KR20220040973A - Electric motor wagon with wireless control and physical human-robot interaction - Google Patents

Abstract

According to an embodiment of the present invention, an electric motor wagon comprises: a boarding part including an accommodation space for enabling an object to be loaded or enabling a human being to board; a plurality of frames including an upper end frame enveloping the outer edge of the upper end of the boarding part and supporting the boarding part, a lower end frame enveloping the outer edge of the lower end of the boarding part and supporting the boarding part, and a side surface frame for connecting the upper end frame and the lower end frame on the side surface of the boarding part; a front wheel and a rear wheel installed on the lower end frame; a drive part supporting the lower end frame and including a motor and a battery for driving the front wheel and the rear wheel; and a handle part formed to be connected to the side surface frame above the boarding part and having a manipulation part installed thereon to control the drive part.

Description

Electric wagon with wireless control and muscle strength enhancement function {ELECTRIC MOTOR WAGON WITH WIRELESS CONTROL AND PHYSICAL HUMAN-ROBOT INTERACTION}

The present invention relates to an electric wagon having a wireless control and muscle strength enhancement function, and more particularly, to recognize the force acting on the electric wagon through a muscle strength enhancement sensor mounted on the electric wagon, and to respond accordingly. By controlling a motor, it is possible to control an electric wagon with a small force, and it relates to a method of remotely controlling the operation of an electric wagon connected to a user terminal wirelessly.

Recently, as outdoor activities such as outings and camping increase, consumers are increasingly interested in wagons that can carry children and carry luggage. However, most wagons have to be controlled manually, and the basic weight of wagons carrying children or luggage is over 10kg, and if a child is riding or loading a load, the weight is inevitably over 20kg. It is physically very difficult to use a wagon in such a situation for a long time.

Wagon manufacturers are starting to develop wagons in various directions by grafting new technologies to wagons to solve the problems that have emerged. Among them, as a muscle strength enhancement system, the technology of various fields is complexly applied to the muscle strength enhancement system, but among them, the core technology that directly affects the performance is the actuator technology and the technology to identify the user's movement and operation intention. With the advancement of technology in various fields, research is being carried out for better actuators and algorithms to identify user intentions.

By grafting the results of technical research on the role of assisting users in hard work, such as a muscular strength system, to the wagon, which has recently received a lot of attention from consumers, a heavy wagon is combined so that anyone, male, female, old or small can easily control it. Should be.

The present invention relates to a technology that enables a user to easily and conveniently operate and lead the electric wagon through a muscle strength sensor as an electric wagon including Bluetooth and muscle strength enhancement functions.

As a technical means for achieving the above-mentioned technical problem, according to an embodiment of the present invention, the electric wagon includes a boarding unit having a storage space to enable loading of things or people boarding; an upper frame surrounding the periphery of the upper end of the boarding unit and supporting the boarding unit; a lower frame surrounding the lower end of the boarding part and supporting the boarding part; and a side frame connecting the upper frame and the lower frame from the side of the boarding unit. a plurality of frames comprising; front and rear wheels installed on the lower frame; a driving unit supported by the lower frame and including a motor and a battery for driving the front and rear wheels; a handle part formed to be connected to the side frame at the upper part of the boarding part and provided with a manipulation part for controlling the driving part; may include.

In addition, located in any one of the plurality of frames, the user recognizes the force applied to the electric wagon through the handle, and a muscle strength that controls the driving voltage or driving current of the motor in proportion to the recognized force It may further include an augmentation sensor.

In addition, the muscle strength enhancement sensor includes a load cell, recognizes the magnitude of the force applied by the user to the electric wagon through the load cell, and calculates a driving voltage or driving current control value proportional to the magnitude of the applied force. A control signal may be transmitted to the motor.

In addition, it further includes a communication unit connectable to the user terminal by wireless communication, wherein the communication unit is paired with the user terminal, and transmits a control signal input from the user terminal to the driving unit, so that the electric wagon is remotely controlled. can

In addition, in the user terminal, a preset application for controlling the electric wagon is installed, and an operation user interface configured in a dial shape or a circular shape is provided according to the execution of the application, and the user's image on the operation user interface is provided. The user terminal may transmit a control signal including a driving direction value and a driving speed value to the electric wagon according to the down, left, or right touch input direction and the touch input speed.

