in the face of the exhaustion day by day of current oil equal energy source, electric motor car has shown huge advantage and boundless market outlook.
Therefore, the exploitation high-performance, intelligent electric dynamic formula auxiliary wheel chair has very important significance cheaply, and will bring great help to handicapped person.
Summary of the invention
The purpose of this utility model is to propose a kind of control system of electric wheelchair, by schemes such as hardware monitoring and holding circuit and communication control processors, makes system have very high reliability and security, and has solved problems such as cost, stable, environmental protection.
The main technical schemes that the utility model adopts is as follows:
A kind of electric wheelchair control system, comprise that upper computer module, slave computer module, motor drive module, monitoring mould are fast, display module, control load module, power management module and circuit protection module, operator's operation instruction information sends to upper computer module by described control load module, described upper computer module is optimized and handles information, send data to the slave computer module again, be used for described slave computer module and come drive motor, realize control electric wheelchair; Described monitoring modular is used to monitor the speed and the current information of electric wheelchair; and above-mentioned monitoring information passed to upper computer module, slave computer module and display module in real time; described display module is used to show the operational factor of electric wheelchair, and described circuit protection module is used for the automatic protection of implementing system when abnormal conditions occurring.
Further, described control load module comprises button and Hall remote pole, described button is used to carry out the selection and the adjusting of electric wheelchair speed stage, speed that described Hall remote pole applies the operator by its positional information and direction are converted into motor speed and the direction corresponding to this positional information, and are input to upper computer module.
Further; described upper computer module comprises processor unit and communication unit; the operation instruction information of described control load module is handled by communication unit input processor unit; produce the control corresponding data, send to slave computer module and circuit protection module by described communication unit.
Further; described slave computer module comprises processor unit and communication unit; the control information of upper computer module or the warning message of monitoring modular are by communication unit input processor unit; handle, produce corresponding motorized motions information or circuit protection feedback information and send to motor drive module and display module by described communication unit.
Further; described circuit protection module comprises fuse; electromagnetic relay and current foldback circuit; described fuse is connected on the power input of entire circuit; described electromagnetic relay is connected on before the motor power input end; the switch that is equivalent to motor; described current foldback circuit comprises amplifying circuit and comparator circuit; flow through electric current described comparator circuit of input after above-mentioned amplifying circuit amplifies of motor; judge whether overcurrent of this electric current; when electric current excessive and produce external interrupt when surpassing predetermined value; this moment, slave computer was adjusted automatically, and this adjustment information is sent to host computer generation alarm.
Further; described monitoring modular comprises motor monitoring submodule, electromagnet monitoring submodule, electric quantity monitoring submodule and speed and acceleration monitoring submodule; be respectively applied for protection electromagnet, electric weight, speed and acceleration that motor, motor two ends are provided with and monitor in real time, when appearance is unusual, can access timely processing.
Further, described motor drive module comprises two H bridge circuits, control the speed and the direction of motor respectively, described H bridge circuit is made up of four high voltage bearing field effect transistor IRF3205 and two half-bridge driven chip I R2104, the 3.3V PWM ripple of the IO mouth output of described slave computer module produces the PWM ripple of four road 15V through two half-bridge driven chip I R2104, drive four field effect transistor, form full bridge driving circuit, control turning to of motor by the break-make of controlling described four field effect transistor MOSFET, recently regulate rotating speed by setting the PWM duty, realize control motor.
Simple to operate, the humanization designing of total system.Compare with the common electric wheelchair, the utlity model has following characteristic:
A: add perfect monitoring system, comprise electromagnet monitoring, electric quantity monitoring, speed monitoring, display module and warning, strengthened security performance.
B: add holding circuit on the circuit design, comprise fuse and relay protection circuit and current foldback circuit, improved reliability.
C: the distributed control of upper and lower computer, relatively independent, eliminate and disturb, more reliable.
D: add power management, electric power system adopts switch voltage-stabilizing chip and the form that the linear voltage stabilization chip combines, and has ensured the efficient and reliable of system's operation.
E: upper and lower computer is finished the mutual of information such as data and order by duplexing stop-and-wait protocol.Flexibility and reliability more.
