Mobility device securement system

Abstract

To provide a new simplified, rapid securement system in which a WMD-bound rider is seamlessly integrated with the transportation experience offered by emerging autonomous public transportation systems.SOLUTION: A mobility device securement system includes an automated securement system that locks a wheeled mobility device into a designated station aboard an autonomous public transportation system vehicle, thus preventing unintended movement that is discomforting and potentially dangerous for both the WMD user and other passengers. The automated securement system includes features that integrate with a typical autonomous public transportation system vehicle to minimize obstruction during stowage while maximizing effectiveness during deployment.SELECTED DRAWING: Figure 17

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to U.S. Provisional Patent Application No. 62 / 825,325, filed March 28, 2019, and No. 62 / 960,883, filed January 14, 2020, which are incorporated herein by reference. [Background technology]

[0002] The embodiments described and claimed herein relate generally to an autonomous or semi-autonomous fastening system configured to secure a wheeled mobility device in a vehicle, including, but not limited to, an autonomous vehicle.

[0003] Background technology Today, there are millions of wheeled mobility device ("WMD") users in the United States. Many users remain in their WMD (e.g., wheelchairs, scooters, etc.) while entering or riding in a personal vehicle or mass transit vehicle. Systems have been developed and adopted to protect occupants restrained in a WMD. These systems typically consist of an occupant restraint device that includes at least one shoulder belt and one or more lap belts. They also include some form of WMD stabilization, which may include one or more belts, bumpers, barriers, latches, and / or automatic graspers. While these systems have proven successful in meeting occupant stability needs and basic crash test requirements, they are typically cumbersome and time-consuming to apply. To use most of these prior art systems, another person, such as a vehicle operator, must assist with the securement of the wheelchair occupant and the wheelchair. With the advent of automated transportation vehicles, the need for a securement system that may or may not be present and that is itself autonomous or can otherwise be applied by a wheelchair occupant without the assistance of another person is anticipated. The design of such autonomous fastening systems is complex, and with space expected to be scarce in autonomous vehicles, wheelchair fastening areas must utilize space efficiently and be easily and quickly convertible into seating areas for ambulatory passengers. The advent of low-speed autonomous transport vehicles may also reduce or negate the need for occupant restraints due to the very low likelihood of a crash event and low energy if a crash does occur. However, there is still a need for WMD fastening systems, especially new simplified and rapid fastening systems that seamlessly integrate WMD-bound riders with the transportation experience offered by emerging autonomous public transport vehicles. Summary of the Invention

[0004] The embodiments described and claimed herein are designed to meet these needs and address the shortcomings of prior art solutions.

[0005] Autonomous vehicles have limited interior space and encounter a variety of maneuvers and events, such as turning, stopping, and avoiding potential obstacles. If an autonomous low-speed public transportation vehicle is involved in a collision, the impact forces typical of low-speed environments do not warrant the type of high-energy occupancy and WMD immobilization needs used in other forms of public transportation. However, some degree of safety is warranted to prevent chaotic movement of WMDs during normal operations, and potentially harmful movement during an accident. Some of the embodiments described and claimed herein are adapted for such purposes, while other embodiments may also be suitable for high-speed, space-limited environments.

[0006] In one embodiment, an automated WMD immobilization system is provided to eliminate excessive movement of WMDs and occupants while aboard an autonomous public transportation vehicle. The system is integrated with the vehicle's interior structure and furnishings to minimize potential obstruction for all occupants. When not in use, the autonomous public transportation vehicle can fully accommodate amble riders as the automated WMD immobilization system is fully housed. When the WMD and occupants are properly positioned, the automated WMD immobilization system can be deployed and used, including multiple immobilization members that can be configured to immobilize the WMD through compression. The immobilization members can take the form of a sturdy bumper or arm structure with a power actuation mechanism that allows for automated movement and maintenance of a nearly constant force at a predetermined value or range of values. The portions of the immobilization members designed to contact the WMD can comprise a soft, non-marking surface constructed of a high friction material formed into an aggressive gripping pattern. The immobilization members can be actuated simultaneously and can provide some or completely independent movement to accommodate asymmetrical positioning of the WMD. The immobilization members can be equipped with illuminated status indicators to notify all occupants of movement and potential tripping hazards or obstacles.

[0007] In some embodiments, the immobilization members may be combined with sensors and controllers to automate the immobilization process. The immobilization members and / or other components in the vehicle may be equipped with sensor points that communicate with an intelligent controller of the automated WMD immobilization system. These sensors may communicate information such as the presence of obstacles, range from objects, force, etc. The sensors may operate via one or a combination of mechanical switching, current detection, visible light, IR, RF, sonar, magnetic, inertial detection, resistance, Hall effect, induction, or capacitance, or other known sensor technologies. WMD occupant and vehicle attendant interfaces (separate or combined units) may be located adjacent to the vehicle attendant station and / or WMD immobilization location, so that the automated WMD immobilization system can be summoned to function on demand. Additionally or alternatively, a microphone may be provided to receive voice commands for processing and response by the controller. Fully autonomous function of the automated WMD immobilization system may also be achieved with sensor inputs alone, for increased safety and convenience.

[0008] Use of the automated WMD immobilization device may follow a prescribed sequence of events. First, the WMD occupant boards the autonomous public transportation vehicle and travels to a designated station boarding location. Second, the occupant or attendant checks the occupant's physical space to ensure that no personal items or limbs have been positioned next to the WMD that could be trapped by the automated WMD immobilization system. Once the occupant or attendant has determined that the path of the immobilization member is clear, the occupant or attendant may signal for the automated WMD immobilization system to be activated. As previously mentioned, this function may also be performed autonomously by the automated WMD immobilization device, if desired, or may be performed based on input from sensors indicating, for example, the location, size, type, etc., of the WMD and occupant.

[0009] In particular, an automated WMD immobilization device may verify, through input from a series of various sensors, that the WMD is in the proper position and / or that the path of the immobilization member is clear. When operating in a fully autonomous mode, the WMD immobilization device may be controlled by a processor that computes a series of decisions based on sensor input from various sources contained within the immobilization device and / or other external sources.

[0010] When the immobilization function is initiated, whether manual or automatic, two or more heavy-duty immobilization members, which can take the form of a gripping arm, may be deployed simultaneously or sequentially from a stowed configuration to a ready-to-immobilize configuration, which then moves to the mobile device immobilization position. The immobilization members may be deployed to the ready-to-immobilize configuration either before the mobile device enters the immobilization area, or after the mobile device has moved to the final location in the immobilization area. Any movement performed by the automated immobilization system may be monitored for force requirements and potential obstacles. If a prescribed force limit is exceeded or an obstacle is identified, the unit immediately reverses the function and pauses before retrying the prescribed movement. Multiple attempts, for example three attempts, may be performed before sounding an alarm that requires interaction by the crew or attendant to clear. During the immobilization phase, the immobilization members may make light contact with the wheels or frame of the WMD. The crew or attendant may then perform a final check to ensure that there are no trapped items between the WMD and the automated WMD immobilization device's gripping structure. The crew or attendant may then signal the automated WMD immobilization system to immobilize the WMD with the full specified force. These steps may be completed automatically, including when full autonomous functionality is utilized, and therefore no occupant or attendant input is required.

[0011] The securing members may be equipped with a power actuation mechanism that allows for automatic movement and maintenance of a near constant force or a predetermined range of forces or a variable force depending on the driving conditions or vehicle state when the automatic securing system is being used (park, reverse, drive, speed, acceleration along any axis, deceleration along any axis). If the WMD shifts (e.g., as determined from a decrease in gripping force detected from a sensor output reflecting the current gripping force), an automatic re-gripping can be performed to quickly reacquire the specified securing force. The securing system may be interlocked with the operation of the vehicle such that the occupant or attendant cannot signal release until the vehicle is safely stopped or parked or the vehicle ignition is turned off. The interlock feature may also include a geolocation aspect that prevents release of the securing system until the vehicle arrives at a designated location to dismount. The automatic securing mechanism can be manually released in an emergency where occupant movement is required.

[0012] In one embodiment, the at least one fixation member has an expandable length, and the length of the fixation member may be selectively extended and shortened. The fixation member may have at least one fixation ready configuration and a storage configuration. In each of the at least one fixation ready configuration, the fixation member has a fixed length. In the storage configuration, the fixation member has a storage length. Each of the at least one fixation length is longer than the storage length.

[0013] In some embodiments, the fixation member may include an expansion mechanism operable to lengthen and shorten the fixation member. The expansion mechanism may include a telescoping member, an inflatable bellows, an accordion, a scissor mechanism, a linear actuator, a cylinder and piston, or other length-changing member or mechanism.

[0014] The fixation member may include a base, an extension zone, and a gripping zone. The extension zone may include an extension mechanism and may be at least partially or entirely coextensive with one or both of the base and the gripping zone. The extension zone may additionally or alternatively be disposed between the base and the gripping zone. In some embodiments, the extension zone may be entirely between the base and the gripping zone.

[0015] In the stowed configuration, the securing member may be integrated with any interior structure and / or vehicle fixtures to minimize potential obstruction by all occupants and / or provide additional space for seating of amble passengers. When not in use, the securing member may be partially, mostly, or completely stowed such that the autonomous public transportation vehicle can carry a full capacity of amble riders. In some embodiments, the securing member may be partially or completely positioned under a seat for an amble passenger, with the end of the seat extending further into the floor area of ​​the vehicle than the end of the securing member extends. The stowed length of the securing member may also be equal to or less than the seat depth. The amble passenger seat may be flipped upward or otherwise stowed when the securing member is being used to secure a mobile device. In such a configuration, the underside of the amble passenger seat may function as a backrest or backstop for the mobile device when placed in a secured position in the mobile securing area.

[0016] The securing member may be movable laterally (transverse to the length of the securing member) to engage a surface of the mobile device and secure the mobile device under compression and / or tension. In some embodiments, multiple movable securing members may be deployed and used and may be configured to secure the WMD under compression. For example, the securing members may be configured to engage and squeeze opposing surfaces of the mobile device or structures on the mobile device (e.g., the left and right sides of the mobile device, or the outer and inner surfaces of a single wheel). In other embodiments, multiple movable securing members may be deployed and used and may be configured to secure the WMD under tension. For example, the securing members may be configured to engage and squeeze opposing inner surfaces of opposing wheels outward (away from each other). In still other embodiments, three or more securing members may be deployed and used and may be configured to secure the WMD under one or both of compression and tension.

[0017] The securing members may take the form of sturdy bumper or arm structures with power actuation mechanisms that allow automated movement and maintenance of a nearly constant force within a predetermined value or tolerance. In other embodiments, the securing members may apply a variable force to the mobile device, countering vehicle acceleration and deceleration and preventing or reducing mobile device movement that might otherwise occur. The portions of the securing members designed to contact the WMD (gripping zones) may comprise a soft, non-marking surface constructed of a high friction material formed into an aggressive gripping pattern. The securing members may be actuated simultaneously and provide a degree of independent movement to accommodate the asymmetrical placement of the WMD. The securing members may be equipped with or associated with lighted status indicators and / or speakers that notify all occupants of movement and potential tripping hazards or obstacles.

[0018] The gripping function may be provided or further augmented by one or more additional features. For example, the additional gripping members may be housed in a shallow housing that may be located squarely on the floor beneath the docking station, or on the floor within the center of the docking station. These gripping members may be configured to lift and spread out to contact the inside of the wheels of the WMD that are secured by the outer gripping members. The inner gripping portion may include details that promote a secure fixation to the wheels, such as a high friction surface or an aggressive lug pattern that interlocks with the surface and details of the WMD wheels. The inner gripping portion also provides substantial stabilization and reaction forces that allow for higher gripping forces without risk of damage to the WMD. In the event of a crash, very high crushing loads can be applied to withstand the 20+ g's required by many control standards. The very high crushing loads can be applied via stored spring force, air pressure, pyrotechnics, compressed gas canisters, or other motive forces.

[0019] Alternatively, the securing of the gripping portions may be strengthened by adding articulation to each outer gripping member: as the gripping members secure the WMD by compressing against the wheel, the extra articulation causes the ends of the gripping members to rotate inwardly to trap the wheel and mechanically prevent the WMD from dislodging during rough maneuvers or in the event of a crash.

[0020] Another approach to enhance fixation may utilize an internal bladder within the outer (or inner) gripping member. The bladder may remain deflated upon stowage or during normal squeeze functions, but rapidly expands upon a crash event or aggressive maneuver being sensed. Fixation is greatly improved as the bladder expands and provides momentum for the gripping portion to tightly engage the WMD wheel surface and details. The bladder may be filled with compressed air, pyrotechnic gas, or stored liquid.

[0021] The gripping member can include a partially filled bladder to improve the capture security of the system. The bladder can be filled with a magnetorheological fluid that flows easily while the arm is pressed against the WMD. As the gripping surface moves, the magnetorheological fluid is energized to create a rigid topography that interlocks with the details of the WMD surface. Alternatively, the bladder can be filled with a non-Newtonian fluid that flows easily when the arm is pressed against the WMD and conforms to the shape of the WMD, and then automatically creates a rigid topography that interlocks with the details of the WMD surface when exposed to a sudden force, such as during a car accident. As yet another alternative, the bladder can include fillers or small particles, such as balls made of Styrofoam (or similar soft material) or rubber or a stiffer material, that can move relatively freely within the bladder and follow the shape of the WMD when the arm is pressed against it. A vacuum can then be applied to the bladder, for example using a vacuum pump, which prevents the filler or small particles from moving freely within the bladder, thereby providing the bladder with a rigid topography that interlocks with the details of the WMD surface.

