WO2021220103A1 - Véhicule robotisé - Google Patents

Véhicule robotisé Download PDF

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Publication number
WO2021220103A1
WO2021220103A1 PCT/IB2021/053213 IB2021053213W WO2021220103A1 WO 2021220103 A1 WO2021220103 A1 WO 2021220103A1 IB 2021053213 W IB2021053213 W IB 2021053213W WO 2021220103 A1 WO2021220103 A1 WO 2021220103A1
Authority
WO
WIPO (PCT)
Prior art keywords
robotic vehicle
predefined
robotic
preferred path
processor
Prior art date
Application number
PCT/IB2021/053213
Other languages
English (en)
Inventor
Luigi PALOPOLI
Daniele FONTANELLI
Fabiano ZENATTI
Stefano DIVAN
Marco Andreetto
Original Assignee
Università Degli Studi Di Trento
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Università Degli Studi Di Trento filed Critical Università Degli Studi Di Trento
Priority to EP21726187.4A priority Critical patent/EP4143654A1/fr
Publication of WO2021220103A1 publication Critical patent/WO2021220103A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/046—Wheeled walking aids for patients or disabled persons with braking means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A61H2201/501—Control means thereof computer controlled connected to external computer devices or networks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5038—Interfaces to the user freely programmable by the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5079—Velocity sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5092—Optical sensor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5097—Control means thereof wireless

Definitions

  • robotic walkers exist which are passive vehicles and which select, for each predefined time step, to entrust the authority to steer to the patient or to the robotic walker, disadvantageously subtracting from the patient the authority to control the direction of the robotic walker and leaving the perception to the intellectually healthy patient of being controlled by the robotic walker.
  • figure 1 is a schematic top view of a particular robotic vehicle which is a robotic walker according to the present invention
  • figure 2 is a schematic side view of the robotic walker
  • figure 3 is a schematic view showing the robotic walker in three different positions and directions with respect to a predefined preferred path 100, where for each position an angle of approach and an approaching trajectory is shown
  • figure 4 shows a graph depicting an elastic gain value which essentially represents a torque to be applied to the steering motors of the robotic walker depending on an angular error tolerance with respect to the desired values to guide the robotic walker along a predefined preferred path 100 or away from an obstacle
  • figure 5 is a schematic view of a robotic vehicle according to an embodiment of the invention, in which the coordinates l x and l y of the reference point O m of the robotic vehicle are shown with respect to a Frenet reference frame positioned
  • the robotic walker 10 comprises a localization apparatus comprising at least one localization sensor and connected to the at least one processor 70 and at least one storage 80 of the robotic walker 10, for example the localization sensor can be a camera 60.
  • the localization apparatus operated by the processor 70 by a localization process implemented in the storage 80 localizes the spatial position and orientation of the robotic walker 10 at least with respect to the surrounding environment, detects the position of obstacles to be overcome, measures a distance between the walker and the obstacles, calculates the predefined preferred path 100 of the robotic walker 10 according to predefined indications from third parties or from the patient, measures a distance between the robotic walker 10 and said predefined preferred path 100, measures the angle of approach d with respect to the predefined preferred path 100 and stores all these information in said at least one storage 80.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Rehabilitation Therapy (AREA)
  • Pain & Pain Management (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Rehabilitation Tools (AREA)
  • Micro-Organisms Or Cultivation Processes Thereof (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un véhicule robotisé (10) comprenant une paire de roues arrière (11, 12), au moins une roue avant (13, 14), au moins un moteur de direction (50) monté avec ladite au moins une roue avant (13, 14), ladite au moins une roue avant (13, 14) étant conçue pour tourner librement autour d'un axe vertical (Zm) perpendiculaire au sol, ledit au moins un moteur de direction (50) étant adapté pour imposer un couple qui oriente ladite au moins une roue avant (13,14) avec lequel il est monté, en orientant le véhicule robotisé (10) d'un angle de direction (φ) par rapport à une direction instantanée de mouvement linéaire (Xm) du véhicule robotisé (10), le véhicule robotisé (10) comprenant au moins un processeur (70) et au moins un stockage (80), ledit au moins un processeur (70) commandant ledit au moins un moteur de direction (50) et calculant une position spatiale et une orientation spatiale du véhicule robotisé (10), ledit au moins un stockage (80) contenant au moins un algorithme de sélection qui met en œuvre un processus de partage d'une autorité de commande pour diriger le véhicule robotisé (10), ledit au moins un stockage (80) contenant un chemin préféré prédéfini (100) ou la position d'un obstacle à surmonter, pour chaque étape de temps prédéfinie, ledit au moins un algorithme de sélection sélectionnant en fonction d'une mesure une valeur de couple que ledit au moins un moteur de direction (50) impose à ladite au moins une roue avant (13, 14), ladite valeur de couple étant comprise entre 0 et une valeur de couple maximale prédéfinie, ladite mesure étant définie en fonction uniquement d'une distance du véhicule robotisé (10) à partir dudit chemin préféré prédéfini (100), ou à partir d'un obstacle à surmonter, et sur un angle d'approche (δ), l'angle d'approche (δ) de ladite mesure étant calculé par ledit au moins un processeur (70) en fonction d'une trajectoire d'approche vers ledit chemin préféré prédéfini (100) ou vers ledit obstacle à surmonter.
PCT/IB2021/053213 2020-04-27 2021-04-19 Véhicule robotisé WO2021220103A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP21726187.4A EP4143654A1 (fr) 2020-04-27 2021-04-19 Véhicule robotisé

