技术领域technical field
本发明涉及虚拟现实设备领域，尤其是一种VR轮椅训练系统及其控制方法。The invention relates to the field of virtual reality equipment, in particular to a VR wheelchair training system and a control method thereof.
背景技术Background technique
随着VR技术的不断发展，目前VR技术被应用到各行各业，例如游戏、影视和仿真训练等等。With the continuous development of VR technology, VR technology is currently applied to various industries, such as games, film and television, and simulation training.
轮椅，是伤残人士或者长者的代步工具，对于此类人群，轮椅的使用显得尤为重要。而很多人，在刚开始使用轮椅时并不习惯，需要经过一段时间练习后才能熟悉地使用轮椅。如果让伤残人士或者长者直接在户外练习使用轮椅，有可能会造成意外。因此需要一套练习系统让他们能够在室内进行练习。Wheelchairs are a means of transportation for the disabled or the elderly. For such people, the use of wheelchairs is particularly important. However, many people are not used to using a wheelchair when they first start to use it. It takes a period of practice before they can become familiar with using a wheelchair. If the disabled or the elderly are allowed to practice using the wheelchair outdoors, it may cause accidents. Therefore need a set of exercise system to allow them to practice indoors.
但是目前的轮椅训练系统，仅仅只能对用户进行训练，而不能提供虚拟场景，因此用户使用起来会觉得练习场景不真实，练习较为枯燥。However, the current wheelchair training system can only train users and cannot provide virtual scenes, so users will feel that the practice scenes are unreal and the exercises are boring.
发明内容Contents of the invention
为解决上述技术问题，本发明的目的在于：提供一种可以提供真实感的VR轮椅训练系统及其控制方法。In order to solve the above technical problems, the object of the present invention is to provide a VR wheelchair training system and a control method thereof that can provide a sense of reality.
本发明所采取的第一种技术方案是：The first technical scheme adopted by the present invention is:
一种VR轮椅训练系统，包括底座、主机、VR眼镜和电源，所述底座上设有第一限位槽和第二限位槽，所述第一限位槽内设有第一支撑辊和第二支撑辊，所述第二限位槽内设有第三支撑辊和第四支撑辊，所述第一支撑辊或第二支撑辊上安装有第一电磁阻尼器和第一速度传感器，所述第三支撑辊或第四支撑辊上安装有第二电磁阻尼器和第二速度传感器，所述底座的一侧设有操作台，所述操作台上设有第一旋钮和第二旋钮，所述第一旋钮连接有第一可调电阻，所述第二旋钮连接有第二可调电阻，所述第一电磁阻尼器通过第一可调电阻与电源连接，所述第二电磁阻尼器通过第二可调电阻与电源连接，所述第一速度传感器输出端和第二速度传感器的输出端均与主机的输入端通信连接，所述VR眼镜与主机通信连接。A VR wheelchair training system, comprising a base, a host, VR glasses and a power supply, the base is provided with a first limiting groove and a second limiting groove, and a first support roller and a first supporting roller are arranged in the first limiting groove The second support roller, the third support roller and the fourth support roller are arranged in the second limiting groove, the first electromagnetic damper and the first speed sensor are installed on the first support roller or the second support roller, A second electromagnetic damper and a second speed sensor are installed on the third support roller or the fourth support roller, and an operation platform is provided on one side of the base, and a first knob and a second knob are arranged on the operation platform , the first knob is connected to a first adjustable resistor, the second knob is connected to a second adjustable resistor, the first electromagnetic damper is connected to the power supply through the first adjustable resistor, and the second electromagnetic damper The controller is connected to the power supply through a second adjustable resistor, the output terminals of the first speed sensor and the output terminal of the second speed sensor are both communicatively connected to the input terminal of the host, and the VR glasses are communicatively connected to the host.
进一步，所述底座还安装有引导斜坡。Further, the base is also equipped with a guide slope.
进一步，所述第一支撑辊和第二支撑辊平行安装，所述第三支撑辊与第四支撑辊平行安装，所述第一支撑辊的轴心与第三支撑辊的轴心经过同一直线，所述第二支撑辊的轴心与第四支撑辊的轴心经过同一直线。Further, the first support roller and the second support roller are installed in parallel, the third support roller is installed in parallel with the fourth support roller, and the axis center of the first support roller and the axis center of the third support roller pass through the same straight line , the axis center of the second support roller and the axis center of the fourth support roller pass through the same straight line.
