Patent Description:
Most of current wheel-equipped apparatuses, e.g. wheelchairs, stretchers, trolleys or the like, are prearranged for being moved, e.g. pushed, by at least one user. Kits are known which permit the installation of electric motors on push-type wheelchairs, so as to make them more easily movable by a user, e.g. the system described in Mexican patent application <CIT>, or the "Light Drive" propulsor (http://progettiamoautonomia. it/prodotto/propulsione-per-carrozzina-light-drive). Wheelchairs are also known which have been specifically designed to be moved autonomously, i.e. requiring no help from a user. Let us consider, for example, United States patent application <CIT>, which describes a self-moving wheelchair; such systems often turn out to be much more expensive than kit solutions or the like.

The devices for self-movement of wheel-equipped apparatuses currently known in the art, like <CIT>, suffer from a number of drawbacks, which will be illustrated below.

A first drawback is related to the fact that such devices are difficult to install, in that very often such systems are made up of several interconnected elements, e.g. mechanical parts, electric connectors, etc., which cannot be easily handled by a user who has not been appropriately trained to install such systems.

Another drawback of self-movement devices known in the art lies in the high costs due to the use of expensive components, such as, for example, 3D LIDAR units.

A further drawback of the known systems is related to the fact that they do not allow moving more than one wheel-equipped apparatus at the same time, nor transporting people and things at the same time. Let us consider, for example, a situation in which a user needs to move two or more wheel-equipped apparatuses, on which electric propulsors, e.g. the above-mentioned kits, have been installed. Let us consider, for example, a user in a wheelchair who needs to move a shopping cart in a shopping centre, or a nurse having to move two wheelchairs at the same time in a hospital department. In such circumstances, a single user will not be able to move more than one wheel-equipped apparatus at a time.

It is therefore one object of the present invention to solve these and other problems suffered by the prior art, in particular by providing a device, as well as the associated method and system, for self-movement of wheel-equipped apparatuses which can be easily installed by an untrained user.

It is another object of the present invention to provide a device, as well as the associated method and system, for self-movement of wheel-equipped apparatuses which is less expensive than the current self-moving wheel-equipped apparatuses.

It is a further object of the present invention to provide a device, as well as the associated method and system, for self-movement of wheel-equipped apparatuses which permits moving several wheel-equipped apparatuses at the same time.

It is yet another object of the present invention to provide a device, as well as the associated method and system, for self-movement of wheel-equipped apparatuses which permits moving people and things at the same time.

The invention described herein consists of a modular and configurable device for self-movement of wheel-equipped apparatuses.

Further advantageous features of the present invention are set out in the appended claims, which are an integral part of the present description.

The invention will now be described in detail by means of some non-limiting embodiments with particular reference to the annexed drawings, wherein:.

With reference to <FIG>, there is schematically shown a system <NUM> comprising at least one device 120a for self-movement of a wheel-equipped apparatus 110a and a management unit <NUM> according to a first embodiment of the present invention. Said device 120a is adapted to be anchored to said wheel-equipped apparatus 110a, and is capable of moving on a support surface <NUM>. The wheel-equipped apparatus 110a may be, for example, a wheelchair originally conceived for being moved manually by a disabled user, i.e. a wheelchair without any kind of propulsor, which is moved by the user him/herself, e.g. by applying a driving force with his/her arms. In the present embodiment of the invention, the device 120a is adapted to be anchored to the wheel-equipped apparatus 110a in such a way as to remain in contact with the support surface <NUM>. Alternatively, the device 120a is adapted to be anchored to the wheel-equipped apparatus 110a in such a way as to remain in contact with the wheels of said wheel-equipped apparatus 110a, e.g. by friction.

The management unit <NUM> is adapted to manage said at least one device 120a for self-movement of at least one wheel-equipped apparatus 110a. Said management unit <NUM> may be used by the user, for example, in order to set up a path to be followed by said at least one device 120a and to display such path for the user him/herself. The management unit <NUM> may comprise, for example, a memory <NUM>, an interface module <NUM>, an input/output module <NUM> and a processor <NUM> operatively connected with one another; the management unit <NUM> may be, for example, a computer, a smartphone, a tablet, etc..