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102020000009040 2020-04-27
IT102020000009040A IT202000009040A1 (it) 2020-04-27 2020-04-27 Veicolo robotico.

Publications (1)

Publication Number Publication Date
WO2021220103A1 true WO2021220103A1 (fr) 2021-11-04

Family

ID=71575625

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2021/053213 WO2021220103A1 (fr) 2020-04-27 2021-04-19 Véhicule robotisé

Country Status (3)

Country Link
EP (1) EP4143654A1 (fr)
IT (1) IT202000009040A1 (fr)
WO (1) WO2021220103A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220397914A1 (en) * 2021-06-04 2022-12-15 Ubtech North America Research And Development Center Corp Fast continuous regulation of nonholonomic mobile robots

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
ANDREETTO MARCO ET AL: "Path Following With Authority Sharing Between Humans and Passive Robotic Walkers Equipped With Low-Cost Actuators", IEEE ROBOTICS AND AUTOMATION LETTERS, IEEE, vol. 2, no. 4, 4 October 2017 (2017-10-04), pages 2271 - 2278, XP011657444, DOI: 10.1109/LRA.2017.2724772 *
GRAF B: "Reactive navigation of an intelligent robotic walking aid", ROBOT AND HUMAN INTERACTIVE COMMUNICATION, 2001. PROCEEDINGS. 10TH IEE E INTERNATIONAL WORKSHOP ON SEP 18-21, 2001, PISCATAWAY, NJ, USA,IEEE, 18 September 2001 (2001-09-18), pages 353 - 358, XP010576319, ISBN: 978-0-7803-7222-1 *
WASSON G ET AL: "User intent in a shared control framework for pedestrian mobility aids", PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS. (IROS 2003). LAS VEGAS, NV, OCT. 27 - 31, 2003; [IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS], NEW YORK, NY : IEEE, US, vol. 3, 27 October 2003 (2003-10-27), pages 2962 - 2967, XP010675553, ISBN: 978-0-7803-7860-5, DOI: 10.1109/IROS.2003.1249321 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220397914A1 (en) * 2021-06-04 2022-12-15 Ubtech North America Research And Development Center Corp Fast continuous regulation of nonholonomic mobile robots

Also Published As

Publication number Publication date
IT202000009040A1 (it) 2021-10-27
EP4143654A1 (fr) 2023-03-08

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