The manipulation unit receives a periodic live signal from the user terminal, but if it does not receive a live signal for more than a preset time, it is determined that the wireless communication maximum receivable distance is out of range, and provides a braking signal to the driving unit, or a user terminal When it is recognized that the user terminal and the electric wagon are spaced apart by a preset distance, a braking signal may be transmitted to the driving unit.

The electric wagon further includes a horizontal sensor for measuring the angle of inclination, and transmits information about the magnitude value of the force measured by the muscle strength enhancement sensor and the inclination angle to the user terminal, and the user terminal is the magnitude value of the force for each user And the inclination angle is matched and stored, and when the electric wagon moves at a specific inclination angle later, the user terminal transmits the value of the matched and stored force corresponding to the inclination angle to the electric wagon so that the driving unit can be controlled.

The server matches and stores the magnitude value and the inclination angle of each user from each user terminal, calculates the magnitude value of the force for the average users' inclination angle, and transmits it to the user terminal, and stores the previously stored magnitude of the force for the inclination angle of the user. values can be corrected.

The electric wagon according to an embodiment of the present invention can be used as a cart that can load and move luggage when going out, and by controlling the electric motor in response to the force applied to the electric wagon through a muscle strength enhancement sensor, the protector It is convenient to use as it does not take much force to operate the electric wagon even when carrying a child or carrying a load.

In addition, by wirelessly connecting to the user terminal to remotely control the electric wagon, when a child is on board, the operation of the electric wagon is automatically controlled when the distance exceeds a preset distance, or when the electric wagon enters an inclined position , by automatically controlling the speed, it is possible to prevent a safety accident of the child riding on the vehicle.

1 is an overall perspective view of an electric wagon according to an embodiment of the present invention;
2 is a view showing a driving unit according to an embodiment of the present invention.
Figure 3 is a view showing a handle, according to an embodiment of the present invention.
4 is an operation flowchart of an electric wagon according to an embodiment of the present invention.
With reference to FIG. 5, a method of controlling an electric wagon through a user terminal according to an embodiment of the present invention will be described.
6 is an operation flowchart of an electric wagon for establishing and performing user-customized electric control, according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art can easily implement them. However, the present invention may be embodied in several different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part is "connected" with another part, this includes not only the case of being "directly connected" but also the case of being "electrically connected" with another element interposed therebetween. . Also, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

In this specification, a "part" includes a unit realized by hardware, a unit realized by software, and a unit realized using both. In addition, one unit may be implemented using two or more hardware, and two or more units may be implemented by one hardware. Meanwhile, '~ unit' is not limited to software or hardware, and '~ unit' may be configured to be in an addressable storage medium or to reproduce one or more processors. Accordingly, as an example, '~' indicates components such as software components, object-oriented software components, class components, and task components, and processes, functions, properties, and procedures. , subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays and variables. The functions provided in the components and '~ units' may be combined into a smaller number of components and '~ units' or further separated into additional components and '~ units'. In addition, components and '~ units' may be implemented to play one or more CPUs in a device or secure multimedia card.

The "user terminal" referred to below may be implemented as a computer or portable terminal that can access a server or other terminal through a network. Here, the computer is, for example, a laptop, desktop, laptop, VR HMD (eg, HTC VIVE, Oculus Rift, GearVR, DayDream, PSVR, etc.) equipped with a web browser (WEB Browser), etc. may include Here, VR HMD is for PC (eg, HTC VIVE, Oculus Rift, FOVE, Deepon, etc.), for mobile (eg, GearVR, DayDream, Storm Horse, Google Cardboard, etc.) Independently implemented Stand Alone models (eg Deepon, PICO, etc.) are included. A portable terminal is, for example, a wireless communication device that guarantees portability and mobility, and includes not only a smart phone, a tablet PC, a wearable device, but also Bluetooth (BLE, Bluetooth Low Energy), NFC, RFID, and ultrasound (Ultrasonic). , infrared, Wi-Fi, Li-Fi, etc. may include various devices equipped with a communication module. In addition, the term "network" refers to a connection structure capable of exchanging information between each node, such as terminals and servers, and includes a local area network (LAN), a wide area network (WAN), and the Internet. (WWW: World Wide Web), wired and wireless data networks, telephone networks, wired and wireless television networks, and the like. Examples of wireless data communication networks include 3G, 4G, 5G, 3rd Generation Partnership Project (3GPP), Long Term Evolution (LTE), World Interoperability for Microwave Access (WIMAX), Wi-Fi, Bluetooth communication, infrared communication, ultrasound Communication, Visible Light Communication (VLC), LiFi, and the like are included, but are not limited thereto.

