System and method for supporting automatic vehicle docking of electric wheelchair

Abstract

The present invention relates to a vehicle automatic docking support system and method for an electric wheelchair. The system comprises: a vehicle that, when a wheelchair boarding command is generated by at least one of the vehicle driver and the wheelchair occupant, opens the rear door of the vehicle and lowers a ramp to the ground, and when the electric wheelchair is docked to the docking device, returns the position of the ramp to its original state and closes the rear door of the vehicle; an electric wheelchair that, when the wheelchair boarding command is generated, photographs and analyzes the front area of ​​the electric wheelchair to detect the ramp and the docking device, and performs autonomous driving based on the detection results of the ramp and the docking device to automatically board the vehicle; and a user terminal that is carried and operated by at least one of the vehicle driver and the wheelchair occupant, and provides user guidance by checking the driving status of both the electric wheelchair and the vehicle in real time.

Description

Technology Field

[0001] The present invention relates to a vehicle automatic docking support system and method for an electric wheelchair that enables the electric wheelchair to automatically board a welfare vehicle and then automatically dock without human intervention. Background Technology

[0002] The smart welfare vehicle is a vehicle that supports the boarding of electric wheelchairs; when an electric wheelchair boards, the rear door is opened and a wheelchair ramp is manually deployed from the vehicle, allowing the electric wheelchair to board the vehicle via the ramp.

[0003] However, if the slope is narrow and steep, extreme caution is required when driving a wheelchair to board a vehicle.

[0004] In addition, when a wheelchair is placed in a vehicle, a third party, such as the driver, must secure the wheelchair using a safety securing belt. However, there is a problem in that the wheelchair is significantly affected by vehicle shaking due to the inconvenience of fastening the safety securing belt and the weak fastening force of the safety securing belt. Prior art literature

[0005] Korean Registered Patent No. 10-1889754 (Registration Date: August 13, 2018) The problem to be solved

[0006] Accordingly, in order to solve the aforementioned problems, the present invention aims to provide a vehicle automatic docking support system and method for an electric wheelchair that enables the electric wheelchair to automatically ascend a vehicle slope and then automatically dock using autonomous driving technology.

[0007] In addition, we aim to provide an automatic vehicle docking support system and method for an electric wheelchair that minimizes the possibility of safety accidents by allowing the movement speed of the electric wheelchair to be adjusted based on the distance between the electric wheelchair and the docking device.

[0008] In addition, we aim to provide a vehicle automatic docking support system and method for an electric wheelchair that allows controlling operations related to the automatic docking of the electric wheelchair through a user terminal and monitoring the autonomous vehicle boarding situation in real time.

[0009] The objectives of the present invention are not limited to those mentioned above, and other unmentioned objectives will be clearly understood by those skilled in the art to which the present invention pertains from the description below. means of solving the problem

[0010] As a means to solve the above problem, according to one embodiment of the present invention, a vehicle that, when a wheelchair boarding command is generated by at least one of a vehicle driver and a wheelchair occupant, opens the rear door of the vehicle and lowers a ramp to the ground, and when an electric wheelchair is docked to a docking device, returns the position of the ramp to its original state and closes the rear door of the vehicle; an electric wheelchair that, when the wheelchair boarding command is generated, photographs and analyzes the front area of ​​the electric wheelchair to detect the ramp and the docking device, and performs autonomous driving based on the detection results of the ramp and the docking device to automatically board the vehicle; and a user terminal that is carried and operated by at least one of a vehicle driver and a wheelchair occupant, and provides user guidance by checking the driving status of both the electric wheelchair and the vehicle in real time.

[0011] The vehicle is characterized by comprising: a communication unit that supports wireless communication with the electric wheelchair; a rear detection sensor that detects when the electric wheelchair approaches within a preset distance; a slope lifting / lowering device equipped with the slope that lowers the slope to the ground and returns it to its original position; a docking device that docks and secures the assistive device of the electric wheelchair using a sliding docking method of the slope; a slope lifting / lowering device equipped with the slope that lowers the slope to the ground and returns it to its original position; and a vehicle control device that, when a wheelchair boarding command occurs, opens the rear door of the vehicle and lowers the slope to the ground to support boarding of the electric wheelchair, and when the electric wheelchair is docked to the docking device, returns the position of the slope to its original position and closes the rear door of the vehicle again, while sharing the current driving status in real time with the user terminal.

