• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Autonomous suitcase Self-propelled suitcase, comprising propulsion means, steering means, detection means, positioning means, communication means and processing means, wherein the processing means are configured to determine a reference position by means of one or more means of detection acting separately or in combination, from the position of a remote communication device and/or the position of a particular element of the environment, and to control the propulsion means and the steering means so that the suitcase moves itself towards the reference position, modifying its trajectory and/or speed to avoid impact with elements of the environment and then continuing its movement towards the reference position. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2607223A1
    申请号:ES201630776
    申请日:2016-06-08
    公开日:2017-03-29
    发明作者:Pablo VIDAL ROJAS
    申请人:Pablo VIDAL ROJAS；
    IPC主号:
    专利说明:

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    AUTONOMOUS SUITCASE
    DESCRIPTION
    OBJECT OF THE INVENTION
    The present invention is an autonomous suitcase, specifically a self-propelled suitcase capable of moving by itself, following its owner and detecting and avoiding impact with possible obstacles and other elements of the environment.
    To follow the owner and avoid obstacles, the present invention employs a combination of detection means, positioning means and communication means to determine a reference position towards which the suitcase moves without the need for the owner to actively control the suitcase movement.
    BACKGROUND OF THE INVENTION
    Typically, travelers should carry or carry luggage or bags to carry their luggage. This can be uncomfortable and problematic, especially if they have to move their luggage over long distances. In addition, in places usually frequented by travelers, such as stations or airports, agglomerations usually form that make traffic with bulky pieces of luggage even more difficult.
    A solution known in the art field to facilitate the transport of luggage is the incorporation of rolling elements to the base of a suitcase containing it, such as wheels. In this way the passenger can drag the suitcase with less effort. Currently the most common type of suitcases that incorporate this solution is shaped like a rectangular prism, it has one or two pairs of wheels at its base and a retractable telescopic handle on one of the sides to be able to drag it more comfortably.
    Additionally the suitcase can be equipped with some type of propulsion means, for example an electric motor, coupled to the wheels so that it is not necessary to drag it, as for example in the suitcase described in US 5316069 A, which incorporates an electric motor , speed selector and removable batteries.
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    Another of the needs of a self-propelled suitcase of the type described above is to keep it located at all times to prevent it from being lost or stolen. A known solution is to equip the suitcase with an alarm system. To this end, it is especially advantageous to use a system that alerts the user in case of attempted theft, as stated in document CN 105193058 A, which describes a suitcase with an anti-theft system formed by a pressure sensor and a device Remote control
    However, the aforementioned devices present serious problems that make it impossible for the public to benefit from its advantages: the incorporation of engines, while reducing the physical effort required to move luggage, introduces the need to actively guide the motorized suitcase to the destination . It also obliges the user of the self-propelled suitcase to stay very attentive to it to avoid being blocked by any obstacle or cause an accident when colliding with people or animals that are in its path.
    The present invention proposes a solution to these problems by means of a self-propelled suitcase device capable of detecting and avoiding obstacles and following the user without their direct intervention, even in case of failure of some means of detection.
    DESCRIPTION OF THE INVENTION
    The present invention proposes a solution to the above problems by means of a self-propelled suitcase device according to claim 1 with the ability to follow the user and avoid obstacles, and a self-propelled suitcase system according to claim 16, further comprising a remote communication device. Preferred embodiments of the invention are defined in the dependent claims.