[0022] The vehicle's WMD stations are monitored via cameras or other sensors linked to intelligent feature recognition software. The WMD securing device can autonomously handle the situation and react with appropriate features that provide the best rider experience and trip safety. Such features include recognizing the presence and location of WMDs and passengers, recognizing the type of WMD, identifying the ideal contact point for securing (usually the drive wheels), and avoiding sensitive surfaces and items such as fenders, accessory bags, and passengers' hands and feet. If the WMD type or ideal contact point is recognized (using RFID signals, QR codes, proximity sensors, laser radar, floor pressure sensors, light beams, image recognition, or other identification methods), this information can be used as input in the securing process, and the system secures the WMD with a securing setting specific for the WMD type or ideal contact point. These settings can have various parameters such as force, position, monitoring and adjustment strategies (in case the chair needs to be re-secured during the ride). For example, during the deployment phase of the fixation member, the fixation length can be set to a specific length that is appropriately pre-set and appropriate for various WMD types, the fixation length can be appropriately determined or pre-set for a specific WMD type, or the fixation length can be set such that the gripping zone is approximately above or adjacent to the ideal contact point when the fixation member is moved to the fixation position of the moving device. A database or look-up table can be established to identify various makes and models of WMDs based on encoded information in an RFID or QR code or barcode, or by recognizing key identifying features by a camera. Once the WMD type is identified, a set of squeeze force criteria and / or fixed length criteria can be developed to optimize fixation for each application. If a specific make or model is not identified and / or referenced in the database, reliable default squeeze force and / or fixed length values ​​can be used. The database can be built and maintained in a central location, and the parameters of each WMD fixation device can be downloaded with the latest version during routine maintenance.

[0023] Other embodiments, including some combination of the features discussed above and below, and other features known in the art, are contemplated as being within the scope of the claims even if such embodiments are not specifically identified and discussed in this specification. [Brief description of the drawings]

[0024] [Figure 1] FIG. 1 is a first perspective view of an autonomous vehicle incorporating a first embodiment of a wheeled transportation device fastening system. [Diagram 2] FIG. 2 is a second perspective view of an autonomous vehicle incorporating the first embodiment of the wheeled transportation device fastening system with the roof removed. [Diagram 3] FIG. 1 is a cutaway perspective view of an autonomous vehicle incorporating a first embodiment of a wheeled transportation device fastening system from an interior vehicle perspective. [Figure 4] FIG. 2 is a first perspective view of a gripping member of a first embodiment of a wheeled mobile device securement system showing the gripping member in a first or stowed position. [Diagram 5] 1 is a second perspective view of the gripping member of the first embodiment of the wheeled mobile device fixation system, showing the gripping member in a second or extended position. FIG. [Figure 6] FIG. 2 is a first perspective view of a gripping member of a second embodiment of a wheeled mobile device securement system, showing the gripping member in a first or stowed position. [Figure 7] FIG. 13 is a second perspective view of the gripping member of the second embodiment of the wheeled mobile device securement system, showing the gripping member in a second or extended position. [Figure 8] FIG. 13 is a first perspective view of a gripping member of a third embodiment of a wheeled mobile device securement system, showing the gripping member in a first or stowed position. [Figure 9] FIG. 13 is a second perspective view of the gripping member of the third embodiment of the wheeled mobile device fixation system, showing the gripping member in a second or extended position. [Figure 10]FIG. 13 is a first perspective view of a gripping member of a fourth embodiment of a wheeled mobile device securement system, showing the gripping member in a first or stowed position. [Figure 11] FIG. 13 is a second perspective view of the gripping member of the fourth embodiment of the wheeled mobile device fixation system, showing the gripping member in a second or extended position. [Figure 12] FIG. 13 is a first perspective view of a gripping member of a fifth embodiment of a wheeled mobile device securement system showing the gripping member in a first or stowed position. [Figure 13] FIG. 13 is a second perspective view of the gripping member of the fifth embodiment of the wheeled mobile device fixation system, showing the gripping member in a second or extended position. [Figure 14] FIG. 13 is a third perspective view of the gripping member of the fifth embodiment of the wheeled mobile device fixation system showing the gripping member in a second or extended position and including a protective bellows. [Figure 15] FIG. 13 is a first perspective view of a gripping member of a sixth embodiment of a wheeled mobility device fixation system, showing the gripping member in an intermediate position between a retracted state and a fully extended state. [Figure 16] FIG. 13 is a second perspective view of the gripping member of the sixth embodiment of the wheeled mobile device fixation system, showing the gripping member in a fully extended position. [Figure 17] FIG. 13 is a first perspective view of a gripping member of a seventh embodiment of a wheeled mobility device fixation system showing the gripping member in an intermediate position between a stowed position and a fully extended position. [Figure 18] FIG. 13 is a second perspective view of the gripping member of the seventh embodiment of the wheeled mobile device fixation system, showing the gripping member in a fully extended position. [Figure 19] FIG. 13 is a first perspective view of a gripping member of an eighth embodiment of a wheeled mobility device securement system showing the gripping member in a stowed position. [Figure 20] FIG. 13 is a second perspective view of the gripping member of the eighth embodiment of the wheeled mobile device fixation system, showing the gripping member in an extended position. [Figure 21] FIG. 13 is a perspective view of a gripping member of a ninth embodiment of a wheeled mobile device fastening system. [Figure 22] FIG. 23 is a perspective view of a gripping member of a tenth embodiment of a wheeled mobile device fastening system. [Figure 23] FIG. 23 is a perspective view of an eleventh embodiment of a wheeled mobility device fastening system. [Figure 24] FIG. 23 is a first perspective view of a gripping member of a twelfth embodiment of a wheeled mobile device fastening system, showing the gripping member in a stowed position. [Diagram 25] FIG. 23 is a second perspective view of the gripping member of the twelfth embodiment of the wheeled mobile device fixation system, showing the gripping member in an extended position. [Figure 26] FIG. 23 is a perspective view of a position sensor pad for detecting a wheeled mobile device secured by a thirteenth embodiment of the wheeled mobile device securing system; [Figure 27] FIG. 23 is a perspective view of a proximity sensor for detecting a wheeled mobile device secured by a fourteenth embodiment of the wheeled mobile device securing system; [Figure 28] FIG. 23 is a perspective view of a first infrared sensor array for detecting a wheeled mobile device secured by a fifteenth embodiment of the wheeled mobile device securing system; [Figure 29] FIG. 23 is a perspective view of a second infrared sensor array for detecting a wheeled mobile device secured by a sixteenth embodiment of the wheeled mobile device securing system; [Diagram 30] This is a logic table that can be used during an automated fix and release sequence. [Diagram 31] FIG. 1 is a perspective view of an alternative autonomous vehicle incorporating an alternative embodiment of a wheeled mobility device fastening system. [Diagram 32] FIG. 32 is a perspective view of an alternative embodiment of the wheeled mobility device fastening system of FIG. [Diagram 33] FIG. 1 is a perspective view of another alternative autonomous vehicle incorporating another alternative embodiment of the wheeled mobility device fastening system; [Diagram 34] FIG. 34 is a perspective view of an alternative embodiment of the wheeled mobility device fastening system of FIG. [Diagram 35] FIG. 13 is a perspective view of another alternative autonomous vehicle incorporating another alternative embodiment of the wheeled mobility device fastening system. [Diagram 36] FIG. 36 is a perspective view of an alternative embodiment of the wheeled mobility device fastening system of FIG. [Figure 37] FIG. 17 is a first perspective view of a gripping member alternative to the one shown in FIGS. [Figure 38] FIG. 38 is a second perspective view of the alternative gripping member shown in FIG. 37. [Figure 39] FIG. 17 is a perspective view of an alternative gripping member different from that shown in FIGS. 15-16. [Diagram 40] FIG. 17 is a perspective view of an alternative gripping member different from that shown in FIGS. 15-16. [Diagram 41] FIG. 13 is a plan view of a fastening system incorporating an angled engagement surface. [Diagram 42] FIG. 42 is a perspective view of the fixation system of FIG. [Diagram 43] 13A-13D are various perspective views of an engagement member incorporating multiple spring-loaded pins to engage various structures and contours on the side of a wheeled transportation device. [Diagram 44] 13A-13D are various perspective views of an engagement member incorporating multiple spring-loaded pins to engage various structures and contours on the side of a wheeled transportation device. [Diagram 45] 13A-13D are various perspective views of an engagement member incorporating multiple spring-loaded pins to engage various structures and contours on the side of a wheeled transportation device. [Figure 46] 13A-13D are various perspective views of an engagement member incorporating multiple spring-loaded pins to engage various structures and contours on the side of a wheeled transportation device. [Figure 47] 1 is a perspective view of a securing member having an alternative embodiment of a gripping member designed to grip the hub of a wheel of a wheeled mobility device. [Figure 48] 1 is a perspective view of a stationary member having an alternative embodiment of a gripping member designed to grip a frame member or other structure on a wheeled transport device. FIG. [Figure 49] FIG. 13 illustrates a safety system that provides additional squeezing and downward force to the fixation member. [Figure 50] FIG. 1 shows ideal contact points for fixing a wheeled transport device. [Figure 51] FIG. 1 shows a wheeled mobility device fixed in a landscape position. [Figure 52] FIG. 1 shows an automatic lifting seat. [Diagram 53] 1A-1D illustrate various methods for identifying features of a wheeled mobility device. [Figure 54] FIG. 1 illustrates a bus equipped with wireless communication capabilities. [Figure 55] FIG. 1 illustrates various airbags that can be deployed in adverse driving conditions. [Figure 56] FIG. 1 illustrates various airbags that can be deployed in adverse driving conditions. [Figure 57] FIG. 1 illustrates various airbags that can be deployed in adverse driving conditions. [Figure 58] FIG. 2 shows a fixing member attached to a pole. [Figure 59] FIG. 1 illustrates a computing device configured to perform various autonomous fixation methods described herein. [Figure 60] FIG. 13 is a perspective view of a lock that can be used with an engagement member that incorporates multiple moveable pins to hold the pins in place. [Figure 61] FIG. 61 is a front view of the locking plate of FIG. 60. [Figure 62] 13 is a first perspective view of yet another embodiment of a mobility device securement system disposed within the amble passenger seat area with the securement members in a stowed configuration and the amble passenger seat in an in-use position. FIG. [Figure 63] FIG. 63 is a second perspective view of the embodiment of FIG. 62 with the securing member in a stowed configuration and the amble passenger seat in a non-use position. [Figure 64]63 is a third perspective view of the embodiment of FIG. 62 for securing a wheeled mobility device, with the securing member in the mobility device securing position and the amble passenger seat in the unused position. FIG. [Figure 65] FIG. 13 is a schematic diagram of a pneumatically or hydraulically movable and lockable pin.

[0025] It should be understood that the drawings are not necessarily to scale, and that the embodiments may be illustrated by graphic symbols, phantom lines, schematic and partial views. In some cases, details have been omitted that are not necessary to understand the embodiments described and claimed herein, or that make other details difficult to understand. It should, of course, be understood that the invention described herein is not necessarily limited to the specific embodiments illustrated. Indeed, it is anticipated that those skilled in the art will be able to devise numerous alternative configurations similar and equivalent to the embodiments shown and described herein without departing from the spirit and scope of the present claims.

[0026] In the following detailed description of the drawings, like reference numbers are used to refer to like or similar parts from figure to figure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0027] 1-5 illustrate a first embodiment of a wheeled mobility device fastening system 20 for securing a wheeled mobility device 42 to an autonomous vehicle 1. As illustrated, the autonomous vehicle 1 includes a door opening 2 along a first side of the vehicle 1, a centrally located walkway or aisle 4, and amble passenger seats 6 disposed along the perimeter of the vehicle 1. The seats 6 and aisle 4 collectively define two generally U-shaped seating areas 8, 10 disposed at opposite ends of the vehicle. As configured, the vehicle 1 may include one or two mobility device fastening systems disposed in one or both of the U-shaped seating areas 8, 10. As illustrated, a single wheeled mobility device fastening system 20 is provided in the seating area 8 of the autonomous vehicle 1, although a second similarly configured system may be provided in the seating area 10.

[0028] The wheeled mobility device securing system 20 is disposed within a wheeled mobility device securing area 22 occupying a portion or one end of the centrally located aisle 4. The securing area 22 has a perimeter consisting of a front side 24, a rear side 26, a right side 28, and a left side 30 (defined according to the intended orientation of the wheeled mobility device 42 when secured, as shown in FIG. 3). One or more of the rear side 26, right side 28, and left side 30 of the securing area 22 abuts an amble passenger seat 6, which may be said to include modules 12, 14, 16 that may include a seating surface on an upper surface. For the avoidance of doubt, the modules 12, 14, 16 of the right side 28, left side 30, and rear side 26, respectively, may be integrated as a single unit or provided as separate units. Furthermore, although shown with seats, the modules 12, 14, 16 may or may not have a seating surface on an upper surface.

