CN210521234U - Electric wheelchair with autonomous stair climbing function - Google Patents
Electric wheelchair with autonomous stair climbing function Download PDFInfo
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- CN210521234U CN210521234U CN201921067338.3U CN201921067338U CN210521234U CN 210521234 U CN210521234 U CN 210521234U CN 201921067338 U CN201921067338 U CN 201921067338U CN 210521234 U CN210521234 U CN 210521234U
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Abstract
The utility model discloses an electric wheelchair that possesses independently stair-climbing function, include: a wheelchair frame; the driving motors are respectively and symmetrically and fixedly arranged on two sides of the wheelchair frame; one end of each of the driving shafts is fixedly connected with an output shaft of the driving motor; a plurality of travel mechanisms, comprising: a traveling mechanism mounting bracket rotatably supported at the other end of the driving shaft; the travelling wheels are rotatably arranged on the travelling mechanism mounting frame; a plurality of first sprockets rotatably mounted on the travel mechanism mounting frame; wherein, the central shaft of the first chain wheel is fixedly connected with the center of the travelling wheel; a chain disposed around an outer side of the plurality of first sprockets; a plurality of second sprockets disposed outside the chain; wherein, the first chain wheel and the second chain wheel are respectively meshed with the chain for transmission; a sun gear fixedly mounted on the drive shaft; a plurality of planet wheels which are in meshing transmission with the sun wheel; wherein, the center shaft of planet wheel and the center fixed connection of second sprocket.
Description
Technical Field
The utility model belongs to the technical field of electronic wheelchair, in particular to possess electronic wheelchair of independently climbing building function.
Background
With the improvement of living standard of people and the aggravation of the aging phenomenon of society and the acceleration of life rhythm of people, products for helping the old and the elderly become market pets gradually. However, many elderly people today are elderly and have inconvenience in traveling due to diseases or deterioration of body organ functions, and the inability to travel may cause further deterioration in mental and physical conditions of the elderly. This phenomenon is more serious for the old who live in the building without elevator, and the process of going upstairs and downstairs is absolutely the gap for the weak old to isolate them from the outside. Even if someone assists the old people to go upstairs and downstairs, the whole process is time-consuming and labor-consuming, and better experience cannot be obtained.
At present, more electric wheelchairs exist in the market, the driving force of electric wheels is mainly added to the common wheelchairs, and the requirement that a user can operate the wheelchairs to move on a flat and good road surface by himself can be met. However, the wheelchair can not be used in complex environments such as stairs and steps. The wheelchair with the crawler-type travelling mechanism on the back is available in the market, the wheelchair can meet the function of transporting a user in a stair environment, but needs to be controlled and operated by others, the user can not independently control and operate, the wheelchair is also a cargo transportation machine in nature, and the wheelchair has high requirements on physical quality of an operator and high labor intensity.
SUMMERY OF THE UTILITY MODEL
The utility model provides an electric wheelchair with an autonomous stair climbing function, which aims to realize the automatic walking and stair climbing functions of the wheelchair under the condition of no need of assistance of other people through the matching transmission of a chain wheel and a planetary gear train.
The utility model provides a technical scheme does:
an electric wheelchair having an autonomous stair climbing function, comprising:
a wheelchair frame;
the driving motors are respectively and symmetrically and fixedly arranged on two sides of the wheelchair frame;
one ends of the driving shafts are fixedly connected with the output shaft of the driving motor respectively;
a plurality of traveling mechanisms respectively mounted on the other ends of the drive shafts;
the power supply is fixedly arranged on the wheelchair frame and used for supplying power to the driving motor;
wherein the travel mechanism includes:
a travel mechanism mounting bracket rotatably supported on the drive shaft;
a plurality of travel wheels rotatably mounted on the travel mechanism mount and evenly distributed about the drive shaft;
a plurality of first sprockets rotatably mounted on the travel mechanism mounting bracket;
the central shaft of the first chain wheel is fixedly connected with the center of the travelling wheel;
a chain disposed around an outer side of the plurality of first sprockets;
a plurality of second sprockets disposed outside the chain and between two adjacent first sprockets;
the first chain wheel and the second chain wheel are respectively in meshing transmission with the chain;
a sun gear fixedly mounted on the drive shaft;
a plurality of planet wheels in meshing transmission with the sun wheel;
and the central shaft of the planet wheel is fixedly connected with the center of the second chain wheel.
