阅读说明：本技术 移动装置固定系统 (Mobile device fixing system ) 是由 J·吉拉丁 P·吉拉丁 W·奥特 O·特卡努 P·斯列文斯基 I·马特 于 2020-03-30 设计创作，主要内容包括：本文描述和要求保护的实施例包含自动化固定系统,所述自动化固定系统将轮式移动装置锁定到自主公共交通车辆上的指定站点,从而防止对WMD使用者和其它乘客造成不适和潜在危险的意外移动。所述自动化固定系统包含与典型的自主公共交通车辆集成的特征,以最大限度地减少收纳期间的障碍物,同时最大限度地提高部署期间的效率。(The embodiments described and claimed herein include an automated securing system that locks a wheeled mobile device to a designated station on an autonomous mass transit vehicle, thereby preventing accidental movement that causes discomfort and potential danger to WMD users and other passengers. The automated fixation system includes features integrated with typical autonomous mass transit vehicles to minimize obstructions during stowing while maximizing efficiency during deployment.)

1. A securing system adapted for securing cargo during transport, the securing system comprising:

a bumper having a shape conforming state and a locked state;

in the shape conforming state, the bumper is capable of at least partially conforming to the shape of a surface when the bumper and the surface are pressed together;

in the locked state, the bumper is non-conforming, whereby the bumper defines a rigid topography that interlocks with the surface.

2. The fixation system of claim 1, wherein the buffer comprises a pouch comprising a smart material, wherein the smart material is configured to transition from a first state to a second state in response to a trigger; in the first state, the smart material is substantially free to flow within the pocket, whereby the pocket has a first shape and when the cargo and the pocket are pressed into contact, the pocket changes to a second shape to at least partially conform to a contour of the cargo; and, in the second state, the viscosity of the smart material increases and the smart material is at least partially restricted from free flow, whereby when the cargo and the bladder are in contact, the bladder interlocks with the contour of the cargo to restrict movement of the cargo.

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

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

5. The fixation system of claim 1, wherein the buffer comprises a pouch containing a plurality of particles and having a first state and a second state; wherein in the first state the particles are substantially free to flow within the pocket, whereby the pocket has a first shape and when the cargo and the pocket are pressed into contact, the pocket changes to a second shape to at least partially conform to the contour of the cargo; in the second state, the particles are at least partially constrained from free flow within the pocket, whereby when the cargo and the pocket are in contact, the pocket interlocks with the contour of the cargo to restrict movement of the cargo; the fixation system further comprises a vacuum for evacuating gas from the bladder to transition the bladder from the first state to the second state.

6. The securing system of claim 1, wherein the damper comprises a magnetorheological fluid, whereby the damper enters the locked state when the magnetorheological fluid is subjected to a magnetic field.

7. The securement system of claim 1, wherein the bumper comprises a non-Newtonian fluid, whereby the bumper enters the locked state when the non-Newtonian fluid is subjected to an acute force.

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

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

10. A securing system according to claim 9, wherein the cargo restraining device is adapted to be brought into tension, whereby the cargo restraining device can urge the cargo into contact with the bumper.

11. The securing system of claim 10, further comprising a tensioning mechanism adapted to induce tension in the cargo restraining device.

12. The securing system of claim 11, installed in a vehicle.

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

14. The securing system of claim 1, wherein the bumper is separated from a base by a moving mechanism, whereby the moving mechanism is adapted to move the bumper from a first position, in which the bumper is adjacent to the base, to a second position, in which the bumper is spaced from the base, and whereby in the second position the bumper is adapted to be in contact with the cargo.

15. The securing system of claim 14, further comprising a second bumper, wherein the second bumper is movable and positioned opposite the bumper, whereby the bumper and the second bumper are adapted to engage a first side and a second side of the cargo, respectively, by compression, the first side being opposite the second side.

16. The securement system of claim 15, wherein each of the bumper and the second bumper comprises a pouch containing a smart material.

17. The securing system of claim 15, wherein each of the bumper and the second bumper includes a plurality of pins that are spring biased in an outward position when the bumper is in the form fitting state and each of at least some of the pins is locked in a fixed position when the bumper is in the locked state.

18. A method for using the securing system of claim 1, the method comprising the step of urging the cargo into contact with the bumper, wherein the bumper is shaped to at least partially conform to the contour of the cargo.

19. The method of claim 18, further comprising the step of interlocking the bumper and the cargo by placing the bumper in the locked state.

20. The method of claim 19, wherein the bumper is placed in the locked state upon or before an adverse driving event occurs.

21. The method of claim 19, wherein the buffer is placed in the locked state prior to transporting the cargo.

22. The method of claim 18, wherein the causing step is performed by moving the bumper into contact with the cargo.

23. The method of claim 18, wherein the causing step is performed by moving the cargo into contact with the buffer.

24. A securing system adapted to secure a wheeled mobile device during transport, the securing system comprising a processor programmed to: receiving a signal indicative of a characteristic of at least one of the wheeled mobile device and an occupant of the wheeled mobile device; and setting a fixed parameter based on the characteristic.

25. The securing system of claim 24, wherein the signal indicates a location of one or both of the wheeled mobile device and the occupant in a secured area.

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

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

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

29. The securing system of claim 25, wherein the fixed parameter is a fixed location on the wheeled mobile device.

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

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

32. The fixation system according to claim 31, wherein a gripping area of the fixation member is substantially proximate to the fixation position when the fixation member has the fixation length.

33. The securing system of claim 24, wherein the signal is indicative of an overall weight of one or both of the wheeled mobile device and the occupant.

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

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

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

37. The securing system of claim 24, wherein the signal indicates a type of the wheeled mobile device.

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

39. The securing system of claim 38, wherein the pressure sensitive member is configured to identify a number and location of a plurality of wheels on the wheeled mobile device.

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

41. The securing system of claim 37, wherein the signal is provided by a sensor, the sensor comprising a camera.

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

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

44. The securing system of claim 24, wherein the signal is indicative of 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 a desired contact point for a securing member.

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

46. A securing system adapted to secure a wheeled mobile device during transport, the securing system comprising a processor programmed to: receiving a first signal indicative of a first position of the wheeled mobile device at a first time; receiving a second signal indicative of a second position of the wheeled mobile device at a second time; comparing the first location to the second location; and determining whether to generate a wheeled mobile device movement alert signal based on the comparison of the first signal and the second signal.

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

48. The fixation system according to claim 46, wherein a tension sensor generates the first and second signals.

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

50. The securing system of claim 46, wherein an array of infrared light beams generates the first signal and the second signal.

51. The fixation system according to claim 46, wherein at least one proximity sensor generates the first and second signals.

52. The fixation system according to claim 46, wherein at least one fixation member position sensor generates the first and second signals.

53. The fixation system according to claim 46, wherein a fixation force sensor generates the first and second signals.

54. The securing system according to claim 46, wherein the wheeled mobile device is alerted to move an alert signal to a vehicle operator by one or more of a lighting device or a speaker device.

55. A securing system adapted to secure a wheeled mobile device during transport, the securing system comprising a processor programmed to: receiving a signal indicative of a securing force applied to the wheeled mobile device while the wheeled mobile device is in transit; and determining whether to generate a wheeled mobile device unsecured alert signal based on the signal.

56. The securing system according to claim 55, wherein a motor current sensor generates the signal.

57. The securing system according to claim 55, wherein a tension sensor generates the signal.

58. The fixation system according to claim 55, wherein a camera generates the signal.

59. The securing system according to claim 55, wherein an array of infrared light beams generates the signal.

60. The fixation system according to claim 55, wherein at least one proximity sensor generates the signal.

61. The fixation system according to claim 55, wherein at least one fixation member position sensor generates the signal.

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

63. The securing system according to claim 55, wherein the wheeled mobile device unsecured alert signal is alerted to a vehicle operator by one or more of a lighting device or a speaker device.

64. The securing system according to claim 55, wherein the wheeled mobile device unsecured alert signal is generated if the signal falls below a predetermined threshold.

65. A securing system for a wheeled mobile device, the securing system comprising:

a wheeled mobile device fixed area, the periphery of which comprises a front side, a rear side, a left side and a right side;

a first module positioned at one of the right side and the left side and a second module positioned at the other of the right side and the left side, an upper side of each of the first module and the second module including a seating surface for use by a sit-stand passenger;

a first and second securing member each having a first position at least proximate to the first and second modules, respectively; and is

At least a first contact member of the first fixation member is movable to a second position spaced apart from the first module, whereby a first distance between the first contact member and the second fixation member in the first position is larger than a second distance between the first contact member and the second fixation member in the second position.

66. The securing system according to claim 65, further comprising a third module positioned at the rear side, the third module supporting the first and second securing members and including a centrally mounted telescoping mechanism for moving the first and second securing members between the first and second positions.

67. The securement system of claim 66, wherein an upper side of the third module includes a seating surface for use by a sit-stand passenger.

68. The fixation system of claim 65, wherein:

the first stationary member comprises a first pivot whereby the first contact member rotates about the first pivot to move between the first position and the second position; and is

The second stationary member includes a second contact member and a second pivot, whereby the second contact member rotates about the second pivot to move between the first position and the second position.

69. The fixation system according to claim 68, wherein the first and second pivots are substantially horizontal.

70. The fixation system according to claim 69, wherein the first pivot axis is substantially parallel to and proximate the right side and the second pivot axis is substantially parallel to and proximate the left side.

71. The securement system of claim 70, wherein the first pivot is disposed above the first contact member and the second pivot is disposed above the second contact member.

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

73. The fixation system according to claim 68, wherein the first and second pivots are substantially vertical.

74. The fixation system of claim 68, wherein:

the first stationary member further comprises a third pivot, whereby the first contact member rotates about the first pivot and the third pivot to move between the first position and the second position; and is

The second stationary member further includes a fourth pivot, whereby the second contact member rotates about the second pivot and the fourth pivot to move between the first position and the second position.

75. The securing system according to claim 74, wherein the first pivot, the second pivot, the third pivot, and the fourth pivot are substantially vertical.

76. The securing system according to claim 65, further comprising a scissor mechanism for moving the first contact member between the first position and the second position.

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

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

79. The securement system of claim 65, wherein the first contact member includes an inflatable bladder.

80. The securement system of claim 79, further comprising a quick-expansion member configured to quickly inflate the inflatable bladder.

81. The securement system of claim 80, wherein the quick-expansion member is selected from a pneumatic system, a pyrotechnic system, or a compressed gas container.

82. The securement system of claim 65, wherein the first contact member includes a bladder disposed at an engagement surface of the contact member, wherein the bladder is filled with a magnetorheological fluid.

83. The securing system according to claim 65, wherein the first contact member includes at least one contour following member pivotally attached to the first contact member and configured to rotate from a retracted position to an extended position to follow a contour of the wheeled mobile device.

84. The securement system of claim 65, wherein the first contact member includes a wheeled mobility device engagement member configured to translate along a length of the first contact member, the mobility device engagement member including a plurality of contour-conforming members movable between a retracted position and an extended position to conform to a contour of the wheeled mobility device.

85. The securing system according to claim 65, further comprising a third securing member disposed at a floor of the vehicle and having a retracted position and an extended position; in the retracted position, a third contact member of the third stationary member is at least proximate to the floor of the vehicle; and, in the extended position, the contact member is positioned to engage an inward facing surface of a wheel of the wheeled mobile device.

86. The securing system according to claim 65, further comprising a pressure sensitive member for a vehicle floor in the wheeled mobile device securing area, wherein the pressure sensitive member is configured to detect the presence of a wheeled mobile device in the wheeled mobile device securing area.

