Method and device for outputting feedback about a relative position of a mobility aid with respect to a target position

Abstract

Method for positioning a mobility aid (10) at a target position, preferably inside a vehicle (1), comprising the steps: - detecting at least one value which is characteristic of a position of a mobility aid (10) by at least one first sensor device (14), - comparing the position of the mobility aid (10) with the target position of the mobility aid (10) and assessing whether the mobility aid (10) has reached the target position, - Outputting feedback information to a user (100) of the mobility aid (10) which is characteristic of the assessment result as to whether the mobility aid (10) has reached the target position.

Description

[0001] The present invention relates to a method and a device for outputting feedback about a relative position of a mobility aid, for example a wheelchair, with respect to a target position.

[0002] There are many efforts to make life easier for people with disabilities and enable them to participate in public life. Many people with disabilities rely on mobility aids, such as wheelchairs. In addition to removing barriers (such as steps), the use of public transport is also essential to enable people with disabilities to achieve the greatest possible flexibility and mobility. It is also particularly important to enable people with disabilities to assume a safe position independently on public transport. This allows people with disabilities to use public transport autonomously, i.e., without an accompanying person, which increases flexibility and mobility.

[0003] Systems are known from the state of the art that enable the securing of mobility aids, such as wheelchairs, and the persons using these mobility aids in private or public transport. These systems typically comprise an occupant restraint system with at least one shoulder belt and one or more lap belts, as well as a mobility aid securing device, which in turn may include one or more belts, shock absorbers, barriers, locks, and / or automatic grippers.

[0004] An example of such a system is known from US 2020 / 0323713 A1. This is an automatic securing system that secures a mobility aid on wheels in a specific position within an autonomously driving public transport vehicle, thus preventing unwanted movements that could be dangerous for both the user of the mobility aid and other passengers. The automatic securing system comprises a bumper that can assume at least two different states. In a first state, a contact surface of the bumper can be adapted to a surface geometry of the mobility aid upon contact with the mobility aid. In a different, locked state, this contact surface of the bumper rests rigidly on the surface of the mobility aid and can thus firmly grip the mobility aid to fix it in the vehicle.The ability to switch the safety system between two different states makes it particularly easy to configure one of the states in such a way that the safety system does not hinder other passengers or only hinders them minimally, unless the safety system is used to secure a mobility aid and a person using it.

[0005] It is also disclosed that this securing system can comprise various sensors that can determine, among other things, a position of the wheeled mobility aid in the vehicle, the model or type of the wheeled mobility aid, the individual and combined total weight of the wheeled mobility aid and the passenger, and is particularly suitable for determining whether the wheeled mobility aid is moving or stationary. This makes it possible to monitor the wheeled mobility aid for any movements during transport. This, in turn, makes it possible, for example, to alert a vehicle driver to excessive movement of the mobility aid or a fault in the mobility aid's securing system.For this purpose, a computing device is provided by means of which movements can be detected on the basis of signals from various sensors while driving and a corresponding visual, acoustic or tactile signal can be issued to the driver as a warning.

[0006] However, such safety systems continue to have the disadvantage that warnings about movement during the journey are only issued to the driver. The user of the mobility aid is still dependent on outside assistance in the event of a malfunction or movement of the mobility aid. This is undesirable, as it creates a feeling of dependency in many people with disabilities and reduces their confidence in using public transport autonomously. Furthermore, driverless systems do not allow for driver intervention.

[0007] A system for securing a wheelchair in a vehicle is also known from US 2008 / 0079252 A1. The system comprises a parking area for a rear-facing wheelchair, which is defined by a forward movement barrier to prevent the forward movement of the wheelchair positioned there, lateral movement barriers to prevent the unwanted movement of a wheelchair, and wall-mounted folding seats suitable for converting the wheelchair station for use by non-wheelchair users. Furthermore, handrails and a high-friction floor material are provided to assist in preventing the movement of the wheelchair. Furthermore, an electropneumatic control system is provided, by means of which holding devices for securing the wheelchair to the parking area can be controlled.If a mobility aid user notifies a vehicle driver of the use of the system, the driver activates the electro-pneumatic control system, thereby granting access to the parking space. If the wheelchair is parked there, the user presses a button to activate the electro-pneumatic control system to secure the wheelchair. The vehicle driver receives status information about the completed / continued securing of the mobility aid after the wheelchair has been secured and during the journey.

[0008] The systems described above have the disadvantage that the user does not receive feedback about any errors and therefore cannot correct them independently. The user is dependent on the assistance of the vehicle driver in the event of an error. This can not only be detrimental to the mobility aid user's self-confidence, but can also cause delays in public transport schedules or even – in the case of autonomous vehicles due to the absence of a driver – make the operation impossible.

[0009] Other prior art systems, however, rely on equipping the mobility aid itself with monitoring systems that enable the mobility aid to be moved autonomously into a desired position. One such mobility aid is known, for example, from US 2004 / 0006422 A1. This patent application primarily aims to increase the participation in public life of those members of a population who are unable to manually control the movements of electric wheelchairs, providing them with autonomous navigation options in frequently used environments such as homes, offices, hospitals, and public buildings and spaces.

[0010] The wheelchair navigation system disclosed therein comprises a battery-powered motorized wheelchair and a navigation system. Based on data from two cameras, proximity sensors, microphones, and wheel rotation sensors, a computing device of the navigation system determines a suitable movement path. For this purpose, markers of relevant locations, such as boundaries (walls) or obstacles, are provided. The computing device of the navigation system uses the proximity sensors, rotation sensors, and cameras to determine the location of objects or obstacles in the room and redirects the mobility aid's path to avoid collision with such objects. Successfully traveled routes can be saved, allowing the wheelchair to learn these routes and travel them in a similar manner at a later time.This is particularly advantageous for routes that are traveled regularly, such as within your own home.

