Patent Description:
The scope of the present invention embraces a device, and the related method of installation, for autonomous drive of wheelchairs, stretchers, trolleys or similar wheel-equipped apparatuses.

The device and the associated method of installation of the present invention can be easily used on such wheel-equipped apparatuses, which may be used both in indoor environments, e.g. hospitals, airports, shopping centres, etc., and in outdoor environments, e.g. city centres, pedestrian precincts, parks, etc..

Kits are currently known which permit the installation of electric drive units on push-type wheelchairs in order to make them more easily movable by a user, such as, for example, the system described in Mexican patent application <CIT>, or the "<NPL>). These kits allow the user to control the wheelchairs whereon they have been installed by means of control systems manually operated by the user, such as, for example, joysticks, push-buttons, etc.; however, such kits do not allow wheel-equipped apparatuses, such as wheelchairs, whereon they have been installed, to move autonomously. As an alternative, wheelchairs are also known which are specifically designed to move autonomously, i.e. without the help from a user. Let us consider, for example, United States patent application <CIT>, which discloses an autonomous-drive wheelchair. Such systems often prove to be much more expensive than kit-type or similar solutions, in that they are solutions implemented by using components specifically dedicated to autonomous drive applications, which are especially costly, such as, for example, 3D LIDAR units.

The United States patent application no. <CIT> describes systems and methods for robotic mobile platforms. A system for enabling autonomous navigation of a mobile platform is disclosed. The system may include a memory having computer readable instructions stored thereon and at least one processor configured to execute the computer readable instructions. The execution of the computer readable instructions causes the system to: receive a first set of coordinates corresponding to a first location of a user; determine a different second location for the mobile platform; navigate the mobile platform between the second location and the first location; and receive a different second set of coordinates.

It is therefore one object of the present invention to solve these and other problems of the prior art, in particular by providing a device for autonomous drive of wheel-equipped apparatuses, and an associated method of installation, which can be used with wheel-equipped apparatuses fitted with drive units controlled by means of control systems manually operated by the user.

It is another object of the present invention to provide a device for autonomous drive of wheel-equipped apparatuses, along with the associated method of installation, which can be installed easily regardless of the type of drive system used by the wheel-equipped apparatus. It is another object of the present invention to provide a device for autonomous drive of wheel-equipped apparatuses, along with the associated method of installation, which is less expensive than current self-moving wheel-equipped apparatuses.

The invention described herein consists of a device, along with an associated method of installation, which is easy to configure and which allows for autonomous drive of wheel-equipped apparatuses comprising electric drive units originally controllable by a user by means of manually operated control systems.

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 through some non-limiting exemplary embodiments thereof, with particular reference to the annexed drawings, wherein:.

With reference to <FIG> and <FIG>, there is shown an illustrative diagram of the use of a device <NUM> for autonomous drive of a wheel-equipped apparatus <NUM> and a management unit <NUM> according to an embodiment of the present invention.

The wheel-equipped apparatus <NUM> may comprise drive means <NUM> operationally connected to control means <NUM> adapted to control said drive means <NUM>, the control means <NUM> being adapted to be operated manually by the user. The wheel-equipped apparatus <NUM> may comprise power supply means <NUM>, which supply power to the drive means <NUM> and to the control means <NUM>. Together, said control means <NUM>, drive means <NUM> and power supply means <NUM>, which are operationally connected to one another, e.g. via a data/power bus <NUM>, constitute a drive system <NUM> of the wheel-equipped apparatus <NUM>, as schematized by way of example in <FIG>.

The wheel-equipped apparatus <NUM> may be, for example, a wheelchair originally designed to be moved by the drive means <NUM>, e.g. an electric motor. In the present embodiment of the invention, the drive means <NUM> may be anchored to the wheel-equipped apparatus <NUM> in such a way as to remain in contact with a support surface <NUM>. Alternatively, the drive means <NUM> may be anchored to the wheel-equipped apparatus <NUM> in such a way as to remain in contact with the wheels of said wheel-equipped apparatus <NUM>, e.g. by friction.

The control means <NUM> are adapted to control the drive means <NUM> and may comprise, for example, joysticks, push-buttons, etc. The control means <NUM> are operationally connected to the drive means <NUM>, e.g. via the data/power bus <NUM> adapted to transport the signals outputted by the control means towards the drive means <NUM>. In one embodiment of the invention, the data/power bus <NUM> may also supply power to the control means <NUM>, e.g. taking it from the power supply means <NUM>. The control means <NUM> are adapted to be operated manually by the user. For example, the control means <NUM> may comprise four push-buttons with the symbols "A", "V", "<", ">", which indicate controls for moving said wheel-equipped apparatus <NUM> forwards, backwards, leftwards and rightwards. The user can therefore operate the control means <NUM> manually in order to move the wheel-equipped apparatus <NUM>, e.g. forwards by pressing the push-button identified as "A". Consequently, the control means <NUM> will output at least one electric signal corresponding to that manual control, designated as "A", operated by the user on said control means <NUM>. The electric signal may be, for example, an analog or digital value of electric voltage or electric current flowing through the data/power bus <NUM> towards the drive means <NUM>, which will then be activated in accordance with the electric signal received to move the wheel-equipped apparatus <NUM> forwards.