进一步，所述底座的两侧各设有两个高度调节组件。Further, two height adjustment assemblies are provided on both sides of the base.
进一步，还包括音箱，所述音箱的输入端与VR主机的输出端连接。Further, a sound box is also included, and the input end of the sound box is connected with the output end of the VR host.
进一步，还包括输入设备，所述输入设备的输出端与主机的输入端连接。Further, an input device is also included, and the output end of the input device is connected to the input end of the host.
进一步，还包括显示器，所述显示器的输入端与主机的输出端连接。Further, a display is also included, and the input end of the display is connected to the output end of the host.
本发明所采取的第二种技术方案是：The second technical scheme that the present invention takes is:
一种VR轮椅训练系统的控制方法，包括以下步骤：A control method of a VR wheelchair training system, comprising the following steps:
实时获取所述第一速度传感器采集的第一速度数据和第二速度传感器采集的第二速度数据；Obtaining the first speed data collected by the first speed sensor and the second speed data collected by the second speed sensor in real time;
根据所述第一速度数据和第二速度数据调整当前用户在虚拟场景中的位置。Adjust the current user's position in the virtual scene according to the first speed data and the second speed data.
进一步，还包括以下步骤：Further, the following steps are also included:
根据所述第一速度数据和第二速度数据生成虚拟移动轨迹；generating a virtual movement track according to the first speed data and the second speed data;
根据所述虚拟移动轨迹，计算用户与虚拟场景中障碍物的碰撞次数。According to the virtual movement trajectory, the number of collisions between the user and the obstacles in the virtual scene is calculated.
进一步，还包括以下步骤：Further, the following steps are also included:
根据所述第一速度数据和第二速度数据，计算用户的实时速度；calculating the real-time speed of the user according to the first speed data and the second speed data;
控制VR眼镜显示所述用户的实时速度。Control the VR glasses to display the real-time speed of the user.
进一步，还包括以下步骤：Further, the following steps are also included:
根据当前用户在虚拟场景中的位置，控制VR眼镜显示用户所在位置的平面地图。According to the current user's position in the virtual scene, the VR glasses are controlled to display a flat map of the user's location.
进一步，还包括以下步骤：Further, the following steps are also included:
根据当前用户在虚拟场景中的位置，控制VR眼镜显示当前用户所在位置的坡度。According to the current user's position in the virtual scene, the VR glasses are controlled to display the slope of the current user's position.
本发明的系统的有益效果是：包括底座、主机、VR眼镜和电源，所述底座上设有第一限位槽和第二限位槽，所述第一限位槽内设有第一支撑辊和第二支撑辊，所述第二限位槽内设有第三支撑辊和第四支撑辊，本发明在支撑辊上安装有两个电磁阻尼器，并且电磁阻尼器上设有调节电磁阻尼器阻尼大小的旋钮，因此用户可以在虚拟现实环境下，根据场景需要分别调节第一限位槽和第二限位槽内的支撑辊的滚动阻尼，从而仿真模拟轮椅左右轮受到的阻力，使得用户的模拟训练更加真实，从而使得用户不容易觉得训练枯燥。The beneficial effect of the system of the present invention is: it includes a base, a host, VR glasses and a power supply, the base is provided with a first limiting groove and a second limiting groove, and a first supporting groove is provided in the first limiting groove roller and the second support roller, the third support roller and the fourth support roller are arranged in the second limit groove, and the present invention is equipped with two electromagnetic dampers on the support roller, and the electromagnetic damper is provided with an adjusting electromagnetic The damper damping knob, so the user can adjust the rolling damping of the support rollers in the first limit groove and the second limit groove respectively according to the needs of the scene in the virtual reality environment, so as to simulate the resistance of the left and right wheels of the wheelchair. Make the user's simulation training more realistic, so that the user is not easy to feel that the training is boring.
本发明的控制方法的有益效果是：根据第一速度传感器和第二速度传感器所采集的速度，实时调整用户在虚拟场景中的位置，使得用户觉得自己在虚拟场景中移动，训练效果更佳真实，从而使得用户不容易觉得训练枯燥。The beneficial effect of the control method of the present invention is: according to the speed collected by the first speed sensor and the second speed sensor, the position of the user in the virtual scene is adjusted in real time, so that the user feels that he is moving in the virtual scene, and the training effect is better and more realistic. Thereby making it difficult for the user to feel that the training is boring.
