WO2023118633A1 - Plateforme de déplacement autonome - Google Patents

Plateforme de déplacement autonome Download PDF

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Publication number
WO2023118633A1
WO2023118633A1 PCT/ES2022/070811 ES2022070811W WO2023118633A1 WO 2023118633 A1 WO2023118633 A1 WO 2023118633A1 ES 2022070811 W ES2022070811 W ES 2022070811W WO 2023118633 A1 WO2023118633 A1 WO 2023118633A1
Authority
WO
WIPO (PCT)
Prior art keywords
frame
user
electronic unit
wheelchair
module
Prior art date
Application number
PCT/ES2022/070811
Other languages
English (en)
Spanish (es)
Inventor
Félix Biscarri Triviño
Alberto Jesús MOLINA CANTERO
Alejandro Gallardo Soto
Juan Manuel Jaramillo Pareja
Francisco Javier Molina Cantero
Original Assignee
Universidad De Sevilla
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 Universidad De Sevilla filed Critical Universidad De Sevilla
Publication of WO2023118633A1 publication Critical patent/WO2023118633A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven

Definitions

  • the object of the present invention is related to the technical field corresponding to engineering, specifically to the electronic-mechanical engineering sector.
  • the present invention refers to an autonomous movement platform that can be adapted to manual means of transport for users with functional disabilities or injuries, establishing a movement path and automatically avoiding environmental obstacles.
  • Autonomous or semi-autonomous guidance systems are known in the state of the art that seek for a user to reach a destination without the need for any action on the part of said user, except for an order to start driving.
  • Some systems implemented in manual means of transport can be image capture systems that recognize marks on the route that the user is taking, systems with several cameras placed on the sides of a wheelchair or on an oscillating mast in order to detect edges. of the floor and wall that delimit the path to follow with the aforementioned chair, facilitating the movement of a user through rooms or other interior locations.
  • the present invention aims to solve the problems posed by incorporating, generally from the bottom, an autonomous movement platform in a wheelchair, without the need for the user who uses said wheelchair to interact with the device, avoiding obstacles and allowing their movement through controlled environments, when the physical-cognitive development of said user is not enough for them to interact conventionally with the wheelchair.
  • the existing interaction with the device object of the invention is that of a second user who facilitates the start-up of the equipment by means of an on and off button. From that moment on, the displacement platform moves the user automatically, with speed control, based on the information received from the environment by the modules associated with the electronic unit of the displacement platform.
  • the displacement platform is equipped with a frame, drive wheels that are located in the lateral areas of said frame, close to the rear area of the same and where motors are linked, preferably brushless motors, which transmit the movement of spin to the wheels
  • motors are linked, preferably brushless motors, which transmit the movement of spin to the wheels
  • at least one free wheel is coupled to the front area of the frame.
  • the guidance of the platform is a function of the speed of rotation of the drive wheels, which is different for each one of them in turns or the same so that the direction of travel is straight.
  • the autonomous movement platform includes an adapter attached to the frame, which includes adaptation pieces, in the form of an L, with slots that allow the adapter to be attached to an axis, which may be the axis located between the wheels of the chair. of wheels, or another axis of the structure of the chair that allows said adaptation; and to the platform frame.
  • adaptation pieces in the form of an L, with slots that allow the adapter to be attached to an axis, which may be the axis located between the wheels of the chair. of wheels, or another axis of the structure of the chair that allows said adaptation; and to the platform frame.
  • An electronic unit is located on the frame, responsible for the autonomous operation of the displacement platform.
  • Said electronic unit comprises a series of modules, said modules being: at least one detection module, which can be a set of ultrasonic sensors, and which can be located in the front and/or rear area of the frame.
  • Said module obtains information about the environment through which the platform object of the invention moves or is going to move in order to detect obstacles and avoid them.
  • the electronic unit includes a control module, in charge of receiving information about the environment from the detection module and transferring it.
  • the control module can have digital-analog converters, timers, magnetometers, etc. Said information is sent to some motor controllers, in charge, based on the information received, of giving the order to the motors to transmit movement to the drive wheels, knowing the environment through which the user moves, in order to carry out this process. movement in a guided and autonomous way without interaction thereof with the device object of the invention.
  • control unit can comprise a communication module, which receives signals from an external device such as a mobile phone, and transmits them to the control module, the communication module being connected wirelessly, for example, via bluetooth , with said external device.
  • the operation of the modules of the electronic unit is due to a power supply module, connected to the aforementioned modules and comprising batteries.
  • Said power supply module provides electricity and allows the operation of the detection and communication modules and the motor controllers.
  • the control and start-up, as well as the knowledge of the operation of the modules, is carried out through an input-output panel, equipped with a connector for charging the control unit batteries, an on and off button, a emergency stop button in the event that any of the modules malfunctions and a display system, this being a set of led lights, which depending on which light is illuminated indicates the status of the march, stop or failure in the electronics .
  • a trajectory can be programmed based on the mapping of the environment, helping the wheelchair occupant to move safely through a controlled environment.
  • Figure 1 Shows a perspective view of the autonomous movement platform.
  • Figure 2. Shows a phase diagram of the interaction between the elements that make up the electronic unit.
  • Figure 3. Shows a perspective view of the autonomous movement platform attached to a wheelchair.
  • Figure 1 shows a perspective view of the autonomous movement platform, intended to be incorporated into at least one axis (26) of a wheelchair (27) and to autonomously transfer a user through a controlled environment while said user is sitting on the wheelchair (27) without interacting with the movement platform.
  • Said invention structurally comprises a frame (1) equipped with a front area (2), a rear area (3) and lateral areas (4), at least two drive wheels (5) arranged in the lateral areas (4) of the frame (1) and at least one free wheel (6) arranged in the front area (2) of the frame (1), electric motors (7) associated with the drive wheels (5) and which are intended to transmit rotational movement to said driving wheels (5).
  • the electric motors (7) provide the same speed to each of the drive wheels (5) when the user located on the wheelchair (27) is moved forwards and backwards. When the user is moved to the left or to the right, the electric motors (7) give each of the drive wheels (5) a different speed of rotation to achieve this change of direction.
  • the autonomous movement platform comprises an adapter (8) located on the frame (1) designed to be coupled to the axle (26) of the wheelchair (27).
  • said adapter (8) is equipped with coupling parts (22) that have slots (25) that support the axle (26) of the wheelchair (27) and engage with the frame (1) and reinforcements (23) located transversely between said coupling parts (22).
  • said invention also comprises an electronic unit (9) and a power supply module (14) that is made up of batteries (21), associated with the electronic unit (9) and electric motors. (7) and that provides electricity to the electronic unit (9) and to the electric motors (7) mentioned.
  • said electronic unit comprises at least one obstacle detection module (10) that is intended to capture information on the environment through which the user moves, at least one control module (12) connected to the detection module (10) and which is configured to receive the information captured by the detection module (10).
  • the electronic unit (9) comprises motor controllers (13) that are connected to the electric motors (7) and associated with the control module (12); configured to send the information received from the control module (12) to the electric motors (7) and, consequently, that said electric motors (7) transmit the turning movement to the drive wheels (5) without user interaction.
  • at least one actuator (18) that turns the power supply module (14) on or off, said physical actuator (18) being, for example, a button; or wireless, such as from a mobile application.
  • the detection module (10) is made up of ultrasonic sensors (24) located in the front and/or rear area (2, 3) of the frame (1) and that help, through impulses, to capture the obstacles in the environment through which the user is moved in a controlled manner.
  • the electronic unit (9) also comprises at least one communication module (11) connected to the control module (12) and which is intended to be connected to an external device (16) wirelessly and to collect information from said external device (16).
  • the electronic unit (9) is also provided with an input-output panel (15) that incorporates display elements (17) intended to allow the user to check the operation of the motor controllers ( 13), and, therefore, the status of the displacement platform, an emergency stop button (19) that stops the motor controllers (13) when a malfunction occurs in any of the control modules.
  • Figure 3 shows a perspective view of the autonomous movement platform attached to a wheelchair (27), for example, in this case, a wheelchair for children with brain-motor disabilities.
  • the platform object of the invention is coupled to the axis (26) of the wheelchair (27) and allows the autonomous movement of the occupant.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Une plateforme de déplacement autonome destinée à être incorporée à au moins un axe (26) d'une chaise roulante (27) et à déplacer de manière autonome un utilisateur dans un environnement contrôlé, ledit utilisateur étant assis sur la chaise roulante (27) sans interagir avec la plateforme de déplacement, du type qui comprend un châssis (1) doté d'une zone avant (2), d'une zone arrière (3) et de zones latérales (4), au moins deux roues motrices (5) disposées dans les zones latérales (4) du châssis (1) et au moins une roue libre (6) disposée dans la zone avant (2) du châssis (1), des moteurs électriques (7) associés aux roues motrices (5) et qui sont destinées à transmettre un mouvement de rotation aux roues motrices (5) et un adaptateur (8) situé sur le châssis (1) conçu pour se coupler à l'axe (26) de la chaise roulante (27).
PCT/ES2022/070811 2021-12-23 2022-12-19 Plateforme de déplacement autonome WO2023118633A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ESU202132522 2021-12-23
ES202132522U ES1285590Y (es) 2021-12-23 2021-12-23 Plataforma de desplazamiento autonomo

