WO2021068010A2

WO2021068010A2 - Multi-modal mobility platform

Info

Publication number: WO2021068010A2
Application number: PCT/ZA2020/050056
Authority: WO
Inventors: Daniël Gerhardus CLAASSEN
Original assignee: Claassen Daniel Gerhardus
Priority date: 2019-10-03
Filing date: 2020-10-02
Publication date: 2021-04-08
Also published as: WO2021068010A4; WO2021068010A3

Abstract

A multimodal mobility platform comprising a prime mover (not shown), wheels 12 and an enclosure (14) for an occupant user 16. The configuration of the wheels 12 and user enclosure 14 are variable to position the wheels 12 and user enclosure 14 in a number of operational modes, including a chair mode (illustrated) and (not illustrated) a standing travel mode, a powered gurney mode, a wheeled vehicle mode, a flying drone mode and a watercraft mode. The wheels 12 and the enclosure 14 are secured to one another in a mechanical linkage comprising rigid links or support bars 18 connected to one another by joints 20 that, in combination, make up a kinematic chain that, in effect, constitutes the chassis of the mobility platform 10. The wheels 12 are driven by the prime mover to propel the vehicle across a roadway, across or through water or through the air.

Description

MULTI-MODAL MOBILITY PLATFORM

Field of the invention

[001] This invention relates to a multimodal mobility platform.

Background to the invention

[002] The concepts of travel and transportation are undergoing a technology- driven reassessment as a result of which the narrow concept of transportation is being replaced by a broader understanding that transportation is but one aspect of the much wider concept of mobility and in which the concept of travel is transitioning from operafor-cenfric transportation †o user-cenfric mobility. Technological developments in powertrain technology, materials technology, autonomous technologies and universal interconnectedness, †o name but a few, are contributing †o the developing notion that mobility is a† once a non-personal service, of which Mobility as a Service (MaaS) is a good example, and a† the same time entirely personal, as in an end-fo-end smart phone-enabled user environment that combines all transport modes info a seamless mobility experience.

[003] It is an object of this invention †o provide a multimodal mobility platform that builds on these developments. Summary of the invention

[004] According †o this invention, a multimodal mobility platform comprises a prime mover, a plurality of wheels, a† leas† one of which is driven by the prime mover †o propel the vehicle across a support medium and a user enclosure configured a† leas† partially †o enclose a user occupying the platform in use, the positional configuration of the wheels and user enclosure being variable, in use †o position the wheels and user enclosure in one of a number of operational modes.

[005] For the sake of brevity and †o avoid unnecessary repetition, the multimodal mobility platform of the invention will, in most cases in the specification simply be referred †o as the “mobility platform”.

[006] The operational modes of the mobility platform may include any combination of a chair mode, a standing travel mode, a powered gurney mode, a wheeled vehicle mode, a flying drone mode and a watercraft mode.

[007] The mobility platform could be configured †o include all of the reconfiguration possibilities outlined above, bu† in preferred embodiments of the invention, the mobility platform is, alternately, presented or configured in an invalid user configuration suitable for use by less active or less able-bodied users and an active user figuration suitable for use by more active users, which may include active able-bodied users as well as less able-bodied users (who might nevertheless be classified as active users).

[008] When configured as a multimodal mobility platform for an active user, the mobility platform is preferably configured †o permit reconfiguration of the platform into operational modes †ha† include any combination of active user modes.

[009] The active user modes are constituted by operational modes suited for use by active, able-bodied users including (as non-limiting examples) a standing travel mode, a seated travel mode, a prone travel mode, a wheeled vehicle mode, a flying drone mode and a watercraft mode.

[0010] In this active user configuration, the user enclosure may conveniently include a reconfigurable user support surface configured to support all or par† of the body of a user occupying the mobility platform in use.

[0011] The user enclosure may be configured a† leas† partially †o encapsulate the user’s body in use, and, for most applications, the user enclosure will be configured fully †o encapsulate the user’s body in use.

[0012] The user support surface and the interior of the user enclosure (the surface/s of the user enclosure facing the user in use) may conveniently include a user comfort and safety lining, the comfort lining including user support upholstery and padding, which may be inflatable for enhanced support of the user and the safety lining including safety restraints, which may include a user support and restrain† harness (in the nature of sea† belts in a motor vehicle) and impact-actuated safety airbags.

[0013] To enable use of the mobility platform in harsh and hostile environments, a† leas† the encapsulating portion of the user enclosure (the parts of the user enclosure †ha† encapsulate the user’s body) is hardened against externally applied impacts. The degree of hardening will be predetermined by the environment the mobility platform is anticipated †o operate in.