87. The securing system according to claim 65, further comprising a proximity sensor positioned on the first contact member, wherein the proximity sensor is configured to detect the presence of a surface of the wheeled mobile device.

88. The securing system according to claim 65, further comprising a plurality of infrared sensors positioned in an array on the first and second securing members to detect the presence of the wheeled mobile device.

89. A securing system for a wheeled mobile device, the securing system comprising:

a wheeled mobile device fixed area, the periphery of which comprises a front side, a rear side, a left side and a right side;

at least one module positioned proximate to at least one or more of the rear side, the left side, and the right side, wherein the at least one module houses a first securing member and a second securing member, and an upper side of the at least one module includes a seating surface for use by a sit-stand passenger;

in a first position, the first and second securing members are positioned proximate to the right and left sides, respectively, and at least a portion of the first and second securing members are positioned below the seating surface; and is

At least a first contact member of the first stationary member is movable to a second position spaced from the right side, whereby a first distance between the first contact member and the second stationary member in the first position is greater than a second distance between the first contact member and the second stationary member in the second position.

90. A securing member adapted for use in a securing system for securing a mobile device during transport of a vehicle, the securing member comprising:

a stowed configuration and at least one fixture ready configuration, wherein the securing member has a stowed length along a first axis in the stowed configuration and a fixed length along the first axis in the at least one fixture ready configuration, the fixed length being greater than the stowed length;

a mobile device securing position, wherein the securing member is movable from the at least one secured ready configuration to the mobile device securing position along a second axis, the first axis being transverse to the second axis.

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

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

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

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

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

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

98. The securing member according to claim 90, wherein in the stowed configuration the securing member is integral with an interior structure of the vehicle.

99. The securing member according to claim 98, wherein in the stowed configuration the securing member provides additional space for a slow passenger to sit.

100. The securing member of claim 98, wherein in the stowed configuration, the securing member is positioned at least partially under a seat for a jogging passenger.

101. The securing member of 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.

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

103. A securing member according to claim 100, wherein the seat has a use position and a stowed position.

104. A securing member according to claim 103, wherein the seat is flipped up from the use position to the stowed position.

105. A securing means according to claim 104, wherein an underside of the seat provides a backrest for the mobile device when the seat is in the stowed position.

106. The securing member according to claim 90, wherein the securing member is movable along the second axis to engage a surface of the mobile device in the mobile device securing position.

107. The securing member of claim 106, wherein the securing member secures the mobile device by compression.

108. The securing member of claim 106, wherein the securing member secures the mobile device by tension.

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

110. The securing member of claim 109, wherein the securing member and the second securing member are configured to engage opposing faces of the mobile device.

111. The securing member of claim 106, further comprising a second securing member, wherein the securing member and the second securing device are configured to secure the mobile device by tension.

112. The securing member of claim 111, wherein the securing member and the second securing member are configured to engage opposing faces of the mobile device.

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

114. The securing member of claim 113, wherein the substantially constant force is a range of allowable values.

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

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

117. The fixation member of claim 111, wherein the fixation member and second fixation member are configured to move at least partially independently.

118. A securing system for a wheeled mobile device in a vehicle, comprising:

at least one active fixation member that provides fixation for at least one of the wheeled mobile device and an occupant of the wheeled mobile device during transport; and

at least one passive fixation member for at least one of the wheeled mobile device and the occupant, the at least one passive fixation member being controlled by a processor programmed to: monitoring a status of one or more of the vehicle, the wheeled mobility device, and the occupant during transport; detecting an abnormal condition; and deploying the at least one passive fixation member in response to the abnormal condition.

119. The securing system of claim 118, further comprising a contact member configured to be disposed proximate a surface of the wheeled mobile device in a secured position, wherein the contact member includes a first grip portion and a second grip portion; the first grip portion is configured to be substantially parallel and adjacent to the side of the wheeled mobile device in the second position; the second grip portion is pivotally attached to an end of the first grip portion and is hinged between a retracted position and an extended position; in the retracted position, the second grip portion is substantially parallel to the first grip portion; and, in the extended position, the second grip portion is at a non-parallel angle to the first grip portion; wherein the first gripping portion comprises the at least one active fixation member and the second gripping portion comprises the at least one passive fixation member, and wherein 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. The securing system according to claim 118, further comprising a contact member configured to be disposed proximate a surface of the wheeled mobile device in a secured position, wherein the contact member includes a gripping portion and at least one peg movable between a retracted position and an extended position; wherein the gripping portion comprises the at least one active fixation member and the at least one peg comprises the at least one passive fixation member, and wherein 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. The securing system of claim 118, further comprising a contact member configured to be disposed proximate a surface of the wheeled mobile device in a secured position, wherein the contact member includes a magnetorheological fluid filled bladder disposed at an engagement surface of the contact member; wherein the engagement surface comprises the at least one active fixation member and the magnetorheological fluid-filled bladder comprises the at least one passive fixation member, and wherein the processor is programmed to apply a magnetic field to the magnetorheological fluid-filled bladder in response to the abnormal condition.

122. The securing system of claim 118, further comprising a contact member configured to be disposed proximate a surface of the wheeled mobile device in a secured position, wherein the contact member includes an inflatable bladder disposed at an engagement face of the contact member; wherein the interface comprises the at least one active fixation member and the inflatable bladder comprises the at least one passive fixation member, and wherein the processor is programmed to inflate the inflatable bladder in response to the abnormal condition.

123. The securing system of claim 118, further comprising a contact member configured to be disposed proximate a surface of the wheeled mobile device in a secured position, wherein the contact member includes a gripping portion and at least one contour conforming member movable between a retracted position and an extended position; wherein the grip portion comprises the at least one active fixation member and the at least one contour conforming member comprises the at least one passive fixation member, and wherein the processor is programmed to move the at least one contour conforming member from the retracted position to the extended position in response to the abnormal condition.

124. The securing system of claim 118, further comprising a contact member configured to be disposed proximate a surface of the wheeled mobile device in a secured position, wherein the contact member includes a gripping portion and a plurality of contour conforming members movable between a retracted position and an extended position; wherein the grip portion comprises the at least one active fixation member and the plurality of contour conforming members comprises the at least one passive fixation member, and wherein the processor is programmed to lock the plurality of contour conforming members in the extended position in response to the abnormal condition.

125. The securing system according to claim 118, wherein the at least one passive securing member includes a contact member having a retracted position in which the contact member is at least proximate a floor of the vehicle and an extended position in which the contact member is positioned to engage an inward facing surface of a wheel of the wheeled mobile device; wherein the processor is programmed to move the contact member from the retracted position to the extended position in response to the exception condition.

126. A securing system adapted to secure a wheeled mobile device in a securing area during transport, the securing area having a seat movable between a use position and a retracted position, the securing system comprising a processor programmed to: receiving a first signal indicative of a presence of a wheeled mobile device; and transmitting a second signal in response to the first signal, the second signal causing the seat to move from the use position to the retracted position to clear the fixed area for the wheeled mobile device.

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

128. A securing system adapted to secure a wheeled mobile device during transport, the securing system comprising a processor programmed to: receiving a first signal indicative of a location of at least one of the wheeled mobile device and an occupant of the wheeled mobile device; determining whether the location is within a wheelchair securing area; and transmitting a second signal in response to the location being within the wheelchair securing area.

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

130. A securing system adapted to secure a wheeled mobile device during transport, the securing system comprising a processor programmed to: receiving a first signal indicative of a location of the vehicle; receiving a second signal indicative of a destination of the wheeled mobile device; transmitting a third signal that prevents the securing system from releasing the wheeled mobile device when the location is not the destination; and transmitting a fourth signal that allows the stationary system to release the wheeled mobile device when the location is the destination.

131. A securing system for a wheeled mobile device, the securing system comprising a contact member configured to be disposed proximate a surface of the wheeled mobile device in a secured position, wherein the contact member includes a first grip portion and a second grip portion; the first grip portion is configured to be substantially parallel and adjacent to a surface of the wheeled mobile device in the secured position; the second grip portion is pivotally attached to an end of the first grip portion and is hinged between a retracted position and an extended position; in the retracted position, the second grip portion is substantially parallel to the first grip portion; and, in the extended position, the second grip portion is at a non-parallel angle to the first grip portion.

132. A securing system for a wheeled mobile device, the securing system comprising a contact member configured to be disposed proximate a surface of the wheeled mobile device in a secured position, wherein the contact member includes a bladder disposed at an engagement surface of the contact member, wherein the bladder is filled with a magnetorheological fluid.

133. A securing system for a wheeled mobile device, the securing system comprising a contact member configured to be disposed proximate a surface of the wheeled mobile device in a secured position, wherein the contact member includes at least one contour conforming member pivotally attached to the contact member and configured to rotate from a retracted position to an extended position to conform to a contour of the surface of the wheeled mobile device.

134. A securing system for a wheeled mobile device, the securing system comprising a contact member configured to be disposed proximate a surface of the wheeled mobile device in a secured position, wherein the contact member comprises a wheeled mobile device engagement member configured to translate along a length of the contact member, the wheeled mobile device engagement member comprising a plurality of contour-conforming members movable between a retracted position and an extended position to conform to a contour of the wheeled mobile device.

135. A securing system for a wheeled mobile device, the securing system comprising a securing member disposed at a floor of the vehicle and having a retracted position and an extended position; in the retracted position, the contact member of the securing member is at least proximate to the floor of the vehicle; and, in the extended position, the contact member is positioned to engage an inward facing surface of a wheel of the wheeled mobile device.

Technical Field

Embodiments described and claimed herein relate generally to autonomous or semi-autonomous securing systems configured to secure wheeled mobile devices in vehicles, including but not limited to autonomous vehicles.

Background

Today, there are millions of wheeled mobile device ("WMD") users in the united states. Many users remain in their WMDs (e.g., wheelchairs, scooters, etc.) while riding and boarding private or public transportation vehicles. Systems have been developed and employed to secure WMD-restrained occupants (occupants). These systems typically consist of an occupant restraint device that includes at least one shoulder belt and one or more waist belts. These systems also incorporate some form of WMD securing device that may include one or more belts, bumpers, barriers, latches, and/or automated graspers. While these systems have proven successful in meeting occupant stability requirements and basic crash test requirements, their application is often cumbersome and time consuming. In order to use most prior art systems, another person (e.g., a vehicle operator) must assist in securing the wheelchair occupant and the wheelchair. With the advent of automated transportation vehicles (in which there may or may not be a vehicle operator), it is anticipated that there will be a need for stationary systems that are either autonomous in nature or may otherwise be applied by a wheelchair occupant without the assistance of another person. As the design of such autonomous stationary systems is complicated, it is expected that space in the autonomous vehicle will become scarce, and the wheelchair-securing area needs to be space efficient and can easily and quickly be converted into a seating area for the slow passengers. The advent of low speed automated transportation vehicles may also reduce or eliminate the need for occupant restraint devices because the likelihood of a collision event is extremely low and the energy involved in a collision is low. However, there remains a need for a WMD fixation system, and more particularly, a new simplified quick fixation system that seamlessly integrates WMD-constrained riders with the traffic experience provided by emerging autonomous mass transit vehicles.

Disclosure of Invention

The embodiments described and claimed herein are intended to meet these needs and address the shortcomings of prior art solutions.

Autonomous vehicles have limited interior space and encounter a range of maneuvers and events such as turns, stops, and potential obstacle avoidance (obstruction-avoidance). The typical impact forces in low speed environments do not warrant the need for high energy occupants and WMD immobilization of the type used in other forms of mass transit when an autonomous low speed mass transit vehicle is involved in a collision. However, a certain degree of fixation is still required to prevent the WMD from being moved disturbingly during normal maneuvers and potentially harmful movements during accidents. Some embodiments described and claimed herein are suitable for this purpose, while other embodiments may also be suitable for high-speed, space-constrained environments.

