Robotic door opener system with smart automatic spring-loaded wheel and method thereof

A door opening apparatus comprising:

• a housing configured to be mounted to a door;
• a spring-loaded wheel assembly comprising a biasing means, a linear actuator, and a wheel, the wheel assembly movable between a retracted position and an engaged position in contact with a ground surface;
• a drive motor configured to rotate the wheel;
• an inertial measurement unit (IMU) configured to continuously monitor the door's angular position relative to a closed position and angular velocity;
• and
• a controller communicatively coupled to the drive motor and the IMU, the controller configured to:
• detect, via the IMU, a sudden deceleration or deviation from an expected angular speed profile during a door opening or closing operation, and in response, stop the drive motor to prevent the door from applying force against a person or obstacle;
• detect, via the IMU, that a user is pushing the door in an opening direction while the apparatus is engaged, and in response, drive the wheel motor to assist the user in opening the door to a maximum angle limit;
• and
• detect, via the IMU, that a user is pushing the door in a closing direction, and in response, drive the wheel motor to assist the user in closing the door to the fully closed position.

A door opener apparatus comprising:

• a housing configured to be mounted to a door;
• a linear actuator assembly comprising:
• a mounting frame;
• a biasing means;
• and
• a linear actuator configured to move the linear actuator assembly between a first position and a second position;
• a wheel assembly comprising:
• a housing member;
• and a wheel, wherein a portion of the housing member is coupled to the linear actuator assembly, wherein the wheel assembly moves between the first position and the second position with the linear actuator;
• and
• a drive motor assembly comprising:
• housing member and a drive motor configured to drive the wheel around an axis, wherein the drive motor assembly is coupled to a portion of the wheel assembly, wherein the drive motor assembly moves along a vertical axis when the linear actuator extends between the first position and the second position.