Abstract: An electric wheelchair includes a main frame; a drivable wheel supported by the main frame; an electric motor disposed on the main frame and configured to drive the drivable wheel; a clutch configured to switch a power transmission path from the electric motor to the drivable wheel between an engagement state and a disengagement state; and a clutch operation handle configured to be moved in a predetermined range in an up-down direction. The clutch operation handle is configured to operate the clutch so as to be in: (i) one of the engagement state or the disengagement state when the clutch operation handle is stopped at a lowest position of the predetermined range; and (ii) the other of the engagement state or the disengagement state when the clutch operation handle is stopped at a highest position of the predetermined range.

Abstract: Provided is a self-position estimation apparatus capable of appropriately estimating a self-position of a mobile object regardless of an environment around the mobile object. The self-position estimation apparatus is for estimating a self-position of a mobile object, and includes: N types of sensors (where N is a natural number equal to or greater than two) that detect information with different contents from each other regarding a moving status of the mobile object; an environment determiner that determines an environment around the mobile object; a selector that selects information detected by one or more but less than the N types of sensors based on a determination result of the environment determiner; and an estimator that estimates the self-position of the mobile object based on the information selected by the selector.

Abstract: Provided is a self-position estimation apparatus capable of appropriately estimating a self-position of a mobile object regardless of an environment around the mobile object. The self-position estimation apparatus is for estimating a self-position of a mobile object, and includes: N types of sensors (where N is a natural number equal to or greater than two) that detect information with different contents from each other regarding a moving status of the mobile object; an environment determiner that determines an environment around the mobile object; a selector that selects information detected by one or more but less than the N types of sensors based on a determination result of the environment determiner; and an estimator that estimates the self-position of the mobile object based on the information selected by the selector.

Abstract: An electric wheelchair includes a main frame; a driving wheel supported by the main frame; an electric motor disposed on the main frame to drive the driving wheel; a clutch that switches a power transmission path from the electric motor to the driving wheel between an engagement state and a disengagement state; and a clutch operation handle configured to be moved in a predetermined range in an up-down direction. The clutch operation handle is configured so that when the clutch operation handle is stopped at a lowest position of the predetermined range, the clutch is operated so as to be in one of the engagement state and the disengagement state, and when the clutch operation handle is stopped at a highest position of the predetermined range, the clutch is operated so as to be in the other state.