[0011] The disadvantage of such systems is their high price and the need to mark the areas to be used with markings that the system can recognise. Particularly because of the cost-intensive nature of equipping each individual mobility aid with such a system, such a system contradicts the idea of ​​enabling as many people with disabilities as possible – regardless of their financial resources – to participate autonomously in public life and, to improve their mobility, also offering the use of public transport. Furthermore, such systems do not work, or only work to a limited extent, particularly in the interior of vehicles due to the limited space available and the fact that the user usually has to reverse to bring the mobility aid into contact with a safety device.Furthermore, there is no way to indicate to the user that the mobility aid is correctly secured in the safety device.

[0012] Despite the above-mentioned state-of-the-art solutions, there is a need for a device and a method that supports people with disabilities in using a mobility aid and leads them safely to a target position even in confined spaces, especially in public transport.

[0013] This object is achieved by a method according to claim 1, a device according to claim 6, and a vehicle according to claim 10. Advantageous embodiments and further developments of the invention are the subject of the dependent claims.

[0014] The method according to the invention for positioning a mobility aid at a target position, preferably inside a vehicle, comprises the steps: - detecting a position of a mobility aid by at least one (first) sensor device, in particular by detecting at least one value which is characteristic of a position of the mobility aid, and preferably by recording spatially resolved sensor data which are characteristic of a position of the mobility aid, - comparing the position of the mobility aid with the target position of the mobility aid and assessing whether the mobility aid has reached the target position and / or whether the mobility aid is at the target position, - preferably calculating a path on which the mobility aid can be guided from the determined position to a target position, and - Outputting feedback information to a user of the mobility aid which is characteristic of the assessment result as to whether the mobility aid has reached the target position and / or whether the mobility aid is located at the target position, preferably outputting information to a user of the mobility aid which correlates to a direction in which the mobility aid should be guided in order to be moved on the calculated path.

[0015] Such a procedure makes it possible for even simple mobility aids, which may not even have mobility aid-related sensors, to be safely guided to a target position by a user of the mobility aids.

[0016] Preferably, the procedure is carried out externally with respect to the mobility aid, meaning, in particular, that no element or device of the mobility aid is involved in the execution of the procedure. Preferably, the procedure is carried out by a vehicle in which the mobility aid is to be positioned. A procedure carried out externally with respect to the mobility aid offers the advantage that it can be carried out independently of any equipment of the mobility aid.

[0017] A mobility aid is, in particular, a wheelchair. However, it could also be other mobility aids such as a rollator, a crutch, a walking stick, a stair-climber, or a hospital bed. In the following, the invention is often described using a wheelchair as an example. However, the description of the invention using a wheelchair as an example should not be understood to imply that such an embodiment could only be implemented with a wheelchair. Rather, the mention of a wheelchair – unless explicitly stated otherwise and technically feasible – should be understood as a synonym for a mobility aid in a general sense.

[0018] For the purposes of this invention, a user of a mobility aid is essentially understood to be a person who, due to a physical impairment, is dependent on the use of this mobility aid. However, it is also conceivable that a mobility aid may also be used by persons who do not themselves have a physical impairment that compels them to use this mobility aid. Such a group of persons could, for example, be caregivers who move a person with a physical impairment using the mobility aid or who support the person with a physical impairment in using the mobility aid. For example, a person who pushes a wheelchair, i.e. who does not sit in the wheelchair themselves, is also understood to be a user within the meaning of this invention.However, since the invention is particularly aimed at enabling a person with a physical impairment to participate autonomously in public life, in a preferred variant of the invention a user of the mobility aid is to be understood as the person who is dependent on the use of this mobility aid due to a physical impairment.

[0019] Preferably, the feedback information and / or the information correlating to the direction in which the mobility aid should be guided is output acoustically and / or visually. Visual output of the information has proven particularly preferable, as it has less impact on other people and they perceive such information transmission as less disruptive. However, it has been shown that people with limited mobility are often elderly people who cannot perceive visual displays sufficiently well. Therefore, in some preferred embodiments, acoustic information transmission or a combination of acoustic and visual information transmission is also preferred.

[0020] It is also conceivable that the feedback information and / or the information correlating to the direction in which the mobility aid is to be guided is output in a haptically perceptible form by the user of the mobility aid, for example a vibration of an output element.

[0021] If the information transmission is or includes a visual output of the feedback information and / or the information, it is preferred that the information is output on a display and / or by projection onto a surface. A display is often present in public transport, for example to show the next stops, so that such a display could also be used to show the feedback information and / or the information on the direction in which the mobility aid should be guided. However, such displays often have the disadvantage that they are arranged very high up in the vehicle and are therefore sometimes not visible to users of a mobility aid, for example a wheelchair user from a comparatively low, i.e. sitting, position.It is therefore particularly preferred that the display is arranged at a comparatively low height or that a projection is made onto a surface that is easily visible to the user of the mobility aid.

[0022] Preferably, the information is visually displayed on a floor, part of a seat, and / or the interior wall of a room. Regardless of the location and type of display, it has proven particularly advantageous to display the information in the form of a line code. Such a line code could, for example, be implemented in the form of a light strip, such as an LED strip, or be projected onto almost any surface. Due to the extremely narrow width of such a display, a particularly large number of surfaces are suitable for such a projection and / or can accommodate such a light strip.A code has been shown to be particularly preferred for the type of display as a line code in which a (total) length of the (illuminated or projected) line preferably correlates to the distance from the (current) position of the mobility aid to the target position and a position of a color-highlighted line section correlates to a horizontal deviation from the calculated path.

