User Control Device for a Transporter

• US 20170300058A1
• Filed: 04/13/2017
• Published: 10/19/2017
• Est. Priority Date: 04/14/2016
• Status: Active Grant

• Current Assignee: Deka Products Limited Partnership
• Original Assignee: Deka Products Limited Partnership
• Inventors: Peret, Bob D., Coulter, Stewart M., Kamen, Dean, Kane, Derek G.
• Granted Patent: US 10,802,495 B2
• Time in Patent Office: Days
• CPC Class Codes: A61G 2203/14 Joysticks
• CPC Class Codes: A61G 2203/22 for automatically guiding movable devices, e.g. stretchers or wheelchairs in a hospital
• CPC Class Codes: A61G 2203/30 characterised by sensor means
• CPC Class Codes: A61G 3/0808 Accommodating or securing wheelchairs
• CPC Class Codes: A61G 5/06 with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
• CPC Class Codes: A61G 5/061 for climbing stairs
• CPC Class Codes: A61G 5/104 Devices for lifting or tilting the whole wheelchair transfer lifts A61G3/06; arrangements for adjusting the seat height A61G5/1059
• CPC Class Codes: A61G 5/1043 Cushions specially adapted for wheelchairs
• CPC Class Codes: A61G 5/1051 Arrangements for steering
• CPC Class Codes: A61G 5/1059 adjusting the height of the seat
• CPC Class Codes: A61G 5/1067 adjusting the backrest relative to the seat portion
• CPC Class Codes: B60L 15/10 for automatic control superimposed on human control to limit the acceleration of the vehicle, e.g. to prevent excessive motor current electric devices for safety purposes B60L3/00
• CPC Class Codes: G01S 19/01 Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
• CPC Class Codes: G05D 1/0223 involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles

Abstract

A user control device for a transporter. The user control device can communicate with the transporter via electrical interface(s) that can facilitate communication and data processing among the user interface device and controllers that can control the movement of the transporter. The user control device can perform automated actions based on the environment in which the transporter operates and the user'"'"'s desired movement of the transporter. External applications can enable monitoring and control of the transporter.

Claims

1. A method for reacting to at least one obstacle while maneuvering a transporter comprising:

receiving at least one movement command and user information;

receiving and segmenting obstacle data;

identifying at least one plane within the segmented obstacle data;

identifying the at least one obstacle within the at least one plane;

determining at least one situation identifier based at least on the at least one obstacle, the user information, and the at least one movement command;

determining a distance between the transporter and the at least one obstacle based at least on the at least one situation identifier;

accessing at least one allowed command related to the distance, the at least one obstacle, and the at least one situation identifier;

accessing at least one automatic response to the at least one movement command;

mapping the at least one movement command with one of the at least one allowed commands; and

moving the transporter based at least on the at least one movement command and the at least one automatic response associated with the mapped allowed command.

2. The method as in claim 1 wherein the at least one obstacle comprises at least one moving object;

3. The method as in claim 1 wherein the distance comprises a dynamically-varying amount.

4. The method as in claim 1 wherein the at least one movement command comprises a pass-the-at-least-one-obstacle command.

5. The method as in claim 1 further comprising:

analyzing the obstacle data using a point cloud library (PCL).

6. The method as in claim 2 further comprising:

tracking the at least one moving object using simultaneous location and mapping (SLAM) with detection and tracking of moving objects (DATMO) based on the location of the transporter.

7. A transporter automatically reacting to at least one obstacle encountered while maneuvering the transporter comprising:

a nav/PCL processor receiving at least one movement command and user information, the nav/PCL processor receiving and segmenting PCL data from a PCL processor, the nav/PCL processor identifying a plane within the segmented PCL data, the nav/PCL processor identifying at least one obstacle within the plane;

a distance processor determining a situation identifier based at least on the user information, the at least one movement command, and the at least one obstacle, the distance processor determining the distance between the transporter and the at least one obstacle based at least on the situation identifier;

an object processor accessing an allowed command related to the distance, the at least one obstacle, and the situation identifier, the object processor accessing an automatic response associated with the allowed command, the object processor accessing the at least one movement command and mapping the at least one movement command with at least one of the allowed commands; and

at least one mode-dependent processor receiving the at least one movement command and the automatic response associated with the mapped allowed command, the at least one mode-dependent processor enabling mode-specific processing.

