Wheelchair anchoring assembly

Abstract

A wheelchair anchoring assembly for a vehicle includes a rail with a longitudinal axis and a pendulum device that engages the rail in a movable manner. The pendulum device is movable relative to the rail along its longitudinal axis. Two hook assemblies are adjustableally supported by the pendulum device. The hook assemblies are movable relative to the pendulum device into engaged positions. Each hook assembly contains one hook. In the engaged positions, the hooks are opposite each other along the longitudinal axis.

Description

AREA OF TECHNOLOGY

[0001] This disclosure concerns a wheelchair anchoring assembly in vehicles. GENERAL STATE OF THE ART

[0002] Passenger cars are typically not designed to accommodate wheelchairs. Therefore, wheelchair accommodations in vehicles are typically retrofitted into a production vehicle. A vehicle might be modified, for example, with a lifting device or similar equipment to load a wheelchair. Production vehicles typically lack the capability to accommodate an occupant's wheelchair in a way that allows the occupant to sit in the wheelchair within the vehicle, or if this is possible, significant modifications are required. SUMMARY

[0003] According to the present invention, a vehicle is provided comprising: a floor having a longitudinal axis; a pendulum device movable relative to a rail along the longitudinal axis; and two hook assemblies adjustableally supported by the pendulum device and movable relative to the pendulum device in hooking positions; wherein the hook assemblies each include a hook, the hooks being opposite each other in the hooking positions along the longitudinal axis.

[0004] According to one embodiment, the hook assemblies are rotatable relative to the pendulum device about axes of rotation that are not parallel to the longitudinal axis of the floor.

[0005] According to one embodiment, each hook assembly includes a rotary actuator that engages with the pendulum device.

[0006] According to one embodiment, the hook assemblies each include an arm that can be extended relative to the pendulum device.

[0007] According to one embodiment, the arm of each hook assembly includes a first element which is rotatably supported by the pendulum device, and a second element which is slidably engaged with the first element.

[0008] According to one embodiment, the invention is further characterized by a linear actuator for each hook assembly between the first element and the second element.

[0009] According to one embodiment, each hook assembly includes an arm and a hook which is supported by the arm and rotatably adjustable relative to it.

[0010] According to one embodiment, the invention is further characterized by a rotary actuator for each hook assembly between the arm and the hook.

[0011] According to one embodiment, the invention is further characterized by a rail which is fixed to the ground and extended along the longitudinal axis of the vehicle, wherein the pendulum device is movably engaged with the rail.

[0012] According to one embodiment, the invention is further characterized by a computer comprising a processor and memory which stores instructions that can be executed by the processor to adjust the pendulum device along the longitudinal axis of the floor based on the position of a wheelchair along the longitudinal axis.

[0013] According to one embodiment, the instructions include instructions to adjust the position of the hook assemblies relative to the pendulum device in order to engage the hook assemblies with axles of the wheelchair based on the position of the wheelchair.

[0014] A wheelchair anchoring assembly comprising: a rail having a longitudinal axis; a pendulum device movably engaged with the rail and movable relative to the rail along the longitudinal axis; and two hook assemblies adjustableally supported by the pendulum device and movable relative to the pendulum device in hooking positions; wherein the hook assemblies each comprise a hook, the hooks being opposite each other in the hooking positions along the longitudinal axis.

[0015] According to one embodiment, the hook assemblies are rotatable relative to the pendulum device about axes of rotation that are not parallel to the longitudinal axis of the rail.

[0016] According to one embodiment, the axes of rotation are parallel to each other.

[0017] According to one embodiment, each hook assembly includes a rotary actuator that engages with the pendulum device.

[0018] According to one embodiment, the hook assemblies each include an arm that can be extended relative to the pendulum device; and for each hook assembly, the hook is supported by the arm and rotatably adjustable relative to it.

[0019] According to one embodiment, the hook assemblies each include an arm that can be extended relative to the pendulum device.

[0020] According to one embodiment, each hook assembly includes a first element rotatably supported by the pendulum device and a second element slidably engaged with the first element.

[0021] According to one embodiment, each hook assembly includes an arm and a hook which is supported by the arm and rotatably adjustable relative to it.