Hereinafter, an electric wagon according to an embodiment of the present invention can be described in detail with reference to FIGS. 1 to 3 .

Referring to FIG. 1 , the electric wagon 10 includes a boarding unit 200 having a storage space for a child to ride or a storage space for storing things, an electric motor and a battery 340 , and includes a front wheel 320 and a rear wheel 310 . The driving unit 300 for driving, it can be moved by holding it by hand, and may be composed of a handle unit 500 including a manipulation unit 510 for controlling the driving unit 300 .

The boarding part 200 surrounds the periphery of the upper end, and surrounds the upper frame 210 supporting the boarding part 200 and the outer edge of the lower end of the boarding part 200 , and the lower frame supporting the boarding part 200 . 220 and the side frame 230 connecting the upper frame 210 and the lower frame 220 at the side of the boarding unit 200 .

At this time, for structural stability, the side frame 230 connecting the upper frame 210 and the lower frame 220 may be formed in an oblique shape.

In addition, the upper frame 210 , the lower frame 220 , and the side frame 230 may have a link-type accessory assembled at the middle of each frame so that the electric wagon 10 can be folded over and over.

The driving unit 300 may be disposed on the lower frame. Front wheels 320 supporting the electric wagon 10 with respect to the ground are fixed on both sides in the front direction of the lower frame 220, and the front wheels 320 can rotate 360 degrees so that the front, rear, left, and right desired direction can be controlled.

In the rear direction of the lower frame 220, an electric motor 330 for generating a driving force with respect to the ground is disposed at both ends of the wheel axis of the rear wheel 310, and a battery 340 between both electric motors 330. The driving unit 300 including the may be disposed.

Referring to FIG. 2 , in the driving unit 300 , rear wheels 310 are coupled to the electric motor 330 through a housing 350 at both shaft ends, and the electric motor 330 may be disposed at both ends, respectively. .

In addition, the battery 340 for driving the electric wagon 10 may be formed between the electric motors 330 at both ends in a detachable and attachable form, and the form of the battery 340 is not limited.

The driving unit 300 operates the electric motor 330 by receiving a driving voltage or driving current control value from a muscle strength enhancement sensor (not shown), or receives a driving direction value and a driving speed value from the communication unit to operate the electric motor 330 . can work

The muscle strength enhancement sensor (not shown) is located in any one of a plurality of frames, and a driving unit ( 300) can be controlled.

At this time, the muscle strength enhancement sensor (not shown) may control the driving unit 300 in a manner that controls the driving voltage or driving current of the electric motor 330 . In detail, the magnitude of the force applied by the user to the electric wagon 10 is recognized through the load cell included in the muscle strength sensor (not shown), and the driving voltage and driving current control values proportional to the magnitude of the applied force are calculated. Thus, the driving unit 300 can be controlled by transmitting a control signal to the electric motor 330 .

The handle part 500 is formed to extend from the upper portion to be connected to the side frame 230 , and referring to FIG. 3 , the handle part 500 may include a manipulation unit 510 , and a driving unit ( through the manipulation unit 510 ) ( 300) can be controlled.

The receiving unit 400 is formed in the rear direction of the boarding unit 200, and the receiving unit 400 is connected to the upper frame 210 of the boarding unit 200 by a fixing device including a ring or a clamp, The size of the accommodating part 400 is not limited as long as it does not interfere with the user controlling the rear wheel 310 and the electric wagon 10 .

