DE102020204048A1 - Lifting robot for loading and unloading a wheelchair into / from a vehicle and method for operating a lifting robot - Google Patents

Abstract

The invention relates to a lifting robot (1) for loading and unloading a wheelchair (20) into / from a vehicle, comprising a drive unit (2) with at least two driven, actively steerable wheels (3), one on the drive unit (2) Support device (4) with at least two passively rotatably mounted castors (5), a lifting device (6) for loading and lifting the wheelchair (20), an environment sensor (7), and a control (8), the control (8) is set up to drive the lifting robot (1) at least temporarily in an automated manner and for this purpose to receive environment data recorded by means of the environment sensor system (7) and to control the drive unit (2) on the basis of the received environment data, the controller (8) also being configured to when activating the drive unit (2), a state and a behavior of the at least two passively rotatably mounted swivel castors (5) must be taken into account. The invention also relates to a method for operating a lifting robot (1) for loading and unloading a wheelchair (20) into / from a vehicle.

Description

The invention relates to a lifting robot for loading and unloading a wheelchair into / from a vehicle and a method for operating a lifting robot.

Devices are known with which a wheelchair can be transported into an interior of a motor vehicle. Examples are ramps or lifting platforms. However, the solutions mentioned are not suitable for use in automated motor vehicles and fully automated mobility solutions in local public transport.

The invention is based on the object of specifying a device and a method with which a wheelchair can be automatically loaded into a vehicle.

The object is achieved according to the invention by a lifting robot with the features of claim 1 and a method with the features of claim 10. Advantageous refinements of the invention emerge from the subclaims.

In particular, a lifting robot for loading and unloading a wheelchair in / from a vehicle is created, comprising a drive unit with at least two driven, actively steerable wheels, a support device arranged on the drive unit with at least two passively rotatably mounted castors, a lifting device for loading and unloading Lifting the wheelchair, an environment sensor system, and a controller, the controller being set up to drive the lifting robot at least temporarily in an automated manner and for this purpose to receive environment data captured by means of the environment sensor system and to control the drive unit on the basis of the received environment data, the control system also being set up to do so is to take into account a state and a behavior of the at least two passively rotatably mounted castors when controlling the drive unit.

Furthermore, in particular a method for operating a lifting robot for loading and unloading a wheelchair in / from a vehicle is provided, the lifting robot having a drive unit with at least two driven, actively steerable wheels and a supporting device arranged on the drive unit with at least two passively rotatable -bearing swivel castors, a lifting device for charging and lifting the wheelchair, an environment sensor system, and a controller, the lifting robot being driven at least temporarily by means of the controller, with environment data recorded by the environment sensor system being received for this purpose and the drive unit being received on the basis of the received environment data is controlled, and when controlling the drive unit, a state and a behavior of the at least two passively rotatably mounted steering rollers are taken into account.

The lifting robot and the method make it possible to load a wheelchair together with a wheelchair user into a vehicle or to unload it from the vehicle. In particular, this can be done automatically. In particular, the lifting robot has a compact design and is therefore inexpensive to manufacture. In order to keep the structure simple, provision is made to use passively rotatable swivel castors (also known as Castor castors) in addition to actively steerable wheels. In order to enable an automated approach to the vehicle nonetheless precisely and without interference, provision is made for a state and behavior of the two passively rotatably mounted castors to be taken into account when the drive unit is activated. This takes place in particular in that the control determines and executes a trajectory when activating the drive unit in such a way that a state and a behavior of the two passively rotatably mounted steering rollers are taken into account.

The drive unit is driven in particular by an electric motor and for this purpose comprises, for example, an electric motor on each of the driven actively steerable wheels and an electrical energy store, for example a battery.

The support device can for example have two forks, which are connected to the drive unit on one side of an elongated direction of extension of the forks and each have one of the passive rotatably mounted castors on the other side of the elongated direction of extension on an underside. When loading and unloading the wheelchair into or out of the vehicle, the support device, that is, for example, the two forks, is in particular at least partially driven under or in front of the vehicle, while at least part of the lifting device is brought into a vehicle interior. The support device can in principle have the same length as the lifting device or can also be made shorter.

