JP2020124607A - Mobility device - Google Patents

Abstract

To provide mobility devices, and more specifically, control systems for vehicles that have heightened requirements for safety and reliability.SOLUTION: There is provided a powered balancing mobility device that can provide a user with the ability to safely navigate expected environments of daily living including the ability to maneuver in confined spaces, to climb curbs, stairs and other obstacles, and to travel safely and comfortably in vehicles. The mobility device can provide elevated, balanced travel.SELECTED DRAWING: Figure 27D

Description

The present teachings relate generally to mobility assistance devices, and more specifically to control systems for vehicles that have enhanced requirements for safety and reliability.

A wide range of devices and methods are known for carrying human subjects with physical disabilities. The design of these devices generally requires some compromise to accommodate the physical limits of the user. The relative ease of locomotion can be compromised when stability is considered essential. When it is considered essential to carry a physically handicapped person or other person on up and down stairs, expedient locomotion along areas that do not include stairs can be impaired. Devices that achieve features that may be useful to disabled users can be complex, heavy, and difficult for normal locomotion.

Some systems provide travel in an upright position, while others provide stair climbing. Some systems may provide anomaly detection and manipulation after the anomaly is detected, while others provide for hauling users across irregular terrain.

A control system for an actively stable personal vehicle or mobility assist device is to continuously sense the orientation of the mobility assist device, determine corrective action, maintain stability, and take corrective action on the wheel motors. Command to maintain the stability of the mobility support device. Currently, if a mobility assistance device loses its ability to maintain stability, such as through a component failure, the user may experience discomfort, especially upon sudden loss of balance. In addition, the user may desire increased safety features and further control of the response of the mobility assistance device to instability situations.

What is needed is reliability, including, but not limited to, the ability to automatically respond to situations commonly encountered by users with disabilities such as, but not limited to, positional obstacles, slippery surfaces, tipping conditions, and component failures. It is a lightweight and stable mobility support device. What is further needed is a mobility assistance device having a long-life redundant battery, an ergonomically positioned, shock-damped caster wheel assembly, and a boarding and exit management bumper. Still further needed is a mobility assistance device that includes automatic mode transitions, improved performance over other mobility assisted vehicles, remote control, and vehicle locking mechanisms. The mobility assistance device should also include debris seals and slope management, cabled charging ports, and capacity for increased payload over the prior art.

A motorized balanced movement assist device of the present teachings includes, but is not limited to, a base assembly that processes movement commands for the movement assist device and at least one cluster assembly operably coupled to the base assembly. , The at least one cluster assembly is operably coupled to a plurality of wheels, the plurality of wheels supporting a base assembly, the plurality of wheels and the at least one cluster assembly at least based on the processed movement command. , Moving the mobility assistance device, and a cluster assembly. The mobility assistance device is an active stabilization processor that estimates a center of gravity of the mobility assistance device and is associated with the mobility assistance device that is required to maintain balance of the mobility assistance device based on the estimated center of gravity. An active stabilization processor may be included that estimates the at least one value that is obtained. The base processor may actively balance the mobility assistance device on at least two of the plurality of wheels based at least on the at least one value. The base assembly optionally includes a redundant motor for moving the at least one cluster assembly and the plurality of wheels, a redundant sensor for sensing sensor data from the redundant motor and the at least one cluster assembly, and a redundancy performed within the base assembly. A processor, wherein the redundant processor selects information from the sensor data, the selection is based on a match of the sensor data between the redundant processors, and the redundant processor processes the move command based at least on the selected information. , Redundant processors.

The motorized equilibrium movement assist device is a fall prevention controller that optionally stabilizes the movement assistance device based on a stabilization factor, calculates a stabilization metric, calculates a stabilization factor, and processes a move command. Determining the move command information required to perform, and processing the move command based on the move command information and the stabilization factor if the stabilization metric indicates that stabilization is requested. A fall prevention controller may be included. The motorized balance transfer assist device may optionally include stair lift failsafe means for forcibly and safely tipping the transfer assist device if stability is lost during stair lift. The motorized equilibrium movement assist device is optionally a caster wheel assembly operably coupled to the base assembly and a linear acceleration processor that calculates a movement assist device acceleration of the movement assist device based at least on the speed of the wheels. And a linear acceleration processor for calculating the inertial sensor acceleration of the inertial sensor mounted on the movement assisting device based at least on the sensor data from the inertial sensor, and between the movement assisting device acceleration and the inertial sensor acceleration. A tractive force control processor for calculating a difference, the tractive force control processor comparing a difference with a preselected threshold, to a at least one cluster assembly, at least based on the comparison, of a plurality of wheel and caster assemblies. A wheel/cluster command processor that commands at least one of them to descend to the ground.

The base processor may optionally use field weakening to provide a burst of speed to the motor associated with the at least one cluster assembly and the plurality of wheels. The base processor optionally includes (1) a pitch angle required to maintain the balance of the mobility assistance device at a preselected position of the at least one wheel cluster and a preselected position of the seat, Measuring the data, (2) moving the mobility assist device/user pair to multiple points, repeating step (1) at each of the multiple points, and (3) measuring the data within preselected limits. And (4) generating a set of calibration factors to establish a center of gravity during operation of the mobility assistance device, the calibration factors being based at least on the validated measurement data, The center of gravity of can be estimated. The base processor may optionally include a closed loop controller that maintains the stability of the mobility-assisted device, the closed loop controller automatically slowing forward motion and backward motion under preselected conditions. The accelerating and preselected situation is based on the pitch angle of the mobility assistance device and the center of gravity of the mobility assistance device.

The motorized balancing mobility assistance device may optionally include an all-terrain wheel pair, including an inner race having at least one locking means accessible by an operator of the mobility assistance device while the mobility assistance device is in operation. The inner wheel has at least one retaining means, the all-terrain wheel pair includes an outer wheel having an attachment base, the attachment base containing at least one locking means and at least one retaining means, and One restraint is operable by an operator to connect the inner ring to the outer ring while the mobility assistance device is in operation.

The motorized balancing movement assist device may optionally include a base processor board including at least one inertial sensor, the at least one inertial sensor mounted on the inertial sensor board, and the at least one inertial sensor board Flexibly coupled to the base processor board, the at least one inertial sensor board is separate from the base processor board, and the at least one inertial sensor is calibrated separately from the base processor board. The motorized balancing movement assistance device can optionally include at least one inertial sensor including a gyroscope and an accelerometer.

The base processor may optionally include a mobile assist device radio processor, which enables the mobile assist device to communicate electronically with an external remote application, the mobile assist device radio processor including an incoming message from a radio wave. And the base processor controls the mobility assistance device based on the at least one decoded incoming message. The underlying processor can optionally include a secure wireless communication system, including data obfuscation and challenge/response authentication.

The motorized balance transfer assist device may optionally include an indirect heat dissipation path between the base processor board and the chassis of the transfer assist device. The motorized balance transfer assist device can optionally include a seat support assembly that allows connection of multiple seat types and a base assembly, the base assembly having a seat position sensor, the seat position sensor comprising: Providing seat position data to the base processor. A seat support assembly is a shaft for optionally lifting a seat, operably coupled to a seat lift arm and a seat lift arm, wherein shaft rotation is measured by a seat position sensor and the shaft is <90°. Through, the shaft is coupled to the seat position sensor by a single gear train and rotates the seat position sensor by >180°, and the combination may include a shaft that doubles the sensitivity of the seat position data. ..

The base assembly may optionally include a plurality of sensors that are fully encapsulated within the base assembly, the plurality of sensors being co-located sensors that sense substantially similar characteristics of the mobility assistance device. Including a group. The base assembly may optionally include a manual brake including internal components, the internal components including hard stops and dampers, the manual brakes including a brake release lever that is separately replaceable with the internal components.

The base processor may optionally include user-configurable drive options that limit the speed and acceleration of the mobility-assisted device based on preselected conditions. The motorized balancing mobility assistance device can optionally include a user control device, including a thumbwheel, which modifies at least one speed range for the mobility assistance device.

The motorized balance transfer assist device is optionally a skid plate having a drive locking element and a popout cavity containing the drive locking element that enables an operative connection between the base assembly and the docking station. And a skid plate, which enables the storage of oil escaping from the base assembly.

The motorized balancing mobility assistance device may optionally include a seat, and the foundation processor receives an indication that the mobility assistance device is encountering a tilt between the ground and the vehicle, and the foundation processor may , Instructing the cluster of wheels to maintain contact with the ground, and the base processor changes the orientation of the at least one cluster assembly based on the positions of the plurality of wheels according to the indication, and Maintaining the center of gravity, the base processor dynamically adjusts the distance between the seat and the at least one cluster assembly while maintaining the seat as close to the ground as possible to provide a balance between the seat and the wheels. Prevent contact.

The base processor optionally receives the obstacle data, automatically identifies the at least one obstacle in the obstacle data, and automatically determines the at least one situation identifier. Automatically maintaining a distance between the mobility assistance device and the at least one obstacle based on the at least one situation identifier, automatically the distance, the at least one obstacle, and the at least one obstacle. Automatically accessing at least one authorization command associated with the status identifier; automatically accessing at least one automatic response to at least one travel command; automatically receiving at least one travel command; Mapping at least one move command and one of the at least one authorization command, and automatically based on the at least one move command and at least one automatic response associated with the mapped authorization command. And moving the mobility assistance device.

The base processor optionally receives at least one staircase command, receives sensor data from a sensor mounted on the mobility assistance device, and automatically, based on the sensor data, in the sensor data. Locating at least one staircase structure, receiving a selection of a selected staircase structure of the at least one staircase structure, and automatically measuring at least one property of the selected staircase structure. Automatically, based on the sensor data, if applicable, locating obstacles on the selected staircase structure, and automatically, based on the sensor data, the last staircase of the selected staircase structure And automatically navigating the mobility assistance device on the selected stair structure based on the measured at least one characteristic, the last staircase, and, if applicable, the obstacle. , A staircase processor may be included.

The base processor optionally automatically locates the door of the toilet cubicle and automatically moves the movement support device into the toilet cubicle through the toilet cubicle door. Automatically positioning the movement support device with respect to the restroom equipment, automatically locating the door of the private room of the restroom, and automatically placing the movement support device of the private room door of the restroom Through the toilet and exiting the toilet cubicle.

The base processor optionally receives sensor data from a sensor mounted on the mobility assistance device, automatically identifies the door in the sensor data, and automatically measures the door. A step of automatically determining a door swing, and a step of automatically moving the movement support device forward through a door opening, wherein the movement support device opens the door and the door swing moves from the movement support device. Maintaining the door in the open position when remote, and automatically positioning the mobility assistance device for access to the handle of the door, the mobility assistance device including: Moving away from the door by a distance based on the width of the door, the movement assistance device moves forward through the door opening, and the movement assistance device opens the door when the door swing is toward the movement assistance device. A door processor may be included, including the steps of maintaining

The base processor optionally receives sensor data from a sensor mounted on the mobility assistance device, automatically identifies the door in the sensor data, and automatically includes a width of the door, Measuring the door and automatically generating an alert if the door is smaller than a pre-selected size related to the size of the mobility assistance device and automatically allowing the mobility assistance device to access the door Locating for moving the movement assisting device through the door opening, the positioning being based on the width of the door and automatically generating a signal for opening the door. A door processor, including the steps of:

The base processor optionally automatically locates the exit point at which the patient exits the mobility assistance device, automatically positions the mobility assistance device in the vicinity of the exit point, and automatically When the patient dismounts from the mobility assistance device, determining it, automatically locating the docking station, automatically positioning the mobility assistance device on the docking station, and docking the mobility assistance device And a docking processor.