In one embodiment, an automated WMD securing system is provided to eliminate excessive deflection of WMDs and occupants while riding an autonomous mass transit vehicle. The system is integrated with the vehicle's internal structure and equipment to minimize potential obstructions to all occupants. When not in use, the automated WMD fixation system is fully stowed such that the autonomous mass transit vehicle can carry all of the slow-moving riders. When the WMD and occupant are properly positioned, an automated WMD fixation system may be deployed using a plurality of fixation members that may be configured to fix the WMD by compression. The securing member may take the form of a robust bumper or arm structure equipped with a powered actuating mechanism that allows automated movement and maintains a substantially constant force at a prescribed value or range of values. The portion of the fixing member designed to come into contact with the WMD may be provided with a flexible, traceless surface made of a high friction material formed as a strong grip pattern. The fixation members may be actuated simultaneously and may provide some or complete independent movement to accommodate the asymmetric positioning of the WMD. The securing member may be equipped with a lighted status indicator that informs all occupants of any movement and potential trip hazards or obstacles.

In some embodiments, the fixation member may be combined with a sensor and controller to automate the fixation process. The securing member and/or other components in the vehicle may be equipped with sensor points that communicate with the intelligent controller of the automated WMD securing system. These sensors may convey information such as the presence of obstacles, distance of objects, force, etc. The sensor may operate by one or a combination of: mechanical switches, current sensing, visible light, IR, RF, sonar, magnetic, inertial sensing, resistive, hall effect, inductive or capacitive, or other known sensor technologies. The WMD occupant and vehicle attendant interface (alone or in combination) may be located at the vehicle attendant site and/or near the WMD fixation location so that the automated WMD fixation system may be invoked to operate as desired. Additionally or alternatively, a microphone may be provided to receive voice instructions for processing and response by the controller. The fully autonomous function of the automated WMD fixing system may also be implemented solely through sensor input to increase safety and convenience.

The use of the automated WMD fixture may follow a prescribed sequence of events. First, the occupant in the WMD moves into the boarding position of a specified stop to ride on the autonomous public transportation vehicle. Second, the occupant or crew checks the occupant's physical space to ensure that no personal items or limbs are positioned next to the WMD from being caught by the automated WMD fixation system. Once the path of the securing member is ensured to be cleared, the occupant or attendant may issue a signal to activate the automated WMD securing system. As previously mentioned, this function may also be performed autonomously by the automated WMD fixture, if desired, such as based on input from sensors indicating the WMD and occupant position, size, type, etc.

In particular, the automated WMD fixture may confirm that the WMD is in the correct position and/or that the path of the fixture is cleared via input from a set of various sensors. When operating in a fully autonomous mode, the WMD fixture will be controlled by a processor that computes a decision sequence based on sensor inputs from various sources contained in the fixture and/or other external sources.

Whether manual or automatic, once the securing function is initiated, two or more solid securing members (which may take the form of gripper arms) may be deployed simultaneously or sequentially from a stowed configuration to a secure ready configuration and then moved to a mobile device securing location. The stationary member may be deployed to the stationary ready configuration before the mobile device enters a stationary area or after the mobile device has moved to a final position in the stationary area. Any movement performed by the automated fixation system may be monitored for force requirements and potential obstructions. In the event that a prescribed force limit is exceeded or an obstacle is identified, the unit will immediately reverse function and pause for a moment before retrying the prescribed movement. The unit may make multiple attempts, for example three attempts, before sounding an alarm that requires the occupant or crew to interact to clear. In the fixing stage, the fixing member may be in light contact with the wheel or the frame of the WMD. The occupant or crew may then perform a final check to ensure that there is no item between the WMD and the gripping structure of the automated WMD fixture. The occupant or attendant may then signal the automated WMD securing system to secure the WMD at a fully specified force. These steps may be done automatically, including when fully autonomous functions are used, so no occupant or crew input is required.

The stationary member may be equipped with a powered actuating mechanism that allows automated movement and maintains a generally constant force or a prescribed range of forces or variable forces depending on driving conditions or vehicle state (parking, reverse, driving, speed, acceleration along any axis, deceleration along any axis) when an automated stationary system is used. In the case where the WMD is deviated (e.g., determined according to a decrease in the grip force detected from the sensor output reflecting the current grip force), the automatic re-grip may be performed so as to rapidly regain the designated fixing force. The immobilisation system may be interlocked with the operation of the vehicle such that the occupant or crew member cannot issue a release signal until the vehicle is safely parked or parked, or until the vehicle ignition is turned off. The interlock function may also include a geo-location aspect that prevents release of the securing system until the vehicle reaches a location designated for alighting. In an emergency situation, the automated securing mechanism may be manually released when occupant movement is required.

In one embodiment, at least one fixation member has an expandable length, wherein the length of the fixation member can be selectively lengthened and shortened. The securing member may have at least one securing ready configuration and a stowed configuration. In each of the at least one fixed ready configuration, the fixed member has a fixed length. In the stowed configuration, the securing member has a stowed length. Each of the at least one fixed length is greater than the stowed length.

In some embodiments, the fixation member may include an expansion mechanism operable to lengthen and shorten the fixation member. The expansion mechanism may comprise 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.

The fixation member may include a base, an expansion region, and a gripping region. The expansion region may comprise the expansion mechanism and may be at least partially or fully coextensive with one or both of the base and the gripping region. The expansion region may further or alternatively be positioned between the base and the gripping region. In some embodiments, the expansion region may be located entirely between the base and the gripping region.

In the stowed configuration, the securing member may be integrated with any internal structure and/or equipment of the vehicle to minimize potential obstruction to all occupants and/or provide additional space for a slow passenger to sit. When not in use, the securing member may be partially, mostly or fully stowed so that the autonomous mass transit vehicle may carry all of the slow riders. In some embodiments, the securing member may be positioned partially or completely under a seat for a jogging passenger, with an end of the seat extending further into a floor area of the vehicle than an end of the securing member. The stowed length of the securing member may also be about equal to or less than the depth of the seat. When the securing member is used to secure a mobile device, the courier seat may be flipped up or otherwise stowed. In such a configuration, the underside of the jogging passenger seat may act as a backrest or a chair for the mobile device when placed in a fixed position in a mobile fixed area.

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 by compression and/or tension. In some embodiments, a plurality of movable securing members may be deployed for use and may be configured to secure the WMD by compression. For example, the securing members may be configured to engage and compress opposing faces of the mobile device or structures on the mobile device (e.g., left and right sides of the mobile device, or outer and inner surfaces of a single wheel). In other embodiments, a plurality of movable securing members may be deployed for use and may be configured to secure the WMD by tension. For example, the securing members may be configured to engage opposing inner surfaces of opposing wheels and push outward (away from each other). In other embodiments, more than two securing members may be deployed and may be configured to secure the WMD by one or both of compression and tension.

The securing member may take the form of a robust bumper or arm structure equipped with a powered actuating mechanism that allows automated movement and maintains a substantially constant force over a prescribed or allowed range of values. In other embodiments, the stationary member may exert a variable force on the mobile device to counteract acceleration and deceleration of the vehicle and prevent or reduce movement of the mobile device that might otherwise occur. The portion of the fixing member designed to come into contact with the WMD (the gripping area) may be provided with a flexible, traceless surface made of a high friction material formed into a strong grip pattern. The fixation members may be actuated simultaneously and may provide a degree of independent movement to accommodate the asymmetric positioning of the WMD. The securing member may be equipped with or associated with a lighted status indicator and/or speaker that informs all occupants of any movement and potential trip hazards or obstacles.

The grip function may be provided or further enhanced by one or more additional features. For example, the additional gripping member may be housed in a floor below the docking station (docking station), or may be housed in a shallow housing above the floor in the center of the docking station. These gripping members may be configured to be raised and deployed to contact the inside of the wheel of the WMD secured by the outer gripping member. The inner grasper may have details that promote positive fixation to the wheel, such as a high friction surface and a strong lug pattern that engages the WMD wheel surface and details. The inner grasper also provides a large amount of stabilizing and reactive force, which can achieve higher grasping force without causing damage to the WMD. In the event of a crash, extremely high crush loads may be applied to withstand loads in excess of 20 g as required by many regulatory standards. The extremely high compressive loads may be applied by stored spring forces, pneumatics, pyrotechnics, compressed gas containers, or other motive forces.

Alternatively, the grip fixation may be enhanced by adding a hinge on each outer gripping member. When the gripping member secures the WMD by pressing against the wheel, additional articulation allows the ends of the gripping member to rotate inward to grip the wheel and mechanically prevent the WMD from coming out during severe maneuvers or in the event of a collision.

Another way to achieve increased fixation may be to utilize an internal pouch within the outer (or inner) grip member. The bladder may remain deflated while stowed or during typical squeezing functions, and may rapidly inflate upon detection of a crash event or a brute force maneuver. The bladder expands and forces the grip into firm engagement with the WMD wheel surface and detail, thereby significantly improving fixation. The bladder may be filled with compressed air, pyrotechnic gas, or stored fluid.

The gripping member may contain a partially filled pouch to improve the capture safety of the system. The bladder may be filled with a magnetorheological fluid that flows easily when the arm is pressed against the WMD. Once the gripping surface is displaced, the magnetorheological fluid may be energized to create a rigid topography that interlocks with details on the surface of the WMD. Alternatively, the bladder may be filled with a non-newtonian fluid that will flow easily and conform to the shape of the WMD when the arm is pressed against the WMD, and then automatically create a rigid topography that interlocks with details on the surface of the WMD when subjected to sudden forces (e.g., during a vehicle accident). Alternatively, the pocket may contain filler material or small particles, such as balls made of styrofoam (or similar soft material) or rubber or a harder material, which may move relatively freely within the pocket and conform to the shape of the WMD when the arm is pressed against the WMD. A vacuum may then be applied to the bladder using, for example, a vacuum pump, which may prevent the filler material or small particles from moving freely within the bladder, whereby the bladder presents a rigid topography that interlocks with details on the surface of the WMD.

The WMD site on the vehicle may be monitored by a camera or other sensor connected to the smart signature recognition software. WMD fixtures may handle the situation autonomously and react with proper functionality to provide optimal rider experience and travel safety. Such functions may include identifying the presence and location of the WMD and the occupant, identifying the type of WMD, identifying the ideal point of contact for the fixation (typically driving the wheels), and avoiding sensitive surfaces and items such as mud guards, accessory bags, and the extremities of the occupant. If the WMD type or ideal contact point is identified (using RFID signals, QR codes, proximity sensors, lidar, pressure sensors on the floor, light beams, image recognition or other identification methods), this information may be used as input in the fixing process and the system will fix the WMD using fixed settings specific to the WMD type or ideal contact point. These settings may have different parameters such as force, position, monitoring and adjustment strategies (in case the chair needs to be re-fixed during the ride). For example, in the fixed member deployment stage, the fixed length may be set to a specific length that is preset and suitable for a plurality of WMD types, the fixed length may be determined or preset to be suitable for a specific WMD type, or the fixed length may be set such that the gripping area is approximately located at or near the ideal contact point when the fixed member is moved to the mobile device fixed position. From the encoded information in the RFID or QR code or barcode, or by identifying key distinguishing features with a camera, a database or look-up table may be built to identify various brands and models of WMDs. Once the WMD type is determined, a set of squeezing force criteria and/or fixed length criteria may be formulated to optimize the fixation for each application. A reliable default squeeze value and/or fixed length value may be used in the event that a particular brand or model is not identified and/or referenced in the database. The database may be built and maintained at a central location, where the latest version of the parameters for each WMD fixture may be downloaded during scheduled maintenance.