Description of drawings
Accompanying drawing 1: overall system frame diagram
Accompanying drawing 2: motor-drive circuit
Accompanying drawing 3: protective relay (left side) and current foldback circuit (right side)
Accompanying drawing 4: magnet control and observation circuit
Accompanying drawing 5: communication protocol frame format
Embodiment
The utility model is described in further detail below in conjunction with the drawings and specific embodiments.
Control system of the present utility model comprises that upper computer module, slave computer module, motor drive module, monitoring mould are fast, display module, control load module, power management module and circuit protection module, sees Fig. 1.
Operation instruction information sends to upper computer module by the control load module, upper computer module is optimized and handles information, corresponding order of transmission and data are to the slave computer module, and the slave computer module receives the information and the direct drive motor of upper computer module, realizes the control to electric wheelchair.Monitoring modular is used to monitor information such as the speed, electric current of electric wheelchair; and transmit above-mentioned monitoring information in real time and give upper computer module, slave computer module and display module; described display module is used to show the operational factor of electric wheelchair, described circuit protection module be used for when urgent abnormal conditions occurring, implementing automatically to system protection.
Wherein, described control load module comprises button and Hall remote pole.Described button is mainly used in the adjusting of carrying out gear, button is divided into fourth gear according to 40%, 60%, 80%, 100% of full speed in the present embodiment, promptly corresponding four different speed per hour scopes, the operator can be switched the speed of a motor vehicle by switch combination between these four gears.Speed that described Hall remote pole applies the operator by its positional information and direction are converted into motor speed and the direction corresponding to this positional information, and are input to upper computer module.Being specially, is that coordinate plane is set up at the center with described Hall remote pole, by AD conversion, the positional information of rocking bar is represented that with coordinate accurately above-mentioned coordinate figure can shine upon turning to of two motors and rotating speed.
Above-mentioned button and Hall remote pole combine, thereby have constituted an operation control platform accurately flexibly.
Described upper computer module comprises processor unit and communication unit, is mainly used in the control and treatment of light current.The operation instruction information of control load module.Handle by communication unit input processor unit, produce control commands corresponding and data, and send to slave computer module and circuit protection module by described communication unit.
Described slave computer module comprises processor unit and communication unit, is mainly used in the control and treatment of big electric current.The control information of upper computer module or the warning message of monitoring modular are by communication unit input processor unit; handle, produce corresponding motorized motions information or circuit protection feedback information and send to motor drive module and display module by described communication unit.
Described motor drive module is used for coming drive motor according to the motorized motions information of slave computer module input, thereby drives electric wheelchair work.
As shown in Figure 2, this motor drive module comprises two H bridge circuits, control the speed and the direction of motor respectively, described H bridge circuit is made up of four high voltage bearing field effect transistor (MOSFET) IRF3205 and two half-bridge driven chip I R2104,3.3V pulse-length modulation ripple (PWM) ripple of the IO mouth output of slave computer module produces four road 15V PWM ripples through two half-bridge driven chip I R2104, drive four field effect transistor MOSFET, form full bridge driving circuit.Control the turning to of motor (upper left bottom right MOSFET conducting then motor is just changeed, then motor counter-rotating of the upper right conducting in lower-left) by the break-make of controlling four field effect transistor MOSFET, recently regulate rotating speed, realized Electric Machine Control very flexibly by setting the PWM duty.The highest 60MHz that is set to of PWM wave frequency consider that the frequency that is lower than 20kHz can cause motor to produce the interior noise of people's audibility range, and too high frequency can be brought very big power consumption, and effect is better when being set to 25kHz in the experiment.
Described circuit protection module comprises following two parts:
(1) fuse and protective relay
Described fuse is connected on power supply (the being battery) input end of entire circuit, and its rated current is specifically selected according to actual needs; Described electromagnetic relay is connected on before the motor power input end, is equivalent to the switch of motor, sees the rectangular segment on Fig. 3 left side.
Such design can guarantee the safe operation of circuit, and its principle of work is as follows:
A, fuse cut off electric current automatically when current anomaly is elevated to fusing current, prevent that big electric current from damaging even burning out the element in the circuit; Big electric current in the relay isolation motor circuit is to the influence of control circuit.
B, when occurring that fault or electric current are excessive to cause driving, can strengthen the security of system by fuse and the effective chopping current of relay.
