Method and device for automatically maneuvering a wheelchair relative to a vehicle

Abstract

Method for automatically maneuvering a wheelchair relative to a vehicle, wherein the vehicle (10) has a first sensor arrangement comprising at least one sensor and the wheelchair (30) has a second sensor arrangement comprising at least one sensor, wherein the automatic maneuvering around the vehicle is carried out on the basis of sensor signals from both the first sensor arrangement and the second sensor arrangement, wherein the first sensor arrangement comprises a plurality of sensors used as parking sensors, operating electromagnetically or on the basis of ultrasound, characterized in that this includes transmitting a movement request from the vehicle (10) to the wheelchair (30) in order to identify the wheelchair to be maneuvered before the start of the automatic maneuvering.

Description

[0001] The invention relates to a method and a device for automatically maneuvering a wheelchair relative to a vehicle.

[0002] Such maneuvering of a wheelchair relative to a vehicle can occur in particular after the wheelchair user has already taken a seat in the vehicle and the wheelchair is now to be loaded, or so that the driver or occupant of the vehicle can continue their journey with the help of the wheelchair.

[0003] Automating such a maneuvering or loading process requires the wheelchair to automatically align and orient itself while moving around or navigating around the vehicle. Due to the limited space and the small distances between the vehicle and the wheelchair, conventional navigation systems such as GPS are unsuitable due to insufficient accuracy.

[0004] For the state of the art, reference is made only by way of example to DE 10 2011 103 382 A1, JP 2012103146 ​​A, KR 1 01 305 336 B1, CN 202995348 U; Hansen JD et al. “Autonomous vehicle navigation utilizing fuzzy controls concepts for a next generation wheelchair”, Biomed Sci Instrum. 2008;44:69-75.

[0005] From SCHILLING, Klaus [et al.]: Sensors to improve the safety for wheelchair users. [In: TIDE Conference, July 1998, Helsinki, published online August 24, 1998]. 5 pp. URL: http: / / cs.unc.edu / ~welch / class / mobility / papers / 673schil.doc, a wheelchair equipped with environmental sensors (e.g., ultrasonic sensors) is known, which has autonomous driving functions and can also communicate wirelessly with a remote control PC. This is intended, among other things, to enable automatic convoy driving of several wheelchairs.

[0006] From DE 10 2011 103 382 A1 an automatic loading system for loading wheelchairs into vehicles is known.

[0007] KR 1 01 305 336 B1 describes a system and an associated procedure that enables a wheelchair to autonomously enter and exit a vehicle equipped with a lifting platform and a locking device. A control unit on the wheelchair plans a route to the target position in the vehicle and coordinates the movement with the vehicle's control system for the lifting platform and the locking mechanism.

[0008] From DE 10 2011 077 555 A1 a method for determining a relative position between a vehicle and an object located to the side of it is known.

[0009] It is an object of the present invention to provide a method and a device for automatically maneuvering a wheelchair relative to a vehicle, which enables reliable and safe navigation with comparatively little equipment effort.

[0010] This problem is solved by the method according to the features of independent claim 1 or the device according to the features of dependent claim 8.

[0011] In an inventive method for automatically maneuvering a wheelchair relative to a vehicle, wherein the vehicle has a first sensor arrangement comprising at least one sensor and the wheelchair has a second sensor arrangement comprising at least one sensor, the automatic maneuvering is carried out on the basis of sensor signals from the first sensor arrangement as well as on the basis of sensor signals from the second sensor arrangement.

[0012] The invention is based in particular on the concept of jointly utilizing existing sensors from both a vehicle and a wheelchair and combining or linking both sensor groups in an integrated overall system. For this purpose, both the vehicle and the wheelchair are equipped with a communication module (e.g., based on Bluetooth or Wi-Fi) to exchange data with each other and / or communicate with a central processing unit. This central processing unit can be an onboard computer provided in the vehicle, a CPU located in the wheelchair, an app, or an additional device such as a smartphone.

[0013] The invention is based on the premise that modern vehicles are typically equipped with (electromagnetic or ultrasound-based) parking sensors, blind spot detection systems, and / or surround-view camera systems. According to the invention, such systems or vehicle sensors are used to monitor the position and movement of the wheelchair in the area around the vehicle and to guide it for navigation purposes. When the vehicle is stationary, the changes detected by the sensors are caused by a moving object, such as a wheelchair, located in the vicinity of the vehicle.

