Pip used to do this, but I learnt to recognise his "tired signs". I'd put him in his rocker thingy facing a window as watching the leaves would zone him out. When he fell asleep, I'd just move the rocker into his room and close the door. He'd be straped in so couldn't fall etc, and for him it was akin to wrapping, he just couldn't move so may as well sleep IYKWIM?