PLATFORM ACCESS SYSTEM FOR A WHEELCHAIR

Abstract

Platform access system (100) for a wheelchair (10), comprising: a retractable ramp (110) which is slidably arranged on a platform (102), several actuators (130) including a first, a second and a third actuator, a sensor (140) and a ramp controller (150) which contains a communication link; wherein the extendable ramp (110) includes a first elongated boom (111) with a rack section (117) arranged on it; wherein the extendable ramp (110) has a first end (115) and a second end (116); wherein the platform (102) is arranged horizontally on a first level and has a boundary section (104) that defines a longitudinal axis (105); wherein the extendable ramp (110) is arranged at a first position on the platform (102); wherein the ramp controller (150) is functionally connected to the multiple actuators (130); where the ramp controller (150) communicates with the sensor (140); wherein a first actuator (130) is designed to push the extendable ramp (110) on the platform (102) parallel to the longitudinal axis (105); wherein the extendable ramp (110) is rotatable via a second actuator (130) on the platform (102) between the first position, which is parallel to a longitudinal axis (105), and a second position, which is perpendicular to the longitudinal axis (105), wherein the second actuator (130) is designed to rotate the extendable ramp (110) relative to the platform (102) about a vertical axis in a horizontal plane; wherein the second end (116) of the extendable ramp (110) extends outwards from an edge section (104) of the platform (102) in the second position; wherein the extendable ramp (110) is vertically pivotable via the third actuator (130) at the edge section (104) of the platform (102) when it is in the second position, wherein the second end (116) of the extendable ramp (110) is arranged at a second height; wherein the first end (115) of the extendable ramp (110) can be attached to the edge section (104) of the platform (102) via one of the several actuators (130); wherein the rack section (117) of the first elongated boom (111) is arranged for the engagement of a gear (26) of a drive wheel (22) of a wheelchair (10) which is arranged at the second height; and wherein the communication link is designed to communicate with a communication device of the wheelchair (10) when it is in its vicinity.

Description

[0001] The present invention relates to a platform access system for a wheelchair. INTRODUCTION

[0002] People using wheelchairs and other personal mobility devices must be able to access areas located at different levels from the rest of the site, including access to passenger compartments of vehicles, agricultural machinery, trailers, caravans, watercraft, etc. As a non-restrictive example, access to passenger compartments of electric vehicles may be limited due to restrictions in floor designs imposed by the location of batteries in the vehicle floor.

[0003] Devices in the form of powered platforms that facilitate the loading / unloading of a wheelchair into a vehicle and in which the platform can be both rotated about a vertical axis and lowered are known from the prior art, for example from US 2011 / 0027054A1, US 2009 / 0162175A1 and US 4457663A. SUMMARY

[0004] It is advantageous to provide one or more systems, procedures and / or devices for improved access to passenger compartments of electrified vehicles and other spaces for persons using wheelchairs or other personal mobility devices.

[0005] One aspect of the invention may include a platform access system for a wheelchair. According to one embodiment, the platform to which access is gained is elevated relative to the ground level on which the wheelchair is initially located. According to another embodiment, the platform to which access is gained is lower relative to the ground level on which the wheelchair is initially located.

[0006] The platform access system is characterized by the features of claim 1.

[0007] Another aspect of the invention may include the ramp controller containing algorithmic code, wherein the algorithmic code is executable for controlling the multiple actuators to move the extendable ramp from the first position to the second position, which includes the multiple actuators being operable to push the extendable ramp along the platform along the longitudinal axis; to rotate the extendable ramp in a horizontal plane, with the second end extending outwards from the edge section of the platform; to pivot the extendable ramp vertically at the edge section of the platform, with the second end of the extendable ramp being arranged at the second height; and to secure the first end of the extendable ramp to the edge section of the platform.

