Systems, devices, and methods including a wheelchair-assist robot

• US 10,099,379 B2
• Filed: 08/21/2014
• Issued: 10/16/2018
• Est. Priority Date: 08/21/2014
• Status: Expired due to Fees

• Current Assignee: Elwha LLC (Intellectual Ventures LLC)
• Original Assignee: Elwha LLC (Intellectual Ventures LLC)
• Inventors: Hyde, Roderick A., Kare, Jordin T., Leuthardt, Eric C., Lord, Richard T., Lord, Robert W., Rivet, Dennis J., Tegreene, Clarence T., Wood, Jr., Lowell L.
• Primary Examiner(s): Antonucci, Anne M
• Assistant Examiner(s): Malhotra, Sanjeev
• Application Number:
  US14/465,751
• Publication Number:
  US 20160052138A1
• Time in Patent Office: 1,517 Days
• Field of Search: 700 20, 700253, 707770, 74 37, 74 89, 244 2, 250208, 382124, 180 21, 342 47
• CPC Class Codes: A61G 5/04 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 Class Codes: A61G 5/10 Parts, details or accessories
• CPC Class Codes: A61G 5/1094 Tables, working plates or trays
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2101/31 for surveillance
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 30/26 Ducted or shrouded rotors
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058

Abstract

Systems, devices, and methods are described for providing, among other things, a wheelchair-assist robot for assisting a wheelchair user with everyday tasks or activities at work, at home, and the like. In an embodiment, the mobile wheelchair-assist robot includes a wheelchair interface component configured to exchange control information with a wheelchair controller. In an embodiment, a wheelchair-assist robot mount assembly is provided for, among other things, electrically and physically coupling a wheelchair-assist robot to an associated wheelchair.

Claims

1. A flying wheelchair-assist robot, comprising:

a wheelchair interface component operable to exchange control information with a wheelchair client device; and

a rotorcraft structure operably coupled to the wheelchair interface component, the rotorcraft structure including one or more rotors for generating lift.

2. The flying wheelchair-assist robot of claim 1, wherein the rotorcraft structure includes a plurality of rotary wings.

3. The flying wheelchair-assist robot of claim 1, further comprising:

an electronic surveillance payload.

4. The flying wheelchair-assist robot of claim 3, wherein the electronic surveillance payload includes one or more image sensors.

5. The flying wheelchair-assist robot of claim 3, wherein the electronic surveillance payload includes one or more acoustic sensors.

6. The flying wheelchair-assist robot of claim 3, wherein the electronic surveillance payload includes one or more electromagnetic energy sensors.

7. The flying wheelchair-assist robot of claim 3, wherein the electronic surveillance payload includes at least one of a receiver, a transmitter, and a transceiver.

8. The flying wheelchair-assist robot of claim 3, wherein the electronic surveillance payload includes one or more components configured to provide travel route status information based on one or more captured images.

9. The flying wheelchair-assist robot of claim 3, wherein the wheelchair interface component includes circuitry configured to generate one or more navigation control commands to vary one or more of propulsion, braking, or steering of an associated wheelchair based on at least one input from a component associated with the electronic surveillance payload.

10. The flying wheelchair-assist robot of claim 1, further comprising:

a fastening structure for removably attaching the flying wheelchair-assist robot to a wheelchair.

11. The flying wheelchair-assist robot of claim 1, further comprising:

a fastening structure having a power interface, the fastening structure dimensioned and configured to removably attach the flying wheelchair-assist robot to a wheelchair, and to electrically couple the flying wheelchair-assist robot to a wheelchair power supply.

12. The flying wheelchair-assist robot of claim 1, wherein the wheelchair interface component includes circuitry configured to communicate one or more navigation control commands to vary one or more of propulsion, braking, or steering of an associated wheelchair.

13. The flying wheelchair-assist robot of claim 1, further comprising:

an image capture component.

14. The flying wheelchair-assist robot of claim 13, wherein the image capture component includes one or more object sensors and is configured to maintain the flying wheelchair-assist robot at a target separation from an associated wheelchair.

15. The flying wheelchair-assist robot of claim 13, wherein the image capture component is configured to survey a target region.

16. The flying wheelchair-assist robot of claim 15, wherein the image capture component is configured to generate one or more parameters associated with the target region responsive to one or more inputs from the wheelchair interface component.

17. The flying wheelchair-assist robot of claim 15, wherein the image capture component is configured to generate one or more parameters associated with the target region responsive to one or more inputs indicative of an associated wheelchair route.

18. The flying wheelchair-assist robot of claim 15, wherein the image capture component is configured to select the target region based on at least one of an associated wheelchair orientation, an associated wheelchair position, and an associated wheelchair route.

19. The flying wheelchair-assist robot of claim 13, wherein the image capture component includes circuitry for capturing three-dimensional images.

20. The flying wheelchair-assist robot of claim 13, wherein the image capture component comprises a pan tilt zoom (PTZ) camera.

21. The flying wheelchair-assist robot of claim 1, further comprising:

an autonomous navigation component.

22. The flying wheelchair-assist robot of claim 1, further comprising:

a transfer arm assembly connected to a payload-support structure, the transfer arm assembly configured for autonomous transfer of a payload to and from the payload-support structure.

23. The flying wheelchair-assist robot of claim 1, further comprising:

one or more speakers.

24. The flying wheelchair-assist robot of claim 1, further comprising:

circuitry for providing an audio signal indicative of a presence, arrival, or imminent arrival of an associated wheelchair.

25. The flying wheelchair-assist robot of claim 1, further comprising:

one or more memories having wheelchair travel-route information stored thereon.

26. The flying wheelchair-assist robot of claim 1, further comprising:

one or more memories having geographical information associated with a wheelchair travel route stored thereon.