The memory <NUM> of the management unit <NUM> is adapted to internally store information about the management of said at least one device 120a for self-movement of at least one wheel-equipped apparatus 110a. Such information may comprise, for example, data received from the device 120a, e.g. values indicating the position, speed and operating state of the device 120a, maps of at least a portion of the environment where said device 120a is operating, and so forth.

Such information is sent and/or received by the management unit <NUM> in communication with said device 120a by means of the interface module <NUM>, which may be, for example, a USB, ETHERNET, WiFi, Bluetooth, GSM, etc. interface. For example, in the present embodiment of the invention said device 120a may be connected to the interface module <NUM> of the management unit <NUM> by means of a Bluetooth interface.

The input/output module <NUM> allows the user to interact with the management unit <NUM>. The input/output module may comprise output and input means, e.g. a display and an alphanumeric keyboard, respectively, or, alternatively, a touchscreen displaying an alphanumeric keyboard and interactive symbols.

The processor <NUM> of the management unit <NUM> is adapted to process the information contained in the memory <NUM> of the management unit <NUM>, e.g. in order to generate one or more paths for said device 120a. The processor <NUM> of the management unit <NUM> is adapted to display, via said input/output module <NUM>, the generated maps and/or the state of the device 120a.

The management unit <NUM> may be implemented, for example, as a computer program product comprising portions of software code, which can be loaded into a memory of a smartphone, a tablet or a computer equipped with interface means such as, for example, a USB, ETHERNET, WiFi, Bluetooth, GSM, etc. interface.

In one embodiment of the invention, with particular reference to the system <NUM> of <FIG>, <FIG> and <FIG>, the management unit <NUM> may be a user's smartphone, which is connected, through the interface module <NUM>, to said device 120a anchored to said wheel-equipped apparatus 110a, e.g. a wheelchair being used by the user him/herself.

In the first embodiment of the invention (<FIG>), said device 120a is adapted to work in a standalone operating configuration, in which said device 120a is adapted to autonomously move only one wheel-equipped apparatus 110a to which it is anchored.

In the second embodiment of the invention (<FIG>) a variant of the system <NUM> is represented which comprises one or more devices 120a, 120b for self-movement of one or more wheel-equipped apparatuses 110a, 120b and said management unit <NUM>. In this embodiment of the invention, the device 120a is adapted to be anchored to the wheel-equipped apparatus 110a, while the other device 120b is adapted to be anchored to another wheel-equipped apparatus 110b. The wheel-equipped apparatus 110a may be, for example a wheelchair originally prearranged for being moved manually by a disabled user, or a wheelchair without any kind of propulsor to be moved by the user him/herself, e.g. by applying a driving force through his/her arms. The other wheel-equipped apparatus 110b may be, for example, a shopping cart at a shopping centre, into which the user puts one or more articles of interest, or a luggage cart at an airport. In the present embodiment of the invention, the device 120a is adapted to be anchored to said wheel-equipped apparatus 110a in such a way as to remain in contact with the support surface <NUM>. Likewise, said other device 120b is adapted to be anchored to the other wheel-equipped apparatus 110b in such a way as to remain in contact with the support surface <NUM>. In other embodiments of the invention, said devices 120a, 120b may remain in contact with second support surfaces other than said support surface <NUM>, or may remain in contact with the wheels of said wheel-equipped apparatuses 110a, 110b, etc. Said device 120a and other device 120b are adapted to autonomously move said wheel-equipped apparatus 110a and other wheel-equipped apparatus 110b, respectively.

In this embodiment of the invention, the device 120a is connected to the other device 120b anchored to the second wheel-equipped apparatus 110b, e.g. a shopping cart of the user. In such a configuration, said device 120a and other device 120b perform a train-type operating configuration, in which the device 120a (master) is adapted to control the movement of the other device 120b (slave). The train-type operating configuration may comprise one device 120a of the master type and at least one other device 120b of the slave type. This makes it possible to include in the train-type operating configuration, for example, a further device anchored to a further wheel-equipped apparatus, e.g. a further shopping cart of the user (not shown in <FIG>), and so forth.