附图说明Description of drawings
图1为本发明一种VR轮椅训练系统的结构示意图；Fig. 1 is the structural representation of a kind of VR wheelchair training system of the present invention;
图2为本发明一种VR轮椅训练系统的模块框图；Fig. 2 is the modular block diagram of a kind of VR wheelchair training system of the present invention;
图3为本发明一种电磁阻尼器、电源和可调电阻的电路原理图；Fig. 3 is the circuit principle diagram of a kind of electromagnetic damper, power supply and adjustable resistance of the present invention;
图4为本发明一种VR轮椅训练系统的控制方法的流程图。Fig. 4 is a flowchart of a control method of a VR wheelchair training system of the present invention.
具体实施方式Detailed ways
下面结合说明书附图和具体的实施例对本发明进行进一步的说明。The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
参照图1，一种VR轮椅训练系统，包括底座100、主机、VR眼镜和电源，所述底座100上设有第一限位槽110和第二限位槽120，所述第一限位槽110内设有第一支撑辊111和第二支撑辊112，所述第二限位槽120内设有第三支撑辊123和第四支撑辊124，所述第一支撑辊111或第二支撑辊112上安装有第一电磁阻尼器和第一速度传感器，所述第三支撑辊123或第四支撑辊124上安装有第二电磁阻尼器和第二速度传感器，所述底座100的一侧设有操作台130，所述操作台130上设有第一旋钮131和第二旋钮132，所述第一旋钮131连接有第一可调电阻，所述第二旋钮132连接有第二可调电阻。Referring to Fig. 1, a VR wheelchair training system includes a base 100, a host, VR glasses and a power supply, the base 100 is provided with a first limiting groove 110 and a second limiting groove 120, and the first limiting groove 110 is provided with a first support roller 111 and a second support roller 112, and the second limit groove 120 is provided with a third support roller 123 and a fourth support roller 124, and the first support roller 111 or the second support roller A first electromagnetic damper and a first speed sensor are installed on the roller 112, a second electromagnetic damper and a second speed sensor are installed on the third supporting roller 123 or the fourth supporting roller 124, and one side of the base 100 A console 130 is provided, and a first knob 131 and a second knob 132 are arranged on the console 130. The first knob 131 is connected with a first adjustable resistor, and the second knob 132 is connected with a second adjustable resistor. resistance.
参照图2，所述第一速度传感器输出端和第二速度传感器的输出端均与主机的输入端通信连接，所述VR眼镜与主机通信连接。Referring to FIG. 2 , both the output end of the first speed sensor and the output end of the second speed sensor are communicatively connected to the input end of the host, and the VR glasses are communicatively connected to the host.
所述第一电磁阻尼器通过第一可调电阻与电源连接，所述第二电磁阻尼器通过第二可调电阻与电源连接。如图3所示，本发明可以将电位器R(即可调电阻)串联在电源正极VCC和电磁阻尼器的电压输入端。The first electromagnetic damper is connected to a power supply through a first adjustable resistor, and the second electromagnetic damper is connected to a power supply through a second adjustable resistor. As shown in FIG. 3 , the present invention can connect the potentiometer R (that is, the adjustable resistance) in series with the positive pole VCC of the power supply and the voltage input terminal of the electromagnetic damper.
其中，第一限位槽110和第二限位槽120，用于限制轮椅后轮的位置，其中，第一限位槽110用于限制轮椅的左轮的位置，第二限位槽120用于限制轮椅的右轮的位置。Wherein, the first limiting groove 110 and the second limiting groove 120 are used to limit the position of the rear wheel of the wheelchair, wherein the first limiting groove 110 is used to limit the position of the left wheel of the wheelchair, and the second limiting groove 120 is used for Limit the position of the right wheel of the wheelchair.
电磁阻尼器，用于调节支撑辊的滚动阻尼。所述电磁阻尼器根据输入电流的大小产生不同大小的输出阻尼，输入电流越大，产生的输出阻尼越大。所述电磁阻尼器可以采用现有的电磁阻尼器实现。本领域技术人员可以根据电磁阻尼器选用的类型和具体型号，灵活调整电磁阻尼器与支撑辊之间的安装方式。作为代替的实施例，所述电磁阻尼器也可以用可手动调节输出阻尼的永磁阻尼器实现。Electromagnetic dampers for adjusting the rolling damping of the support rollers. The electromagnetic damper produces output damping of different sizes according to the magnitude of the input current, and the greater the input current, the greater the output damping produced. The electromagnetic damper can be realized by using an existing electromagnetic damper. Those skilled in the art can flexibly adjust the installation method between the electromagnetic damper and the support roller according to the type and specific model selected by the electromagnetic damper. As an alternative embodiment, the electromagnetic damper can also be realized by a permanent magnet damper whose output damping can be adjusted manually.