The power supply means <NUM> are adapted to supply power to the drive means <NUM> and/or to the control means <NUM> and/or to further devices that may be installed on said wheel-equipped apparatus <NUM>, such as, for example, the device <NUM> of the present invention. The power supply means <NUM> may comprise, for example, one or more lithium, nickel/cadmium, etc. batteries. For example, the power supply means <NUM> may supply power to the drive means <NUM> and/or to the control means <NUM> and/or to said further devices via the data/power bus <NUM> or via a wire harness specially dedicated to the power supply function.

The device <NUM> is adapted to be anchored to said wheel-equipped apparatus <NUM> by anchoring means <NUM>, so that it is mechanically integral with the structure of said wheel-equipped apparatus <NUM>. The anchoring means <NUM> may comprise, for example, arms that can be manually and/or automatically extended from the device <NUM> by means of actuators <NUM>. The anchoring means <NUM> may comprise elements configured to be hooked to the structure of said wheel-equipped apparatus <NUM>. Such elements may be, for example, clamps manually or automatically adjustable by means of actuators. The anchoring means <NUM> may be adjustable, e.g. in height, so as to better adhere to the structure of said wheel-equipped apparatus <NUM>. The anchoring means <NUM> may anchor the device <NUM> directly, or may anchor specific mounting systems, also by third parties. The anchoring means <NUM> may comprise connectors adapted to electrically connect said device <NUM> to transfer power and/or signals from said device <NUM> to the drive means <NUM>. Such signals may be exchanged, for example, by means of a digital interface, such as, for example, CANBUS, RS485, etc., or by means of an analog interface.

The management unit <NUM> is adapted to manage said at least one device <NUM> for autonomous drive of at least one wheel-equipped apparatus <NUM>. Said management unit <NUM> may be used by the user, for example, in order to set a path of said at least one device <NUM> 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> operationally 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 <NUM> for autonomous drive of at least one wheel-equipped apparatus <NUM>. Such information may comprise, for example, data received from the device <NUM>, e.g. values indicating the position, speed and operating state of the device <NUM>, maps of at least a portion of the environment where said device <NUM> is operating, and so forth.

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

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 interface or the like.

In one embodiment of the invention, the management unit <NUM> may be a user's smartphone, which is connected, via the interface module <NUM>, to said device <NUM> anchored to said wheel-equipped apparatus <NUM>, e.g. a wheelchair being used by the user, wherein the device <NUM> is adapted to autonomously move the wheel-equipped apparatus <NUM> to which it has been anchored, also as a function of the information exchanged with the management unit <NUM>. In a further embodiment of the invention, the device <NUM> is adapted to autonomously move the wheel-equipped apparatus <NUM> to which it has been anchored as a function of the information recorded inside of it.

<FIG> shows an illustrative structural diagram of the device <NUM> for autonomous drive of a wheel-equipped apparatus <NUM>, with reference to <FIG>. The device <NUM> may comprise communication means <NUM>, interface means <NUM>, sensor means <NUM>, storage means <NUM> and processing means <NUM>. Such means may be interconnected via a communication bus <NUM>.

The communication means <NUM> are adapted to establish a communication channel with at least one management unit <NUM>. The communication means <NUM> may comprise, for example, a USB, CANBUS, ETHERNET, WiFi, Bluetooth, GSM, etc. interface.

The interface means <NUM> are adapted to receive and transmit input/output information of the device <NUM>. The interface means <NUM> may comprise, for example, a screen for displaying the path of the wheel-equipped apparatus <NUM>, a microphone for vocally controlling the movements of the wheel-equipped apparatus <NUM>, a loudspeaker for audio communications with a remote operator; the screen, the microphone and the loudspeaker may be housed, for example, in a control panel of the device <NUM>. The device <NUM> may also comprise a video camera to allow a remote operator to remotely view the path being followed by the wheel-equipped apparatus <NUM>. For example, in case of movement problems, the operator will be able to take control of the device <NUM> and hence of the wheel-equipped apparatus <NUM> to move it to a predetermined place. The device <NUM> may also comprise a barcode/RFID reader, e.g. for reading medical recipes and computing the path from the current position of the device <NUM> to a room for specific tests that the user will have to undergo. Said device <NUM> may be electrically connected in parallel to an output data line, such as, for example, the data/power bus <NUM>, of the control means <NUM> through the interface means <NUM>, e.g. via connectors compliant with the CANBUS, USB, RS232, RS485, etc. interfaces.