[0012] The electric wheelchair is characterized by comprising: a communication unit that supports wireless communication with the vehicle; a slope detection unit that detects both edges of the slope by acquiring and analyzing a two-dimensional image of the front area of ​​the electric wheelchair captured through a camera; a three-dimensional space verification unit that acquires a three-dimensional spatial image map of the front area of ​​the electric wheelchair sensed in three dimensions through a three-dimensional spatial sensor and then checks the distance between the slope and the docking device; and a wheelchair control unit that calculates a wheelchair movement path according to both edges of the slope, determines a wheelchair movement speed according to the distance between the slope and the docking device, and then performs an autonomous driving operation according to the wheelchair movement path and the wheelchair movement speed.

[0013] The above three-dimensional spatial sensor is characterized by being implemented as at least one of a LiDAR sensor, a RADAR sensor, a stereo camera, and an ultrasonic sensor.

[0014] The above user terminal is characterized by performing a vehicle dispatch procedure based on the locations of the electric wheelchair and the vehicle when a vehicle dispatch request is made by a vehicle driver or a wheelchair user, linking them together, and receiving shared driving status information between the linked electric wheelchair and the vehicle to provide user guidance.

[0015] As a means to solve the above problem, according to another embodiment of the present invention, a method for supporting automatic docking of an electric wheelchair is provided, comprising the steps of: when a wheelchair boarding command occurs, the vehicle opens the rear door of the vehicle and lowers a ramp to the ground; the electric wheelchair photographs and analyzes a front area to detect the ramp and a docking device, and automatically boards the vehicle by performing autonomous driving based on the detection results of the ramp and the docking device; and after the electric wheelchair is fixed in position through the docking device, the position of the ramp is restored to its original state and the rear door of the vehicle is closed. Effects of the invention

[0016] The present invention utilizes autonomous driving technology in an electric wheelchair to recognize a vehicle slope and safely climb the vehicle slope, thereby increasing user convenience while reducing the possibility of safety accidents.

[0017] In addition, by allowing the movement speed of the electric wheelchair to be adjusted based on the distance between the electric wheelchair and the docking device, the possibility of safety accidents is further reduced.

[0018] In addition, it enables the control of operations related to the automatic docking of the electric wheelchair through a user terminal and allows for real-time monitoring of the autonomous vehicle boarding situation. Brief explanation of the drawing

[0019] FIG. 1 is a drawing illustrating a vehicle automatic docking support system for an electric wheelchair according to one embodiment of the present invention. FIG. 2 is a drawing illustrating the detailed configuration of a vehicle according to one embodiment of the present invention. FIG. 3 is a drawing for explaining a docking device according to an embodiment of the present invention. FIG. 4 is a drawing illustrating the detailed configuration of an electric wheelchair according to one embodiment of the present invention. FIG. 5 is a drawing for explaining a method for calculating the distance to a docking device according to an embodiment of the present invention. FIG. 6 is a drawing illustrating a method for supporting automatic vehicle docking of an electric wheelchair according to an embodiment of the present invention. Specific details for implementing the invention

[0020] Before specifically describing the present disclosure, the method of description in the specification and drawings is described.

[0021] First, the terms used in this specification and claims have been selected based on general terms considering their functions in the various embodiments of this disclosure. However, these terms may vary depending on the intent of those skilled in the art, legal or technical interpretations, and the emergence of new technologies. Additionally, some terms have been arbitrarily selected by the applicant. Such terms may be interpreted according to the meanings defined in this specification; in the absence of specific definitions, they may be interpreted based on the overall content of this specification and common technical knowledge in the relevant field.

[0022] In addition, the same reference numbers or symbols described in each drawing attached to this specification represent parts or components that perform substantially the same function. For convenience of explanation and understanding, the same reference numbers or symbols are used to describe different embodiments. That is, even if components having the same reference number are all depicted in multiple drawings, the multiple drawings do not imply a single embodiment.