In the third embodiment of the invention (<FIG>) another variant of the system <NUM> is schematically represented which comprises one or more devices 120a, 120b for self-movement of a wheel-equipped apparatus 110a and said management unit <NUM>.

In this embodiment of the invention, one or more devices 120a, 120b can be anchored to one wheel-equipped apparatus 110a, e.g. which is bigger than said devices 120a, 120b, e.g. a stretcher autonomously moved by the two devices 120a, 120b, which are respectively anchored to the head and tail of the stretcher. In this embodiment, said one or more devices 120a, 120b perform a tandem-type operating configuration, in which the device 120a (master) is adapted to control the movement of the other device 120b (slave) so as to autonomously move a wheel-equipped apparatus 110a, 110b to which they are anchored. In a further embodiment of the invention, two or more of said devices 120a, 120b may be adapted to perform a hybrid operating configuration comprising both said tandem-type operating configuration and said train-type operating configuration.

With reference to <FIG>, said standalone operating configuration may be performed by said device 120a when said device 120a operates neither as a master nor as a slave. In the standalone operating configuration said device 120a may, for example, autonomously reach the other device 120b before said devices 120a, 120b perform said train-type, tandem-type or hybrid operating configurations, e.g. by following instructions sent from said management unit <NUM>.

Note that said device 120a is homologous to said other device 120b, and such devices will be described in detail below with reference to <FIG> and <FIG>. Therefore, in the previously illustrated embodiments said devices 120a, 120b are interchangeable.

<FIG> shows an illustrative structural diagram of the device 120a, 120b for self-movement of a wheel-equipped apparatus 110a, 110b, with reference to the system <NUM> of <FIG>, <FIG> and <FIG>. Said device 120a, 120b may comprise a main body <NUM>, driving means <NUM>, stabilizing means <NUM>, anchoring means <NUM> and expansion means <NUM>.

The main body <NUM> defines the structure of the device 120a, 120b and is adapted to support said driving means <NUM>, stabilizing means <NUM> (if any), anchoring means <NUM> and expansion means <NUM>. The main body <NUM> may internally comprise elements adapted to make said device 120a, 120b operational, such as, for example, the system for supplying power to the device 120a, 120b, e.g. batteries, power supply units, and so on. Such elements will be described more in detail with reference to <FIG>.

The driving means <NUM> are adapted to move said device, 120b, e.g. on said support surface <NUM>, or may be mechanically connected, e.g. by friction, to one or more wheels of said wheel-equipped apparatuses 110a, 110b. The driving means <NUM> may comprise, for example, wheels, tracks or the like mechanically connected to, for example, electric motors.

The stabilizing means <NUM>, if present, are adapted to stabilize said device 120a, 120b, e.g. on said support surface <NUM>. The stabilizing means <NUM> may comprise, for example, wheels, tracks or the like, which can move and/or rotate freely.

The anchoring means <NUM> are adapted to anchor said device 120a, 120b to said wheel-equipped apparatus 110a, 110b so as to be mechanically integral with the structure of said wheel-equipped apparatus 110a, 110b. The anchoring means <NUM> may comprise, for example, arms that can be extended manually and/or automatically, by means of actuators, from said main body <NUM>. The anchoring means <NUM> may comprise elements configured for engaging the structure of said wheel-equipped apparatus 110a, 110b. Said elements may be, for example, clamps manually or automatically adjustable by means of actuators. Said anchoring means <NUM> may be adjustable, e.g. in height, in order to better adhere to the structure of said wheel-equipped apparatus 110a, 110b. The anchoring means <NUM> may be anchored directly to said structure or may be anchored to specific mounting systems, even third-party ones. In another embodiment of the invention, the anchoring means <NUM> may comprise one or more rollers to be engaged by pressure with the structure of said wheel-equipped apparatus 110a, 110b. For example, two rollers can be spread apart parallel to the support surface <NUM> to abut against a wheel of the wheel-equipped apparatus 110a, 110b and then engage with it. The anchoring means <NUM> may be adapted to engage with the anchoring means of another device for self-movement of wheel-equipped apparatuses 110a, 110b. For example, when two or more devices 120a, 120b perform the train-type and/or tandem-type operating configuration. In such operating configuration, for example, the anchoring means <NUM> of said device 120a may be anchored to said anchoring means <NUM> of said other device 120b for the purpose of creating a static or movable mechanical junction. The anchoring means <NUM> may comprise connectors adapted to electrically connect said device 120a and other device 120b, so as to transfer power and/or signals from said device 120a to said other device and/or vice versa. Such signals may be exchanged, for example, via a CANBUS, RS485, etc. interface. In another embodiment of the invention, two or more devices 120a, 120b may perform the train-type and/or tandem-type configuration by transferring power and/or signals from said device 120a to said other device 120b, and vice versa, in wireless mode, regardless of whether they have been anchored together or not.