Preferably, a hollow shaft is fixedly connected to the center of the traveling mechanism mounting frame, and the hollow shaft is sleeved on the driving shaft through a bearing.
Preferably, the electric wheelchair having an autonomous stair climbing function further includes: the fixed baffles are arranged on the wheelchair frame, and shaft sleeves are respectively and fixedly arranged on the fixed baffles;
the fixed baffle and the advancing mechanism are arranged in a one-to-one correspondence mode, and the hollow shaft is arranged in the shaft sleeve in a matched mode.
Preferably, a reduction box is integrated on the driving motor.
Preferably, the electric wheelchair having an autonomous stair climbing function further includes: a driving motor controller installed on the wheelchair frame for controlling the driving motor.
Preferably, the electric wheelchair having an autonomous stair climbing function further includes:
the control handle is arranged on the armrest of the wheelchair and is connected with the driving motor controller through a circuit;
a safety switch installed at a lower side of the handle and connected to the driving motor controller through a circuit; and
and the angle sensor is fixedly arranged on the wheelchair frame and is electrically connected with the driving motor controller.
Preferably, the number of the traveling mechanisms is four;
two advancing mechanisms are respectively installed on two sides of the wheelchair frame; and the advancing mechanisms positioned at the two sides of the wheelchair frame are respectively and symmetrically arranged.
The utility model has the advantages that:
the utility model provides an possess the electronic wheelchair of independently climbing building function, through the cooperation transmission of sprocket and planetary gear train, realize the automatic walking of wheelchair and the function of climbing the building under the supplementary condition of need not other people.
Drawings
Fig. 1 is a schematic view of the general structure of an electric wheelchair with an autonomous stair-climbing function according to the present invention.
Fig. 2 is a rear schematic view of the electric wheelchair with an autonomous stair climbing function according to the present invention.
Fig. 3 is a schematic structural view of the traveling mechanism of the present invention.
Fig. 4 is a schematic view of the connection relationship between the sprocket set and the traveling wheel of the present invention.
Fig. 5 is a schematic structural diagram of the planetary gear train of the present invention.
Fig. 6 is a schematic view of the revolving radius of the axis of the traveling wheel around the center of the planetary gear train when the planetary carrier revolves.
Detailed Description
The present invention is further described in detail below with reference to the drawings so that those skilled in the art can implement the invention with reference to the description.
As shown in fig. 1-2, the utility model provides an electric wheelchair with autonomous stair climbing function, which mainly comprises: a wheelchair frame 110, two armrests 120, a seat cushion 130, four drive motors 140, four drive shafts 150, four travel mechanisms 160, and a power source 170.
The two armrests 120 are symmetrically fixed to the left and right sides of the wheelchair frame 110. The seat cushion 130 is fixedly installed above the wheelchair frame 110 and is disposed between the two armrests 120.
The four driving motors 140 are symmetrically arranged on two sides of the lower part of the wheelchair frame 110 in pairs, and a reduction gearbox is integrated on the driving motors 140, and power output is performed after the reduction of the speed by the reduction gearbox. In this embodiment, the front and rear portions of the wheelchair frame 110 are fixedly provided with motor mounting plates 111, respectively, the motor mounting plates 111 are vertically disposed, and the driving motors 140 are fixedly mounted on the motor mounting plates 111 through motor brackets 141, respectively. The four driving shafts 150 are arranged in one-to-one correspondence with the driving motors 140; one end of the driving shaft 150 is fixedly connected to an output shaft of the driving motor 140, and the other end is mounted with a traveling mechanism 160. A power source 170 is fixedly installed at the front of the wheelchair frame 110 for supplying power to the four driving motors 140.
As shown in fig. 3, the travel mechanism 160 includes: a travel mechanism mount 161, a plurality of travel wheels 162, a sprocket set 163, and a planetary gear train 164.
In order to cooperate with the traveling mechanism, four fixed baffles 112 are arranged on the wheelchair frame 110, and the fixed baffles 112 are vertically arranged between each driving shaft 150 and the traveling mechanism 160; each fixed baffle 112 is fixedly provided with a shaft sleeve 113.
