CN210330937U - Intelligent wheelchair based on machine vision - Google Patents
Intelligent wheelchair based on machine vision Download PDFInfo
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- CN210330937U CN210330937U CN201920709698.2U CN201920709698U CN210330937U CN 210330937 U CN210330937 U CN 210330937U CN 201920709698 U CN201920709698 U CN 201920709698U CN 210330937 U CN210330937 U CN 210330937U
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- 238000005516 engineering process Methods 0.000 description 4
- 238000013473 artificial intelligence Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
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- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
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Abstract
The utility model discloses an intelligent wheelchair based on machine vision, the sunshade is installed on the handrail, and the sunshade is a semi-enclosed structure, the handle is installed on the upper surface of the handrail, and the handle is positioned at the upper end of the sunshade control key, the rearview mirrors are installed on the support frames, and two rearview mirrors are distributed and installed on the left and right support frames of the wheelchair, the support frames are installed on the left and right baffle plates of the wheelchair, and the support frames are fixedly connected with the wheelchair through the fixing bolts, the lower surface of the wheelchair is installed with the support legs, and four support legs are distributed and installed at four corners of the lower surface of the wheelchair, the idler wheels are installed in the clamping grooves at the lower ends of the support legs, and the four idler wheels are fixedly connected with the support legs through the fixing bolts, the transmission shaft is installed at the lower surface of the wheelchair, this novel multi-functional intelligent wheelchair based on machine vision has.
Description
Technical Field
The utility model relates to the field of medical equipment, concretely relates to intelligence wheelchair based on machine vision.
Background
The intelligent wheelchair applies intelligent robot technology to the electric wheelchair, integrates research in various fields, comprises machine vision, robot navigation and positioning, mode recognition, multi-sensor fusion, a user interface and the like, relates to the technologies of machinery, control, sensors, artificial intelligence and the like, and is also called an intelligent wheelchair type mobile robot.
The united nations published reports indicate that the aging process of the population all over the world is accelerating, the proportion of the population over 60 years old is expected to be doubled within 50 years in the future, and disabled persons who suffer from various disasters and diseases are also increased year by year, and have different degrees of disabilities, such as walking, eyesight, hands and language. In order to provide a travel tool with excellent performance for old people and disabled people, help the old people and the disabled people to improve the freedom of movement and re-integrate into the society, at present, countries such as the United states, Germany, Japan, France, Canada, Spain, China and the like research on intelligent wheelchairs, so that the intelligent wheelchairs have the functions of map memory, obstacle avoidance, automatic traveling, interaction with users and the like.
Therefore, a need exists to design a machine vision based intelligent wheelchair to address such issues.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
In order to overcome the defects of the prior art, an intelligent wheelchair based on machine vision is provided, and the intelligent wheelchair provided in the background art is an intelligent wheelchair which applies intelligent robot technology to an electric wheelchair, integrates research in various fields, including machine vision, robot navigation and positioning, mode recognition, multi-sensor fusion, user interfaces and the like, relates to technologies such as machinery, control, sensors and artificial intelligence, and is also called an intelligent wheelchair type mobile robot.