A method of the present teachings for controlling the speed of a movement assistance device, wherein the movement assistance device can include multiple wheels and multiple sensors, the method including, but not limited to, terrain and obstacle detection. Receiving data from a plurality of sensors, at least based on the terrain and obstacle detection data, mapping the terrain and, if applicable, obstacles in real time, based at least on the mapped data If applicable, a step of calculating a collision possibility area; and, if applicable, a step of calculating a deceleration area based on the mapped data and the speed of the movement support device; and, if applicable, a deceleration area and Receiving a user preference for a desired direction and speed of movement, calculating a wheel command for commanding a plurality of wheels based at least on the potential collision area, the deceleration area, and the user preference; To a plurality of wheels.

A method of the present teachings for moving an equilibrium mobility assistance device over relatively steep terrain, the mobility assistance device comprising a cluster of wheels and a seat, the cluster of wheels and the seat being separated by a distance. , The distance varies based on preselected characteristics, and the method includes, but is not limited to, receiving an indication that the mobility assistance device will encounter steep terrain, and clustering the wheels. , Instructing to maintain contact with the ground, and dynamically adjusting the distance between the seat and the cluster of wheels based on maintaining equilibrium and an indication of the mobility assistance device. You can

Mobility assistance devices of the present teachings include a reliable, lightweight, stable mobility assistance device that includes a base operably coupled to a user controller. The base can include a base controller, a power controller, a wheel cluster assembly, an all-terrain wheel, caster arms, and casters. The base includes, for example, a long-life redundant battery with an on-board battery management system, an ergonomically positioned and shock-damped caster wheel assembly, docking capability, universal seat attachment hardware, and a boarding and exit management bumper. Can be included. The infrastructure and user controller can communicate with external devices, which can monitor and control the mobility-assisted device, for example. The movement assistance device can be protected from the risk of foreign object ingress and falls and can accommodate increased payload over the prior art.

The board controller can include, but is not limited to, at least two redundant processors that control the mobility-assisted device. At least one user controller can receive the desired action for the mobility assistance device and can process the desired action with the board controller. Each of the at least two processors may include at least one controller processing task. The at least one controller processing task can receive sensor data and motor data associated with sensors and motors that can be operably coupled to the mobility assistance device. The mobility assistance device may include at least one inertial measurement unit (IMU) board, which may be operably coupled with the board controller. At least one IMU can be mounted on the daughter board and calibrated remotely from the mobility assistance device. The combination of the daughter board and the board controller can enable shock resistance in the IMU.

In addition to redundant processors, movement assistance devices of the present teachings can include reliability features such as, for example, redundant motors and sensors, eg, IMU sensors. Elimination of incorrect data from redundant components can improve the safety and reliability of mobile assistance devices. A method of the present teachings, herein referred to as "voting," for resolving a value to be used from redundancy of at least one processor of the present teachings includes, but is not limited to, a step of initializing a counter. And averaging values from each processor, such as, but not limited to, sensor or command values (referred to herein as processor values), and an absolute value between each processor value and the average value. The steps may include calculating a difference and discarding the highest difference. The method may further include calculating a difference between the remaining processor values and each other. If there are any differences above a preselected threshold, the method compares the values with the highest difference between them with the remaining values, and votes the value with the highest difference from the remaining values. Exclude with, compare the values excluded by the vote with the remaining values, and exclude any differences above the preselected threshold by the vote with the remaining processor values or the average of the processor values. Selecting one of them. If there is no difference above a preselected threshold, the method can compare the voted out value with the remaining value. If there is any difference above the preselected threshold, the method determines the value of the remaining processor value or the average of the remaining processor values by voting out the value excluded by voting in the comparing step. Selecting one of them. If there is no difference above a preselected threshold, then the method may include selecting one of the remaining processor values or an average of the remaining processor values. If the processor value is voted out a preselected number of times, the method may include the step of raising an alarm. If the voting scheme fails to find a processor value that meets the selection criteria, the method may include incrementing a counter. If the counter does not exceed the preselected number, the method discards frames that have no remaining processor values, and determines previous frames that have at least one processor value that meets the selection criteria. And a selecting step. If the frame counter exceeds a preselected number, then the method may include transitioning the mobility assistance device to a failsafe mode. A movement assist device of the present teachings may include a filter for fusing the gyroscope and accelerometer data to obtain an accurate estimate of the gravity vector, which gravity vector determines the orientation and inertial rotational speed of the movement assist device. Can be used to define. The orientation and inertial rotation rate of the movement assist device can be shared and combined across redundant processors of the present teachings.

To facilitate a beneficial user experience, mobility-assisted devices may include, but are not limited to, standard, four-wheel, staircase, balance, remote, utility, calibration, and optionally docking modes. It can operate in several functional modes, including: When first powered up, the mobility assistance device may include a predetermined initiation process. The mobility assistance device can perform self-diagnosis and check the integrity of the characteristics of the mobility assistance device, which are not easily testable during normal operation. Once a power off request is detected by the mobility assistance device, it can be the subject to determine if the request should be approved. Prior to powering off, the mobility assist device location can be secured and all status information and logged information can be stored.

In some configurations, the mobility-assisted device of the present teachings can accommodate a user's varying levels of physical capabilities and device insights. In particular, the user can adjust the response of the mobility assistance device to joystick commands. In some configurations, a movement assistance device of the present teachings may allow individual users to configure movement assistance devices that include a user controller of the present teachings for driving preferences. User configurable drive options can be enabled in the form of wheel controls. A movement assistance device of the present teachings may adjust the turning behavior of the movement assistance device as a function of the speed of the movement assistance device, making the movement assistance device more responsive at high speeds and less jerky at low speeds. Can adapt to speed-sensitive steering.

In some configurations, a movement assist device of the present teachings can still further adapt to adaptive speed control to assist a user in avoiding potentially hazardous conditions during driving. Adaptive speed control can reduce the required driver concentration by using sensors to detect obstacles and can help the user navigate through difficult terrain or situations. it can. A method of the present teachings for adaptive speed control of a mobility-assisted device includes, but is not limited to, receiving terrain and obstacle detection data, and at least based on the terrain and obstacle detection data, the terrain and the applicable terrain. If so, mapping with obstacles in real time can be included. The method may optionally include, where applicable, at least calculating a virtual groove based on the mapped data. The method still further comprises calculating a collision potential area, if applicable, based at least on the mapped data, and at least based on the mapped data and the velocity of the mobility assist device, if applicable. , And calculating a deceleration area. The method may also include, if applicable, receiving a deceleration area and a user preference for a desired direction of motion and velocity. The method still further comprises calculating at least one wheel command based on at least the potential collision area, the deceleration area, and the user preference, optionally the virtual groove, and driving the at least one wheel command to a wheel motor. Providing to the department.

Methods for obstacle handling of the present teachings include, but are not limited to, receiving PCL data, identifying at least one plane in the segmented PCL data, and at least in the at least one plane. Identifying one obstacle. The method for obstacle handling further comprises determining at least one context identifier based at least on the obstacle, user information, and a movement command; and at least based on the context identifier, a mobility assistance device and an obstacle. Determining a distance between and. The method for obstacle handling may also include the step of accessing at least one authorization command associated with the distance, obstacle, and situation identifier. The method for obstacle handling still further comprises: accessing an automatic response to the authorization command; receiving a travel command; mapping one of the travel command and the authorization command; Providing an automatic response associated with the mapped authorization command to the mode dependent processor.

Obstacles are stationary or can move. The distance can include a fixed amount and/or can be a dynamically varying amount. The move command may include a follow command, a pass obstacle command, a side-of-obstacle command, and a non-follow obstacle command. Obstacle data can be stored and retrieved locally and/or in a cloud-based storage area, for example. A method for obstacle handling includes collecting sensor data from a time-of-flight camera mounted on a mobility assistance device, analyzing the sensor data using a point cloud library (PCL), and Tracking a moving object using SLAM based on location, identifying a plane in obstacle data, and providing a mode-dependent processor with an automated response associated with the mapped authorization command. Can be included. The method for obstacle handling can receive a resume command and provide the mode dependent processor with an automatic response associated with the resume command and the move command and the mapped permit command. The automatic response can include speed control commands.

Obstacle processors of the present teachings can include, but are not limited to, navigation/PCL data processors. The Navi/PCL processor can receive PCL data from the PCL processor, segment it, identify planes in the segmented PCL data, and identify obstacles in the plane. The obstacle processor can include a distance processor. The distance processor can determine the situation identifier based on the user information, the move command, and the obstacle. The distance processor can determine a distance between the mobility assistance device and the obstacle based at least on the situation identifier. The moving object processor and/or stationary object processor can access authorization commands related to range, obstacle, and situation identifiers. The moving object processor and/or stationary object processor can access the auto-replies from the auto-reply list associated with the authorization command. The moving object processor and/or stationary object processor can access the move command and map one of the move command and the grant command. The moving object processor and/or stationary object processor can provide an automatic response associated with the move command and the mapped grant command to the mode dependent processor. Move commands can include follow commands, pass commands, side-walk commands, move to home commands, and non-follow commands. The navigation/PCL processor may store obstacles within the local store and/or on the store cloud and may allow access to obstacles stored by a system external to the mobility assistance device.

In some configurations, a mobility assistance device of the present teachings can include a weight sensitive controller that can adapt to the needs of different users. Further, the weight sensitive controller can detect a sudden change in weight, such as, but not limited to, when the user exits the mobility assistance device. User weight and center of gravity location can be significant contributors to system dynamics. By sensing the user weight and adjusting the controller, improved active response and stability of the mobility assistance device can be achieved.

Methods of the present teachings for stabilizing a mobility-assisted device relate to, but are not limited to, estimating a load weight and/or a change in weight on the mobility-assisted device, and a center of gravity of the combination of the mobility-assisted device and the load. Selecting a default value or values, at least calculating a controller gain based on the weight and/or the change in weight and the center of gravity value, and applying the controller gain to control the mobility assist device. Can be included. The method of the present teachings for calculating the weight of a load on a mobility assistance device includes, but is not limited to, receiving the position of the load on the mobility assistance device and receiving the setting of the mobility assistance device to standard mode. A step of measuring a motor current required to shift the movement assist device to the extended mode at least once, a step of calculating a torque based on the motor current, and a step of calculating a torque based on the torque. , And a step of calculating a weight of the load, and at least adjusting the controller gain based on the calculated weight to stabilize the movement assist device.

In some configurations, a movement assist device of the present teachings can include traction control that regulates torque applied to the wheels and can affect directivity and acceleration control. In some configurations, traction control may be assisted by rotating the cluster so that the four wheels contact the ground when braking above a certain threshold is required. A method of the present teachings for controlling traction of a mobility assistance device may include, but is not limited to, calculating a linear acceleration of the mobility assistance device and receiving an IMU measured acceleration of the mobility assistance device. .. Adjust the torque to the cluster/wheel motor drive if the difference between the expected linear acceleration of the movement assist device and the measured linear acceleration exceeds or equals a preselected threshold. If the difference between the expected linear acceleration of the mobility assistance device and the measured linear acceleration is less than a preselected threshold, then the method can continue testing for loss of traction.

A travel assistance device of the present teachings can assist a user in avoiding obstacles, passing through doors, climbing stairs, riding an elevator, and parking/transporting a travel assistance device. UC) Assist may be included. The UC assist may receive user input and/or input from components of the mobility assistance device, and may allow the selected processing mode to be invoked automatically or manually. The command processor can enable the called mode by generating a move command based at least on the previous move command, data from the user, and data from the sensor. The command processor may receive user data, which may include a signal from a joystick, which may provide an indication of a desired direction and speed of movement of the mobility assistance device. User data can also include mode selections to which the mobility assistance device can transition. Modes such as door mode, restroom mode, extended stair mode, elevator mode, dynamic storage mode, and static storage/charging mode can be selected. Any of these modes can include a home mode travel mode, or the user can instruct the mobility assist device to travel to a location. The UC assist can generate commands, such as but not limited to speed and direction, such as move commands, which can be provided to the wheel motor drives and cluster motor drives.