In addition, the operation mode of the electric wagon 10 may be changed through the operation unit 510 . For example, when the button 511 formed under the operation unit 510 is pressed once, the electric wagon 10 can be operated in a manual mode, and when the button 511 is pressed again, it can be operated in an electric mode.

The user terminal can be paired with the communication unit built into the electric wagon 10, and when the user terminal is paired with the communication unit of the electric wagon 10, to control the electric wagon 10 through an application installed in the user terminal A signal can be input, and the electric wagon 10 can be controlled through the input control signal. A method of controlling the electric wagon 10 through the user terminal will be described later in detail with reference to FIG. 5 .

As an additional embodiment, a shading screen 600 that can block direct sunlight or rain and wind may be installed on the boarding unit 200, and the frame supporting the awning screen 600 is a side frame 230 or an upper frame 210 ) may be installed in one area, and the frame supporting the awning 600 may be configured in a foldable form.

Hereinafter, an operation sequence of the electric wagon 10 according to an embodiment of the present invention will be described with reference to FIG. 4 .

A user may transmit a force to the electric wagon 10 in the forward or rearward direction through the handle portion 500 . (S710)

A user may transmit a force to the electric wagon 10 in the forward or rearward direction through the handle portion 500 extending from the upper portion of the boarding unit 200 to be connected to the side frame 230 .

A manipulation unit 510 of the electric wagon 10 may be formed in the handle unit 500 . The user can select manual control and electric control through the button 511 located at the bottom of the operation unit 510, and through this, the electric wagon 10 can be operated in the manual mode or the electric mode.

The muscle strength sensor (not shown) may recognize the force applied by the user to the electric wagon 10 , and transmit a control signal corresponding to the force applied to the electric wagon 10 by the user to the electric motor 330 .

The muscle strength enhancement sensor (not shown) disposed in any one of the plurality of frames includes a load cell therein, and through this, when the user applies a force to the electric wagon 10, the force applied by the user can be recognized. In this case, a control signal may be transmitted to the electric motor 330 by calculating a driving voltage or a driving current proportional to the magnitude of the force applied by the user.

The muscle strength sensor (not shown) may recognize the force applied by the user to the electric wagon 10 , and transmit a control signal to the electric motor 330 . (S720)

The muscle strength sensor (not shown) transmits a control signal to the electric motor 330 by calculating a driving voltage or driving current proportional to the magnitude of the force applied by the user to the electric motor 330, and the electric motor 330 is controlled An operation can be performed by receiving a signal.

The muscle strength enhancement sensor (not shown) may continuously recognize the force applied by the user to the electric wagon 10 , and transmit a control signal proportional to the magnitude of the recognized force to the electric motor 330 . (S730)

Accordingly, the driving unit 300 of the electric wagon 10 may control the electric motor 330 according to the control signal to move the electric wagon 10 in the direction of the force applied by the user (S740).

In a further embodiment, when receiving a control signal by wireless communication through a user terminal rather than transmitting the user's force, a control signal including a driving direction value and a driving speed value is transmitted to the electric motor 330 to provide the direction and speed can control

While moving the electric wagon 10 forward, when the user transmits a force greater than a preset value (that is, a force greater than a preset value smaller than the forward pushing force) to the handle part 500 in the rear direction, the muscle strength enhancement sensor (not shown) may transmit a control signal for stopping the operation to the electric motor 330 .

When the user transmits a force greater than a preset value in the rear direction to stop the operation of the electric wagon 10, the muscle strength enhancement sensor (not shown) recognizes the force applied by the user to the electric wagon 10, and the electric motor ( 330), a control signal for stopping the operation may be transmitted.

Hereinafter, with reference to FIG. 5, a method of controlling the electric wagon 10 through a user terminal according to an embodiment of the present invention will be described.

A user terminal in which an application for controlling the electric wagon 10 is installed and a communication unit of the electric wagon 10 may be connected. (S810)

When a preset application for controlling the electric wagon 10 is installed, the user terminal may pair with the communication unit of the electric wagon 10 .

The user terminal may provide a user interface to the user terminal according to the execution of a preset application. (S820)

When the user terminal executes a preset application, a user interface may be provided to the user terminal, and the user interface may be a manipulation user interface configured in a dial shape or a circular shape.