The lifting device can be accommodated at least partially with the drive unit in a common housing or at least partially share a housing with the drive unit. In particular, a drive for the lifting device for driven lifting and lowering of a wheelchair can be embodied in such a housing. The lifting device can for example have at least one platform on the wheels of the wheelchair can be arranged and by means of which the wheelchair can be raised or lowered.

The environment sensor system includes, for example, a 2D or 3D lidar scanner and a camera. Furthermore, the environment sensor system can include further sensors, such as a radar sensor and / or an ultrasonic sensor, etc.

The control processes the environment data recorded by the environment sensors. For this purpose, the control recognizes, for example, objects in the environment and localizes the lifting robot within the environment using methods known per se. The control system also plans a trajectory for approaching a vehicle opening (e.g. a rear vehicle door) into which the wheelchair is to be loaded or from which the wheelchair is to be unloaded.

In particular, the controller also controls the lifting device. In particular, the controller controls the raising and lowering of the lifting platform, in particular the lifting of the lifting device with or without a wheelchair arranged thereon, before reaching a vehicle opening of a vehicle. This can be done in particular on the basis of captured environmental data. For example, a contour of the opened vehicle door captured by means of a camera can be used for orientation for the control. In this case, the controller determines, in particular, a height to which the lifting device must be raised, for example on the basis of a camera image captured from the vehicle opening.

The control can be designed individually or collectively as a combination of hardware and software, for example as program code that is executed on a microcontroller or microprocessor.

In one embodiment it is provided that the lifting robot has at least one steering roller position sensor, the at least one steering roller position sensor being designed to determine a steering position of at least one of the at least two passively rotatably mounted steering rollers and to transmit sensor data describing the determined steering position to the controller. In this way, a position of the steering rollers can be estimated and a position estimate or a position signal of the controller can be provided. On the basis of the position estimate or the position signal, the controller can plan and / or adapt a trajectory of the lifting robot or take this into account when controlling the drive unit.

In particular, it is provided that a steering roller sensor is provided for each existing steering roller. In this way, a steering position can be determined for each of the passive, rotatably mounted steering rollers and taken into account when the drive unit is activated.

The at least one steering roller sensor can be designed differently. For example, it can be provided that the swivel castor sensor has mechanical buttons arranged around the swivel castor, which trigger when they come into contact with the swivel castor and generate and provide a position signal. For example, four such mechanical buttons can be provided, each of which is arranged in pairs opposite one another around a swivel castor, i.e. at the angular positions 0 °, 90 °, 180 ° and 270 in relation to a circle whose center forms the axis of rotation of the swivel castor ° are arranged. In this way, it can at least roughly be determined which angular or rotational position the steering roller under consideration has, that is to say it can at least be determined in which of four quadrants the steering roller is currently located. This is sufficient for taking the steering roller into account when driving the lifting robot, since the control can use this to determine how the lifting robot will behave during or after starting up.

Alternatively or additionally, it can also be provided that a steering roller sensor comprises a light sensor system, for example in the form of a light barrier sensor system. An arrangement around the swivel castor is analogous to the arrangement of the mechanical buttons described above (i.e. for example at the angular positions 0 °, 90 °, 180 ° and 270 °). In this case, the light sensor system detects a passing of the steering roller, for example via a light reflection and / or a change in the light reflection on the steering roller.

In a further alternative, a swivel castor sensor has a bar code which is arranged on an axis of rotation of the swivel castor and which is detected by means of a photo sensor and is used as a measure of a movement and / or an angular position of the swivel castor.

In one embodiment it is provided that the controller is further set up to be able to carry out an alignment maneuver for aligning the at least two passively rotatably mounted castors in order to bring them into a desired alignment. Such an alignment maneuver can, for example, be carried out routinely before a vehicle starts moving. An alignment maneuver includes, in particular, driving backwards, which is carried out until a steering position of the passive, rotatably mounted castors is also achieved by passive steering Security is established, that is, until the castors have certainly passively aligned along the backward-facing path. In particular, a forward movement is then carried out which lasts until the steering rollers have aligned themselves along the forward-facing path. Such an alignment maneuver is carried out by the controller in particular at a sufficiently large distance in front of the vehicle opening of the vehicle, so that a fine alignment of the lifting robot by means of the drive unit is possible at a small distance in front of the vehicle opening without uncontrolled and unwanted swiveling of the passive castors impede such a journey. Furthermore, the alignment maneuver can also include positioning the lifting robot at a sufficiently large distance from the vehicle opening of the vehicle. In particular, the lifting robot is brought to this position in such a way that the lifting robot can drive straight ahead from this position with the passive castors and can approach the vehicle opening on a straight trajectory.