(II) technical scheme
The utility model discloses and realize through following technical scheme: the utility model provides an intelligent wheelchair based on machine vision, which comprises a sunshade, a handle, a rearview mirror, a support frame, a wheelchair, a support leg, a roller, a push handle, a transmission shaft, a fixing bolt, a display screen, a fixing frame, an earphone hole, a loudspeaker, a handrail, an electric brake key, a USB socket, a back cushion, a cavity, a motor, a storage battery, a foot pad, a sealing cover, a bearing, an end cover, a gear A, a pin key, a belt, a key groove and a gear B, wherein the sunshade is arranged on the handrail, the sunshade is in a semi-surrounding structure, the handle is arranged on the upper surface of the handrail, the handle is positioned at the upper end of a sunshade control key, the rearview mirror is arranged on the support frame, and the two rearview mirrors are distributed and arranged on the left support frame and the right support frame of the wheelchair, the support frame is arranged on the left baffle plate and the right baffle plate of the wheelchair, the supporting legs are arranged on the lower surface of the wheelchair, four supporting legs are distributed and arranged at four corners of the lower surface of the wheelchair, the rollers are arranged in clamping grooves at the lower ends of the supporting legs, the four rollers are fixedly connected with the supporting legs through the fixing bolts, the transmission shaft is arranged on the lower surface of the wheelchair, two rollers are respectively arranged at two ends of the transmission shaft, the fixing frame is arranged on a baffle on the right side of the wheelchair and is positioned on the inner side surface of the baffle of the wheelchair, the fixing frame is fixedly connected with the wheelchair through the fixing bolts, the loudspeaker is arranged on the outer surface of the head end of the fixing frame and is positioned at the lower end of the USB socket, the handrail is arranged on the baffle on the left side and the baffle on the right side of the wheelchair and is wave-shaped, and, the cavity is positioned below a seat, the storage battery is arranged in the cavity inside the wheelchair, the storage battery is positioned on the left side of the motor, the sealing covers are arranged at the middle positions of the left end and the right end of the motor, the sealing covers are fixedly connected with the motor through the fixing bolts, the bearings are arranged at the middle positions of the left end and the right end of the motor, the bearings are embedded in the end covers on the left side and the right side of the motor, the end covers are arranged at the right end of the motor and fixedly connected through the fixing bolts, the end covers are positioned between the casing and the sealing covers, the gear A is arranged on the transmission outer surface of the motor, the gear A is positioned at the right end of the transmission shaft of the motor, the pin key is arranged between the transmission shaft and the gear A, and the pin key is positioned in the, the belt is installed gear A with between the gear B, just the belt is located gear A with gear B surface, the keyway sets up the transmission shaft surface, just the keyway is located the gear below, gear B installs the transmission shaft surface, just gear B is located the wheelchair below.
Furthermore, a pushing handle is arranged on the rear surface of the wheelchair, and the pushing handle is positioned in the middle of the rear surface of the wheelchair and is fixedly connected with the rear surface of the wheelchair through the fixing bolt.
Further, the display screen is installed on the fixing frame, and the display screen is located on the right side surface of the fixing frame.
Further, the earphone hole is formed in the surface of the head end of the fixing frame, and the earphone hole is located in the middle of the upper end of the surface of the head end of the fixing frame.
Furthermore, the electric brake key is arranged on a baffle on the right side of the wheelchair, and the electric brake key is positioned in the middle of the baffle on the right side.
Further, the USB socket is mounted on the surface of the head end of the fixing frame, and the USB socket is located between the speaker and the earphone hole.
Further, the back cushion is installed on the wheelchair seat, and the back cushion semi-surrounds the seat.
Further, the motor is installed inside the wheelchair in the cavity, just the motor model is: Y100L-2.
Further, a foot pad is disposed on the wheelchair footrest, and the foot pad completely covers the wheelchair footrest.
(III) advantageous effects
Compared with the prior art, the utility model, following beneficial effect has:
1) the problem of insolate at removal in-process sunshine is in order to solve, this design sunshade and electric control key to can adjust the open size of sunshade through the electric control key, with this problem of having avoided insolate at removal in-process sunshine.
2) In order to solve the problem of automatic navigation, the automatic navigation wheelchair has the advantages that the fixing frame and the display screen are designed, and the automatic identification system and the map are installed in the display screen, so that people can walk without moving the wheelchair by themselves, and the manual operation of people is greatly facilitated.
3) The support frame and the rearview mirror are designed for solving the problem that the rear condition cannot be observed in the moving process, so that the situation of people in the rear process is facilitated, and the phenomenon that the vehicle is too late to avoid due to the fact that the vehicle comes from the rear is avoided.
4) In order to solve the problem of boring in the process of a journey, the display screen and the loudspeaker are designed, so that under the condition of automatic navigation, people can watch favorite programs through the display screen or listen to songs to play time, and boring when one person walks is avoided.