[0029] The wheeled mobility device securing system 20 includes a securing or gripping member, which in a first embodiment may take the form of an arm 32, 34 supported by a centrally located telescopic mechanism 36. The telescopic mechanism 36 may comprise, for example, two telescopic members 38, 40 concealing a linear actuator, one end of which is fixed to the arm 32 and the other end of which is fixed to the arm 34. The telescopic mechanism 36 may be closely adjacent, abutting, flush, or recessed within the module 16. The telescopic mechanism may include a panel that overlaps or telescopes approximately flush with the front-facing surface of the module 16. As best shown in FIG. 2, the telescopic mechanism 36 may be integrated with the module 16 and / or located approximately or directly beneath the amble passenger seat 6, so that the telescopic mechanism 36 does not present a tripping hazard or obstruction to the aisle 4.

[0030] The telescopic member 36 is configured to move the arms 32, 34 from a first or stowed position (FIGS. 1, 2, and 4) to a second or extended position (FIGS. 3 and 5). In the first position, the arms 32, 34 are closely adjacent to, abutting, flush with, or recessed within the modules 12, 14. The modules 12, 14 may include a pocket or recessed area that matches the shape of the arms 32, 34, such that the arms 32, 34 are approximately flush with the lateral facing surfaces of the modules 12, 14 when disposed in the first position. As best shown in FIG. 2, in the first position, the arms 32, 34 may be said to be located approximately or directly below the amble passenger seat 6, such that the arms 32, 34 do not present a tripping hazard or obstruction to the aisle 4. In the second position, the arms 32, 34 are spaced apart from the modules 12, 14 for engagement with a wheeled mobility device. In the first position, the arms 32, 34 are spaced apart by a distance D 1 In the second position, the arms 32, 24 are spaced apart by a distance D 2 The distance between the 1 D 2 4, so that the wheeled transport device 42 is secured to the vehicle 1 at least in compression.

[0031] Although shown in the first embodiment as arms 32, 34 separated by telescoping mechanism 36, the gripping members can take many forms and many different mechanisms can be used to provide the motive force. In all embodiments, the gripping members and associated mechanisms, in their first or stowed position, are contained entirely or at least mostly within the floor or other structure of the module 12, 14, 16 or vehicle, and outside of the aisle 4, such that the gripping members and associated mechanisms do not present a tripping hazard or obstruction to the aisle 4. Alternatively, the gripping members and associated mechanisms, in their first position, are located entirely or at least mostly below or directly beneath the amble passenger seats 6, and outside of the aisle 4, such that the gripping members and associated mechanisms do not present a tripping hazard or obstruction to the aisle 4.

[0032] Further embodiments of the telescoping mechanism 1736, 1836, 1936 are shown in Figures 31-36. In particular, in Figures 31-32, the wheeled mobility device securing system 1720 is provided as a drop-in type system with both the telescoping mechanism 1736 and the gripping members 1732, 1734 fitting within a pocket or undercut or recessed area 1740 in the seating modules 1712, 1714, 1716 (either as separate modules or formed as seating modules). In that regard, the system 1720, when placed in a stowed configuration, is disposed mostly or completely outside of the flooring area and beneath the seating surfaces of the modules 1712, 1714, 1716 and does not present a tripping hazard or obstruction to the aisle 4.

[0033] In FIGS. 33-36, the wheeled mobility device securing system 1820, 1920 includes a telescoping mechanism 1836, 1936 located below or approximately flush with the vehicle floor. In system 1820, the telescoping mechanism 1836 is located at the rear end of the gripping members 1832, 1834, such that the telescoping mechanism 1836 is also located below the rear seat module 1816. In system 1920, the telescoping mechanism 1936 can be located anywhere along the length of the gripping members 1832, 1834, including in the middle as shown. The vehicle floor must include a channel 1850 that allows the gripping members 1832, 1834 to move toward each other. In both systems 1820, 1920, modules 1812, 1814, 1912, 1914, and optionally modules 1816, 1916, include pockets or undercut or recessed areas 1840, 1940 for receiving gripping members 1832, 1834, 1932, 1934 when placed in a stowed position.

[0034] In other embodiments, the gripping member can rotate between a first position and a second position. More specifically, in a second embodiment shown in Figures 6-7, the gripping member takes the form of wings 232, 234 having a moving device engagement portion 236, 238 at a lower end and a pivot 240, 242 at an upper end. The pivot 240, 242 is generally horizontally and longitudinally aligned generally parallel to the right side 28 and left side 30 of the fixed region 22. The wings 232, 234 can be connected to the modules 12, 14 at the pivot 240, 242, respectively. Alternatively, one or both of the wings 232, 234 can be connected to the module 16 at one end of the pivot 240, 242. The gripping member includes one or more rotation mechanisms that can be adjacently disposed, abutting, flush disposed, or embedded within the modules 12, 14, 16. The rotation mechanism may include one or more rotary or linear actuators coupled to the pivots 240, 242 to move the wings 232, 234 between a first or stowed position and a second or extended position. In the case of separate linear actuators, each engagement member 236, 238 may be independently operated, for example in a manner that better accommodates off-center placement of the wheeled mobile device in a fixed area. In the first position (FIG. 6), the wings 232, 234 are disposed substantially vertically or angled slightly away from one another, such that the wings 232, 234 are closely adjacent, abutting, flush, or recessed within the module 12, 14. In the second position (FIG. 7), the wings 232, 234 are angled toward one another, such that the engagement portions 236, 238 are spaced apart from the module 12, 14 for engagement with the wheeled mobile device 42. In the first position, the engagement portions 236, 238 are spaced apart from the module 12, 14 by a distance D. 3 In the second position, the engagement portions 236, 238 are spaced apart by a distance D 4 The distance between them is D. 3 D 4 4, so that the wheeled transport device 42 is secured to the vehicle 1 at least in compression.

[0035] In a third embodiment shown in Figures 8-9, the gripping members take the form of wings 332, 334 having moving device engagement portions 336, 338 at their upper ends and pivots 340, 342 at their lower ends. The pivots 340, 342 are generally horizontally and longitudinally aligned generally parallel to the right side 28 and left side 30 of the fixed area 22. The wings 332, 334 may be connected to the modules 12, 14 at the pivots 340, 342, respectively. Alternatively, one or both of the wings 332, 334 may be connected to the module 16 at one end of the pivots 340, 342. The gripping members include one or more rotation mechanisms that may be positioned adjacent, abutting, flush or recessed within the modules 12, 14, 16 and / or within the floor of the vehicle. The rotation mechanism may include one or more rotary or linear actuators coupled to the pivots 340, 342 to move the wings 332, 334 between a first or stowed position and a second or extended position. In the case of separate linear actuators, each engagement member 436, 438 can be independently operated, for example in a manner that better accommodates off-center placement of the wheeled mobile device in a fixed area. In the first position (FIG. 8), the wings 332, 334 are disposed substantially vertically or angled slightly away from one another, such that the wings 332, 334 are closely adjacent, abutting, flush, or recessed within the module 12, 14. In the second position (FIG. 9), the wings 332, 334 are angled toward one another, such that the engagement portions 336, 338 are spaced apart from the module 12, 14 for engagement with the wheeled mobile device 42. In the first position, the engagement portions 336, 338 are spaced apart from the module 12, 14 by a distance D. 5 In the second position, the engagement portions 336, 338 are spaced apart by a distance D 6 The distance between the 5 D 6 4, so that the wheeled transport device 42 is secured to the vehicle 1 at least in compression.

[0036] In a fourth embodiment shown in Figures 10-11, the gripping members take the form of four-bar linkages 432, 434. The four-bar linkages 432, 434 include movement device engagement portions 436, 438 connected to base members 440, 442 via pivot members 444, 446, 448, 450 such that the pivot members 444, 446, 448, 450 provide an offset pivot about the engagement portions 436, 438. The pivot members 444, 446 interconnect the engagement members 436, 438 to the base members 440, 442 at a first end of the four-bar linkages 432, 434, and the pivot members 448, 450 interconnect the engagement members 436, 438 to the base members 440, 442 at a second end of the four-bar linkages 432, 434. The pivoting members 444, 446, 448, 450 rotate about pivot axes aligned substantially vertically. The base members 440, 442 may be connected to the modules 12, 14, respectively, or may be connected to the floor of the vehicle 1. The gripping members include one or more rotation mechanisms that may be positioned closely adjacent, abutting, flush, or recessed within the modules 12, 14, 16, or within the floor of the vehicle. The rotation mechanisms may include one or more rotary or linear actuators coupled to one or more pivot axes of the pivoting members 444, 446, 448, 450 to move the four-bar linkages 432, 434 between a first or stowed position and a second or extended position. In the case of separate actuators, each engagement member 436, 438 may be independently operated, for example, in a manner that better accommodates off-center placement of the wheeled mobile device in the fixed area. In a first position (FIG. 10), the four-bar linkages 432, 434 are closely adjacent, abutting, flush, or recessed within the modules 12, 14, whereby the engagement members 436, 438 are generally disposed above the base members 440, 442. In a second position (FIG. 11), the engagement members 436, 438 are spaced from the modules 12, 14 for engagement with the wheeled transport device 42, whereby the engagement members 436, 438 are laterally spaced from the base members 440, 442. In the first position, the engagement members 436, 438 are spaced apart from the base members 440, 442 by a distance D. 7 In the second position, the engagement portions 436, 438 are spaced apart by a distance D8 The distance between the 7 D 8 4, so that the wheeled transport device 42 is secured to the vehicle 1 at least in compression.

[0037] While the first through fourth embodiments use either a telescoping or pivoting mechanism to move the gripping members between the first and second positions, additional embodiments may use an extension mechanism. For example, in the fifth embodiment shown in Figures 12-14, the gripping members are configured as scissor members 532, 534. The scissor members 532, 534 include movement device engagement portions 536, 538 connected to base members 540, 542 via scissor mechanisms 544, 546. The base members 540, 542 may be connected to the modules 12, 14, respectively, or may be connected to the floor of the vehicle 1, with the base members 540, 542 positioned closely adjacent, abutting, flush, or recessed within the modules 12, 14. The scissor mechanisms 544, 546 may include, for example, a common or separate linear actuator that moves the scissor members 532, 534 between a first or retracted position and a second or extended position. In the case of separate linear actuators, each engagement member 536, 538 may be independently operated, for example, in a manner that may better accommodate off-center placement of a wheeled mobile device in a fixed area. In the first position (FIG. 12), the scissor members 532, 534 are closely adjacent, abutting, flush, or recessed within the modules 12, 14, whereby the engagement members 536, 538 are folded, adjacent, or recessed into the base members 540, 542. In the second position (FIG. 13), the engagement members 536, 538 are spaced from the modules 12, 14 for engagement with the wheeled transport device 42, such that the engagement members 536, 538 are laterally spaced from the base members 540, 542. In the first position, the engagement portions 536, 538 are spaced apart from the modules 12, 14 by a distance D 9 In the second position, the engagement portions 536, 538 are spaced apart by a distance D 10 The distance between the 9 D 1014, the scissor mechanism 544, 546 may also include protective bellows 548, 550 for protection of the user of the wheeled mobility device 42 and ambulatory passengers in the vehicle 1. As an alternative to the scissor mechanism 544, 546 of the fifth embodiment, the bellows 548, 550 shown in FIG. 14 may take the form of an inflatable bellows for moving the engagement members 536, 538 between the first and second positions. As possible in other embodiments, the engagement members 536, 538 may be configured to move longitudinally back and forth, pivot about a vertical or horizontal axis, or change profile along their length to match the profile of the WMD. As shown in FIG. 14, the scissor mechanism 544, 546 may also include protective bellows 548, 550 for protection of the user of the wheeled mobility device 42 and ambulatory passengers in the vehicle 1. As an alternative to the scissor mechanism 544, 546 of the fifth embodiment, the bellows 548, 550 shown in FIG. 14 may take the form of an inflatable bellows for moving the engagement members 536, 538 between the first and second positions.

[0038] In yet another embodiment, FIGS. 62-64 show a first embodiment of a mobile device securing system 2700 for securing a wheeled mobile device 2650 within a vehicle 2610. The mobile device securing system 2700 may be integrated into an amble passenger seating area 2620 located anywhere within the vehicle 2610, including along the perimeter of the vehicle 2610 as shown. The seating area 2620 may include one or more seats 2622 and / or seat backs 2624. The seats 2622 may move between an in-use position, shown in FIG. 62 for an amble passenger seat, and an out-of-use position, shown in FIG. 63. In the out-of-use position, the seats 2622 are positioned out of the way to free up additional area for securing the mobile device. The seats 2622 may swivel about a horizontal axis 2626 to an up or down position as shown. Pivoting about the horizontal axis 2626 is not required, and other axes, pivots or slides, or other movement mechanisms can be used to move the seat 2622 out of the way to an unused position. The underside of the seat 2622, when secured by the securing system 2700, can provide a backrest for the movement device.