Other embodiments are contemplated within the claims that include some combinations of the features discussed above and below, as well as other features known in the art, even if not specifically identified and discussed herein.

Drawings

Figure 1 is a first perspective view of an autonomous vehicle incorporating a first embodiment of a wheeled mobile device securing system;

figure 2 is a second perspective view of an autonomous vehicle incorporating a first embodiment of a wheeled mobile device securing system with the roof peeled away;

figure 3 is a cross-sectional perspective view from the vehicle interior of an autonomous vehicle incorporating a first embodiment of a wheeled mobile device securing system;

figure 4 is a first perspective view of the grip member of the first embodiment of the wheeled mobile securing system showing the grip member in a first or stowed position;

figure 5 is a second perspective view of the grip member of the first embodiment of the wheeled mobile device securing system showing the grip member in a second or extended position;

figure 6 is a first perspective view of the grip member of the second embodiment of the wheeled mobile securing system showing the grip member in a first or stowed position;

figure 7 is a second perspective view of the grip member of the second embodiment of the wheeled mobile device securing system showing the grip member in a second or extended position;

figure 8 is a first perspective view of the grip member of the third embodiment of the wheeled mobile securing system showing the grip member in a first or stowed position;

figure 9 is a second perspective view of the grip member of the third embodiment of the wheeled mobile device securing system showing the grip member in a second or extended position;

figure 10 is a first perspective view of the grip member of the fourth embodiment of the wheeled mobile securing system showing the grip member in a first or stowed position;

figure 11 is a second perspective view of the grip member of the fourth embodiment of the wheeled mobile device securing system showing the grip member in a second or extended position;

figure 12 is a first perspective view of the grip member of the fifth embodiment of the wheeled mobile securing system showing the grip member in a first or stowed position;

figure 13 is a second perspective view of the grip member of the fifth embodiment of the wheeled mobile device binding system showing the grip member in a second or extended position;

figure 14 is a third perspective view of the grip member of the fifth embodiment of the wheeled mobile device securing system showing the grip member in a second or extended position and including a protective bellows;

figure 15 is a first perspective view of the grip member of the sixth embodiment of the wheeled mobile device securing system showing the grip member in an intermediate position between stowed and fully extended;

figure 16 is a second perspective view of the grip member of the sixth embodiment of the wheeled mobile device securing system showing the grip member in a fully extended position;

figure 17 is a first perspective view of the grip member of the seventh embodiment of the wheeled mobile device securing system showing the grip member in an intermediate position between stowed and fully extended;

figure 18 is a second perspective view of the grip member of the seventh embodiment of the wheeled mobile device binding system showing the grip member in a fully extended position;

figure 19 is a first perspective view of the grip member of the eighth embodiment of the wheeled mobile device securing system showing the grip member in a stowed position;

figure 20 is a second perspective view of the grip member of the eighth embodiment of the wheeled mobile device securing system showing the grip member in an extended position;

figure 21 is a perspective view of a grip member of a ninth embodiment of a wheeled mobile device securing system;

figure 22 is a perspective view of a grip member of a tenth embodiment of a wheeled mobile device securing system;

figure 23 is a perspective view of an eleventh embodiment of a wheeled mobile device securing system;

figure 24 is a first perspective view of the grip member of the twelfth embodiment of the wheeled mobile device securing system showing the grip member in a stowed position;

figure 25 is a second perspective view of the grip member of the twelfth embodiment of the wheeled mobile device securing system showing the grip member in an extended position;

figure 26 is a perspective view of a position sensor pad for sensing a wheeled mobile device secured by a thirteenth embodiment of a wheeled mobile device securing system;

figure 27 is a perspective view of a proximity sensor for detecting a wheeled mobile device secured by a fourteenth embodiment of a wheeled mobile device securing system;

figure 28 is a perspective view of a first infrared sensor array for sensing a wheeled mobile device secured by a fifteenth embodiment of a wheeled mobile device securing system;

figure 29 is a perspective view of a second infrared sensor array for sensing a wheeled mobile unit secured by a sixteenth embodiment of a wheeled mobile unit securing system;

FIG. 30 is a logic table that may be used during an automated fix and release sequence;

figure 31 is a perspective view of an alternative autonomous vehicle incorporating an alternative embodiment of a wheeled mobile device securing system;

figure 32 is a perspective view of an alternative embodiment of the wheeled mobile device securing system of figure 31;

figure 33 is a perspective view of another alternative autonomous vehicle incorporating another alternative embodiment of a wheeled mobile device securing system;

figure 34 is a perspective view of an alternative embodiment of the wheeled mobile device securing system of figure 33;

figure 35 is a perspective view of another alternative autonomous vehicle incorporating another alternative embodiment of a wheeled mobile device securing system;

figure 36 is a perspective view of an alternative embodiment of the wheeled mobile device securing system of figure 35;

FIG. 37 is a first perspective view of an alternative gripping member to that shown in FIGS. 15-16;

FIG. 38 is a second perspective view of the alternative gripping member shown in FIG. 37;

FIG. 39 is a perspective view of another alternative gripping member to the gripping member shown in FIGS. 15-16;

FIG. 40 is a perspective view of another alternative gripping member to the gripping member shown in FIGS. 15-16;

FIG. 41 is a plan view of a fixation system incorporating an angled engagement surface;

FIG. 42 is a perspective view of the fixation system of FIG. 41;

figures 43-46 are various perspective views of an engagement member incorporating a plurality of spring biased pins to engage various structures and contours on the sides of a wheeled mobility device;

FIG. 47 is a perspective view of a stationary member with an alternative embodiment of a gripping member designed to grip a hub on a wheeled mobile device;

figure 48 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 mobile device;

FIG. 49 depicts a safety system that provides additional squeeze and down force to the securing member;

figure 50 depicts ideal contact points in the fixation of a wheeled mobile device;

figure 51 depicts the wheeled mobility device secured in a lateral position;

FIG. 52 depicts an automatic lift seat;

figure 53 depicts various ways of identifying characteristics of a wheeled mobility device;

FIG. 54 depicts a bus with wireless communication capabilities;

55-57 depict various airbags that may be deployed under adverse driving conditions;

FIG. 58 depicts a fixation member mounted on a rod;

FIG. 59 depicts a computing device configured to perform various autonomous fixation methods described herein;

FIG. 60 is a perspective view of a lock that may be used with an engagement member that incorporates a plurality of movable pins to hold the pins in place;

FIG. 61 is a front view of the locking plate of the lock of FIG. 60;

fig. 62 is a first perspective view of yet another embodiment of a mobile device securing system positioned within an inching passenger seating area with the securing member in a stowed configuration and an inching passenger seat in a use position;

FIG. 63 is a second perspective view of the embodiment of FIG. 62 with the fixed member in the stowed configuration and the creep passenger seat in a non-use position;

figure 64 is a third perspective view of the embodiment of the fixed wheeled mobile device of figure 62 with the fixed member in the mobile device fixed position and the crawl passenger seat in a non-use position; and is

FIG. 65 is a schematic view of a pneumatically or hydraulically movable and lockable pin.

It should be understood that the drawings are not necessarily to scale and that the embodiments are sometimes illustrated by graphic symbols, phantom lines, diagrammatic representations and fragmentary views. In certain instances, details that are not necessary for an understanding of the embodiments described and claimed herein or that render other details difficult to perceive may have been omitted. It should be understood, of course, that the invention described herein is not necessarily limited to the particular embodiments shown. Indeed, it is contemplated that those skilled in the art may devise numerous alternative arrangements that are similar and equivalent to the embodiments shown and described herein without departing from the spirit and scope of the appended claims.

In the following detailed description of the drawings, the same reference numerals will be used to refer to the same or like parts.

Detailed Description

Figures 1-5 illustrate a first embodiment of a wheeled mobile device securing system 20 for securing a wheeled mobile device 42 in an autonomous vehicle 1. As shown, the autonomous vehicle 1 includes a door opening 2 along a first side of the vehicle 1, a central aisle or corridor 4, and a courier passenger seat 6 positioned along a perimeter of the vehicle 1. The seat 6 and the aisle 4 together define two generally U-shaped seating areas 8, 10 at opposite ends of the vehicle. As configured, the vehicle 1 may include one or both mobile device securing systems located in one or both of the U-shaped seating areas 8, 10. As depicted, the single-wheel mobility device immobilization system 20 is disposed in the seating area 8 in the autonomous vehicle 1, while a second similarly configured system may be disposed in the seating area 10.

The wheeled mobile device securing system 20 is positioned in a wheeled mobile device securing area 22 that occupies a portion or one end of the central aisle 4. The perimeter of the fixed area 22 includes 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 stationary, as shown in fig. 3). One or more of the rear side 26, right side 28, and left side 30 of the fixed area 22 abuts the courier passenger seat 6, which can be considered to include the modules 12, 14, 16, which can include a seating surface at the top surface. For the avoidance of doubt, the modules 12, 14, 16 on the right side 28, left side 30 and rear side 26, respectively, may be integrated into a single unit or provided as separate units. Further, although seats are shown, the modules 12, 14, 16 may or may not have seats at the top surface.

The wheeled mobile 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 central telescoping mechanism 36. Telescoping mechanism 36 may include two telescoping members 38, 40 that conceal, for example, a linear actuator having one end fixed to arm 32 and the other end fixed to arm 34. Telescoping mechanism 36 may be in close proximity, abutting, flush, or recessed within module 16. The telescoping mechanism may comprise overlapping or telescoping panels that are substantially flush with the forward facing surface of the module 16. As best shown in fig. 2, the telescoping mechanisms 36 may be considered integrated with the modules 16 and/or located generally below or directly below the slow moving passenger seat 6, whereby the telescoping mechanisms 36 do not create a trip hazard or obstruction in the aisle 4.

Telescoping member 36 is configured to move arms 32, 34 from a first or stowed position (fig. 1, 2, and 4) to a second or extended position (fig. 3 and 5). In the first position, the arms 32, 34 are in close proximity, abutting, flush, or recessed within the modules 12, 14. The modules 12, 14 may contain pockets or recessed areas that conform to the shape of the arms 32, 34, whereby the arms 32, 34 are substantially flush with the lateral surfaces of the modules 12, 14 when placed in the first position. As best shown in fig. 2, in the first position, the arms 32, 34 may be considered to be generally located below or directly below the slow moving passenger seat 6, whereby the arms 32, 34 do not create a trip hazard or obstruction in the aisle 4. In the second position, the arms 32, 34 are spaced from the modules 12, 14 to engage the wheeled mobility device. In the first position, the arms 32, 34 are spaced apart by a distance D₁. In the second position, the arms 32, 24 are spaced apart by a distance D₂. Distance D₁Greater than D₂Whereby the wheeled mobile 42 is fixed in the vehicle 1 at least by compression.

Although depicted in the first embodiment as arms 32, 34 separated by a telescoping mechanism 36, the gripping member may take a variety of forms and may be powered using a variety of different mechanisms. In all embodiments, the gripping members and associated mechanisms are contained entirely or at least mostly within the modules 12, 14, 16 or floor or other structure of the vehicle in their first or stowed positions and outside of the aisle 4, whereby the gripping members and associated mechanisms do not cause a trip hazard or obstruction in the aisle 4. Alternatively, the gripping member and associated mechanism are positioned substantially entirely or at least mostly directly beneath or directly beneath the buffer passenger seat 6 in its first position and outside the aisle 4, whereby the gripping member and associated mechanism do not cause a trip hazard or obstruction in the aisle 4.