[0022] According to one embodiment, the invention is further characterized by a rotary actuator for each hook assembly between the arm and the hook. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a sectional view of a vehicle that includes a wheelchair anchoring assembly comprising a rail and a pendulum device. Fig. Figure 2 is a sectional view of the vehicle with a wheelchair inside. Fig. Figure 3 is a perspective view of a section of the wheelchair anchoring assembly with hook assemblies in a stowed position. Fig. Figure 4 is a perspective view of a section of the wheelchair anchoring assembly with the hook assemblies raised from the stowed position. Fig. Figure 5 is a perspective view of a wheelchair with the hook assemblies in hook positions engaging with the axes of the wheelchair. Fig. Figure 6 is a side view of a section of the vehicle with the hook assemblies in the hook positions engaging with axles of the wheelchair. Fig. Figure 7 is a top view of a section of the wheelchair anchoring assembly. Fig. Figure 8 is a block diagram of a system of the vehicle. Fig. Figure 9 is a flowchart of a process. DETAILED DESCRIPTION

[0023] Referring to the figures, in which the same reference numerals in the multiple views denote identical parts, a wheelchair anchoring assembly 12 for a vehicle 10 comprises a rail 14 having a longitudinal axis LT and a pendulum device 16 movably engaged with the rail 14. The pendulum device 16 is movable relative to the rail 14 along the longitudinal axis LT. Two hook assemblies 18 are adjustableally supported by the pendulum device 16. The hook assemblies 18 are movable relative to the pendulum device 16 into hook positions. Each hook assembly 18 includes a hook 20. In the hook positions, the hooks 20 are opposite each other along the longitudinal axis LT.

[0024] The hook assemblies 18 can be in a stowed position when the vehicle 10 is not occupied by a wheelchair 22. When a wheelchair 22 enters the vehicle 10, the pendulum device 16 moves along the axis LT of the rail 14 to align itself with the wheelchair 22. Once the pendulum device 16 is aligned with the wheelchair 22, the hook assemblies 18 each move from their stowed position toward the engagement components 30 of the wheelchair 22 to engage the engagement components 30, e.g., axles 24 of the wheelchair 22, in engagement positions. Since the hooks 20 are opposite each other in the locking positions along the longitudinal axis LT, the hooks 20 anchor the wheelchair 22, e.g., via the axles 24, between the hooks 20 along the longitudinal axis LT.

[0025] The vehicle 10 includes a floor 26. In the example shown in the figures, the floor 26 of the vehicle 10 has a longitudinal axis LF. The longitudinal axis LF of the floor 26 is parallel to the longitudinal axis LT of the rail 14, and the pendulum device 16 is movable along the longitudinal axis LF of the floor 26 in the example shown in the figures. In such examples, the longitudinal axis LT of the rail 14 extends along the longitudinal axis LF of the floor 26. In particular, the longitudinal axis LT of the rail 14 can extend along the longitudinal axis LF of the floor 26 at a distance from the longitudinal axis LF of the floor 26, as shown in the example in the figures, or it can be located on the longitudinal axis LF of the floor 26. The longitudinal axis of the rail 14 is the longest dimension of the rail 14, i.e., the rail 14 is elongated along the longitudinal axis LT of the rail 14. The longitudinal axis LF of the floor 26 is the longest dimension of the floor 26, i.e.The floor 26 is elongated along the longitudinal axis LF of the floor 26.

[0026] In the example shown in the figures, the vehicle 10 includes a wheelchair anchoring assembly 12. In other examples, the vehicle 10 can include any suitable number of wheelchair anchoring assemblies 12, i.e., one or more. In examples including more than one wheelchair anchoring assembly 12, the rails 14 of the respective wheelchair anchoring assemblies 12 can be parallel to each other and can be parallel to the longitudinal axis LF of the floor 26 of the vehicle 10. In such examples, the rails 14 can be spaced apart from each other in the transverse direction of the vehicle 10 and / or in the longitudinal direction of the vehicle 10. In the example shown in the figures, the wheelchair anchoring assembly 12 includes only a pendulum device 16 on the rail 14.In other examples, the wheelchair anchoring assembly 12 can include more than one pendulum device 16 on the same rail 14, in which case the pendulum devices 16 are spaced apart from each other along the longitudinal axis LT of the rail 14.