A hollow shaft 161a is fixedly connected to the center of the inner side (the side facing the wheelchair frame 110) of the traveling mechanism mounting frame 161, the hollow shaft 161a is fittingly disposed in the shaft sleeve 113, and the hollow shaft 161a can freely rotate in the shaft sleeve 113. Meanwhile, a bearing is arranged inside the hollow shaft 161a, and is sleeved on the driving shaft 150 through the bearing in a matching manner, so that the driving shaft can freely rotate relative to the hollow shaft 161 a. A plurality of traveling wheels 162 are rotatably installed at an outer side (a side far from the wheelchair frame 110) of the traveling mechanism mounting frame 161, and the plurality of traveling wheels 162 are uniformly distributed around the driving shaft 150. In the present embodiment, the number of the travel wheels 162 is 3.
As shown in fig. 4, the sprocket set 163 is disposed inside (toward the side of the wheelchair frame 110) the travel wheels 162, and the sprocket set 163 includes a plurality of first sprockets 163a, the number of the first sprockets 163a being the same as the number of the travel wheels 162. The first sprocket 163a is rotatably mounted on the traveling mechanism mounting frame 161; the center axis of the first sprocket 163a is fixedly connected to the center of the travel wheel 162, so that the travel wheel 162 can rotate synchronously with the first sprocket 163 a. A chain 163b provided around the outside of the plurality of first sprockets 163 a; and a plurality of second sprockets 163c disposed outside the chain 163b at the center position of the chain 163b between two adjacent first sprockets 163 a. The first sprocket 163a and the second sprocket 163c are in meshing transmission with the inner side and the outer side of the chain 163b, respectively. In the present embodiment, the number of the second sprockets 163c is 3.
As shown in fig. 5, the planetary gear train 164 is provided inside the sprocket group 163 (on the side toward the wheel chair frame 110), and the planetary gear train 164 includes a sun gear 164a and a plurality of planetary gears 164 b. The sun gear 164a is coaxially and fixedly mounted on the driving shaft 150; a plurality of planet gears 164b are disposed about the sun gear and are in meshing engagement with the sun gear 164 a; the center axis of the planet wheel 164b is fixedly connected with the center of the second chain wheel 163c, and the second chain wheel 163c and the planet wheel 164b rotate synchronously.
When the traveling mechanism is operated, power is transmitted from the drive shaft 150 to the sun gears 164a in the planetary trains on both sides. When the vehicle travels on the flat ground, the sun gear 164a transmits power to the planet gear 164b, so as to drive the second chain wheel 163c to rotate, thereby driving the chain 163b to move, and the chain 163b drives the first chain wheel 163a to rotate; the first chain wheel 163a rotates to drive the traveling wheel 162 to rotate and advance. When climbing stairs or a road surface has a large gradient, the traveling wheel 162 positioned at the front part of the wheelchair frame 110 is locked by an obstacle, so that the sprocket set 163 and the middle planetary wheel 164b of the planetary gear train 164 cannot rotate, the planetary wheel 164b is approximately rigidly connected with the sun wheel 164a, and the sun wheel 164a directly drives the planetary gear train to revolve and cross the obstacle.
In the present embodiment, the power source 170 is a lithium battery; in addition, the lithium battery used in the embodiment is a conventional battery, and is not further described herein.
In this embodiment, the electric wheelchair with an autonomous stair climbing function further includes a push handle 180, and the push handle 180 is fixedly connected to the wheelchair frame 110.
In another embodiment, the electric wheelchair with an autonomous stair climbing function further includes: a drive motor controller (not shown), a control handle 190, a safety switch (not shown), and an angle sensor (not shown). The driving motor controller is installed on the wheelchair frame 110, and is used for controlling the four driving motors 140; the functions of forward rotation, reverse rotation, stall, slow start, speed regulation and the like of the driving motor 140 can be realized through the driving motor controller. The control handle 190 is mounted on the right hand side armrest of the wheelchair and is connected to the drive motor controller via an electrical circuit. The safety switch is installed at the lower side of the handrail and is connected with the driving motor controller through a circuit, and when the pressure above the handrail is smaller than a set value, a signal is output to slowly stop the driving motor 140. The angle sensor is fixedly installed on the wheelchair frame 110, and is electrically connected to the driving motor controller, for measuring an inclination angle of the wheelchair (an inclination angle between the wheelchair traveling direction and a horizontal plane). The driving motor controller simultaneously receives signals from the safety switch, the operating handle 190 and the angle sensor, and respectively controls parameters such as the rotating speed and the rotating direction of the four driving motors 140, so as to achieve different driving intentions. The travelling speed of the wheelchair can be controlled by controlling the rotating speed of the driving motor, and the steering of the wheelchair can be controlled by controlling the rotating speed difference of the driving motors on the left side and the right side of the wheelchair. The wheelchair can be assisted to work better on a road surface with slopes by controlling the output characteristics of the front shaft and the rear shaft of the wheelchair. The driving motor controller also has a slow starting function, and the motor torque is prevented from being overlarge in the starting process.