5) In order to solve the problem that the sound of the loudspeaker cannot be clearly heard in a noisy environment, the earphone hole is worn and installed on the support frame, so that the problem that the loudspeaker cannot be clearly heard in the noisy environment is solved.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the inner side of the wheelchair of the present invention.
Fig. 3 is a schematic view of the wheelchair of the present invention in a partial cross-section.
Fig. 4 is a schematic view of a partial section structure of the transmission mechanism of the present invention.
1-sunshade; 2-a handle; 3-a rear view mirror; 4-a support frame; 5-a wheelchair; 6-supporting legs; 7-a roller; 8-pushing the handle; 9-a transmission shaft; 10-fixing the bolt; 11-a display screen; 12-a fixing frame; 13-earphone hole; 14-a loudspeaker; 15-handrails; 16-electric brake key; 17-a USB socket; 18-back cushion; 19-a cavity; 20-a motor; 21-a storage battery; 22-a foot pad; 23-a sealing cover; 24-a bearing; 25-end cap; 26-gear a; 27-pin key; 28-a belt; 29-a keyway; 30-gear B.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1-4, an intelligent wheelchair based on machine vision comprises a sunshade 1, a handle 2, a rearview mirror 3, a support frame 4, a wheelchair 5, a support leg 6, a roller 7, a push handle 8, a transmission shaft 9, a fixing bolt 10, a display screen 11, a fixing frame 12, an earphone hole 13, a speaker 14, an armrest 15, an electric brake key 16, a USB socket 17, a back cushion 18, a cavity 19, a motor 20, a storage battery 21, a foot pad 22, a sealing cover 23, a bearing 24, an end cover 25, a gear a26, a pin key 27, a belt 28, a key slot 29 and a gear B30, wherein the sunshade 1 is mounted on the armrest 15, the sunshade 1 is of a semi-surrounding structure, the handle 2 is mounted on the upper surface of the armrest 15, the handle 2 is positioned at the upper end of a control key of the sunshade 1, the rearview mirror 3 is mounted on the support frame 4, the two rearview mirrors 3 are distributed and mounted on the left and right, the support frame 4 is fixedly connected with the wheelchair 5 through a fixing bolt 10, the lower surface of the wheelchair 5 is provided with support legs 6, the four support legs 6 are distributed and installed at four corners of the lower surface of the wheelchair 5, rollers 7 are installed in clamping grooves at the lower ends of the support legs 6, the four rollers 7 are fixedly connected with the support legs 6 through the fixing bolt 10, a transmission shaft 9 is installed at the lower surface of the wheelchair 5, two rollers 7 are respectively installed at two ends of the transmission shaft 9, a fixing frame 12 is installed on a baffle at the right side of the wheelchair 5, the fixing frame 12 is positioned on the inner side surface of the baffle of the wheelchair 5, the fixing frame 12 is fixedly connected with the wheelchair 5 through the fixing bolt 10, a loudspeaker 14 is installed on the outer surface of the head end of the fixing frame 12, the loudspeaker 14 is positioned at the lower end of a USB, the cavity 19 is positioned below the seat, the storage battery 21 is arranged in the cavity 19 in the wheelchair 5, the storage battery 21 is positioned on the left side of the motor 20, the sealing covers 23 are arranged at the middle positions of the left end and the right end of the motor 20, the sealing covers 23 are fixedly connected with the motor 20 through the fixing bolts 10, the bearings 24 are arranged at the middle positions of the left end and the right end of the motor 20, the bearings 24 are embedded in left end covers 25 and right end covers 25 of the motor 20, the end covers 25 are arranged at the right end of the motor 20 and are fixedly connected through the fixing bolts 10, the end covers 25 are positioned between the machine shell and the sealing covers 23, the gear A26 is arranged on the transmission outer surface of the motor 20, the gear A26 is positioned at the right end of the transmission shaft 9 of the motor 20, the pin key 27 is arranged between the transmission shaft 9 and the gear A26, the pin key 27 is positioned in the key, the key slot 29 is arranged on the outer surface of the transmission shaft 9, the key slot 29 is positioned below the gear, the gear B30 is arranged on the outer surface of the transmission shaft 9, and the gear B30 is positioned below the wheelchair 5.
