Patent Publication Number: US-11395782-B2

Title: Intelligent mobility assistance device

Description:
FIELD 
     The subject matter herein generally relates to a medical device field, and particularly, to an intelligent mobility assistance device. 
     BACKGROUND 
     For disabled and elderly people with limited physical strength, routine daily activities such as getting food, using a toilet, and taking a shower could be challenging. Many seniors who do not receive adequate assistance often get injured while performing these activities. In addition, a large number of those people are confined to bed or home because transferring into and driving a wheelchair become overwhelming tasks to achieve without the direct assistance from trained caregivers with enough physical strength. The aging population of east Asian countries such as Japan and China keeps increasing, means there is likely to be a shortage of trained caregivers. Therefore, a system to address the problem is disclosed. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Implementations of the present disclosure will now be described, by way of example only, with reference to the attached figures. 
         FIG. 1  is an isometric view showing an exemplary embodiment of an intelligent mobility assistance device. 
         FIGS. 2( a ), 2( b ), 2( c ), and 2( d )  are isometric views showing an exemplary embodiment of a sitting pad of the device of  FIG. 1 . 
         FIGS. 3( a ), 3( b ), 3( c ), and 3( d )  isometric views showing an exemplary embodiment of operations of a lifting device of the device of  FIG. 1 . 
         FIGS. 4( a ), 4( b ), and 4( c )  are isometric views showing another exemplary embodiment of operations of the lifting device of  FIG. 3 . 
         FIGS. 5( a ), 5( b ), and 5( c )  are isometric views showing an exemplary embodiment of a mobility device of  FIG. 1  in use. 
         FIGS. 6( a ), 6( b ), and 6( c )  are isometric views showing an exemplary embodiment of the mobility device connecting to the lifting device. 
         FIG. 7  is a schematic diagram of an exemplary embodiment of the lifting device. 
         FIG. 8  is a schematic diagram of an exemplary embodiment of the device of  FIG. 1 . 
         FIG. 9  is an isometric view showing an exemplary embodiment of bathroom use of the mobility device. 
         FIGS. 10( a ) and 10( b )  are isometric views showing another exemplary embodiment of the mobility device with the lifting device. 
         FIGS. 11( a ), 11( b ), and 11( c )  are isometric views showing another exemplary embodiment of the mobility device. 
     
    
    
     DETAILED DESCRIPTION 
     It will be appreciated that for simplicity and clarity of illustration, where appropriate, reference numerals have been repeated among the different figures to indicate corresponding or analogous elements. In addition, numerous specific details are set forth in order to provide a thorough understanding of the exemplary embodiments described herein. However, it will be understood by those of ordinary skill in the art that the exemplary embodiments described herein can be practiced without these specific details. In other instances, methods, procedures, and components have not been described in detail so as not to obscure the related relevant feature being described. The drawings are not necessarily to scale and the proportions of certain parts may be exaggerated to better illustrate details and features. The description is not to be considered as limiting the scope of the exemplary embodiments described herein. 
     The term “comprising” means “including, but not necessarily limited to”; it specifically indicates open-ended inclusion or membership in a so-described combination, group, series, and the like. 
     Exemplary embodiments of the present disclosure will be described in relation to the accompanying drawings. 
       FIG. 1  illustrates an exemplary embodiment of an intelligent mobility assistance device  1 . The intelligent mobility assistance device  1  provides intelligent assistance to people with limited mobility. The intelligent mobility assistance device  1  includes a lifting device  2  and a mobility device  3 . The lifting device  2  is detachably mounted on the mobility device  3 . The mobility device  3  drives the lifting device  2  to move. In one embodiment, the lifting device  2  includes a base frame  21 , a retractable bracket structure  22 , a plurality of wheels  23 , a sitting pad  24 , and a backrest  25 . The wheels  23  are mounted on a lower surface of the base frame  21  and is used to drive the lifting device  2  to move under the driving of the mobility device  3 . The retractable bracket structure  22  is mounted on an upper surface of the base frame  21 . The sitting pad  24  is detachably mounted on the retractable bracket structure  22 . The backrest  25  is rotatably mounted on the retractable bracket structure  22 , and a user can lean against the backrest  25 . In one embodiment, when the backrest  25  is rotated and resting on the sitting pad  24 , the user sitting on the sitting pad  24  can lean on the backrest  25 . 