    In a first inventive aspect a self-propelled suitcase is provided, comprising propulsion means, configured to propel the suitcase,
    address means, configured to modify the direction of movement of the
    suitcase,
    detection means, configured to detect the presence of elements of the environment and to generate signals associated with the detected elements,
    positioning means, configured to determine the position and movement of the suitcase,
    media, configured to establish communication between the suitcase
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    and a remote communication device,
    processing media, configured for
    - interpret and process the signals generated by the detection means and
    - control the means of communication, the means of propulsion, the means of direction, and the means of positioning, and
    power supplies, configured to supply power to the previous media,
    where
    the processing means are configured to
    - determine a reference position by means of one or more detection means acting separately or in combination, from the position of the remote communication device and / or the position of a particular element of the environment, and to
    - control the propulsion means and the steering means so that the suitcase moves itself towards the reference position, modifying its trajectory and / or speed to avoid impact with elements of the environment and subsequently continuing its movement towards the reference position
    Throughout this document, it will be understood that said reference position is a different position from that of the suitcase, which can be identified with the position, either of a particular element or person in motion, or of a particular and immovable point, which in practice may correspond to a person, animal, vehicle or object. The exception to this general definition will be logically when the suitcase is in the same position as the particular element, person in motion, or particular and immovable point, in which case the suitcase does not move.
    Additionally, the reference position can be set manually by a user or automatically, prior configuration by a user or a system.
    Obstacles are understood as those elements of the environment, whether static or mobile, animated or inanimate, capable of impeding the movement of the suitcase by getting in its way, or impacted with it. Under this denomination you can include eg people, animals, furniture items, doors, walls, stairs,
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    land level variations, etc.
    The remote communication device is an external device linked to the suitcase, which can be a device created ad hoc, a modification of a device characterized for other uses, or a device with multiple uses appropriate to the functions that the communication device must perform remote, for example a mobile phone, capable of performing the functions described in this document thanks to a software application.
    The detection means comprise a set of sensors capable of identifying relevant physical characteristics of the environment, such as position and movement status of possible obstacles, so that the suitcase moves to a reference position and avoids these obstacles. The sensors comprising the detection means can be eg cameras, accelerometers, gyroscopes, proximity sensors, etc.
    In a particular embodiment, two or more of the means of detecting the suitcase can act together to locate a reference, static or moving position. Advantageously, this allows the detection means to continue guiding the suitcase in case of failure of one of the detection means. Additionally, the detection means can detect the presence of elements of the environment, static or dynamic, that are in the trajectory of the suitcase. This allows advantageously to prevent the suitcase from crashing or being blocked by static or mobile obstacles that are in its path.
    In another particular embodiment, the detection means are capable of generating a signal with the information detected and transmitting said signal to the processing means, which use it to determine the position of the surrounding elements with respect to the suitcase.
    In a particular embodiment, the detection means comprise at least one image capture and recognition system configured to determine the position and movement of the surrounding elements and / or the position and movement of a user associated with the suitcase.
    Said image capture system, such as a video camera, linked to an image recognition system, is able to identify differentiated elements of the environment, and identify them as obstacles, unless they have been previously identified as reference points .
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    In a particular embodiment, the positioning means comprise at least one satellite positioning module configured to be in communication with a satellite positioning system.
    Said satellite positioning system eg a GPS system, allows to determine the position of the suitcase with respect to global coordinates and its speed and direction of movement.
    In a particular embodiment, the communication means comprise a wireless communication module, eg by infrared, or radio frequency, capable of establishing two-way communication with the remote communication device and of generating and transmitting a signal with the information received to the processing means, or redprocally, of transmitting a control signal generated by the processing means to the remote communication device.
    In a particular embodiment, the processing means use in combination the information of a camera with an image recognition module and a satellite positioning system, eg a GPS system, to identify the reference point, determine its position and its speed and direction of movement, and establish a convergent trajectory towards said reference point, so that in case of loss of communication with the satellite, the processing means can use the information of the image recognition system, or that in case of loss of visual reference by the camera, the processing means can use the information of the satellite positioning system to guide the suitcase.
    Advantageously, the image recognition module allows recognizing differentiated elements of the environment, and identifying them as obstacles, unless they have been previously identified as reference points.