The expansion means <NUM> are adapted to receive additional elements <NUM>, <NUM> in order to improve the functionality of said device 120a, 120b. The expansion means <NUM> may comprise, for example, one or more slots into which said additional elements <NUM>, <NUM> can be plugged and/or constrained; such slots may have circular, rectangular, etc. sections and may comprise connectors adapted to electrically connect said device 120a, 120b and said additional elements <NUM>, <NUM> so as to transfer power and/or signals from said device 120a, 120b to said additional elements <NUM>, <NUM> and/or vice versa. Such signals may be exchanged, for example, via a CANBUS, RS485, etc. interface. In the present embodiment of the invention, the additional elements <NUM>, <NUM> may be, for example, a control arm <NUM> and a sensor holding arm <NUM>, respectively.

The control arm <NUM> is adapted to interface said device 120a, 120b with the user. The control arm <NUM> may comprise, for example, a joystick for controlling the movement of the device 120a, 120b, a microphone for voice control of the movement of the device 120a, 120b, and a loudspeaker for audio communication with a remote operator; the microphone and the loudspeaker may be housed, for example, in a control panel <NUM>. The control arm <NUM> may also comprise a video camera to allow a remote operator to remotely view the path being followed by the device 120a, 120b. For example, in case of movement problems, the operator will be able to take over control of the device 120a, 120b and conduct it to a predefined place. The control arm <NUM> may also comprise a barcode/RFID reader, e.g. for reading medical recipes and computing the route from the current position of the device 120a, 120b to a room where the user will have to be subjected to specific tests. The control arm <NUM> may also comprise one or more radars or infrared sensors to obtain information useful for collision avoidance, e.g. by executing a vertical scan to detect the presence of obstacles and/or differences in level (steps) along a path of the device 120a, 120b.

The sensor holding arm <NUM> is adapted to comprise at least one sensor <NUM> to permit self-movement of said device 120a, 120b. For example, the sensor holding arm <NUM> may comprise one or more radars and/or infrared sensors and/or proximity sensors adapted to detect objects for collision avoidance, e.g. by executing a horizontal scan and detecting the position of any obstacles during the forward motion of the device 120a, 120b. The sensor holding arm <NUM> may be adjustable, e.g. in height, to become better integrated with the structure of said wheel-equipped apparatus 110a, 110b, e.g. in order to not interfere with the footrests of a wheelchair, etc..

In another embodiment of the invention, the expansion means <NUM> may be connected to external systems, even third-party ones, such as, for example, a metallic shelf for creating a simple self-moving trolley or a support surface for loading additional wheel-equipped apparatuses.

From the above description it is clear that said device 120a, 120b for self-movement of a wheel-equipped apparatus 110a, 110b comprises at least driving means <NUM>, adapted to move said device 120a, 120b, and anchoring means <NUM>, adapted to anchor the device 120a, 120b to the wheel-equipped apparatus 110a, 110b, and that said device 120a, 120b is adapted to be anchored to said wheel-equipped apparatus 110a, 110b by means of the anchoring means <NUM>, wherein said device 110a, 110b is adapted to autonomously move said wheel-equipped apparatus 110a, 110b, to which it is anchored, by means of the driving means <NUM>.