[0023] For example, a horizontal line of a length that correlates with the distance from the mobility aid to the target position could be displayed in a first color, with part of this line being colored differently. If the position of this differently colored part deviates from the position of the center of the line, this indicates that the mobility aid is currently located to the side of the calculated path. A differently colored part located to the right of the center preferably indicates that the mobility aid is also located to the right of the calculated path and that a correction by moving to the left is therefore necessary to reach the target position. Such a representation has proven to be particularly easy to understand and also easily recognizable for people with impaired vision. If necessary, a change in the color representation of the differently colored part could additionally or alternatively encode the deviation.It is conceivable, for example, that when positioned on the calculated path, the differently colored part is displayed in green and when the mobility aid deviates from the calculated path, it changes color, for example to yellow, orange or red. Such a color code could possibly (additionally) also encode the strength of the deviation and / or the direction of the deviation from the calculated path.

[0024] The target position is preferably located within the range of a safety device. This is particularly advantageous when the target position is in a (public) vehicle, as the mobility aid and its user should be as secure as possible while the vehicle is moving. However, it is not mandatory for the target position to be located within the range of a safety device. The method could also be used – also within the area of ​​vehicle use – to make it easier for people with reduced mobility to exit the vehicle. For example, a (vehicle) door could therefore also be located within the range of the target position. This is advantageous, for example, if exiting should occur while moving backwards, such as when using a walker as a mobility aid.

[0025] In a preferred variant of the method, a signal is emitted when the target position is reached. This signal can be emitted, for example, to a user of the mobility aid. Alternatively or additionally, in a variant of the method, the signal can be emitted to a safety device, which secures the mobility aid upon receiving this signal. The securing of the safety device could also be initiated by the user of the mobility aid, possibly after the user has perceived the signal that the target position has been reached.

[0026] The signal can be a signal for outputting feedback information. For example, a green light signal is output to the user upon reaching the target position, while a red light signal is output to the user before reaching the target position.

[0027] Preferably, the system or device for positioning the mobility aid remains active even after the mobility aid has reached the target position. This allows the position of the mobility aid and / or its user at the target position to be monitored. If necessary, a warning could be issued if the position of the mobility aid and / or its user at the target position deviates from a target position. This can warn and / or prevent the mobility aid user from assuming a dangerous position and / or the mobility aid from assuming a position in which it could be damaged.

[0028] During the journey, the (current) position and / or the securing of the mobility aid can be compared with the target position, preferably continuously and / or repeatedly (e.g. at regular intervals) and / or at the user's request, and preferably a (light) signal, for example in an optical, acoustic and / or haptic manner, characteristic of proper positioning and / or securing of the mobility aid can be issued to the user, so that the user receives feedback on the proper arrangement or securing of the mobility aid or a change in this status.

[0029] Preferably, the information is output in real time. This allows the mobility aid user to react to potentially incorrect movements and / or directions of movement immediately while using the mobility aid and correct them. This makes it particularly easy to move the mobility aid toward the calculated path or quickly return to it.

[0030] Preferably, the mobility aid is locked in the target position by a locking mechanism of the securing device. This makes it possible to secure the mobility aid in such a way that, even under longitudinal or lateral acceleration, it does not move so drastically during travel that the user of the mobility aid or other persons would be endangered by the mobility aid. Such a locking mechanism can also secure the user of the mobility aid, for example, if the user is secured to the mobility aid, for example, strapped into a wheelchair. Preferably, however, the securing device provides a securing element for securing a user of the mobility aid. This allows the user to be secured additionally and / or directly (for example, in the vehicle and not just to the mobility aid).

[0031] In particular, it is preferred that the calculated path be arranged at least partially inside a vehicle. History has shown that it is particularly difficult for people with limited mobility to quickly assume a position in vehicles in which both they and the mobility aid are safe during longitudinal and / or lateral acceleration. This problem arises particularly when using public transport, as the position of a safe position for mobility aids can vary depending on the type and / or model of the means of transport. A method as described above offers the possibility of quickly and reliably indicating the route to such a position.In addition, by providing the information to the mobility aid user, other people are also made aware of this route, so that this route can be cleared without direct interaction with the person with reduced mobility. This reduces the barriers for people with reduced mobility to using public transport and strengthens the autonomy of mobility aid users.

[0032] Preferably, the assumption or reaching of the target position and / or the (completed) locking (using the locking means) of the mobility aid, in particular for a predetermined (subsequent) period of time, can be checked (continuously and / or at fixed time intervals) to determine whether the mobility aid is still being assumed or whether it is still (properly) locked. Such a check is preferably carried out while the vehicle is in motion. For example, the predetermined period of time can be the travel time to a destination or to a stop (e.g., a public transport vehicle).

[0033] Preferably, an alarm is issued as soon as the check determines that the target position is no longer being correctly maintained (particularly while the vehicle is moving). The alarm can be issued to the user (e.g., via an output device of the mobility aid and / or the vehicle and / or the user) and / or to the safety device and / or (internally) to another device of the positioning device. It is also conceivable, in such a case, to transmit an alarm signal to a (mobile) terminal of the user to output a value characteristic of the alarm signal to the user.

[0034] Preferably, a type and / or kind of mobility aid is determined, preferably on the basis of the at least one value detected and / or on the basis of (spatially resolved) sensor data which are detected or are detected by a sensor device (which is preferably part of the device for positioning a mobility aid described in more detail below), wherein the sensor device preferably detects the mobility aid at least partially and preferably completely.

[0035] For this determination, at least one geometric dimension and / or at least one geometric size characteristic of the length and / or width and / or height of the mobility aid can be determined (preferably using the at least one detected value and / or the sensor data detected by the sensor device).

[0036] Additionally and / or alternatively, object recognition (in particular computer-implemented, for example AI-based) can be used to determine the type and / or kind of mobility aid. For this and / or additionally, a manufacturer (of the mobility aid) and / or an identification of the mobility aid, which is particularly unique and characteristic for a type and / or kind of mobility aid, can be determined. It would also be conceivable to determine the movement behavior of the mobility aid and / or the user of the mobility aid (during interaction with the mobility aid) in order to determine the type and / or kind of mobility aid. Preferably, the determined movement behavior (for example by the sensor device and / or based on the at least one determined value) is analyzed in order to derive a type and / or kind of mobility aid used by the user.