[0014] In this embodiment of the invention, in which the mobility platform is configured †o operate in harsh and hostile environments, a† leas† the encapsulating portion of the user enclosure will preferably be made †o be sealable against fluid leakage into or ou† of the encapsulating portion of the user enclosure.

[0015] As an example, the user enclosure might need †o be sealed against gas leakage into or ou† of the user enclosure †o ensure the maintenance of a breathable atmosphere within the user enclosure regardless of the atmosphere externally of the mobility platform.

[0016] Alternatively, for applications of the mobility platform in which it is operated on or in water, the user enclosure will be sealed against the ingress of water into the user enclosure, for the same reasons.

[0017] In the preferred form of this embodiment of the invention, the wheels of the mobility platform are configured †o constitute turbines that, in use in flying drone mode, are capable of generating aerial lit† and that, in use in watercraft mode, are capable of propelling the mobility platform across or through the wafer.

[0018] In alternative embodiments of the invention, the multimodal mobility platform may be presented or configured as a mobility platform for a less able- bodied person in which the mobility platform is configured †o permit reconfiguration of the platform info operational modes that include any combination of invalid modes.

[0019] The invalid user modes are constituted by operational modes suited for use by active or less active, less able-bodied users including (as non-limifing examples) a† leas† a seated chair mode, a standing chair mode and a powered gurney mode.

[0020] In this embodiment of the invention, the mobility platform may conveniently be configured †o include a† leas† two powered gurney modes, including a flat bed operational mode in which the user enclosure is configured as a flat bed-like platform and a contained bed operational mode, in which the user enclosure is configured †o constitute a contained bed-like platform with sides †ha† are raised about the periphery of the platform.

[0021] I† will be appreciated †ha† the user enclosure of the mobility platform will be configured †o be adaptable †o the modes of operation of the mobility platform, such †ha†, in active user configuration, for instance in wheeled vehicle, drone and watercraft modes, the user enclosure encapsulates the occupying user totally or almost totally whereas, in invalid user configuration, for instance in chair, standing chair and gurney modes, the user enclosure encapsulates the occupying user only partially or no† a† all.

[0022] The prime mover conveniently, is a combination of an engine or motor and a store of energy †ha† is convertible, by the prime mover, into the energy required †o undertake the mobility functions of the mobility platform, including propulsion of the mobility platform across the support medium and reconfiguration of the mobility platform from one operational mode †o another. Brief Description of the drawings

[0023] The invention will be further described with reference †o the accompanying drawings in which:

Figure 1 is an illustration of the mobility platform of the invention in chair mode;

Figure 2 is an illustration of the mobility platform of Figure 1 in standing travel/standing chair mode;

Figure 3 is an illustration of the mobility platform of Figure 1 in a firs† powered gurney mode;

Figure 4 is an illustration of the mobility platform of Figure 1 in a second powered gurney mode;

Figure 5 is an illustration of the mobility platform of Figure 1 in wheeled vehicle mode; and

Figure 6 is an illustration of the mobility platform of Figure 1 in flying drone mode.

Description of embodiments of the invention

[0024] The mechanical components of the multimodal mobility platform 10 of the invention, as illustrated in the drawings, include a plurality of wheels 12 and an enclosure (14) for an occupant user 16. The positional configuration of the wheels 12 and user enclosure 14 are variable, in use †o position the wheels 12 and user enclosure 14 in one of a predetermined number of operational modes, some of which are illustrated in the drawings.

[0025] The operational modes of the platform 10 include any combination of a chair mode (Figure 1 ), a standing travel mode (Figure 2), a powered gurney mode (Figures 3 and 4), a wheeled vehicle mode (Figure 5), a flying drone mode (Figure 6)and a watercraft mode (no† illustrated). [0026] For the sake of simplicity and ease of illustration, the multimodal mobility platform 10 is illustrated in a structural or skeletal forma†, showing the mechanical components of the platform 10 in diagrammatic form.

[0027] In particular, the user enclosure 14 is illustrated in highly diagrammatic form, with the enclosure 14 represented as little more than a plurality of planar support panels 14 configured as a se† of central support panels 14.1 , a se† of side panels 14.2 and a pair of central end panels 14.3.

[0028] It will be appreciated †ha†, in practice, the user enclosure 14 will have a more ergonomic design, the panels 14 being designed †o constitute ergonomically shaped occupant body supports †ha† are shaped and covered with sot† and hard padding as well as selectively inflatable occupant body supports pads. The inflatable supports are inflatable and can be deflated, in both cases automatically as the platform reconfigures between operational modes, †o modify the occupant body supports and possibly other aspects of the internal and external shapes of the user enclosure 14.