The user terminal may transmit a control signal to the electric wagon 10 through the user interface. (S830)

The user terminal generates a control signal including a driving direction value and a driving speed value by the user terminal according to the user's up, down, left, right touch input direction and touch input speed through the operation user interface, (10) can be transmitted.

The electric wagon 10 may control the electric wagon by transmitting a control signal received from the user terminal to the driving unit. (S840)

In a further embodiment, the user terminal may remotely control the electric wagon 10 based on Bluetooth. At this time, when the distance between the user terminal and the electric wagon 10 is out of the Bluetooth maximum receivable distance or falls more than a preset distance, the electric brake may be operated and automatically stopped.

For example, in the case of 'falling more than a preset distance', if the parent sets the electric brake operation condition within 5m, the child can remotely control it within 5m from the parent. However, when it deviates from 5m, the control unit of the electric wagon 10 may automatically generate a brake signal to operate the brake and automatically stop the electric wagon 10 .

The distance measurement between the user terminal and the electric wagon 10 is, for example, the time it takes for either the user terminal or the operation unit 510 to receive the ack signal after transmitting the live signal and the known live signal and ack The distance between the terminal and the manipulation unit 510 may be recognized by referring to the signal transmission speed. However, in addition, the distance may be recognized in various ways through a distance sensor attached to the electric wagon 10 .

As another example, for 'the distance between the user terminal and the electric wagon 10 deviates from the maximum Bluetooth receivable distance', the operation unit 510 of the electric wagon 10 may receive a periodic live signal from the user terminal. In addition, when the live signal is not received for more than a preset time, it is determined that the wireless communication maximum receivable distance is out, and a braking signal can be provided to the driving unit 300 .

As another additional embodiment, with reference to FIG. 6 , an embodiment in which the user's force data is measured for each inclination angle to drive the motor of the electric wagon 10 will be described.

The electric wagon 10 measures the inclination angle of the currently driving place through the horizontal sensor mounted therein, and the data between the force applied by the user to the electric wagon 10 through the muscle strength enhancement sensor (not shown). and data on the inclination angle and force may be transmitted to the user terminal. (S910)

The user terminal matches and stores the inclination angle information received from the electric wagon 10 and the magnitude value of the force, and estimates the magnitude of the force the user applies to the electric wagon 10 for each inclination angle based on the information. (S920) The user terminal may continuously collect data to calculate an average value for the force applied by the user to the electric wagon 10 at a specific inclination angle.

Then, when the horizontal sensor of the electric wagon 10 transmits the result of recognizing the predetermined inclination angle to the user terminal, the user terminal may find the magnitude of the force corresponding to the corresponding inclination angle from the pre-stored matching values. And, the magnitude of the force can be transmitted to the electric wagon 10 . (S930)

The electric wagon 10 may transmit a control signal to the driving unit 300 to operate the motor in proportion to the magnitude of the force. (S940)

The driving unit 300 may control the electric motor 330 with a corresponding force based on previously stored data at a specific inclination angle. (S940)

For example, when the inclination angle is 10 degrees, user A applies a force of 20N to the electric wagon 10, and when the inclination angle is 20 degrees, when the force of 50 N is applied to the electric wagon 10, user A later changes the inclination angle In this 10 degree section, the muscle strength sensor (not shown) may transmit a control signal to the driving unit 300 to control the electric motor 330 with a force of 20N.

Through this, even if the user remotely operates it, since it operates based on the value of the user's force stored in advance at the moment of operation at a specific inclination angle, it is necessary to remotely operate the electric wagon 10 at the inclined angle. It can be very useful.

Also, as a further embodiment, each user terminal may transmit data matching the magnitude value of the user's force and the inclination angle to the server. In this case, by storing data of a plurality of users, the server may collect force data for each inclination angle of users and calculate an average magnitude of force applied to each inclination angle. And, it can be transmitted to the user terminal again to be stored in the user terminal. Thereafter, the user is leading the electric wagon 10 by applying force at a specific inclination angle. can be done In this case, the user terminal transmits a signal to the electric wagon 10, so that the operation of the motor applied to the driving unit is generated from the muscle strength enhancement sensor and exerts a slightly larger force than the data about the force of the control signal applied to the driving unit. Off, it is possible to provide a corrected control signal to the driving unit. For example, a mother of a child can go while pushing an electric wagon at a steep inclination angle, but in the case of an adult female, the average strength is less than that of an adult male. It can be very difficult to climb. In this case, by using the average force data for each inclination angle stored in advance to generate a corrected driving unit control signal, it is possible to drive more stably even if a weak user leads.