The electric wheelchair with the function of automatically climbing stairs has the working principle that: in operation, power is transmitted from the output shaft of the driving motor 140 to the sun gear 164a of the planetary gear set in the planetary gear set via the driving shaft 150, and at this time, the planetary gear set 164 has two degrees of freedom of rotation of the planetary gear 164b and revolution of the planetary carrier (corresponding to the traveling gear traveling mechanism mounting frame 161), and the revolution torque of the planetary carrier depends only on the output torque of the driving motor 140. The planetary gear train 164 has two operating states, which are a flat ground traveling state and a stair climbing state. When the wheelchair travels on flat ground, the output torque of the driving motor 140 is small, and the rotation (revolution) of the planet carrier can be restricted by the gravity of the wheelchair, so that only the rest planet wheels 164b rotate by one degree of freedom. The planetary gear 164b rotates to drive the second sprocket 163c coaxially connected thereto, and the power is transmitted to the first sprocket 163a via the chain 163b, thereby driving the traveling wheel 162 to rotate and driving the wheelchair to travel. When climbing stairs or having a large slope, when the travelling wheel 162 at the front part of the wheelchair touches an obstacle, the travelling wheel cannot rotate, and the planet wheel 164b cannot rotate due to the chain 163 b; the output torque of the motor is increased, so that the revolution torque of the planet carrier in the planetary gear train 164 is increased, and when the revolution torque is larger than the constraint brought by the self weight of the wheelchair, the planet carrier starts to revolve, so that the travelling wheel 164 is driven to revolve around the axis of the driving shaft 150, so as to climb steps and start to climb stairs.
The utility model provides an possess the electric wheelchair who independently climbs building function's working process does:
when the wheelchair climbs a slope, the output torque ratio of the front shaft driving motor and the rear shaft driving motor of the wheelchair is controlled according to the inclination angle of the wheelchair, so that the wheelchair is ensured to climb the slope under the condition that the planet carrier does not revolve, and the comfort of the wheelchair can be ensured to the maximum extent.
When the wheelchair runs on a flat road at a constant speed, the revolution torque of the planet carrier is small and the revolution torque of the planet carrier cannot overcome the gravity revolution of the wheelchair, and the planet wheels in the planet wheel train rotate and drive the running wheels to rotate through the chains to drive the wheelchair to move forwards. At this time, the forward speed v of the wheelchair is:
wherein n is the rotating speed of the output shaft of the driving motor; i.e. igThe transmission ratio of the planetary gear train is set; i.e. isThe transmission ratio of the chain wheel set is set; d is the diameter of the running wheel.
Because the planet carrier generates the revolution trend along with the resistance of the travelling wheel (the output of the motor)Torque) increases and increases. The planet carrier revolution can lead to the incessant undulation of wheelchair, influences the use and experiences. In order to improve the comfort of the wheelchair, it is necessary to control the wheelchair to climb the ground in a ground-moving state (a wheel-rotation state) as much as possible until the inclination angle of the wheelchair (corresponding to the road surface inclination angle) exceeds the maximum inclination angle at which the wheelchair can pass in the ground-moving state (the wheel-rotation state)
Then, the state is switched to the stair climbing state (the revolution state of the planet carrier).