Publications (1)

Publication Number Publication Date
WO2023118633A1 true WO2023118633A1 (fr) 2023-06-29

Family

ID=79907167

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/ES2022/070811 WO2023118633A1 (fr) 2021-12-23 2022-12-19 Plateforme de déplacement autonome

Country Status (2)

Country Link
ES (1) ES1285590Y (fr)
WO (1) WO2023118633A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100300777A1 (en) * 2009-05-27 2010-12-02 Beach Mobility, Inc. Power Add-On Device For Manual Wheelchair
US20170266069A1 (en) * 2016-03-15 2017-09-21 Denso International America, Inc. Autonomous Wheelchair
KR20180091314A (ko) * 2017-02-06 2018-08-16 김동민 휠체어용 전동장치
CN110789636A (zh) * 2019-12-02 2020-02-14 深圳职业技术学院 一种智能载运轮椅车

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100300777A1 (en) * 2009-05-27 2010-12-02 Beach Mobility, Inc. Power Add-On Device For Manual Wheelchair
US20170266069A1 (en) * 2016-03-15 2017-09-21 Denso International America, Inc. Autonomous Wheelchair
KR20180091314A (ko) * 2017-02-06 2018-08-16 김동민 휠체어용 전동장치
CN110789636A (zh) * 2019-12-02 2020-02-14 深圳职业技术学院 一种智能载运轮椅车

Also Published As

Publication number Publication date
ES1285590U (es) 2022-01-26
ES1285590Y (es) 2022-04-20

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