In particular, the alignment maneuver can be designed in such a way that the passive, rotatably mounted steering rollers are aligned for straight-ahead travel after the alignment maneuver has been carried out.

Before performing such an alignment maneuver, it can also be provided that an alignment of the passive, rotatably mounted steering rollers is checked. Depending on the result of the check, the alignment maneuver is carried out or not.

In one embodiment it is provided that the lifting device has two forks on which the wheelchair can be arranged by reaching under the wheels of the wheelchair. The forks can be raised after loading or driving the wheelchair so that a difference in height between a ground and a vehicle floor or a curb etc. can be overcome. The two forks can be arranged, for example, above two forks of the support device and raised or lowered parallel to one another by means of a drive of the lifting device.

In one embodiment it is provided that the lifting device has at least one detection device, the at least one detection device being designed to detect a predetermined position of a vehicle floor of a vehicle or a curb and to transmit a detection signal to the controller, the controller also being set up to do so is to stop an automated approach after receiving the detection signal.

In one embodiment it is provided that the lifting device has at least one ramp which can be rotated about a horizontal axis and which can be rotated from a transport position into a ramp position by contact with a vehicle floor or with a curb. In particular, it is provided that the rotatable ramp has two leg elements which converge on the horizontal axis. The two leg elements are firmly connected to one another and in particular have an obtuse angle to one another (i.e. an angle greater than 90 ° and less than 180 °). By contact of the leg element pointing downwards in the transport position with the vehicle floor or the curb, the two leg elements of the rotatable ramp are rotated about the horizontal axis, so that the leg element pointing upwards in the transport position is lowered onto the vehicle floor or the curb into the ramp position.

In a further developing embodiment it is provided that the rotatably mounted ramp has at least one detection device, the at least one detection device being designed to detect the reaching of a ramp position and to transmit a detection signal to the controller, the controller also being set up to provide a Stop automated approach after receiving the detection signal. The detection device can for example have a mechanical button and / or a light barrier which can detect the ramp position, for example, and when the ramp position is reached generates the detection signal and transmits it to the controller. In particular, it can be detected, for example, whether the leg element pointing downward in the transport position has attained a predetermined alignment and / or position, which is equivalent to reaching the ramp position.

In one embodiment it is provided that the lifting robot has at least one emergency stop switch, the at least one emergency stop switch being designed to be height-adjustable so that the at least one emergency stop switch can be moved when the lifting device is raised. This means that a wheelchair user can cancel the transport, lifting and lowering of the wheelchair at any time by pressing the emergency stop switch. It can be provided, for example, that the emergency stop switch is moved along on a boom at the level of an armrest of a raised wheelchair. For this purpose, the boom can, for example, be mechanically connected directly or indirectly to the lifting device.

In one embodiment it is provided that the lifting robot has a wireless communication interface, the wireless communication interface being set up to communicate with a wheelchair controller and / or a mobile terminal device and to receive control signals. The received control signals are then transmitted to the controller and implemented by it. Such a wireless communication interface is designed, for example, as a Bluetooth or WLAN interface. In particular, it can be provided that the lifting robot can be operated by means of an application (app) on a mobile terminal device, in particular on a smartphone or tablet. For this purpose, the application generates control signals which are transmitted to the control of the lifting robot by means of the wireless communication interface.

It can be provided that the wireless communication interface also communicates with the vehicle into or from which the wheelchair is to be loaded or unloaded. For example, the vehicle door of the vehicle can be opened and / or closed by the control of the lifting robot via the wireless communication interface.

Further features for the configuration of the method emerge from the description of configurations of the lifting robot. The advantages of the method are in each case the same as in the embodiments of the lifting robot.