On a slope, the influence of the road inclination angle on the road pressure at the front and rear axles (drive axles) of the wheelchair is:
wherein the content of the first and second substances,
for the inclination of the wheelchair in the horizontal direction, FANormal pressure of the ground to the front axle; fBNormal ground to rear axle pressure; h is the height of the center of mass when the wheelchair is horizontally placed; l is the distance between the front shaft and the rear shaft of the wheelchair; b is the distance between the center of mass and the axis of the rear axle in the horizontal direction when the rear axle is horizontally placed; g is the total gravity of the wheelchair during operation.
After finishing, the method can be obtained:
when the front and rear axle planetary carriers are in a limiting state before revolution, the relationship between the torque of the motor and the normal pressure of the corresponding axle is as follows:
wherein M isA1、MA2Respectively the torque of the driving motor on the left side and the right side of the front shaft; mB1、MB2The driving motor rotor is respectively arranged at the left side and the right side of the rear shaftMoment; r iscThe revolution radius of the axis of the traveling wheel around the center of the planetary gear train when the planet carrier revolves, namely the distance between the central axis of the traveling wheel and the central axis of the driving shaft (as shown in figure 6).
If the inclination of the wheelchair in the horizontal direction is known
The limit torque of the front and rear axle motors at the current angle under the condition that the planet carrier does not rotate along with the rotation can be calculated.
When driving force FtThe gliding force of the extending slope
When the balance is carried out, the balance is realized,
reaches the maximum value
After finishing, the method can be obtained:
in conclusion, under the condition that the wheelchair climbs the slope, after the sensor measures that the wheelchair has a large inclination angle, the front and rear shaft motors are cooperatively controlled, so that the ratio of the output torques of the driving motor of the front shaft of the wheelchair and the driving motor of the rear shaft of the wheelchair is as follows:
the torque of the motor can be fully utilized, so that the inclination angle of the wheelchair on the ground does not exceed the value
Travel in a flat traveling state.
The working principle of the stair climbing working condition is similar to that of the climbing working condition, and when the stair climbing working condition is adopted, in order to ensure the efficient operation of the planetary gear trains, the front-rear axle planetary gear trains do not interfere with each other, and the ratio s of the output torques of the front-rear axle driving motors when the stair climbing working condition is adopted is neededfAnd (5) controlling. sfThe value should be the same as the calculation method of s under the climbing working condition, which is the ratio of the normal phase pressure of the ground to the front and rear axles, namely:
wherein the content of the first and second substances,
is the average of the maximum and minimum inclination angles of the wheelchair relative to the horizontal over a period of time; namely, it is
Wherein the content of the first and second substances,
is the maximum value of the inclination angle of the wheelchair relative to the horizontal recorded by the sensor in a period of time,
the minimum value of the inclination angle of the wheelchair with respect to the horizontal direction recorded by the sensor over a period of time.
Because the wheelchair inclines in the horizontal direction when climbing stairs
Fluctuating with stairs in real time, so measured in real time
The values cannot be used for calculation, so the average value of the inclination angle of the wheelchair in the horizontal direction over a period of time is taken
Calculating to obtain the torque distribution coefficient s of the front and rear shafts when climbing stairsfThereby controlling the front and rear shaft driving motors.
In another embodiment, when starting on flat ground, the output torque ratio of the front shaft driving motor and the rear shaft driving motor of the wheelchair is controlled to ensure that the wheelchair starts to advance at the maximum acceleration under the condition that the planet carrier does not revolve, so that the torque of the motor can be fully utilized, and the power performance of the wheelchair is improved.
When the road surface inclination angle is 0, in order to ensure that the planet carrier does not revolve, the output torque of the driving motor is also required to be limited only by the autorotation driving of the traveling wheel; in order to achieve a large acceleration, the torques of the front and rear shaft motors need to be reasonably distributed.
When the wheelchair accelerates forwards at an acceleration a, the normal pressure relation between the front and rear shafts and the ground is as follows:
wherein m is0Is the total mass of the wheelchair during operation.
The relationship between the acceleration a and the drive torque of the drive motor is:
when the front and rear axle planetary carriers are in a limiting state before revolution, the relationship between the torque of the motor and the normal pressure of the corresponding axle is as follows:
under critical conditions after finishing the process:
in conclusion, under the starting condition of the flat ground traveling state, the output torque ratio of the front shaft driving motor and the rear shaft driving motor of the wheelchair is controlled in a coordinated mode:
the torque of the motor can be fully utilized, and the maximum acceleration a of the wheelchair can be met under the condition that the planet carrier does not revolvemaxAnd starting to move forwards. Wherein, amaxComprises the following steps:
in addition, in order to ensure the use safety, when the wheelchair goes downstairs, the front shaft motor is driven, and the rear shaft motor is slightly braked, so that backward overturning moment is provided for the wheelchair, and the wheelchair is prevented from going downstairs by forwards overturning.