    In another particular embodiment, the processing means are configured to generate an alert signal to the media, and these, in turn, transmit said alert signal to the remote communication device in case
    - the means of detection fail or function inefficiently, or that
    - the satellite positioning module loses communication with the system
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    satellite positioning
    The processing means generate an alert signal to the user that is transmitted through the communication means to the remote communication device, for example an acoustic or vibration warning, in case of failure of the detection means, loss of the signal satellite positioning, inability to visually recognize the reference point, excessive separation between the suitcase and the user, or inability to continue moving towards the destination point, for example in case the suitcase flips or becomes immobilized. In this way, a user can know immediately if the suitcase is too far apart, if it has been locked or if it is at risk of being stolen or lost.
    In another particular embodiment, a user can determine the reference position.
    Advantageously, the user can manually enter coordinates or select a pre-established location, by means of a keyboard, touch screen or other type of user interface, which determines the reference point to which the suitcase should be directed, for example the exit of an airport or a parking space.
    In another particular embodiment, the reference position determined by the processing means is that of the remote communication device.
    In yet another particular embodiment, the reference position determined by the processing means is that of a user associated with the suitcase.
    Advantageously, the user, or any other person carrying the remote communication device, can be identified as a reference position by the image recognition system thanks to particularities of its physiognomy or clothing, or alternatively, can be identified as a reference position a vehicle based on unique characteristics such as its license plate number, a color or other image pattern that can be uniquely identified.
    In another particular embodiment, the detection means comprise at least one acceleration sensor configured to detect impacts on the suitcase and / or movements that destabilize it.
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    The autonomous suitcase can incorporate additional detection means, such as accelerometers, proximity sensors or devices such as a gyroscope, capable of detecting an impact, a change of position or an acceleration that destabilizes the suitcase with the risk of tipping over, also helping to maintain the normal operating position of the suitcase.
    In a particular embodiment, the processing means generate an alert signal to the media, and these, in turn, transmit said alert signal to the remote device in case of impact, overturning and / or inability that the suitcase can continue moving .
    Advantageously the detection means are able to discern when there is a collision with an element of the environment, and in case the suitcase overturns and cannot continue moving, the user is alerted.
    In another particular embodiment, the feeding means comprise at least one electric accumulator.
    Advantageously, the electric accumulator belongs to a type that has a high energy density and / or high load capacity, for example a lithium ion battery.
    In another particular embodiment, the propulsion means comprise
    - at least two wheels propelled by at least two independently operable engines, and
    - control means of the at least two motors, the control means of the at least two motors being controlled by the processing means.
    Advantageously, the propulsion means will be at least two electric motors coupled to two wheels, which can be controlled independently, so that the steering means are capable of controlling the torque that the propulsion means apply on each wheel, to change the direction of the suitcase without interruption of the march.
    In a particular embodiment, it comprises an indicator of the charge level of the electric accumulator, advantageously for the user, which can know at all times the charge level. Said charge indicator may, for example, have a series of photo-emitting diodes that illuminate, turn off or change color depending on the available charge.
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    In another particular embodiment, the self-propelled suitcase comprises at least one charging interface and communication with the processing means, such as a USB port, which advantageously allows recharging of external electronic devices, and also allows connection and access electronic to the processing media.
    In another particular embodiment the processing means consist of a computer, consisting of at least one processor (CPU), a memory unit, buses, and input-output interface.
    Additionally, the communication media have an internet connection module, either through access to a Wi-Fi network, or through a specific connection.
    In yet another particular embodiment, the self-propelled suitcase comprises a protective housing. This protection housing houses part or all of the physical elements that comprise the propulsion means, the direction means, the detection means, the positioning means, the communication means, the processing means, and the means of feeding.
    As an advantage for the user, the physical equipment that forms the different media, including batteries, motors, power cables, integrated circuits, memory units, buses, communication ports, etc., are encapsulated totally or partially in a protective housing inaccessible to an unqualified user, so as to avoid accidents or improper manipulation of any of the elements that make up the invention, eg using screws with special heads.