As an additional embodiment, when an obstacle is recognized around the electric wagon 10 through a sensor, a warning alarm may sound or a route alarm may be provided to a wirelessly connected user terminal. Alternatively, the speed of the electric wagon 10 may be gradually reduced so that the electric wagon 10 is automatically stopped before an obstacle.

The above description of the present invention is for illustration, and those of ordinary skill in the art to which the present invention pertains can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a dispersed form, and likewise components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be interpreted as being included in the scope of the present invention. do.

10: electric wagon
200: boarding part
210: upper frame
220: lower frame
230: side frame
300: drive unit
310: rear wheel
320: front wheel
330: electric motor
340: battery
350: housing
400: storage unit
500: handle part
510: control panel
511: button
600: awning

Claims (8)

a boarding unit provided with a storage space to enable loading of goods or boarding of people;
an upper frame surrounding the periphery of the upper end of the boarding unit and supporting the boarding unit; a lower frame surrounding the lower end of the boarding part and supporting the boarding part; and a side frame connecting the upper frame and the lower frame from the side of the boarding unit. a plurality of frames comprising;
front and rear wheels installed on the lower frame;
a driving unit supported by the lower frame and including a motor and a battery for driving the front and rear wheels;
A handle portion formed to be connected to the side frame at the upper portion of the boarding unit and provided with a manipulation unit for controlling the driving unit; including,
electric wagon. The method of claim 1,
A muscle strength enhancement sensor located in any one of the plurality of frames, recognizing the force applied by the user to the electric wagon through the handle, and controlling the driving voltage or driving current of the motor in proportion to the recognized force Which will further include, an electric wagon. 3. The method of claim 2
The muscle strength sensor includes a load cell, recognizes the magnitude of the force applied by the user to the electric wagon through the load cell, and calculates a driving voltage or driving current control value proportional to the magnitude of the applied force to calculate the motor Transmitting a control signal to the electric wagon. The method of claim 1,
It further includes a communication unit that can be connected to the user terminal and wireless communication,
After the communication unit is paired with the user terminal, by transmitting a control signal input from the user terminal to the driving unit, the electric wagon is remotely controlled,
electric wagon. 5. The method of claim 4,
In the user terminal, a preset application for controlling the electric wagon is installed, and an operation user interface configured in a dial shape or a circular shape is provided according to the execution of the application,
According to the user's up, down, left or right touch input direction and touch input speed for the manipulation user interface, the user terminal transmits a control signal including a driving direction value and a driving speed value to the electric wagon One thing, an electric wagon. 5. The method of claim 4,
The manipulation unit receives a periodic live signal from the user terminal, but if it does not receive a live signal for more than a preset time, it is determined that the wireless communication maximum receivable distance is out of range, and provides a braking signal to the driving unit, or a user terminal When it is recognized that the user terminal and the electric wagon are spaced apart by a predetermined distance by a, a braking signal is transmitted to the driving unit, the electric wagon. 3. The method of claim 2,
The electric wagon,
Further comprising a horizontal sensor for measuring the angle of inclination,
Transmits information about the magnitude value of the force and the inclination angle measured by the muscle strength enhancement sensor to the user terminal,
The user terminal matches and stores the magnitude value of the force and the inclination angle for each user,
When the electric wagon moves at a specific inclination angle later, the user terminal transmits the value of the matched and stored force corresponding to the inclination angle to the electric wagon so that the driving unit is controlled. 8. The method of claim 7,
The server matches and stores the magnitude value and inclination angle of each user from each user terminal, calculates the magnitude value of the force for the average user's inclination angle, and transmits it to the user terminal,
The pre-stored electric wagon is to correct the magnitude value of the force for the user's inclination angle.

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