[0023] Additionally, in this specification and claims, terms including ordinal numbers, such as "first," "second," etc., may be used to distinguish between components. These ordinal numbers are used to distinguish identical or similar components from one another, and the meaning of the terms should not be limited by the use of such ordinal numbers. For example, the order of use or arrangement of components combined with such ordinal numbers should not be restricted by the number. If necessary, each ordinal number may be used interchangeably.

[0024] In this specification, singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "consisting of" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0025] In the embodiments of the present disclosure, terms such as "module," "unit," "part," etc. are used to refer to a component that performs at least one function or operation, and such component may be implemented in hardware or software, or a combination of hardware and software. Additionally, a plurality of "modules," "units," "parts," etc. may be integrated into at least one part or chip and implemented as at least one processor, except where each needs to be implemented in specific individual hardware.

[0026] Furthermore, in the embodiments of the present disclosure, when a part is described as being connected to another part, this includes not only a direct connection but also an indirect connection through another medium. Additionally, the meaning that a part includes a certain component implies that, unless specifically stated otherwise, it does not exclude other components but may include additional components.

[0027] FIG. 1 is a drawing illustrating a vehicle automatic docking support system for an electric wheelchair according to one embodiment of the present invention.

[0028] Referring to FIG. 1, the system of the present invention includes a vehicle (100), an electric wheelchair (200), and a user terminal (300), etc.

[0029] The vehicle (100) is a vehicle that supports the boarding of an electric wheelchair (200). When a wheelchair boarding command is issued by at least one of the vehicle driver and the wheelchair user, the rear door of the vehicle is opened and the ramp is lowered to the ground, thereby allowing the electric wheelchair (200) to board the vehicle (100) through the ramp.

[0030] Additionally, the vehicle floor of the wheelchair boarding space further includes a docking device that fixes the position of the electric wheelchair (200), and when the electric wheelchair (200) boards the vehicle via a ramp and reaches the wheelchair boarding space, the docking device fixes the position of the electric wheelchair (200) in a slide locking manner. And when the docking of the electric wheelchair (200) is completed, the position of the ramp is restored to its original state and the rear door of the vehicle is closed.

[0031] The electric wheelchair (200) is a wheelchair that moves automatically using a motor and a battery, and is a mobility aid designed to allow the user to operate the wheelchair using a joystick, button, or remote control without having to push the wheel directly with their hands.

[0032] The electric wheelchair (200) of the present invention is further equipped with a camera and a three-dimensional spatial sensor to photograph and analyze the front area of ​​the electric wheelchair to detect a slope and a docking device, and to perform autonomous driving based on the detection results of the slope and the docking device, thereby enabling the wheelchair user to automatically board the vehicle (100) without manual intervention.

[0033] The user terminal (300) is a terminal carried and operated by a vehicle driver or a wheelchair user, and allows for the installation and execution of an application that can interact with the vehicle (100) and the electric wheelchair (200). Through the application, the vehicle (100) and the electric wheelchair (200) can be controlled in accordance with the requests of the vehicle driver or the wheelchair user, and the results of the control can be received, or the current operating status of the vehicle (100) and the electric wheelchair (200) can be monitored in real-time in an audiovisual manner.

[0034] Additionally, the user terminal (300) allows the user to directly select and set the vehicle (100) and electric wheelchair (200) that are subject to real-time monitoring, but can also be automatically selected based on the results of forming a wireless communication channel between the vehicle (100) and the electric wheelchair (200) and the vehicle dispatch results.

[0035] That is, when the user terminal (300) is operated by a vehicle driver, the vehicle (100) being driven by the vehicle driver identifies the electric wheelchair (200) communicating wirelessly with the vehicle, and then selectively acquires and provides information only about the vehicle and the electric wheelchair. On the other hand, when the user terminal (300) is operated by a wheelchair user, the vehicle (100) communicating wirelessly with the electric wheelchair (200) in which the wheelchair user is riding is identified, and then selectively acquires and provides information only about the vehicle and the electric wheelchair.

[0036] Furthermore, when a vehicle driver or wheelchair user requests a vehicle dispatch, the vehicle closest to the electric wheelchair is dispatched with the highest priority based on the locations of the electric wheelchair and the vehicle, and then they are linked together. Additionally, information regarding the linked electric wheelchair and vehicle can be selectively shared to provide user guidance.