[0039] The mobile device securing system 2700 includes at least one, preferably two securing members 2710, 2712 for securing the mobile device 2650. The securing members 2710, 2712 are configured to move from a stowed configuration shown in Figs. 62-63 to a ready-to-secure configuration, as shown in Fig. 64, and a mobile device secured position. In the ready-to-secure configuration, the length of the securing members 2710, 2712 is expanded (compare the length in Fig. 62 with the length in Fig. 64) such that the securing members 2710, 2712 are no longer stowed under the seat 2622, but are expanded into a mobile device securing zone in the floor area for engagement / securing with the mobile device 2650. In the mobile device secured position, the securing members 2710, 2712 move laterally along the axis 2726, potentially moving closer together if the mobile device 2650 is secured in compression, as shown in Fig. 64, or further apart if the mobile device 2650 is secured in tension.

[0040] The fixed members 2710, 2712 may include a base 2714, 2716, an expansion zone 2718, 2720, and a gripping zone 2722, 2724. The fixed members 2710, 2712 may be supported at the base 2714, 2716 (i.e., secured to the vehicle). In this embodiment, the fixed system 2700 includes a central housing 2702 that includes a movement mechanism (internal, not shown) that exerts a force on the base 2714, 2716 to move the fixed members 2710, 2712 toward or away from each other (e.g., laterally) along an axis 2726. The movement mechanism may include a telescoping member, an inflatable bellows, an accordion, a scissor mechanism, a linear actuator, a cylinder and piston, or other length-changing member or mechanism.

[0041] The expansion zones 2718, 2720 may include an expansion mechanism (internal, not shown) and may be at least partially or entirely coextensive with one or both of the base 2714, 2716 and the gripping zones 2722, 2724. The expansion zones 2718, 2720 may additionally or alternatively be disposed between the base 2714, 2716 and the gripping zones 2722, 2724. In some embodiments, the expansion zones 2718, 2720 may be entirely between the base 2714, 2716 and the gripping zones 2722, 2724 as shown. The expansion mechanism is operable to extend and shorten the fixation members 2718, 2720 along an axis 2728. The axis 2728 may be transverse to the axis 2726. The expansion mechanism may include a telescoping member, an inflatable bellows, an accordion, a scissor mechanism, a linear actuator, a cylinder and piston, or other length changing member or mechanism.

[0042] The gripping zones 2722, 2724 of the stationary members 2710, 2712 are designed to contact the mobile device 2650 and may comprise a soft, non-marking surface constructed of a high friction material formed into a positive gripping pattern. As shown in Figure 3, the gripping zones 2722, 2724 engage with the wheels of the mobile device 2650, however, for some embodiments or types of mobile devices it may be preferred that the gripping zones 2722, 2724 engage with different or larger wheels, or other structures on the wheeled mobile device.

[0043] In some embodiments, the length of the securing members 2710, 2712 in a secured ready configuration (referred to herein as a secured length) may be pre-determined for compatibility with a large subset of widely used mobile devices. In other embodiments, the secured length may be custom set by a user (vehicle operator, mobile device owner) as needed. In still other embodiments, the securing system 2700 may include various processors, controllers, and sensors to determine ideal contact points on the mobile device for the gripping zones 2722, 2724. In one such embodiment, one or more proximity or optical sensors may be used alone or in combination with artificial intelligence to provide one or more signals indicative of various structures on the mobile device, while the controller can identify the ideal contact from those signals. Optical sensors may be positioned in one or both of the gripping zones 2722, 2724 of the securing members 2710, 2712. In another such embodiment, a pressure-sensitive flooring sheet or an array of pressure-sensitive strips or pads can be used to provide a signal indicative of the position of one or more wheels of the mobile device, while the controller can set a fixed length based on the signal, so that the gripping zones 2722, 2724 are located approximately adjacent to one of the wheels. The controller can be programmed to set the fixed length such that the gripping zones 2722, 2724 are located approximately adjacent to the larger wheel. In yet another embodiment, the fastening system 2700 can include various processors, controllers, and sensors to determine a general mobile device type or model and set one or more of the various parameters, such as the fixed length, force, that are deemed ideal for that device type or model. In one such embodiment, a sensor can be provided to read an RFID tag on the mobile device, where the RFID tag identifies one or more of the mobile device type or model, or one or more preferred parameters for the mobile device (e.g., fixed length, force, or other parameters).

[0044] Any of the previously described embodiments of the mobile device securement system may be extended with features that enhance the gripping function of the gripping members. For example, as shown in FIGS. 15-16, the gripping members may each take the form of an engagement member 636 having a primary gripping portion 638 pivotally connected to a secondary gripping portion 640 at a pivot point 642. The primary gripping portion 638 engages a side of the wheeled mobile device 42 when the engagement member 636 is moved to a second position (FIG. 15). The secondary gripping portion 640 may then rotate about the pivot point 642 from a retracted or stowed position (FIG. 15) to an articulated or engaged position (FIG. 16) to engage a forward facing surface or structure of the wheeled mobile device 42, such as the front of the wheels of the wheeled mobile device 42. In this position, the secondary gripping portion 640 makes firm contact with the wheeled mobile device 42, improving the safety of the capture. Any number of actuators or similar structures can be used to move the secondary gripping portion 640 between a retracted position and an articulated position, such as a rotary or linear actuator. It is contemplated that the secondary gripping portion 640 may be used during normal operation or may be rapidly moved into position during an incident by spring force, air pressure, pyrotechnics, compressed gas canisters or other motive forces.

[0045] Other embodiments having both primary and secondary gripping portions are shown in Figs. 37-40. In Figs. 37-38, the end of the gripping member 2036 includes a retractable peg 2040 that flips back to capture a portion of the wheeled mobility device, such as the front of a wheel as shown in Fig. 38, after the gripping member 2036 is moved into contact with the side of the wheeled mobility device. Any number of actuators or other mechanisms may be used to move the peg 2040 between various positions. In Figs. 39-40, the gripping member 2136 may be extendable along its length and include a fixed peg 2140 at its end. Prior to engaging the wheeled mobility device, the gripping member 2136 is placed in an extended state (long). After the gripping member 2136 is positioned to engage the side of the wheeled mobility device, the gripping member moves to a retracted position (short) whereby the peg captures a forward-facing structure of the wheeled mobility device, such as the front, such as the front of a wheel as shown in Fig. 40. The gripping members 2136 can be lengthened or shortened using any number of mechanisms, such as a telescoping mechanism with a linear actuator.

[0046] A similar effect to having primary and secondary gripping portions can be achieved via a gripping member 2236 with an inwardly angled engagement surface 2240, as shown in FIGS. 41-42. For example, a first portion of the engagement surface 2240 may be farther apart (i.e., distance D) than a second portion of the engagement surface 2240. 11 >Distance D 12 ), the first portion is disposed rearward of the second portion. In such a configuration, the trapping force on the side of the wheeled mobile device is increased when the wheeled mobile device moves forward.

[0047] In another embodiment, the gripping members may include pressure bladders to improve capture security of the device. For example, as shown in FIGS. 17-18, each gripping member may take the form of a wheeled mobility device engagement member 736 including an internal pressure bladder 738 having a deflated state (FIG. 17) and an inflated state (FIG. 18). The engagement member 736 may have a contoured engagement surface 740, such as ribs, lugs, and knobs 742, to enhance grip. The pressure bladder, when inflated, enhances engagement between the contours of the engagement surface and various details of the wheeled mobility device, such as wheel spokes. The bladder system may use a non-compressible fluid, which provides faster expansion and better fixation than compressible fluids. It is contemplated that the pressure bladder 738 may be used during normal operation or may be rapidly inflated during an accident by air pressure, pyrotechnics, compressed gas containers, or other motive force. In an alternative embodiment, the surface 740 of the engagement member 736 may be flat when the bladder 738 is deflated, such that the bladder 738 forms contoured features 742 when inflated.

[0048] In yet another embodiment, the gripping members may include "phase change" bladders to improve capture security of the wheeled mobility device. For example, as shown in FIGS. 19-20, each of the gripping members 836 may have a bladder 838 on the engagement surface 840. The bladder 838 may initially be soft and / or malleable and / or change shape while the arm is pressed against the side of the wheeled mobility device, as shown in FIG. 20. As the engagement surface 840 is displaced around the various contours of the side of the wheeled mobility device, the "phase" of the bladder may change, becoming stiff and / or non-conforming and / or fixed in shape, such that a rigid topography is formed to allow the bladder 838 to interlock with the surface details of the wheeled mobility device 42.

[0049] A "phase change" bladder may include a "smart fluid" that has a first condition that allows the fluid to move or flow freely and allows the bladder to change shape to match the shape or side contour of the wheeled mobility device surface. A "smart fluid" may also have a second condition where the fluid is prevented from moving freely and behaves like a more viscous fluid or a viscoelastic solid, possibly even like a solid. In the second condition, the fluid-filled bladder can be said to be "locked" to engage with the peaks and valleys of the side contour of the wheeled mobility device surface. The fluid can change from the first state to the second state via a trigger. As an example, the bladder 838 can be filled with a magnetorheological fluid that flows easily while the arm is pressed against the side of the wheeled mobility device 42, as shown in FIG. 20. As the engagement surface 840 moves around the various contours of the side of the wheeled mobility device 42, the magnetorheological fluid can be triggered and specifically energized to create a rigid topography that interlocks with the surface details of the wheeled mobility device 42. It is contemplated that magnetorheological fluids can be energized during normal operation or can be rapidly energized after an accident is detected. As is well known, magnetorheological fluids include micrometer-sized magnetic (e.g., iron) particles in a carrier fluid (e.g., mineral oil, synthetic oil, water, or glycol) and a substance that inhibits the settling of the iron particles. The magnetic particles align into a fibrous structure upon application of a magnetic field to the fluid, typically perpendicular to the direction of magnetic flux. This restricts the movement of the fluid (e.g., increases viscosity) in proportion to the power and strength of the magnetic field.

[0050] Instead of magnetorheological fluids, other "phase change" or "smart" materials or fluids can be used, such as electrorheological fluids whose resistance to flow can be changed by an applied electric field, non-Newtonian fluids with shear thickening properties resulting from the application of a sharp force, or a sealed bag / bladder filled with small balls or roughly spherical beads (or other structures, beads or particles of compatible shape, size and material including, but not limited to, polystyrene balls or styrofoam) from which air can be evacuated using a vacuum, where the particles collectively form a roughly rigid structure that roughly matches or corresponds to the lateral profile of the WMD.

[0051] Bladders filled with similar smart materials can be used in the back and / or headrest of a wheeled mobility device, allowing the back and headrest to conform to the base of the wheeled mobility device and / or seat frame and / or behind the occupant's head.

[0052] In still other embodiments, the gripping member may include various contours, knobs, paddles, fingers, and other gripping portions or tips that improve capture security of the wheeled mobile device. For example, as disclosed in U.S. Patent Application Publication No. 2010 / 0086375, which is incorporated by reference, the gripping arm may include a plurality of spring-loaded fingers that interlock with details of the wheeled mobile device to improve fixation. The springs may be provided in the form of leaf springs, coil springs, or other memory devices that push against a matrix of engagement pins that are guided, for example, by a rigid block with drilled holes. For example, as shown in FIGS. 43-46, the gripping member 2336 may include a guide block 2350, a plurality of pins 2352, and a spring plate or mattress 2354. The guide block 2350 includes a hole 2356 that receives the pin 2352. The spring plate 2354 includes a plurality of spring fingers 2358. One end of each pin 2352 extends outwardly from the engagement surface 2340 of the gripping member 2336, and the other end of the pin 2352 is disposed against a corresponding spring finger 2358 on the spring plate 2354. The pins 2352 may be covered by a molded flexible surface membrane constructed of rubberized fabric or other suitable material to protect the wheeled transfer device. The block 2350 may be formed of plastic or other suitable material. The pins 2352 may be formed of steel, plastic, or other suitable material. The spring plate 2354 may be formed of steel or other suitable material. The pins 2352 need not be spring-loaded, but instead may each be movable between a retracted position and an extended position via a solenoid or linear actuator or other movement mechanism. In that regard, the pins 2352 may be selectively locked in either the retracted or extended position depending on the state of the solenoid or other movement mechanism.

[0053] In some embodiments, the gripping member 2336 may include one or more "locks" to hold one, some, most, or all of the pins 2352 in place after the pins 2352 engage with the contact surface details of the wheeled mobility device. In that respect, the gripping member 2336 with the pins 2352 may operate in a manner similar to the smart material-filled bladder described above. More specifically, the gripping member 2336 may have a first state in which the pins 2352 are spring-loaded outward and move inward when momentum is applied to bring the gripping member 2336 and the wheeled mobility device into contact. Thanks to the displaceable pins 2352, the gripping member is malleable and / or changes shape to generally match the shape of various contours of the side of the wheeled mobility device. When the one or more locks engage, the one or more pins may be fixed in place. At that point, the engagement surface of the gripping member 2336 is "hardened" or non-conforming or assumes a fixed shape, thereby forming a rigid topography that interlocks the gripping member 2336 with the details of the wheeled transport device surface. The gripping member 2336 can be said to be "locked" into engagement with the peaks and valleys of the side profile of the wheeled transport device surface. The lock is not limited to a spring-loaded pin, but could be incorporated into a solenoid or other transport mechanism embodiments described above.