<FIG> shows an illustrative block diagram of the device 120a, 120b for self-movement of a wheel-equipped apparatus 110a, 110b, with reference to <FIG> and <FIG>. Said device 120a, 120b may comprise communication means <NUM>, input/output means <NUM>, sensor means <NUM>, actuator means <NUM>, storage means <NUM>, processing means <NUM> and further processing means <NUM>. Such means may be interconnected via a first communication bus <NUM>, a second communication bus <NUM> and a third communication bus <NUM>.

The communication means <NUM> are adapted to establish a communication channel with at least one device 120a, 120b and/or at least one management unit <NUM>. The communication means <NUM> may comprise, for example, a USB, CANBUS, ETHERNET, WiFi, Bluetooth, GSM, etc. interface. In one embodiment of the invention, during the train-type and/or tandem-type operating configuration the communication means <NUM> of said device 120a can establish a communication channel, via a Bluetooth interface, with the corresponding communication means <NUM> of the device 120b. At the same time, the communication means <NUM> of said device 120a can establish a communication channel with the communication module <NUM> of said management unit <NUM>, e.g. via a WiFi interface.

The input/output means <NUM> are adapted to interface the input and output signals, respectively, from and towards said expansion means <NUM>. The input/output means <NUM> may comprise, for example, CANBUS, USB, RS232, RS485, etc. interfaces.

The sensor means <NUM> are adapted to acquire values of quantities concerning said device 120a, 120b. For example, said sensor means <NUM> can acquire physical quantities useful for the self-movement of said device 120a, 120b, such as, for example, accelerometers, speedometers, etc. The sensor means <NUM> may comprise, for example, an inertial platform or inertial measurement unit (IMU) and/or a global navigation satellite system (GNSS). The actuator means <NUM> are adapted to actuate the movable elements of said device 120a, 120b, e.g. the driving means <NUM> and the anchoring means <NUM> described with reference to <FIG>. The actuator means <NUM> may comprise electric motors, e.g. for moving said driving means <NUM>, and servomechanisms and similar elements, e.g. for moving the anchoring means <NUM>.

The storage means <NUM> are adapted to store the information and the instructions of the device 120a, 120b for self-movement of wheel-equipped apparatuses 110a, 110b in accordance with the present embodiment of the invention, and may comprise, for example, a flash-type solid-state memory. The information may comprise a set of values and/or parameters useful for the self-movement of wheel-equipped apparatuses 110a, 110b, such as, for example, a set of maps for self-movement of the device 120a, 120b, the state of the inputs and outputs of the input/output means <NUM>, the position of the movable elements of the device 120a, 120b, and/or values of several physical quantities acquired by the sensor means <NUM>, such as, for example, temperature values, electric current values, electric voltage values, etc. The instructions stored in the storage means <NUM> will be described in detail hereinafter with reference to the flow chart of <FIG>.

The processing means <NUM> are adapted to process the information and the instructions stored in the storage means <NUM> in relation to the communication means <NUM>, input/output means <NUM>, sensor means <NUM> and actuator means <NUM>, and may comprise, for example, a multicore ARM processor, an Arduino microcontroller, etc. The processing means <NUM> execute low-level operations such as, for example, Path-Finding, Real-Time-Obstacle-Avoidance and Tip-Over-Prevention operations in Safety-Critical mode, in accordance with the reference standards. The processing means <NUM> are adapted to establish a communication between said device 120a and said other device 120b via said communication means <NUM> during the train-type and/or tandem-type operating configuration. The processing means <NUM> may be adapted to establish a communication between said device 120a, 120b and said management unit <NUM> via said communication means <NUM> during the train-type and/or tandem-type configuration or during the standalone operating configuration.

The further processing means <NUM> are adapted to process the information and the instructions stored in the storage means <NUM> in relation to the communication means <NUM> and the input/output means <NUM>, and may comprise, for example, a multicore ARM processor, an Arduino microcontroller, etc. The further processing means <NUM> execute high-level operations such as, for example, Off-Line-Obstacle-Avoidance operations, based on one or more static maps stored in said storage means <NUM>. The further processing means <NUM> may implement telecommunication functions, via said communication means <NUM>, e.g. with a remote server, a lift or other domotic devices. The further processing means <NUM> may implement advanced functions like, for example, recognition of voice commands, e.g. coming from the control arm <NUM>, and so forth.