Sensor data is collected by a sensor handling processor, which can include, but is not limited to, a geometry processor, a point cloud library (PCL) processor, a co-location and mapping (SLAM) processor, and an obstacle processor. The move command can also be provided to the sensor handling processor. Sensors can provide environmental information, which can include, for example, without limitation, geometric information about obstacles and mobility assistance devices. The sensor may include at least one time-of-flight sensor, which may be mounted anywhere on the mobility assistance device. Multiple sensors can be mounted on the mobility assistance device. The PCL processor can collect and process environmental information and produce PCL data that can be processed by the PCL library.

A geometry processor of the present teachings can receive geometry information from a sensor and can perform any processing necessary to prepare the geometry information for use by a mode dependent processor. , And the processed geometry information can be provided to the mode dependent processor. The geometry of the mobility assistance device can be used to automatically determine if the mobility assistance device can fit in and/or through spaces such as, for example, stair structures and doors. The SLAM processor can determine navigation information based on, for example, without limitation, user information, environmental information, and travel commands. The mobility assistance device may, at least in part, travel within the route established by the navigation information. The obstacle processor can locate the obstacle and the distance to the obstacle. Obstacles can include, but are not limited to, doors, stairs, cars, and miscellaneous features near the path of the mobility assistance device.

Methods of the present teachings for navigating stairs can include, but are not limited to, receiving stair commands and receiving environmental information from an obstacle processor. A method for navigating stairs includes locating a stair structure in the environmental information based on the environmental information and receiving a selection of one of the stair structures located by the obstacle processor. Can be included. The method for navigating the stairs also comprises the steps of measuring the properties of the selected stair structure and, if applicable, locating obstacles on the selected stair structure based on environmental information. Can be included. The method for navigating the stairs also includes locating the last staircase of the selected staircase structure based on environmental information, and measuring the measured characteristics, the last staircase and, if applicable, obstacles. Providing a movement command based on the movement of the movement assistance device on the selected stair structure. The method for navigating the stairs can continue to provide movement commands until the last staircase is reached. The characteristics can include, but are not limited to, stair rise height, rise surface texture, and rise surface temperature of the selected stair structure. An alert can be generated if the surface temperature is outside the threshold range and the surface texture is outside the static friction setting.

A stair navigation processor of the present teachings includes, but is not limited to, a stair structure processor that receives at least one stair command contained within user information and a sensor mounted on a mobility assist device, eg, through an obstacle processor. A staircase structure locator, which receives environmental information from the. The staircase structure locator can locate the staircase structure in the environmental information based on the environmental information and can receive a selection of the selected staircase structure. The staircase characteristics processor can measure the characteristics of the selected staircase structure and, if applicable, can locate obstacles on the selected staircase structure based on the environmental information. The stairs move processor can locate the last staircase of the selected staircase structure based on the environmental information, and tells the mover processor based on the characteristics, the last staircase and, if applicable, the obstacles. A move command may be provided to instruct the movement assist device to move over the selected stair structure. The staircase structure locator can locate staircase structures based on GPS data and can build and store maps of selected staircase structures. The map may be saved for use locally and/or by other devices not associated with the mobility-assisted device. The staircase structure processor may access the geometry of the mobility assistance device, compare the geometry with characteristics of the selected staircase structure, and modify navigation of the mobility assistance device based on the comparison. The staircase structure processor may optionally generate an alert if the surface temperature of the rise of the selected staircase structure is outside the threshold range and the surface texture of the selected staircase structure is outside the static friction setting. it can. The stair movement processor can determine a topography of the area surrounding the selected stair structure based on the environmental information, and can generate an alert if the topography is not flat. The stair move processor has access to a set of extreme situations that may be used to modify the move commands generated by the stair move processor.

A method of the present teachings for navigating a door is provided on the mobility assist device when the door may include a door swing, a hinge location, and a doorway as the mobility assist device traverses a sill of the door. Receiving environmental information from the sensor and segmenting it. The environmental information may include the geometry of the mobility assistance device. The method can include identifying a plane in the segmented sensor data and identifying a door in the plane. A method for navigating a door includes measuring a door and providing a move command that may move the move assist device away from the door if the door measurement is less than the move assist device. be able to. A method for navigating a door may include determining a door swing and providing a move command and moving a movement assistance device for access to a handle of the door. The method for navigating the door may include providing a movement command and moving the movement assistance device away from the door by a distance based on the door measurement as the door opens. The method for navigating the door may include the step of providing a movement command and moving the movement assistance device forward through the doorway. The movement assistance device may maintain the door in the open position when the door swing is towards the movement assistance device.

The method of the present teachings for processing sensor data can determine the hinge side of the door, the direction and angle of the door, and the distance to the door through information from the sensor. The movement processor of the present teaching can generate commands such as start/stop of left turn, start/stop of right turn, start/stop of forward movement, start/stop of backward movement, etc. in the MD, and movement support. Door mode can be facilitated by stopping the device, canceling possible goals for the mobility assist device to complete, and centering the joystick. Door processors of the present teachings can determine whether a door is, for example, a push door, a sliding door, or a sliding door. The door processor can determine the width of the door and the x/y/z location of the door pivot point based on the current position and orientation of the movement assistance device. If the door processor determines that the number of valid points in the image of the door derived from the set of obstacles and/or PCL data exceeds a threshold, the door processor determines the distance from the mobility assistance device to the door. can do. The door processor can determine if the door is moving based on successive samples of PCL data from the sensor processor. In some configurations, the door processor may assume that the sides of the movement assistance device are parallel to the handle side of the door, and use that assumption, along with the position of the door pivot point, as well as the width of the door. Can be determined. The door processor may generate a command to move the movement assistance device through the door based on the swing of the door and the width of the door. The mobility assistance device itself may keep the door open while the mobility assistance device traverses the threshold of the door.

In some configurations, the mobility assistance device may automatically negotiate the use of restroom facilities. The lavatory and lavatory private room doors can be located as discussed herein, and the mobility assistance device is moved to a location relative to the door, as discussed herein. be able to. The equipment in the restroom can be located as an obstacle, as discussed herein, and the mobility assistance device is automatically positioned in the vicinity of the equipment to provide the user with, for example, a toilet, sink. , And can provide access to the changing table. The mobility assistance device can be automatically navigated out of the private room and restroom of the restroom through the doors and obstacle handling discussed herein. The mobility assistance device may automatically traverse the door sill based on the geometry of the mobility assistance device.

For example, without limitation, the method of the present teachings for automatically storing a mobility assistance device in a vehicle such as a wheelchair-accessible van can assist a user in autonomous use of the vehicle. When the user gets out of the mobility assistance device and possibly gets into the vehicle as the driver of the vehicle, the mobility assistance device can be left parked outside the vehicle. The dynamic parking mode of the present teachings provides movement commands to the movement assistance device, automatically or in response to the command, when the movement assistance device should be carried to the user in the vehicle for later use. In any of the above, the movement support device main body can be stored, and in addition, can be collected by the vehicle door. The mobility assistance device can be commanded to store the body, for example, through a command received from an external application. In some configurations, a computer-powered device, such as a mobile phone, laptop, and/or tablet, executes one or more external applications to generate information that may ultimately control the mobility-assisted device. Can be used for. In some configurations, the mobility assistance device may automatically advance to the dynamic parking mode after the user exits the mobility assistance device. The movement command may include a command for locating a vehicle door that will enter because the movement assistance device is stored and a command for directing the movement assistance device to the vehicle door. The dynamic parking mode can determine error conditions, such as, but not limited to, when the vehicle door is too small to allow the mobility assistance device to enter, and the dynamic parking mode, for example, is not limited. Although not, an error condition can be alerted to the user via an audio alert through the audio interface and/or a message to one or more external applications. If the vehicle door is wide enough for the mobility assistance device to enter, the dynamic parking mode can provide a vehicle control command to command the vehicle to open the vehicle door. The dynamic parking mode can determine when the vehicle door is open and whether there is room for the mobility assistance device to be stored. The dynamic parking mode may invoke methods for obstacle handling to help determine the status of the vehicle door and whether there is room in the vehicle to store the mobility assistance device. If there is sufficient room for the mobility assistance device, the dynamic parking mode can provide a movement command to move the mobility assistance device into the storage space within the vehicle. A vehicle control command may be provided to command the vehicle to lock the mobility assistance device in place and close the vehicle door. When the mobility assistance device is needed again, one or more external applications can be used to return the mobility assistance device to the user, for example. The status of the mobility assistance device can be recalled and the vehicle control command can command the vehicle to unlock the mobility assistance device and open the vehicle door. The vehicle door can be located and the movement assistance device can be moved through the vehicle door, for example, to a passenger door ordered by one or more external applications. In some configurations, the vehicle may be tagged in place, such as a vehicle entrance door, where a mobility assistance device may be stored.

The method of the present teachings for storing/recharging a mobility assistance device can potentially assist the user in storing and potentially recharging the mobility assistance device when the user is asleep. .. After the user exits the mobility assistance device, a command may be initiated by one or more external applications to move the mobility assistance device, possibly unoccupied, to the storage/docking area. In some configurations, mode selection by the user while the user is using the mobility assistance device may initiate an automatic storage/docking function after the user exits the mobility assistance device. When the mobility assistance device is needed again, a command can be initiated by one or more external applications to direct the mobility assistance device to the user. Methods for storing/recharging a mobility assistance device include, but are not limited to, locating at least one storage/charging area and providing at least one movement command to store/charge from a first location. Moving the mobility assistance device to the area. A method for storing/recharging a mobility assistance device comprises locating a charging dock within a storage/charging area and providing at least one movement command to couple the mobility assistance device with the charging dock. Can be included. A method for storing/recharging a mobility assistance device optionally comprises providing at least one movement command and moving the mobility assistance device to a first location when the mobility assistance device receives an activation command. be able to. If there is no storage/charging area, or there is no charging dock, or if the mobility assistance device is unable to mate with the charging dock, a method for storing/recharging the mobility assistance device is optionally at least The steps can include providing an alert to the user and providing at least one move command to move the mobility assistance device to the first location.

The method of the present teachings for negotiating with an elevator while maneuvering a mobility assistance device may allow a user to climb up and down the elevator while seated in the mobility assistance device. A move command is provided to move into the elevator, for example, when the elevator is automatically located, and when the user selects the desired elevator direction, and when the elevator arrives and the door opens. The support device can be moved. The elevator geometry can be determined and movement commands can be provided to move the mobility assistance device to a location that allows the user to select the desired activity from the elevator selection panel. The location of the mobility assistance device may also be suitable for exiting the elevator. When the elevator door opens, a move command is provided to move the mobility assistance device and allow it to exit the elevator completely.

A motorized balancing movement assistance device of the present teachings can include a board assembly, including, but not limited to, a board controller and a power supply controller. The power supply controller can provide power to the board controller and the board assembly can process movement commands for the movement assistance device. The motorized balance transfer assist device can include a cluster assembly operably coupled to the base assembly. The cluster assembly can include an operative connection with multiple wheels. The wheels can support the base assembly and can move based on the processed move commands. The base assembly and cluster assembly may allow balancing of the movement assist device on two of the wheels.

The motorized balance transfer assist device can optionally include caster arms, which can be operably coupled to the base assembly. The caster arm can include an operative connection to caster wheels, which can support the base assembly. The motorized balance transfer assist device may optionally include a seat support assembly, which may allow connection of the seat and base assembly. The base assembly can include a seat position sensor, which can provide seat position data to the base assembly. The motorized balancing movement assistance device can optionally include terrain wheels, which can include means for user attachment/detachment capabilities. The motorized balancing movement assist device can optionally include a board controller board that includes a board controller and at least one inertial measurement unit (IMU). At least one IMU can be mounted on the IMU board and the IMU can be flexibly coupled with the board controller board. The IMU board can be separate from the board controller board and at least one IMU can be calibrated separately from the board controller board.