[0037] For example, it determines whether the mobility aid is a powered mobility aid and / or a manually operated mobility aid. For a wheelchair, for example, it is preferentially determined whether it is an electric wheelchair or a manual wheelchair. This allows the system to detect how far back the user needs to reach so that the locking mechanism can be activated and to make the correct adjustments when securing the system. This detection is preferably achieved by measuring and detecting the wheelbase and tire thickness, which typically differ significantly between the two wheelchair types (due to the weight they must support).

[0038] It could also be recorded and / or detected whether the wheelchair is one of those that can be safely secured and used in a moving vehicle. For example, there are scooters, mobility scooters, or scooters (with three or four wheels) that are frequently used by elderly people and are not normally approved for use on public transport. These could be recognized visually or using LIDAR based on their characteristic footprint. Hospital wheelchairs that are not approved for public transport could also be detected, as their frame tubes are usually undersized compared to a wheelchair approved for public transport. Advanced detection using RFID tags, etc., would be conceivable, but it would not be retroactively compatible with the wheelchairs currently in use.

[0039] The sensor device preferably detects the mobility aid at least partially and preferably completely (at least in the detection direction). It is conceivable that a distance value characteristic of a distance between the sensor device and the mobility aid and / or an angle between a main detection direction of the sensor device and the connecting line between the sensor device and the position of the mobility aid, and / or an orientation of the mobility aid, can be determined from the sensor data detected by the sensor device.

[0040] Preferably, at least one LIDAR (light detection and ranging or light imaging, detection and ranging) is used to detect the position of the mobility aid. This form of three-dimensional laser scanning has proven particularly advantageous because LIDAR offers a high potential point density and thus not only the distance of a mobility aid but also, if necessary, further information about the mobility aid, such as its type (wheelchair, bed, walker, etc.) and its dimensions (particularly its width could be relevant) can be determined. LIDAR enables the geometry of wheelchairs, for example, to be recognized and thus the wheels, for example. This is relevant for determining the (expected) direction of movement and thus also for calculating the (most favorable) path to the target position.In addition, LIDAR systems are now widely used in vehicle construction (for example in the field of driver assistance systems), are available as compact sensor modules and are affordable.

[0041] For the method described above, it is usually not necessary for the LIDAR system to cover a wide angular range in the vertical direction. Accordingly, a comparatively simple LIDAR system could be used that only captures a few angles vertically (e.g., ≤ 16 angles, preferably ≤ 8 angles, more preferably ≤ 4 angles, and especially preferably only a single angle). If multiple angles are captured in the vertical direction, this is preferably implemented channel by channel (to keep costs low), for example, with intervals of 2° between adjacent angles.

[0042] In the horizontal direction, the laser preferably covers a wide angular range of ≥ 90°, preferably ≥ 105°, preferably ≥ 120°, more preferably ≥ 135°, and particularly preferably ≥ 180°. This angular range preferably covers, at least in sections, an entry lane along which a mobility aid can be moved toward the target position, for example, a wheelchair can be moved toward the target position.

[0043] In addition to or as an alternative to the LIDAR described above, another sensor system, such as a camera and / or multiple cameras, could also be used. One or more cameras can independently detect optical information at different wavelengths. Not all of these wavelengths need to be in the visible range. The one or more cameras are preferably connected to a computer system that can evaluate the data detected by the camera(s).

[0044] A trainable artificial intelligence system can be used to calculate the path. Such an artificial intelligence system can preferably be trained to recognize different types of mobility aids and calculate a path suitable for each of the recognized mobility aids.

[0045] An artificial intelligence system can (preferably independently of one of the above-mentioned application areas) preferably access at least one value, preferably several values, or data determined by the sensor device (e.g., a LIDAR). Preferably, the artificial intelligence system can also access data from a camera system with image processing.

[0046] In the context of this invention, the term "data" should be understood as a group of multiple values. The data of a data set can comprise values ​​that are characteristic of a single parameter or of different parameters. The terms "data" and "values" are used synonymously. A "value" can accordingly be a part of a data set. A value can, for example, be a piece of data. A value can be characteristic of a single parameter (determined, for example, by the sensor device), but is not necessarily characteristic of a single parameter. Rather, a value can comprise information on multiple parameters. For example, information on a position (e.g., with the parameters direction and distance) could be combined into a single value, or a value could be formed from information on a parameter and time information.

[0047] Preferably, the machine learning model is suitable for executing a (computer-implemented) computer method and determines in which (computer-implemented) perception and / or detection tasks are executed, for example (computer-implemented) methods for semantic segmentation and / or (computer-implemented) object classification. During object classification, a signal detected and / or displayed in measured values ​​(or in sensor data characteristic of the measured values) is assigned to a (previously learned and / or predefined) class. The classes can be (among other things) a meaning (in particular with regard to a type and / or dimension of a mobility aid) of a detected signal and / or a notification variable characteristic of a meaning of the detected signal.

[0048] The machine learning model is preferably based on an (artificial) neural network (AI - Artificial Intelligence). Sensor data (or data derived from it) are preferably fed to the artificial neural network as input variables. The artificial neural network preferably maps the input variables to output variables depending on a parameterizable or parameterized processing chain (using the trainable or trained parameters).

[0049] Preferably, at least one output variable is characteristic of an assessment result as to whether the mobility aid has reached the target position and / or whether the mobility aid is at the target position.

[0050] Preferably, at least one output variable is characteristic of a recognized type of mobility aid.

[0051] Preferably, at least one output variable is characteristic for at least one section, preferably an initial section and particularly preferably for an entire calculated path (between the current position and the target position).