The first communication bus <NUM> is adapted to interconnect said communication means <NUM>, input/output means <NUM>, sensor means <NUM>, actuator means <NUM> and storage means <NUM> with the processing means <NUM>, which define a low-level subsystem. The second communication bus <NUM> is adapted to interconnect said communication means <NUM>, input/output means <NUM> and storage means <NUM> with the further processing means <NUM>, which define a high-level subsystem. The third communication bus <NUM> is adapted to mutually connect said processing means <NUM> and said further processing means <NUM>. The first communication bus <NUM> and the second communication bus <NUM> are not mutually coupled; this advantageously allows the high-level subsystem to not interfere with the low-level subsystem, which substantially executes the autonomous driving functions of the device 120a, 120b, thus improving the reliability of the device 120a, 120b. Advantageously, this makes it possible to deactivate the high-level subsystem when its operation is not required, thereby reducing the energy consumption of the device 120a, 120b.

With reference to <FIG>, the following will describe an exemplary method for self-movement of at least one wheel-equipped apparatus 110a, 110b to which at least one device 120a, 120b as shown in <FIG> has been anchored.

At step <NUM> an initialization phase is executed for initializing the device 120a, so that the latter can be put in operation. During this step, for example, said processing means <NUM> and/or said further processing means <NUM> verify the operating state of the device 120a. During this phase, said processing means <NUM> and/or said further processing means <NUM> can perform the anchoring of the device 120a to the wheel-equipped apparatus 110a or 110b through said anchoring means <NUM>. The processing means <NUM> and/or the further processing means <NUM> can autonomously move the device 120a by means of said driving means <NUM>, e.g. in accordance with one or more predefined or non-predefined movement schemes.

At step <NUM>, the processing means <NUM> verify if the device 120a is enabled to perform the standalone operating configuration, in which case the processing means <NUM> will execute step <NUM>, otherwise they will execute step <NUM>.

At step <NUM> a movement phase is executed for moving the device 120a. During this phase, said processing means <NUM> and/or said further processing means <NUM> autonomously move the device 120a by means of said driving means <NUM>. During this phase, said processing means <NUM> and/or said further processing means <NUM> perform the standalone operating configuration of the device 120a, in which said device 120a autonomously moves a single wheel-equipped apparatus 110a to which it is anchored. During this phase, said device 120a performs neither said master operating state nor said slave operating state.

At step <NUM>, the processing means <NUM> execute an interrogation phase for interrogating at least one other device 120b. During the interrogation phase, the processing means <NUM> are adapted to send to at least said other device 120b, via said communication means <NUM>, a request for determining an operating state type, whether master or slave, of said other device 120b. The determination of the operating state, whether master or slave, of said other device 120b may depend, for example, on the type of operating configuration, train and/or tandem, and/or on the operating association between the devices 120a, 120b and the corresponding wheel-equipped apparatuses 110a, 110b to which said devices 120a, 120b are anchored. Said operating configuration and said operating association may be established, for example, by the user or by an operator via said management unit <NUM>, or may be obtained from a remote server, etc..

At step <NUM>, the processing means <NUM> verify the operating state, whether master or slave, of said other device 120b, received via said communication means <NUM>. If the operating state is master, then the processing means <NUM> will execute step <NUM>, otherwise they will execute step <NUM>.

At step <NUM>, the processing means <NUM> execute a determination phase for determining control data concerning at least one other device 120b. Said control data comprise information about the type of operating configuration, train and/or tandem, and the operating state, whether master or slave, implemented in the system <NUM>. Said control data may comprise the number of devices 120a, 120b of the system <NUM>, the distances between them, the dimensions of the wheel-equipped apparatuses 110a, 110b to which they are anchored, and so forth. Said control data allow the device 120a to control at least one other device 120b in the slave operating state. During this phase, the processing means <NUM> can acquire said control data via the communication means <NUM>, e.g. via a WiFi interface, in a given data format. During this phase, the processing means <NUM> can store said control data into said storage means <NUM>. At step <NUM>, the processing means <NUM> execute a control phase for controlling at least one other device 120b in the slave operating state. During this phase, the device 120a, which is in the master operating state, controls said at least one other device 120b, via said communication means <NUM>, on the basis of the control data acquired, for example, from the storage means <NUM>.

