| 摘要 |
Massager vehicle for autonomously traveling on the body of a patient, The massager vehicle is massaging the body of the patient, the massager vehicle includes a vehicle chassis, at least one motor, at least three wheels, a roll tilt sensor, a pitch tilt sensor, a boundary sensor and a controller, The at least three wheels are coupled with the chassis, at least one of the wheels is positioned at a first side of the chassis and at least another one of the wheels is positioned at a second side of the chassis, opposite to the first side, the roll tilt sensor determines a roll angle of the massager vehicle, the pitch tilt sensor determines a pitch angle of the massager vehicle, the boundary sensor determines when the massager vehicle is approaching a boundary, beyond which the massager vehicle may not travel, the controller controls the motion of the massager vehicle the controller is coupled with the motor, the roll tilt sensor, the pitch tilt sensor and with the boundary sensor, the controller receives information from the roll tilt sensor, the pitch tilt sensor and from the boundary sensor, the controller instructs the motor to change the direction of travel of the massager vehicle according to the received information.
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