FR2741583A1 - Self-propelled wheelchair with automatic guidance for disabled - Google Patents

Abstract

The wheelchair has a chassis (1) carrying a seat (2) and fitted with driving and steering wheels (3,4) and with two systems of detectors that can be automatically switched. One set of detectors are optical (8) and follow a white line painted on the ground, the other set is inductive (9) and follow a cable set in the ground and carrying an alternating current. The detectors deliver signals to a microprocessor based controller (13) which has several routes stored in memory allowing the user to select a route. The routes are distinguished by the frequency of the alternating current or by a bar coding running along the length of a painted line.

Description

SELF-PROPELLED WHEELCHAIR WITH GUIDANCE
AUTOMATIC FOR DISABLED
The present invention relates to a self-propelled wheelchair with automatic guidance for invalids.

 It is intended for hospitals or para-hospitals receiving people who cannot travel by their own means due to a disability, illness or accident for example.

 The care provided to invalids, cerebral handicapped or patients condemned, provisionally or definitively, to move on a wheelchair requires an important staff and some of these patients, not being able to operate a wheelchair, even motorized, must be accompanied permanently in all their movements, and in particular during the walks carried out most often inside the establishment which lodges them, or in the park of this last.

 However, there are various types of vehicles or trolleys capable of moving without a driver by automatically following pre-established routes, used for example in large warehouses to store or retrieve goods.

 We can cite Patent NO FR 2 682 782 filed on 10/16/91 by Mr. Jean RAMEIL, which describes an electric vehicle whose use is only authorized after the introduction of a coin or token in a coin mechanism or the use of a credit card, key or code. This vehicle is steered by means of an automatic control which actuates the steering by means of an electric motor and according to an infrared transmitter and one or more receiving sensors allowing the vehicle to follow a paint line white line drawn on the ground, a device for detecting an obstacle in front of the vehicle and stopping it from moving, thanks to an infrared or ultrasonic transmitter-receiver.

 To our knowledge, there is to date no wheelchair for the disabled with fully automated driving that can move without being controlled by its occupant or a third person.

 The device according to the present invention aims to remedy this state of affairs. It allows a disabled person to go to a specific place by actuating a single command adapted to his condition, said command can naturally be actuated by any person having to take care of the patient.

 It consists of an armchair provided with driving and steering wheels, as well as two automatically switchable guide systems using respectively optical sensors making it possible to follow a strip of white color preferably, arranged on the ground and carrying bar codes all along the route, and induction sensors capable of detecting a cable buried or laid on the ground and traversed by an alternating current, the operation of the device being controlled by a programmable electronic module allowing the user to choose a route among several , these being differentiated by bar codes or by the frequency of the current flowing through the buried cable.

In the accompanying drawings, given by way of nonlimiting example of one of the embodiments of the subject of the invention:
Figure 1 shows the wheelchair seen from the side, in elevation
and Figure 2 shows the same chair seen from above, the seat having been removed to allow the different equipment to be seen.

 The device, Figures 1 and 2, consists of a frame 1 carrying the seat 2 and provided with two drive wheels 3 and one or two swivel wheels 4 optionally steerable.

 The driving wheels will be driven by a single motor or preferably by two motors 5 each coupled to a wheel and powered by a rechargeable battery 6. The use of two motors makes it possible to use the driving wheels 2 to ensure the direction of the device by acting independently on the supply current of each motor according to a known technique, which makes it possible to simplify the construction, the pivoting wheel or wheels 4 having in this case only a load-bearing role. In an alternative embodiment, the latter are directional and their orientation is obtained using a jack 7 or an electric motor.

 Guidance is obtained by means of two systems of detectors automatically switching from one to the other, optical detectors 8 making it possible to follow colored bands 17, preferably white, painted on the ground, and induction sensors 9 intended detecting a cable buried or laid on the ground and traversed by an alternating current. The colored bands will be used for the courses located inside an establishment, the cables being especially intended for the outside courses, but can very well be used inside.

 A microwave radar 10, or an equivalent system, directed towards the front makes it possible to detect obstacles or people on the route traveled and to slow down and, if necessary, stop the wheelchair.

 The front of the chair is equipped with a flexible bumper 11 mounted on elastic elements 12 so as to actuate microswitches in the event of a collision, which has the effect of causing the immediate stop, and possibly the triggering of an audible alarm.