[0027] The vehicle 10 can be any suitable type of automobile, e.g., a passenger or commercial vehicle, such as a sedan, a coupé, a truck, an SUV, a crossover vehicle, a van, a minivan, a taxi, a bus, etc. The vehicle 10 can be configured to accommodate a wheelchair 22. For example, a passenger compartment 28 of the vehicle 10 can include seat belts configured to control the kinematics of a wheelchair occupant.

[0028] The wheelchair 22 can be any type of mobility device for persons that supports a seated occupant and provides mobility to the seated occupant; that is, the wheelchair 22 transports the seated occupant outside the vehicle 10 and moves the seated occupant within the passenger compartment 28 during entry into and exit from the vehicle 10. The wheelchair 22 supports the seated occupant in the passenger compartment 28 during the operation of the vehicle 10. The wheelchair 22 may include wheels. As another example, the wheelchair 22 may include a continuous rail 14. In such an example, the continuous rail 14 is in contact with the ground, and the wheelchair 22 may include wheels, gears, etc., that transmit power to the continuous rail 14. The wheelchair 22 may include a motor operatively connected to the wheels and a battery that provides power to the motor.In some examples, wheelchair 22 could be an electric scooter.

[0029] The wheelchair 22 includes hook components 30 configured to anchor the wheelchair 22 to a floor 26 of the vehicle 10. In some examples, the hook components 30 may be specifically designed to anchor the wheelchair 22 to the floor 26, while in other examples, as shown in the example in the figures, the hook components 30 may be components of the wheelchair 22 that also perform other functions. For example, the hook components 30 may be axles 24 of the wheelchair 22 (as shown in the example in the figures), wheels of the wheelchair 22, frame elements of the wheelchair 22, etc. When the hooks 20 engage with the hook components 30, the hooks 20 anchor the wheelchair 22 to the floor 26 of the vehicle 10 via the hook components 30.

[0030] With reference to Fig. In Figure 1, the vehicle 10 is defined as having a longitudinal axis LV extending between a front end and a rear end of the vehicle 10. The vehicle 10 is defined as having a transverse axis A extending across the vehicle from one side to the other. The vehicle 10 is defined as having a vertical axis V extending through the floor 26 and a roof of the vehicle 10. The longitudinal axis LV, the transverse axis A, and the vertical axis V are perpendicular to each other. In the example shown in the figures, the longitudinal axis of the rail 14 and the longitudinal axis LF of the floor 26 are parallel to the longitudinal axis LV of the vehicle 10.

[0031] The vehicle body can have a unibody construction, in which the vehicle frame and the body are a single unit (including frame members, pillars, roof rails, etc.). Alternatively, the vehicle body and frame can have a frame construction (also known as a cabin-mounted construction), in which the body and frame are separate components, i.e., modular, and the body is supported and fixed to the frame. The vehicle body can also have any suitable construction. It can be made of any suitable material, for example, steel, aluminum, and / or fiber-reinforced plastic, etc.

[0032] The vehicle body consists of body panels (without reference numbers). These body panels may include structural panels, such as sills, pillars, roof rails, etc.

[0033] The body panels can include outer panels. The outer panels can represent a Class A surface, e.g., a finished surface that is visible to the customer and free from unsightly blemishes and defects. The body panels include, for example, a floor panel 32, a roof panel, doors, fenders, hood, trunk lid, etc. The vehicle body can define a passenger compartment to accommodate the occupants of the vehicle 10.

[0034] The vehicle body includes the floor 26 and may include a roof. The floor 26 defines the lower boundary of the passenger compartment 28 and may extend from the front end of the passenger compartment 28 to the rear end. The roof may define the upper boundary of the passenger compartment 28 and may extend from the front end of the passenger compartment 28 to the rear end. In examples that include a roof, the floor 26 is located beneath the roof.

[0035] The floor 26 can include a floor panel 32. The floor panel 32 can be made of metal and is fixed to the rest of the vehicle body, e.g., by welding, fastening, etc. The floor 26 can include a covering facing the passenger compartment 28. The covering can, for example, be carpet. The wheelchair 22 rests directly on the floor 26 of the vehicle 10, e.g., the covering, when it is in the passenger compartment 28. In other words, the wheelchair 22 is in contact with the floor 26, and the weight of the wheelchair 22 is supported by the floor 26.