[0029] The user enclosure will also include restrain† cushion bags (accident airbags) for occupant protection during a possible collision involving the platform 10.

[0030] The user enclosure 14 is configured †o be adaptable †o the modes of operation of the mobility platform 10. The drawings illustrate two discrete mode types: an invalid mode type (Figures 1 †o 4) and an active mode type (Figures 5 and 6).

[0031] In the invalid mode type (in chair, standing chair and gurney modes), there might be little requirement for the user enclosure 14 †o enclose the occupying user 16 anything more than partially. In this regard, the term “partial enclosure” should be interpreted †o include the provision, by the user enclosure 14, of a supporting platform on which the body of the occupying user 16 is supported.

[0032] In the active mode type (in wheeled vehicle, drone and watercraft modes) the user enclosure 14 should encapsulate the occupying user 16 to a greater extent. To this end, for such an active mode mobility platform, the user enclosure 14 will include external enclosure elements (no† shown) †ha† are both aesthetic and functional. In certain operational modes of the platform 10, such as the wheeled vehicle, flying drone and watercraft modes, it will be necessary †o have appropriately configured and shaped external enclosure elements, †o provide the mobility platform 10 with appropriate aerodynamic and/or hydrodynamic characteristics and †o facilitate travel of the platform 10 across the platform support medium.

[0033] The term “across” the support medium is used in both a conventional and a special sense. In most operational modes of the mobility platform, the support medium will be constituted by a floor, a roadway or the like support surface over which the wheels 12 roll as the mobility platform 10 is propelled across the support medium. This is the more conventional sense of the word “across”. However, in certain operational modes of the mobility platform, such as the flying drone mode described below, the support medium is air and whilst it might be technically correct †o refer †o the mobility platform as being propelled “across” air as the support medium, the term “across”, in this instance is used in the sense of being the word synonymous with “through”. The same considerations will no† necessarily apply if the mobility platform is configured as a floating watercraft, since the mobility platform will, in this instance, be propelled across the water as support medium - using the word “across” in the conventional sense. However, if the mobility platform is configured as a submarine watercraft, in which case the mobility platform will be propelled through the water, as support medium, the term “across” must, once again, be interpreted as being synonymous with the word “through”.

[0034] The mobility platform 10 includes a prime mover (no† shown), constituted by the combination of an engine or motor and a store of energy †ha† is convertible, by the prime mover, into the energy required †o undertake the mobility functions of the mobility platform 10. The engine or motor included in the prime mover combination is preferably an electric motor with the preferred electric motor being a stepper motor. For maximum control and efficiency, the electric motor is preferably constituted by an electric stepper motor (most preferably a Switched Reluctance Motor or SRM) dedicated †o driving each of the wheels 12.

[0035] In the event that the mobility platform 10 is a pure electric platform, the prime mover combination will be an electric motor combined with an energy store constituted by a rechargeable electric battery. However, the platform 10 could also be configured as an energy hybrid, in which even† the prime mover combination will include a non-elec†ric fuel-driven electric generator †ha†, in the preferred form of the invention, is a radial gas turbine engine.

[0036] The mobility function of the platform 10 includes movement or travel of the platform 10 across the support medium. However, it also includes reconfiguration of the mobility platform from one operational mode †o another. Reconfiguration of the mobility platform 10 is done automatically by the mobility platform 10, which moves the wheels 12 and support panels 14 relatively †o one another †o positions appropriate †o one or the other of the predetermined operational modes of the mobility platform 10.

[0037] To enable such movement, the wheels 12 and support panels 14 are secured †o one another in a complex mechanical linkage or kinematic chain. The wheels 12 and panels 14 are supported and secured by a plurality of rigid links or support bars 18. The support bars 18 are connected †o one another by joints 20 which, in the main, are hinged joints 20. In combination, the bars 18 and joints 20 make up a kinematic chain †ha†, in effect, constitutes the chassis of the mobility platform 10.

[0038] The kinematic chain is configured †o permit of predetermined motion of the kinematic chain and hence relative motion of the wheels 12 and support panels 14, the motion being predetermined (restrained) by the predetermined operational modes of the mobility platform 10. Kinematic chain movement (movement of the support bars 18) is driven by actuators (no† shown) †ha† ac† on the bars (links) 18 around the joints 20. In addition, the central support panels 14.1 are hinged †o one another across ac†ua†or-driven hinges 22 in which the actuators are integrated with the hinges 22. The same applies †o the central end panels 14.3.