    In a second inventive aspect a self-propelled suitcase system is provided comprising:
    - a suitcase according to any of the previous embodiments, and
    - a remote communication device adapted to communicate with the communication means of the suitcase, which in turn comprises means for detecting the position and movement of the remote communication device adapted to generate a signal associated with the detected information.
    Advantageously, the remote communication device can transmit its position, speed and direction to the self-propelled suitcase, and with this information and the position of the
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    suitcase, the processing means can in turn determine the relative position of the remote communication device with respect to the suitcase.
    In a last particular embodiment, the remote communication device is configured to control the feeding means remotely. This configuration of the communication device has the advantage of being able to turn the suitcase on or off at a certain distance by using the remote communication device.
    Additionally, the remote communication device can control the progress of the suitcase by issuing signals of control of running, stopping and increasing or decreasing speed.
    All features and / or the method steps described herein (including the claims, description and drawings) may be combined in any combination, except for combinations of such mutually exclusive features.
    DESCRIPTION OF THE DRAWINGS
    These and other features and advantages of the invention will become more clearly apparent from the detailed description that follows in a preferred embodiment, given only by way of illustrative and non-limiting example, with reference to the accompanying figures. .
    Figure 1 Figure 2 Figure 3a Figure 3b Figure 4
    This figure shows the open suitcase according to the invention, with the preferred location of some media.
    This figure shows a block diagram of the systems and media architecture of the suitcase of the invention.
    This figure shows the closed suitcase with a proposed location of some detection means on the outside of the suitcase.
    This figure shows a detailed view of the handle of the suitcase with a possible location of some detection means.
    This figure shows a detail of the propulsion and direction means of the suitcase of the invention.
    DETAILED EXHIBITION OF THE INVENTION
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    The present invention is a self-propelled suitcase, adapted to follow a user, who will usually be its owner, and to avoid possible obstacles that get in its way through the combined use of two or more detection means. In this way, the suitcase can go to a specific point or follow the user without it having to intervene.
    Figure 1 shows in an example of embodiment of the invention, a self-propelled suitcase (9), formed by a conventional suitcase body (12) with driving wheels (13), and free or crazy movement wheels (16), a handle (14) and a cover (15), in which the suitcase (9) has an essentially rectangular prism shape, and in which the physical equipment associated with the means of propulsion, direction, detection, positioning, of processing and power, including batteries, motors, power cables, integrated circuits, memory units, buses, communication ports, etc., are arranged in the suitcase so that the volume available for luggage is as high as possible.
    In the same Figure 1 you can also see some specific elements, such as batteries (11), motors (10), and protection housing (17). The heaviest physical equipment, eg batteries (11) and motors (10), will be located at the bottom of the suitcase to allow torque transmission to the wheels (13) and to achieve a center of mass as low as possible with respect to the position of travel of the suitcase so as not to compromise its stability in movement.
    Figure 4 shows a detail of the bottom of the suitcase (9) without the protective housing (17), in which the wheels (13, 16), the drivers (18) of the motors (10) and the batteries (11).
    Figure 3a shows a view of the closed suitcase where you can see the preferred position of the captation and image recognition system, specifically a camera (30).
    Figure 3b shows a possible arrangement of the power button (31) of the USB port (33) and the charging indicator (32) on the handle (14) of the suitcase. The power button (31), the USB port (33) and the charging indicator (32) will preferably be located in a place easily accessible to the user, for example in the handle (14); while some sensors, in particular the camera (30), are placed in an external and elevated position with respect to
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    at ground level where there is a field of vision as wide as possible. The chamber (30) is shown integrated in a bezel (34) on the outside of the suitcase (9).
    System
    In Figure 2 you can see the architecture or logical relationship between the different means that form the suitcase. In this figure the processing means (21) can be distinguished, which comprise, among others, a computer or microcontroller, the propulsion means (22), the direction means (23), the detection means (24), which they include the camera, the accelerometers, the proximity sensors, etc., the communication means (25), which follow eg the Bluetooth specification, the positioning means (26), the storage means (28) and the remote communication device (27).