Wherein, the push handle 8 is arranged on the rear surface of the wheelchair 5, and the push handle 8 is positioned in the middle position of the rear surface of the wheelchair 5 and is fixedly connected through the fixing bolt 10, thereby playing the problem of being convenient for pushing the vehicle in the state of no electricity.
Wherein, the display screen 11 is installed on the fixing frame 12, and the display screen 11 is located on the right side surface of the fixing frame 12, which plays the roles of searching addresses and watching videos.
Wherein, earphone hole 13 sets up on the surface of mount 12 head ends, and earphone hole 13 is located the surperficial upper end intermediate position of mount 12 head ends, has played the effect of the sound of hearing the display screen 11 broadcast clearly in noisy environment.
Wherein, the electric brake key 16 is arranged on the right baffle of the wheelchair 5, and the electric brake key 16 is positioned in the middle of the right baffle, thereby playing the role of convenient braking.
Wherein, the USB interface 17 is installed on the surface of the head end of the fixing frame 12, and the USB interface 17 is located between the speaker 14 and the earphone hole 13, which plays a role of conveniently downloading contents for the display screen 11.
Wherein the back cushion 18 is arranged on the seat of the wheelchair 5, and the back cushion 18 is arranged on the seat in a half-surrounding way, thereby playing a comfortable role for people to sit.
Wherein, the motor 20 is installed in the internal cavity 19 of the wheelchair 5, and the model of the motor 20 is: Y100L-2, which functions to provide kinetic energy to the wheelchair 5.
Wherein, the foot pad 22 is arranged on the foot board of the wheelchair 5, and the foot pad 22 completely covers the foot board of the wheelchair 5, thereby playing the roles of preventing slipping and being convenient for cleaning.
The utility model provides an intelligence wheelchair based on machine vision, at first move wheelchair 5 to suitable position through pushing away handle 8, then stop wheelchair 5 through the electronic brake key, then hold up the people who needs wheelchair 5, then oneself can search for the address that needs through display screen 3 above mount 4, then open electronic brake key 16, then battery 21 in the cavity 19 will provide the electric energy for motor 20, then motor 20 drives gear A through transmission shaft 9 and rotates, then gear A drives gear B through belt 28 and rotates, then gear B drives transmission shaft 9 below the wheelchair through pin key 27 above transmission shaft 9 and rotates, then install gyro wheel 7 transmission shaft 9 at transmission shaft 9 both ends and rotate, then wheelchair 5 will go the route that has set up earlier, in the in-process of traveling, whether according to the self condition need open sunshade 1, if necessary, the rear-view mirror 3 on the support frame 4 can be observed through opening the control switch to know the rear situation, and then the wheelchair 5 can be driven by the handle 2. In order to solve the problem of sunshine insolation in the moving process, the sunshade 1 and the electric control key are designed, so that the opening size of the sunshade 1 can be adjusted through the electric control key, and the problem of sunshine insolation in the moving process is avoided. In order to solve the problem that the situation of the rear part cannot be observed in the moving process, the supporting frame 4 and the rearview mirror 3 are designed, so that the situation of people at the rear part of the moving process is facilitated, and the situation that the vehicle cannot be avoided due to the fact that the vehicle comes from the rear part is avoided. In order to solve the problem of boring in the process of a journey, the display screen 11 and the loudspeaker 14 are designed, so that under the condition of automatic navigation, people can watch favorite programs through the display screen 11 or listen to songs to play time, and boring when one person walks is avoided. In order to solve the problem that the sound of the loudspeaker 14 cannot be clearly heard in a noisy environment, the earphone hole 13 is worn, and the earphone hole 13 is installed on the support frame 4, so that the problem that the loudspeaker 14 cannot be clearly heard in the noisy environment is avoided.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention and are not intended to limit the spirit and scope of the present invention. Without departing from the design concept of the present invention, various modifications and improvements made by the technical solution of the present invention by those skilled in the art should fall into the protection scope of the present invention, and the technical contents claimed by the present invention have been fully recorded in the claims.
