US-12622826-B2 - Autonomous mobility system

US12622826B2US 12622826 B2US12622826 B2US 12622826B2US-12622826-B2

Abstract

An integrated and autonomous mobility system for disabled persons including an automated wheelchair (AV) and an Adapted Automated Vehicle (AAV) configured to work together as an integrated unit to transport a user to a pre-selected destination with little to no input from the user during the trip. The AV is also configured to operate independently of the AAV to transport the user on shorter trips, or to continue a journey after the AAV has transported the AW to an intermediate destination. Multiple safety systems are included. The system has an override function according to which a user can interrupt the automated transport operation and cause the AV and/or AAV to stop, slow down, speed up, or change direction.

Inventors

Mansoureh Jeihani
Kofi Nyarko
Eazaz Sadeghvaziri
Anam Ardeshiri
Nile Walker

Assignees

MORGAN STATE UNIVERSITY

Dates

Publication Date: 20260512
Application Date: 20220810

Claims (10)

1 . A device comprising: a wheelchair having a user seat and seat back; drive wheels; a motor coupled to said drive wheels, a wheelchair computer in electronic communication with said motor, said wheelchair computer including a processor and non-transient memory, said non-transient memory including a global positioning system (GPS) and a navigation software module; said wheelchair further comprising: an input device in electronic communication with said wheelchair computer; inertial sensors in electronic communication with said wheelchair computer; a plurality of ultrasonic sensors in electronic communication with said wheelchair computer and configured to detect obstacles on or near a travel path of said device; at least one Quick Response (QR) code reader in electronic communication with said wheelchair computer and configured to read QR codes; a manual override input device in electronic communication with said wheelchair computer and configured to send a navigation interrupt signal to said navigation system; an emergency contact input device in electronic communication with emergency service providers; an antenna in electronic communication with said wheelchair computer configured for cellular-based internet connection; said device further comprising: a single occupancy level 4 or higher automated self-driving vehicle (AAV), said AAV comprising: a wheelchair loading device; a wheelchair securing mechanism; an AAV onboard computer including a processor and non-transient memory configured to communicate wirelessly with said wheelchair computer to automatically activate said wheelchair loading device when said wheelchair approaches said AAV, to activate said wheelchair securing mechanism when said wheelchair is in an AAV transport position, wherein said wheelchair computer is configured to automatically hand over automated driving functions to the AAV onboard computer via electronic handshake once said wheelchair has entered said AAV, and wherein said AAV onboard computer is configured to accept automated navigation control from said wheelchair computer, said wheelchair computer further configured to automatically disengage said wheelchair from said wheelchair securing mechanism when said AAV has arrived at an intermediate destination, automatically move to the wheelchair loading device, and automatically navigate to a final destination.
2 . The device according to claim 1 , said wheelchair further comprising a canopy to protect the user from sun, rain, wind and/or snow.
3 . The device according to claim 1 , said wheelchair further including a mobile computing device holder.
4 . The device according to claim 1 , said wheelchair computer in electronic communication with a health care language interpreter network to assist users with language barriers.
5 . The device according to claim 1 , wherein said QR code readers configured to follow navigation lines and for identifying location(s) of the wheelchair.
6 . The device according to claim 1 , said input device configured to receive voice and/or text instructions.
7 . The device according to claim 1 , wherein said navigation software module is configured to receive instructions via said input device or from a remote device via wireless communication.
8 . The device according to claim 1 , said wheelchair further comprising a size-adjustable cargo carrier.
9 . The device according to claim 1 , wherein said manual override input device is a joystick.
10 . An autonomous mobility system comprising the device of claim 1 and further comprising a plurality of printed QR codes placed on the ground along potential or actual AW travel routes.

Description

BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to mobility devices and systems for persons with disabilities. Description of the Background Over 3 million people use a wheelchair full-time. One of the major challenges of this population group is their transportation needs. In 2017, 25.5 million Americans aged 5 and older self-reported travel-limiting disabilities. The Americans with Disabilities Act of 1990 (ADA) is the landmark civil rights law that addressed the rights of people with disabilities. Title II of the ADA prohibits discrimination on the basis of disability in public transportation services, such as city buses and public rail systems (subways, commuter trains, etc.). Enhancing the comfort and convenience of drivers/passengers with disabilities has not historically been a focus for car manufacturers due to the belief that even with such innovations, an individual with a disability wouldn't be able to drive independently. However, Automated Vehicle (AV) technologies have given rise to the aspiration of abolishing travel-limiting disabilities. The AV era is on the horizon, and it is predicted that that level-4 AVs (high but not full automation) could comprise 24.8%-87.2% of the vehicle fleet by 2045. While the AV offers a huge promise for the safety and mobility of the existing market of drivers with full driving ability, the overlooked market of people with disabilities should be equally enlivened. The USDOT is committed to ensuring that all users can equally benefit from AV technologies, including people with disabilities. People with disabilities have inherent difficulties with their on-demand transportation services to access healthcare, grocery stores, pharmacies, and to take long-distance trips. Although AVs can enhance the freedom of people with disabilities, no AV system has been introduced to specifically address the needs of such individuals. SUMMARY OF THE INVENTION The present invention is an integrated autonomous mobility solution for persons with disabilities. A first part of the invention is an Automated Wheelchair (AW), and a second part of the invention is an Adapted Automated Vehicle (AAV). The AW and the AAV are adapted to automatically communicate with, and integrate with, and operate in conjunction with one-another to transport the user on trips of varying lengths with little to no user interaction after the destination has been communicated to the system. The AW includes standard motorized wheelchair features together with numerous additional features necessary for safe and efficient autonomous operation with little or no user input after a destination has been selected. In the case of shorter trips, a user instructs the system to navigate to a selected destination, and the AW transports the user to the selected destination with little to no further instruction or action by the user. An onboard navigation system is provided to allow the AW to navigate to selected destinations through the best route with minimum manual intervention. The AW is equipped with ultrasonic and optical sensors to avoid colliding with obstacles on its path, a navigation system including real-time GPS tracker, and an adjustable cargo carrier for carry-on baggage. In the case of longer trips, the AW will navigate to and enter the AAV, handing over automated driving functions to the AAV via electronic “handshake,” either by hard-wired or wireless communications. The AAV has a wheelchair ramp or lift configured allow the AW to be brought on board. Once the AW is on board the AAV, the AW can move to an AAV transport position under its own control, or it can be moved to an AAV transport position by a moving track/conveyor on the floor or walls of the AAV. The AAV preferably has additional space for cargo. Once the AW has entered the AAV, it is automatically secured in an AAV transport position using wheelchair wheel and/or wheelchair body securing brackets/braces, and the AAV navigates to an intermediate destination using an AAV onboard navigation system and autonomous drive control system based on input received from the AW, or directly from a remote user input device. Once the AAV has arrived at the intermediate destination, for example, a family member or friend's driveway or apartment parking lot, an airport departures terminal, a restaurant or hotel valet station, the AW automatically disengages from the AAV securing brackets, moves to the AAV lift or ramp, again, using either AW navigation features or an AAV onboard tack or conveyor, and, once it has left the AAV, automatically navigates to the final destination. At any time, the user can override and/or change the automatic navigation by voice, gesture, keyboard or other input to cause the AW or the AAV to stop, slow down, speed up, or change direction. According to a further embodiment of the invention, there is provided a low-cost AV infrastructure including printed QR codes placed on or near the ground at interval