The motorized balance transfer assist device can optionally include at least one field effect transistor (FET) located on the board controller board and at least one heat spreader plate that receives heat from the FET. The at least one heat spreader plate can transfer heat to the chassis of the movement assistance device. The motorized balance transfer assist device optionally includes at least one motor thermocompressed into at least one housing of the transfer assist device and at least one thermistor associated with the at least one motor. And the at least one thermistor allows for reduced power usage when the associated at least one motor exceeds a thermal threshold. The motorized balanced mobility assistance device can optionally include a plurality of batteries that can power the mobility assistance device. A plurality of batteries can be mounted with a mounting gap between each pair of batteries. The battery can be connected to the base assembly through an environmentally isolated seal. The motorized balancing mobility assistance device can optionally include a board controller board, which can include redundant processors. Redundant processors can be physically separated from each other and can enable fault tolerance based on the voting process.

The motorized balance transfer assist device can optionally include a drive locking element that can enable an operative connection between the base assembly and the docking station. The motorized balance transfer assist device can optionally include a skid plate having a popout cavity that can accommodate a drive locking element. The skid plate can allow storage of oil escaping from the base assembly. The motorized balanced mobility assistance device can optionally include a fall prevention process that can reduce the likelihood of a fall of the mobility assistance device. The motorized balance transfer assist device may optionally include a field weakening process that may allow the transfer assist device to manage an abnormal situation by providing a relatively high motor speed with a relatively short burst. it can. The motorized balance transfer assist device may optionally include stair lift failsafe means that may force the transfer assist device to tip backwards if stability is lost during stair lift. The motorized balance transfer assist device can optionally include at least one magnet mounted within the cluster assembly. The at least one magnet can attract particles within the cluster assembly. The motorized balance transfer assist device can optionally include at least one seal between sections of the cluster assembly. The motorized balance transfer assist device can optionally include an electrical connector, which can include a printed circuit board (PCB) with electromagnetic (EM) energy shielding. The PCB can disable the transmission of EM energy along the cable associated with the electrical connector.

Mobility assistance devices of the present teachings can include, but are not limited to, seats and clusters. The mobility assistance device can include a sensor system that is completely internal and redundant, and the sensor system can include multiple sensors. The plurality of sensors may include a plurality of absolute position sensors, which may enable new location reporting if seats and/or clusters move while the mobility-assisted device is powered off. The multiple sensors may include multiple seat sensors and multiple cluster sensors that operate during power-on. The sensor system can allow failover from a failed one of the plurality of sensors to another of the plurality of sensors. The plurality of sensors can include co-located sensors that can sense substantially similar characteristics of the mobility assistance device. The mobility assistance device can include an environmentally isolated gearbox. The contents of the gearbox can be shielded from physical contaminants and electromagnetic transmission. The gearbox can be lubricated by an oil port in the housing of the mobility assistance device. The mobility assistance device can include a manual brake, which can include hard stops and dampers. The manual brake can include a brake release lever that is isolated from the contents of the gearbox. The manual brake can include a mechanically isolated sensor that reports when the manual brake is engaged, and the isolated sensor can include a magnetic flux shield.

A method of the present teachings for establishing a center of gravity for a mobility assistance device/user pair, wherein the mobility assistance device may include a balancing mode, which may include balancing of the mobility assistance device/user pair. The device may include at least one wheel cluster and seats, including but not limited to (1) entering a balance mode and (2) a preselected position of at least one wheel cluster and seat pre-selection. Measuring data, including pitch angles required to maintain equilibrium at selected positions, and (3) moving the mobility assistance device/user pair to a plurality of preselected points. , (4) repeating step (2) at each of the plurality of preselected points, and (5) verifying that the measured data are within preselected limits, (6) And) generating a set of calibration factors for establishing a center of gravity during operation of the mobility assistance device. The calibration factor can be based at least on the verified measurement data. The method can optionally include the step of storing the verified measurement data in a non-volatile memory.

A method of the present teachings for filtering parameters associated with movement of a mobility-assisted device having an IMU, the IMU including a gyroscope, the gyroscope including gyroscope bias and gyroscope data, and However, (1) the step of subtracting the gyroscope bias from the gyroscope data and correcting the gyroscope data, and (2) integrating the filtered gravity velocity over time to obtain the filtered gravity vector. And (3) calculating a gravity velocity vector and a predicted gravity velocity estimated value based on at least the filtered body velocity and the filtered gravity vector, and (4) a first gain. Subtracting the product of K1 and the gravity vector error from the gravity velocity vector, the gravity vector error being at least based on the filtered gravity vector and the measured gravity vector; and (5) filtered. Calculating a pitch speed, a roll speed, a yaw speed, a pitch, and a roll of the movement support device based on the gravity velocity vector and the filtered body speed, and (6) a differential wheel between wheels of the movement support device. Subtracting the velocity from the predicted gravity velocity estimate to determine the predicted velocity error and gyroscope bias, and (7) calculating the cross product of the gravity vector error and the filtered gravity vector, Adding a dot product of the filtered gravity vector and the predicted gravity velocity error to obtain the body velocity error, and (8) applying the second gain to the integral of the body velocity error over time to obtain a gyroscope. It may include the steps of determining the scope bias and (9) looping steps (1)-(8) to continuously modify the gyroscope data.

A method of the present teachings for making an all-terrain wheel pair includes, but is not limited to, the step of constructing an inner ring having at least one locking pin receiver, the inner ring containing a retention lock that houses a twist lock attachment. And having an attachment base, and constructing an outer ring. The attachment base can include a lock pin cavity, and the lock pin cavity can accommodate the lock pin. The lock pin cavity can include at least one retention tongue that can accommodate a twist lock attachment. The method may include the step of attaching the outer ring to the inner ring by mating the locking pin with one of the at least one locking pin receivers and the retaining lip with the at least one retaining tongue.

Methods of the present teachings for traveling over rough terrain within a mobility assistance device can include, but are not limited to, attaching an inner race having at least one locking pin receiver. The inner ring can include a retention lip that houses the twist lock attachment. The method includes threading a locking pin into a locking pin cavity to mate the locking pin with one of the at least one locking pin receivers and mate with a retention lip and at least one retention tang. This may include the step of attaching to the inner ring an outer ring having at least one retaining tongue and an attachment base having a locking pin cavity.

All-terrain wheel pairs of the present teachings can include, but are not limited to, an inner ring having at least one locking pin receiver. The inner ring can include a retention lip that houses the twist lock attachment. The wheel pair can include an outer ring having an attachment base. The attachment base can include a lock pin cavity, and the lock pin cavity can accommodate the lock pin. The lock pin cavity can include at least one retention tongue that can accommodate a twist lock attachment. The outer ring can be attached to the inner ring by engaging the locking pin with one of the at least one locking pin receiving portion and engaging the retaining lip with the at least one retaining tongue.

A user controller for a mobility assistance device of the present teachings can include, but is not limited to, a thumbwheel that can modify at least one speed range for the mobility assistance device. The thumbwheel can generate a signal during the movement of the thumbwheel, and the signal can be provided to the user controller. The user controller can maintain environmental isolation from the thumbwheel while receiving the signal. The user controller can optionally include a first component for the casing that includes mounting features for at least one speaker, at least one circuit board, and at least one control device. The control device may allow selection of at least one option for the mobility assistance device. The user controller may optionally include at least one first environmental isolation device and at least one display, at least one selection device, and mounting features for at least one antenna, a second part for the casing. Can be included. The second component for the casing and the first component for the casing can be operably coupled around at least one first environmental isolation device. At least one display allows monitoring of the status of the mobility-assisted device and at least one display can present at least one option. The at least one selection device may allow selection of at least one option. The user controller can optionally include a power/data cable that allows power to flow from the mobile assistance device to the user controller. The power/data cable may allow data exchange between the user controller and the mobility assistance device. The user controller can optionally include a first component for the toggle platform, including a toggle. The toggle may allow selection of at least one option. The user controller can optionally include at least one second environmental isolation device and a second component for the toggle platform, which can include mobility assistance device mounting features. A second component for the toggle platform and a first component for the toggle platform can be operably coupled around at least one second environmental isolation device. The mobility assistance device onboarding feature may enable the mounting of a user controller on the mobility assistance device. The user controller can optionally include a two-way shortcut toggle, a four-way shortcut toggle, and at least one integrated device that integrates the two-way shortcut toggle and the four-way shortcut toggle.

At least one option may include desired speed, desired direction, speed mode, mobility assist device mode, seat height, seat tilt, and maximum speed. The control device can include at least one joystick and at least one thumbwheel. The at least one joystick may allow receiving a desired speed and desired direction and the at least one thumbwheel may allow receiving a maximum speed. The at least one toggle can include at least one toggle switch and at least one toggle lever. The at least one display can include at least one battery status indicator, a power switch, at least one audible alert and mute capability, and at least one antenna for receiving wireless signals.

A thumbwheel for a user controller of the present teachings can include, but is not limited to, a one-turn selector that enables movement of the thumbwheel and can produce movement data throughout one revolution of the thumbwheel. The mobile data can be dynamically associated with at least one user controller characteristic. The thumbwheel may include a thumbwheel position, at least one sensor that receives movement data, and memory that may retain the thumbwheel position and at least one user controller characteristic across a power down condition. The at least one user controller characteristic may include maximum speed. The at least one sensor can be environmentally isolated from the user controller. The at least one sensor can include a Hall effect sensor.

A method of the present teachings for controlling the speed of a mobility assisted device, including a non-stop thumbwheel and a joystick, the thumbwheel including, but not limited to, a persistently stored position. Accessing a relationship between a change in rotational position of the wheel and a multiplier for maximum speed of the personal carrying device; and (b) receiving a persistently stored change in position of the non-stop thumbwheel. , (C) determining a multiplier based on the changes and relationships, (d) persistently storing the changed position, (e) receiving a velocity signal from a joystick, and (f) The method may include adjusting the speed signal based on the multiplier, and (g) repeating steps (a) to (f) while the mobility assistance device is active. The method may optionally include the steps of receiving an indication of thumbwheel sensitivity and adjusting the relationship based on the indication. The multiplier can be <1.