Claims (9)
1. The utility model provides an intelligence wheelchair based on machine vision, including sunshade (1), handle (2), rear-view mirror (3), support frame (4), wheelchair (5), supporting leg (6), gyro wheel (7), push away handle (8), transmission shaft (9), fixing bolt (10), display screen (11), mount (12), earphone hole (13), speaker (14), handrail (15), electric brake key (16), USB socket (17), cushion (18), cavity (19), motor (20), battery (21), callus on the sole (22), sealed lid (23), bearing (24), end cover (25), gear A (26), round pin key (27), belt (28), keyway (29) and gear B (30), its characterized in that: the sunshade (1) is installed on the handrail (15), the sunshade (1) is of a semi-surrounding structure, the handle (2) is installed on the upper surface of the handrail (15), the handle (2) is located at the upper end of a control key of the sunshade (1), the rearview mirrors (3) are installed on the support frames (4), two rearview mirrors (3) are installed on the left and right sides of the wheelchair (5) on the support frames (4), the support frames (4) are installed on left and right baffle plates of the wheelchair (5), the support frames (4) and the wheelchair (5) are fixedly connected through the fixing bolts (10), the lower surface of the wheelchair (5) is provided with the support legs (6), four support legs (6) are installed on four corners of the lower surface of the wheelchair (5), the rollers (7) are installed in clamping grooves at the lower ends of the support legs (6), and four gyro wheels (7) with pass through between supporting leg (6) fixing bolt (10) fixed connection, install transmission shaft (9) wheelchair (5) lower surface, just two are installed respectively at the both ends of transmission shaft (9) gyro wheel (7), install mount (12) on wheelchair (5) right side baffle, just mount (12) are located on wheelchair (5) baffle inboard surface, moreover mount (12) with pass through between wheelchair (5) fixing bolt (10) fixed connection, speaker (14) are installed on mount (12) head end surface, just speaker (14) are located USB socket (17) lower extreme, handrail (15) set up on baffle about wheelchair (5), just handrail (15) set up to the wave, the utility model discloses a wheelchair, including wheelchair (5), cavity (19), battery (21), sealed lid (23), motor (20), fixed bolt (10), bearing (24), end cover (25), cavity (19) sets up inside wheelchair (5), just cavity (19) is located the seat below, battery (21) are installed inside wheelchair (5) in cavity (19), just battery (21) are located motor (20) left side, sealed lid (23) are installed both ends intermediate position about motor (20), just sealed lid (23) with pass through between motor (20) fixed connection, bearing (24) are installed both ends intermediate position about motor (20), just bearing (24) are inlayed about motor (20) in end cover (25), end cover (25) are installed the right-hand member of motor (20) and pass through fixed bolt (10) fixed connection, just end cover (25) be located the casing with between sealed lid (23), gear a (26) is installed motor (20) the transmission surface, just gear a (26) is located motor (20) transmission shaft (9) right-hand member, pin key (27) is installed transmission shaft (9) with between gear a (26), just pin key (27) is located transmission shaft (9) in keyway (29), belt (28) is installed gear a (26) with between gear B (30), just belt (28) is located gear a (26) with gear B (30) surface, keyway (29) set up transmission shaft (9) surface, just keyway (29) is located the gear below, gear B (30) is installed transmission shaft (9) surface, just gear B (30) is located wheelchair (5) below.