The sensor means <NUM> are adapted to acquire values of quantities concerning said device <NUM>. For example, said sensor means <NUM> may acquire physical quantities useful for the autonomous drive of said device <NUM>, 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 sensor means <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 in order to detect the presence of obstacles and/or differences in level (steps) along a path being followed by the wheel-equipped apparatus <NUM>.

The storage means <NUM> are adapted to store the information and the instructions of the device <NUM> for autonomous drive of the wheel-equipped apparatus <NUM> according to 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 autonomous drive of the wheel-equipped apparatus <NUM>, such as, for example, a set of maps for autonomous drive of the wheel-equipped apparatus <NUM>, the state of the inputs and outputs of the interface means <NUM>, electric signals corresponding to at least one manual control operated by the user on said control means <NUM>, 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> and the interface 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> may establish a communication between the device <NUM> and the management unit <NUM> via said communication means <NUM>. The processing means <NUM> may process the information and the instructions stored in the storage means <NUM> in relation to the communication means <NUM> and the interface means <NUM>, and may 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 processing means <NUM> may implement telecommunication functions via said communication means, e.g. with a remote server, a lift or other domotic devices. The processing means <NUM> may implement advanced functions like, for example, recognition of user voice commands acquired by the microphone of the device <NUM>.

The communication bus <NUM> is adapted to interconnect said communication means <NUM>, interface means <NUM>, sensor means <NUM> and storage means <NUM> with the processing means <NUM>.

With reference to <FIG>, the following will describe an exemplary method of installation of the device <NUM> for autonomous drive of at least one wheel-equipped apparatus <NUM>. As previously described, said wheel-equipped apparatus <NUM> comprises the drive means <NUM>, which are operationally connected to the control means <NUM>, which are adapted to control said drive means <NUM>, the control means <NUM> being adapted to be operated manually by the user.

At step <NUM> a phase of initializing the device <NUM> is carried out in order to bring it into an operational condition. In this step, the operating state of the device <NUM> and/or the operating state of the drive means <NUM> and control means <NUM> are verified. Such verification may be carried out, for example, by an operator trained to set up the device <NUM>.

At step <NUM> a phase of analyzing the commands of the control means <NUM> is carried out. During this phase, at least one electric signal outputted by the control means <NUM> and sent towards the drive means <NUM>, e.g. via the data/power bus <NUM>, is determined. Said at least one electric signal corresponds to at least one manual control operated by the user on the control means <NUM>. For example, during this phase the operator may measure at least one electric signal outputted by the control means <NUM>, by means of a measurement tool such as, for example, a tester or an oscilloscope, thus determining the circuit characteristics of the data/power bus <NUM> through which said at least one electric signal outputted by the control means <NUM> flows. Such circuit characteristics may be, for example, the position of the wire carrying said at least one electric signal outputted by the control means <NUM> in the data/power bus <NUM> and/or the type of analog/digital electric signal and/or the coding standard of the electric signal, and so forth. During this phase, the operator may use information concerning the drive system <NUM>, e.g. its circuit diagram.

At step <NUM> a connection phase is carried out, wherein the device <NUM> is electrically connected to said drive means <NUM> on the basis of the information determined in said phase of analyzing the commands, described at step <NUM>. Said information may comprise the circuit characteristics of the data/power bus <NUM> through which said at least one electric signal outputted by the control means <NUM> flows. The electric connection may be obtained, for example, by connecting at least one connector, e.g. a female one, in the data/power bus <NUM>. The matching connector, e.g. a male one, allows said at least one electric signal to be carried, via electric wires, towards the interface means <NUM> of the device <NUM>. In one embodiment of the invention, the device <NUM> may be electrically connected in parallel to the output data line of the control means <NUM> via the interface means <NUM>, e.g. connected by means of the male/female connectors.