[0036] The rail 14 guides the movement of the pendulum device 16 along the longitudinal axis LT of the rail 14. In the example shown in the figures, the rail 14 restricts the movement of the pendulum device 16 to movement along the longitudinal axis LT of the rail 14. The rail 14 can, for example, include a channel 34 along the longitudinal axis LT of the rail 14. In such an example, a section of the pendulum device 16 can extend into the channel 34. The rail 14 is fixed to the base 26. For example, the rail 14 can be welded to, attached to, etc., the base plate 32. Part of the rail 14 or the entire rail 14 can be covered by the base 26. For example, a flexible cover can extend over the channel 34 to prevent the ingress of dirt and other contaminants into the channel 34.The flexible cover elastically covers the channel 34 and is flexible relative to the pendulum device 16, so that the pendulum device 16 displaces the flexible cover when the pendulum device 16 moves along the longitudinal axis LT of the rail 14.

[0037] The pendulum device 16 is movably engaged with the rail 14. In particular, the pendulum device 16 remains engaged with the rail 14 and moves relative to the rail 14 along the longitudinal axis LT of the rail 14. The wheelchair anchoring assembly 12 includes a linear actuator 36 between the pendulum device 16 and the rail 14. The linear actuator 36 is controlled by a computer 64 of the vehicle 10, as described below, to move the pendulum device 16 along the rail 14. As an example, as shown in the example in the figures, the linear actuator 36 includes a rack 38 fixed to the rail 14 and a pinion 40 supported by the pendulum device 16 and engaged with the rack 38.In one such example, a drive motor is supported by the pendulum device 16 and, as controlled by the computer 64, drives the pinion 40 to linearly displace the pendulum device 16 along the rail 14. As another example, the linear actuator 36 can include a threaded spindle supported by the rail 14 and a bearing nut supported by the pendulum device 16. In other examples, the linear actuator 36 can be hydraulic, pneumatic, or piezoelectric. In the example shown in the figures, the linear actuator 36, e.g., the pinion 40, extends from the pendulum device 16 into the channel 34 of the rail 14.

[0038] The pendulum device 16 can be box-shaped. For example, the pendulum device 16 can include a base 42 and four walls 44 extending upwards from the base 42. The base 42 and the four walls 44 can be rigid to support the hook assemblies 18 in order to transmit a force between the rail 14 and the hook assemblies 18. The base 42 and the four walls 44 can be made of, for example, metal, reinforced plastic, etc. The pendulum device 16 can include two flaps 46 connected to and extending over the four walls 44 to prevent the ingress of dirt and contaminants. In such an example, the flaps 46 elastically cover the walls 44 and are flexible relative to the walls 44 and the hook assemblies 18, so that the hook assemblies 18 move the flaps 46 when the hook assemblies 18 move between the stowed position and a hooked position.

[0039] Each hook assembly 18 can be moved independently from the stowed position to an engaged position. In the stowed position, the hook assemblies 18 can be recessed in the pendulum device 16, e.g., below the top edges of the walls under the flaps 46. Based on the position of the wheelchair 22 in the passenger compartment 28, e.g., based on the position of the engagement components 30 (e.g., axles 24) of the wheelchair 22 assembly, each hook assembly can be moved to different engagement positions. Because the hook assemblies 18 are independently movable, they can be positioned to engage with wheelchair assemblies 22 of a variety of sizes, shapes, and configurations.

[0040] Each hook assembly 18 includes an arm 48 rotatably connected to the pendulum device 16, and the hook 20 is supported by the arm 48 of the respective hook assembly 18. In the example shown in the figures, the arm 48 includes a first element 50 and a second element 52, which is translationally extendable from the first element 50. The first element 50 is supported by the pendulum device 16, i.e., the weight of the first element 50 is borne by the pendulum device 16, and the second element 52 is supported by the first element 50, i.e., the weight of the second element 52 is borne by the first element 50. The arm 48 (in particular the first element 50 and the second element 52 in the example shown in the figures) is rigid to exert a force on the hook components 30, e.g., B. to exert the axes 24 of the wheelchair 22 in order to anchor the wheelchair 22 to the rail 14 in hooking positions.