[0039] The mobility platform 10 includes programmable logic means in the form of on-board computing means, typically constituted by a number of interconnected integrated circuits †ha† are programmed †o activate the actuators †o move the support bars 18 to position the user enclosure 14 and the wheels 12 in the various positions of the operational modes of the platform 10.

[0040] As illustrated in the drawings, the operational modes include a number of operational modes.

[0041] In Figure 1 , the mobility platform 10 is illustrated in chair mode, in which the user enclosure 14 is configured †o adopt the shape of a chair or wheelchair. To facilitate location of the panels 14 in this configuration, the acfuafor-driven hinges 22 locate the central support panels 14.1 and the central end panels 14.3 in a chair configuration. To enhance occupant safety, the bars 18 securing the side panels 14.2 are positioned †o locate the side panels on either side of the occupant 16, in the nature of side supports. The wheels 12 include relatively small diameter front wheels 12.1 and relatively large diameter rear wheels 12.2. The wheels 12 are folded back and down, with only the rear wheels 12.2 engaging the support medium, in this case a roadway or floor. The electric motor drives of the rear wheels 12.2 are engaged †o drive and propel the mobility platform 10 across the support medium. The platform 10 may include support rollers (no† shown) †o support the front of the platform 10. If used, the support rollers could be constituted by non-driven idler rollers.

[0042] In Figure 2, the mobility platform 10 is illustrated in standing chair mode, in which the user enclosure 14 is configured †o adopt the shape of an upright support similar †o †ha† of a standing chair. In this configuration, the ac†ua†or-driven hinges 22 locate the central support panels 14.1 in an upright configuration and the bars 18 securing the side panels 14.2 are positioned †o fold the side panels back and away from the sides of the occupant 16 to allow the occupant 16 to use her arms and legs if required, without interference from the side panels 14.2. The wheels 12 are positioned much like they are in the sitting chair configuration of Figure 1 .

[0043] In Figures 3 and 4, the mobility platform 10 is illustrated in gurney or hospital- bed mode. In both drawings, the user enclosure 14 is configured †o adopt the level, horizontal support surface of a bed. The bars 18 supporting the wheels 12 are positioned †o locate the wheels 12 underneath the user enclosure 14.

[0044] In the gurney mode, illustrated in Figure 3 (in which Fig. 3A Is a side elevation and Fig. 3B is an end elevation), the central panels 14.1 are positioned to define a level, horizontal bed, the bars 18 securing the side panels 14.2 are positioned †o locate the side panels 14.2 on either side of the occupant in the nature of side supports, and the central end panels 14.3 are hinged up on the acfuafor-driven hinges 22 †o close off the head- and foof-ends of the platform 10 in this (gurney) mode.

[0045] In the hospifal-bed mode, illustrated in Figure 4 (in which Fig.4A Is a sectional side elevation and Fig. 4B is a plan view), the central panels 14.1 are positioned †o define a level, horizontal bed and the bars 18 securing the side panels 14.2 are positioned †o extend the bed surface on either side by folding the side panels 14.2 down and level with the bed surface on either side of the occupant 16. The central end panels 14.3 are shown hinged up on the acfuafor-driven hinges 22, closing off the head- and foof-ends of the platform 10, but could also be folded down level with the bed surface.

[0046] In the wheeled vehicle mode illustrated in Figure 5 (in which Fig. 5A Is a side elevation and Fig. 5B is a plan view), the central panels 14.1 are positioned †o define a reclined vehicle driver position and the bars 18 securing the side panels 14.2 are positioned †o locate the side panels 14.2 on either side of the occupant in the nature of side supports. The central end panels 14.3 are hinged up on the acfuafor-driven hinges 22 †o close off the front and fop ends of the resultant wheeled vehicle. The wheels 12 are extended outward laterally and axially †o lower the centre of gravity of the platform 10, to enhance cornering stability and †o allow aerodynamic optimisation of the user enclosure 14 around the exterior of the resultant wheeled vehicle. The wheels 12 and the bars 18.2 supporting the wheels 12 are provided with passive and active suspension.

[0047] In the flying drone mode illustrated in Figure 6 (in which Fig. 6A Is a plan view, Fig. 6B is a front elevation and Fig. 6C is a diagrammatic isometric view of a wheel 12) the user enclosure 14 is positioned much like they are in the wheeled vehicle mode of Figure 5, being a reclined vehicle driver position. The bars 18.2 supporting the wheels 12 are fully extended laterally †o position the wheels 12 in a substantially horizontal position. The wheels are infernally configured (as seen in Figure 6C) to constitute radial fan turbines that, in use, are capable of generating aerial lift and †o propel the mobility platform 10 through the air (“across” the support medium constituted by the air). To enable flying drone mode, as much of the chassis as possible and the bars 18 in particular, are produced from extremely lightweight materials such as titanium and carbon fibre composites.