• 1 eine schematische Darstellung einer Ausführungsform des Heberoboters (Seitenansicht);
• 2 eine schematische Darstellung einer Ausführungsform des Heberoboters (Ansicht von unten);
• 3 eine schematische Darstellung zur Verdeutlichung einer Ausführungsform mit einem Lenkrollenpositionssensor;
• 4a, 4b schematische Darstellungen zur Verdeutlichung einer weiteren Ausführungsform mit einer drehbaren Rampe.

The invention is explained in more detail below on the basis of preferred exemplary embodiments with reference to the figures. Here show:

• 1 a schematic representation of an embodiment of the lifting robot (side view);
• 2 a schematic representation of an embodiment of the lifting robot (view from below);
• 3 a schematic representation to illustrate an embodiment with a steering roller position sensor;
• 4a , 4b schematic representations to illustrate a further embodiment with a rotatable ramp.

In 1 Fig. 3 is a schematic representation of an embodiment of the lifting robot 1 for loading and unloading a wheelchair 20th in a / from a vehicle (not shown) shown in a side view.

The lifting robot 1 includes a drive unit 2 with two driven, actively steerable wheels 3 , one on the drive unit 2 arranged support device 4th with at least two passively rotatable swivel castors 5 . Furthermore, the lifting robot includes 1 a lifting device 6th for charging and lifting the wheelchair 20th , an environment sensor system 7th and a controller 8th . The control 8th is designed as a combination of hardware and software, for example as program code that is executed on a microprocessor.

The environment sensors 7th includes, for example, a 2D lidar scanner for rough orientation and a camera for detecting a vehicle opening on a vehicle. The environment sensors 7th continuously detects the surroundings of the lifting robot 1 and leads the control 8th corresponding environmental data.

The control 8th is set up, in particular programmed, the lifting robot 1 at least temporarily to drive automatically and for this purpose by means of the environment sensors 7th to receive captured environmental data and the drive unit 2 based on the received environmental data. The control takes this into account 8th a state and a behavior of the two passively rotatable swivel castors 5 .

It can be provided that the lifting robot 1 an emergency stop switch 21 having, the emergency stop switch 21 is designed to be adjustable in height, so that the emergency stop switch 21 when lifting the lifting device 6th can be moved. For example, the lifting robot 1 one at the height of an armrest of the wheelchair 20th arranged boom 22nd have, which is parallel to the lifting device 6th can be moved in the vertical direction.

In particular, it is provided that the lifting robot 1 a wireless communication interface 23 having, wherein the wireless communication interface 23 is set up to communicate with a wheelchair controller and / or a mobile terminal and to receive control signals. The received control signals are sent to the controller 8th transmitted and implemented by them. This enables a wheelchair user or an assistant to use the lifting robot 1 operate or monitor loading and unloading.

In 2 Fig. 3 is a schematic representation of an embodiment of the lifting robot 1 for loading and unloading a wheelchair 20th in / out of a vehicle (not shown) shown in a view from below. The embodiment is the same as that in FIG 1 The embodiment shown and the same reference symbols denote the same features and terms. It can be clearly seen that the support device 5 a pair of forks 9 has, each of which has a passive swivel-mounted swivel castor 5 exhibit.

In 3 is a schematic representation of a fork 9 Shown from below to illustrate an embodiment in which the lifting robot has swivel castor position sensors 10-x having. In particular, it is provided that the lifting robot for each of the passive, rotatably mounted steering rollers 5 at least one swivel castor position sensor 10-x having.

The castor position sensors 10-x determine a steering position of the passively rotatable swivel castors 5 and transmit sensor data describing the specific steering position 11 to the controller. Based on the determined steering position, the controller can set a state, in particular a steering angle of the passive, rotatably mounted steering rollers 5 , determine and take into account the specific state when controlling the drive unit.

The embodiment shown comprises for each passive swivel-mounted swivel castor 5 four swivel castor position sensors 10-x that are at a distance of 90 ° to each other on a circumference 12th around an axis of rotation 13th the swivel castor 5 are arranged. The castor position sensors 10-x are designed, for example, as buttons that allow the castor to pass 5 grasp by this when walking by the castor 5 be operated. Alternatively, the swivel castor position sensors 10-x can also be designed as light barriers which detect the passing of the steering roller, for example by means of a change in a light reflection caused by the steering roller.