[0052] Such a neural network can, for example, be designed as a deep neural network (DNN), in which the parameterizable processing chain has a plurality of processing layers, and / or a so-called convolutional neural network (CNN) and / or a recurrent neural network (RNN). The parameterizable processing chain is preferably parameterized during training. Datasets related to (base) datasets and / or training datasets are preferably used as training data. Training is preferably carried out using supervised learning. However, it would also be possible to train the artificial neural network using unsupervised learning, reinforcement learning, or stochastic learning.

[0053] The object underlying the invention is also achieved by a device for positioning a mobility aid at a target position, preferably inside a vehicle, comprising at least one (in particular first) sensor device for detecting at least one value which is characteristic of a position of a mobility aid, which comprises: - a computing device which is in data communication with the sensor device and is provided and configured to calculate a position of the mobility aid from at least one value determined by the sensor device and to compare the position of the mobility aid with the target position of the mobility aid and preferably to assess whether the mobility aid has reached the target position and / or is located at the target position, and wherein preferably the computing device is provided and configured to calculate a path on which the mobility aid can be guided to a target position and - an output device connected to the computing device, by means of which feedback information, which is characteristic of the assessment result as to whether the mobility aid has reached the target position, can be output to a user of the mobility aid. Preferably, information can be output that correlates to a direction in which the mobility aid should be guided in order to be moved along the calculated path. In particular, the information to be output according to a preferred embodiment, which correlates to a direction in which the mobility aid should be guided in order to be moved along the calculated path, represents feedback information (through the direction indication).

[0054] The sensor device is preferably suitable and intended for detecting spatially resolved sensor data, which are preferably characteristic of a position of the mobility aid.

[0055] Such a device makes it possible to support a mobility aid user in guiding the mobility aid to the target position. This significantly simplifies and supports mobility aid users, particularly in confusing, narrow, and / or unfamiliar environments.

[0056] Preferably, the device comprises a sensor device, a LIDAR, for detecting the value characteristic of the position of the mobility aid. LIDARs have proven particularly suitable because they offer a high possible point density and can thus, in addition to the distance of the mobility aid from the LIDAR, also provide additional information, from which the computing device can determine, for example, the type of mobility aid (wheelchair, bed, walker, etc.) and its dimensions (in particular, its width could be relevant).

[0057] Preferably, the device for positioning a mobility aid is not, and particularly preferably not even partially, a part or component of the mobility aid. Preferably, the device for positioning a mobility aid is designed such that it can be arranged and / or used within a vehicle and / or within a room.

[0058] In a further embodiment, the system comprises, in addition to or as an alternative to the LIDAR described above, another sensor system, such as a camera and / or multiple cameras. Preferably, one or more of the cameras (optionally independently of one another) comprise a detector provided for detecting different wavelengths. One or more detectors can detect a wavelength in the visible range. Preferably, at least one detector is provided and configured for detecting a wavelength range outside the visible range.

[0059] Preferably, one or more cameras are connected to a computer system. The computer system is preferably configured to evaluate the data from the one or more cameras.

[0060] If necessary, the mobility aid could include a transmitter that sends a signal to the sensor device. In a simple embodiment, such a transmitter could be a reflector that indicates, for example, a center position of the mobility aid (e.g., its geometric center of gravity), which could serve as a reference point for guiding the entire mobility aid along the calculated path. It is also conceivable for the transmitter to send additional information about the type and / or geometry of the mobility aid. A special shape and / or color code for different mobility aids would be conceivable in this regard. However, RFID tags are particularly suitable for such variants, as they enable the storage of comparatively large amounts of data and the transmission of this data (if necessary upon request) to a sensor device.For example, a data set provided by an RFID tag could include information about the type of mobility aid and its dimensions.

[0061] Preferably, the output device is one that outputs acoustic and / or visual signals. In particular, it is preferred that the output device be configured to output visual signals. However, to ensure that people with impaired vision can also use the device described above, an (additional) acoustic output of the information may be necessary and advantageous.

[0062] An output device for outputting visual signals preferably comprises a display and / or a projector. Such a display device is preferably arranged relatively low in a vehicle so that it is easily visible even for users of a mobility aid, such as a wheelchair user, from their relatively low, seated position. A display is preferably arranged in part of a seat, a wall, or a floor. A projector is preferably directed onto a projection surface formed by a floor, part of a seat, and / or an interior wall of a room.

[0063] A display can be a screen, but in a preferred embodiment, it has a strip-like shape. Such an output device could, for example, be designed in the form of a light strip, such as an LED strip. Due to the particularly narrow design of such an output device, it can be integrated into a large number of surfaces and even visually enhance these surfaces.

[0064] Such an output device is preferably provided and configured to output the information in the form of a line code, wherein a length of the line preferably correlates to the distance of the mobility aid to the target position and a position of a color-highlighted line section correlates to a horizontal deviation from the calculated path.

[0065] In a preferred embodiment, the output device is horizontally aligned and at least substantially linear. The length of a portion of this output device that illuminates (in a first color) preferably correlates to the distance of the mobility aid to the target position. The position of a portion of this output device that illuminates in a different (second) color preferably correlates to a horizontal (or lateral) deviation of the mobility aid from the calculated path. In this case, a deviation of the position of this differently illuminated part from the center of the (linear) output device preferably represents a current position of the mobility aid that deviates laterally from the calculated path in this direction. Such a representation has proven to be particularly easy to understand and also clearly recognizable for people with impaired vision.

[0066] Preferably, a securing device is arranged in the region of the target position. This preferably comprises a locking means by which the mobility aid can be locked to the securing device in the target position. Furthermore, the securing device preferably comprises a securing element by means of which a user of the mobility aid can be secured (to the mobility aid).