[0037] FIG. 2 is a drawing illustrating the detailed configuration of a vehicle according to one embodiment of the present invention.

[0038] Referring to FIG. 2, the vehicle (100) of the present invention includes a communication unit (110), a slope lifting / lowering device (120), a docking device (130), a vehicle control device (140), etc.

[0039] The communication unit (110) supports wireless communication between the electric wheelchair (200) and the user terminal (300) using wireless communication methods such as Bluetooth, Wi-Fi, NFC (Near Field Communication), DSRC (Dedicated Short-Range Communications), C-V2X (Cellular Vehicle-to-Everything), and UWB (Ultra-Wideband).

[0040] The slope lifting / lowering device (120) is equipped with a slope (121) that can be extended or retracted in length, and lowers the slope (121) to the ground and returns it to its original state under the control of a vehicle control device (140).

[0041] The docking device (130) is a device for securing the electric wheelchair (200) inside the vehicle and ensuring stability during movement, and utilizes a slide and locking mechanism to allow the assistive device to be easily loaded into the vehicle and securely fixed.

[0042] For example, as shown in FIG. 3, a support member (D2) serving as a docking point is formed on the electric wheelchair (200), and an anchor (D1) that engages precisely with the support member (D2) is formed on the floor of the vehicle. Then, the anchor (D1) fixed inside the vehicle is connected to the support member (D2) of the electric wheelchair (200) to secure and fix the position.

[0043] When a wheelchair boarding command is generated, the vehicle control device (140) opens the rear door of the vehicle and lowers the ramp to the ground to support boarding of the electric wheelchair, and when the electric wheelchair is docked to the docking device (130), it returns the position of the ramp to its original state and closes the rear door of the vehicle again so that the vehicle (100) becomes drivable.

[0044] And the user terminal (300) and the application are interconnected so that the vehicle (100) is controlled to operate according to various control values ​​provided by the application, and the operation control result is fed back, or the current operating status of the vehicle (100) is identified and shared in real time by the application.

[0045] FIG. 4 is a drawing illustrating the detailed configuration of an electric wheelchair according to one embodiment of the present invention.

[0046] Referring to FIG. 4, the electric wheelchair (200) of the present invention includes a communication unit (210), a slope detection unit (220), a three-dimensional space verification unit (230), and a wheelchair control unit (240), etc.

[0047] The communication unit (120) supports wireless communication between the vehicle (100) and the user terminal (300) using wireless communication methods such as Bluetooth, Wi-Fi, NFC (Near Field Communication), DSRC (Dedicated Short-Range Communications), C-V2X (Cellular Vehicle-to-Everything), and UWB (Ultra-Wideband).

[0048] The slope detection unit (220) is equipped with a camera (221) and, after obtaining a two-dimensional image of the front area of ​​the electric wheelchair through the camera, detects both edges of the slope using a lane detection algorithm.

[0049] At this time, the lane detection algorithm may be implemented by specifying a inspection area for detecting slopes, followed by specifying regions of interest for detecting the left and right edges, respectively; applying a Hough transform to the regions of interest of each edge to detect linear components for each edge, and then performing a left-right transform on the results once linear components are detected; and analyzing the detected linear components of the left and right edges, applying the maximum value component to the edges through probabilistic calculation, and filtering, but is not limited to this method.

[0050] The 3D space verification unit (230) obtains a 3D space image map by 3D sensing the front area of ​​the electric wheelchair through a 3D space sensor (231), detects a docking device based on the 3D space image map, and checks the distance to the docking device.

[0051] At this time, the 3D space sensor (231) may be implemented as at least one of a LiDAR sensor, a RADAR sensor, a stereo camera, and an ultrasonic sensor, but the specific implementation method may be varied in the future.

[0052] In addition, the distance to the docking device can be determined based on the distance to a specific area where the docking device is located, after dividing the 3D spatial image map into multiple regions as shown in Fig. 6, and the speed is reduced in proportion to the distance to the docking device, and automatic docking can be prepared when the distance to the docking device becomes less than or equal to a preset value.

[0053] The wheelchair control unit (240) calculates the wheelchair movement path according to both edges of the slope, determines the wheelchair movement speed according to the distance from the docking device, and then performs an autonomous driving operation according to the wheelchair movement path and wheelchair movement speed.