As shown in Figure 3, by the P0.24 pilot relay open and close the Kai Heguan that controls electric moter voltage input port (VCC24M), when P0.24 was noble potential, motor could obtain operating voltage.
(2) current foldback circuit
Described current foldback circuit comprises amplifying circuit and comparator circuit.By gathering the electric current that H bridge circuit two brachium pontis intersection electric currents promptly flow through motor, the described comparator circuit of input after above-mentioned amplifying circuit amplifies, judge whether overcurrent of this electric current, when electric current excessive and produce external interrupt when surpassing predetermined value, this moment, slave computer was adjusted automatically, reduce speed even pass through the relay disconnecting circuit as forcing, and this adjustment information is sent to host computer generation alarm.As Fig. 3, the amplifier U5A in the described amplifying circuit mainly finishes the collection and the amplification of electric current, and amplifier U5C mainly finishes the comparison of voltage.During work, gather every road motor, behind amplifying circuit, whether judge overcurrent by comparator circuit again H bridge circuit two brachium pontis intersection electric currents (VH1 is the current sample point of motor 1 among Fig. 3).Excessive and produce external interrupt (INT1 among Fig. 3) when surpassing predetermined value when electric current, this moment, slave computer was adjusted automatically, as forcing to reduce speed even by the protective relay disconnecting circuit, and this adjustment information is sent to host computer produces alarm.
Described monitoring modular comprises motor monitoring submodule, electromagnet monitoring submodule, electric quantity monitoring submodule and speed and acceleration monitoring submodule.
(1) electromagnet monitoring and motor monitoring submodule
The two-way motor is equipped with the protection electromagnet, comes the locking and unlocking motor by electromagnet, needs closed earlier corresponding electromagnet before starting No. one motor, to improve the security of system.Motor and electromagnet all are provided with the open-close observation circuit simultaneously, and real time record detects information and data are transmitted host computer for analyzing and handling.Accompanying drawing 4 is one tunnel magnet control and observation circuit.Header connects the electromagnet two ends, and CAP1.3 is the open-close detection signal output terminal of electromagnet, controls the open and close of electromagnet by the open and close of SSEL0 signal controlling MOSFETIRF3205, thus lock out motor and unlocking motor.
(2) speed and acceleration monitoring submodule
Described speed and acceleration monitoring submodule mainly comprise an acceleration transducer, read acceleration information by acceleration transducer, and the computing by acceleration information obtains velocity information again.The core component acceleration transducer is finished the identification of speed and motion state and the collection of data by different accekeration on the collection plane of movement diaxon, sends to the slave computer module and analyzes and handle.Send abnormal information to upper computer module and display module by communication module if acceleration or velocity amplitude are excessive when surpassing predetermined value, carry out and report to the police or directly take brake or slow down automatically etc., finish the purpose of real-time monitoring.
(3) electric quantity monitoring
System's dump energy obtains by detecting supply voltage, then reports to the police if electric weight is low.
The main enclosed mass common display of described display module equipment (LED, LCD etc.), the information such as feedback data that speed, direction, acceleration, electric weight, warning and the slave computer that detection module is sent transmits show in real time, make the operator know the ruuning situation of system's reality, and adjust accordingly as required.
Described power management module is mainly used in the power supply of total system.
Described communication module is mainly used in the communication between upper computer module and the slave computer module.Described host computer is given an order to slave computer, and slave computer becomes control information directly to control relevant device according to command interpretation, and the while slave computer is replied and the status information of fetch equipment feeds back to host computer.
Described communication process is realized by following process:
At first design three kinds of frames, comprised command frame, response frame and urgent frame,
Command frame is used for host computer and sends order to slave computer, and response frame is used for slave computer to host computer feedback circuit information, and urgent frame is used for occurring at circuit that slave computer sends to host computer with configuration information when unusual.
Form as shown in Figure 5, each frame sign is 3 bytes.In first byte, preceding four are made as 1010 for replying, and expression has received data, the type of back four bit representation frames: 0000 expression command frame, 1100 expression response frames, the urgent frame of 0011 expression; Turning to and speed of two motors of back two byte representations of command frame, the most significant digit of each motor data is represented direction, 1 expression is just changeed, 0 expression motor counter-rotating, back 7 bit representation motor speeds; Latter two byte representation circuit information of response frame, the first five position effectively represent that respectively relay opens and closes, electromagnet 1 opens and closes, motor 1 opens and closes, electromagnet 2 opens and closes, motor 2 opens and closes (0 expression disconnects, and 1 expression is closed); Back two byte representations of urgent frame surpass predetermined value and slow down automatically when electric current, or when stopping automatically because fault disconnects relay and electromagnet, two motor steerings that are provided with automatically and speed, the same command frame of form.