[0008] Another aspect of the invention may include the extendable ramp incorporating a wheelchair locking mechanism and the ramp controller containing algorithmic code executable for: transmitting a first command via the communication link to the wheelchair to move from the second end of the extendable ramp to the first end of the extendable ramp via the rack section of the first elongated extension engaging with the gear of the wheelchair's drive wheel; determining that the wheelchair is near the first end of the extendable ramp via the sensor; securing the wheelchair to the first end of the extendable ramp via the wheelchair locking mechanism; and vertically pivoting the extendable ramp to the first level, positioning the wheelchair on the platform at the first level, via one of several actuators.Rotating the extendable ramp in a horizontal plane via one of the several actuators, positioning the wheelchair parallel to its longitudinal axis on the platform at the first height level; pushing the extendable ramp on the platform into the first position via one of the several actuators; and securing a section of the wheelchair to the platform via the wheelchair locking mechanism.

[0009] Another aspect of the invention may include the fact that the algorithmic code is executable for: releasing the wheelchair section from the platform via the wheelchair locking mechanism; pushing the extendable ramp away from the platform from the first position via one of the multiple actuators; rotating the extendable ramp in the horizontal plane via one of the multiple actuators, whereby the wheelchair is positioned perpendicular to the longitudinal axis on the platform at the first height level; vertically pivoting the extendable ramp via one of the multiple actuators, whereby the second end of the extendable ramp is positioned at the second height; releasing the wheelchair from the first end of the extendable ramp via the wheelchair locking mechanism;and transmitting a second command to the wheelchair to move from the first end of the extendable ramp to the second end of the extendable ramp via the rack section of the first elongated boom engaging with the gear of the wheelchair's drive wheel via the communication link.

[0010] Another aspect of the invention may include the fact that the algorithmic code is executable for: vertically pivoting the extendable ramp to the first height level after unloading the wheelchair onto a surface at the second height via one of the several actuators; rotating the extendable ramp in the horizontal plane via one of the several actuators; and pushing the extendable ramp on the platform into the first position via one of the several actuators.

[0011] Another aspect of the invention may include the fact that the platform is a section of a vehicle.

[0012] Another aspect of the invention may include the platform being a section of a movable platform.

[0013] Another aspect of the invention may include the platform being arranged on a stationary platform.

[0014] Another aspect of the invention may include the extendable ramp comprising the first elongated boom, a second elongated boom and a crossbeam; wherein the first elongated boom is arranged coplanar with and parallel to the second elongated boom; and wherein the first elongated boom is connected to the second elongated boom at the first end of the extendable ramp via the crossbeam.

[0015] Another aspect of the invention may include the fact that the extendable ramp can be pivoted vertically upwards.

[0016] Another aspect of the invention may include the fact that the extendable ramp can be pivoted vertically downwards.

[0017] Another aspect of the invention may include an occupant access system for a vehicle or other elevated space, comprising a wheelchair containing a seat section, an extendable pivot, a chassis section, one or more sensors, and a first controller, as well as an extendable ramp and a ramp controller. The seat section is coupled to the chassis section via the extendable pivot, with a first end of the extendable pivot being pivotably coupled to the chassis section at a first joint and a second end of the extendable pivot being pivotably coupled to the seat section at a second joint. The chassis section includes several wheels arranged on a chassis, a power supply unit, and an electric motor. One of the several wheels includes a drive wheel containing a gear and coupled to the electric motor.The extendable ramp includes an elongated arm with a rack and pinion section attached to it. The drive wheel's gear engages with the rack and pinion section of the extendable ramp's elongated arm. The ramp controller is designed to monitor the wheelchair's position via a sensor. The first controller is designed to control the electric motor for rotating the drive wheel's gear, controlling the extendable arm, controlling the first joint between the chassis section and the extendable arm, and controlling the second joint between the seat section and the extendable arm. Additionally, the first controller is designed to control the extendable arm to adjust the seat section's position.When the drive wheel's gear engages with the extendable ramp, the controller controls the electric motor to rotate the drive wheel's gear to engage with the rack section of the extendable ramp's elongated arm, causing the wheelchair to travel over the extendable ramp; it controls the second joint to orient the seat section in an upright position while the wheelchair travels over the extendable ramp; and it controls the first joint, the second joint, and the extendable pivot to control the seat section's position while the wheelchair travels over the extendable ramp.