Additional embodiments of telescoping mechanisms 1736, 1836, 1936 are depicted in fig. 31-36. Specifically, in fig. 31-32, the wheeled mobile device securing system 1720 is provided as a plug-in system wherein both the telescoping mechanism 1736 and the gripping members 1732, 1734 fit within one or more pockets or undercuts or recessed areas 1740 in the seat modules 1712, 1714, 1716 (formed as separate modules or as a single module). In this regard, the system 1720 is disposed mostly or entirely outside of the floor area and below the seating surface of the modules 1712, 1714, 1716 when placed in the stowed configuration and does not create a trip hazard or obstruction in the aisle 4.

In fig. 33-36, wheeled mobile device securing systems 1820, 1920 include telescoping mechanisms 1836, 1936 disposed mostly or entirely below or flush with the vehicle floor. In system 1820, a telescoping mechanism 1836 is disposed at the rear end of the grasping members 1832, 1834, whereby the telescoping mechanism 1836 will also be disposed below the rear seat module 1816. In system 1920, telescoping mechanism 1936 may be positioned anywhere along the length of grip members 1832, 1834, including the center as shown. The floor of the vehicle would need to include a channel 1850 that allows the grip members 1832, 1834 to move toward each other. In both systems 1820, 1920, the modules 1812, 1814, 1912, 1914 and possibly modules 1816, 1916 will contain one or more pockets or undercuts or recessed areas 1840, 1940 for receiving the grip members 1832, 1834, 1932, 1934 when placed in their stowed positions.

In other embodiments, the gripping member may be rotatable between a first position and a second position. More specifically, in the second embodiment shown in fig. 6-7, the gripping member takes the form of wings 232, 234 having shifter engagement portions 236, 238 at their lower ends and pivots 240, 242 at their upper ends. The pivot axes 240, 242 are generally horizontally and aligned in the longitudinal direction, generally parallel to the right side 28 and the left side 30 of the fixed area 22. The wings 232, 234 may be connected to the modules 12, 14 at pivots 240, 242, respectively. Alternatively, one or both of the wings 232, 234 may be connected to the module 16 at one end of the pivots 240, 242. The gripping members include one or more rotational mechanisms that may be positioned in close proximity to, adjacent to, flush with, or recessed within the modules 12, 14, 16. The rotation mechanism may comprise one or more rotary or linear actuators coupled to the pivots 240, 242 for moving between a first or stowed position and a second or extended positionAnd intermediate moving wings 232, 234. In the case of a separate linear actuator, each engagement member 236, 238 may be operated independently, for example, in a manner that can better accommodate off-center placement of the wheeled mobility device in a fixed area. In the first position (fig. 6), the wings 232, 234 are positioned generally vertically, or are angled slightly away from each other, whereby the wings 232, 234 are in close proximity, abut, flush, or recessed within the modules 12, 14. In the second position (fig. 7), the wings 232, 234 are angled toward one another, whereby the engagement portions 236, 238 are spaced from the modules 12, 14 for engagement with the wheeled mobility device 42. In the first position, the engagement portions 236, 238 are spaced apart by a distance D₃. In the second position, the engagement portions 236, 238 are spaced apart by a distance D₄. Distance D₃Greater than D₄Whereby the wheeled mobile 42 is fixed in the vehicle 1 at least by compression.

In a third embodiment shown in fig. 8-9, the gripping member takes the form of wings 332, 334 having mobile device engaging portions 336, 338 at their upper ends and pivots 340, 342 at their lower ends. The pivots 340, 342 are generally horizontally and aligned in a longitudinal direction, generally parallel to the right side 28 and the left side 30 of the fixed area 22. The wings 332, 334 may be connected to the modules 12, 14 at 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 swivel mechanisms that may be positioned in close proximity to, adjacent to, flush with, or recessed within the modules 12, 14, 16 and/or the vehicle floor. The rotation mechanism may include one or more rotary or linear actuators coupled to the pivots 340, 342 for moving the wings 332, 334 between the first or stowed position and the second or extended position. In the case of a separate linear actuator, each engagement member 436, 438 may operate independently, e.g., in a manner that can better accommodate off-center placement of the wheeled mobile device in a fixed area. In the first position (FIG. 8), the wings 332, 334 are positioned generally vertically, or are angled slightly away from each other, whereby the wings 332, 334 are in close proximity, abut, flush, or recessed into the moldWithin the blocks 12, 14. In the second position (fig. 9), the wings 332, 334 are angled toward one another, whereby the engagement portions 336, 338 are spaced from the modules 12, 14 to engage the wheeled mobility device 42. In the first position, the engagement portions 336, 338 are spaced apart by a distance D₅. In the second position, the engagement portions 336, 338 are spaced apart by a distance D₆. Distance D₅Greater than D₆Whereby the wheeled mobile 42 is fixed in the vehicle 1 at least by compression.

In a fourth embodiment, shown in fig. 10-11, the gripping member takes the form of a four-bar linkage 432, 434. The four-bar links 432, 434 include mobile device engagement portions 436, 438 connected to base members 440, 442 by pivot members 444, 446, 448, 450, whereby the pivot members 444, 446, 448, 450 provide offset pivots for the engagement portions 436, 438. Pivot members 444, 446 interconnect the engagement members 436, 438 to the base members 440, 442 at first ends of the four-bar links 432, 434, while pivot members 448, 450 interconnect the engagement members 436, 438 to the base members 440, 442 at second ends of the four-bar links 432, 434. Pivot members 444, 446, 448, 450 rotate about generally vertically aligned pivots. 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 swivel mechanisms that may be positioned in close proximity to, adjacent to, flush with, or recessed within the modules 12, 14, 16, or within the vehicle floor. The rotation mechanism may comprise one or more rotary or linear actuators coupled to one or more pivots of the pivot members 444, 446, 448, 450 for moving the four-bar links 432, 434 between the first or stowed position and the second or extended position. In the case of a separate actuator, each engagement member 436, 438 may operate independently, e.g., in a manner that can better accommodate off-center placement of the wheeled mobile device in a fixed area. In the first position (fig. 10), the four-bar linkages 432, 434 are positioned in close proximity to, abutting, flush with, or recessed within the modules 12, 14, whereby the engagement members 436, 438 are positioned generally above the base members 440, 442. In the second position (fig. 11), the engagement member436. 438 are spaced from the modules 12, 14 for engagement with the wheeled mobility assembly 42 whereby the engagement members 436, 438 are laterally spaced from the base members 440, 442. In the first position, the engagement portions 436, 438 are spaced apart by a distance D₇. In the second position, the engagement portions 436, 438 are spaced apart by a distance D₈. Distance D₇Greater than D₈Whereby the wheeled mobile 42 is fixed in the vehicle 1 at least by compression.

While the first through fourth embodiments use a telescoping or pivoting mechanism to move the gripping member between the first and second positions, additional embodiments may use an expansion mechanism. For example, in the fifth embodiment shown in fig. 12-14, the gripping members take the form of scissor members 532, 534. Scissor members 532, 534 include mobile device engagement portions 536, 538 connected to base members 540, 542 by 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 in close proximity to, abutting, flush with, or recessed within the modules 12, 14. The scissor mechanisms 544, 546 may include, for example, common or separate linear actuators that move the scissor members 532, 534 between a first or stowed position and a second or extended position. In the case of a separate linear actuator, each engagement member 536, 538 may be operated independently, for example, in a manner that can better accommodate off-center placement of the wheeled mobility device in a fixed area. In the first position (fig. 12), the scissor members 532, 534 are positioned in close proximity to, abutting, flush with, or recessed within the modules 12, 14, whereby the engagement members 536, 538 are flattened and adjacent to or embedded in 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 mobility device 42, whereby 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 by a distance D₉. In the second position, the engagement portions 536, 538 are spaced apart by a distance D₁₀. Distance D₉Greater than D₁₀Whereby the wheeled mobile 42 is fixed in the vehicle 1 at least by compression. As in the other embodiments, the engagement portion 536,538 may be configured to move forward and backward in a longitudinal direction, or pivot about a vertical or horizontal axis, or change profile along its length to conform to the profile of the WMD. As shown in fig. 14, the scissor mechanisms 544, 546 may also be provided with protective bellows 548, 550 for protecting a user of the wheeled mobility device 42 and a jogging passenger in the vehicle 1. As an alternative to the fifth embodiment scissor mechanisms 544, 546, 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.

In yet another embodiment, fig. 62-64 illustrate a first embodiment of a mobile device securing system 2700 for securing a wheeled mobile device 2650 in a vehicle 2610. The mobile device securing system 2700 may be integrated into a jogging passenger seating region 2620 that is positioned anywhere in the vehicle 2610, including along the perimeter of the vehicle 2610, as shown. The seating area 2620 may contain one or more seats 2622 and/or seat backs 2624. The seat 2622 is movable between a use position, shown in fig. 62, for seating a buffer passenger to a non-use position, shown in fig. 63. In the non-use position, the positioning of the seat 2622 does not interfere with the additional area where the mobile device is secured. The seat 2622 may be pivoted about a horizontal axis 2626 to an upward position or a downward position as shown. A pivot about horizontal axis 2626 is not necessary; any other shaft, pivot, or slide or other movement mechanism may be used to effect movement of seat 2622 into the out-of-the-way, non-use position. The underside of the seat 2622 may provide a back rest for the mobile device when secured by the securing system 2700.

The mobile device fixation system 2700 includes at least one (and preferably two) fixation members 2710, 2712 for fixing the mobile device 2650. The securing members 2710, 2712 are configured to move from a stowed configuration, as shown in fig. 62-63, to a secure ready configuration, and then to a mobile device securing position, as shown in fig. 64. In the secure ready configuration, the length of the securing members 2710, 2712 has been expanded (compare the length in fig. 62 to the length in fig. 64), whereby the securing members 2710, 2712 are no longer received under the seat 2622 and have extended into the mobile device securing region of the floor area to engage/secure the mobile device 2650. In the mobile device securing position, the fixed members 2710, 2712 may have moved laterally along axis 2726, closer together (as shown in fig. 64) in the case of securing the mobile device 2650 by compression, or further apart in the case of securing the mobile device 2650 by tension.

The fixation members 2710, 2712 may include bases 2714, 2716, expansion regions 2718, 2720, and gripping regions 2722, 2724. The securing members 2710, 2712 may be supported (i.e., secured to the vehicle) at the bases 2714, 2716. In this embodiment, fixation system 2700 includes a central housing 2702 that includes a movement mechanism (internal, not shown) that exerts a force on bases 2714, 2716 to move fixation members 2710, 2712 toward and away from each other (e.g., laterally) along axis 2726. The moving mechanism may comprise 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.

The expansion regions 2718, 2720 may incorporate an expansion mechanism (internal, not shown) and may be at least partially or fully coextensive with one or both of the base 2714, 2716 and the gripping regions 2722, 2724. The expansion regions 2718, 2720 may further or alternatively be positioned between the bases 2714, 2716 and the gripping regions 2722, 2724. In some embodiments, the expansion regions 2718, 2720 may be located entirely between the bases 2714, 2716 and the gripping regions 2722, 2724. The expansion mechanism is operable to lengthen and shorten the fixation members 2718, 2720 along the shaft 2728. The axis 2728 may be transverse to the axis 2726. The expansion mechanism may comprise 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.

The gripping regions 2722, 2724 of the fixing members 2710, 2712 are designed for contact with the moving device 2650 and may be provided with a flexible, traceless surface made of a high friction material formed into a strong grip pattern. As shown in fig. 3, the gripping regions 2722, 2724 engage wheels of the mobile device 2650, although in some embodiments or for some types of mobile devices, it may be preferable for the gripping regions 2722, 2724 to engage different or larger wheels or some other structure on the wheeled mobile device.