2. The machine vision based intelligent wheelchair of claim 1, wherein: the push handle (8) is arranged on the rear surface of the wheelchair (5), and the push handle (8) is positioned in the middle position of the rear surface of the wheelchair (5) and is fixedly connected with the rear surface of the wheelchair through the fixing bolt (10).
3. The machine vision based intelligent wheelchair of claim 1, wherein: the display screen (11) is installed on the fixing frame (12), and the display screen (11) is located on the right side surface of the fixing frame (12).
4. The machine vision based intelligent wheelchair of claim 1, wherein: the earphone hole (13) is formed in the surface of the head end of the fixing frame (12), and the earphone hole (13) is located in the middle of the upper end of the surface of the head end of the fixing frame (12).
5. The machine vision based intelligent wheelchair of claim 1, wherein: the electric brake key (16) is installed on a baffle on the right side of the wheelchair (5), and the electric brake key (16) is located in the middle of the baffle on the right side.
6. The machine vision based intelligent wheelchair of claim 1, wherein: the USB socket (17) is installed on the surface of the head end of the fixed frame (12), and the USB socket (17) is located between the loudspeaker (14) and the earphone hole (13).
7. The machine vision based intelligent wheelchair of claim 1, wherein: the back cushion (18) is arranged on the seat of the wheelchair (5), and the back cushion (18) is arranged on the seat in a half-surrounding mode.
8. The machine vision based intelligent wheelchair of claim 1, wherein: the motor (20) is arranged in the cavity (19) inside the wheelchair (5), and the type of the motor (20) is as follows: Y100L-2.
9. The machine vision based intelligent wheelchair of claim 1, wherein: the foot pad (22) is arranged on the pedal of the wheelchair (5), and the foot pad (22) completely covers the pedal of the wheelchair (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920709698.2U CN210330937U (en) | 2019-05-17 | 2019-05-17 | Intelligent wheelchair based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920709698.2U CN210330937U (en) | 2019-05-17 | 2019-05-17 | Intelligent wheelchair based on machine vision |
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| Publication Number | Publication Date |
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| CN210330937U true CN210330937U (en) | 2020-04-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920709698.2U Active CN210330937U (en) | 2019-05-17 | 2019-05-17 | Intelligent wheelchair based on machine vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022241218A1 (en) * | 2021-05-14 | 2022-11-17 | The United States Government As Represented By The Department Of Veterans Affairs | Wheelchair with multi-axis passive-active suspension actuation |
-
2019
- 2019-05-17 CN CN201920709698.2U patent/CN210330937U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022241218A1 (en) * | 2021-05-14 | 2022-11-17 | The United States Government As Represented By The Department Of Veterans Affairs | Wheelchair with multi-axis passive-active suspension actuation |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Zhejiang CommScope Machinery Co.,Ltd. Assignor: TAIZHOU VOCATIONAL & TECHNICAL College Contract record no.: X2023980033842 Denomination of utility model: An Intelligent Wheelchair Based on Machine Vision Granted publication date: 20200417 License type: Common License Record date: 20230323 |
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| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: TAIZHOU HENGYUAN ELECTRICAL APPLIANCES Co.,Ltd. Assignor: TAIZHOU VOCATIONAL & TECHNICAL College Contract record no.: X2023980033875 Denomination of utility model: An Intelligent Wheelchair Based on Machine Vision Granted publication date: 20200417 License type: Common License Record date: 20230328 |
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| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Zhejiang Keda Environmental Protection Engineering Co.,Ltd. Assignor: TAIZHOU VOCATIONAL & TECHNICAL College Contract record no.: X2023980044348 Denomination of utility model: An Intelligent Wheelchair Based on Machine Vision Granted publication date: 20200417 License type: Common License Record date: 20231024 Assignee: Taizhou Dahe Environmental Protection Technology Co.,Ltd. Assignor: TAIZHOU VOCATIONAL & TECHNICAL College Contract record no.: X2023980044337 Denomination of utility model: An Intelligent Wheelchair Based on Machine Vision Granted publication date: 20200417 License type: Common License Record date: 20231024 |