[0014] According to one embodiment, the method comprises an exchange of sensor signals between the vehicle and the wheelchair from the first sensor arrangement or the second sensor arrangement to coordinate the automatic maneuvering of the wheelchair relative to the vehicle.

[0015] According to one embodiment, the method comprises transmitting sensor signals from the first sensor arrangement or the second sensor arrangement to a processing unit or a communication module. This transmission of sensor signals can be carried out, in particular, via wireless data transmission, especially using Bluetooth or Wi-Fi.

[0016] According to one embodiment, the method includes compass- or GPS-based alignment of both the vehicle and the wheelchair to coordinate the respective shifting or displacement direction between the vehicle and the wheelchair during automatic maneuvering.

[0017] According to the invention, the method comprises transmitting a movement request from the vehicle to the wheelchair in order to identify the wheelchair to be maneuvered before the start of automatic maneuvering.

[0018] According to one embodiment, the method is part of an automated loading process, wherein the wheelchair is folded up after the maneuvering has been completed during the loading process.

[0019] According to one embodiment, folding the wheelchair involves folding the wheelchair's backrest into a horizontal position so that the wheelchair can be pushed into the vehicle's trunk or cargo area. The trunk or cargo area has a horizontally flat floor over which the wheelchair can be pushed. This horizontally flat floor can be a sliding, extendable cargo floor.

[0020] The invention further relates to a device for automatically maneuvering a wheelchair relative to a vehicle, wherein the device is configured to perform a method with the features described above. For advantages and preferred embodiments of the device, reference is made to the preceding descriptions in connection with the method according to the invention.

[0021] Further embodiments of the invention can be found in the description and the dependent claims.

[0022] The invention is explained in more detail below with reference to an exemplary embodiment and the accompanying figure.

[0023] The only Fig. Figure 1 shows a schematic representation to illustrate a method or device according to the invention in an exemplary embodiment.

[0024] According to Fig. In the immediate vicinity of a vehicle 10, a wheelchair 30 is located. A maneuvering operation of this wheelchair 30 relative to the vehicle 10 is to be carried out, e.g., after the wheelchair user has already taken a seat in the vehicle 10 and the wheelchair 30 is now to be loaded, or so that the driver or occupant of the vehicle 10 can continue their journey with the help of the wheelchair 30 and the wheelchair 30 is moved into the suitable entry position.

[0025] Vehicle 10 has a number of (parking) sensors, which are located in Fig. The detection ranges or fields of view of these sensors are symbolized by 11-20. On the wheelchair side 30, there is also a group of sensors (electromagnetic or ultrasonic) comparable to parking sensors.

[0026] The maneuvering process should now be carried out in such a way as to maintain an appropriate distance between wheelchair 30 and vehicle 10, thereby preventing damage to vehicle 10 or wheelchair 30 from becoming stuck in the area of ​​obstacles.

[0027] Furthermore, according to the invention, a device is provided on both the wheelchair 30 and the vehicle 10 which enables the respective orientation of the wheelchair 30 or vehicle 10 with respect to north (using an electronic compass or a GPS device) in order to coordinate the respective shifting or relocation direction between wheelchair 30 and vehicle 10.

[0028] According to one embodiment, a method according to the invention can proceed as follows: First, the user of wheelchair 30 initiates the loading process. Vehicle 10 and wheelchair 30 begin communicating and exchanging relevant configuration settings (e.g., wheelchair dimensions). Vehicle 10 then determines the location of wheelchair 30 using its own (vehicle-integrated) sensors, such as (electromagnetic or ultrasonic) parking sensors, blind spot detection systems, and / or surround-view camera systems.

[0029] Subsequently, due to the exchange of configuration settings, the wheelchair dimensions are known, thus facilitating identification. If vehicle 10 is unable to identify the wheelchair 30 to be loaded, for example, due to the presence of multiple wheelchairs that could be the same, the wheelchair 30 can be requested to move so that it can be identified as a moving object by vehicle 10.

[0030] The wheelchair 30 uses the electromagnetic or ultrasound-based sensors attached to it, which are comparable to parking sensors, to identify the directions in which movement is permitted and in which directions obstacles (including the vehicle 10) are present.