[0041] The hook 20 is rotatably supported by the second element 52; that is, the weight of the hook 20 is borne by the second element 52, and the hook 20 is selectively rotatable relative to the second element 52. In the example shown in the figures, the arm 48 is rotated relative to the pendulum device 16, the second element 52 is displaced relative to the first arm 48, and the hook 20 is rotated relative to the second arm 48 to move the hook assembly 18 from the stowed position to the hooked position when driven by actuators controlled by the computer 64, as further described below. In the example shown in the figures, each hook assembly 18 includes two arms 48, and the hook 20 extends between the two arms 48. In other examples, the hook assembly 18 can include any suitable number of arms 48, i.e., one or more.

[0042] The hook assemblies 18 are rotatable relative to the pendulum device 16 about rotational axes R1 between the stowed position and an engaged position. The rotational axes R2 of the hook assemblies 18 are spaced apart from each other along the longitudinal axis LT of the rail 14. The rotational axes R1 are not parallel to the longitudinal axis LF of the base 26. The rotational axes R1 each lie in vertical planes that run transversely, e.g., perpendicularly, to a vertical plane on the longitudinal axis LF of the base 26.

[0043] Each hook assembly 18 includes a first rotary actuator 54 located between the pendulum device 16 and the respective hook assembly 18. For example, the first rotary actuator 54 may be located between the pendulum device 16 and one or more arms 48 of the hook assembly 18, e.g., both arms 48 in the example shown in the figures. The first rotary actuator 54 may be connected to the first element 50 of the arm 48 and the pendulum device 16, as shown in the example in the figures. The first rotary actuator 54 engages with the pendulum device 16. For example, each first rotary actuator 54 may include a housing that is anchored to the pendulum device 16, e.g., attached, welded, etc., e.g., to the underside of the pendulum device 16 between the walls of the pendulum device 16. The first rotary actuators 54 may be of any suitable type, e.g., electric, hydraulic, pneumatic, etc.

[0044] The first two rotary actuators 54, i.e., one rotary actuator 54 for each hook assembly 18, are independently operable to move the hook assemblies 18 independently relative to the pendulum device 16. Based on the detected position of the hooking components 30, e.g., the axles 24, of a wheelchair 22, the first two rotary actuators 54 are independently movable to engage the respective hooking components 30.

[0045] In the example shown in the figures, the arms 48 of the hook assemblies 18 are each translationally extendable relative to the pendulum device 16. The arm 48, or a section of the arm 48, moves in a straight line during the translational movement (to account for fits and tolerances). In the example shown in the figures, the second element 52 is translationally extendable from the first element 50. In particular, the second element 52 slides along the first element 50. The first element 50 and the second element 52 can engage telescopically, i.e., the second element 52 can be telescopically received into the first element 50, or the first element 50 can be telescopically received into the second element 52.

[0046] Each hook assembly 18 includes a linear actuator 56 for extending and retracting the arm(s) 48 relative to the pendulum device 16. In the example shown in the figures, the linear actuator 56 is located between the first element 50 and the second element 52 to extend the second element 52 away from the first element 50 and to retract the second element 52 towards the first element 50. In examples where the hook assembly 18 includes two arms 48, one or both of the arms 48 may include a linear actuator 56. The linear actuators 56 may be of any suitable type, e.g., mechanical (e.g., a threaded spindle supported by the rail 14 and a bearing nut), electronic, hydraulic, pneumatic, etc. The linear actuator 56 may be located in the first element 50 and / or the second element 52. The two linear actuators 56, i.e.,A linear actuator 56 of each hook assembly 18 can be operated independently to move the second elements 52 independently relative to the first elements 50.

[0047] Each hook assembly 18 includes a hook 20, which is supported by the arm 48. The hook 20 is rotatably adjustable relative to the arm 48. In the example shown in the figures, each hook assembly 18 includes two arms 48, and the respective hook 20 extends from one arm 48 to the other arm 48 of the hook assembly 18.

[0048] Each hook assembly 18 includes a second rotary actuator 58 between the arm 48 and the hook 20. For example, the second rotary actuator 58 can be located between the hook 20 and one or more arms 48 of the hook assembly 18, e.g., both arms 48 in the example shown in the figures. The second rotary actuator 58 can be connected to the second element 52 of the arm 48 and the hook 20, as shown in the example in the figures. The second rotary actuator 58 engages with the hook 20 and the second element 52 of the arm 48 to rotate the hook 20 relative to the second element 52 about the axes of rotation R2. The second rotary actuators 58 can be of any suitable type, e.g., B. electronic, hydraulic, pneumatic, etc. The adjectives “first” and “second” are used herein, including in relation to rotary actuators, as identifiers and do not indicate any order or meaning.