[0067] Preferably, an output device can output a signal indicating that the target position has been reached. This signal could, for example, be output optically and / or acoustically at an interface where it can be perceived by a user of the mobility aid. A user of the mobility aid could use this signal, for example, to initiate or trigger a safety device to secure themselves and / or the mobility aid.

[0068] Alternatively or additionally, the output device could be connected to the safety device via a data link. This allows the signal emitted upon reaching the target position to be used to trigger the safety device to secure the mobility aid.

[0069] Preferably, the system is provided and configured to monitor the position of the mobility aid and / or its user at the target position. Preferably, an output device is provided and configured to output a warning if the position of the mobility aid and / or its user at the target position deviates from a target position.

[0070] The securing device preferably comprises at least one sensor by means of which a completed locking and / or securing action can be detected. This sensor is preferably connected to the output device (for example, indirectly via the computing device). This enables the output device to output information about the completed locking and / or securing action. This allows the user of the mobility aid to receive feedback that they have successfully completed the maneuver and that the mobility aid, and possibly themselves, have been secured at the reached target position.

[0071] Preferably, the computing device is at least temporarily connected to a data network. This makes it possible for the computing device to receive updates. The data network can comprise a data processing device with an artificial intelligence system that receives data from a plurality of data processing devices (in particular, different vehicles) and uses this data to generate improved algorithms for calculating a path.

[0072] Furthermore, the present invention is directed to a vehicle, in particular a motor vehicle, which comprises a device as described above for positioning a mobility aid or parts thereof and / or is designed and provided for carrying out a method as described above or one or more steps thereof. Such a vehicle can offer particular travel comfort for persons with reduced mobility and increased safety, since a safe seat can be taken more easily and quickly. Comfort is also increased and travel time shortened for persons without reduced mobility, since persons with reduced mobility can take a safe seat quickly and independently - in particular without the assistance of a vehicle driver.

[0073] Preferably, the sensor device is arranged such that it can detect at least one entry area of ​​the vehicle, in particular a mobility aid in the entry area.

[0074] Preferably, the device and / or the vehicle is configured, suitable, and / or intended to carry out a method as described above, as well as all method steps described in connection with the method, individually or in combination with one another, or individual method steps using the device described above. Conversely, the method can be carried out with all features described in connection with the device, individually or in combination with one another.

[0075] In a preferred embodiment, the computing device is connected to a data processing device arranged outside the vehicle. Such a data connection makes it possible to receive data relevant to increasing comfort, for example, weather data, navigation data, position data of another vehicle and / or information about a lane closure, from an external location or forward it to an external location. This enables a more precise database for the desired increase in comfort and the aggregation of data. For example, it could be determined which routes and / or stops are more frequently used by people who rely on mobility aids. Such routes and / or stops could then be served by vehicles that offer multiple secure locations for mobility aids – for example, the safety devices described above.

[0076] In another preferred embodiment, the computing device is not, or at least not permanently, connected to a data processing device located outside the vehicle. The computing device can operate autonomously and determine data relevant for increasing comfort based on vehicle-mounted sensors. This allows the increase in comfort to be achieved even when there is no connection to a network.

[0077] A vehicle can be a motor vehicle, which can be a driver-only vehicle, a semi-autonomous vehicle, an autonomous vehicle (e.g., a Level 3, 4, or 5 autonomy vehicle (as defined by SAE J3016)), or a self-driving vehicle. In addition to a road vehicle, the vehicle can also be an air taxi, an aircraft, a rail vehicle, or another means of transport or another type of vehicle, such as an aircraft, watercraft, or rail vehicle.

[0078] The present invention is further directed to a computer program or computer program product comprising program means, in particular a program code, which represents or encodes at least some and preferably all of the method steps of the method according to the invention and preferably one of the described preferred embodiments and is designed to be executed by a processor device.

[0079] The present invention is further directed to a data memory on which at least one embodiment of the computer program according to the invention or a preferred embodiment of the computer program is stored.

[0080] Further advantages and embodiments can be seen from the attached drawings:

[0081] Showing: Fig. 1 a schematic representation of a device for positioning a mobility aid; Fig. 2 a schematic representation of sensor data of a device for positioning a mobility aid, Fig. 3 a schematic representation of an interior of a vehicle with a visual output device; Fig. 4 a tabular representation of selected positions of a mobility aid with respect to a target position and associated displays of the output device.

[0082] Fig. 1 Fig. 1 is a schematic representation of a device 1 for positioning a mobility aid 10. In the example shown, the mobility aid 10 is a wheelchair 10. This is shown in the Fig. 1 is shown only schematically and is characterized by the two wheels 11A, 11B and a seat 12. In the example shown, the wheelchair 10 has a transmitter 13, which acts as a reference point for the detection of the wheelchair 10 and its orientation by the sensor 20. The sensor 20 is a LIDAR system in the example shown. In such a system, the use of a transmitter 13 is not absolutely necessary, as is particularly the case in connection with Fig. 2 is shown.

[0083] In the hatched circle K, some elements of the wheelchair are shown separately.

[0084] In Fig. 1 shows that the wheelchair 10 is offset relative to the sensor 20 along both the x-axis and the y-axis. Furthermore, the longitudinal axis L of the wheelchair 10 is rotated by an angle α relative to the x-axis.

[0085] Assuming that the wheelchair 10 should assume a target position in which the longitudinal axis L of the wheelchair 10 lies on the x-axis and the wheels 11A and 11B lie on the y-axis, the wheelchair 10 must be rotated by the angle α as well as by the hatched distances S X and S Y be postponed.

[0086] In order for the wheelchair 10 to assume this position, a computing device (not shown) calculates a path along which the wheelchair 10 can be moved to this position. This requires that the computing device be provided with data about the position of the wheelchair 10 and its orientation (i.e., its longitudinal axis L).