[0054] The lock may take the form of a brake, including but not limited to a friction brake, which is moved into frictional engagement with the pin via a solenoid, linear actuator, or other moving mechanism. In another embodiment shown in Figs. 60-61, the lock takes the form of a sliding locking plate 2370 with multiple openings 2372, each receiving a pin 2352. Depending on the configuration of the openings 2372, the locking plate 2370 may be configured to slide laterally as shown between an unlocked position where the pins 2352 can freely move in and out of the openings 2372, and a locked position where the pins 2352 cannot freely move in and out of the openings. The base of the pins 2352 may include multiple slots 2360 along the length of the pins 2352 configured to receive edges of the openings 2372 in the locking plate 2370. In that regard, the locking plate 2370 may lock multiple pins 2352 retracted and extended to different degrees, as best shown in Fig. 60. In the illustrated embodiment, the base of the pin comprises a reduced diameter shaft 2362 with a plurality of cylindrical fins 2364 of increasing diameter along its length spaced apart a distance equal to or slightly greater than the thickness of the locking plate 2372. The slots 2360 are defined by the spaces between the fins 2374. The opening 2372 in the locking plate 2370 is defined by a first circular hole 2374 having a diameter equal to or slightly greater than the increased diameter of the fins 2364 and a second circular hole 2376 having a diameter equal to or slightly greater than the reduced diameter of the shaft 2362. The first circular hole 2374 and the second circular hole 2376 overlap, allowing the locking plate to have an unlocked position where the pin 2352 is centered in the first circular hole 2374 and a locked position where the pin 2352 is centered in the second circular hole 2376.

[0055] In another embodiment, the locking and biasing force of the pins can be provided pneumatically or hydraulically. For example, as shown in FIG. 65, each of the pins 2852 can be located and movable along the length of the cylinder 2860 between an extreme fully retracted position A and a fully extended position C. Means can be provided for pressurizing and / or venting the cylinder 2860 to provide an outward bias for the pins 2852 and / or to retract the pins 2852. More specifically, the multiple pins 2852 can have a fully retracted position A (a stowed position that clears the wheeled mobility device's obstruction when entering a wheelchair securing area) that can be achieved by venting the cylinder 2860 of fluid or gas, and can have a fully extended position C by further pressurizing the cylinder 2860 with fluid or gas. Some or all of the pins 2852 may encounter an obstacle (e.g., a side of the wheeled mobility device) and may only reach partially extended position B, whereby the pins 2852 match or correspond to the side contour of the wheeled mobility device. Once the pins 2852 match the contour of the wheeled mobility device, the cylinders 2860 can be individually or collectively isolated from the pressure source 2870 via one or more valves 2880 or flow restrictors that lock the pins 2852 in place.

[0056] In another embodiment, as shown in FIG. 21, the gripping member 936 can include one or more articulating contour-conforming members, such as paddles 940, that can move laterally and / or rotate to engage the shape of a chair. The paddles 940 can be provided anywhere on the gripping member 936, including at any point on the perimeter, or on the chair-engaging surface of the gripping member 936. The paddles 940 can protrude into a stowed position, retract behind a plane defined by the gripping member's engagement surface, or be recessed into the gripping member 936 in the stowed position. The paddles 940 can take any shape and can include various actuators or other mechanisms to achieve movement. Alternatively, the paddles 940 can be passive in nature and biased into the extended position using a spring. It is contemplated that the paddles 940 can be used during normal operation or can be rapidly moved into position during an accident by spring force, air pressure, pyrotechnics, compressed gas canisters, or other motive forces.

[0057] In another embodiment shown in FIG. 22, the gripping member 1036 is provided with a wheeled mobile device engagement member 1040 that is longitudinally movable within a rail or channel 1044 along the length of the gripping member and configured with one or more contour identifying members for capturing a portion of the wheeled mobile device. As shown, the engagement member 1040 includes a plurality of fingers 1042 that extend radially to capture a wheel structure (e.g., a hub) on the wheeled mobile device. Each of the fingers 1042 may have one or more segments separated by a joint or knuckle to allow the fingers 1042 to wrap around the wheel structure. A variety of actuators or other mechanisms may be used to implement the movement of the engagement member 1040. A variety of intelligent sensor technologies, such as optical sensors, video analytics, RFID tags, etc., may be used alone or in combination with artificial intelligence to identify the model of the wheeled mobile device and / or locate the wheel. An alternative embodiment of the gripping member 2436 with a wheeled mobile device engagement member 2440 is shown in FIG. 47. Engagement member 2440 is similar to engagement member 1040 and is designed to function in much the same way, but is smaller and is designed to capture the hub center of the wheel.

[0058] In yet another embodiment shown in FIG. 23, the wheeled mobile device securing system may take the form of one or a series of robotic arms, such as arms 1136, 1138, configured to secure the wheeled mobile device. The arms 1136, 1138 may include one or more segments, each separated by joints 1140, 1142 that allow rotation about one or more axes. The arms may also include telescoping segments or other length-changing structures that allow each arm to extend or shorten in length. A variety of intelligent sensor technologies, such as optical sensors, video analytics, RFID tags, etc., may be used alone or in combination with artificial intelligence to identify the chair or its configuration, which may guide the arms from a stowed position to an appropriate secured position, as shown. One or more of the arms may grasp a frame member, a designated connection point, or a wheel hub as shown in FIG. 22 and FIG. 47 with the engagement members 1040 and 2440, or a gripping hand 2640 may grip a frame member and a designated connection point as shown in FIG. 48. It is contemplated that engagement members 1040 and 2440 may be used during normal operation or may be rapidly moved into position during an accident by spring force, air pressure, pyrotechnics, compressed gas canisters or other motive forces.

[0059] In yet other embodiments, the fixation provided by the gripping members of Figures 1-23 and 31-47 can be replaced or supplemented by using gripping members 1236, 1238 shown in Figures 24-25, which can be accommodated flush or with a very low profile in the vehicle floor. The gripping members 1236, 1238 are configured to move from a stowed position to an engaged position in firm contact with the wheeled mobility device 42 to prevent movement due to frictional engagement. For example, the gripping members 1236, 1238 can be provided with various actuators or other movement mechanisms (e.g., four-bar mechanisms) that deploy the gripping members 1236, 1238 in an upward and outward direction until they make firm contact with the inner edges of the wheels of the wheeled mobility device 42, or other inwardly facing surfaces of the wheeled mobility device 42. The gripping members 1236, 1238 remain low to avoid collision with the underside of the wheeled mobility device 42 and to stabilize the wheels near the floor. 1-23 engaging the outer surface of the wheeled mobile device, the gripping members 1236, 1238 provide a stabilizing and countering force to the outer gripping member. The stabilizing and countering force provided by the gripping members 1236, 1238 may allow the outer gripping member to compress at higher force levels without damaging the wheeled mobile device. It is contemplated that the secondary gripping members 1236, 1238 may be used during normal operation or may be rapidly moved into position during an incident by spring force, air pressure, pyrotechnics, compressed gas canisters, or other motive force.

[0060] To further improve capture security of wheeled mobility devices, various combinations of sensors, including those mentioned above, may be provided to determine, among other things, the exact location of the wheeled mobility device within the vehicle, the wheeled model or type, or the individual and combined weights of the wheeled mobility device and passenger, and even whether the wheeled mobility device is moving or stationary. The wheeled mobility device may also be monitored for movement during transport, and an alert may be provided to the vehicle operator, for example, if excessive movement is detected, or if other failures of the wheeled mobility device securing system are detected. For example, as shown in FIG. 26, a position sensor pad 1300 may be provided to determine, when a wheeled mobility device station is occupied by a wheeled mobility device, when the wheeled mobility device is located within the station, the combined weight of the wheeled mobility device and passenger, whether the wheeled mobility device is stationary or moving, and whether the wheeled mobility device is in a proper secured position. For example, based on the wheel number and position 1302, 1304, 1306, 1308, the sensor pad 1300 may provide data indicative of the type of item within the station. In particular, pad 1300 may take the form of a single, unitary pressure-sensitive sheet or an array of pressure-sensitive strips or points.

[0061] In another embodiment, the gripping members 1436, 1438, or other structures within the vehicle, can be equipped with one or more proximity sensors 1440, 1442 to sense the presence of and detect the location of various surfaces on the wheeled mobility device. As shown in FIGURE 27, when present on the gripping members 1436, 1438, the gripping members 1436, 1438 react when the sensors 1440, 1442 sense the presence of an item to either grip the wheeled mobility device or avoid contact with the obstructing item.

[0062] In yet another embodiment shown in Figures 28-29, the gripping members 1536, 1538, 1636, 1638, or other structures within the vehicle may be provided with one or more infrared beam projectors and receivers, with a projector disposed on one of the gripping members and a corresponding receiver disposed on the opposing gripping member, to sense the presence and detect the location of the wheeled mobility device. The infrared beam projectors may be provided with a vertically extending array 1540, a longitudinally extending array 1640, a laterally extending array (not shown) (e.g., one or more of the projectors or receivers are disposed at the rear of the station between the members 1536, 1538, e.g., on the seat back), or a combination of such arrays. The infrared beam projectors may be configured and arranged to identify the front, rear, and side locations of the wheeled mobility device.

[0063] The proximity sensors 1440, 1442 and IR arrays 1540, 1640 can also be used to determine the side profile of the wheeled mobile device, which can then be used to prepare the fixation surface of the fixation member such that the shape of the fixation surface matches the side surface profile of the wheeled mobile device. This can be done by using multiple expansion members (e.g., inflatable bellows) positioned along the length of the fixation member, or by using a fixation member having multiple segments that are movable relative to each other laterally and / or rotationally.

[0064] As shown in Fig. 49, the immobilization member may be provided with a variety of fast acting devices, such as spring force, air pressure, pyrotechnics, compressed gas canisters or other motive forces, which improve the additional squeezing force and / or immobilization of the WMD during rolling downward forces in adverse driving conditions, such as during long distance maneuvering loads such as those found when a bus goes around a traffic circle or negotiates an on-ramp on a high speed freeway. Higher additional forces may be applied during a collision, even if they may cause damage to the wheeled mobility device, as a means of improving safety and security during a crash.

[0065] As shown in FIG. 50, in one embodiment, there may be three primary contact points: (A) floor contact, (B) backrest contact, and (X) an adjustable third point fixation. To prevent tipping, point X may be located above the wheel axle line, and the end of the fixation member may be provided with an appendage that folds up on top of the wheel. In either case, the autonomous system may use information obtained from various sensors indicative of the type, configuration, location, and weight of the wheeled mobility device and / or occupant being fixed, and (1) seek a location on the wheeled mobility device for the fixation member to contact in order to find the ideal position, and (2) direct the fixation member to move to that location.

[0066] As shown in FIG. 51, the securing members can include a locking or friction mechanism so that they can capture the device in a lateral seating station under lateral load.

[0067] As shown in Figure 52, the restraint system can be configured to detect the presence of a WMD and automatically fold seats (e.g., power seats) for ambulatory passengers to clear the restraint area and prepare for restraint. The system can also include visual (lights), audible (sounds), or tactile indicators (seat vibrators) to notify seated passengers of the presence of a WMD and that the area should be cleared.

[0068] As shown in FIG. 53, the fixed system may incorporate one or more sensors and identify the presence and type of WMD by using QR code or bar code or RFID technology that may be placed anywhere on the WMD. The fixed system may also read the manufacturer or other labels on the WMD. The vehicle may also receive a wireless notification in advance from central dispatch indicating that a WMD is on board and access to a wheelchair station is required, along with other information such as the individual and / or total weight of the WMD and passengers, as well as pick-up and drop-off locations. Notifications may be sent from central dispatch for certain types of WMDs so that appropriate preparations can be made.

[0069] The immobilization system may also be configured for connection to a vehicle-to-infrastructure or vehicle-to-vehicle communication system, allowing the immobilization system to proactively identify the characteristics of the WMD and its occupants to be immobilized. For example, the security system may be configured to be compatible with or communicate one-way or two-way with autonomous driving systems, robotic operation software, or collaborative automation research mobility applications.

[0070] As shown in Figure 54, the fixed system incorporates one or more sensors to identify the presence and type of WMD. This information may be wirelessly transmitted from the vehicle to a central dispatch facility where it may be processed. Occupancy information may be redistributed to other transit users via app, email, text, etc. to assist with trip planning. Waiting passengers may reserve the use of a wheelchair station to assist with route planning and vehicle preparation while improving transportation efficiency. Once waiting wheelchair users are certain that all wheelchair stations are occupied on the particular vehicle they plan to board, they may select other options.

[0071] As shown in Figures 55-57, the anchorage system can be equipped with cushioning airbags for either or both of the wheeled mobility device and the passenger. After receiving a crash signal from the vehicle or any of the various sensors (e.g., accelerometers) provided by the system, airbags located in the backrest, front barrier, anchorage members, or other structures within the vehicle can be deployed in a variety of ways depending on the type of accident encountered to absorb energy and protect the wheelchair occupant.

[0072] As shown in FIG. 58, the immobilization member can be mounted on a pole or a barrier. Upon sensing the presence of a WMD, the immobilization area can be cleared (seat raised) and the immobilization member can be manipulated into position. The immobilization member can rotate about an axis located at its base, as shown, or can rotate along an axis located anywhere along the length of the immobilization member. Additionally, the axis of rotation can be movable along the length of the immobilization member. In such an embodiment, the immobilization member is suitable for use in an intelligent system that determines a preferred location for the immobilization member to contact the WMD (see FIG. 50 above). Additionally, although shown mounted on the aisle side of the pole, it can also be mounted on the wall side of the pole.