At step <NUM> a configuration phase is carried out, wherein the device <NUM> stores, via the storage means <NUM>, said at least one electric signal corresponding to at least one manual control operated by the user on said control means <NUM>. During this phase, for example, the operator operates the controls on the control means <NUM> one at a time, resulting in the emission of at least one corresponding electric signal; such signal is received by the interface means <NUM> of the device <NUM>. Consequently, the processing means <NUM> store said at least one electric signal, corresponding to at least one actuated manual control, into the storage means <NUM>, associating it with the control that generated said at least one electric signal. Let us assume, for example, that the control means <NUM> comprise four push-buttons with the following symbols "A", "V", "<", ">", which indicate, respectively, commands for moving said wheel-equipped apparatus <NUM> forwards, backwards, leftwards and rightwards. During this phase the operator can manually operate, one at a time, the control means <NUM>, e.g. by pressing the button designated as "A". The control means <NUM> emit a corresponding electric signal, e.g. a digital electric voltage signal coded as "<NUM>"; such signal is then received by the interface means <NUM> of the device <NUM> and stored, by the processing means <NUM>, into the storage means <NUM>. Such digital electric voltage signal coded as "<NUM>" is associated with the label "FORWARD" corresponding to the actuated control. The association of the actuated control may be made by the operator by interacting with the interface means <NUM>, e.g. by interacting with a screen and a keyboard comprised in the interface means <NUM>. Alternatively, the association of the actuated control may be made automatically with reference to the sensor means <NUM>, e.g. one or more accelerometers and/or GPS positioning systems, etc., based on the variations occurring in the detected quantities, e.g. forward, backward, rightward, leftward acceleration, etc. The same operations are carried out for the remaining push-buttons, designated as "V", "<", ">", each one of which may correspond, for example, to the digital electric signals "<NUM>", "<NUM>", "<NUM>" and to the labels "BACKWARD", "LEFT" "RIGHT". This information may be stored by the processing means <NUM> into the storage means <NUM>, e.g. in a table wherein each row is associated with a label of a control and the corresponding electric signal.

At step <NUM> an autonomous drive phase is carried out, wherein said device <NUM> autonomously controls said drive means <NUM>, as an alternative to said control means <NUM>, by means of said at least one electric signal stored in said storage means <NUM>. During this phase, the processing means <NUM> of the device <NUM> execute one or more algorithms known in the art in order to autonomously move the wheel-equipped apparatus <NUM> to which it has been anchored. Consequently, the processing means <NUM> transmit to the drive means, via said interface means <NUM>, at least one electric signal corresponding to at least one command stored in the storage means <NUM>, as discussed at step <NUM>. For example, assuming that the wheel-equipped apparatus <NUM> must autonomously follow a path created by the following command sequence: "FORWARD", "RIGHT", "FORWARD", "LEFT", "BACKWARD", "RIGHT"; the processing means will transmit to the drive means <NUM>, via the interface means <NUM>, the following sequence of signals: "<NUM>", "<NUM>", "<NUM>", "<NUM>", "<NUM>", "<NUM>". These signals may have a predefined time length, e.g. two seconds each, and therefore the entire path described in this example will last, in total, twelve seconds. Of course, the control signals may be formatted in such a way as to contain further information, e.g. the speed of the wheel-equipped apparatus <NUM>, the acceleration of the wheel-equipped apparatus <NUM>, the time of execution of each command, and so forth. During this phase, the device <NUM> will interrupt said autonomous drive phase in the event that the control means <NUM> output at least one electric signal corresponding to at least one manual control operated by the user on the control means <NUM>. For example, the processing means <NUM> of the device <NUM> may periodically detect, via the interface means <NUM>, at least one electric signal corresponding to at least one manual control operated by the user on said control means <NUM>, e.g. when the push-button "v" is pressed; in this case, the corresponding electric signal detected by the processing means will be "<NUM>". For example, if such electric signal is different from the electric signal generated by the processing means <NUM> during the autonomous drive phase, then the device <NUM>, i.e. the processing means <NUM> of the device <NUM>, will interrupt the autonomous drive phase of the wheel-equipped apparatus <NUM>. In another embodiment of the invention, the device <NUM>, i.e. the processing means <NUM> of the device <NUM>, will interrupt the autonomous drive phase of the wheel-equipped apparatus <NUM> as soon as the control means <NUM> output at least one electric signal corresponding to at least one manual control operated by the user on the control means <NUM>.

The advantages of the present invention are apparent in light of the above description. The device and the associated method of installation according to the present invention advantageously allow wheel-equipped apparatuses fitted with drive units controlled by control systems manually operated by the user to operate autonomously.

Claim 1:
Device (<NUM>) for autonomous drive of a wheel-equipped apparatus (<NUM>), said wheel-equipped apparatus (<NUM>) comprising drive means (<NUM>) operationally connected to control means (<NUM>) adapted to control said drive means (<NUM>); said control means (<NUM>) being adapted to be operated manually by a user into a plurality of different manual controls, with each of said plurality of manual controls controlling a different operation of said wheel-equipped apparatus (<NUM>), an electric signal being outputted from said control means (<NUM>) at each of said plurality of different manual controls, each electric signal corresponding to one of said different operations of said wheel-equipped apparatus (<NUM>), wherein
said device (<NUM>) is adapted to be operationally connected to said drive means (<NUM>) and comprises storage means (<NUM>) adapted to store each electric signal being outputted from said control means (<NUM>) as the control means (<NUM>) are manually operated to each of said plurality of different manual controls, and wherein said device (<NUM>) is adapted to autonomously control said drive means (<NUM>), as an alternative to said control means (<NUM>), by means of said at least one electric signal stored in said storage means (<NUM>).