    As shown, the sensors (24) transmit the location and speed data of the obstacles and the reference point, and send them to the computer (21) through communication buses. At the same time, the remote communication device (27) establishes its position using GPS and transmits it to the suitcase (9), where through the communication module (25) it is transmitted to the computer (21), which calculates the best trajectory to go to the reference point. Once the best path is determined, the computer (21) transforms it into control signals for the motor controllers (10), which apply a constant torque to the motors to follow a straight path and a differentiated torque at each wheel (13 ) to change the address of the suitcase.
    The suitcase (9) would then begin to move towards the reference position and in case the detection means (24a, 24b, ... 24n) detected any obstacle, they would determine its position and speed with respect to the suitcase (9) and if it coincides with the trajectory of the suitcase (9), the processor (21) would modify it to surround the obstacle. If it was not possible to surround the obstacle, the processor (21) would stop the movement of the suitcase (9) to avoid the crash and proceed to recalculate the trajectory. In the event that the suitcase (9) is blocked, the communication module (25) issues a warning signal to the remote device (27) to alert the user.
    If, despite these measures, the suitcase (9) finally hits an obstacle, the detection means (24a, 24b, ... 24n) determine that the shock has been produced by means of accelerometers and proximity sensors. After the impact, the suitcase (9) could remain in the running position, in which case the trajectory is recalculated, or it could tip over,
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    become immobilized or damaged, in which case it alerts the user in the manner described above.
    In order to avoid confusion between users of similar cases, the communication protocol between the communication module (25) and the remote device (27) is uniquely identified by means of an identification code.
    The image detection process begins in the camera (30), which captures images in the visible spectrum and transforms them into a digital signal. The image recognition module analyzes each frame that it receives to identify image patterns that correspond to different elements of the environment, such as objects and people, of which it estimates its position and speed relative to the suitcase, I either recognize them as reference points to which the suitcase (9) must follow or identifies them as obstacles that should be avoided. This information is sent to the computer (21) that compares it to that received from the GPS in the suitcase (9) and the information received from the communication module (25) on the position of the remote communication device (27).
    The user can choose at least two ways to configure the suitcase (9) before it is launched so that it recognizes a certain image pattern, which can correspond for example to the user's attire at that time, to that of another person , or to a differentiated element of the environment, such as a poster, a sign, etc., at your choice. The first way is manually through a display accessible to the user, the second way is automatically by means of software that can be run, for example, on a laptop connected via a USB cable, or wirelessly via a Bluetooth specification module. Additionally it is possible to configure the device by means of a smart phone in which a software application that allows this functionality has been installed, and ideally the identification of the image pattern would be done by means of a photograph taken with the same device.
    An additional option is the ability to use the remote communication device (27) to control the on, off and latency function. In addition, the remote communication device (27) can control the movement of the suitcase (9) in a basic manner, at least in its option of on / off and speed.
    Finally, the remote communication device (27) is linked to the suitcase (9) the first time it is activated, so as not to have to repeat the operation in the future.
    权利要求:
    Claims (17)
    [1]
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    1. Self-propelled suitcase, comprising
    propulsion means, configured to propel the suitcase,
    direction means, configured to modify the direction of movement of the
    suitcase,
    detection means, configured to detect the presence of elements of the environment and to generate signals associated with the detected elements,
    positioning means, configured to determine the position and movement of the suitcase,
    communication means, configured to establish communication between the suitcase and a remote communication device,
    processing media, configured for
    - interpret and process the signals generated by the detection means and
    - control the means of communication, the means of propulsion, the means of direction, and the means of positioning, and
    power media, configured to supply power to the previous media,
    where
    the processing means are configured to
    - determine a reference position by means of one or more detection means acting separately or in combination, based on the position of the remote communication device and / or the position of a particular element of the environment, and for
    - control the propulsion means and the steering means so that the suitcase moves itself towards the reference position, modifying its trajectory and / or speed to avoid impact with elements of the environment and subsequently continuing its movement towards the position reference.