[0073] FIG. 59 illustrates a system 2500 that can automate an exemplary embodiment. The system 10 can include a computing device 2510 that can execute some or all of the processes described above and below. The computing device 2510 can include a processor 2520, a storage device 2540, a protected input / output (I / O) interface 20, and a communication bus 2570. The bus 2570 connects and enables communication between the processor 2520 and the components of the computing device 2510 in accordance with known techniques. It should be noted that in some systems, there may be multiple computing devices, and in some computing devices, multiple processors may be incorporated.

[0074] The processor 2520 communicates with the storage device 2540 via the bus 2570. The storage device 2540 may include memory such as directly accessible random access memory (RAM), read only memory (ROM), flash memory, and the like. The storage device may also include secondary storage devices, such as a hard disk (which may be internal or external), which are accessible with additional interface hardware and software, as is known and customary in the art. It should be noted that the computing device 2510 may have multiple memories (e.g., RAM and ROM), multiple secondary storage devices, and multiple removable storage devices (e.g., USB drives and optical drives).

[0075] The computing device 2510 may also communicate with other computing devices, computers, workstations, etc. or networks thereof via a communications adapter 2550, such as a telephone, cable, or wireless modem, an ISDN adapter, a DSL adapter, a local area network (LAN) adapter, or other communications channel. It should be noted that the computing device 2510 may use multiple communications adapters (e.g., a telephone modem card and a LAN adapter) to make the necessary communications connections. The computing device 2510 may be associated with other computing devices in a LAN or WAN. All of these configurations, as well as the appropriate communications hardware and software, are known in the art.

[0076] The computing device 2510 provides functionality for executing software, such as operating system software and application software. It should be noted that such software may perform tasks and communicate with various software components on this computing device and other computing devices. As will be appreciated by those skilled in the art, computer programs as described herein are typically distributed as part of a computer program product having a computer usable medium or medium that contains or stores the program code. Such media may include computer memory (RAM and / or ROM), diskettes, tapes, compact discs, DVDs, integrated circuits, programmable logic arrays (PLAs), remote transmission over a communications circuit, over a wireless network such as a cellular network, or over other media usable by a computer with or without an appropriate adapter interface.

[0077] The computing device 2510 may be on-board the WMD fastening system or may be located remotely in the vehicle or elsewhere. In general, the computing device 2510 is programmed into or includes a computer program product configured to automate one or more steps in fastening a wheeled mobile device in a fastening system, such as the fastening systems described herein. The computing device 2510 operates in machine language and can receive information, signals, data, or input from one or more sensors, devices, or external sources related to the wheeled mobile device or fastening system (collectively 2560) to inform the fastening process. The computing device may receive additional information, signals, data, or input from, including, the storage device 2540 and / or one or more communication adapters 2550, the vehicle 2595, and the user panel 2590. The computing device 2510 may then determine appropriate actions and initiate them via a designated output. For example, the computing device 2510 can issue instructions in the form of signals to various components within a stationary system, such as lights, audible alarms and accessories, and motor controls (collectively 2580), according to a logical algorithm contained in a computer program product.

[0078] The processor 2520 can communicate with vehicle operators via one or more interface panels 2590. The panels 2590 can include command switches or buttons that generate signals, as well as a full graphic display with indicator lights, audible alarms, voice, and optional text or touch-sensitive capabilities. The panels 2590 can be wall-mounted units, wired or wireless remote controls, or even applications running on a mobile device such as a tablet or iPhone. The computing device 2510 can also communicate directly with the vehicle's controller 2595 to transmit information regarding the status of the fixed systems, as well as receive information regarding the status of the vehicle. The computing device 2510 can also communicate with a central monitoring facility via a communications adapter 2550.

[0079] An embodiment of the computing device 2510 may be configured to receive one or more inputs from a vehicle controller or vehicle crash detection system 2595 indicating one or more of the vehicle conditions, such as vehicle stopped, vehicle neutral (out of gear, parked, powered off, etc.), vehicle brakes applied, vehicle door open, acceleration / deceleration (along all three axes), distance from object (along all three axes), speed (along all three axes), moment of impact, rate of occurrence of impact, estimated time of impact, among other information well known to be obtainable from the vehicle. It is contemplated that the fixed system may include its own vehicle crash detection system, sonar system, accelerometer, and / or geolocation equipment (e.g., GPS) from which it obtains relevant information.

[0080] An embodiment of the computing device 2510 may also be configured to receive one or more inputs from one or more sensors or other devices 2560 indicative of the wheeled mobility devices present on the vehicle. Those sensors or devices 2560 may include floor pressure sensors 1300, IR beams 1540, 1640, WMD-mounted or occupant-held RFID tags, WMD-mounted or occupant-held QR or bar codes, and / or cameras and image recognition software.

[0081] An embodiment of the computing device 2510 may also be configured to receive one or more inputs from one or more sensors or other devices 2560 indicative of the occupancy status of the WMD immobilization system and / or the location of the WMD in the vehicle / WMD immobilization system. Those sensors or other devices 2560 may include floor pressure sensors 1300, IR beams 1540, 1640, WMD-mounted or occupant-held RFID tags, WMD-mounted or occupant-held QR or bar codes, and / or cameras and image recognition software.

[0082] An embodiment of the computing device 2510 may also be configured to receive one or more inputs from one or more sensors or other devices 2560 indicative of the type, size, and / or individual or combined weight of the wheeled mobility devices and passengers being secured. Those sensors or other devices 2560 may include floor pressure sensors 1300, IR beams 1540, 1640, WMD-mounted or occupant-held RFID tags, WMD-mounted or occupant-held QR or bar codes, and / or cameras and image recognition software.

[0083] An embodiment of the computing device 2510 may also be configured to receive one or more inputs from one or more sensors or other devices 2560 indicative of the position and / or deployment status of the gripping member or other components of the WMD immobilization system. Those sensors or devices 2560 may include motor current sensors (e.g., for the gripping member motors), IR beams 1540, 1640, proximity sensors 1440, 1442, cameras and image recognition software, squeeze force sensors, and / or arm position sensors. The detected deployment status may include a retracted or stowed position, an extended or secured position (in contact with the WMD), or any intermediate position (away from the WMD, in contact with the WMD while not secured, etc.).

[0084] An embodiment of the computing device 2510 may also be configured to receive one or more inputs from one or more sensors or other devices 2560 indicative of movement of the WMD during transport in the vehicle. Those sensors or devices 2560 may include motor current sensors (e.g., for the gripping member motors), IR beams 1540, 1640, proximity sensors 1440, 1442, cameras and image recognition software, squeeze force sensors, tension sensors (including those on the wheelchair base down), and / or arm position sensors. Based on signals received from those devices at different times during transport, the computing device can detect movement and alert the vehicle operator via a visual, audio, or tactile warning.

[0085] An embodiment of the computing device 2510 may also be configured to receive one or more inputs from one or more sensors or other devices 2560 indicating a loss of squeeze force during transport. Those sensors or devices 2560 may include motor current sensors (e.g., for the gripping member motors), IR beams 1540, 1640, proximity sensors 1440, 1442, cameras and image recognition software, squeeze force sensors, and / or arm position sensors. Again, the computing device can detect these faults in the securing system and alert the vehicle operator via a visual, audible, or tactile warning.

[0086] An embodiment of the computing device 2510 may also be configured to receive one or more inputs from one or more sensors or other devices 2560 that indicate whether the gripping arm path is clear of obstacles. Those sensors or devices 2560 may include bed pressure sensors 1300, IR beams 1540, 1640, motor current sensors (e.g., for the gripping member motors), cameras and image recognition software, squeeze force sensors, and / or arm position sensors.

[0087] An embodiment of the computing device 2510 may also be configured to receive one or more inputs from one or more sensors or other devices 2560 indicative of the distance between the gripping member and the wheeled mobile device. Those sensors or devices 2560 may include floor pressure sensors 1300, IR beams 1540, 1640, proximity sensors 1440, 1442, cameras and image recognition software, and / or arm position sensors.

[0088] In particular, the computing device 2510 has the ability to calculate various parameters based on the sensed parameters. For example, a system configured to sense the position of a wheeled mobile device and a gripping member or other WMD fixation system component can calculate the distance between them without requiring a separate sensor to detect the distance. Similarly, if the distance between a gripping member and a gripping member is sensed, the system need only be configured to sense the position of one and can calculate the position of the other.

[0089] The computing system 2510 can be configured to detect when a WMD enters the vehicle or enters the immobilization area and respond by preparing the system and / or the immobilization area for immobilization. For example, the computing system 2510 can detect whether the floor area is clear and, if not, provide a visual, audible, or other sensory notification that the floor area is not clear. As another example, the computing system 2510 can detect whether an ambulatory passenger seat is vacant and / or moved to a retracted position and, if not, provide a visual, audible, or other sensory notification of the same. As another example, in response to detecting that a WMD has entered the vehicle, the computing system can trigger the seat to retract to a retracted position and, optionally, provide a visual, audible, or vibrational warning to the seated passenger that the seat is moving.

[0090] The computing system 2510 can also be configured to initiate a fixation sequence once it is detected or determined that the WMD is in the correct position for fixation. For example, the computing system 2510 can detect the location of the WMD and determine if the WMD is off-center both laterally and vertically. If the distance from center exceeds a predetermined threshold, the computing system 2510 can terminate the fixation sequence and provide a visual, audio, or vibrational warning. If the distance from center is within a predetermined threshold, the computing system 2510 can continue the fixation sequence and, optionally, adjust the sequence to accommodate or accommodate the off-center position. For example, in systems that provide independent control of the fixation members, the fixation members can move independently (one more than the other) to accommodate asymmetric positions of the WMD.

[0091] The computing system 2510 can also be configured for fully autonomous immobilization. Such a computing system can detect when a WMD enters the vehicle and / or enters the immobilization area. The computing system can then prepare the immobilization system and immobilization area. The computing system can sense whether the WMD is properly positioned in the immobilization area. The computing system can sense whether the WMD is stationary. The computing system can then sense whether the path of the immobilization member is clear. Assuming one or more or all of these criteria are met, the computing system can activate the immobilization system and move the immobilization member into position without requiring input from the WMD passenger's vehicle attendant.

[0092] The computing system 2510 may also be configured to detect and / or receive information indicative of various characteristics of the WMD and passengers, as described above. In response, the computing system is configured to adjust various characteristics of the immobilization member, such as the force applied to the WMD when the immobilization member contacts the WMD, the shape of the immobilization member (e.g., to match the side profile of the WMD), the location of the immobilization member, and further adjust which immobilization and / or safety devices are used. The computing device 2510 may be programmed to check a locally or remotely stored database or lookup table that provides ideal immobilization characteristics for any given type or model of WMD, or any particular passenger.

[0093] Once the WMD is secured, the computing device may include an interlock that prevents release of the WMD from the securing system. For example, the computing device may receive a first signal indicating whether the vehicle is safely stopped. The computing device may also optionally receive a second signal indicating a fixed position for passengers to exit the vehicle. The computing device prevents disengagement of the system unless the vehicle is safely stopped and / or the vehicle is appropriately positioned for passengers to exit. In an autonomous system, the computing device triggers the securing system to disengage the WMD when the vehicle is safely stopped and appropriately positioned for passengers to exit.

[0094] Also, once the WMD is secured, the computing device may be configured to sense adverse driving conditions and / or receive one or more signals indicative of adverse driving conditions. Upon obtaining such information, the computing device may activate one or more supplemental safety systems for additional securing of the wheelchair. This may include providing additional squeezing force and / or downward movement or rotation to the securing member, inflating a bladder within the securing member, energizing a magnetorheological fluid present within the securing member, moving into position, the various contours, knobs, paddles, fingers, and other gripping portions and limbs on the securing member to the securing member, and capturing various structures of the WMD, such as wheel hubs, supplemental gripping members that engage the inward facing surfaces of the WMD wheels, airbags, etc., of the various safety systems described above.

[0095] The computing device 2510 may be programmed to control the "squeezing" process by which the gripping members move from their first stored position to their second WMD engagement position. The computing device 2510 may also be programmed to maintain sufficient "squeezing force" after the gripping members are moved to the second WMD engagement position. In such a process, the computing device 2510 sends a signal to a motor controller (contained within component 2580) for the gripping members. The motor power circuit is monitored by current sensing hardware (contained within sensor 2560) that sends information reflecting the motor current back to the processor 2520. The processor 2520 converts the motor current information into relative movement forces of the gripping members and compares them to pre-programmed minimum and maximum values ​​stored in the memory device 2540. If normal values ​​are exceeded or not achieved, the processor initiates an optimal reaction from a range of specific responses. The responses are designed to ensure safety and prevent damage to the WMD and the WMD immobilization device. Along with initiating the response, the processor 2520 stores an associated error code in the memory device 2540. The processor 2520 may invoke a service inspection based on the type of error code, the duration of service in the field, the time spent in actual operation, or the number of operating cycles logged.

[0096] Although the invention described and claimed herein has been described in considerable detail with reference to particular embodiments, those skilled in the art will recognize that the invention described and claimed herein can be practiced by other than these embodiments, which are presented for purposes of illustration and not limitation, and therefore the spirit and scope of the appended claims should not be limited to the description of the embodiments contained herein.