[0018] Another aspect of the invention may include the first controller communicating a query to the second controller via a wireless communication system; and the second controller extending the extendable ramp in response to the query from the first controller.

[0019] The above summary is not intended to represent every possible embodiment or aspect of the present invention. Rather, the preceding summary is intended to illustrate some of the aspects and features disclosed herein. The above features and advantages, and further features and advantages of the present invention, will readily become apparent from the following detailed description of representative embodiments and embodiments of the present invention when taken together with the accompanying drawings and the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] One or more embodiments are now described by way of example with reference to the attached drawings; they show: Fig. 1 a schematic representation of a side view of a platform access system for a wheelchair, comprising a platform and a wheelchair, according to the invention; Fig. 2A, Fig. 2B, Fig. 2C, Fig. 2D a schematic representation of a top view of a platform access system, which includes various phases of extending a retractable ramp, according to the invention; Fig. 3A, Fig. 3B, Fig. 3C, Fig. 3D, Fig. 3E a schematic representation of a front view of a platform access system comprising a retractable ramp and a wheelchair, according to the invention; Fig. 4 a schematic representation of an end view of an embodiment of a drive wheel and a gear for a wheelchair according to the invention; Fig. 5 a schematic representation of a wheelchair boarding process for controlling the operation of an embodiment of the platform access system and the wheelchair according to the invention.

[0021] The accompanying drawings are not necessarily to scale and may provide a somewhat simplified representation of various preferred features of the present invention as disclosed herein, including, for example, specific dimensions, orientations, locations, and shapes. Details associated with such features are partly determined by the specific intended application and usage environment. DETAILED DESCRIPTION

[0022] Now, based on the drawings, which are only provided to illustrate certain embodiments and not to limit them, we present Fig.Figure 1 and the following schematically represent elements of the platform access system 100 for a wheelchair (or other personal mobility device) 10, wherein the platform 102, to which access is to be gained, is at a first height 103, and the wheelchair 10 is at the ground level 106, i.e., at a second height that differs from the first height 103. According to one embodiment and as shown, the first height 103 is above or vertically higher than the ground level 106. It should be noted that the first height 103 of the platform 102, to which access is to be gained, may instead be lower or vertically below the ground level 106.

[0023] Based on Fig. 1 and Fig.In Figure 2A, the platform 102 and the platform access system 100 are arranged on a motor vehicle 101 according to one embodiment, e.g., an electrified vehicle. The vehicle 101 can include a mobile platform in the form of a commercial vehicle, utility vehicle, recreational vehicle, agricultural machine, passenger car, aircraft, watercraft, train, all-terrain vehicle, people mover, robot, and the like, to fulfill the purpose of this invention, but is not limited thereto. According to one embodiment, the platform 102 and the platform access system 100 are arranged on a mobile device such as a trailer or a motorhome. According to another embodiment, the platform 102 and the platform access system 100 are arranged on a stationary device such as an elevated cabin, a house, a loading ramp, etc.

[0024] The platform access system 100 includes a retractable ramp 110, which is slidably arranged on the platform 102, several actuators 130 designed to drive various movements of the retractable ramp 110, one or more wheelchair locking mechanisms 135, one or more sensors 140 arranged to monitor one or more positions and / or orientations of the retractable ramp 110 and / or a nearby wheelchair 10, and a ramp controller 150 with a wireless communication link 160 for communicating with the nearby wheelchair 10. The ramp controller 150 communicates with the one or more sensors 140 arranged to monitor the retractable ramp 110 and is functionally connected to the multiple actuators 130 and the wheelchair locking mechanisms 135 to control their activation.Furthermore, the ramp controller 150 includes a wheelchair rerailing process 1000, which is described in detail using . Fig. 5 is described, which includes one or more algorithms for controlling the extendable ramp 110 for placing a nearby wheelchair 10 onto the ramp. According to one embodiment, the ramp controller 150 can communicate with a sensor of the global positioning system (GPS sensor), which may be part of the platform access system 100 or may be integrated into the motor vehicle 101.