Host computer: send command frame, receive response frame, be responsible for the control total system.
Slave computer: receive command frame, send response frame and urgent frame, cooperate host computer to carry out system's control.
After transmit leg sends a frame, stop and wait for replying of take over party, could send next frame after receiving affirmation.The form of frame adopts the technology of carrying on the back back, makes the other side also receive data message when obtaining replying.Be provided with overtime timer simultaneously, do not receive at the appointed time to reply and then retransmit this frame, when error in data occurring is frame format when not belonging to definition any, the error control method that adopts error detection to retransmit, and the take over party does not reply this frame and utilizes the overtime transmit leg that makes to retransmit this frame.
The communication needs of system's upper and lower computer have been satisfied in the design of three kinds of frame formats, have finished the data command exchange, and adopt the technology of carrying on the back back to improve efficient, are provided with error control method and overtime re-transmission has guaranteed reliable data transmission.
Claims (7)
1. electric wheelchair control system, comprise that upper computer module, slave computer module, motor drive module, monitoring mould are fast, display module, control load module, power management module and circuit protection module, operator's operation instruction information sends to upper computer module by described control load module, described upper computer module is optimized and handles information, send data to the slave computer module again, be used for described slave computer module and come drive motor, realize control electric wheelchair; Described monitoring modular is used to monitor the speed and the current information of electric wheelchair; and above-mentioned monitoring information passed to upper computer module, slave computer module and display module in real time; described display module is used to show the operational factor of electric wheelchair, and described circuit protection module is used for the automatic protection of implementing system when abnormal conditions occurring.
2. a kind of electric wheelchair control system according to claim 1, it is characterized in that, described control load module comprises button and Hall remote pole, described button is used to carry out the selection and the adjusting of electric wheelchair speed stage, speed that described Hall remote pole applies the operator by its positional information and direction are converted into motor speed and the direction corresponding to this positional information, and are input to upper computer module.
3. a kind of electric wheelchair control system according to claim 1 and 2; it is characterized in that; described upper computer module comprises processor unit and communication unit; the operation instruction information of described control load module is handled by communication unit input processor unit; produce the control corresponding data, send to slave computer module and circuit protection module by described communication unit.
4. a kind of electric wheelchair control system according to claim 1 and 2; it is characterized in that; described slave computer module comprises processor unit and communication unit; the control information of upper computer module or the warning message of monitoring modular are by communication unit input processor unit; handle, produce corresponding motorized motions information or circuit protection feedback information and send to motor drive module and display module by described communication unit.
5. a kind of electric wheelchair control system according to claim 1 and 2; it is characterized in that; described circuit protection module comprises fuse; electromagnetic relay and current foldback circuit; described fuse is connected on the power input of entire circuit; described electromagnetic relay is connected on before the motor power input end; the switch that is equivalent to motor; described current foldback circuit comprises amplifying circuit and comparator circuit; flow through electric current described comparator circuit of input after above-mentioned amplifying circuit amplifies of motor; judge whether overcurrent of this electric current; when electric current excessive and produce external interrupt when surpassing predetermined value; this moment, slave computer was adjusted automatically, and this adjustment information is sent to host computer generation alarm.
6. a kind of electric wheelchair control system according to claim 1 and 2; it is characterized in that; described monitoring modular comprises motor monitoring submodule, electromagnet monitoring submodule, electric quantity monitoring submodule and speed and acceleration monitoring submodule; be respectively applied for protection electromagnet, electric weight, speed and acceleration that motor, motor two ends are provided with and monitor in real time, when appearance is unusual, can access timely processing.