[0054] For example, the centerline of the slope is calculated based on the detection results of both edges of the slope, and a path curve suitable for the wheelchair's turning radius and driving speed is generated using the curvature information of the slope centerline, and then set as the wheelchair's movement path.

[0055] In addition, while driving along the wheelchair's movement path, the distance to the docking device is repeatedly checked, and the movement speed is gradually reduced in proportion to the distance to the docking device (130). That is, by allowing the wheelchair to be connected to the docking device (130) while the wheelchair's movement speed is minimized, the shaking of the wheelchair caused by the docking impact is also minimized.

[0056] FIG. 6 is a drawing illustrating a method for supporting automatic vehicle docking of an electric wheelchair according to an embodiment of the present invention.

[0057] First, check whether a wheelchair boarding command is issued by at least one of the vehicle driver and the wheelchair occupant (S1).

[0058] At this time, the wheelchair boarding command may be generated by the vehicle driver or wheelchair passenger operating an application installed on the user terminal (300), or by manually operating it by pressing a control button provided on the vehicle or electric wheelchair. Alternatively, it may be generated by providing a wheelchair detection sensor at the rear of the vehicle (100) and based on the wheelchair detection result, or by detecting that the vehicle (100) and the electric wheelchair (200) are adjacent at a preset distance and form and operate a wireless communication channel.

[0059] When a wheelchair boarding command is issued, the vehicle (100) responds by opening the rear door of the vehicle and lowering the ramp to the ground, thereby allowing an electric wheelchair (200) to board the vehicle (100) through the ramp (S2).

[0060] And the electric wheelchair (200) also acquires a camera image of the front area of ​​the wheelchair and a 3D space map through the camera (221) and the 3D space sensor (231) (S3).

[0061] Then, the wheelchair movement path is calculated by detecting and analyzing both edges of the slope through camera images, and the wheelchair movement speed is determined by checking and reflecting the distance to the docking device through a 3D spatial map (S4).

[0062] And the electric wheelchair (200) autonomously performs the wheelchair movement path and wheelchair movement speed so that the electric wheelchair (200) can board the vehicle (100) through the ramp (S5).

[0063] And when the electric wheelchair (200) that is riding in the vehicle (100) is fixed in position by the docking device (130) (S6), the vehicle (100) restores the slope to its original position and then closes the rear door of the vehicle again, thereby making the vehicle (100) drivable (S7).

[0064] At this time, the docking status of the docking device (130) is preferably determined by the distance from the docking device (130) confirmed through the electric wheelchair (200), but if necessary, it can be determined by a sensor provided in the docking device (130).

[0065] Meanwhile, the various embodiments described above may be implemented in a recording medium readable by a computer or a similar device using software, hardware, or a combination thereof.

[0066] According to hardware implementation, the embodiments described in this disclosure may be implemented using at least one of ASICs (Application Specific Integrated Circuits), DSPs (digital signal processors), DSPDs (digital signal processing devices), PLDs (programmable logic devices), FPGAs (field programmable gate arrays), processors, controllers, microcontrollers, microprocessors, and other electrical units for performing functions.

[0067] In some cases, the embodiments described herein may be implemented as the processor itself. In a software implementation, embodiments such as the procedures and functions described herein may be implemented as separate software parts. Each of the aforementioned software parts may perform one or more functions and operations described herein.

[0068] Meanwhile, computer instructions for performing processing operations in electronic devices, etc., according to the various embodiments of the present disclosure described above may be stored in a non-transitory computer-readable medium. When computer instructions stored in such a non-transitory computer-readable medium are executed by a processor of a specific device, they cause the specific device described above to perform processing operations according to the various embodiments described above.

[0069] A non-transient computer-readable medium refers to a medium that stores data semi-permanently and can be read by a device, unlike media that store data for a short period of time such as registers, caches, and memory. Specific examples of non-transient computer-readable media include CDs, DVDs, hard disks, Blu-ray discs, USBs, memory cards, and ROMs.

[0070] Although preferred embodiments of the present disclosure have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above. It is understood that various modifications can be made by those skilled in the art without departing from the essence of the present disclosure as claimed in the claims, and such modifications should not be understood individually from the technical spirit or perspective of the present disclosure.