At the moment of registering the swivel castor 5 on one of the castor position sensors 10-x a swivel castor position can be precisely determined. When registering, the swivel castor position corresponds to the angular position of the respective triggering swivel castor position sensor 10-x . From a history of the releases, even if there is no release, it can at least be determined in which angular range the swivel castor is 5 currently located. This information is taken into account by the control when activating the drive unit.

It can be provided that the controller is set up to perform an alignment maneuver for aligning the passively rotatably mounted castors 5 ( 1 and 2 ) in order to bring them into a desired orientation. For example, a backward movement and a subsequent forward movement can be performed around the castors 5 Bring into a desired and known position in order to then be able to carry out a starting maneuver for starting a vehicle without interference. Targeted steering maneuvers are also possible around the passive swivel-mounted swivel castors 5 align.

In the 4a and 4b schematic representations are shown to illustrate a further embodiment. The embodiment is basically like that in FIGS 1 and 2 Shown embodiment formed.

However, it is also provided that the lifting device 6th one around a horizontal axis 14th rotating ramp 15th has, which by contact with a vehicle floor or with a curb 30th from a transport position 16 by rotating around the horizontal axis 14th in a ramp position 17th can be rotated.

In the embodiment shown, the rotatable ramp 15th two leg elements arranged at an obtuse angle to one another 18th on, which is on the horizontal axis 14th meet.

If the lifting device comprises, for example, two forks, there is a rotatable ramp in each case 15th provided for each of the forks.

In a further development, it can be provided that the rotatably mounted ramp 15th at least one recognition device 19th having, wherein the at least one detection device 19th is designed such that the ramp position is reached 17th to recognize and to transmit a recognition signal to the controller, wherein the controller is also set up to automatically approach the curb 30th stop after receiving the detection signal. The recognition device 19th is designed, for example, as a button and at one end of the rotatable ramp 15th arranged, the button upon contact with an upper side of the curb 30th (or the vehicle floor) is triggered.

In one embodiment of the method, a wheelchair is used for loading 20th For example, the following steps are carried out in an interior of a vehicle. Automated driving and loading of the wheelchair 20th is booked, for example, via an application on a mobile device. The lifting robot 1 drives automatically to an agreed meeting point at an agreed time to use a wheelchair 20th together with a wheelchair user to load into a vehicle or the wheelchair 20th to unload from the vehicle together with the wheelchair user.

The wheelchair 20th is at the meeting point together with a wheelchair user, manually or motorized, on the lifting device 6th driven and secured. The lifting robot then moves 1 automated, ie controlled or regulated by the controller 8th to turn the vehicle on. A step-by-step approach can be provided here. For example, the lifting robot 1 Carry out a rough positioning on the basis of environmental data that were recorded by means of a lidar scanner. If a rough positioning has taken place, the lifting robot will 1 to the vehicle opening of the vehicle, with camera images of the vehicle and the environment being recorded for this purpose by means of a camera of the environment sensor system. Provision can be made for an alignment maneuver to align the passive, rotatably mounted steering rollers before the start of an automated drive 5 is carried out. Before performing such an alignment maneuver, it can be provided that an alignment of the passive, rotatably mounted steering rollers is checked. Depending on the result of the check, the alignment maneuver is carried out or not.

The lifting device is raised before the vehicle is reached 6th the wheelchair 20th to a predetermined height which is above the height of a vehicle floor. The lifting robot 1 then travels further in the direction of a vehicle opening of the vehicle, wherein the support device 4th is driven under or in front of the vehicle floor or a sill. A rotatable ramp is created through the vehicle floor or a sill of the vehicle 15th ( 4a , 4b) from a transport position 16 in a ramp position 17th turned. This continues until a recognition device 19th that act as a button on a leg element 18th the rotating ramp 15th is formed, is triggered. The control stops after receiving an associated recognition signal 8th ( 1 and 2 ) the automated drive. As the rotating ramp 15th into the ramp position 17th is brought, the wheelchair can 20th Roll manually or motorized into the interior on a vehicle floor of the vehicle.

Has the wheelchair 20th the lifting device 6th leave, the lifting robot moves away 1 automated by the vehicle and can use the next wheelchair 20th invite or unload.