     In one embodiment, the retractable bracket structure  22  includes a support frame  221 . The support frame  221  includes, but is not limited to, a first motor  222  (referring to  FIG. 7 ), a vertical column  223 , a retractable rod  224 , and a mounting part  225 . The first motor  222  is received in the base frame  21 . The retractable rod  224  connects to the vertical column  223 , and the first motor  222  drives the retractable rod  224  to stretch out from the vertical column  223  or retract into the vertical column  223 . The mounting part  225  is fixed on the retractable rod  224 . In one embodiment, the mounting part  225  is fixed on the retractable rod  224  by screws. The sitting pad  24  is detachably mounted on the mounting part  225 . The backrest  25  is rotatably mounted on the mounting part  225 . 
     In one embodiment, the base frame  21  is a pair of strips  210 . In one embodiment, each of the strips  210  is made of metal or alloy material. In one embodiment, a pair of the wheels  23  is mounted on each of the pair of strips  210 . For example, the pair of the wheels  23  is mounted on each of the pair of strips  210  near the ends of the strips  210 . In another embodiment, many pairs of the wheels  23  can be mounted on many pairs of strips  210 . In one embodiment, the retractable bracket structure  22  includes two support frames  221  and a horizontal rod  226 . Each of the two support frames  221  is mounted on one of the pair of strips  210 . The two support frames  221  connect to each other by the horizontal rod  226 . In one embodiment, the horizontal rod  226  connects to two vertical columns  223  of the two support frames  221 . In on embodiment, the mounting part  225  includes a safety rail  2251  and an arm part  2252 . The safety rail  2251  is mounted on the retractable rod  224  of the support frame  221 , and the support frame  221  can move upward or downward under the driving of the retractable rod  224 . The sitting pad  24  is mounted on two arm parts  2252  of the two support frames  221 . In one embodiment, the backrest  25  includes two ends  251 . One of the two ends  251  of the backrest  25  is rotatably mounted on the safety rail  2251  of one of the two support frames  221  by a rotating shaft  252 , another one of the two ends  251  of the backrest  25  connects to the safety rail  2251  of another one of the two support frames  221 . For example, the backrest  25  can connect to the safety rail  2251  of the support frame  221  by a locking structure  253 . 
       FIGS. 2( a )-2( d )  illustrate an exemplary embodiment of the sitting pad  24 . Referring to  FIG. 2( a ) , the sitting pad  24  includes a connection part  241 , and the sitting pad  24  connects to the arm part  2252  of the support frame  221  by the connection part  241 . In one embodiment, the sitting pad  24  includes multiple connection parts  241 , the connection parts  241  connect to top corners of the sitting pad  24 . For example, the sitting pad  24  has four connection parts  241 , the four connection parts  241  connect to four top corners of the rectangular sitting pad  24 . In one embodiment, each connection part  241  includes a buckle  2411  and a hook (not shown). The buckle  2411  connects to the sitting pad  24  by a connection belt, and the hook is mounted on the arm part  2252  of the support frame  221 . When the buckle  2411  connected to the sitting pad  24  is caught by the hook, the sitting pad  24  connects to the arm part  2252  of the support frame  221 . When the buckle  2411  is separated from the hook, the sitting pad  24  is separated from the arm part  2252  of the support frame  221 . 
     Referring to  FIG. 2( b ) , the sitting pad  24  further includes two safety belts  242 . The two safety belts  242  are mounted on one side of the sitting pad  24 . The two safety belts  242  can connect to the arm part  2252  of the support frame  221  or can be separated from the arm part  2252 . When the two safety belts  242  of the sitting pad  24  are connected to the arm part  2252  of the support frame  221 , the sitting pad  24  is firmly mounted on the arm part  2252  of the support frame  221 . In one embodiment, the sitting pad  24  can be made of rigid or soft materials for comfort and individual preference. In one embodiment, the sitting pad  24  can be a mesh-like pad made of waterproof materials, enabling to use in a shower. Referring to  FIG. 2( c ) , in one embodiment, the sitting pad  24  has an opening  2412  in center of the sitting pad  24 , enabling to use in the toilet. Referring to  FIG. 2( d ) , in one embodiment, the sitting pad  24  has preset dimensions allowing a user to lie down. 