[0048] Although no† shown, it will be appreciated †ha† the turbine wheels 12, in a watercraft mode of the mobility platform 10 (no† illustrated in the drawings), could serve the dual function of propelling the mobility platform across or through the water.

[0049] The functions of controlling the actuators †ha† configure and reconfigure the kinematic chain (the support bars 18, panels 14 and wheels 12) constitute a minor se† of the platform programmable logic functionality. The major function of the platform programmable logic is †o provide the platform 10 with autonomous vehicle functionality — the capacity of monitoring and traversing the platform environment with little or no human input. To this end, the platform 10 is communications-enabled and provided with a plurality of transducers capable of monitoring the platform surroundings, such as optical, RADAR, LIDAR, SONAR, GPS, odometry and inertial measurement units, †o name bu† a few.

[0050] Platform communications include Interne† protocol communications, including Interne† of Things (loT) communications as well as Wi-Fi, Wi-Fi Direct and Bluetooth™ communications for things like vehicle-†o-vehicle and vehicle-†o-mobile phone communication. The programmable logic is programmed †o monitor and manage the transducer inputs and †o combine the transducer data with data obtained from communication networks both in the immediate vicinity (for steering and collision avoidance, for instance) and farther away (for congestion management, for instance). Platform control is preferably user-centric with the user being able †o control the platform 10 by means of a mobile phone a pp, for instance.

[0051] To enhance the invalid user configuration of the platform 10, the platform 10 may be fitted with biometric sensors configured †o monitor a plurality of occupant vital signs and †o report the monitored conditions †o healthcare specialists, for instance, by way of the platform communications.

Claims

1 . A multimodal mobility platform comprising a prime mover, a plurality of wheels, a† leas† one of which is driven by the prime mover †o propel the vehicle across a support medium and a user enclosure configured a† leas† partially †o enclose a user occupying the platform in use, the positional configuration of the wheels and user enclosure being variable, in use †o position the wheels and user enclosure in one of a number of operational modes.

2. The multimodal mobility platform of claim 1 in which the operational modes of the wheels and user enclosure include any combination of a chair mode, a standing travel mode, a powered gurney mode, a wheeled vehicle mode, a flying drone mode and a watercraft mode.

3. The multimodal mobility platform of claim 2 configured as a mobility platform for an active user, the multimodal mobility platform being configured †o permit reconfiguration of the platform into operational modes †ha† include any combination of active user modes constituted by, a† leas†, a standing travel mode, a seated travel mode, a prone travel mode, a wheeled vehicle mode, a flying drone mode and a watercraft mode.

4. The multimodal mobility platform of claim 3 in which the user enclosure includes a reconfigurable user support surface configured †o support all or par† of the body of a user occupying the mobility platform in use.

5. The multimodal mobility platform of claim 4 in which the user enclosure is configured a† leas† partially †o encapsulate the user’s body in use.

6. The multimodal mobility platform of claim 5 in which a† leas† the encapsulating portion of the user enclosure is hardened against externally applied impacts of a predetermined magnitude.

7. The multimodal mobility platform of claim 4 in which the user enclosure is configured †o fully encapsulate the user’s body in use.

8. The multimodal mobility platform of claim 7 in which af leas† the encapsulating portion of the user enclosure is hardened against externally applied impacts of a predetermined magnitude.

9. The multimodal mobility platform of claim 6 in which a† leas† the encapsulating portion of the user enclosure is sealable against fluid leakage.

10. The multimodal mobility platform of any one of claims 3 to 9 in which the wheels of the mobility platform are configured †o constitute turbines †ha†, in use in flying drone mode, are capable of generating aerial lit†.

1 1 . The multimodal mobility platform of claim 10 in which the turbine wheels of the mobility platform are configured such †ha†, in use in watercraft mode, the turbines are capable of propelling the mobility platform across or through the water.

12. The multimodal mobility platform of claim 2 configured as a mobility platform for a less able-bodied person in which the mobility platform is configured †o permit reconfiguration of the platform into operational modes †ha† include any combination of invalid modes constituted by a† leas† a seated chair mode, a standing chair mode and a powered gurney mode.

13. The multimodal mobility platform claim 12 configured †o include a† leas† two powered gurney modes, including a flat bed operational mode in which the user enclosure is configured as a flat bed-like platform and a contained bed operational mode, in which the user enclosure is configured †o constitute a contained bed-like platform with sides that are raised about the periphery of the platform.