Wheelchair systems and methods to follow a companion

Patent metadata

Field	Value
Publication number	US-11896536-B2
Application number	US-202017091559-A
Country	US
Kind code	B2
Filing date	Nov 6, 2020
Priority date	Nov 6, 2020
Publication date	Feb 13, 2024
Grant date	Feb 13, 2024

Abstract

Systems and methods of wheelchair systems having a companion control mode are disclosed. The wheelchair system includes a companion and a wheelchair. The wheelchair includes one or more wheels, at least one actuator coupled to the one or more wheels, 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 companion, generate a companion profile based on the determined companion, determine a movement of the companion, and actuate the at least one actuator to drive the one or more wheels to follow the movement of the companion. The actuation of the at least one actuator to drive the one or more wheels to follow the movement of the companion is an autonomous control.

First claim

What is claimed is:

1. A wheelchair system comprising:
a wheelchair operable to detect a companion, the wheelchair comprising:
a plurality of sensors,
one or more wheels,
at least one actuator coupled to the one or more wheels,
a processing device, and
a processor-readable storage medium in communication with the processing device and the plurality of sensors, the storage medium storing one or more programming instructions that, when executed, cause the processing device to:
generate a companion profile based on a plurality of identifying features of a determined companion,
determine a movement of the companion,
actuate the at least one actuator to drive the one or more wheels to follow the movement of the companion,
wherein the actuation of the at least one actuator to drive the one or more wheels to follow the movement of the companion is an autonomous control,
detect an undesirable object in a path of movement of the wheelchair, and
inhibit the autonomous control of the at least one actuator.

2. The wheelchair system of claim 1 , wherein the companion is positioned to move along a side of the wheelchair.

3. The wheelchair system of claim 1 , wherein the companion profile is generated when the one or more programming instructions further cause the processing device to:
initiate an image capturing device to capture an image of the companion,
filter a background from a plurality of background noise, and
determine the companion.

4. The wheelchair system of claim 3 , wherein the plurality of identifying features of the determined companion to generate the companion profile is based on a recognized color of clothing of the companion captured by the image capturing device.

5. The wheelchair system of claim 3 , wherein the plurality of identifying features of the determined companion to generate the companion profile is based on a facial expression of the companion captured by the image capturing device.

6. The wheelchair system of claim 3 , wherein the plurality of identifying features of the determined companion to generate the companion profile is based on a cadence of the companion captured by the image capturing device.

7. A wheelchair system comprising:
a wheelchair operable to detect a companion, the wheelchair comprising:
a frame,
one or more wheels coupled to the frame,
at least one actuator coupled to the one or more wheels,
a plurality of sensors, and
a control unit,
wherein the control unit controls the wheelchair between a standard mode and a companion control mode such that in the companion control mode, the control unit actuates the at least one actuator to drive the one or more wheels to follow a movement of the companion,
wherein the actuation of the at least one actuator to drive the one or more wheels to follow the movement of the companion is an autonomous control,

the control unit further configured to detect an undesirable object in a path of movement of the wheelchair and inhibit the autonomous control of the at least one actuator.

8. The wheelchair system of claim 7 , further comprising:
at least one image capturing device communicatively coupled to the control unit.

9. The wheelchair system of claim 8 , wherein the control unit is further configured to:
activate the at least one image capturing device,
determine the companion,
generate a companion profile based on the determined companion, and
determine the movement of the companion.

10. The wheelchair system of claim 9 , wherein the control unit is further configured to:
filter a background from a plurality of background noise, and
determine the companion,
wherein the companion profile is generated from a plurality of identifying features of the determined companion.

11. The wheelchair system of claim 10 , wherein at least one of the plurality of identifying features of the determined companion to generate the companion profile is based on a recognized color of clothing of the companion captured by the at least one image capturing device.

12. The wheelchair system of claim 10 , wherein at least one of the plurality of identifying features of the determined companion to generate the companion profile is based on a facial expression of the companion captured by the at least one image capturing device.

13. The wheelchair system of claim 10 , wherein at least one of the plurality of identifying features of the determined companion to generate the companion profile is based on a cadence of the companion captured by the at least one image capturing device.

14. The wheelchair system of claim 7 , wherein the companion is positioned to move along a side of the wheelchair.

15. A method of operating a wheelchair, the method comprising:
receiving, by a control unit, an input from a user, the input corresponding to a request for a companion control mode;
determining, by the control unit, a companion;
determining, by the control unit, a movement of the companion;
actuating, by the control unit, at least one actuator to drive one or more wheels of the wheelchair to follow the movement of the companion;
detecting, by the control unit, an undesirable object in a path of movement of the wheelchair; and
inhibiting, by the control unit, the autonomous control of the at least one actuator.

16. The method of claim 15 , wherein the actuation of the at least one actuator to drive the one or more wheels to follow the movement of the companion is an autonomous control.

Assignees

• Toyota Motor North America Inc

Inventors

• Villarreal Suarez Dario Jose
• Darrow Sarah
• Moore Douglas A
• Lee Christopher

Classifications

• A61G5/024 Primary

  having particular operating means · CPC title

• A61G5/022

  acting on wheels, e.g. on tires or hand rims · CPC title

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• G06V40/174

  Facial expression recognition · CPC title

• A61G5/04 Primary

  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