8. The transporter as in claim 7 wherein the nav/PCL processor comprises storing the at least one obstacle in on a storage cloud, and enabling systems external to the transporter to access the at least one stored obstacle.

9. A method for enabling a transporter to navigate stairs comprising:

receiving at least one stair command;

receiving environmental information from sensors mounted on the transporter;

locating, based on the environmental information, at least one staircase;

receiving a selection of a selected staircase from the at least one staircase;

measuring, based on the environmental information, at least one characteristic of the selected staircase;

locating, based on the environmental information, at least one obstacle, if any, on the selected staircase;

locating, based on the environmental information, a last stair of the selected staircase; and

providing the at least one movement command to move the transporter on the selected staircase based at least on the measured at least one characteristic, the last stair, and the obstacles, if any.

10. The method as in claim 9 further comprising:

locating the at least one staircase based on GPS data.

11. The method as in claim 9 further comprising:

building a map of the selected staircase using SLAM.

12. The method as in claim 9 wherein the at least one characteristic comprises the surface texture of the at least one riser.

13. A transporter for navigating stairs comprising:

a staircase processor receiving at least one stair command included in user information,

a staircase locator receiving environmental information from sensors mounted on the transporter, the staircase locator locating the staircases within the environmental information, and receiving a choice of a selected staircase;

a stair characteristics processor measuring at least one characteristic of the selected staircase, the stair characteristics processor locating, based on the environmental information, obstacles, if any, on the selected staircase; and

a stair movement processor locating, based on environmental information, a last stair of the selected staircase, the stair movement processor providing at least one movement command instructing the transporter to move on the selected staircase based on the at least one characteristic, the last stair, and the obstacles, if any.

14. A method for negotiating, in a transporter, a door including at least one handle, a door swing, and a doorway, the method comprising:

receiving and segmenting environmental information from sensors mounted on the transporter, the environmental information including geometry of the transporter;

identifying at least one plane within the segmented environmental information;

identifying the door within the at least one plane;

measuring, based on the segmented environmental information, the door;

providing a first of the at least one movement command moving the transporter for access to the at least one handle;

providing a second of the at least one movement command to move the transporter away from the door as the door opens by a distance based on the measured door if the door swing is towards the transporter; and

providing a third of the at least one movement command to move the transporter forward through the doorway.

15. The method as in claim 14 wherein the sensors comprise time of flight sensors.

16. A transporter for negotiating a door, the door including at least one handle, a door swing, and a doorway, the transporter comprising:

sensor processor determining, from sensor data, a hinge side of the door, and the direction and angle of the door;

a movement processor generating at least one movement command to move the transporter; and

a door processor determining characteristics of the door, the door processor determining the distance from the transporter to the door, the door processor determining the width of the door, the door processor generating at least one movement command to move the transporter through the door based on the door swing and the width of the door.

17. A method for storing a transporter in a vehicle, the vehicle having a storage compartment, the storage compartment having a door, the method comprising:

receiving and segmenting sensor data from sensors mounted on the transporter;

identifying at least one plane within the segmented sensor data;

identifying the door within the at least one plane;

measuring the door, including the width of the door;

generating an alert if the door is smaller than the a pre-selected size related to the size of the transporter;

positioning the transporter for access to the door, the positioning being based on the width of the door;

generating a signal for opening the door;

moving the transporter forward through the doorway; and

generating a signal to close the door.

18. The method as in claim 17 further comprising:

generating a signal to lock the transporter in the vehicle.

19. A method for storing a transporter, the transporter including sensors, the method comprising:

locating, by processing sensor data from the sensors, at least one storage/charging area;

providing at least one movement command to move the transporter from the pre-selected location to the located at least one storage/charging area;

locating, by processing the sensor data, a charging dock in the storage/charging area; and

providing at least one movement command to couple the transporter with the charging dock.

20. A method for negotiating an elevator while maneuvering a transporter, the transporter including sensors, the elevator including an elevator threshold and an elevator door, the method comprising:

locating, by processing sensor data from the sensors, the elevator;

providing a first at least one movement command moving the transporter through the elevator door clearing the elevator threshold into the elevator;

determining, by processing the sensor data, the geometry of the elevator;

providing a second at least one movement command to moving the transporter into a floor selection/exit location relative to the elevator threshold; and

when the elevator door opens, providing a third at least one movement command moving the transporter through the elevator door across the elevator threshold to fully exit the elevator.