Claims

Claim 1 A vehicle that, when a wheelchair boarding command is issued by at least one of the vehicle driver and a wheelchair occupant, opens the rear door of the vehicle and lowers a ramp to the ground, and when an electric wheelchair is docked to a docking device, returns the position of the ramp to its original state and closes the rear door of the vehicle; and an electric wheelchair that, when the wheelchair boarding command is issued, photographs and analyzes the front area of ​​the electric wheelchair to detect the ramp and the docking device, and performs autonomous driving by considering the detection results of the ramp and the docking device together so that the ramp driving and docking operations can be performed continuously, thereby automatically boarding the vehicle; A vehicle automatic docking support system for an electric wheelchair, comprising a user terminal that is carried and operated by at least one of a vehicle driver and a wheelchair occupant, and provides user guidance by checking the driving status of both the electric wheelchair and the vehicle in real time, wherein the electric wheelchair comprises: a communication unit that supports wireless communication with the vehicle; a slope detection unit that acquires and analyzes a 2D image of the front area of ​​the electric wheelchair captured through a camera to detect both edges of a slope and calculates a wheelchair movement path for driving on the slope; a 3D space verification unit that acquires a 3D spatial image map of the front area of ​​the electric wheelchair 3D-sensing through a 3D spatial sensor and calculates the actual spatial distance between the slope and the docking device; and a wheelchair control unit that independently determines the wheelchair movement path and the wheelchair movement speed based on the movement path calculated from the slope detection unit and the distance information calculated from the 3D space verification unit, respectively, and performs an autonomous driving operation according to the movement path and movement speed. Claim 2 The vehicle automatic docking support system for an electric wheelchair according to claim 1, wherein the vehicle comprises: a communication unit that supports wireless communication with the electric wheelchair; a rear detection sensor that detects when the electric wheelchair approaches within a preset distance; a slope raising / lowering device that has a slope and lowers the slope to the ground and returns it to its original position; a docking device that docks and secures the assistive device of the electric wheelchair by a sliding docking method of the slope; and a vehicle control device that, when a wheelchair boarding command occurs, opens the rear door of the vehicle and lowers the slope to the ground to support boarding of the electric wheelchair, and when the electric wheelchair is docked to the docking device, returns the position of the slope to its original position and closes the rear door of the vehicle again, while sharing the current operating status in real time with the user terminal. Claim 3 delete Claim 4 An automatic vehicle docking support system for an electric wheelchair according to claim 1, characterized in that the three-dimensional spatial sensor is implemented as at least one of a LiDAR sensor, a RADAR sensor, a stereo camera, and an ultrasonic sensor. Claim 5 An automatic vehicle docking support system for an electric wheelchair according to claim 1, characterized in that when a vehicle dispatch request is made by a vehicle driver or a wheelchair user, the user terminal performs a vehicle dispatch procedure based on the location of the electric wheelchair and the vehicle, links them to each other, and receives the driving status of the linked electric wheelchair and the vehicle to provide user guidance. Claim 6 When a wheelchair boarding command is generated, a disembarking step in which the vehicle opens the rear door and lowers the ramp to the ground; a boarding step in which the electric wheelchair photographs and analyzes the front area to detect the ramp and the docking device, and performs autonomous driving by considering the detection results of the ramp and the docking device together so that ramp driving and docking operations can be performed continuously, thereby automatically boarding the vehicle; A method for supporting automatic vehicle docking of an electric wheelchair, characterized in that it includes a finishing step of fixing the position of the electric wheelchair through the docking device, restoring the position of the slope to its original state, and closing the rear door of the vehicle, wherein the boarding step includes: a step of acquiring and analyzing a 2D image of the front area of ​​the electric wheelchair captured through a camera to detect both edges of the slope and calculating a wheelchair movement path for driving on the slope; a step of acquiring a 3D spatial image map of the front area of ​​the electric wheelchair 3D-sensing through a 3D spatial sensor and calculating the actual spatial distance between the slope and the docking device; and a step of independently determining the wheelchair movement path and the wheelchair movement speed based on the movement path calculated from the slope detection result and the distance information calculated from the 3D spatial verification result, respectively, and then performing an autonomous driving operation according to the movement path and movement speed.

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