Unloading a wheelchair 20th from the vehicle is in principle carried out in an analogous manner, with the loading and unloading of the wheelchair 20th takes place at other times.

List of reference symbols

1

Lifting robot

2

Drive unit

3rd

actively steerable bike

4th

Support device

5

passively rotatable swivel castor

6th

Lifting device

7th

Environment sensors

8th

steering

9

fork

10-x

Castor position sensors 10-x

11

Sensor data

12th

Radius

13th

Axis of rotation

14th

horizontal axis

15th

rotating ramp

16

Transport position

17th

Ramp position

18th

Leg elements

19th

Detection device

20th

wheelchair

21

Emergency switch

22nd

boom

23

wireless communication interface

30th

Curb

Claims (10)

A lifting robot (1) for loading and unloading a wheelchair (20) into / from a vehicle, comprising: a drive unit (2) with at least two driven, actively steerable wheels (3), a support device (4) arranged on the drive unit (2) with at least two passively rotatably mounted castors (5), a lifting device (6) for loading and lifting the wheelchair (20), an environment sensor system (7), and a controller (8), wherein the controller (8) is set up to drive the lifting robot (1) at least temporarily in an automated manner and for this purpose to receive environment data recorded by means of the environment sensor system (7) and to control the drive unit (2) on the basis of the received environment data, wherein the controller (8) is further set up to take into account a state and a behavior of the at least two passively rotatably mounted castors (5) when controlling the drive unit (2). Lifting robot (1) Claim 1 , characterized by at least one steering roller position sensor (10-x), the at least one steering roller position sensor (10-x) being designed to determine a steering position of at least one of the at least two passively rotatably mounted steering rollers (5) and to supply sensor data describing the particular steering position to transmit the control (8). Lifting robot (1) according to one of the preceding claims, characterized in that the The controller (8) is also set up to be able to carry out an alignment maneuver for aligning the at least two passively rotatably mounted castors (5) in order to bring them into a desired alignment. Lifting robot (1) according to one of the preceding claims, characterized in that the lifting device (1) has two forks on which the wheelchair (20) can be arranged by gripping under the wheels of the wheelchair (20). Lifting robot (1) according to one of the preceding claims, characterized in that the lifting device (6) has at least one detection device (19), the at least one detection device (19) being designed in such a way that a predetermined position of a vehicle floor of a vehicle or a curb ( 30) and to transmit a recognition signal to the controller (8), the controller (8) also being set up to stop an automated approach after receiving the recognition signal. Lifting robot (1) according to one of the preceding claims, characterized in that the lifting device (6) has at least one ramp (15) rotatable about a horizontal axis (14), which by contact with a vehicle floor or with a curb (30) from a Transport position (16) can be rotated into a ramp position (17). Lifting robot (1) Claim 6 , characterized in that the rotatably mounted ramp (15) has at least one detection device (19), the at least one detection device (19) being designed to detect when a ramp position (17) has been reached and to send a detection signal to the controller (8) to transmit, wherein the controller (8) is further set up to stop an automated approach after receiving the detection signal. Lifting robot (1) according to one of the preceding claims, characterized by at least one emergency stop switch (21), wherein the at least one emergency stop switch (21) is designed to be height-adjustable so that the at least one emergency stop switch (21) when lifting the lifting device ( 6) can also be moved. Lifting robot (1) according to one of the preceding claims, characterized by a wireless communication interface (23), the wireless communication interface (23) being set up to communicate with a wheelchair controller and / or a mobile terminal and to receive control signals. A method for operating a lifting robot (1) for loading and unloading a wheelchair (20) into / from a vehicle, the lifting robot (1) having a drive unit (2) with at least two driven, actively steerable wheels (3), one on the Drive unit (2) arranged support device (4) with at least two passively rotatably mounted castors (5), a lifting device (6) for loading and lifting the wheelchair (20), an environment sensor (7), and a control (8), wherein the lifting robot (1) is at least temporarily driven automatically by means of the control (8), for this purpose environment data captured by the environment sensor system (7) are received and the drive unit (2) is controlled on the basis of the received environment data, and when the drive unit is activated (2) a state and a behavior of the two passively rotatably mounted swivel castors (5) is taken into account.

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