7. a kind of electric wheelchair control system according to claim 1 and 2, it is characterized in that, described motor drive module comprises two H bridge circuits, control the speed and the direction of motor respectively, described H bridge circuit is made up of four high voltage bearing field effect transistor IRF3205 and two half-bridge driven chip I R2104, the 3.3V PWM ripple of the IO mouth output of described slave computer module produces the PWM ripple of four road 15V through two half-bridge driven chip I R2104, drive four field effect transistor, form full bridge driving circuit, control turning to of motor by the break-make of controlling described four field effect transistor MOSFET, recently regulate rotating speed by setting the PWM duty, realize control motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201020211831 CN201716580U (en) | 2010-06-02 | 2010-06-02 | Electric wheelchair control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201020211831 CN201716580U (en) | 2010-06-02 | 2010-06-02 | Electric wheelchair control system |
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| CN201716580U true CN201716580U (en) | 2011-01-19 |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102629115A (en) * | 2012-03-21 | 2012-08-08 | 燕山大学 | Electric wheelchair controller |
| CN102769274A (en) * | 2011-05-05 | 2012-11-07 | 东莞赛微微电子股份有限公司 | Battery management system |
| CN103381122A (en) * | 2013-06-27 | 2013-11-06 | 浙江联宜电机股份有限公司 | Novel adjusting and driving circuit for seat and backrest of wheelchair |
| CN103717442A (en) * | 2011-08-08 | 2014-04-09 | 松下电器产业株式会社 | Electric vehicle and method for controlling same |
| CN104369749A (en) * | 2014-11-29 | 2015-02-25 | 济南职业学院 | Hand buggy driven by storage battery |
| CN105342772A (en) * | 2015-11-19 | 2016-02-24 | 江西洪都航空工业集团有限责任公司 | Intelligent electric wheelchair control system based on two dimension Hall rocking bar and control method thereof |
| CN105362003A (en) * | 2014-08-28 | 2016-03-02 | 天津康丽医疗器械有限公司 | Electric pushing bed |
| CN105534650A (en) * | 2016-03-15 | 2016-05-04 | 国家康复辅具研究中心 | Starting and barrier avoiding system of electrically powered wheelchair |
| CN106038098A (en) * | 2016-06-24 | 2016-10-26 | 张学海 | Computer processor based electric wheelchair control system and electric wheelchair |
| CN106264910A (en) * | 2016-09-23 | 2017-01-04 | 南京康尼智能技术有限公司 | A kind of general electric wheelchair control system |
| CN106389030A (en) * | 2016-09-23 | 2017-02-15 | 南京康尼智能技术有限公司 | An internet intelligent electrically powered wheelchair control system |
| CN106466213A (en) * | 2015-08-13 | 2017-03-01 | 周璞 | Electric wheelchair and electric wheelchair management system and its management method |
| CN107031314A (en) * | 2017-03-31 | 2017-08-11 | 合肥民众亿兴软件开发有限公司 | A kind of Tire Pressure Monitor System and its monitoring method |
| CN107450556A (en) * | 2017-09-11 | 2017-12-08 | 河北农业大学 | A kind of independent navigation intelligent wheel chair based on ROS |
| CN109602551A (en) * | 2018-11-21 | 2019-04-12 | 韩雪 | The self-actuating brake circuit and control method of brush motor electric wheel-chair vehicle |
| CN110037869A (en) * | 2019-05-17 | 2019-07-23 | 广州足步医疗科技有限公司 | The wheeled control system and its control method of the double remote controlers of band |
| CN111538344A (en) * | 2020-05-14 | 2020-08-14 | 重庆科技学院 | Intelligent wheelchair based on face key point motion following and control method thereof |
| CN112451243A (en) * | 2020-12-10 | 2021-03-09 | 广州暖晴医疗科技有限公司 | Wheelchair control system and method |
| CN113017611A (en) * | 2021-02-04 | 2021-06-25 | 华南理工大学 | Recovered bracelet of intelligence and gesture control system based on attitude sensor |
| CN114911291A (en) * | 2022-05-07 | 2022-08-16 | 深圳云存科技有限公司 | Intelligent embedded control system of hard disk air preheater |
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2010