[0049] The two second rotary actuators 58, i.e., one second rotary actuator 58 of each hook assembly 18, can be operated independently to move the hooks 20 independently relative to the respective arms 48. Based on the detected position of the hooking components 30, e.g., the axes 24, of a wheelchair 22, the two second rotary actuators 58 can be moved independently to engage the hooking components 30. The first rotary actuators 54, the linear actuators 56, and the second rotary actuators 58 can each be operated independently to move the hooks 20 independently in several degrees of freedom relative to the hooking components 30 of the wheelchair 22.

[0050] The hooks 20 are designed to engage with the respective hook components 30 of the wheelchair 22. In particular, the hooks 20 are designed to anchor the wheelchair 22 to the floor 26 of the vehicle 10 via the hook components 30 when the hooks 20 are engaged with the hook components 30. The hooks 20 can directly contact the hook components 30 when engaged with them. The hooks 20 can have a curved surface that is designed, i.e., dimensioned, shaped, and positioned to engage with the hook components 30 of the wheelchair 22.In the example shown in the figures, the hook components 30 of the wheelchair 22 are axes 24 which include cylindrical surfaces extending in a transverse direction of the wheelchair 22, and the hooks 20 each include a curved surface 60 which receives the axle 24 and extends around it when the hook 20 is engaged with the axle 24.

[0051] In the hook positions, the hooks 20 are opposite each other along the longitudinal axis LT. In other words, one hook 20 opposes a movement of the wheelchair 22 in a first direction along the longitudinal axis LT, and the other hook 20 opposes a movement of the wheelchair 22 in a second direction along the longitudinal axis LT, opposite to the first direction. In the example shown in the figures, in the hook positions, one hook 20 opposes a movement of the wheelchair 22 through the axis 24 in a forward direction of the vehicle, and the other hook 20 opposes a movement of the wheelchair 22 through the axis 24 in a reverse direction of the vehicle. In some examples, both hooks 20 can each individually oppose a movement of the wheelchair 22 in both the forward and reverse directions of the vehicle.In such examples, the hooks 20 are designed to engage a vehicle front and a vehicle rear of the hooking components 30, e.g. the axles 24.

[0052] With reference to Fig. The vehicle 10 can include wheelchair position sensors 62 to identify the presence and position of a wheelchair 22 within the vehicle 10. The wheelchair position sensors 62 can communicate with the vehicle computer 64 of the vehicle 10. The wheelchair position sensors 62 can send a signal to the vehicle computer 64 to indicate the presence of a wheelchair 22 in the vehicle 10 and the position of the wheelchair 22. In particular, the wheelchair position sensors 62 can identify the location of the wheelchair 22's locking components 30 within the passenger compartment 28. The wheelchair position sensors 62 can be any suitable type of sensor or a combination of sensors, including cameras, radar, LiDAR, weight sensors, position sensors of the wheelchair anchorage assembly 12 (e.g., rotary encoders, Hall effect sensors, etc.), etc.

[0053] With continued reference to Fig. 8. The vehicle computer 64 includes a processor and memory that stores instructions executable by the processor. The memory includes one or more forms of computer-readable media and stores instructions executable by the computer 64 to perform various operations, including those disclosed herein. The computer 64 can be a restraint control module. The computer 64 can be a generic computer with the processor and memory as described above and / or can include an electronic control unit (ECU) or a controller for a specific function or set of functions and / or a dedicated electronic circuit that includes an ASIC (application-specific integrated circuit) manufactured for a specific operation, e.g.,An ASIC for processing and / or communicating sensor data. In another example, the Computer 64 might include an FPGA (field-programmable gate array), which is an integrated circuit manufactured to be user-configurable. Typically, a hardware description language, such as VHDL (Very High-Speed ​​Integrated Circuit Hardware Description Language), is used in electronic design automation to describe digital and mixed-signal systems, such as FPGAs and ASICs. For example, an ASIC is manufactured based on VHDL programming provided prior to manufacturing, whereas logic components inside an FPGA might be configured based on VHDL programming stored, for example, in memory electrically connected to the FPGA circuit.In some examples, a combination of processor(s), ASIC(s) and / or FPGA circuits may be included in the Computer 64.