Mobility assistance devices of the present teachings include redundancy, lightweight enclosures, inertial measurement systems, advanced thermal management strategies, wheel and cluster gear trains specifically designed with wheelchair users in mind, lightweight and long-life redundant batteries, humans. The limitations of the prior art can be overcome by including an engineered, shock-damped caster wheel assembly, as well as a boarding and exit management bumper. Other improvements include, but are not limited to, automatic mode transition, anti-tip, improved performance, remote control, universal mounting for vehicle locking mechanism and locking mechanism itself, foreign object seals, tilt management, and cable-operated. A charging port can be included. Due to the reduced weight of the mobility assistance device, the mobility assistance device can accommodate increased payload over the prior art.
The present specification also provides the following items, for example.
(Item 1)
An electric balance movement support device,
A base assembly for processing movement commands for the movement assistance device;
At least one cluster assembly operably coupled to the base assembly, the at least one cluster assembly operably coupled to a plurality of wheels, the plurality of wheels supporting the base assembly; At least one cluster assembly, wherein the plurality of wheels and the at least one cluster assembly move at least the movement assistance device based on the processed movement command;
An active stabilization processor for estimating a center of gravity of the movement support device, the active stabilization processor being required to maintain balance of the movement support device based on the estimated center of gravity, An active stabilization processor for estimating at least one value associated with the mobility assistance device;
Wherein the base processor actively balances the movement assistance device on at least two of the plurality of wheels based at least on the at least one value.
(Item 2)
The base assembly is
A redundant motor for moving the at least one cluster assembly and the plurality of wheels;
A redundant sensor for sensing sensor data from the redundant motor and the at least one cluster assembly;
A redundant processor executing in the base assembly, the redundant processor selecting information from the sensor data, the selection being based on a match of sensor data between the redundant processors, the redundant processor at least, A redundant processor for processing the move command based on the selected information;
The electric type equilibrium movement support device according to item 1, further comprising:
(Item 3)
A fall prevention controller for stabilizing the movement support device based on a stabilization coefficient, wherein the fall prevention controller calculates a stabilization metric, calculates a stabilization coefficient, and processes the movement command. Determining the move command information required for the mobile command and processing the move command based on the move command information and the stabilization factor if the stabilization metric indicates that stabilization is required. Includes, executes commands, falls prevention controller
The electric type equilibrium movement support device according to item 1, further comprising:
(Item 4)
The motorized equilibrium movement assist device of item 1, further comprising stair climb failsafe means for forcibly and safely tipping the mobility assist device if stability is lost during stair climb.
(Item 5)
A castor wheel assembly operably coupled to the base assembly,
At least a linear acceleration processor that calculates a movement assistance device acceleration of the movement assistance device based on a speed of the wheel, the linear acceleration processor comprising: an inertial sensor acceleration of an inertial sensor mounted on the movement assistance device. A linear acceleration processor that calculates at least based on sensor data from the inertial sensor;
A traction force control processor for calculating a difference between the movement assist device acceleration and the inertial sensor acceleration, the traction force control processor comparing the difference with a preselected threshold value;
A wheel/cluster command processor that commands the at least one cluster assembly to at least lower one of the plurality of wheels and the caster assembly to the ground based on the comparison;
The electric type equilibrium movement support device according to item 1, further comprising:
(Item 6)
2. The motorized balancing movement assist device of item 1, wherein the board processor uses field weakening to provide bursts of velocity to a motor associated with the at least one cluster assembly and the plurality of wheels.
(Item 7)
The platform processor estimates a center of gravity of the mobility assistance device, and the platform processor (1) balances the mobility assistance device with a preselected position of the at least one wheel cluster and a seat preselected. Measuring data including the pitch angle required to maintain the position, and (2) moving the mobility assistance device/user pair to a plurality of points, and step (1) to each of the plurality of points. And (3) verifying that the measured data are within preselected limits, and (4) generating a set of calibration factors, during operation of the mobility assistance device, The motorized equilibrium movement assistance device according to item 1, wherein the step of establishing the center of gravity, wherein the calibration coefficient is at least based on the verified measurement data.
(Item 8)
The base processor includes a closed loop controller for maintaining stability of the movement assist device, the closed loop controller automatically decelerates forward movement and accelerates backward movement under preselected conditions. 8. The balanced mobility assistance device of item 7, wherein the pre-article selected situation is based on the pitch angle of the mobility assistance device and the center of gravity of the mobility assistance device.
(Item 9)
An all-terrain wheel pair including an inner ring having at least one locking means accessible by an operator of the movement assisting device while the movement assisting device is in operation, the inner race having at least one retaining means. The all-terrain wheel pair includes an outer ring having an attachment base, the attachment base containing the at least one locking means and the at least one retaining means, the at least one retaining means including the movement. Item 2. The motorized equilibrium transfer assist device of item 1, which is operable by the operator to connect the inner ring to the outer ring when the assist device is in operation.
(Item 10)
A base processor board including at least one inertial sensor, the at least one inertial sensor mounted on the inertial sensor board, the at least one inertial sensor board flexibly coupled with the base processor board; The motorized, balanced movement assist device of claim 1, wherein the at least one inertial sensor board is separate from the board processor board and the at least one inertial sensor is calibrated separately from the board processor board.
(Item 11)
Item 2. The motorized, equilibrium movement assistance device of item 1, comprising at least one inertial sensor including a gyroscope and an accelerometer.
(Item 12)
The base processor is
A mobile assist device wireless processor that enables communication with an external application that is electronically remote from the mobile assist device, the mobile assist device wireless processor receiving and decoding an incoming message from a radio wave, and the base processor. Controlling the mobility assistance device based on at least one of the decoded incoming messages,
The electric type equilibrium movement support device according to Item 1.
(Item 13)
The base processor is
With a secure wireless communication system including data obfuscation and challenge/response authentication,
The electric type equilibrium movement support device according to Item 1.
(Item 14)
The motorized balanced mobility assist device of claim 1, further comprising an indirect heat dissipation path between the board processor board and a chassis of the mobility assist device.
(Item 15)
Further comprising a seat support assembly that enables connection of multiple seat types to the base assembly, the base assembly having a seat position sensor, the seat position sensor providing seat position data to the base processor, The electric type equilibrium movement support device according to Item 1.
(Item 16)
The seat support assembly is
A seat lift arm for lifting the seat,
A shaft operably coupled to the seat lift arm, wherein the shaft rotation is measured by the seat position sensor, the shaft rotates <90°, and the shaft rotates the seat by a single gear train. A shaft coupled to a position sensor, rotating the seat position sensor >180°, the combination doubling the sensitivity of the seat position data;
13. The electric type equilibrium movement support device according to Item 11, which comprises:
(Item 17)
The base assembly is
Comprising a plurality of sensors fully encapsulated within the base assembly, the plurality of sensors including co-located sensors for sensing substantially similar characteristics of the mobility assistance device,
Item 11. The electric balanced movement support device according to Item 11.
(Item 18)
The base assembly is
A manual brake including an internal component, the internal component including a hard stop and a damper, the manual brake including a brake release lever replaceable separately from the internal component,
The electric type equilibrium movement support device according to Item 1.
(Item 19)
The base processor is
A user-configurable drive option that limits the speed and acceleration of the mobility assistance device based on a preselected situation;
The electric type equilibrium movement support device according to Item 1.
(Item 20)
The motorized, equilibrium movement assistance device of claim 1, further comprising a user controlled device including a thumbwheel, the thumbwheel modifying at least one velocity range for the movement assistance device.
(Item 21)
A drive locking element that enables an operative connection between the base assembly and a docking station;
A skid plate having a pop-out cavity for accommodating the drive locking element, the skid plate allowing storage of oil escaping from the base assembly;
The electric type equilibrium movement support device according to item 1, further comprising:
(Item 22)
With more seats,
The board processor receives an indication that the mobility assistance device is encountering a tilt between the ground and a vehicle, the board processor maintaining a cluster of the wheels in contact with the ground. The base processor changes the orientation of the at least one cluster assembly based on the positions of the plurality of wheels according to the indication to maintain a center of gravity of the movement assisting device, A processor dynamically adjusts a distance between the seat and the at least one cluster assembly while maintaining the seat as close to the ground as possible to provide a distance between the seat and the plurality of wheels. Prevent contact with
The electric type equilibrium movement support device according to Item 1.
(Item 23)
The base processor is
Receiving obstacle data,
Automatically identifying at least one obstacle in the obstacle data;
Automatically determining at least one situation identifier;
Automatically maintaining a distance between the mobility assistance device and the at least one obstacle based on the at least one situation identifier;
Automatically accessing at least one authorization command associated with the distance, the at least one obstacle, and the at least one situation identifier;
Automatically accessing at least one automatic response to at least one move command;
Receiving at least one move command;
Automatically mapping one of the at least one move command and the at least one permit command;
Automatically moving the mobility assistance device based on at least one automatic response associated with the at least one movement command and the mapped authorization command;
With an obstacle system, including
The electric type equilibrium movement support device according to Item 1.
(Item 24)
The base processor is
Receiving at least one stair command,
Receiving sensor data from a sensor mounted on the mobility assistance device;
Automatically locating at least one staircase structure in the sensor data based on the sensor data;
Receiving a selection of selected stair structures of the at least one stair structure;
Automatically measuring at least one property of the selected staircase structure;
Automatically, based on the sensor data, locating obstacles on the selected stair structure, if applicable;
Automatically locating the last staircase of the selected staircase structure based on the sensor data;
Automatically navigating the movement assistance device on the selected stair structure based on the measured at least one property, the last staircase, and, if applicable, the obstacle;
With a staircase processor,
The electric type equilibrium movement support device according to Item 1.
(Item 25)
The base processor is
Automatically locating the door of the private room of the restroom,
Automatically moving the movement support device through the door of the private room of the restroom into the private room of the restroom;
Automatically positioning the mobility support device relative to a restroom fixture;
Automatically locating the door of the private room of the restroom;
Automatically moving the movement support device through the door of the private room of the restroom and exiting the private room of the restroom;
Including a lavatory processor,
The electric type equilibrium movement support device according to Item 1.
(Item 26)
The base processor is
Receiving sensor data from a sensor mounted on the mobility assistance device;
Automatically identifying the door in the sensor data;
Automatically measuring the door;
Automatically determine the door swing,
Automatically moving the movement support device forward through a door opening, wherein the movement support device opens the door, and when the door swing is away from the movement support device, the door is opened. To keep it in the open position,
Automatically positioning the movement assistance device for access to the handle of the door and moving the movement assistance device away from the door by a distance based on the width of the door as the door opens. Moving the movement assistance device forward through the door opening, the movement assistance device maintaining the door in an open position when the door swing is towards the movement assistance device.
Including a door processor,
The electric type equilibrium movement support device according to Item 1.
(Item 27)
The base processor is
Receiving sensor data from a sensor mounted on the mobility assistance device;
Automatically identifying the door in the sensor data;
Automatically measuring the door, including the width of the door;
Automatically, generating an alert if the door is smaller than a preselected size associated with the size of the mobility assistance device;
Automatically positioning the mobility assistance device for access to the door, the positioning being based on a width of the door;
Automatically generating a signal for opening the door;
Automatically moving the movement support device through the doorway;
An electric balancing movement assisting device according to item 1, further comprising a door processor including:
(Item 28)
The base processor is
Automatically locating an exit point where the patient exits the mobility assistance device;
Automatically positioning the mobility assistance device near the exit point;
Automatically determining when the patient leaves the mobility assistance device;
Automatically locating the docking station,
Automatically positioning the mobility assistance device at the docking station;
Operably connecting the mobility assistance device to the docking station;
Including a docking processor,
The electric type equilibrium movement support device according to Item 1.
(Item 29)
A method for controlling the speed of a mobility assistance device, the mobility assistance device comprising a plurality of wheels, the mobility assistance device comprising a plurality of sensors, the method comprising:
Receiving terrain and obstacle detection data from the plurality of sensors,
At least based on the terrain and obstacle detection data, mapping the terrain and, if applicable, obstacles in real time;
At least based on the mapped data, if applicable, calculating a collision potential area;
Calculating a deceleration area, if applicable, based on at least the mapped data and the speed of the mobility assistance device;
If applicable, receiving user preferences for said deceleration area and desired direction and speed of movement,
At least calculating a wheel command for commanding the plurality of wheels based on the collision potential area, the deceleration area, and the user preference;
Providing the wheel command to the plurality of wheels;
Including the method.
(Item 30)
A method for moving an equilibrium movement assistance device over relatively steep terrain, the movement assistance device comprising a cluster of wheels and a seat, the cluster of wheels and the seat being separated by a distance. , The certain distance varies based on a preselected characteristic, and the method comprises:
Receiving an indication that the mobility assistance device will encounter the steep terrain;
Instructing the cluster of wheels to maintain contact with the ground;
Dynamically adjusting the distance between the seat and the cluster of wheels based on maintaining balance of the mobility assistance device and the indication;
Including the method.

The present teachings will be more readily understood by reference to the following description, considered in conjunction with the accompanying drawings.