[0087] How this can be determined, for example, using a LIDAR system 20, is shown schematically in Fig. 2. The LIDAR system is located at the center of the Fig. 2. Each of the concentric circles represents a distance from the center of these concentric circles. The corresponding distance in millimeters is indicated on the axis labeled X. The perpendicular axis is labeled Y.

[0088] The lines extending radially outward from the center of the concentric circles represent signals reflected back to the sensor of the LIDAR system by an object located there. Due to the large number of signals and the density of the reflections, the LIDAR system is able to generate a comparatively detailed image of the surroundings. For this purpose, a so-called region of interest (ROI) 30 is defined, in which the computing device examines the detected signals for their relevance for calculating a path for a mobility aid 10.

[0089] In the example shown, it is possible to assign the multiple signals located in the range 110A and 110B to the wheels 11A and 11B (not shown) of a wheelchair 10. The signals located between these signals 110A and 110B can also be assigned to a wheelchair 10, for example, its backrest. With such an analysis, it is thus possible to determine not only the position of the wheelchair 10 but also its orientation relative to the LIDAR system 20. Based on this data, the computing device can calculate a path along which the wheelchair 10 is to be guided to a target position.

[0090] Fig. Figure 3 shows a schematic representation of an interior 80 of a vehicle 1 with a visual output device 40, 50, 52, 54 for the information calculated by the computing device. In the example shown, several output devices 40, 50, 52, 54 are arranged in the interior 80 of the vehicle 1. One of the output devices is a display 40. On this display, information can be presented, for example, in written form or as pictograms. If a person 100 with reduced mobility, who is confined to a wheelchair 10 (not shown in detail), wishes to take up a safe position in the vehicle 1, they can be guided there using this or other output devices 40, 50, 52, 54. Since assuming the target position often requires moving backward, the user 100 often cannot independently determine the path to the target position. Rather, they rely on displays from the output device 40, 50, 52, 54.In the example shown, the output device comprises a strip 50 on the floor 82 of the interior 80. This strip 50 could, for example, indicate a direction in which the wheelchair 10 should be moved to the target position. For this purpose, a light signal 51 on this strip could be moved depending on the intended direction to the target position.

[0091] Lateral deviations from the calculated path to the target position are preferably displayed by horizontal output devices 52, 54. In the example shown, these are arranged on a folded-up seat surface 72 of a bench seat 70. They can be designed, for example, as light strips, such as LED strips, inserted into the underside of the seat surface 72. In the example shown, however, these strips 52, 54 are displayed by projecting the strips 52, 54 onto the seat surface 72 using a projector 60.

[0092] On these two strips 52, 54, light points 53, 55 are shown, which represent the lateral deviation from the pre-calculated path. One of the light points 53 indicates the deviation of the front wheels of the wheelchair 10 from the target position, and another light point 55 indicates the deviation of the rear wheels 11A, 11B from their target position relative to the path. If the light points 53 and 55 are therefore not perpendicular to one another, this indicates that the wheelchair 10 is rotated relative to the calculated path. The user 100 of the wheelchair 10 should accordingly first align the wheelchair 10 so that both light points 53, 55 are perpendicular to one another and then move the mobility aid 10 backward along the calculated path toward the target position. As shown in Fig. 3, he has the various output devices directly in his field of vision and can follow the changes in the displays 40, 50, 52, 54 in real time in response to the movement of his mobility aid 10.

[0093] Examples of selected positions of a mobility aid 10 with respect to a target position and associated displays of the output device 40, 50, 52, 54 are shown in tabular form in Fig. 4. In row 1, column A shows a situation such as could occur, for example, when a user with a wheelchair 10 enters the interior 80 of a vehicle 1. Column B shows what could be displayed in this case, for example, on the display device 40. The example shown schematically shows where in the vehicle the intended position for the mobility-restricted passenger is provided. Column C shows a schematic representation of a display such as could be displayed by the output device 50 (for example, in the floor area of ​​the interior 80). Column D schematically shows which information could be displayed on the display devices 52 and 54 from Fig. 3. In the example shown, as in connection with Fig.As already described in Figure 3, the upper display device 52 with the illuminated area (light spot) 53 represents the position of the front wheels of the wheelchair 10. The lower display device 54, on the other hand, represents the position of the rear wheels 11A, 11B by the illumination of the display device (light spot) 55. The total width of the adjacent areas 58A and 58B, which also illuminate but in a different color, are an indicator of how far the rear wheels 11A, 11B are from the target position. Optionally, an acoustic output device could output an information text as shown in column E.

[0094] Line 2 depicts a situation that could occur during the movement of the wheelchair 10 in the interior space 80 toward the target position. The movement of the wheelchair is schematically displayed in real time on the display 40. The light strip 50 on the floor continues to indicate the direction in which the wheelchair 10 should be moved through the movement of the illuminated area 51. However, the horizontal displays 52 and 54 show a different representation compared to line 1. It can be seen that the light signals 53 and 55, which indicate the orientation of the wheelchair 10 with respect to the calculated path, are not arranged vertically one above the other. This is because the wheelchair 10 is rotated with respect to the calculated path. To reach the target position, the user should therefore rotate the wheelchair until these two light signals 53 and 55 are again arranged vertically one above the other.Compared to the illustration in row 1, it can be seen that the overall width of the light signals 58A and 58B, which indicate the distance to the target position, is reduced. Therefore, wheelchair 10 has approached the target position. No acoustic signals are indicated in column E. However, it would be conceivable that the user would be alerted to a necessary rotation of the wheelchair.

[0095] Line 3 shows that wheelchair 10 is in a position where it can no longer assume the target position. While display 40 continues to show the wheelchair's position in real time, displays 50, 52, and 54 indicate, via light signals 51, 53, 55, and 58A and 58B, that significant maneuvers are necessary to steer wheelchair 10 to the target position. As shown in column E, extensive acoustic information is provided to guide the user toward the target position.

