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US 11,487,290 B2Granted
Systems and methods for tracking an accessory by a wheelchair and coupling the wheelchair to the accessory
AssigneeToyota Motor North America, Inc.
InventorKatsumi Nagata
Life of this patent
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Abstract
Embodiments herein are directed to a wheelchair system that includes a wheelchair. The wheelchair includes a coupling mechanism, a processing device, and a non-transitory, processor-readable storage medium in communication with the processing device. The non-transitory, processor-readable storage medium includes one or more programming instructions that, when executed, cause the processing device to determine the location of an accessory, position the wheelchair with respect to the accessory, and couple the wheelchair to the accessory via the coupling mechanism. The positioning of the wheelchair is independent from a user physically controlling the positioning of the wheelchair with respect to the accessory.
Claims20
A wheelchair system comprising:
- a wheelchair comprising:
- a camera;
- a coupling mechanism, and
- an electronic control unit having a processing device communicatively coupled to the camera and configured to:
- determine a location of an accessory;
- instruct the camera to capture an image of the accessory;
- analyze the image to recognize a type of the accessory from a plurality of different accessory types, each different accessory type from the plurality of different accessory types having a different receiving portion;
- determine an orientation of the accessory and a distance to the receiving portion of the recognized type of accessory from a current position of the wheelchair;
- position the wheelchair with respect to the accessory based on the recognized type of accessory, the determined orientation of the accessory and the determined distance to the receiving portion of the recognized type of accessory, and
- couple the wheelchair to the receiving portion of the recognized type of accessory via the coupling mechanism such that a movement of the accessory is controlled by the wheelchair,
- wherein the positioning of the wheelchair is independent from a user physically controlling the positioning of the wheelchair with respect to the accessory.
8 more elements
A powered wheelchair system comprising:
- a powered wheelchair having a user positioned thereon, the powered wheelchair comprising:
- a frame,
- a coupling mechanism attached to the frame,
- a camera coupled to the frame, and
- an electronic control unit communicatively coupled to the camera,
- wherein:
- the coupling mechanism and the powered wheelchair are communicatively coupled to the electronic control unit,
- the electronic control unit determines a location of an accessory, instructs the camera to capture an image of the accessory, analyzes the image to recognize a type of the accessory from a plurality of different accessory types, each different accessory type of from the plurality of different accessory types having a different receiving portion, determines an orientation of the accessory and a distance to the receiving portion of the recognized type of accessory from a current position of the powered wheelchair, coordinates positioning of the powered wheelchair with respect to the accessory, independent from the user physically controlling the positioning of the powered wheelchair, based on the recognized type of accessory, the determined orientation of the accessory and the determined distance to the receiving portion of the recognized type of accessory, and couples the powered wheelchair to the receiving portion of the recognized type of accessory via the coupling mechanism such that a movement of the accessory is controlled by the powered wheelchair.
5 more elements
A method of controlling a powered wheelchair to couple to an accessory, the method comprising:
- receiving, by an electronic control unit, an input from a user, the input corresponding to a request for the accessory;
- determining, by the electronic control unit, a location of the accessory;
- capturing, by a camera, an image of the accessory;
- analyzing, by the electronic control unit, the image to recognize a type of the accessory from a plurality of different accessory types, each different accessory type from the plurality of different accessory types having a different receiving portion;
- determining, by the electronic control unit, an orientation of the accessory and a distance to the receiving portion of the recognized type of accessory;
- moving, by a first actuator, the powered wheelchair to orientate the powered wheelchair with respect to the accessory into a coupling position, independent from the user physically controlling a positioning of the powered wheelchair, based on the recognized type of accessory, the determined orientation of the accessory, and the determined distance to the receiving portion of the recognized type of accessory;
- extending, by a second actuator, a coupling mechanism in a system longitudinal direction such that a first end of the coupling mechanism makes contact with the receiving portion of the recognized type of accessory;
- and
- coupling, by the first end of the coupling mechanism, the accessory to the powered wheelchair such that a movement of the accessory is controlled by the powered wheelchair.
6 more elements
Dependencies are inferred from the claim text.