Claims
- 1. A wheelchair navigation system comprising:
a motorized wheelchair; at least one computer having software that performs
navigational functions, teaching functions, obstacle detection, supervisory tasks, and diagnostic analysis; at least one camera; at least one proximity sensor; at least one rotation sensor; at least one visual sensor; at least one visual marker; and an input device including one of a switch and a microphone, wherein said at least one rotation sensor, said at least one visual sensor and said input device are interfaced to said at least one computer which runs specialized software, and said at least one proximity sensor performs sensing operations during performance of said teaching functions for thereby permitting avoidance of wheelchair collision with obstacles during navigation of said wheelchair through a taught trajectory and allowing for close approach of said wheelchair to solid bodies present during performance of said teaching functions.
- 2. A wheelchair navigation system according to claim 1, wherein:
said at least one computer has a screen with a visual display.
- 3. A wheelchair navigation system according to claim 1, wherein:
said computer receives information from said cameras and said sensors, processes said information and determines a path of travel for said wheelchair from such information.
- 4. A wheelchair navigation system according to claim 1, wherein:
said computer is voice activated.
- 5. A wheelchair navigation system according to claim 1, wherein:
said computer is manually operated.
- 6. A wheelchair navigation system comprising:
a motorized wheelchair; at least one battery; a battery charger; a filter-based estimator with interface software; a computer having software that performs navigational functions and teaching functions; at least one camera; at least one proximity sensor; at least one microphone; at least one rotation sensor for the wheels, said at least one sensor is mounted on the wheelchair; and a plurality of visual markers capable of being placed on the walls of a specific location wherein said at least one proximity sensor performs sensing operations during performance of said teaching functions for thereby permitting avoidance of wheelchair collision with obstacles during navigation of said wheelchair through a taught trajectory and allowing for close approach of said wheelchair to solid bodies present during performance of said teaching functions.
- 7. A wheelchair navigation system according to claim 6, wherein:
said at least one computer has a screen with a visual display that is visible to a person using the wheelchair.
- 8. A wheelchair navigation system according to claim 6, wherein:
said computer receives information from said cameras and said sensors, processes said information and determines a path of travel for said wheelchair from such information.
- 9. A wheelchair navigation system according to claim 6, wherein:
said computer is voice activated.
- 10. A wheelchair navigation system according to claim 6, wherein:
said computer is manually operated.
- 11. A method of navigation using a powered wheelchair comprising the steps of:
providing a motorized wheelchair, said wheelchair being powered by at least one onboard battery, and a battery charger and having dual cameras, proximity sensors, a microphone and rotation sensors for sensing wheel rotation; providing a filter-based estimator with interface software running that is operated on at least one computer including a control system; providing markers at various locations within a specific area; teaching at least one path by walking said wheelchair through said at least one path prior to said wheelchair navigation system being used for independent travel, and recording said at least one path in said computer; sensing said markers with said proximity sensors and said cameras during performance of said teaching for thereby permitting avoidance of wheelchair collision with obstacles during navigation of said wheelchair through a taught trajectory and allowing for close approach of said wheelchair to solid bodies present during performance of said teaching; providing information about said markers from said proximity sensors and said cameras to said at least one computer; operating said software to determine the location of various objects within a location; creating a path for said wheelchair to avoid said objects with said software; recalling said at least one taught path; and directing said wheelchair on said path via said software.
- 12. A method of navigation using a powered wheelchair according to claim 11, further comprising the step of:
operating said computer via voice control.
- 13. A method of navigation using a powered wheelchair according to claim 11, further comprising the step of:
operating said computer manually.
- 14. A method of navigation using a powered wheelchair according to claim 11, further comprising the step of:
establishing ultrasound profiles at various junctures throughout a path during performance of said teaching.
- 15. A method of navigation using a powered wheelchair according to claim 14, further comprising the step of:
simplifying said profiles in a postprocessed computer event; and comparing said profiles during tracking through a taught path with current ultrasound sensed profiles.
- 16. A method of navigation using a powered wheelchair according to claim 15, further comprising the step of:
comparing disparities between said current ultrasound sensed profiles of objects to determine if a configuration of an object close to the taught path has changed since said teaching, and if said configuration has changed by a predetermined threshold, halting said wheelchair.
RELATED APPLICATIONS
[0001] This application is a continuation-in-part of application Ser. No. 10/187,989, filed Jul. 2, 2002, currently pending.
Government Interests
[0002] The U.S. Government has a paid-up license in this invention and the right in limited circumstances to require the patent owner to license others on reasonable terms as provided for by the terms of Contract No. ______ (or Grant No. ______) awarded by the Veterans Affairs Agency ______.
Continuation in Parts (1)
|
Number |
Date |
Country |
Parent |
10187989 |
Jul 2002 |
US |
Child |
10890411 |
Jul 2004 |
US |