While the embodiments of the invention have been described above, it is not intended to be limited to the details shown, or described, but rather to cover all modifications, which would come within the scope of the appended claims, and all changes which come within the meaning and range of equivalency of the art are therefore intended to be embraced therein.
Claims (7)
1. The utility model provides an electric wheelchair that possesses autonomic stair climbing function which characterized in that includes:
a wheelchair frame;
the driving motors are respectively and symmetrically and fixedly arranged on two sides of the wheelchair frame;
one ends of the driving shafts are fixedly connected with the output shaft of the driving motor respectively;
a plurality of traveling mechanisms respectively mounted on the other ends of the drive shafts;
the power supply is fixedly arranged on the wheelchair frame and used for supplying power to the driving motor;
wherein the travel mechanism includes:
a travel mechanism mounting bracket rotatably supported on the drive shaft;
a plurality of travel wheels rotatably mounted on the travel mechanism mount and evenly distributed about the drive shaft;
a plurality of first sprockets rotatably mounted on the travel mechanism mounting bracket;
the central shaft of the first chain wheel is fixedly connected with the center of the travelling wheel;
a chain disposed around an outer side of the plurality of first sprockets;
a plurality of second sprockets disposed outside the chain and between two adjacent first sprockets;
the first chain wheel and the second chain wheel are respectively in meshing transmission with the chain;
a sun gear fixedly mounted on the drive shaft;
a plurality of planet wheels in meshing transmission with the sun wheel;
and the central shaft of the planet wheel is fixedly connected with the center of the second chain wheel.
2. The electric wheelchair with the function of autonomous stair climbing according to claim 1, wherein a hollow shaft is fixedly connected to the center of the travel mechanism mounting frame, and the hollow shaft is sleeved on the driving shaft through a bearing.
3. The electric wheelchair having an autonomous stair-climbing function according to claim 2, further comprising: the fixed baffles are arranged on the wheelchair frame, and shaft sleeves are respectively and fixedly arranged on the fixed baffles;
the fixed baffle and the advancing mechanism are arranged in a one-to-one correspondence mode, and the hollow shaft is arranged in the shaft sleeve in a matched mode.
4. The electric wheelchair with the function of automatically climbing stairs of any one of claims 1 to 3, wherein a reduction gearbox is integrated on the driving motor.
5. The electric wheelchair having an autonomous stair-climbing function according to claim 4, further comprising: a driving motor controller installed on the wheelchair frame for controlling the driving motor.
6. The electric wheelchair having an autonomous stair-climbing function according to claim 5, further comprising:
the control handle is arranged on the armrest of the wheelchair and is connected with the driving motor controller through a circuit;
a safety switch installed at a lower side of the handle and connected to the driving motor controller through a circuit; and
and the angle sensor is fixedly arranged on the wheelchair frame and is electrically connected with the driving motor controller.
7. The electric wheelchair having an autonomous stair-climbing function according to claim 6, wherein the number of the traveling mechanisms is four;
two advancing mechanisms are respectively installed on two sides of the wheelchair frame; and the advancing mechanisms positioned at the two sides of the wheelchair frame are respectively and symmetrically arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201921067338.3U CN210521234U (en) | 2019-07-10 | 2019-07-10 | Electric wheelchair with autonomous stair climbing function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921067338.3U CN210521234U (en) | 2019-07-10 | 2019-07-10 | Electric wheelchair with autonomous stair climbing function |
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| CN210521234U true CN210521234U (en) | 2020-05-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110215358A (en) * | 2019-07-10 | 2019-09-10 | 吉林大学 | A kind of electric wheelchair having self-determination climbing stairs function and its control method |
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2019
- 2019-07-10 CN CN201921067338.3U patent/CN210521234U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110215358A (en) * | 2019-07-10 | 2019-09-10 | 吉林大学 | A kind of electric wheelchair having self-determination climbing stairs function and its control method |
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