[0025] The platform 102 includes an edge section 104 that defines a longitudinal axis 105. The platform 102 includes a pivot pin 108. According to one embodiment, the pivot pin 108 includes the wheelchair locking mechanism 135. The extendable ramp 110 is configured in a stowed position 118 (based on Fig. 2A shown) and into a usage position 119 (based on Fig.(shown in 2D) to be arranged. The extendable ramp 110 is configured to be positioned between the stowed position 118 and the operating position 119 (e.g., based on Fig. 2B and Fig. to proceed (as shown in 2C).

[0026] The extendable ramp 110 includes a first elongated extension 111, which is arranged coplanar with and parallel to a second elongated extension 112, the first elongated extension 111 being connected to the second elongated extension 112 at a first end 115 of the extendable ramp 110 via a crossbeam 114. This arrangement of the first and second elongated extensions 111, 112 provides an open-center ramp design that allows for steep inclines of the extendable ramp 110 and the associated ascent / descent of the wheelchair without the occupant's feet encountering a connecting plane, which would otherwise be present (as in a conventional ramp). According to one embodiment, a further crossbeam can be arranged at a second, opposite end 116 of the extendable ramp 110 and / or between the first and the second end 115, 116 of the extendable ramp 110.The first elongated boom 111 has a rack section 117 which, according to one embodiment, extends from the first end 115 to the second end 116. According to another embodiment, both the first and the second elongated booms 111, 112 each have rack sections 117 arranged thereon. The rack section(s) 117 are designed, arranged, and / or configured to engage and interact with a gear 26 located on a drive wheel 24 of the wheelchair 10. According to one embodiment, this arrangement provides a direct-drive gear system which, in response to a rotational or angular displacement of the gear 24 of the wheelchair 10, achieves a fixed linear displacement of the wheelchair 10 along the ramp 110 when the gear 26 is engaged with the rack section 117 of the first elongated boom 111.

[0027] The extendable ramp 110 is arranged on the platform 102 to move between the stowed position 118 and the operating position 119. Such a movement includes sliding the extendable ramp 110 on the platform 102, rotating the extendable ramp 110 in the horizontal plane about the pivot pin 108 to cause the second end 116 to extend outwards from the edge section 104 of the platform 102, pivoting the extendable ramp 110 vertically to allow the second end 116 to rest on the ground plane 106, and securing the first end 115 of the extendable ramp 110 to the edge section 104 of the platform 102. Such a movement includes reversing the aforementioned movements.

[0028] The multiple actuators 130 are arranged to push the extendable ramp 110 to move between the stowed position 118 and the operating position 119. The actions of the multiple actuators 130 include pushing the extendable ramp 110 on the platform 102, rotating the extendable ramp 110 about the pivot pin 108 to cause the second end 116 to extend outwards from the edge section 104 of the platform 102, pivoting the extendable ramp 110 vertically until the second end 116 rests on the ground plane 106, and securing the first end 115 of the extendable ramp 110 to the edge section 104 of the platform 102. The aforementioned actions of the multiple actuators 130 are reversible to return the extendable ramp 110, with or without an embodiment of the wheelchair 10 attached to it, to the stowed position 118.According to one embodiment, the multiple actuators 130 include a first actuator arranged to push the extendable ramp on the platform 102 parallel to the longitudinal axis 105, a second actuator arranged to rotate the extendable ramp on the platform, and a third actuator arranged to pivot the extendable ramp vertically on the platform 102.

[0029] As non-restrictive examples, the multiple actuators 130 can include electromagnetic solenoids, pneumatic cylinders, hydraulic cylinders, electric linear actuators, etc. One or more of the multiple actuators 130 can include position feedback sensors for their internal control and / or to provide position feedback to the ramp controller 150.

[0030] The one or more sensors 140 may include position sensors, proximity sensors, etc., utilizing Hall effect, ultrasound, capacitive coupling, optical, inductive, magnetostrictive, or other technologies. The multiple sensors 140 may include a fixed position sensor that indicates whether the wheelchair 10 is at and / or positioned at the end of the ramp 110. Furthermore, the multiple sensors 140 may include a camera on the vehicle designed to monitor the ramp 110 with and without the wheelchair 10 in order to determine the path of the ramp 110 and the wheelchair 10 as the wheelchair 10 enters or exits the vehicle 101.