FIG. 1A is a perspective schematic view of a front view of a movement support device base of the present teachings. 1B is a perspective schematic view of a side view of a wheelchair base of the present teachings. 1C is a perspective schematic view of a wheelchair base of the present teachings including a battery. 1D is a perspective schematic view of a wheelchair base of the present teachings illustrating a removable battery. 1E is a perspective schematic view of an exploded side view of a battery pack of the present teachings. 1F is a schematic perspective view of a gearbox of the present teachings. 1G is a schematic perspective view of a lid of an electronic box of the present teachings. 1H is a perspective schematic view of a top cap of the present teachings. 1I and 1J are perspective schematic views of sections of a gearbox of the present teachings. 1I and 1J are perspective schematic views of sections of a gearbox of the present teachings. 1J-1 is a detailed perspective view of a spring pin of the present teachings. 1K is a cross-sectional view of a fan gear cross shaft of the present teachings. 1L is a plan view of a seal bead location of the present teachings. 1M is a perspective schematic view of an oil port of a gearbox of the present teachings. 1N is a perspective schematic view of a drive locking kingpin of the present teachings. 1O is a perspective schematic view of a backside anchoring loop of the present teachings. 1P, 1Q, and 1R are perspective schematic views of a skid plate and drive locking kingpin of the present teachings. 1P, 1Q, and 1R are perspective schematic views of a skid plate and drive locking kingpin of the present teachings. 1P, 1Q, and 1R are perspective schematic views of a skid plate and drive locking kingpin of the present teachings. 2A is a perspective schematic view of gears within a gearbox of the present teachings. 2B-2E are perspective and plan views of details of a gear and cluster cross shaft of the present teachings. 2B-2E are perspective and plan views of details of a gear and cluster cross shaft of the present teachings. 2B-2E are perspective and plan views of details of a gear and cluster cross shaft of the present teachings. 2B-2E are perspective and plan views of details of a gear and cluster cross shaft of the present teachings. 2F is a perspective schematic view of a cluster cross shaft and a fan gear cross shaft of the present teachings. 2G is a perspective schematic view of details of a gear and fan gear cross shaft of the present teachings. 2H is a perspective schematic view of details of the gear and pinion height actuator stage 1 of the present teachings. 2I and 2J are plan views of details of the gear and pinion height actuator stage 1 of the present teachings. 2I and 2J are plan views of details of the gear and pinion height actuator stage 1 of the present teachings. 2K is a perspective schematic view of a gear and cluster cross shaft of the present teachings. 2L is a schematic perspective view of a pinion gear height actuator stage 2 pinion with a retaining ring of the present teachings. 2M is a perspective schematic view of a shaft pinion cluster rotator stage 1 with an inner ring of the present teachings. 2N is a perspective schematic view of a pinion height actuator shaft stage 1 of the present teachings. 2O and 2P are perspective schematic views of a cluster rotator pinion gear stage 2 pinion of the present teachings. 2O and 2P are perspective schematic views of a cluster rotator pinion gear stage 2 pinion of the present teachings. 2Q is a perspective schematic view of a cluster rotating portion pinion gear stage 3 pinion of the present teachings. FIG. 2R is a perspective schematic view of a cluster rotator gear-pinion cross shaft stage 3 of the present teachings. FIG. 2S is a schematic perspective view of a fan gear cross shaft of the present teachings. 2T is a perspective schematic view of a pinion gear height actuator stage 3 pinion of the present teachings. 2U is a perspective schematic view of a pinion gear height actuator stage 4 of the present teachings. 2V is a schematic perspective view of a second configuration of the pinion gear height actuator stage 4 of the present teachings. 3A is a perspective schematic view of a motor and fan gear cross shaft of the present teachings. 3B is a perspective schematic view of a cluster and seat position sensor of the present teachings. 3C is a perspective schematic view of a motor and sensor of the present teachings. FIG. 3D is a perspective schematic view of a seat/cluster motor of the present teachings. FIG. 3E is an exploded perspective view of a seat/cluster motor of the present teachings. FIG. 3F is a schematic perspective view of a wheel motor of the present teachings. FIG. 3G is an exploded perspective view of the wheel motor of the present teachings. FIG. 3H is a schematic perspective view of a brake without a brake lever of the present teachings. 3I is a perspective schematic view of a brake with a brake lever of the present teachings. FIG. 3J is a perspective schematic view of a mating notch on a gear clamp of the present teachings. FIG. 3K is a perspective schematic view of a seat position sensor gear tooth clamp with mating notches of the present teachings. FIG. 3K-1 is a perspective schematic view of a second configuration of a seat position sensor gear tooth clamp with mating notches of the present teachings. FIG. 3L is a schematic perspective view of the mesh cutout of the seat position sensor of the present teachings. FIG. 3M is an exploded perspective view of the seat position sensor of the present teachings. FIG. 3N is a plan view of a seat position sensor of the present teachings. 3O is an exploded perspective view of a cluster position sensor of the present teachings. FIG. 3P is a plan view of a cluster position sensor of the present teachings. FIG. 4 is a schematic perspective view of a caster arm of a caster of the present teachings. 5A is a perspective schematic view of a linkage arm and seat support structure of a gearbox of the present teachings. 5B is a perspective schematic view of connecting features of a seat support structure of the present teachings. FIG. 5C is a schematic perspective view of a seat height linkage mechanism stabilizer link of the present teachings. 5D is a perspective schematic view of a first view of a seat height linkage lift arm of the present teachings. 5E is a perspective schematic view of a second view of a seat height linkage lift arm of the present teachings. 6A is a perspective schematic view of a cluster assembly of the present teachings. 6B is a schematic perspective view of a cluster motor assembly of the present teachings. 6C is a perspective schematic view of a cluster motor assembly with splines of the present teachings. 6D is a perspective schematic view of a gear-pinion cluster rotator stage 3 cross shaft and pinion shaft cluster rotator stage 4 of the present teachings. FIG. 6E is a perspective schematic view of a diagram of a pinion shaft cluster rotator stage 4 and cluster position sensor tooth cluster cross shaft gear of the present teachings. FIG. 6F is a perspective schematic view of a gear-pinion cluster rotator stage 3 cross shaft of the present teachings. FIG. 6G is a sectional perspective view of a cross shaft cluster rotating part of the present teachings. 6H is a perspective schematic view of a cluster plate interface of the present teachings. 6I is a perspective schematic view of a second configuration of a cluster plate interface of the present teachings. 6J is a perspective schematic view of a ring gear of the present teachings. FIG. 6K is a schematic perspective view of a cluster housing and gears of the present teachings. FIG. 6L is a schematic perspective view of a wheel drive intermediate stage of the present teachings. FIG. 6M is a plan view of a cluster housing of the present teachings including a seal bead. FIG. 7A is a schematic perspective view of a tire of the present teachings. FIG. 7B is a perspective schematic view of a tire assembly of the present teachings. 7C is a perspective schematic view of a dual tire assembly of the present teachings. FIG. 7D is a schematic perspective view of a tire of the present teachings. 7E is a perspective schematic view of a wheel of the present teachings. 7F is a perspective schematic view of an attachment base of the present teachings. 7G is a perspective schematic view of an inner split rim of the present teachings. FIG. 7H is a perspective schematic view of a hub cap of the present teachings. 7I is a perspective schematic view of a locking pin spring of the present teachings. 7J is a schematic perspective view of a fastener housing of the present teachings. 7K is a perspective schematic view of a locking pin of the present teachings. FIG. 7L is a perspective cross-sectional view of the dual tire assembly with the locking pin partially inserted. FIG. 7M is a perspective cross-sectional view of the dual tire assembly with the locking pin fully inserted. FIG. 8 is a graphical representation of a sensor positioning configuration of a movement assistance device of the present teachings. FIG. 9A is a perspective schematic view of an exploded view of a manual brake assembly of the present teachings. 9B is a perspective schematic view of a damper of a manual brake assembly of the present teachings. FIG. 9C is a perspective schematic view of a damper during operation of a manual brake assembly of the present teachings. 9D is a perspective schematic view of a manual brake release shaft of the present teachings. 9E is a perspective schematic view of a manual brake release bracket of the present teachings. 9F is a perspective schematic view of a manual brake release pivot interface of the present teachings. 9G is a perspective schematic view of a manual brake release spring arm of the present teachings. 9H is a schematic perspective view of a manual brake release shaft arm of the present teachings. 9I is a schematic perspective view of a brake release lever of the present teachings. 9J is a perspective schematic view of a manual brake release assembly of the present teachings. FIG. 9K is a perspective schematic view of a manual brake lever hard travel of the present teachings. 9L is an exploded perspective view of the manual brake lever travel stop of the present teachings. FIG. 9M is an exploded perspective view of the manual brake lever travel stop of the present teachings. FIG. 9N is an exploded plan view of the manual brake lever travel stop of the present teachings. FIG. 10A is a perspective schematic view of a cable port of the present teachings. FIG. 10B is an exploded perspective view of the harness of the present teachings. FIG. 10C is a perspective schematic view of a UC port harness of the present teachings. FIG. 10D is a schematic perspective view of a charging input port harness of the present teachings. FIG. 10E is a perspective schematic view of an accessory port harness of the present teachings. 11A-11D are schematic block diagrams of various wiring configurations of the present teachings. 11A-11D are schematic block diagrams of various wiring configurations of the present teachings. 11A-11D are schematic block diagrams of various wiring configurations of the present teachings. 11A-11D are schematic block diagrams of various wiring configurations of the present teachings. FIG. 11E is a schematic perspective view of a power off request switch of the present teachings. 12A and 12B are schematic perspective views of a first configuration of a UC of the present teachings. 12A and 12B are schematic perspective views of a first configuration of a UC of the present teachings. 12C and 12D are perspective schematic views of a second configuration of a UC of the present teachings. 12C and 12D are perspective schematic views of a second configuration of a UC of the present teachings. 12E and 12F are schematic perspective views of a third configuration of a UC of the present teachings. 12E and 12F are schematic perspective views of a third configuration of a UC of the present teachings. FIG. 12G is a perspective schematic view of the forward facing component of the second configuration of the UC of the present teachings. FIG. 12H is a perspective schematic view of a UC joystick of the present teachings. 12I and 12K are exploded perspective views of a first configuration of a UC of the present teachings. (not listed) 12I and 12K are exploded perspective views of a first configuration of a UC of the present teachings. 12L and 12M are schematic perspective views of the upper and lower housings of the first configuration of the UC of the present teachings. 12L and 12M are schematic perspective views of the upper and lower housings of the first configuration of the UC of the present teachings. FIG. 12N is an exploded perspective view of the thumbwheel component of the lower housing of the third configuration of the UC of the present teachings. 12O is a cross-sectional view of a thumbwheel sensor environment isolation of a lower housing of a third configuration of the UC of the present teachings. FIG. 12P is a perspective schematic view of a UC display cover glass of the present teachings. FIG. 12Q is a perspective schematic view of a UC joystick support ring of the present teachings. 12R is a schematic perspective view of a toggle housing of a UC of the present teachings. 12S and 12T are perspective schematic views of a toggle housing of a UC of the present teachings. 12S and 12T are perspective schematic views of a toggle housing of a UC of the present teachings. 12U and 12V are perspective schematic views of an undercap of a UC of the present teachings. 12U and 12V are perspective schematic views of an undercap of a UC of the present teachings. 12W and 12X are sectioned and exploded perspective views of a UC EMI-inhibiting ferrite of the present teachings. 12W and 12X are sectioned and exploded perspective views of a UC EMI-inhibiting ferrite of the present teachings. FIG. 12Y is a schematic perspective view of a UC-mounted device of the present teachings. FIG. 12Z is a schematic perspective view of a mounting cleat of a UC of the present teachings. 12AA is a perspective schematic view of a UC grommet of the present teachings. 12BB and 12CC are perspective schematic views of a button assembly of a UC of the present teachings. 12BB and 12CC are perspective schematic views of a button assembly of a UC of the present teachings. 12DD and 12EE are perspective schematic views of a toggle module of a UC of the present teachings. 12DD and 12EE are perspective schematic views of a toggle module of a UC of the present teachings. 13A and 13B are perspective schematic views of a fourth configuration of a UC of the present teachings. 13A and 13B are perspective schematic views of a fourth configuration of a UC of the present teachings. FIG. 13C is a schematic perspective view of a UC assist holder of a UC of the present teachings. FIG. 14A is a perspective schematic view of a UC circuit board of a UC of the present teachings. 14B and 14C are schematic block diagrams of a UC circuit board layout for a UC of the present teachings. 