       FIGS. 3( a )-3( d )  illustrate an exemplary embodiment of the lifting device  2  in use. A user puts a detached sitting pad  24  on a bed  6 , a front side of the detached sitting pad  24  facing out from the bed  6 , and the user moves to sit at the detached sitting pad  24  (referring to  FIG. 3( a ) ). The lifting device  2  is controlled to move to a position of the detached sitting pad  24 , and the detached sitting pad  24  is mounted on the two arm parts  2252  of the two supporting frame  221  (referring to  FIG. 3( b ) ). Two retractable rods  224  of the two support frames  221  are driven to move upward by the first motor  222  to lift the user in the sitting pad  24  until the sitting pad  24  is clearly above the bed  6 , the weight of the user can then be transferred to the lifting device  2  (referring to  FIG. 3( c ) ). The lifting device  2  is moved away from the bed  6  by the mobility device  3 , and the two arm parts  2252  can then be lowered for better stability and maneuverability by the first motor  222  (referring to  FIG. 3( d ) ). Reversing the above sequence of steps, the user can be transferred from the lifting device  2  back to the bed  6  in the same safe manner. 
     In one embodiment, the arm part  2252  includes an extra vertical column  2253 . The extra vertical column  2253  extends vertically from the arm part  2252 .  FIGS. 4( a )-4( c )  illustrate an exemplary embodiment of the lifting device  2 . The sitting pad  24  is mounted on the arm part  2252  by the connection part  241 , and the sitting pad  24  connects to a top end of the extra vertical column  2253  by a stretching part  2254 . The stretching part  2254  can be pulled by a second motor received in the extra vertical column  2253 . In one embodiment, the stretching part  2254  can be an elastic rope or a telescopic rod. With the help of the sitting pad  24  and the extra vertical column  2253 , people can achieve a sitting pose. In one embodiment, the user puts a detached sitting pad  24  with the preset dimension on the bed  6 , the front side of the detached sitting pad  24  facing out from the bed  6 , and the user moves to lie on the detached sitting pad  24 . The lifting device  2  is controlled to move to a position of the detached sitting pad  24 , and the detached sitting pad  24  is mounted on the two arm parts  2252  of the two supporting frames  221  and the sitting pad  24  is connected to the top end of the extra vertical column  2253  by the stretching part  2254  (referring to  FIG. 4( a ) ). The stretching part  2254  is pulled by the second motor to make the user sitting at the sitting pad  24  (referring to  FIG. 4( b ) ). Reversing the above sequence of steps, the user can be transferred from the lifting device  2  back to the bed  6  (referring to  FIG. 4( c ) ). 
       FIGS. 5( a )-5( c )  illustrate an exemplary embodiment of the mobility device  3  in use. In one embodiment, the mobility device  3  is a mobile vehicle platform.  FIGS. 6( a )-6( c )  illustrate a diagram of the mobility device  3  connecting to the lifting device  2 . In one embodiment, the mobility device  3  includes a plurality of connecting arms  31 , a pair of second wheels  32 , and a driving device  33 . The driving device  33  drives the pair of second wheels  32  to rotate and steer the mobility device  3 . In on embodiment, the pair of strips  210  defines the number of mounting parts  211 . The number of connecting arms  31  of the mobility device  3  connects to the number of mounting parts  211  by a screwed structure, a snapfit structure, or a socketing structure to make the lifting device  2  connecting to the mobility device  3 . In one embodiment, the connecting arm  31  can be a rotating rod. The rotating rod is rotated inward to be received in the mobility device  3 , and outward to extend out of the mobility device  3 . In one embodiment, when the rotating rod is rotated inward to be received in the mobility device  3 , the mobility device  3  can move freely between the two pairs of strips  210  of the lifting device  2  under the driving of the driving device  33  (referring to  FIG. 6( a ) ). In one embodiment, when the rotating rod is rotated outward to extend out of the mobility device  3  and mounted on the mounting parts  211  of the two pairs of strips  210 , the mobility device  3  can be fixed under the sitting pad  24  (referring to  FIG. 6( b ) ). Overall size of the intelligent mobility assistance device  1  is reduced, enabling the intelligent mobility assistance device  1  to move in a narrow space (e.g. an elevator or a bathroom). In one embodiment, when the rotating rod is mounted on an end of the mounting parts  211  (referring to  FIG. 6( a ) ), an empty space by which the user can carry out some bathroom activities exists under the sitting pad  24 . 