- 2010-06-02 CN CN 201020211831 patent/CN201716580U/en not_active Expired - Fee Related
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102769274A (en) * | 2011-05-05 | 2012-11-07 | 东莞赛微微电子股份有限公司 | Battery management system |
| CN102769274B (en) * | 2011-05-05 | 2015-09-02 | 东莞赛微微电子有限公司 | A kind of battery management system |
| CN103717442A (en) * | 2011-08-08 | 2014-04-09 | 松下电器产业株式会社 | Electric vehicle and method for controlling same |
| CN103717442B (en) * | 2011-08-08 | 2016-03-23 | 松下电器产业株式会社 | Elec. vehicle and control method thereof |
| CN102629115A (en) * | 2012-03-21 | 2012-08-08 | 燕山大学 | Electric wheelchair controller |
| CN103381122A (en) * | 2013-06-27 | 2013-11-06 | 浙江联宜电机股份有限公司 | Novel adjusting and driving circuit for seat and backrest of wheelchair |
| CN105362003A (en) * | 2014-08-28 | 2016-03-02 | 天津康丽医疗器械有限公司 | Electric pushing bed |
| CN104369749A (en) * | 2014-11-29 | 2015-02-25 | 济南职业学院 | Hand buggy driven by storage battery |
| CN106466213A (en) * | 2015-08-13 | 2017-03-01 | 周璞 | Electric wheelchair and electric wheelchair management system and its management method |
| CN105342772A (en) * | 2015-11-19 | 2016-02-24 | 江西洪都航空工业集团有限责任公司 | Intelligent electric wheelchair control system based on two dimension Hall rocking bar and control method thereof |
| CN105534650B (en) * | 2016-03-15 | 2017-04-26 | 国家康复辅具研究中心 | Starting and barrier avoiding system of electrically powered wheelchair |
| CN105534650A (en) * | 2016-03-15 | 2016-05-04 | 国家康复辅具研究中心 | Starting and barrier avoiding system of electrically powered wheelchair |
| CN107007403B (en) * | 2016-03-15 | 2018-06-05 | 国家康复辅具研究中心 | A kind of electric wheelchair |
| CN106038098A (en) * | 2016-06-24 | 2016-10-26 | 张学海 | Computer processor based electric wheelchair control system and electric wheelchair |
| CN106038098B (en) * | 2016-06-24 | 2019-05-17 | 深圳市迈康信医用机器人有限公司 | The control system and electric wheelchair of electric wheelchair based on computer processor |
| CN106389030B (en) * | 2016-09-23 | 2018-11-16 | 南京康尼智能技术有限公司 | A kind of internet intelligent electric wheelchair control system |
| CN106389030A (en) * | 2016-09-23 | 2017-02-15 | 南京康尼智能技术有限公司 | An internet intelligent electrically powered wheelchair control system |
| CN106264910A (en) * | 2016-09-23 | 2017-01-04 | 南京康尼智能技术有限公司 | A kind of general electric wheelchair control system |
| CN106264910B (en) * | 2016-09-23 | 2018-10-16 | 南京康尼智能技术有限公司 | A kind of general electric wheelchair control system |
| CN107031314A (en) * | 2017-03-31 | 2017-08-11 | 合肥民众亿兴软件开发有限公司 | A kind of Tire Pressure Monitor System and its monitoring method |
| CN107450556A (en) * | 2017-09-11 | 2017-12-08 | 河北农业大学 | A kind of independent navigation intelligent wheel chair based on ROS |
| CN109602551A (en) * | 2018-11-21 | 2019-04-12 | 韩雪 | The self-actuating brake circuit and control method of brush motor electric wheel-chair vehicle |
| CN110037869A (en) * | 2019-05-17 | 2019-07-23 | 广州足步医疗科技有限公司 | The wheeled control system and its control method of the double remote controlers of band |
| CN111538344A (en) * | 2020-05-14 | 2020-08-14 | 重庆科技学院 | Intelligent wheelchair based on face key point motion following and control method thereof |
| CN112451243A (en) * | 2020-12-10 | 2021-03-09 | 广州暖晴医疗科技有限公司 | Wheelchair control system and method |
| CN113017611A (en) * | 2021-02-04 | 2021-06-25 | 华南理工大学 | Recovered bracelet of intelligence and gesture control system based on attitude sensor |
| CN114911291A (en) * | 2022-05-07 | 2022-08-16 | 深圳云存科技有限公司 | Intelligent embedded control system of hard disk air preheater |
| CN114911291B (en) * | 2022-05-07 | 2023-12-19 | 深圳市联众长信科技有限公司 | Intelligent embedded control system of hard disk air preheater |
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Granted publication date: 20110119 Termination date: 20130602 |