    [2]
    2. Suitcase according to claim 1, wherein the detection means comprise at least one image capture and recognition system configured to determine the position and movement of the surrounding elements and / or the position and movement of a user associated with suitcase.
    [3]
    3. Suitcase according to claim 1 or 2, wherein the positioning means
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    They comprise at least one satellite positioning module configured to be in communication with a satellite positioning system.
    [4]
    4. Suitcase according to claims 2 and 3, wherein the processing means are configured to generate an alert signal to the media, and these, in turn, transmit said alert signal to the remote communication device in case of that
    - the detection means fail or work inefficiently, or that
    - the satellite positioning module loses communication with the satellite positioning system.
    [5]
    5. Suitcase according to any of the preceding claims, in which a user can determine the reference position.
    [6]
    6. Suitcase according to any of claims 1 to 4, wherein the reference position determined by the processing means is that of the remote communication device.
    [7]
    7. Suitcase according to any of claims 2 to 6, wherein the reference position determined by the processing means is that of a user associated with the suitcase.
    [8]
    8. Suitcase according to any of the preceding claims, wherein the detection means comprise at least one acceleration sensor configured to detect impacts on the suitcase and / or movements that destabilize it.
    [9]
    9. Suitcase according to the previous claim, in which the processing means generate an alert signal to the media, and these, in turn, transmit said alert signal to the remote device in case of impact, overturn and / or impossibility that the suitcase can continue to move.
    [10]
    10. Suitcase according to any of the preceding claims, wherein the feeding means comprise at least one electric accumulator.
    [11]
    11. Suitcase according to any of the preceding claims, wherein the propulsion means comprise
    - at least two wheels propelled by at least two independently operable engines, and
    - control means of the at least two motors, the control means of the at least two motors being controlled by the processing means.
    [12]
    12. Suitcase according to claim 10, comprising an indicator of the charge level of the electric accumulator.
    [13]
    13. Suitcase according to any of the preceding claims, comprising at least one interface for loading and communicating with the processing means.
    [14]
    14. Suitcase according to any of the preceding claims, comprising a protection housing.
    [15]
    15. Suitcase according to claim 14, wherein the protective housing houses part or all of the physical elements that make up the propulsion means, the
    5 direction means, the detection means, the positioning means, the communication means, the processing means, and the feeding means.
    [16]
    16. Self-propelled suitcase system comprising:
    - a suitcase according to any of the preceding claims, and
    - a remote communication device adapted to communicate with the communication means 10 of the suitcase, which in turn comprises means for detecting the position and
    movement of the remote communication device adapted to generate a signal associated with the detected information.
    [17]
    17. Self-propelled suitcase system according to claim 16, wherein the remote communication device is configured to control the means of
    15 power remotely.
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    同族专利:
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20140107868A1|2012-10-15|2014-04-17|Mirko DiGiacomcantonio|Self-propelled luggage|
    CN104905520A|2015-06-05|2015-09-16|刘毅|Automatic-advancing intelligent suitcase and system|WO2018231270A1|2017-06-15|2018-12-20|Travelmate Robotics|Robotic suitcase|
    EP3579076A1|2018-06-05|2019-12-11|Kabushiki Kaisha Toyota Jidoshokki|Tracking vehicle control system|
    WO2020029105A1|2018-08-08|2020-02-13|Lingdong TechnologyCo., Ltd|Automated guided vehicle navigation and protection system|
    WO2020041139A1|2018-08-20|2020-02-27|Toyota Motor North America, Inc.|Autonomously moveable storage units and wheelchair storage systems|
    EP3652600A4|2017-07-10|2021-08-04|Travelmate Robotics, Inc.|Autonomous robot system|
    法律状态:
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