     In one embodiment, the screwed structure includes a screw, a first threaded hole, and a second threaded hole. In detail, the mounting part  211  defines the first threaded hole, and the connecting arm  31  of the mobility device  3  defines the second threaded hole, and the screw passes through the first threaded hole and the second threaded hole to mount the connecting arm  31  on the mounting part  211  of the lifting device  2 . In one embodiment, the socketing structure includes a bump part and a socketing hole. In detail, the mounting part  211  defines the bump part, and the connecting arm  31  of the mobility device  3  defines the socketing hole matching with the bump part, and the socketing hole grips the bump part to mount the connecting arm  31  on the mounting part  211  of the lifting device  2 . In another embodiment, the snapfit structure includes a hook and a snapfit hole. In detail, the mounting part  211  defines the hook, and the connecting arm  31  of the mobility device  3  defines the snapfit hole, and the hook of the mounting part  211  is hooked by the bump part to mount the connecting arm  31  on the mounting part  211  of the lifting device  2 . 
       FIG. 7  illustrates another exemplary embodiment of the lifting device  2 . In one embodiment, the lifting device  2  further includes a battery  26  and a wired control panel  27 . The battery  26  connects to the wired control panel  27  and the first motor  222 , and supplies electric power for the wired control panel  27  and the first motor  222 . The wired control panel  27  connects to the first motor  222 . The wired control panel  27  controls the first motor  222  to drive the retractable rod  224  upward or downward to adjust height of the sitting pad  24 . In one embodiment, the lifting device  2  communicates with a terminal device and is controlled by the terminal device. In one embodiment, the terminal device can be a smart phone, a panel, a wearable device, or a remote controller. In one embodiment, the lifting device  2  is also controlled by an onboard computer in the mobility device  3 . 
       FIG. 8  illustrates another exemplary embodiment of the mobility device  3 . In one embodiment, the mobility device  3  includes sensors  34 , a second battery  35 , a processor  36 , a wireless network communication module  37 , and a touch screen  38 . In one embodiment, the processor  36  connects to the sensors  34 , the second battery  35 , the wireless network communication module  37 , and the touch screen  38 . In one embodiment, the processor  32  can be a central processing unit (CPU), a microprocessor, or other data processor chip that performs functions of the mobility device  3 . In one embodiment, the processor  36  can be an onboard computer. The sensors  34  include, but are not limited to, a lidar device, a camera, a radar device, an inertial measurement unit (IMU), and a GPS device. In one embodiment, an exact configuration of the sensors  34  can vary depending on an operation environment and cost. The mobility device  3  can obtain many kinds of data by the sensors  34 , and perform a variety of service functions according to the data. In one embodiment, the mobility device  3  can obtain location and distance in relation to a target object, by the lidar. The mobility device  3  can obtain image data from the mobility device  3  by the camera. The mobility device  3  can obtain a mobility state (in motion or stationary state) of the mobility device  3  by the IMU. The mobility device  3  can obtain geographical location of the mobility device  3  by the GPS device. In one embodiment, the second battery  35  supplies electric power for the sensors  34 , the processor  36 , the wireless network communication module  37 , and the touch screen  38 . The mobility device  3  communicates with the lifting device  2  by the wireless network communication module  37 , and controls the lifting device  2  accordingly. The touch screen  38  receives user input and displays information as to the mobility device  3 . 