[0097] Moreover, for simplicity, the terms arms, fingers, joints, limbs, and other terms may be used herein, including in the claims, to refer to the various structures that make up various embodiments of the wheeled mobility device fixation systems. To the extent that these terms imply a particular shape and configuration (e.g., a structure that resembles a human appendage), the claims are not intended to be so limited unless a particular shape or configuration is specifically recited in the claims.

Claims

1. 1. A fastening system adapted to secure a load during transportation, said fastening system comprising: a bumper having a form-fitting state and a locked state; in the form-fitted state, when the bumper and a surface are pressed together, the bumper can at least partially conform to the shape of the surface; A fastening system, wherein in the locked state, the bumper is non-conforming, thereby defining a rigid topography that engages with the surface.

2. 2. The fastening system of claim 1, wherein the bumper includes a bladder containing a smart material, the smart material configured to change from a first state to a second state in response to a trigger, wherein in the first state, the smart material flows generally freely within the bladder such that the bladder has a first shape, and when the load and bladder are forced into contact, the bladder changes to a second shape to at least partially conform to a contour of the load, and wherein in the second state, a viscosity of the smart material is increased to at least partially restrict the free flow of the smart material, whereby the bladder engages the contour of the load and restricts movement of the load when the load and bladder are in contact.

3. The anchoring system of claim 2 , wherein the smart material is a magnetorheological fluid and the trigger is a magnetic field.

4. The fastening system of claim 2 , wherein the smart material is a non-Newtonian fluid and the trigger is a level of force.

5. 2. The fastening system of claim 1, wherein the bumper comprises a bladder containing a plurality of particles and having a first state and a second state, wherein in the first state, the particles are generally free to move within the bladder such that the bladder has a first shape, and when the load and the bladder are forced into contact, the bladder changes to a second shape to at least partially conform to a contour of the load, and in the second state, the particles are at least partially restricted from freely flowing within the bladder such that the bladder engages with the contour of the load and restricts movement of the load when the load and bladder are in contact, and wherein the fastening system further comprises a vacuum for evacuating gas from the bladder to change the bladder from the first state to the second state.

6. The fastening system of claim 1 , wherein the bumper comprises a magnetorheological fluid such that the bumper enters the locked state when the magnetorheological fluid is exposed to a magnetic field.

7. The fastening system of claim 1 , wherein the bumper includes a non-Newtonian fluid such that the bumper enters the locked state when the non-Newtonian fluid is subjected to a sharp force.

8. 2. The fastening system of claim 1, wherein the bumper includes a plurality of pins that are spring biased to an outward position when the bumper is in the form-fitting condition, and wherein each of at least some of the pins are locked in a fixed position when the bumper is in the locked condition.

9. 10. The securing system of claim 1, further comprising a cargo restraint device including a first end adapted for connection to a vehicle and a second end adapted for connection to the cargo.

10. 10. The securing system of claim 9, wherein the cargo restraint device is adapted to be induced into a tensioned state, whereby the cargo restraint device can urge the cargo into the contact state with the bumper.

11. The securing system of claim 10 , further comprising a tensioning mechanism adapted to induce said tensioned state in said cargo restraint device.

12. The fastening system of claim 11 , wherein the fastening system is mounted on a vehicle.

13. The securing system of claim 12 , wherein the load is a wheeled mobile device.

14. 2. The fastening system of claim 1, wherein a moving mechanism separates the bumper from a base, whereby the moving mechanism is adapted to move the bumper from a first position to a second position, whereby in the first position the bumper is adjacent to the base and in the second position the bumper is spaced from the base, whereby in the second position the bumper is adapted to be in contact with the load.

15. 15. The fastening system of claim 14, further comprising a second bumper, said second bumper being movable and disposed opposite said bumper, whereby said bumper and said second bumper are adapted to compressively engage first and second sides, respectively, of said load, said first side being opposite said second side.

16. The fastening system of claim 15 , wherein the bumper and the second bumper each include a bladder containing a smart material.

17. 16. The fastening system of claim 15, wherein the bumper and the second bumper each include a plurality of pins that are spring biased to an outward position when the bumper is in the form-fitting condition, and wherein each of at least some of the pins are locked in a fixed position when the bumper is in the locked condition.

18. 10. A method of using the fastening system of claim 1, comprising the step of applying a momentum to bring the load and the bumper into contact, the momentum causing the bumper to change shape to at least partially conform to the contour of the load.

19. 20. The method of claim 18, further comprising the step of interlocking said bumper with said load by placing said bumper in said locked condition.

20. 20. The method of claim 19, wherein the bumper is placed in the locked state before, during, or after a detrimental driving event.

21. 20. The method of claim 19, wherein the bumper is placed in the locked state prior to transport of the cargo.

22. 20. The method of claim 18, wherein the imparting step is performed by moving the bumper into contact with the load.

23. 20. The method of claim 18, wherein the imparting step is performed by moving the load into contact with the bumper.

24. 1. A securing system adapted to secure a wheeled transport device during transportation, the securing system comprising: a processor programmed to receive signals indicative of at least one characteristic of the wheeled transport device and an occupant of the wheelchair transport device, and to set securing parameters based on the characteristics.

25. 25. The anchoring system of claim 24, wherein the signal is indicative of a position of one or both of the wheeled mobility device and the occupant in a anchoring area.

26. 26. The anchoring system of claim 25, wherein the signal is provided by a sensor including a pressure sensitive member disposed on a floor of the anchoring area.

27. The fastening system of claim 25 , wherein the signal is provided by a sensor including a proximity sensor.

28. 26. The fastening system of claim 25, wherein the signal is provided by a sensor including an array defined by a plurality of infrared sensors.

29. 26. The fastening system of claim 25, wherein the fastening parameter is a fastening position of the wheeled mobile device.

30. 30. The fastening system of claim 29, wherein the fastening location is a wheel location.

31. 30. The fixation system of claim 29, wherein the processor is further programmed to set a fixed length of the fixation member based on the fixation position.

32. 32. The fixation system of claim 31, wherein when the fixation member has the fixed length, a gripping zone of the fixation member is generally adjacent the fixed position.

33. 25. The anchorage system of claim 24, wherein the signal indicates an approximate weight of one or both of the wheeled transportation device and the occupant.

34. 34. The fastening system of claim 33, wherein the signal is provided by one or both of an RFID tag and a QR code on one or both of the wheeled mobility device and the occupant.

35. The fixation system of claim 33, wherein the fixation parameter is a fixation force.

36. 34. The anchoring system of claim 33, wherein the signal is provided by a sensor including a pressure sensitive member disposed on a floor of the anchoring area.

37. 25. The fastening system of claim 24, wherein the signal is indicative of a type of the wheeled mobile device.

38. 38. The anchoring system of claim 37, wherein the signal is provided by a sensor including a pressure sensitive member disposed on a floor of the anchoring area.

39. 40. The fastening system of claim 38, wherein the pressure sensitive member is configured to identify a number and position of a plurality of wheels of the wheeled mobility device.

40. 38. The fastening system of claim 37, wherein the signal is provided by one or both of an RFID tag and a QR code on one or both of the wheeled mobility device and the occupant.

41. 38. The fastening system of claim 37, wherein the signal is provided by a sensor including a camera.

42. 38. The fixation system of claim 37, wherein the fixation parameter is a fixation force.

43. 25. The fastening system of claim 24, wherein the signal is indicative of a distance between a fastening member and the wheeled mobile device.

44. 25. The fastening system of claim 24, wherein the signal indicates a position of at least two wheels of a mobile device, and the processor is programmed to select at least one of the at least two wheels as an ideal contact point for a fastening member.

45. 45. The stationary member of claim 44, wherein the processor is programmed to select a larger wheel of the at least two wheels.

46. 1. A fastening system adapted to fasten a wheeled mobile device during transportation, the fastening system comprising: a processor programmed to receive a first signal indicative of a first position of the wheeled mobile device at a first time, receive a second signal indicative of a second position of the wheeled mobile device at a second time, compare the first signal to the second signal, and determine whether to generate a wheeled mobile device movement warning signal based on the comparison of the first signal to the second signal.

47. 47. The fastening system of claim 46, wherein a motor current sensor generates the first signal and the second signal.

48. 47. The fastening system of claim 46, wherein a tension sensor generates the first signal and the second signal.

49. 47. The fastening system of claim 46, wherein a camera generates the first signal and the second signal.

50. 47. The fastening system of claim 46, wherein an array of infrared beams generates said first signal and said second signal.

51. 47. The fastening system of claim 46, wherein at least one proximity sensor generates the first signal and the second signal.

52. 47. The fastening system of claim 46, wherein at least one fastening member position sensor generates said first signal and said second signal.

53. 47. The fastening system of claim 46, wherein a fastening force sensor generates the first signal and the second signal.

54. 47. The fastening system of claim 46, wherein a vehicle operator is alerted to the wheeled vehicle movement warning signal via one or more of a lighting device or a speaker device.

55. 1. A securing system adapted to secure a wheeled mobility device during transportation, the securing system comprising: a processor programmed to receive a signal indicative of a securing force applied to the wheeled mobility device while the wheeled mobility device is in transportation, and to determine whether to generate a wheeled mobility device unsecured warning signal based on the signal.

56. 56. The fastening system of claim 55, wherein a motor current sensor generates the signal.

57. 56. The fastening system of claim 55, wherein a tension sensor generates the signal.

58. 56. The fastening system of claim 55, wherein a camera generates the signal.

59. 56. The fastening system of claim 55, wherein an array of infrared beams generates said signals.

60. 56. The fastening system of claim 55, wherein at least one proximity sensor generates the signal.

61. 56. The fastening system of claim 55, wherein at least one fastening member position sensor generates said signal.

62. 56. The fastening system of claim 55, wherein a fastening force sensor generates the signal.

63. 56. The anchoring system of claim 55, wherein a vehicle operator is alerted to the wheeled mobile device unsecured warning signal via one or more of a lighting device or a speaker device.

64. 56. The anchoring system of claim 55, wherein the wheeled mobile device unanchored warning signal is generated when the signal falls below a predetermined threshold.

65. 1. A fastening system for a wheeled mobility device, the fastening system comprising: a wheeled mobility device securing area having a perimeter including a front side, a rear side, a left side, and a right side; a first module disposed on one of the right side and the left side and a second module disposed on the other of the right side and the left side, each of the first module and the second module including a seating surface for a seated-standing passenger on an upper side; a first stationary member and a second stationary member each having a first location at least closely adjacent to the first module and the second module, respectively; and at least a first contact member of the first fixing member movable to a second position away from the first module, whereby a first distance between the first contact member and the second fixing member in the first position is greater than a second distance between the first contact member and the second fixing member in the second position.

66. 66. The fastening system of claim 65, further comprising a rearwardly disposed third module, said third module supporting said first and second fastening members and including a centrally mounted telescoping mechanism for moving said first and second fastening members between said first and second positions.

67. 67. The restraint system of claim 66, wherein an upper side of the third module includes a seating surface for a seated-standing passenger.

68. the first stationary member includes a first pivot axis whereby the first contact member rotates about the first pivot axis to move between the first position and the second position; 66. The fastening system of claim 65, wherein the second fastening member includes a second contact member and a second pivot axis, whereby the second contact member rotates about the second pivot axis to move between the first position and the second position.

69. 69. The fastening system of claim 68, wherein the first pivot axis and the second pivot axis are substantially horizontal.

70. 70. The fastening system of claim 69, wherein the first pivot axis is generally parallel to and adjacent to the right side and the second pivot axis is generally parallel to and adjacent to the left side.

71. 71. The fastening system of claim 70, wherein the first pivot axis is disposed on the first contact member and the second pivot axis is disposed on the second contact member.

72. 71. The fastening system of claim 70, wherein the first pivot axis is disposed below the first contact member and the second pivot axis is disposed below the second contact member.

73. 69. The fastening system of claim 68, wherein the first pivot axis and the second pivot axis are substantially perpendicular.

74. the first stationary member also includes a third pivot axis, whereby the first contact member rotates about the first pivot axis and the third pivot axis to move between the first position and the second position; 69. The fastening system of claim 68, wherein the second fastening member also includes a fourth pivot axis, whereby the second contact member rotates about the second pivot axis and the fourth pivot axis to move between the first position and the second position.

75. 75. The fastening system of claim 74, wherein the first pivot axis, the second pivot axis, the third pivot axis, and the fourth pivot axis are substantially vertical.

76. 66. The fastening system of claim 65, further comprising a scissor mechanism for moving said first contact member between said first position and said second position.

77. 66. The anchoring system of claim 65, further comprising an inflatable bellows for moving said first contact member between said first position and said second position.

78. 66. The fixation system of claim 65, wherein the first contact member includes a first gripping portion and a second gripping portion, the first gripping portion configured to be generally parallel to and adjacent to the side of the wheeled mobile device in the second position, the second gripping portion pivotally attached to an end of the first gripping portion and articulating between a retracted position and an extended position, wherein in the retracted position, the second gripping portion is generally parallel to the first gripping portion and in the extended position, the second gripping portion is angled non-parallel to the first gripping portion and points generally in a direction away from the first module.

79. 66. The anchoring system of claim 65, wherein the first contact member comprises an inflatable bladder.

80. 80. The fixation system of claim 79, further comprising a rapid expansion member configured to rapidly expand the expandable bladder.