At step <NUM>, the processing means <NUM> execute a reception phase for receiving the commands sent from said one other device 120b in the master operating state. During this phase, the operating state of the device 120a is of the slave type, and therefore the device 120a executes the operations received, via said communication means <NUM>, from said other device 120b in the master operating state. During this phase, the device 120a can send, via said communication means <NUM>, information requested by said other device 120b, which is in the master operating state.

It is therefore apparent that said device 120a advantageously executes, through the processing means <NUM>, said determination phase, said control phase and said reception phase based on said operating state type, whether master or slave, of another device 120b.

At step <NUM>, the processing means <NUM> verify if the device 120a has reached a point of arrival of a path followed by the device 120a itself, e.g. by means of a global satellite navigation system (GNSS) comprised in said sensor means <NUM>. If the device 120a has reached said point of arrival, the processing means <NUM> will execute step <NUM>, otherwise they will execute step <NUM>.

At step <NUM>, the processing means <NUM> execute a termination phase in which all those operations are carried out which are necessary for terminating said interrogation, determination, control and reception phases. During this step, the processing means <NUM> may signal the inoperative state of the device 120a, e.g. by means of luminous indicators, such as LED warning lights included in the device 120a itself. During this phase, the device 120a may assume, for example, the standalone operating configuration.

The advantages of the present invention are apparent in the light of the above description. The device, as well as the associated system and method, for self-movement of wheel-equipped apparatuses is advantageously modular and easy to install for a user not specifically trained for such purpose.

Another advantage of the present invention lies in the fact that it provides a device, as well as the associated system and method, for self-movement of wheel-equipped apparatuses which advantageously makes it possible to use different, low-cost sensors in a modular manner via the expansion means. This advantageously allows reducing the costs in comparison with the currently available self-moving wheelchairs.

Another advantage of the present invention lies in the fact that it provides a device, as well as the associated method and system, for self-movement of wheel-equipped apparatuses which advantageously permits moving several wheel-equipped apparatuses at the same time by means of the train-type and/or tandem-type operating configurations.

A further advantage of the present invention lies in the fact that it provides a device, as well as the associated method and system, for self-movement of wheel-equipped apparatuses which advantageously permits moving people and things on different wheel-equipped apparatuses at the same time, by means of the train-type and/or tandem-type operating configurations.

Claim 1:
System (<NUM>) comprising:
- at least one wheel-equipped apparatus (110a) originally conceived for being moved manually by a disabled user;
- at least one device (120a) comprising driving means (<NUM>) adapted to move said device (120a), anchoring means (<NUM>) adapted to anchor said device (120a) to said at least one wheel-equipped apparatus (110a),
wherein said device (120a) is adapted to autonomously move said wheel-equipped apparatus (110a), to which it is anchored, through said driving means (<NUM>),
said system (<NUM>) being characterized in that said device (120a) comprises:
- a first communication bus (<NUM>) adapted to interconnect communication means (<NUM>), input/output means (<NUM>), sensor means (<NUM>), actuator means (<NUM>) and storage means (<NUM>) with processing means (<NUM>) of said device (120a), defining a low-level subsystem wherein said processing means (<NUM>) execute low-level operations in Safety-Critical mode, in particular Path-Finding, Real-Time-Obstacle-Avoidance and Tip-Over-Prevention operations;
- a second communication bus (<NUM>) adapted to interconnect said communication means (<NUM>), said input/output means (<NUM>) and said storage means (<NUM>) with further processing means (<NUM>) of said device (120a), defining a high-level subsystem wherein said further processing means (<NUM>) execute high-level operations, in particular Off-Line-Obstacle-Avoidance operations and/or telecommunication functions and/or recognition of voice commands;
- a third communication bus (<NUM>) adapted to mutually connect said processing means (<NUM>) and said further processing means (<NUM>), wherein the first communication bus (<NUM>) and the second communication bus (<NUM>) are not mutually coupled and wherein said actuator means (<NUM>) are adapted to actuate said driving means (<NUM>) and said anchoring means (<NUM>).