支撑辊在用户旋转轮椅后轮时会被轮椅后轮带动旋转，其中安装有电磁阻尼器的支撑辊的滚动阻尼受到电磁阻尼器的控制。The support roller will be driven to rotate by the rear wheel of the wheelchair when the user rotates the rear wheel of the wheelchair, wherein the rolling damping of the support roller equipped with an electromagnetic damper is controlled by the electromagnetic damper.
可调电阻，用于调节电磁阻尼器的输入电流，所述可调电阻可以采用电位器实现。The adjustable resistor is used to adjust the input current of the electromagnetic damper, and the adjustable resistor can be realized by using a potentiometer.
VR眼镜，用于向用户播放VR内容，并将VR眼镜当前的姿态数据返回到主机。所述VR眼镜可以采用现有的VR眼镜实现，例如，VIVE系列的VR眼镜。VR眼镜可以通过USB接口、蓝牙或者WIFI等于主机通信连接。The VR glasses are used to play VR content to the user and return the current posture data of the VR glasses to the host. The VR glasses can be realized by using existing VR glasses, for example, VIVE series VR glasses. The VR glasses can be connected to the host through USB interface, bluetooth or WIFI.
速度传感器，用于测量支撑辊的角速度，即测量单位时间内支撑辊旋转的圈数，并将测量得到的数据返回主机。所述速度可以采用现有的速度传感器实现，所述速度传感器可以通过如USB接口、蓝牙或者WIFI等与主机通信连接。The speed sensor is used to measure the angular velocity of the support roller, that is, to measure the number of revolutions of the support roller per unit time, and return the measured data to the host. The speed can be realized by using an existing speed sensor, and the speed sensor can be connected to the host through communication such as a USB interface, bluetooth or WIFI.
主机，用于根据VR眼镜和速度传感器的数据，控制VR眼镜播放VR内容。The host is used to control the VR glasses to play VR content according to the data of the VR glasses and the speed sensor.
电源，用于供电，所述电源可以是直流电源适配器或者是指电源接口。The power supply is used for supplying power, and the power supply may be a DC power adapter or a power interface.
本发明的工作原理为：用户可以根据当前播放的VR场景(如上坡、下坡或者转弯等)，通过旋钮调节可调电阻的大小，使得电磁阻尼器的输入电流大小发生变化，从而使电磁阻尼器改变支撑辊的滚动阻尼，以模拟轮椅左右两个后轮在不同场景下所受到的滚动阻尼。此外本领域技术人员应当清楚，在使用本系统前，应当固定轮椅的相对位置，例如可以通过一些固定机构将轮椅的前轮锁定。The working principle of the present invention is: the user can adjust the size of the adjustable resistance through the knob according to the currently played VR scene (such as uphill, downhill or turning, etc.), so that the input current of the electromagnetic damper changes, so that the electromagnetic damping The controller changes the rolling damping of the supporting rollers to simulate the rolling damping of the left and right rear wheels of the wheelchair in different scenarios. In addition, those skilled in the art should understand that before using the system, the relative position of the wheelchair should be fixed, for example, the front wheels of the wheelchair can be locked by some fixing mechanism.
参照图1，作为优选的实施例，为了便于用户将轮椅移动到底座上，所述底座还安装有引导斜坡140。Referring to FIG. 1 , as a preferred embodiment, in order to facilitate the user to move the wheelchair onto the base, the base is also equipped with a guide slope 140 .
参照图1，作为优选的实施例，为了轮椅的左右轮在相同的阻尼条件下受力平衡，所述第一支撑辊111和第二支撑辊112平行安装，所述第三支撑辊123与第四支撑辊124平行安装，所述第一支撑辊111的轴心与第三支撑辊123的轴心经过同一直线，所述第二支撑辊112的轴心与第四支撑辊124的轴心经过同一直线。所述支撑辊的长度以及两个支撑辊之间的安装距离，设计人员可以根据目标轮椅的规格进行灵活调整。Referring to Fig. 1, as a preferred embodiment, for the left and right wheels of the wheelchair to be balanced under the same damping conditions, the first support roller 111 and the second support roller 112 are installed in parallel, and the third support roller 123 and the second support roller Four support rollers 124 are installed in parallel, the axis center of the first support roller 111 and the axis center of the third support roller 123 pass through the same straight line, and the axis center of the second support roller 112 and the axis center of the fourth support roller 124 pass through the same straight line. the same line. The length of the support roller and the installation distance between the two support rollers can be flexibly adjusted by the designer according to the specifications of the target wheelchair.