In some embodiments, the length of the fixed members 2710, 2712 in the fixed-ready configuration (referred to herein as the fixed length) may be predetermined to be compatible with a large subset of widely used mobile devices. In other embodiments, the fixed length may be customized by the user (vehicle operator, mobile device owner) as appropriate. In still other embodiments, the fixation system 2700 may include various processors, controllers, and sensors to determine the ideal contact points on the mobile device for the gripping regions 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 from which the controller may identify the ideal point of contact. The optical sensor may be disposed in one or both of the gripping regions 2722, 2724 of the fixation members 2710, 2712. In another such embodiment, a signal indicative of the position of one or more wheels of the mobile device may be provided using an array of pressure sensitive floor tiles or pressure sensitive strips or pads, and the controller may set a fixed length based on the signal such that the gripping regions 2722, 2724 are positioned substantially close to one of those wheels. The controller may be programmed to set a fixed length such that the gripping regions 2722, 2724 are located generally close to the larger wheel. In even yet other embodiments, the fixation system 2700 may include various processors, controllers, and sensors to determine a general mobile device type or model and set one or more of various parameters, such as fixation length, force, etc., that are deemed desirable for that device type or model. In one such embodiment, a sensor for reading an RFID tag on a mobile device may be provided, where the RFID tag identifies the mobile device type or model, or one or more preferred parameters of the mobile device (e.g., fixed length, force, or other parameters).

Any of the foregoing embodiments of the mobile device securing system may be enhanced by features that enhance the gripping function of the gripping member. For example, as shown in fig. 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. When the engagement member 636 is moved to the second position, the primary grip portion 638 engages the side of the wheeled mobility device 42 (fig. 15). Subsequently, the auxiliary grip portion 640 can be rotated 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 42, e.g., a front surface of a wheel of the wheeled mobile 42. In this position, the auxiliary grip portion 640 is in firm contact with the wheeled mobility device 42 and improves the safety of its capture. Any number of actuators or similar structures may be used to move the assist grip portion 640 between the stowed position and the hinged position, such as a rotary or linear actuator. It is contemplated that the auxiliary grip portion 640 may be used during normal operation, or may be quickly moved into position during an accident by spring force, pneumatics, pyrotechnics, compressed gas containers, or other motive forces.

Other embodiments having both a primary grip portion and a secondary grip portion are shown in fig. 37-40. In fig. 37-38, the end of the gripping member 2036 contains a retractable peg 2040 that pops open and power returns to grip a portion of the wheeled mobile device, such as the front surface of the wheel shown in fig. 38, after the gripping member 2036 has been moved into contact with the side of the wheeled mobile device. Any number of actuators or other mechanisms may be used to move the peg 2040 between the various positions. In fig. 39-40, the grip member 2136 may extend along its length and include a fixation peg 2140 at its end. The grip members 2136 will be placed in an extended state (long) prior to engaging the wheeled mobility device. After the grip members 2136 are placed into engagement with one side of the wheeled mobile device, the grip members will move to a retracted position (short) whereby the peg will grip a forward facing structure on the wheeled mobile device, such as the front of the wheel as shown in fig. 40. Any number of mechanisms may be used, such as a telescoping mechanism with a linear actuator, to extend and shorten the gripping member 2136.

Similar effects as with the primary and secondary grip portions can be achieved with grip members 2236 having inwardly angled engagement surfaces 2240, as shown in fig. 41-42. For example, a first portion of the engagement surface 2240 may be farther (i.e., distance D) than a second portion of the engagement surface 2240₁₁>Distance D₁₂) Wherein the first portion is disposed rearward of the second portion. With this configuration, in the case where the wheel moving apparatus moves forward, the catching force on the side of the wheel moving apparatus will increase.

In another embodiment, the gripping member may be provided with a pressure bladder to improve the capture safety of the device. For example, as shown in fig. 17-18, each gripping member may take the form of a wheeled mobility device engagement member 736 that includes 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 gripping. The pressure bladder, when inflated, enhances engagement between the contours on the engagement surface and various features (e.g., spokes) on the wheeled mobile device. The bladder system may use an incompressible fluid that provides faster inflation and better fixation than a compressible fluid. It is contemplated that the pressure bladder 738 may be used during normal operation, or may be rapidly inflated during an accident by pneumatic, pyrotechnic, compressed gas containers, or other motive force. In an alternative embodiment, the face 740 of the engagement member 736 may be flat when the bladder 738 is deflated, whereby the bladder 738 forms a contoured feature 742 when inflated.

In yet another embodiment, the grip member may be provided with a "phase change" pocket to improve the capture safety of the wheeled mobile device. For example, as shown in fig. 19-20, the grip members 836 may each have a pocket 838 at the engagement surface 840. The bladder 838 may initially be flexible and/or conformable and/or change shape when the arms are pressed against the sides of the wheeled mobility device, as shown in fig. 20. Once the engagement surface 840 is displaced around various contours on the sides of the wheeled mobile device, the "phase" of the bladder may be changed to stiffen the shape and/or leave the shape out of conformity and/or fix the shape, thereby creating a rigid topography to interlock the bladder 838 with details on the surface of the wheeled mobile device 42.

A "phase change" bladder may include a "smart fluid" having a first state in which the fluid is allowed to move or flow freely, and the bladder may change shape to match the shape or side profile of the wheeled mobile device surface. A "smart fluid" may also have a second state in which the fluid is prevented from moving freely and behaves like a more viscous fluid or viscoelastic solid, and in some cases like a solid. In the second state, the fluid-filled bladder may be considered to be "locked" into engagement with the peaks and valleys of the side profile of the wheeled mobile device surface. The fluid may be changed from the first state to the second state by a trigger. As one example, the bladder 838 may be filled with a magnetorheological fluid that will readily flow when the arms are pressed against the sides of the wheeled mobility device 42, as shown in fig. 20. Once the engagement surface 840 is displaced around various contours on the sides of the wheeled mobile 42, the magnetorheological fluid may be activated (specifically, energized) to create a rigid topography that interlocks with details on the surface of the wheeled mobile 42. It is contemplated that the magnetorheological fluid may be energized during normal operation, or may be energized quickly after an accident is detected. It is well known that magnetorheological fluids contain micron-sized magnetic (e.g., iron) particles in a carrier fluid (e.g., mineral oil, synthetic oil, water, or glycol) that contain a substance that prevents the iron particles from settling. When a magnetic field is applied to the fluid, the magnetic particles align into a fibrous structure, generally perpendicular to the direction of the magnetic flux. This limits the movement of the fluid (e.g., increases viscosity) in proportion to the power and strength of the magnetic field.

Other "phase change" or "smart" materials or fluids may be used in place of the magnetorheological fluid, such as: an electrorheological fluid whose flow resistance can be changed by an applied electric field; a non-newtonian fluid having shear thickening properties resulting from the application of an acute force; a sealed bag/pouch containing beads in a pellet or generally spherical shape (or other structure, bead or particle of any compatible shape, size and material, including but not limited to polystyrene spheres or polystyrene foam), which can be evacuated using a vacuum, which will cause the particles to collectively form a generally rigid structure that generally matches or corresponds to the side profile of the WMD.

It is contemplated that similar smart material filled pouches may be used for the back rest and/or head rest of the wheeled mobile device, whereby the back rest and head rest may be conformed around the wheeled mobile device base and/or back of the seat frame and/or the occupant's hindbrain scoop.

In still other embodiments, the gripping members may incorporate various contours, knobs, paddles, fingers, and other graspers or extremities to improve the capture safety of the wheeled mobility device. For example, as disclosed in U.S. patent application publication No. 2010-0086375 (which is incorporated herein by reference), the gripper arms may contain fingers that carry a plurality of springs that interlock with details on the wheeled movement device to improve securement. The spring may be provided in the form of a leaf spring, a helical spring or other memory means urging a matrix of engaging pins guided by a rigid block, e.g. drilled with a holder. For example, as shown in fig. 43-46, the gripper member 2336 may include a guide block 2350, a plurality of pins 2352, and a spring plate or mat 2354. The guide block 2350 is provided with 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 face 2340 of the gripper member 2336, while the other end of the pin 2352 rests against a corresponding spring finger 2358 on the spring plate 2354. The pin 2352 may be covered by a molded flexible surface film comprised of a rubber fabric or other suitable material to protect the wheeled mobile device. Block 2350 may be formed of plastic or other suitable material. The pin 2352 may be formed from 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 biased, but may each be moved between the retracted and extended positions by a solenoid or linear actuator or other movement mechanism. In this regard, the pin 2352 will be selectively locked in either the retracted position or the extended position depending on the state of the solenoid or other moving mechanism.

In some embodiments, the gripper member 2336 can be provided with one or more "locks" for the plurality of pins 2352 to hold one, some, most, or all of the pins 2352 in place after the plurality of pins interlock with details on the contact surface of the wheeled movement device. In this regard, the gripper member 2336 with pins 2352 will function in a similar manner as the smart material filled pouches described above. More specifically, the gripper member 2336 can have a first state in which the pins 2352 are spring loaded outward and will move inward when the gripper member 2336 and the wheel movement device are urged into contact. With the displaceable pin 2352, the gripper members are conformable and/or will change shape to substantially match the shape of various contours on the sides of the wheeled mobile device. When the one or more locks are engaged, the one or more pins will be fixed in place. In this regard, the engagement surface of the gripper members 2336 will "harden" or become non-conforming or a fixed shape, thereby creating a rigid topography to interlock the gripper members 2336 with details on the surface of the wheeled mobility device. The gripper members 2336 can be considered to be "locked" into engagement with the peaks and valleys of the side profile of the wheeled mobile device surface. The lock is not limited to a spring biased pin and may be incorporated into the solenoid or other moving mechanism embodiments described above.

The lock may take the form of a brake, including but not limited to a friction brake that is moved into frictional engagement with the pin by a solenoid, linear actuator, or other moving mechanism. In another embodiment, as shown in fig. 60-61, the lock takes the form of a sliding lock plate 2370 having a plurality of holes 2372 that each receive a pin 2352. Depending on the configuration of the aperture 2372, the lock plate 2370 may be configured to slide laterally between an unlocked position (where the pin 2352 is free to move into and out of the aperture 2372) and a locked position (where the pin 2352 is not free to move into and out of the aperture) as shown. The base of the pin 2352 can include a plurality of slots 2360 along the length of the pin 2352 that are configured to receive edges of the holes 2372 of the lock plate 2370. In this regard, the lock plate 2370 may lock the plurality of extended pins 2352 to retract to varying degrees, as shown in fig. 60. In the illustrated embodiment, the base of the pin includes a reduced diameter shaft 2362 having a plurality of cylindrical fins 2364 of increasing diameter along its length that are 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 holes 2372 in the lock plate 2370 are defined by a first circular hole 2374 having a diameter equal to or slightly larger than the increased diameter of the fins 2364 and a second circular hole 2376 having a diameter equal to or slightly larger than the decreased diameter of the shaft 2362. The first circular aperture 2374 and the second circular aperture 2376 overlap, whereby the lock plate may have an unlocked position (where the pin 2352 is centered on the first circular aperture 2374) and a locked position (where the pin 2352 is centered on the second circular aperture 2376).