 The operation of the assembly is controlled by an on-board electronic module 13 controlled by a keyboard 14 accessible to the user and comprising at least one key per route, or by a microphone 15 for voice control. This equipment comprises a microprocessor and memories making it possible to choose a route from among several, these being differentiated by bar codes 16 arranged all along the route on the colored bands 17, their constituent lines being perpendicular to the latter, or by the frequency of the current flowing through the cable.

 In order to remove dirt which could disturb the detection equipment, the wheelchair will advantageously include a system for cleaning the colored bands 17. This system could for example consist of a brush, possibly rotating, mounted at the front of the chair, under the chassis 1.

 The different routes that can be used by the wheelchair can only be programmed by authorized personnel using a key or code.

 To allow the disabled to take walks on the water, or to make the chair amphibious, it can be fitted with floats, for example of the type used in nautical recreational vehicles powered by pedals, guidance being provided. by a cable traversed by an alternating current, submerged or buried in the bottom in the case of a shallow body of water. Propulsion and steering can be provided by any known means controlled by the electronic module 13, for example propeller and rudder. These functions can also be obtained by mounting blades on the drive wheels 2 when the latter are driven by independent motors 5 and are also steered.

 The electronic module 13 will advantageously be associated with a radio remote control of the functions of the device, which allows very effective monitoring by a very small staff, of a large number of armchairs conforming to the description above.

 The positioning of the various constituent elements gives the object of the invention a maximum of useful effects which had not, to date, been obtained by similar devices.

Claims (8)

 10. Self-propelled wheelchair with automatic guidance for invalids, intended for hospitals or para-hospitals receiving people unable to move by their own means, for example due to a handicap, an illness, or an accident ,  characterized by the combination of a chassis (1) carrying the seat (2) and provided with driving and steering wheels (3, 4) as well as two systems of detectors which can switch automatically, on the one hand optical sensors (8) making it possible to follow a colored strip (17), preferably white, painted on the ground, and on the other hand induction sensors (9) intended to detect a cable buried or laid on the ground and traversed by an alternating current, the operation of the chair being controlled by a programmable electronic module (13) comprising a microprocessor and memories allowing the user to choose a route from among several, these being differentiated by the frequency of the current flowing through the above cable, or by bar codes (16) arranged all along the route on the colored bands (17), the lines constituting these bar codes being perpendicular to said colored bands.  20. A wheelchair according to claim 1, characterized in that it is provided at the front with a flexible bumper (11) mounted on elastic elements (12) and capable of operating in the event of a collision with the microswitches. causing the chair to stop immediately, and possibly an audible alarm.  30. Wheelchair according to any one of the preceding claims, characterized in that it is equipped with a system such as a microwave radar (10) directed forwards making it possible to detect obstacles or people standing on the route traveled and cause the wheelchair to slow down and, if necessary, to stop.  40. Wheelchair according to any one of the preceding claims, characterized in that the electronic module (13) is controlled by a keyboard (14) accessible to the user and comprising at least one button per route.  5 ". Wheelchair according to any one of claims 1 to 3, characterized in that the electronic module (13) is controlled by voice command by means of a microphone (15).  60. Wheelchair according to any one of the preceding claims, characterized in that the different routes usable by the wheelchair can only be programmed by authorized personnel using a key or a code.  70. Wheelchair according to any one of the preceding claims, characterized in that the electronic module (13) includes a radio remote control system with different functions.  80. Wheelchair according to any one of the preceding claims, characterized in that it comprises a system for cleaning the colored bands (17).  90. Wheelchair according to claim 8, characterized in that the cleaning system consists of a rotating brush mounted at the front of said chair, under the chassis (1).  100. Wheelchair according to any one of the preceding claims, characterized in that the drive wheels are each driven by a motor (5) powered by a rechargeable battery (6), said drive wheels (2) being used to ensure the direction of the device by acting independently on the supply current of each motor (5).  110. Wheelchair according to claim 1, characterized in that it is equipped with floats allowing its movement on the water and is guided by a cable traversed by an alternating current immersed or buried in the bottom in the event of shallow depth , the propulsion and the direction being controlled by the electronic module (13).  120. Wheelchair according to claims 10 and 11, characterized in that the propulsion and the direction are ensured by means of blades mounted on the drive wheels (2), these being driven by motors (5).