14B and 14C are schematic block diagrams of a UC circuit board layout for a UC of the present teachings. FIG. 15A is a schematic perspective view of an electronic component board of the present teachings. FIG. 15B is an exploded perspective view of a circuit board of the present teachings. 15C-15D are schematic perspective views of an IMU assembly of the present teachings. 15C-15D are schematic perspective views of an IMU assembly of the present teachings. FIG. 15E is a perspective schematic view of a first view of an IMU board and EMF shield of the present teachings. FIG. 15F is a perspective schematic view of a second view of an IMU board and EMF shield of the present teachings. FIG. 15G is a perspective schematic view of a first configuration of a power supply controller board of the present teachings. FIG. 15H is a schematic perspective view of a second configuration of a power supply controller board of the present teachings. 15I-15J are schematic block diagrams of power supply controller boards of the present teachings. 15I-15J are schematic block diagrams of power supply controller boards of the present teachings. 16A is a schematic block diagram of an overview of a system of the present teachings. FIG. 16B is a schematic block diagram of electronic components of a mobility assistance device of the present teachings. 17A is a schematic block diagram of a board controller of the present teachings. 17B-17C are message flow diagrams for a base controller of the present teachings. 17B-17C are message flow diagrams for a base controller of the present teachings. 18A-18D are schematic block diagrams of a processor of the present teachings. 18A-18D are schematic block diagrams of a processor of the present teachings. 18A-18D are schematic block diagrams of a processor of the present teachings. 18A-18D are schematic block diagrams of a processor of the present teachings. 19A is a schematic block diagram of an inertial measurement unit filter of the present teachings. 19B is a flow chart of a method of the present teachings for filtering gyroscope and acceleration data. 20 is a flow chart of a method of the present teachings for field weakening. 21A is a schematic block diagram of a voting processor of the present teachings. 21B and 21C are flowcharts of methods of the present teachings for a four-tiered vote. 21B and 21C are flowcharts of methods of the present teachings for a four-tiered vote. 21D and 21G are tabular representations of voting embodiments of the present teachings. (not listed) (not listed) 21D and 21G are tabular representations of voting embodiments of the present teachings. 22A is a schematic block diagram of allowed mode transitions in one configuration of the present teachings. 22B-22D are schematic block diagrams of control structures for modes of the system of the present teachings. 22B-22D are schematic block diagrams of control structures for modes of the system of the present teachings. 22B-22D are schematic block diagrams of control structures for modes of the system of the present teachings. 23A-23K are flow diagrams of operational use of the mobility assistance device of the present teachings. 23A-23K are flow diagrams of operational use of the mobility assistance device of the present teachings. 23A-23K are flow diagrams of operational use of the mobility assistance device of the present teachings. 23A-23K are flow diagrams of operational use of the mobility assistance device of the present teachings. 23A-23K are flow diagrams of operational use of the mobility assistance device of the present teachings. 23A-23K are flow diagrams of operational use of the mobility assistance device of the present teachings. 23A-23K are flow diagrams of operational use of the mobility assistance device of the present teachings. 23A-23K are flow diagrams of operational use of the mobility assistance device of the present teachings. 23A-23K are flow diagrams of operational use of the mobility assistance device of the present teachings. 23A-23K are flow diagrams of operational use of the mobility assistance device of the present teachings. 23A-23K are flow diagrams of operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration for operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration for operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration for operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration for operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration for operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration for operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration for operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration for operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration for operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration for operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration for operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration for operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration for operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration for operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration for operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration for operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration for operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration for operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration for operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration for operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration for operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration for operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration for operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration for operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration for operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration for operational use of the mobility assistance device of the present teachings. FIG. 23LL-23VV is a flow diagram of a fourth configuration of operational use of a mobility assistance device of the present teachings. FIG. 23LL-23VV is a flow diagram of a fourth configuration of operational use of a mobility assistance device of the present teachings. FIG. 23LL-23VV is a flow diagram of a fourth configuration of operational use of a mobility assistance device of the present teachings. FIG. 23LL-23VV is a flow diagram of a fourth configuration of operational use of a mobility assistance device of the present teachings. FIG. 23LL-23VV is a flow diagram of a fourth configuration of operational use of a mobility assistance device of the present teachings. FIG. 23LL-23VV is a flow diagram of a fourth configuration of operational use of a mobility assistance device of the present teachings. FIG. 23LL-23VV is a flow diagram of a fourth configuration of operational use of a mobility assistance device of the present teachings. FIG. 23LL-23VV is a flow diagram of a fourth configuration of operational use of a mobility assistance device of the present teachings. FIG. 23LL-23VV is a flow diagram of a fourth configuration of operational use of a mobility assistance device of the present teachings. FIG. 23LL-23VV is a flow diagram of a fourth configuration of operational use of a mobility assistance device of the present teachings. FIG. 23LL-23VV is a flow diagram of a fourth configuration of operational use of a mobility assistance device of the present teachings. FIG. 23LL-23VV is a flow diagram of a fourth configuration of operational use of a mobility assistance device of the present teachings. 24A and 24B are representations of a graphical user interface of a home screen display of the present teachings. 24A and 24B are representations of a graphical user interface of a home screen display of the present teachings. 24C and 24D are representations of a graphical user interface of a main menu display of the present teachings. 24C and 24D are representations of a graphical user interface of a main menu display of the present teachings. 24E-24H are graphical user interface representations of a selection screen display of the present teachings. 24E-24H are graphical user interface representations of a selection screen display of the present teachings. 24E-24H are graphical user interface representations of a selection screen display of the present teachings. 24E-24H are graphical user interface representations of a selection screen display of the present teachings. 24I and 24J are graphical user interface representations of the transition screen display of the present teachings. 24I and 24J are graphical user interface representations of the transition screen display of the present teachings. 24K and 24L are representations of a graphical user interface of a forced power off display of the present teachings. 24K and 24L are representations of a graphical user interface of a forced power off display of the present teachings. 24M and 24N are representations of CG matching screens of the present teachings. 24M and 24N are representations of CG matching screens of the present teachings. 25A is a schematic block diagram of components of a speed processor of the present teachings. FIG. 25B is a flow chart of a method of speed processing of the present teachings. FIG. 25C is a graph of a manual interface response template of the present teachings. 25D, 25D-1, 25D-2, and 25D-3 are graphs of interface response of the present teachings based on velocity categories. 25D, 25D-1, 25D-2, and 25D-3 are graphs of interface response of the present teachings based on velocity categories. 25D, 25D-1, 25D-2, and 25D-3 are graphs of interface response of the present teachings based on velocity categories. 25D, 25D-1, 25D-2, and 25D-3 are graphs of interface response of the present teachings based on velocity categories. 25E and 25F are graphical representations of the joystick control profile of the present teachings. 25E and 25F are graphical representations of the joystick control profile of the present teachings. 25G is a schematic block diagram of components of an adaptive speed control processor of the present teachings. FIG. 25H is a flow chart of a method of adaptive speed processing of the present teachings. 25I-25K are schematic illustrations of an exemplary use of adaptive speed control of the present teachings. 25I-25K are schematic illustrations of an exemplary use of adaptive speed control of the present teachings. 25I-25K are schematic illustrations of an exemplary use of adaptive speed control of the present teachings. 26A is a schematic block diagram of components of a traction control processor of the present teachings. FIG. 26B is a flowchart of a method of traction force control processing of the present teaching. FIG. 27A is a graphical representation of a comparison of a fall of the movement support device of the present teaching versus an uphill climb of the movement support device of the present teaching. FIG. 27B is a flowchart of the method of the fall prevention process of the present teaching. FIG. 27C is a schematic block diagram of a fall prevention controller of the present teachings. FIG. 27D is a schematic block diagram of a CG compliant processor of the present teachings. FIG. 27E is a flowchart of a CG matching process method of the present teachings. 28A is a schematic block diagram of a weight processor of the present teachings. 28B is a flow chart of a method of weight handling of the present teachings. 28C is a schematic block diagram of a weight-current processor of the present teachings. 28D is a flow chart of a method of weight-current processing of the present teachings. FIG. 29A is a schematic block diagram of components of UCP assist of the present teachings. 29B-29C are flowcharts of an obstacle detection method of the present teachings. 29B-29C are flowcharts of an obstacle detection method of the present teachings. 29D is a schematic block diagram of components of obstacle detection of the present teachings. 29E-29H are computer-generated representations of mobility assistance devices configured with sensors. 29E-29H are computer-generated representations of mobility assistance devices configured with sensors. 29E-29H are computer-generated representations of mobility assistance devices configured with sensors. 29E-29H are computer-generated representations of mobility assistance devices configured with sensors. 29I is a flow chart of an improved stair climbing method of the present teachings. 29J is a schematic block diagram of the enhanced stair climbing components of the present teachings. 29K-29L are flowcharts of door passing methods of the present teachings. 29K-29L are flowcharts of door passing methods of the present teachings. 29M is a schematic block diagram of door passing components of the present teachings. 29N is a flow chart of a method of lavatory navigation of the present teachings. 29O is a schematic block diagram of components of a lavatory navigation of the present teachings. 29P-29Q are flowcharts of the method of moving and storing of the present teachings. 29P-29Q are flowcharts of the method of moving and storing of the present teachings. 29R is a schematic block diagram of components of a mobile store of the present teachings. FIG. 29S is a flow chart of a storage/charging method of the present teachings. 29T is a schematic block diagram of storage/charging components of the present teachings. 29U is a flow chart of a method of elevator navigation of the present teachings. 29V is a schematic block diagram of components of an elevator navigation of the present teachings. FIG. 30A is a table of communication packets exchanged within the MD of the present teachings. 30B-30E are tables of communication packet contents of the present teachings. 30B-30E are tables of communication packet contents of the present teachings. 30B-30E are tables of communication packet contents of the present teachings. 30B-30E are tables of communication packet contents of the present teachings. FIG. 31A is a schematic block diagram of a telecommunications interface of the present teachings. 31B and 31C are packet formats for an exemplary protocol of the present teachings. 31B and 31C are packet formats for an exemplary protocol of the present teachings. FIG. 31D is a schematic block diagram of a wireless communication system of the present teachings. 31E and 31F are bubble format diagrams for wireless communication state transitions of the present teachings. 31E and 31F are bubble format diagrams for wireless communication state transitions of the present teachings. 31G and 31H are message communication diagrams for wireless communication of the present teachings. 31G and 31H are message communication diagrams for wireless communication of the present teachings. 32A is a threat/solution block diagram of a possible threat to MD of the present teachings. FIG. 32B is a flow chart of a method for obfuscating plain text of the present teachings. 32C is a flowchart of a method for deobfuscating plain text of the present teachings. 32D is a transmitter/receiver communication block diagram of a method for assignment/response of the present teachings. FIG. 33 is a schematic block diagram of the event processing of the present teaching.