[0054] The vehicle computer 64 is generally arranged for communication in a vehicle communication network 66, which may include a bus in the vehicle 10, such as a Controller Area Network (CAN) or the like, and / or other wired and / or wireless mechanisms. Alternatively or additionally, in cases where the computer 64 includes a plurality of devices, the vehicle communication network 66 may be used for communication between devices that are referred to in this disclosure as the vehicle computer 64.

[0055] Furthermore, as mentioned below, various controllers and / or sensors can provide data to the vehicle computer 64 via the vehicle communication network 66.

[0056] With reference to Fig. In 9, the computer stores 64 instructions for controlling components of the vehicle 10 according to procedure 900. In particular, procedure 900 involves moving the wheelchair anchoring assembly 12 to engage the wheelchair 22 in order to anchor the wheelchair 22 to the floor 26 of the vehicle 10. Any use of "based on," including with reference to procedure 900, herein indicates a causal relationship, not merely a temporal one.

[0057] Referring to block 905, the procedure 900 involves receiving an initialization input indicating that a wheelchair 22 is located in the passenger compartment 28 and is positioned to be engaged by the wheelchair anchorage assembly 12. As described below, the procedure moves the wheelchair anchorage assembly 12 relative to the floor 26 and the wheelchair 22 to engage the wheelchair 22 in response to the initialization input. As an example, the initialization input can be entered manually by an occupant of the vehicle 10, such as an occupant of the wheelchair 22, through an input interface, such as a button, a switch, a touchscreen voice control, a motion control, etc. In another example, the initialization input can be automatically identified by the computer 64 via an input from the wheelchair position sensors 62.

[0058] With reference to block 910, procedure 900 involves identifying the position of the wheelchair 22's locking components 30 within the passenger compartment 28. The position of the locking components 30 can be identified by the wheelchair position sensors 62. The wheelchair position sensors 62 can identify the position of the locking components 30 of wheelchairs 22 with varying sizes, shapes, and configurations. In other words, the wheelchair 22 position sensors can be operated to account for different positions of the locking components 30 of different wheelchairs 22. The identification of the locking component 30's position can occur in response to the initialization input and / or can be independent of the initialization input, for example, by continuous monitoring.

[0059] With reference to block 915, method 900 involves adjusting the pendulum device 16 along the longitudinal axis LF of the floor 26 based on the position of a wheelchair 22 along the longitudinal axis LF of the floor 26. Block 915 involves aligning the pendulum device 16 with the wheelchair 22, i.e., positioning the pendulum device 16 such that the two hook assemblies 18 are arranged to move into hook assemblies in hook positions, each engaging with the hook components 30 of the wheelchair 22. The computer 64 controls the linear actuator 36 to move the pendulum device 16 relative to the rail 14 and the floor 26. The position of the pendulum device 16 is based on the position of the wheelchair 22, e.g., the position of the hook components 30 of the wheelchair 22, which is detected in block 910.

[0060] With reference to blocks 920 and 925, method 900 involves, when the pendulum device 16 is aligned with the wheelchair 22, adjusting the position of the hook assemblies 18 relative to the pendulum device 16 in order to engage the hook assemblies 18 with the hook components 30 of the wheelchair 22 based on the position of the wheelchair 22 and, in particular, based on the position of the hook components 30 of the wheelchair 22, e.g., the axles 24. The hook position is identified based on the position of the wheelchair 22, e.g., the position of the hook components 30 of the wheelchair 22, which is detected in block 910.

[0061] In block 920, the procedure 900 involves actuating one or more of the first rotary actuators 54, one or more of the second rotary actuators 58 and / or one or more of the linear actuators 56 to position the hooks 20 so that they are adjacent to the hook components 30, as shown by dashed lines in Fig. 6 shown. In block 925, the procedure 900 involves actuating one or more of the first rotary actuators 54, one or more of the second rotary actuators 58 and / or one or more of the linear actuators 56 to retract the hooks 20 towards the hook components 30 in order to clamp the hook components 30 between the hooks 20 in hook positions, as shown by solid lines in Fig. 6 shown. The hooking position can be identified by the wheelchair position sensors 62 and / or sensors in the hook assembly 18, e.g. pressure sensors, load sensors, etc.

