Systems and methods for tracking an accessory by a wheelchair and coupling the wheelchair to the accessory

Patent metadata

Field	Value
Publication number	US-11487290-B2
Application number	US-201916595588-A
Country	US
Kind code	B2
Filing date	Oct 8, 2019
Priority date	Oct 8, 2019
Publication date	Nov 1, 2022
Grant date	Nov 1, 2022

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.

First claim

The invention claimed is:

1. 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.

2. The wheelchair system of claim 1 , wherein the electronic control unit receives a signal that corresponds to the location of the accessory.

3. The wheelchair system of claim 2 , wherein the signal received by the electronic control unit is an RFID signal, the RFID signal includes information relating to the location of the accessory.

4. The wheelchair system of claim 1 , wherein the electronic control unit is configured to determine a location of the wheelchair via a Global Positioning System.

5. The wheelchair system of claim 4 , wherein the type of the accessory is selected based on the location of the wheelchair.

6. The wheelchair system of claim 1 , wherein the wheelchair further comprises:
a frame, the coupling mechanism is mounted to the frame;
an actuator coupled to the coupling mechanism, the actuator is configured to move the coupling mechanism between a stored position and an extend position in a system longitudinal direction.

7. The wheelchair system of claim 6 , wherein the coupling mechanism includes a first end, the first end is configured to couple to the accessory when the coupling mechanism is in the extend position and disengage from the accessory when the coupling mechanism is in the stored position.

8. The wheelchair system of claim 7 , wherein the first end is at least one of a hook, a clamp, and a hook and loop fastener.

9. The wheelchair system of claim 1 , wherein the plurality of different accessory types include at least a shopping cart and a stroller.

10. 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.

11. The powered wheelchair system of claim 10 , wherein:
the powered wheelchair further includes a first actuator coupled to the frame and configured to position the powered wheelchair.

12. The powered wheelchair system of claim 11 , wherein a second actuator is positioned on the powered wheelchair and coupled to the coupling mechanism.

13. The powered wheelchair system of claim 12 , wherein the coupling mechanism includes a housing and a plurality of telescoping segments housed within the housing.

14. The powered wheelchair system of claim 13 , wherein the second actuator is configured to move the plurality of telescoping segments of the coupling mechanism between a stored position and an extend position in a system longitudinal direction, the plurality of telescoping segments are configured to nest into an adjacent segment when in the stored position.

15. The powered wheelchair system of claim 14 , wherein one of the plurality of telescoping segments of the coupling mechanism includes a first end, the first end is configured to couple to the accessory when the coupling mechanism is in the extend position and disengage from the accessory when the coupling mechanism is in the stored position.

16. The powered wheelchair system of claim 15 , wherein the first end is at least one of a hook, a clamp, and a hook and loop fastener.

17. The powered wheelchair system of claim 12 , wherein the coupling mechanism includes a housing and an elongated member housed within the housing, the second actuator is configured to move the elongated member of the coupling mechanism between a stored position and an extend position in a system longitudinal direction, the elongated member includes a first end, the first end is configured to couple to the accessory when the coupling mechanism is in the extend position and disengage from the accessory when the coupling mechanism is in the stored position, the first end is at least one of a hook, a clamp, and a hook and loop fastener.

18. The powered wheelchair system of claim 10 , wherein the plurality of different accessory types include at least a shopping cart and a stroller.

19. 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

Assignees

• Toyota Motor North America Inc

Inventors

• Nagata Katsumi

Classifications

• B62B5/002 Primary

  Adaptations for moving the carts by wheel chair users or other disabled persons · CPC title

• A61G5/04

  motor-driven (A61G5/06 takes precedence; motor-operated rests A61G5/12; for vehicles with handlebars, equipped with three or more wheels B62K5/003, B62K5/023) · CPC title

• B62B5/0079

  Towing by connecting to another vehicle · CPC title

• A61G5/10

  Parts, details or accessories · CPC title

• A61G2203/80

  for connecting a trolley to a device, e.g. bed or column table · CPC title