     In one embodiment, by leveraging the existing computational resources that enables self-driving and the data acquired by the sensors  34 , the mobility device  3  can run machine learning software to track a behavior of the user, by leveraging the data obtained by the sensors  34  and the existing computational resources that enable self-driving behavior. A caregiver can be notified in case of malfunction or emergency. In one embodiment, the mobility device  3  allow the user to enjoy entertainment on the go and talk to friends and families. In one embodiment, the mobility device  3  also includes a robotic arm  39  (referring to  FIG. 5( a ) ). The mobility device  3  can control the robotic arm  39  to help the user do daily activities such as picking up a book, opening a door, or serving food etc. In one embodiment, the mobility device  3  also includes a joystick  30  (referring to  FIG. 5( b ) ), the joystick  30  enable the user to operate the mobility device  3  directly. For example, the user is able to do cart racing with friends by operating the joystick  30 . In one embodiment, the mobility device  3  also includes a fully-enclosed compact toilet  300  (referring to  FIG. 5( c ) ). A top cover of the fully-enclosed compact toilet  300  can open and close by itself on demand. When the top cover of the fully-enclosed compact toilet  300  closes, the opening  2412  of the sitting pad  24  fits the top cover of the fully-enclosed compact toilet  300 , forming a flat surface. Thus, the mobility device  3  enables long journeys for the user without discomfort of wearing a diaper. 
       FIG. 9  illustrates an exemplary embodiment of the mobility device  3  in use in a bathroom. In one embodiment, by the lifting device  2 , the intelligent mobility assistance device  1  can securely lift the user out of the bed  6  and move the user to the bathroom, rest the user on the sitting pad  24  of the lifting device  2 , with little or no assistance, improving user&#39;s life quality and reducing the risk of injuries at the same time. Due to its relatively simple design, the lifting device  2  can safely operate in a shower. The mobility device  3  can move the user under the shower, then the mobility device  3  is detached from the lifting device  2  and moves back. After the user has done showering, the mobility device  3  is again mounted on the lifting device  2  and drives the lifting device  2  to move away from the bathroom. 
       FIGS. 10( a ) and 10( b )  illustrate an exemplary embodiment of the mobility device  3  connecting to the lifting device  2 . In one embodiment, referring to  FIG. 10( a ) , the mobility device  3  can be fixed under the sitting pad  24  of the lifting device  2 , thus an overall size of the intelligent mobility assistance device  1  is reduced, enabling the intelligent mobility assistance device  1  to move in a narrow space (e.g. an elevator or a bathroom). In another embodiment, referring to  FIG. 10( b ) , the lifting device  2  connected with the mobility device  3  can be a wheelchair. The mobility device  3  can lift and carry the wheelchair to destinations, such as tourist sites or airports, much more conveniently. 
       FIGS. 11( a )-11( c )  illustrate another exemplary embodiment of the mobility device  3 . In one embodiment, referring to  FIG. 11( a ) , the mobility device  3  has a closed structure. For example, the mobility device  3  has the appearance of a telephone-booth in which a person can sit and work. In one embodiment, referring to  FIG. 11( b ) , the mobility device  3  can function as an exercise bike. A commuter using the mobility device  3  can do physical training during the commute, in the meanwhile generating electricity to charge the mobility device  3 . In one embodiment, referring to  FIG. 11( c ) , the mobility device  3  has a lager closed structure to accommodate families or a group of people. The mobility device  3  with larger closed structure requires heavier or multiple driving device  33  to drive the mobility device  3  to move. 
     In one embodiment, a detachable self-driving mobility device  3  combined with a private (or semi-private) space may become a critical component of integrated personal transport solutions in the future. It has an unique advantages compared to the abilities of current self-driving cars. 
     In the embodiment, the intelligent mobility assistance device  1  can be used as a low-speed and small-volume mobility solution, which not only serves a disabled person, but also solves daily short-distance travel needs for ordinary people, further reducing energy consumption, at least compared to cars. In one embodiment, the intelligent mobility assistance device  1  can also be automatically loaded and fixed to a specially designed larger vehicle to achieve high speed and long distance commuting, which allows passengers not to leave their seats and carry their luggage in multiple transfer environment, and retains the autonomy and privacy of each passenger. 
     The exemplary embodiments shown and described above are only examples. Even though numerous characteristics and advantages of the present disclosure have been set forth in the foregoing description, together with details of the structure and function of the present disclosure, the disclosure is illustrative only, and changes may be made in the detail, including in matters of shape, size and arrangement of the parts within the principles of the present disclosure, up to and including the full extent established by the broad general meaning of the terms used in the claims.