[0062] The hook assemblies 18 can remain in their hooked positions during operation of the vehicle 10. After operation of the vehicle 10, e.g., when the vehicle 10 stops at a destination, the hook assemblies 18 can be released from the hook components 30 to release the wheelchair 22 from the floor 26. Procedure 900 involves receiving a release input in block 930 and releasing the hook components 30 in block 935.

[0063] In block 930, the release input can be entered manually by an occupant of vehicle 10, such as a wheelchair user 22, via an input interface, such as a button, a switch, a touchscreen voice control, a motion control, etc. In another example, the release input can be automatically identified by computer 64, e.g., when vehicle 10 is parked, switched off, etc.

[0064] In block 935, the procedure 900 involves actuating one or more of the first rotary actuators 54, one or more of the second rotary actuators 58 and / or one or more of the linear actuators 36 to position the hooks 20 so that they are spaced apart from the hook components 30 (e.g., returning to the position indicated by dashed lines in Fig. (as shown in Figure 6). In block 940, the procedure 900 involves actuating one or more of the first rotary actuators 54, one or more of the second rotary actuators 58 and / or one or more of the linear actuators 56 to position the hook assemblies 18 in the stowed position.

[0065] The revelation has been described in an illustrative manner, and it is understood that the terminology used is intended to be descriptive and not restrictive. In light of the foregoing teachings, many modifications and variations of the present revelation are possible, and the revelation can be implemented differently than specifically described.

Claims

[1] Wheelchair anchoring assembly comprising: a rail that has a longitudinal axis; a pendulum device that is movably engaged with the rail and is movable relative to the rail along its longitudinal axis; and two hook assemblies, which are adjustableally supported by the pendulum device and can be moved relative to the pendulum device into hooking positions; wherein the hook assemblies each contain a hook, the hooks being opposite each other in the hooking positions along the longitudinal axis. [2] Wheelchair anchoring assembly according to claim 1, wherein the hook assemblies are each rotatable relative to the pendulum device about axes of rotation which are not parallel to the longitudinal axis of the rail. [3] Wheelchair anchoring assembly according to claim 2, wherein the axes of rotation are parallel to each other. [4] Wheelchair anchoring assembly according to claim 2, wherein each hook assembly includes a rotary actuator which engages with the pendulum device. [5] Wheelchair anchoring assembly according to claim 2, wherein: the hook assemblies each include an arm that can be extended relative to the pendulum device; and The hook for each hook assembly is supported by the arm and rotatably adjustable relative to it. [6] Wheelchair anchoring assembly according to one of claims 1-5, wherein the hook assemblies each include an arm which is extendable relative to the pendulum device. [7] Wheelchair anchoring assembly according to claim 6, wherein each hook assembly includes a first element rotatably supported by the pendulum device and a second element slidably engaged with the first element. [8] Wheelchair anchoring assembly according to one of claims 1-5, wherein each hook assembly includes an arm and a hook which is supported by the arm and rotatably adjustable relative to it. [9] Wheelchair anchoring assembly according to claim 8, further comprising a rotary actuator for each hook assembly between the arm and the hook. [10] Wheelchair anchoring assembly according to one of claims 1-5, wherein: the hook assemblies each include an arm that can be extended relative to the pendulum device; and Each hook assembly includes an arm and a hook which is supported by the arm and rotatably adjustable relative to it. [11] Wheelchair anchoring assembly according to claim 10, wherein: Each hook assembly comprises a first element rotatably supported by the pendulum device, and a second element slidably engaged with the first element; and A rotary actuator for each hook assembly is located between the arm and the hook. [12] Vehicle, comprising: the wheelchair anchoring assembly according to claim 1; and a soil that has a longitudinal axis; the pendulum device is movable relative to the rail along the longitudinal axis of the floor. [13] Vehicle according to claim 12, wherein the rail is fixed to the ground and is elongated along the longitudinal axis of the ground. [14] Vehicle according to one of claims 12-13, further comprising a computer having a processor and memory which stores instructions which can be executed by the processor to adjust the pendulum device along the longitudinal axis of the floor based on a position of a wheelchair along the longitudinal axis. [15] Vehicle according to claim 14, wherein the instructions include instructions to adjust the position of the hook assemblies relative to the pendulum device in order to engage the hook assemblies with axles of the wheelchair on the basis of the position of the wheelchair.

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