[0096] Column 4 shows what the device could display when the wheelchair 10 has reached the desired target position relative to the sensor 20 within the interior space 80, as shown in column 1. Column B pictographically shows that the wheelchair has reached the target position. The light signal 51 on the strip 50 changes to green and no longer moves. Likewise, as shown in column D, the light signals 53 and 55 on the display devices 52 and 54 change to green. Since the target position has been reached and the distance still to be covered is therefore 0, the previously present displays 58A and 58B are no longer present. Column E shows the text of an acoustic information message about the next step in securing the mobility aid 10.

[0097] As shown in line 5, the user 100 can then be secured. The position of the wheelchair 10 in the interior 80 of the vehicle, as well as the signal detected by the detector 20, remains unchanged from the situation shown in line 4, as shown in column A. Further display of information on the display 40 is not necessary. Likewise, the light elements on the displays 50, 52, and 54 go out.

[0098] If necessary, a final acoustic message could be provided. However, this is not necessary in most cases.

[0099] The applicant reserves the right to claim all features disclosed in the application documents as essential to the invention, provided they are novel, individually or in combination, over the prior art. It is further noted that the individual figures also describe features that may be advantageous in and of themselves. The skilled person will immediately recognize that a specific feature described in a figure may be advantageous even without adopting further features from that figure. Furthermore, the skilled person will recognize that advantages may also arise from a combination of several features shown in individual or different figures. List of reference symbols 1 vehicle 10 Mobility aid, wheelchair 11A, 11B (rear) wheels 12 Seat 13 transmitters, centroid 20 sensors, LIDAR system 30 Region of Interest 40 Output device, display 50 Output device, (floor) light strip 51 light signal, light point 52 Output device, (horizontal) light strip 53 light signal, light point 54 Output device, (horizontal) light strip 55 light signal, light point 60 projectors 70 bench 72 seats 82 floor 100 users α angle K Circle X axis Y axis L Longitudinal axis (of the wheelchair) S X Route S Y Route QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 2020 / 0323713 A1

[0004] US 2008 / 0079252 A1

[0007] US 2004 / 0006422 A1

[0009]

Claims

[1] Method for positioning a mobility aid (10) at a target position, preferably inside a vehicle (1), comprising the steps: - detecting at least one value which is characteristic of a position of a mobility aid (10) by at least one first sensor device (14), - comparing the position of the mobility aid (10) with the target position of the mobility aid (10) and assessing whether the mobility aid (10) has reached the target position and / or is at the target position, - preferably calculating a path on which the mobility aid (10) can be guided from the determined position to the target position, - outputting feedback information to a user (100) of the mobility aid (10) which is characteristic of the assessment result as to whether the mobility aid (10) has reached the target position, - preferably outputting information to a user (100) of the mobility aid (10) which correlates to a direction in which the mobility aid (10) should be guided in order to be moved on the calculated path. [2] Method according to claim 1, characterized by , the information is output acoustically and / or visually, wherein the visual output of the information preferably takes place on a display and / or by projection onto a surface, in particular a floor, a part of a seat and / or interior wall of a room, wherein the information is preferably output in the form of a line code, wherein a length of the line preferably correlates to the distance to the target position and a position of a color-highlighted line section correlates to a horizontal deviation from the calculated path. [3] Method according to one of the preceding claims, characterized bythat the target position lies in the area of ​​a safety device, wherein preferably the mobility aid is locked at the target position by a locking means of the safety device and preferably a safety element for securing a user of the mobility aid is provided by the safety device. [4] Method according to one of the preceding claims, characterized by that the calculated path is arranged at least in sections inside a vehicle. [5] Method according to one of the preceding claims, characterized by that at least one LIDAR is used to detect the position of the mobility aid. [6] Device for positioning a mobility aid (10) at a target position, preferably in the interior of a vehicle (1), comprising at least one first sensor device (14) for detecting at least one value which is characteristic of a position of a mobility aid (14), characterized bya computing device which is in data communication with the sensor device (14) and is provided and configured to calculate a position of the mobility aid from at least one value determined by the sensor device (14) and to compare the position of the mobility aid with the target position of the mobility aid and to assess whether the mobility aid (14) has reached the target position and / or is located at the target position, and wherein the computing device is preferably provided and configured to calculate a path along which the mobility aid can be guided to the target position, and an output device (40, 50, 52, 54) which is in data communication with the computing device and by means of which feedback information which is characteristic of the assessment result as to whether the mobility aid has reached the target position can be output to a user of the mobility aid (14) and preferably information can be output,which correlates to a direction in which the mobility aid (10) should be guided in order to be moved on the calculated path., [7] Device according to claim 6, characterized by that the sensor device comprises a LIDAR for detecting the value characteristic of the position of the mobility aid. [8] Device according to claim 6 or 7, characterized bythat the output device is an output device that outputs acoustic and / or visual signals, wherein a visual signal output device preferably comprises a display and / or a projector, wherein a projector is directed onto a projection surface, in particular a floor, a part of a seat and / or an interior wall of a room, wherein the output device is preferably provided and configured to output the information in the form of a line code, wherein a length of the line preferably correlates to the distance of the mobility aid to the target position and a position of a color-highlighted line section correlates to a horizontal deviation from the calculated path. [9] Device according to one of claims 6-8, characterized bythat a securing device is arranged in the region of the target position, wherein the securing device preferably comprises a locking means by means of which the mobility aid can be locked in the target position on the securing device and the securing device preferably comprises a securing element by means of which a user of the mobility aid can be secured, wherein the securing device preferably comprises at least one sensor by means of which a locking and / or securing that has taken place can be detected, wherein this sensor is preferably in data communication with the output device and information about the locking and / or securing that has taken place can be output by means of the output device. [10] Vehicle (1), in particular a motor vehicle, which comprises a device according to one of claims 6-9 and / or is provided and arranged to carry out a method according to one of claims 1-5.

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