[0031] The Ramp Controller 150 includes a wireless communication link 160, which can be a standalone system or part of a wireless network, either short-range or long-range. The wireless network can be a communication bus, such as a Serial Controller Area Network (CAN bus). It can also include a Bluetooth™ connection, a wireless local area network (LAN) linking multiple devices using a wireless distribution method, a wireless urban area network (MAN) connecting multiple wireless LANs, or a wireless wide area network (WAN). Other types of wireless connections can also be used.

[0032] According to one embodiment, the wheelchair 10 comprises a seat section 12, an extension mechanism 14, a chassis section 20, one or more sensors 30, one or more actuators 40, a wheelchair controller 50, and an electric propulsion system 70. The seat section 12 is coupled to the chassis section 20 via the extension mechanism 14, wherein a first end of the extension mechanism 14 is pivotally coupled to the chassis section 20 at a first joint, and a second end of the extension mechanism 14 is pivotally coupled to the seat section at a second joint. The chassis section 20 comprises several wheels 22 arranged on a chassis 24 and an electric propulsion system 70, which, according to one embodiment, includes a power supply unit and an electric motor. As can be seen from Fig.As shown in Figure 4, one of the several wheels 22 includes a drive wheel 22, which contains a gear 26 and is coupled to the electric propulsion system 70. The gear 26 of the drive wheel 22 can engage with the rack section 117 of the elongated extension 111 of the extendable ramp 110. According to one embodiment, the interaction between the gear 26 and the rack section 117 is a direct-drive gear system which, in response to a rotational or angular displacement of the drive wheel 22 by the electric propulsion system 70, achieves a fixed linear displacement of the wheelchair 10 on the extendable ramp 110. It will be noted that the wheelchair 10 described here can communicate and interact with the platform access system 100, whether or not there is a person (i.e., an occupant) in the wheelchair 10.

[0033] Alternatively, the wheelchair 10 can be designed as a motorized rollator with hand grips at waist height, a folding seat, a storage container and / or other elements associated with rollators.

[0034] Alternatively, the wheelchair 10 can be designed as a loading container with a degree of autonomous operation outside the vehicle 101 or away from the platform 102 with or without cooperation with a nearby person.

[0035] The wheelchair controller 50 communicates with one or more sensors 30 and is functionally connected to one or more actuators 40. The wheelchair controller 50 includes a wireless communication link 60, enabling it to communicate with the wireless communication link 160 of the ramp controller 150 via the aforementioned wireless network. According to one embodiment, the wheelchair controller 50 may include a GPS sensor.

[0036] The wheelchair controller 50 is able to monitor the location of the wheelchair 10 and / or the proximity of the wheelchair 10 to the extendable ramp 110 of the platform access system 100 via one or more sensors 30.

[0037] Based on Fig. Section 5 describes the operation of the platform access system 100 together with the wheelchair 10.

[0038] The wheelchair controller 50 is designed to control the electric motor for rotating the drive wheel's gear, controlling the extension mechanism, controlling the first joint between the chassis section and the extension mechanism, and controlling the second joint between the seat section and the extension mechanism. Additionally, the wheelchair controller is designed to control the extension mechanism to adjust the position of the seat section.When the drive wheel's gear engages with the extendable ramp, the wheelchair controller controls the electric motor to rotate the drive wheel's gear so that it engages with the rack section of the extendable ramp's elongated arm to cause the wheelchair to travel over the extendable ramp; it controls the second joint to orient the seat section in an upright position while the wheelchair travels over the extendable ramp; and it controls the first joint, the second joint, and the extension mechanism to control the seat section's position while the wheelchair travels over the extendable ramp.

[0039] The ramp controller 150 communicates via the wireless communication link 160 with the wheelchair controller 50 of the nearby wheelchair 10 and controls the multiple actuators 130 using information from the one or more sensors 140 to extend the extendable ramp 110 from the stowed position 118 to the operating position 119.