In another embodiment, the locking and biasing forces for the pin may be provided pneumatically or hydraulically. For example, as shown in fig. 65, each of the pins 2852 may be located at an extreme position in the cylinder 2860 between the fully retracted position a and the fully extended position C, and may be movable along the length of the cylinder. Means for pressurizing and/or evacuating the cylinder 2860 may be provided to provide outward biasing of the pin 2852 and/or to retract the pin 2852. More specifically, the plurality of pins 2852 may have a fully retracted position a (a stowed position that may eliminate obstructions as the wheeled mobile enters a wheelchair securing area), which may be accomplished by exhausting fluid or gas from the cylinders 2860, and may have a fully extended position C by pressurizing the cylinders 2860 with fluid or gas. Some or all of the pins 2852 may encounter an obstacle (e.g., a side of the wheeled mobile device) and may only reach the partially extended position B, whereby the plurality of pins 2852 will match or correspond to the side profile of the wheeled mobile device. Once the plurality of pins 2852 conform to the contours of the wheeled mobile device, the cylinders 2860 may be isolated, either individually or collectively, from the pressure source 2870 by one or more valves 2880 or restrictors, which may lock the pins 2852 in place.

In another embodiment, as shown in fig. 21, the grasping members 936 may comprise one or more hinged contour-conforming members, such as paddles 940, that may move laterally and/or rotate to engage the chair geometry. Paddle 940 may be disposed at any location on grip member 936, including at any point around the perimeter, or on the chair-engaging surface of grip member 936. Paddle 940 may protrude in the stowed position, may retract behind a plane defined by the engaging surface of the grip member, or may be recessed within grip member 936 in the stowed position. The paddle 940 may take any shape and may be provided with various actuators or other mechanisms to effect movement. In the alternative, paddle 940 may be passive in nature and biased in the extended position using a spring. It is contemplated that paddle 940 may be used during normal operation or may be moved quickly into position during an accident by spring force, pneumatics, pyrotechnics, compressed gas containers, or other motive force.

In another embodiment, as shown in fig. 22, a grip member 1036 may be provided with a wheel mover engaging member 1040 movable along the length of the grip member in a longitudinal direction in a rail or channel 1044 and configured with one or more contour following members to grip a portion of a wheel mover. As shown, the engagement member 1040 includes a plurality of fingers 1042 extending in a radial direction for grasping a wheel structure (e.g., a hub) on a wheeled mobile device. Each of the fingers 1042 may have one or more segments separated by joints or knuckles to allow the fingers 1042 to wrap around a wheel structure. Movement of the engagement member 1040 may be accomplished using a variety of actuators or other mechanisms. Various intelligent sensor technologies such as optical sensors, video analytics, or RFID tags may be used alone or in combination with artificial intelligence to identify wheeled mobile devices and/or to locate wheels. An alternative embodiment of a gripping member 2436 having a wheeled mobile device engagement member 2440 is depicted in fig. 47. The 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 grip the hub center of the wheel.

In still other embodiments, shown in fig. 23, the wheeled mobility 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 mobility device. The arms 1136, 1138 may contain one or more segments, each segment separated by a joint 1140, 1142 that allows rotation about one or more axes. The arms may also contain telescoping sections or other length-modifying structures that allow the length of each arm to be lengthened or shortened. Various smart sensor technologies such as optical sensors, video analytics or RFID tags may be used alone or in combination with artificial intelligence to identify the chair or its configuration so that the arm may be directed from the stowed position to the appropriate fixed position, as shown. One or more of the arms may include structures designed to grip various structures on the wheeled mobility device, such as the frame member, designated connection points, or wheel hubs, as the engagement members 1040 and 2440 grip the wheel hubs (as shown in fig. 22 and 47), or as the grip 2640 is capable of gripping the frame member and designated connection points (as shown in fig. 48). It is contemplated that the engagement members 1040 and 2440 may be used during normal operation, or may be moved into position quickly during an accident by spring force, pneumatics, pyrotechnics, compressed gas containers, or other motive force.

In still other embodiments, the securement provided by the grip members of fig. 1-23 and 31-47 may be replaced or supplemented by the use of the grip members 1236, 1238 shown in fig. 24-25, which may be stowed flush or very low-profile in the vehicle floor. The grasping members 1236, 1238 are configured to move from a stowed position to an engaged position where they are in firm contact with the wheeled mobility device 42 and are prevented from moving by frictional engagement. For example, the gripping members 1236, 1238 may be provided with various actuators or other movement mechanisms (e.g., four-bar mechanisms) that cause the gripping members 1236, 1238 to be deployed in an upward and outward direction until it is in firm contact with an inboard edge of the wheels of the wheeled mobility device 42 or other inwardly directed face of the wheeled mobility device 42. The gripping members 1236, 1238 remain low to avoid interference with the underside of the wheeled mobility device 42 and to stabilize the wheels near the floor. When combined with the grip members of fig. 1-23 (which engage the outer surface of the wheeled mobility device), the grip members 1236, 1238 provide a stabilizing force and a reaction force to the outer grip members. The stabilizing and reactive forces provided by the gripping members 1236, 1238 may allow the outer gripping members to squeeze at higher force levels without causing damage to the wheeled mobility device. It is contemplated that the auxiliary gripping members 1236, 1238 may be used during normal operation, or may be quickly moved into position during an accident by spring force, pneumatics, pyrotechnics, compressed gas containers, or other motive forces.

To further improve the safety of the capture of the wheeled mobile, various combinations of sensors (including the sensors described above) may be provided to determine the precise location of the wheeled mobile in the vehicle, the model or type of the wheeled mobile, the individual weights and total weight of the wheeled mobile and the passenger, and whether the wheeled mobile is moving or stationary. Movement of the wheeled mobile during transport may also be monitored and an alert may be provided to, for example, a vehicle operator if excessive movement is detected or if any other fault in the wheeled mobile securing system is detected. For example, as shown in fig. 26, a position sensor pad 1300 may be provided to determine when a wheeled mobile station is occupied by a wheeled mobile, the location of the wheeled mobile in the station, the combined weight of the wheeled mobile and the passenger, whether the wheeled mobile is stationary or moving, and whether the wheeled mobile is in a properly secured position. Based on, for example, wheel numbers and positions 1302, 1304, 1306, 1308, sensor mat 1300 may provide data indicating the type of item in the station. Notably, pad 1300 can take the form of a single unitary pressure sensitive sheet or an array of pressure sensitive strips or dots.

In another embodiment, the grip members 1436, 1438 or other structure in the vehicle may be provided with one or more proximity sensors 1440, 1442 to sense the presence and detect the location of various surfaces on the wheeled mobile device. When present on the gripping members 1436, 1438, as shown in fig. 27, the gripping members 1436, 1238 may react to grip the wheeled mobility device or avoid contact with an obstacle item when the sensors 1440, 1442 sense the presence of the item.

In still other embodiments, shown in fig. 28-29, the gripping members 1536, 1538, 1636, 1638 or other structure in the vehicle may be provided with one or more infrared light beam transmitters and receivers to sense the presence and detect the location of the wheeled mobile device, wherein the transmitter would be located on one of the gripping members and the corresponding receiver would be located on the opposite gripping member. The infrared light beam transmitters may be provided in an array 1540 extending in a vertical direction, an array 1640 extending in a longitudinal direction, an array (not shown) extending in a lateral direction (e.g., one or more of the transmitters or receivers may be located at the rear of the station between the members 1536, 1538, e.g., on the back rest), or an array combination thereof. The infrared beam transmitters may be configured and positioned to identify the location of the front, rear, and sides of the wheeled mobile device.

The proximity sensors 1440, 1442 and IR arrays 1540, 1640 may also be used to determine the side profile of the wheeled mobile device, which can then be used to prepare the fixed surface of the fixed member so that the shape of the fixed surface matches the side profile of the wheeled mobile device. This may be accomplished by using a plurality of expansion members (e.g., inflatable bellows) positioned along the length of the fixation member, or by using a fixation member having a plurality of segments that may move relative to each other, laterally or rotationally, or both.

As shown in fig. 49, the securing member may be provided with various quick-acting means, such as spring force, pneumatic, pyrotechnic, compressed gas reservoir or other motive force, which cause the securing member to provide additional compressive and/or downward rotational force to improve WMD fixation under adverse driving conditions, such as during long dwell maneuvering loads, such as seen when a bus bypasses a traffic circle or drives quickly into a ramp on a highway. Higher additional forces, even those that may cause damage to the wheeled mobile device, may be applied during a crash event as a means of improving robustness and safety during a crash.

As shown in fig. 50, in one embodiment, there may be three primary contact points: (A) floor plane contact; (B) back contact; and (X) an adjustable third point fixation. To prevent tipping, point X may be located above the wheel axis and the ends of the securing members may be provided with appendages that fold over the top of the wheel. In any event, the autonomous system may use information obtained from various sensors indicating the type, configuration, location, and weight of the wheeled mobile device and/or occupant to be secured: (1) positioning the position of ideal fixed member contact on the wheel type mobile device; and (2) guide the movement of the fixation member to that position.

As shown in fig. 51, the fixation member may contain a lock or friction mechanism so that the fixation member can withstand lateral loads to capture the device in the side seat station.

As shown in fig. 52, the immobilization system may be configured to detect the presence of a WMD and automatically fold a seat (e.g., a power seat) for an ambulatory passenger to clear the immobilization zone and prepare the zone for immobilization. The system may also contain visual (light), audible (sound) or tactile indicators (seat vibrators) that inform the seated occupant of the presence of the WMD and the need to clear the area.

As shown in fig. 53, the stationary system may incorporate one or more sensors, which may be located anywhere on the WMD, to identify the presence and type of the WMD by employing QR codes or bar codes or RFID technology. The stationary system may also read the manufacturer's tag or other tags on the WMD. The vehicle may also receive in advance from the central dispatch a wireless notification indicating that the WMD is going to take a ride and needs to enter the wheelchair site, as well as other information, such as the individual and/or combined weight of the WMD and passengers, and pickup location. The specific type of WMD may be transmitted via a centrally scheduled notification in order to be sufficiently ready.

The fixation system may also be configured for connection to a vehicle-to-infrastructure or vehicle-to-vehicle communication system, whereby the fixation system may pre-identify the characteristics of the WMD to be fixed and its occupants. For example, a stationary system may be configured to be compatible with or have one-way or two-way communication with an automated driving system, robotic operating software, or a collaborative automated research mobile application.

As shown in fig. 54, the fixing 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 is processed. The occupancy information may then be redistributed to other bus users via applications, e-mail, text, etc. to assist them in making travel plans. Waiting passengers may reserve wheelchair stations to help plan routes and/or prepare vehicles while increasing traffic efficiency. Other options may be selected by waiting wheelchair users when they see that all wheelchair stations on the particular vehicle they plan to ride are occupied.

As shown in fig. 55-57, the securing system may be equipped with a cushioning bladder for one or both of the wheeled mobile device and the occupant. Upon receiving an impact signal from various sensors (e.g., accelerometers) of the vehicle or system setup, air bags located in the backrest, front guard rails, stationary members or other structures in the vehicle may be deployed in different ways depending on the type of accident encountered to absorb energy and protect wheelchair occupants.

As shown in fig. 58, the securing member may be mounted on a pole or fence. Upon sensing the presence of the WMD, the fixation area may be emptied (raising the seat) and the fixation member may be maneuvered into place. The fixation member may rotate about an axis at its base, as shown, or may rotate along an axis positioned anywhere along the length of the fixation member. Further, the rotation shaft may be movable along the length of the fixed member. In such embodiments, the fixation member is adapted for use in an intelligent system that determines the optimal position for the fixation member to contact the WMD (see fig. 50, described above). Further, while the securing member is shown mounted to the aisle side of the pole, the securing member may also be mounted to the wall side of the pole.

FIG. 59 illustrates a system 2500 that can automate exemplary embodiments. The system 10 may include a computing device 2510 that may perform some or all of the processes described above and below. Computing device 2510 may include a processor 2520, a storage 2540, a protected input/output (I/O) interface 20, and a communication bus 2570. Bus 2570 connects to processor 2520 and the components of computing device 2510 and enables communication therebetween in accordance with known techniques. Note that in some systems, there may be multiple computing devices, and in some computing devices, multiple processors may be incorporated therein.