[0031] A central processing unit (CPU) combines the location of wheelchair 30, identified by vehicle 10, with the possible movement paths that wheelchair 30 has identified using its own sensors. The orientation of both vehicle 10 and wheelchair 30 with respect to north can also be used to refine the respective movement paths. Based on this information, the CPU calculates a movement path and sends the information about the movement path to wheelchair 30.

[0032] In the next step, wheelchair 30 begins to move and attempts to follow the calculated path of motion. Simultaneously, the following steps are performed in real time: Vehicle 10 uses its own sensors (e.g., electromagnetic or ultrasound-based sensors, blind spot detection systems, and / or surround camera systems) to track the movement of wheelchair 30 around vehicle 10. For example, according to Fig. 1. The arrival of wheelchair 30 is detected by the sensors with field of view 16 or 17 (while, for example, other obstacles not belonging to wheelchair 30 can be detected by the sensors with field of view 13 or 14).

[0033] Furthermore, the wheelchair 30 uses its own electromagnetic or ultrasound-based parking sensor-like sensors to remain close to the vehicle 10 while maintaining a safe distance. For example, according to Fig. 1. The vehicle 10 is detected by the sensor with the field of view 31. In addition, the wheelchair 30 checks for the presence of obstacles on the movement path. Furthermore, data is exchanged, based on which the CPU refines and updates the movement path.

[0034] When the wheelchair 30 reaches one end of the vehicle 10, this is detected by a parking sensor, and the corresponding turning path around the vehicle 10 can be calculated. Once the wheelchair 30 has reached its destination (such as the vehicle 10's trunk to be loaded, or near the driver's or passenger's door to allow the driver or occupants of the vehicle 10 to enter the wheelchair 30), the north-orientation device enables the wheelchair 30 to align itself correctly with the vehicle's orientation to facilitate further steps such as loading into the vehicle 10 or the wheelchair user entering or exiting.

[0035] According to the invention, the wheelchair 30 can navigate in the area around the vehicle by utilizing the sensor arrangement available on the vehicle 10 and by linking vehicle-side and wheelchair-side sensors into a common sensor network. The wheelchair 30 only needs to be equipped with a comparatively small number of sensors and limited computing power, yet it is still capable of navigating around the vehicle 10, since data exchange between the vehicle 10 and the wheelchair 30 ensures a sufficient overview of the situation.

Claims

[1] Method for automatically maneuvering a wheelchair relative to a vehicle, wherein the vehicle (10) has a first sensor arrangement comprising at least one sensor and the wheelchair (30) has a second sensor arrangement comprising at least one sensor, wherein the automatic maneuvering around the vehicle is carried out on the basis of sensor signals from both the first sensor arrangement and the second sensor arrangement, wherein the first sensor arrangement comprises a plurality of sensors used as parking sensors, operating electromagnetically or on the basis of ultrasound, characterized by , that this includes a transmission of a movement request from the vehicle (10) to the wheelchair (30) in order to identify the wheelchair to be maneuvered before the start of automatic maneuvering. [2] Method according to claim 1, characterized by, that this includes an exchange of sensor signals of the first sensor arrangement or the second sensor arrangement taking place between vehicle (10) and wheelchair (30) for coordinating the automatic maneuvering of the wheelchair (30) relative to the vehicle (10). [3] Method according to claim 1 or 2, characterized by that this includes the transmission of sensor signals from the first sensor arrangement or the second sensor arrangement to a computing unit or a communication module. [4] Method according to claim 3, characterized by that this transmission of sensor signals takes place via wireless data transmission, in particular using Bluetooth or Wi-Fi. [5] Method according to any one of the preceding claims, characterized by, that this includes a compass- or GPS-based alignment of both the vehicle (10) and the wheelchair (30) to coordinate the respective shifting or relocation direction between the vehicle (10) and the wheelchair (30) during automatic maneuvering. [6] Method according to any one of the preceding claims, characterized by that the procedure is part of an automated loading process, whereby the wheelchair is folded up after the maneuvering is completed during the loading process. [7] Method according to claim 6, characterized by , that folding the wheelchair involves folding the backrest of the wheelchair into a horizontal position in order to place the wheelchair, with the backrest folded down, into a trunk or cargo space of the vehicle by means of a sliding motion. [8] Device for automatically maneuvering a wheelchair relative to a vehicle, characterized bythat the device is configured to perform a method according to any of the preceding claims.

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