[0040] The term "controller" and related terms such as microcontroller, control unit, processor, etc., refer to one or more combinations of one or more application-specific integrated circuits (ASICs), free programmable logic gates (FPGAs), electronic circuits, central processing units, e.g., microprocessors, and associated non-transient memory components in the form of storage and repository devices (read-only, programmable read-only, write-read, hard disk drive, etc.).The non-transitory memory component is capable of storing machine-readable instructions in the form of one or more software or firmware programs or software or firmware routines, one or more combination logic circuits, one or more input / output circuits and devices, signal conditioning and buffer circuit arrangements, and other components that can be accessed by one or more processors to provide a described functionality. The one or more input / output circuits and devices include analog-to-digital converters and associated devices that monitor sensor inputs, such inputs being monitored at a preset sampling frequency or in response to a trigger event.Software, firmware, programs, instructions, control routines, code, algorithms, and similar terms refer to sets of instructions, including calibrations and lookup tables, that can be executed by a controller. Each controller executes one or more control routines to provide desired functionality. Routines can be executed at regular intervals, such as every 100 microseconds during continuous operation. Alternatively, routines can be executed in response to a trigger event. Communication between controllers, actuators, and / or sensors can be achieved using a direct-wired point-to-point connection, a networked communication bus connection, a wireless connection, or another communication link. Communication involves the exchange of data signals, including, for example,electrical signals via a conductive medium; electromagnetic signals via air; optical signals via fiber optics, etc. The data signals can include discrete, analog and / or digitized analog signals representing sensor inputs, actuator commands, and communication between controllers.

[0041] The term "signal" refers to a physically distinguishable indicator that transmits information and can be a suitable signal form (e.g., electrical, optical, magnetic, mechanical, or electromagnetic) such as DC, AC, sine wave, triangular wave, square wave, vibration, and the like, which is capable of passing through a medium.

[0042] Fig. Figure 2A shows the extendable ramp 110 in its stowed position.

[0043] Fig.Figure 2B shows the extendable ramp 110 during a first section of the extension 121, while the extendable ramp 110 rotates around the pivot pin 108 after being pushed backwards along the longitudinal axis from the stowed position.

[0044] Fig. 2C shows the extendable ramp 110 during a second section of the extension 123, while the extendable ramp 110 is rotated around the pivot pin 108 so that it is perpendicular to the edge section 104.

[0045] Fig.Figure 2D shows the extendable ramp 110 at the end of its extension, after the extendable ramp 110 has been extended vertically outwards from the edge section 104 and has pivoted vertically in such a way that the first end 115 of the extendable ramp 110 is attached to the edge section 104 and that the second end 116 of the extendable ramp 110 is in contact with the ground level 106, which allows access to the extendable ramp 110 by the wheelchair 10.

[0046] Fig. 3A, Fig. 3B, Fig. 3C, Fig. 3D and Fig. Figure 3E schematically shows a front view of the platform access system 100, which includes the extendable ramp 110, while an embodiment of the wheelchair 10 travels over the extendable ramp 110.

[0047] Fig.Figure 5 schematically shows a wheelchair rerailing process (hereinafter referred to as "process") 1000 for controlling the operation of an embodiment of the platform access system (also "PAS") 100 and the wheelchair 10 for rerailing the wheelchair 10 onto an embodiment of the platform 102 of the vehicle 101, which is based on Fig. 1 and below. The wheelchair tracking process 1000 can be traced back to the implementation of one or more algorithms that reside in and are executable by the ramp controller 150, or it can be one or more cloud-based algorithms that are executed by the ramp controller 150 with communication and interaction with the wheelchair controller 50.

[0048] Table 1 is given as a key in which the blocks designated by reference numerals and the corresponding functions are set out according to process 1000 as follows. Process 1000 is described in the context of the platform access system 100, which is used on the vehicle 101 to provide access for an embodiment of the wheelchair 10, which is an embodiment. It should be noted that one section of the various steps of process 1000 cannot be executed if the platform access system 100 is used on a platform of a stationary system.