81. 81. The fastening system of claim 80, wherein the rapid expansion member is selected from a pneumatic system, a pyrotechnic system, or a compressed gas canister.

82. 66. The anchoring system of claim 65, wherein the first contact member includes a bladder disposed on an engagement surface of the contact member, the bladder being filled with a magnetorheological fluid.

83. 66. The fixation system of claim 65, wherein the first contact member includes at least one contour-fitting member pivotally attached to the first contact member and configured to rotate from a retracted position to an extended position to fit a contour of the wheeled mobility device.

84. 66. The fixation system of claim 65, wherein the first contact member includes a wheeled mobility device engaging member configured to translate along a length of the first contact member, the mobility device engaging member including a plurality of contour-fitting members movable between retracted and extended positions to fit the contour of the wheeled mobility device.

85. 66. The fastening system of claim 65, further comprising a third fastening member disposed on a floor of the vehicle and having a retracted position and an extended position, wherein in the retracted position a third contact member of the third fastening member is at least adjacent to the floor of the vehicle and in the extended position the contact member is positioned to engage an inboard surface of a wheel of the wheeled transport device.

86. 66. The fastening system of claim 65, further comprising a pressure-sensitive member for a floor of the vehicle in the wheeled transport device fastening area, the pressure-sensitive member configured to detect the presence of a wheeled transport device in the wheeled transport device fastening area.

87. 66. The fastening system of claim 65, further comprising: a proximity sensor disposed on the first contact member, the proximity sensor configured to detect the presence of a surface of the wheeled transport device.

88. 66. The fastening system of claim 65, further comprising a plurality of infrared sensors disposed in an array on said first fastening member and said second fastening member for detecting said presence of said wheeled mobile device.

89. 1. A fastening system for a wheeled mobility device, the fastening system comprising: a wheeled mobility device securing area having a perimeter including a front side, a rear side, a left side, and a right side; at least one module disposed adjacent to at least one of the rear side, the left side, and the right side, the at least one module holding a first securing member and a second securing member, and an upper side of the at least one module including a seating surface for a seated-standing passenger; In the first position, the first fixing member and the second fixing member are disposed adjacent to the right side and the left side, respectively, and at least a portion of the first fixing member and the second fixing member are disposed under the seat surface; and at least a first contact member of the first fixing member movable to a second position away from the right side, whereby a first distance between the first contact member and the second fixing member in the first position is greater than a second distance between the first contact member and the second fixing member in the second position.

90. 1. A securing member adapted for use in a securing system for securing a mobile device during transportation in a vehicle, the securing member comprising: a storage configuration and at least one ready-to-lock configuration, wherein the locking member has a storage length along a first axis in the storage configuration and a locking length along the first axis in the at least one ready-to-lock configuration, the locking length being longer than the storage length; a mover device locking position, wherein the locking member is movable from the at least one ready-to-lock configuration to the mover device locking position along a second axis, the first axis being transverse to the second axis.

91. 91. The fixation member of claim 90, further comprising an expansion mechanism operable to reconfigure the fixation member between the stored configuration and the at least one ready-to-fix configuration.

92. 92. The fixation member of claim 91, wherein the expansion mechanism is selected from the group including a telescoping member, an inflatable bellows, an accordion, a scissor mechanism, a linear actuator, and a cylinder and piston.

93. 93. The fixation member of claim 92, further comprising a base, an expansion zone, and a gripping zone, the expansion zone comprising the expansion mechanism.

94. 94. The fixation member of claim 93, wherein the expansion zone is at least partially coextensive with at least one of the base and the gripping zone.

95. 94. The fixation member of claim 93, wherein the expansion zone is completely coextensive with at least one of the base and the gripping zone.

96. 94. The fixation member of claim 93, wherein the expansion zone is disposed at least partially between the base and the gripping zone.

97. 94. The fixation member of claim 93, wherein the expansion zone is disposed entirely between the base and the gripping zone.

98. 91. The securing member of claim 90, wherein in the stored configuration, the securing member is integrated with an interior structure of the vehicle.

99. 99. A securing member as described in claim 98, wherein in the stowed configuration, the securing member provides additional space for seating of an ambulance passenger.

100. 99. The securing member of claim 98, wherein in the stowed configuration, the securing member is disposed at least partially beneath a seat for an ambulance passenger.

101. 101. A securing member as claimed in claim 100, wherein in the stowed configuration an end of the seat extends further into a floor area of ​​the vehicle than an end of the securing member extends.

102. 101. The securing member of claim 100, wherein the storage length of the securing member is equal to or less than the depth of the seat.

103. 101. The securing member of claim 100, wherein the seat has a use position and a stowed position.

104. 104. The securing member of claim 103, wherein the seat flips upwardly from the use position to the stowed position.

105. 105. A securing member as claimed in claim 104, wherein an underside of the seat provides a backrest for the movement device when the seat is disposed in the stowed position.

106. 91. The fixation member of claim 90, wherein the fixation member is movable along the second axis to engage a surface of the mover device at the mover device fixation location.

107. 107. The fixing member of claim 106, wherein the fixing member fixes the movement device by compression.

108. 107. The fixing member of claim 106, wherein the fixing member fixes the moving device by a tensioned state.

109. 107. The securing member of claim 106, further comprising a second securing member, the securing member and the second securing member configured to secure the displacement device by compression.

110. 110. The stationary member of claim 109, wherein the stationary member and the second stationary member are configured to engage opposing surfaces of the transfer device.

111. 107. The fixing member of claim 106, further comprising a second fixing member, the fixing member and the second fixing member configured to fix the movement device under tension.

112. 112. The stationary member of claim 111, wherein the stationary member and the second stationary member are configured to engage opposing surfaces of the transfer device.

113. 112. The fixation member of claim 111, wherein the fixation member includes a bumper movable between the fixation ready configuration and the mobile device fixation position by at least one actuation mechanism, the at least one actuation mechanism configured to provide a substantially constant force.

114. 114. The fixation member of claim 113, wherein the substantially constant force is within a range of acceptable values.

115. 112. The fixing member of claim 111, wherein the fixing member includes a bumper movable between the fixing ready configuration and the mobile device fixing position by at least one actuation mechanism, the at least one actuation mechanism configured to provide a varying force to the mobile device to counteract acceleration of the vehicle.

116. 91. The fixation member of claim 90, comprising a gripping zone having a contact surface with a high friction material.

117. 112. The fixation member of claim 111, wherein the fixation member and the second fixation member are configured for at least partial independent movement.

118. 1. A fastening system for a wheeled mobility device in a vehicle, comprising: at least one active immobilization member that provides immobilization for at least one of the wheeled transportation device and an occupant of the wheeled transportation device during transportation; and at least one passive immobilization member for at least one of the wheeled transportation device and the occupant, controlled by a processor programmed to monitor a condition of one or more of the vehicle, the wheeled transportation device, and the occupant during transportation, detect an abnormal condition, and deploy at least one passive immobilization member in response to the abnormal condition.

119. 119. The fixation system of claim 118, further comprising a contact member configured to be positioned adjacent a surface of the wheeled mobile device at the fixed position, the contact member comprising a first gripping portion and a second gripping portion, the first gripping portion being generally parallel to and proximate to the surface of the wheeled mobile device at the fixed position, the second gripping portion being pivotally attached to an end of the first gripping portion and articulating between a retracted position and an extended position, in the retracted position the second gripping portion is generally parallel to the first gripping portion, and further, in the extended position the second gripping portion is at a non-parallel angle relative to the first gripping portion, the first gripping portion comprising the at least one active fixation member and the second gripping portion comprising the at least one passive fixation member, and the processor is programmed to move the second gripping portion from the retracted position to the extended position in response to the abnormal condition.

120. 119. The fixation system of claim 118, further comprising a contact member configured to be positioned in a fixed position adjacent a surface of the wheeled mobile device, the contact member including a gripping portion and at least one peg movable between a retracted position and an extended position, the gripping portion including the at least one active fixation member and the at least one peg including the at least one passive fixation member, and the processor is programmed to move the at least one peg from the retracted position to the extended position in response to the abnormal condition.

121. 119. The anchoring system of claim 118, further comprising a contact member configured to be positioned in a fixed position adjacent to a surface of the wheeled mobility device, the contact member comprising a magnetorheological fluid filled bladder disposed on an engagement surface of the contact member, the engagement surface comprising the at least one active anchoring member, the magnetorheological fluid filled bladder comprising the at least one passive anchoring member, and the processor programmed to apply a magnetic field to the magnetorheological fluid filled bladder in response to the abnormal condition.

122. 119. The fixation system of claim 118, further comprising a contact member configured to be positioned in a fixed position adjacent a surface of the wheeled mobility device, the contact member including an inflatable bladder disposed on an engagement surface of the contact member, the engagement surface including the at least one active fixation member, the inflatable bladder including the at least one passive fixation member, and the processor is programmed to inflate the inflatable bladder in response to the abnormal condition.

123. 119. The fixation system of claim 118, further comprising a contact member configured to be positioned in a fixed position adjacent to a surface of the wheeled mobile device, the contact member including a gripping portion and at least one contour-fitting member movable between a retracted position and an extended position, the gripping portion including the at least one active fixation member, the at least one contour-fitting member including the at least one passive fixation member, and the processor is programmed to move the at least one contour-fitting member from the retracted position to the extended position in response to the abnormal condition.

124. 119. The fixation system of claim 118, further comprising a contact member configured to be positioned in a fixed position adjacent a surface of the wheeled mobility device, the contact member including a gripping portion and a plurality of contour-fitting members movable between a retracted position and an extended position, the gripping portion including the at least one active fixation member, the plurality of contour-fitting members including the at least one passive fixation member, and the processor programmed to lock the plurality of contour-fitting members in the extended position in response to the abnormal condition.

125. 119. The fastening system of claim 118, wherein the at least one passive fastening member includes a contact member having a retracted position in which the contact member is at least adjacent a floor of the vehicle and an extended position in which the contact member is positioned to engage an inboard surface of a wheel of the wheeled transport device, and the processor is programmed to move the contact member from the retracted position to the extended position in response to the abnormal condition.

126. 1. A fastening system adapted to fasten a wheeled mobility device during transport in a fastening area having a seat movable between a use position and a retracted position, the fastening system including a processor programmed to receive a first signal indicative of a presence of a wheeled mobility device and, in response to the first signal, transmit a second signal to move the seat from the use position to the retracted position to clear the fastening area for the wheeled mobility device.

127. 127. The anchorage system of claim 126, wherein the processor is further programmed to trigger at least one of a visual, an audible, and a tactile alert to a seated passenger in response to the first signal.

128. 1. A securing system adapted to secure a wheeled transport device during transportation, the securing system including a processor programmed to receive a first signal indicative of a position of at least one of the wheeled transport device and an occupant of the wheelchair transport device, determine whether the position is within a wheelchair securing area, and transmit a second signal in response to the position being within the wheelchair securing area.

129. 129. The fastening system of claim 128, wherein the second signal causes the fastening system to initiate fastening of the wheeled mobile device.

130. 1. A fastening system adapted to fasten a wheeled transport device during transportation, the fastening system comprising: a processor programmed to: receive a first signal indicative of a location of the vehicle; receive a second signal indicative of a destination of the wheeled transport device; transmit a third signal that prevents the fastening system from releasing the wheeled transport device when the location is not the destination; and transmit a fourth signal that enables the fastening system to release the wheeled transport device when the location is the destination.

131. 1. A fixation system for a wheeled mobility device comprising a contact member configured to be positioned in a fixed position adjacent to a surface of the wheeled mobility device, the contact member comprising a first gripping portion and a second gripping portion, the first gripping portion configured to be generally parallel to and proximate to the surface of the wheeled mobility device in the fixed position, the second gripping portion pivotally attached to an end of the first gripping portion and articulating between a retracted position and an extended position, wherein in the retracted position the second gripping portion is generally parallel to the first gripping portion and further wherein in the extended position the second gripping portion is at a non-parallel angle relative to the first gripping portion.

132. 1. A fastening system for a wheeled mobility device comprising a contact member configured to be positioned in a fixed position adjacent to a surface of the wheeled mobility device, the contact member comprising a bladder disposed on an engagement surface of the contact member, the bladder being filled with a magnetorheological fluid.

133. 1. A fastening system for a wheeled mobility device comprising a contact member configured to be positioned in a fixed position adjacent to a surface of the wheeled mobility device, the contact member including at least one contour-fitting member pivotally attached to the contact member and configured to rotate from a retracted position to an extended position to fit the contour of the surface of the wheeled mobility device.

134. 1. A fastening system for a wheeled mobility device comprising a contact member configured to be positioned in a fixed position adjacent to a surface of the wheeled mobility device, the contact member comprising a wheeled mobility device engaging member configured to translate along a length of the contact member, the wheeled mobility device engaging member comprising a plurality of contour-conforming members movable between retracted and extended positions to conform to a contour of the wheeled mobility device.

135. A fastening system for a wheeled transport device including a fastening member disposed on a floor of the vehicle and having a retracted position and an extended position, wherein in the retracted position, a contact member of the fastening member is at least adjacent to the floor of the vehicle, and in the extended position, the contact member is disposed to engage an inwardly facing surface of a wheel of the wheeled transport device.

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