The processor 2520 communicates with the storage device 2540 over a bus 2570. The storage device 2540 may comprise directly accessible memory, such as Random Access Memory (RAM), Read Only Memory (ROM), flash memory, etc. The storage device may also contain secondary storage such as one or more hard disks (which may be internal or external) that are accessible through additional interface hardware and software as is known and customary in the art. Note 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).

Computing device 2510 can also communicate with other computing devices, computers, workstations, etc., or networks thereof, through a communication adapter 2550 such as a telephone, cable or wireless modem, ISDN adapter, DSL adapter, Local Area Network (LAN) adapter or other communication channel. Note that computing device 2510 may use multiple communication adapters for the necessary communication connections (e.g., a telephone modem card and a LAN adapter). Computing device 2510 may be associated with other computing devices in a LAN or WAN. All of these configurations, as well as appropriate communication hardware and software, are known in the art.

Computing device 2510 provides the facility for running software, such as operating system software and application software. Note that such software may perform tasks and may communicate with various software components on this and other computing devices. As will be appreciated by one of ordinary skill in the art, computer programs such as those described herein are typically distributed as part of a computer program product having a computer usable medium or medium containing or storing program code. Such a medium may comprise computer memory (RAM and/or ROM), a floppy disk, a magnetic tape, an optical disk, a DVD, an integrated circuit, a Programmable Logic Array (PLA), remote transmission over a communication circuit, remote transmission over a wireless network, such as a cellular network, or any other medium which may be used by a computer with or without an appropriate adapter interface.

The computing device 2510 may be located on a WMD stationary system or may be located at a remote location in a vehicle or elsewhere. In general, the computing device 2510 is programmed as or includes a computer program product configured to automate one or more steps of securing a wheeled mobile device in a securing system (such as the securing systems described herein). The computing device 2510 may operate in machine language and receive information, signals, data, or inputs from one or more sensors, devices, or external sources (collectively 2560) associated with a wheeled mobile device or a stationary system to inform of a stationary process. The computing device may also receive additional information, signals, data, or inputs, including from storage 2540 and/or one or more communication adapters 2550, vehicle 2595, and user panel 2590. Computing device 2510 may then determine appropriate actions and initiate those actions through the specified output. For example, the computing device 2510 may signal various components in the stationary system, such as lighting, audible alarms and accessories, and motor control (collectively 2580), according to logic algorithms embodied in a computer program product.

Processor 2520 may communicate with a vehicle operator through one or more interface panels 2590. Panel 2590 may contain command switches or buttons to generate signals, as well as indicator lights, audible alarms, voice, with optional text or full graphic display with touch-sensing capability. Panel 2590 may be a wall-mounted unit, a wired or wireless remote control, or may even be an application running on a tablet or mobile device (e.g., an iPhone). The computing device 2510 may also communicate directly with the controller 2595 of the vehicle to send information about the status of the stationary system, as well as to receive information about the status of the vehicle. Computing device 2510 may also communicate with a central monitoring facility through communications adapter 2550.

Embodiments of the computing device 2510 may be configured to receive one or more inputs from a vehicle controller or vehicle collision detection system 2595 indicative of one or more of the following vehicle conditions: vehicle stop, vehicle neutral (out of gear, park, power off, etc.), application of vehicle brakes, door open, acceleration/deceleration (along all three axes), distance from object (along all three axes), speed (along all three axes), impact time, impact probability, estimated time of impact, and other well known information available from vehicles. It is contemplated that the stationary system may include its own vehicle collision detection system, sonar system, accelerometer, and/or geo-location devices (e.g., gps) from which relevant information may be obtained.

Embodiments 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 the presence of a wheeled mobility device on the vehicle. These sensors or devices 2560 may include floor pressure sensors 1300, IR beams 1540, 1640, WMD-mounted or occupant-retained RFID tags, WMD-mounted or occupant-retained QR or bar codes, and/or cameras and image recognition software.

Embodiments 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 an occupancy state of the WMD stationary system and/or a location of the WMD in the vehicle/WMD stationary system. These sensors or other devices 2560 include floor pressure sensor 1300, IR beams 1540, 1640, WMD-mounted or occupant-retained RFID tags, WMD-mounted or occupant-retained QR or bar codes, and/or cameras and image recognition software.

Embodiments 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 secured wheeled mobile device and passenger. These sensors or other devices 2560 include floor pressure sensor 1300, IR beams 1540, 1640, WMD-mounted or occupant-retained RFID tags, WMD-mounted or occupant-retained QR or bar codes, and/or cameras and image recognition software.

Embodiments 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 state of a gripping member or other component of the WMD fixation system. These sensors or other devices 2560 include motor current sensors (e.g., for a grasping member motor), IR light beams 1540, 1640, proximity sensors 1440, 1442, cameras and image recognition software, a squeezing force sensor, and/or an arm position sensor. The detected deployment state may include a retracted or stowed position, an extended or fixed position (contacting the WMD), or any intermediate position (spaced apart from the WMD, passing through an unsecured contact with the WMD, etc.).

Embodiments 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 WMD movement of the vehicle while in transit. These sensors or other devices 2560 include motor current sensors (e.g., for grasping member motors), IR light beams 1540, 1640, proximity sensors 1440, 1442, camera and image recognition software, crush force sensors, tension sensors (including sensors on wheelchair tethers), and/or arm position sensors. Based on signals received from these devices at different times during transportation, the computing device may detect the movement and alert the vehicle operator through a visual, audible, or tactile alert.

Embodiments 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 compressive force en route to transportation. These sensors or other devices 2560 include motor current sensors (e.g., for a grasping member motor), IR light beams 1540, 1640, proximity sensors 1440, 1442, cameras and image recognition software, a squeezing force sensor, and/or an arm position sensor. Likewise, the computing device may detect these faults in the stationary system and alert the vehicle operator through a visual, audible, or tactile alarm.

Embodiments 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 whether the gripper arm path is free of obstacles. These sensors or devices 2560 may include a floor pressure sensor 1300, IR light beams 1540, 1640, motor current sensors (e.g., for a gripper motor), camera and image recognition software, a squeezing force sensor, and/or an arm position sensor.

Embodiments 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 a distance between the grip member and the wheeled mobile device. These sensors or other devices 2560 include floor pressure sensors 1300, IR beams 1540, 1640, proximity sensors 1440, 1442, camera and image recognition software, squeeze force sensors, and/or arm position sensors.

Notably, the computing device 2510 has the capability to compute various parameters based on sensed parameters. For example, a system configured to sense the position of a wheeled mobile device and the position of a gripping member or other WMD securing system component need not have a separate sensor to detect the distance between them-which can be calculated. Similarly, if the gripping member and the distance between the gripping members are sensed, the system need only be configured to sense one of the positions and may calculate the other position.

The computing system 2510 may be configured to detect when the WMD enters a vehicle or enters a fixed area and respond by preparing the system and/or the fixed area for immobilization. For example, computing system 2510 can detect if a floor area is empty and, if not, provide a visual, audible, or other sensory notification that the floor area is not empty. As another example, computing system 2510 can detect whether the ambulatory passenger's seat is empty and/or moved to a retracted position and provide the same visual, audible, or other sensory notification if the seat is not empty. As another example, in response to detecting that the WMD has entered the vehicle, the computing system may trigger the seat to retract to the stowed position and optionally provide a visual, audible, or vibratory alert to the seated occupant that the seat is moving.

The computing system 2510 may also be configured to initiate a fixing sequence once the WMD is detected or determined to be in the correct position for fixing. For example, the computing system 2510 may detect the position of the WMD and determine whether the WMD is laterally and longitudinally off-center. If the distance from the center exceeds a predetermined threshold, computing system 2510 can terminate the fixation sequence and provide a visual, audible, or vibratory alert. If the distance from the center is within a predetermined threshold, computing system 2510 can continue to fix the sequence and optionally adjust the sequence to accommodate or adapt to the off-center position. For example, in a system that provides independent control of the fixed members, the fixed members may move independently (one more than another) to accommodate the asymmetric position of the WMD.

Computing system 2510 may also be configured for fully autonomous fixing. Such computing systems may detect when a WMD enters a vehicle and/or enters a fixed area. The computing system may then prepare the fixation system and the area for fixation. The computing system may then sense whether the WMD is properly positioned in the fixed area. The computing system may then sense whether the WMD is stationary. The computing system may then sense whether the path of the fixation member is cleared. Assuming one or more or all of these criteria are met, the computing system may then activate the securing system to move the securing member into position without any input from the vehicle attendant of the WMD passenger.

As described above, the computing system 2510 may also be configured to detect and/or receive information indicative of various characteristics of the WMD and the passenger. In response, the computing system may be configured to adjust various characteristics of the securing member, such as the force applied to the WMD, the shape of the securing member (e.g., to match the side profile of the WMD), the position of the securing member when contacting the WMD, and which securing and/or security devices to use. The computing device 2510 may be programmed to check a locally or remotely stored database or look-up table that provides the desired fixed characteristics for any given type or model of WMD or any particular passenger.

Once the WMD is secured, the computing device may contain an interlock that prevents the WMD from being released 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 indicative of a corrected location for the passenger to disembark. The computing device will prevent the system from releasing unless the vehicle is safely stopped and/or unless the vehicle is in a suitable location for the passenger to disembark. In an autonomous system, when the vehicle is safely stopped and the vehicle is in place for the passenger to disembark, the computing device will trigger the securing system to release the WMD.

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 security systems to additionally secure the wheelchair. This may include various safety systems discussed above, such as providing additional squeezing force and/or downward movement or rotation to the fixation member, inflating a bladder inside the fixation member, energizing magnetorheological fluid present inside the fixation member, moving various contours, knobs, paddles, fingers, and other graspers and extremities on the fixation member into position, grasping various structures on the WMD, such as a wheel hub, an auxiliary grasping member engaged with the inward facing surface of the WMD wheel, and an air bladder.

The computing device 2510 may be programmed to control a "squeezing" process in which the gripping members are moved from their first (stowed) positions to their second (WMD engaged) positions. The computing device 2510 may also be programmed to maintain a sufficient "squeeze force" after the gripping members have been moved to their second (WMD engaged) positions. In such a process, the computing device 2510 will send a signal to the motor controller (contained within assembly 2580) for grasping the component. The motor power circuitry is monitored by current sensing hardware (contained within sensor 2560) which sends information reflecting the motor current back to processor 2520. Processor 2520 converts the motor current information into the relative movement force of the gripping members and compares it to preprogrammed minimum and maximum values stored in memory device 2540. In the event that the normal value is exceeded or undershot, the processor initiates an optimal response from the range of specific responses. These responses are intended to ensure security and prevent damage to the WMD and WMD fixtures. With the response initiated, processor 2520 stores the associated error code in storage device 2540. Processor 2520 may invoke service checks based on the type of error code, the duration of the field service, the time spent in actual operation, or by the number of operating cycles recorded.

Although the inventions described and claimed herein have been described in considerable detail with reference to certain embodiments, those skilled in the art will appreciate that the inventions described and claimed herein can be practiced in other than those embodiments, which have been presented for purposes of illustration and not of limitation. Therefore, the spirit and scope of the appended claims should not be limited to the description of the embodiments contained herein.

Further, for simplicity, the terms arm, finger, joint, extremity, and other terms may be used herein, including in the claims, to refer to the various structures that make up the various embodiments of the wheeled mobile device binding system. To the extent that such terms imply a particular shape and configuration (e.g., the structure resembles a human appendage), the claims are not intended to be so limited unless specifically recited in a claim.