[0049] The teachings may be described here with respect to functional and / or logic block components and / or various process steps. Such block components may be composed of hardware, software, and / or firmware components that have been configured to perform the specified functions, including, but not limited to, the elements of the platform access system 100 and the wheelchair 10 described herein. Table 1 BLOCK BLOCK CONTENT 1001 Wheelchair approaches the platform 1002 Wheelchair sends warning to PAS 1003 PAS begins operations 1004 Question: Intention to enter the vehicle? 1005 End query 1006 User confirms intention to enter vehicle 1007 Querying user preferences 1008 Assess ramp extension capability 1009 Extend ramp 1010 Perform stability and level check 1011 Drive into the ramp 1012 Reposition vehicle 1013 Align wheelchair on ramp 1014 Wheelchair occupants, position wheelchair seat for the ramp 1015 The wheelchair travels up the ramp. 1016 Wheelchair touches sensors 1017 Lock the wheelchair to the ramp 1018 Assess occupant / wheelchair position 1019 Ramp, move wheelchair into vehicle 1020 Ramp, turn wheelchair into the correct position 1021 Ramp, wheelchair lock 1022 Wheelchair seat, positioning wheelchair occupants 1023 Close vehicle door 1024 Vehicle ready for transit

[0050] The execution of process 1000 can be carried out as follows. The steps of process 1000 can be performed in a suitable order and are not limited to those based on Fig. The order described in point 5 is limited. As used here, the term "Y" indicates that an answer is affirmative or "YES" or "TRUE", and the term "N" indicates that an answer is negative or "NO" or "FALSE".

[0051] The process 1000 is initiated when a wheelchair 10 approaches the platform (S1001) and sends a warning to the platform access system 100 indicating a wish for the wheelchair 10 with the occupant to enter the vehicle 101 or to gain access to the platform 102 via the platform access system 100 (S1002).

[0052] The platform access system 100 begins operation (S1003), which includes querying the occupant to determine their intention to enter the vehicle (S1004). If there is no intention to enter the vehicle (N), the query ends without further action (S1005).

[0053] If there is an intention to enter the vehicle (Y), the occupant confirms its contents (S1006) and a further query is performed to determine the occupant's preferences (S1007).

[0054] For example, the ability of the ramp 110 to extend from its current position is assessed using sensors on the vehicle that can evaluate surface conditions at ground level (S1008). Such vehicle sensors can be image recognition, LiDAR, or radar sensors associated with the ADAS. Alternatively or additionally, the ability to extend the ramp 100 from its current position can be achieved by the occupant or a third party capable of interacting with the platform access system 100, such as via a portable device or a control panel on the vehicle.

[0055] If extending the ramp is not currently possible (N), the vehicle 101 can be repositioned either manually or via an advanced driver assistance system (ADAS) or another form of autonomous vehicle control (S1012). If extending the ramp appears possible (Y), the ramp 110 can be extended (S1009), followed by a check of ramp stability and level (S1010). If the ramp stability and level check is unacceptable (N), the ramp 110 can be retracted (S1011) and the vehicle 101 can be repositioned (S1012).

[0056] If the ramp stability and height test is acceptable (Y), the wheelchair 10 is aligned with the ramp 110 (S1013), and the occupant and / or seat 12 are positioned for ascent onto the extendable ramp 110 (S1014). The wheelchair 10 is then controlled to ascend the extendable ramp 110 (S1015). The wheelchair 10 travels up the extendable ramp 110 until it comes into contact with or near one or more of the ramp sensors 140 (S1016), at which point the wheelchair locking mechanisms 135 are actuated to secure or lock the wheelchair 10 to the extendable ramp 110 (S1017). The location of the position(s) of the occupant and / or wheelchair 10 are assessed and adjusted as required (S1018) and the wheelchair 10 and the extendable ramp 110 are moved into the vehicle (S1019).This may include rotating and / or sliding the extendable ramp 110 into a desired position (S1020) and then locking or otherwise securing the wheelchair 10 and the extendable ramp 110 in the correct position (S1021). The seat position 12 of the wheelchair 10 can then be adjusted to move the occupant into a desired position (S1022). The vehicle door can be closed (S1023), and the vehicle 101 can then be ready for transit (S1024).