参照图1，作为优选的实施例，为了调整底座的高度，所述底座100的两侧各设有两个高度调节组件150，所述高度调节组件可以采用丝杆结构实现。Referring to FIG. 1 , as a preferred embodiment, in order to adjust the height of the base, two height adjustment assemblies 150 are provided on both sides of the base 100 , and the height adjustment assemblies can be realized by a screw structure.
参照图2，作为优选的实施例，为了能够播放VR内容中的声音，本实施例还包括音箱，所述音箱的输入端与VR主机的输出端连接。Referring to FIG. 2 , as a preferred embodiment, in order to be able to play the sound in the VR content, this embodiment further includes a sound box, and the input end of the sound sound box is connected to the output end of the VR host.
参照图2，作为优选的实施例，为了便于用户对主机进行操作，本实施例还包括输入设备，所述输入设备的输出端与主机的输入端连接。所述输入设备为鼠标和键盘。Referring to FIG. 2 , as a preferred embodiment, in order to facilitate the user to operate the host, this embodiment further includes an input device, and the output end of the input device is connected to the input end of the host. The input devices are mouse and keyboard.
参照图2，作为优选的实施例，为了用户在使用本系统时，便于其监护人浏览当前系统播放的VR内容，本实施例还包括显示器，所述显示器的输入端与主机的输出端连接。所述显示器也可以用投影仪代替。Referring to Fig. 2, as a preferred embodiment, in order for users to use the system to facilitate their guardians to browse the VR content played by the current system, this embodiment also includes a display, the input of which is connected to the output of the host. The display can also be replaced by a projector.
参照图4，本实施例公开了一种VR轮椅训练系统的控制方法，其用于VR轮椅训练系统中的主机，所述主机包括PC主机、工控主机、或者是其他能够执行以下步骤的计算设备。Referring to FIG. 4 , this embodiment discloses a control method of a VR wheelchair training system, which is used for a host in the VR wheelchair training system, and the host includes a PC host, an industrial control host, or other computing devices capable of performing the following steps .
该方法包括以下步骤：The method includes the following steps:
S401、实时获取所述第一速度传感器采集的第一速度数据和第二速度传感器采集的第二速度数据；S401. Acquire in real time the first speed data collected by the first speed sensor and the second speed data collected by the second speed sensor;
S402、根据所述第一速度数据和第二速度数据调整当前用户在虚拟场景中的位置。S402. Adjust the position of the current user in the virtual scene according to the first speed data and the second speed data.
在本实施例中，所述控制方法主要由主机实现，所述第一速度传感器和第二速度传感器所采集的是第一限位槽和第二限位槽内的支撑辊的旋转速度。以采集到的第一速度数据和第二速度数据计算轮椅左右后轮的旋转速度，主机可以模拟轮椅在虚拟场景中的动作，包括向前、向后、左转和右转。In this embodiment, the control method is mainly implemented by the host, and the first speed sensor and the second speed sensor collect the rotation speeds of the support rollers in the first limiting groove and the second limiting groove. Calculate the rotation speed of the left and right rear wheels of the wheelchair based on the collected first speed data and second speed data, and the host computer can simulate the movement of the wheelchair in the virtual scene, including forward, backward, left turn and right turn.
作为优选的实施例，为了评价用户本次训练的质量，本事实施例还包括以下步骤：As a preferred embodiment, in order to evaluate the quality of the user's training this time, this embodiment also includes the following steps:
S403、根据所述第一速度数据和第二速度数据生成虚拟移动轨迹；S403. Generate a virtual movement track according to the first speed data and the second speed data;
S404、根据所述虚拟移动轨迹，计算用户与虚拟场景中障碍物的碰撞次数。S404. Calculate the number of collisions between the user and obstacles in the virtual scene according to the virtual movement track.