[0057] In this way, a wheelchair ramp is provided that uses a toothed section to allow a suitable powered wheelchair wheel to engage the incline into a vehicle opening and ascend, then pivot the wheelchair and user to a desired driving or travel destination. The inside of the ramp is then clamped into place, securing the ramp, chair, and user to the vehicle.

Claims

[1] Platform access system (100) for a wheelchair (10), comprising: a retractable ramp (110) which is slidably arranged on a platform (102), several actuators (130) including a first, a second and a third actuator, a sensor (140) and a ramp controller (150) which contains a communication link; wherein the extendable ramp (110) includes a first elongated boom (111) with a rack section (117) arranged on it; wherein the extendable ramp (110) has a first end (115) and a second end (116); wherein the platform (102) is arranged horizontally on a first level and has a boundary section (104) that defines a longitudinal axis (105); wherein the extendable ramp (110) is arranged at a first position on the platform (102); wherein the ramp controller (150) is functionally connected to the multiple actuators (130); where the ramp controller (150) communicates with the sensor (140); wherein a first actuator (130) is designed to push the extendable ramp (110) on the platform (102) parallel to the longitudinal axis (105); wherein the extendable ramp (110) is rotatable via a second actuator (130) on the platform (102) between the first position, which is parallel to a longitudinal axis (105), and a second position, which is perpendicular to the longitudinal axis (105), wherein the second actuator (130) is designed to rotate the extendable ramp (110) relative to the platform (102) about a vertical axis in a horizontal plane; wherein the second end (116) of the extendable ramp (110) extends outwards from an edge section (104) of the platform (102) in the second position; wherein the extendable ramp (110) is vertically pivotable via the third actuator (130) at the edge section (104) of the platform (102) when it is in the second position, wherein the second end (116) of the extendable ramp (110) is arranged at a second height; wherein the first end (115) of the extendable ramp (110) can be attached to the edge section (104) of the platform (102) via one of the several actuators (130); wherein the rack section (117) of the first elongated boom (111) is arranged for the engagement of a gear (26) of a drive wheel (22) of a wheelchair (10) which is arranged at the second height; and wherein the communication link is designed to communicate with a communication device of the wheelchair (10) when it is in its vicinity. [2] Platform access system (100) according to claim 1, further comprising: that the ramp controller (150) contains algorithmic code, wherein the algorithmic code for controlling the multiple actuators (130) to move the extendable ramp (110) from the first position to the second position is executable, which includes that the multiple actuators (130) are operable to: Pushing the extendable ramp (110) along the platform (102) along the longitudinal axis (105); Rotating the extendable ramp (110) in a horizontal plane, with the second end (116) extending outwards from the edge section (104) of the platform (102); vertical pivoting of the extendable ramp (110) at the edge section (104) of the platform (102), wherein the second end (116) of the extendable ramp (110) is arranged at the second height; and Attaching the first end (115) of the extendable ramp (110) to the edge section (104) of the platform (102). [3] Platform access system (100) according to claim 2, further comprising that the ramp controller (150) contains algorithmic code, wherein the algorithmic code is executable for: vertical pivoting of the extendable ramp (110) to the first level after unloading the wheelchair (10) onto a surface at the second level via one of the several actuators (130); Rotating the extendable ramp (110) in the horizontal plane over one of the several actuators (130); and Pushing the extendable ramp (110) on the platform (102) into the first position via one of the several actuators (130). [4] Platform access system (100) according to claim 1, wherein the platform (102) is a section of a vehicle (101). [5] Platform access system (100) according to claim 1, wherein the platform (102) is a section of a movable platform (102). [6] Platform access system (100) according to claim 1, wherein the platform (102) is arranged on a stationary platform (102). [7] Platform access system (100) according to claim 1, further comprising a retractable ramp (110) which includes the first elongated boom (111), a second elongated boom (112) and a crossbeam (114); wherein the first elongated boom (111) is arranged coplanar with and parallel to the second elongated boom (112); and wherein the first elongated boom (111) is connected at the first end (115) of the extendable ramp (110) via the crossbeam (114) to the second elongated boom (112).

Images