在虚拟场景中，包括如墙壁、花坛、路牌或者汽车等障碍物，当用户的虚拟移动轨迹经过这些物体时，视为用户碰撞了这些障碍物。用户可以根据自己碰撞障碍物的次数来评价自己在本次训练中的训练质量。在一些实施例中，所述碰撞次数实时通过VR眼镜显示，在另一些实施例中，所述碰撞次数可以通过主机导出。In the virtual scene, obstacles such as walls, flower beds, street signs or cars are included. When the user's virtual movement track passes these objects, it is considered that the user has collided with these obstacles. Users can evaluate their training quality in this training according to the number of times they collide with obstacles. In some embodiments, the number of collisions is displayed in real time through VR glasses, and in other embodiments, the number of collisions can be derived through the host.
作为优选的实施例，为了让用户了解自己当前的速度，本实施例还包括以下步骤：As a preferred embodiment, in order to let the user know his current speed, this embodiment also includes the following steps:
S405、根据所述第一速度数据和第二速度数据，计算用户的实时速度；S405. Calculate the real-time speed of the user according to the first speed data and the second speed data;
S406、控制VR眼镜显示所述用户的实时速度。S406. Control the VR glasses to display the real-time speed of the user.
在本实施例中，主机会根据第一速度数据和第二速度数据来计算左右轮速度给轮椅带来的合速度，在计算过程中，用户可以在主机中预先设定轮椅的物理模型。In this embodiment, the host will calculate the resultant speed of the wheelchair brought by the speed of the left and right wheels according to the first speed data and the second speed data. During the calculation process, the user can preset the physical model of the wheelchair in the host.
作为优选的实施例，为了让用户可以知道前方的路线，本实施例还包括以下步骤：As a preferred embodiment, in order to allow the user to know the route ahead, this embodiment also includes the following steps:
S407、根据当前用户在虚拟场景中的位置，控制VR眼镜显示用户所在位置的平面地图。本实施例中的地图，应该是指以用户所在位置为中心的平面地图。所述平面地图的大小可以根据虚拟需要灵活调节。S407. According to the current position of the user in the virtual scene, control the VR glasses to display a plane map of the user's position. The map in this embodiment should refer to a planar map centered on the location of the user. The size of the planar map can be flexibly adjusted according to virtual needs.
作为优选的实施例，为了便于用户根据场景调节阻尼，本实施例还包括以下步骤：As a preferred embodiment, in order to facilitate the user to adjust the damping according to the scene, this embodiment also includes the following steps:
S408、根据当前用户在虚拟场景中的位置，控制VR眼镜显示当前用户所在位置的坡度。S408. According to the current user's position in the virtual scene, control the VR glasses to display the slope of the current user's position.
用户在进行训练时，如当前的坡度从0°变为30°，用户可以通过旋钮将支撑辊的阻尼调得更大。When the user is training, if the current slope changes from 0° to 30°, the user can adjust the damping of the support roller to be larger through the knob.
以上是对本发明的较佳实施进行了具体说明，但本发明并不限于所述实施例，熟悉本领域的技术人员在不违背本发明精神的前提下还可做作出种种的等同变形或替换，这些等同的变形或替换均包含在本申请权利要求所限定的范围内。The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the described embodiments, and those skilled in the art can also make various equivalent deformations or replacements without violating the spirit of the present invention. These equivalent modifications or replacements are all within the scope defined by the claims of the present application.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810933696.1ACN108939460A (en) | 2018-08-16 | 2018-08-16 | A kind of VR wheelchair training system and its control method |
| Application Number | Priority Date | Filing Date | Title |
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| CN201810933696.1ACN108939460A (en) | 2018-08-16 | 2018-08-16 | A kind of VR wheelchair training system and its control method |
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| CN108939460Atrue CN108939460A (en) | 2018-12-07 |
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| CN201810933696.1APendingCN108939460A (en) | 2018-08-16 | 2018-08-16 | A kind of VR wheelchair training system and its control method |
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| TA01 | Transfer of patent application right | Effective date of registration:20190530 Address after:511450 Shiji Village Section 88, Lianlu Road, Shijizhen City, Panyu District, Guangzhou City, Guangdong Province Applicant after:Manuko Health Industry (Guangzhou) Co.,Ltd. Address before:415000 No. 22 Longmei Street, Yongfeng Community, Deshan Street, Changde Economic and Technological Development Zone, Hunan Province Applicant before:HUNAN HUMANEOTEC MEDICAL TECHNOLOGY Co.,Ltd. | |
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| RJ01 | Rejection of invention patent application after publication | Application publication date:20181207 |