A movement assistance device (MD) of the present teachings can include a small, lightweight, and electrically powered vehicle that allows a user to maneuver in an enclosed space, curbs, stairs, and other obstacles. It can provide the ability to navigate the environment of everyday life, including the ability to move up and down. By operating at elevated seat heights, MDs can improve the quality of life of individuals with movement disorders by allowing them to traverse rugged and difficult terrain. Elevated seat heights provide benefits for activities of daily living (eg, to access higher shelves) and interaction with other people at "eye level" during either stationary or mobile be able to.

Referring now primarily to FIGS. 1A and 1B, a movement assist device (MD) of the present teachings may include a central gearbox 21514, an output mechanism, and a wheel cluster assembly 21100/2201 (FIG. 6A), a base assembly. 21513 can be included. The central gearbox 21514 can control the rotation of the assembly 21100/2201 (FIG. 6A), can limit recoil, and can provide structural integrity to the MD. In some configurations, the central gearbox 21514 is lightweight, which is highly durable, which may increase the possible payload that the MD may accommodate and improve the operating range of the MD. It can be constructed from certain materials. The central gearbox 21514 may include a cluster drive and drive transmissions for seat height transmission, including electronics, two caster assemblies, two wheel cluster assemblies and two sets of seat height arms. And a structure-mounted interface for a motor and a brake for driving two wheels can be provided. Other components and seats can be attached to the base assembly 21513, for example, by use of rails 30081. Movable transmission components can be contained inside the base assembly 21513, sealed, and protected from contamination. The central gearbox 21514 can include a gear train that can provide power, rotate wheel clusters, and drive seat height actuators. Base assembly 21513 includes a 4-bar linkage, two drive arms (one on each side of central gearbox 21514), two stabilizer arms (one on each side of central gearbox 21514), and elements of seat bracket 24001. Can provide a structure and mounting points for the. Base assembly 21513 can provide electrical and mechanical power to the drive wheels and clusters to provide seat height actuation. The central gearbox 21514 can house the cluster transmission, seat height actuator transmission, and electronic equipment. The two wheel cluster assembly 21100 (FIG. 6A) can be mounted on the central gearbox 21514. Seat support structures, casters, batteries, and optional docking brackets can also be attached to the central gearbox 21514. The central gearbox 21514 can be constructed to provide EM shielding to the components housed within the central gearbox 21514. The central gearbox 21514 can be constructed to block electromagnetic energy transfer and can be sealed at its seams by a material that can provide an EM shield such as, but not limited to, NUSIL RTV silicone. ..

With continued reference to FIGS. 1A and 1B, the MD can adapt to seat placement through the connection of seat placement options for lifting and stabilizing the arms. The MD may provide power, communication, and structural interfaces for optional features such as, for example, without limitation, electric seating arrangements, lights and seating arrangement control options. Materials that can be used to construct the MD can include, but are not limited to, aluminum, Delrin, magnesium, plywood, medium carbon steel, and stainless steel. Active stabilization of the MD can include sensors in the MD that can detect the orientation and the rate of change of orientation of the MD, a motor that can produce high power and high speed servo operation, and information can be captured from the sensor and the motor. , And by incorporating a controller that can calculate appropriate motor commands, achieve active stability, and implement user commands. Left and right wheel motors can drive the main wheels on either side of the device. The front wheels and the rear wheels can be coupled to drive together, thus the two left wheels can drive together and the two right wheels can drive together. The turning can be accomplished by driving the left and right motors at different speeds. The cluster motor can rotate the wheel base in the front/rear direction. This may allow the MD to remain horizontal while the front wheels are higher or lower than the rear wheels. The cluster motor can be used to keep the device level when raising and lowering the curb, and can be used to repeatedly rotate the wheel base when raising and lowering stairs. Seats can be raised and lowered automatically.

Referring now to FIGS. 1C and 1D, the battery pack 70001 can generate heat when charging and discharging. Positioning the battery pack 70001 at the top of the central housing 21514 and including a void 70001-1 between the battery packs 70001 can allow airflow, which can aid in heat dissipation. Battery pack 70001 can be operably coupled to gearbox lid 21524 at fastener port 70001-4.

Referring now to FIG. 1E, the battery 70001 can serve as the primary energy source for the MD. Multiple separate same batteries 70001 can provide redundant energy supplies to the device. Each battery 70001 can provide a separate power bus from which other components can draw power. Each battery 70001 can provide power to sensors, controllers, and motors through a switched power converter. The battery 70001 can also receive regeneration power from the motor. The battery 70001 can be replaceable and can be removable with or without tools. Each battery 70001 can be connected to the MD, for example, but not limited to, via a blind mating connector. During battery installation, the power terminals of the connector can mate in front of the battery signal terminals to prevent damage to the battery circuit. The connector can allow correct connections and can prevent and/or prevent incorrect connections. Each battery 70001 may include a relatively high energy density and relatively low weight battery 29, such as, but not limited to, a rechargeable lithium ion (Li-ION) battery, such as, but not limited to. Is a cylindrical 18650 cell in a 16s2p array providing a nominal voltage of about 58V and about 5Ah capacity. Each battery can operate in the range of about 50-100V.

With continued reference to FIG. 1E, in some configurations at least two batteries 70001 must be combined in parallel. These combined packs can form a battery bank. In some fault tolerant configurations, there may be two independent battery banks ("Bank A" and "Bank B"). In some configurations, an optional third battery can be present in each battery bank. In some configurations, the load can be shared equally across all packs. In some configurations, up to 6 battery packs can be used on the system at one time. In some configurations, a minimum of 4 battery packs are required for operation. Two additional batteries can be added over the extended range. In some configurations, the energy storage levels for these battery packs may be the same as standard computer batteries, allowing for commercial aircraft transportation. Installation of an empty battery pack 70001 can protect unused battery connection ports on the MD and provide a uniform and complete look for the MD. In some configurations, the empty battery pack slot may be replaced with a storage compartment (not shown) that may store, for example, a battery charger or other item. The containment vessel can seal the empty battery opening to the electronic device and prevent environmental contamination of the central housing. The battery pack can be protected from damage by the wall 21524A.

With continued reference to FIG. 1E, information from a fuel gauge, such as, but not limited to, the TIbq34z100-G1 wide range fuel gauge, is provided to the PSC board 50002 (FIG. 15G) via the I2C bus connection. You can The battery pack 70001 can communicate with the PSC board 50002 (FIG. 15G), and thus the PBC board 50001 (FIG. 15G). The battery packs 70001 are mounted in pairs and can maintain redundancy. One battery pack 70001 of the pair can be connected to the processors A1/A243A/43B (FIG. 18C) and the other can be connected to the processors B1/B243C/43D (FIG. 18D). it can. Thus, if one of the pair of battery packs 70001 fails, the other of the pair can remain operational. Further, if one battery pack 70001 of a pair fails, one or more other battery packs 70001 of the other pair may remain operational.

With continued reference to FIG. 1E, the battery controller, which may be running on the processor 401 (FIG. 15J), initializes, but is not limited to, each battery and runs each battery task when the battery is connected, Average the results of the tasks from each battery, get the bus battery voltage that would be incurred by the processor A/B 39/41 (FIGS. 18C/18D), and get the voltage from the ADC channel for the battery currently in use. Then, the battery voltage is acquired from the fuel gauge data, the voltage from the fuel gauge data is compared with the voltage from the ADC channel, the number of connected batteries is acquired, the battery 70001 is connected to the bus, and power is supplied to the MD. , Can include commands for monitoring the battery and checking the battery temperature. Temperature thresholds that can be reported can include, but are not limited to, low temperature, medium temperature, and high temperature battery conditions. The battery controller can check the charge amount of the battery 70001, compare the charge amount with a threshold value, and issue a warning level under low charge amount conditions. In some configurations, there may be four thresholds: low charge, low charge alert, limited low charge, and minimum charge. The battery controller can check and ensure that the battery 70001 can be charged. In some configurations, the battery 70001 must be at least some voltage, for example and without limitation, about 30V, and must be in communication with the PSC50002 (FIG. 15G) to be charged. The battery controller can restore the battery 70001, for example, by pre-charging the battery 70001, for example, if the battery 70001 is discharged to the point where the battery protection circuit is activated. DC power for charging the battery 70001 can be provided by an external AC/DC power supply. The user can be isolated from the potential shock hazard by isolating the user from the battery 70001.

Referring now primarily to FIG. 1F, the central gearbox 21514 includes an electronic box lid 21524 (FIG. 1G), a brake lever 30070 (FIG. 1A), a power off request switch 60006 (FIG. 1A), and a fastening port 257. A lift arm control port 255, a caster arm port 225, a cluster port 261, and a bumper housing 263. The power off request switch 60006 (FIG. 11E) can be mounted on the front of the gearbox 21514 (FIG. 1A) and can be wired to the PBC board 50001 (FIG. 11A). At least one battery pack 70001 (FIG. 1C) can be mounted on the electronic box lid 21524. Cleats 21534 may allow battery pack lip 70001-2 (FIG. 1E) to position and secure battery pack 70001 (FIG. 1C). The connector cavity 21524-1 can include a barrel port that can project from the lid 21524. The connector cavity 21524-1 can include a gasket (not shown) around the base of the barrel mouth, such as, but not limited to, an elastomer gasket. The battery connector 50010 (FIG. 1E) can operably couple the battery 70001 (FIG. 1C) to the MD electronics through the connector cavity 21524-1, and is mounted within the fastening cavity 70001-4 (FIG. 1D). The pressure of the battery 70001 (FIG. 1C) provided by the fasteners is sealed against the gasket in the connector cavity 21524-1, which can protect the MD gears and electronics from environmental pollution.

Referring now to FIG. 1G, the electronics enclosure can house the primary stabilizing sensor and decision making system for the MD. The electronics enclosure can protect the contents from electromagnetic interference while containing emissions. The electronics enclosure can block foreign material ingress while dissipating excess heat generated within the enclosure. The enclosure can be sealed with a cover and an environmental gasket. Components within the enclosure that can generate a significant amount of heat can be physically connected to the enclosure frame via thermally conductive materials. The electronic box lid 21524 accommodates the battery connector opening 201, a gasket (not shown) formed in-situ, and the mounting portion of the battery pack 70001 (FIG. 1E) on the electronic box lid 21524. On-board cleat attachment points 205. The battery connector opening 201 can include an elongated rectangle, which can include a flat gasket. The battery may have planar gaskets compressed during assembly, which may form an environmental seal between the battery and the MD chassis. An in-situ formed gasket (not shown) may seal a portion of the central gearbox 21514, which may include gears, motors, and electronics, from the ingress of foreign matter, including fluids. In some configurations, harnesses 60007 (FIG. 10C), 60008 (FIG. 10D), and 60009 (FIG. 10E) can connect to the sealed panel-mounted connector to maintain environmental and EMC protection. Harnesses 60007 (FIG. 10C), 60008 (FIG. 10D), and 60009 (FIG. 10E) are enclosed by packing retainers and/or panel mounted connectors that incorporate flat gaskets or O-rings, which may be impermeable to foreign objects. Can be done. The surface within the central gearbox 21514, if present, can be tilted so that environmental pollution can be carried away from the sensitive parts of the MD. The central gearbox top cap housing 30025 (FIG. 1H) can include a hinge 300251 (FIG. 1H) and a cable routing guide 30025-2 (FIG. 1H). The cable is routed between the UC 130 (FIG. 12A) and the central gearbox 21514, eg, through a routing guide 30025-2, which may avoid cable entanglement with the seat, especially as the seat moves up and down. Can be done. A hinged cable housing (not shown) can be operably attached to the hinge 30025-1 (FIG. 1H). A hinged cable housing (not shown) can also restrain the cables to avoid entanglement.

Referring now to FIGS. 1I and 1J, a central gearbox 21514 may be joined together to form a first compartment enclosure for seats and cluster gear trains and an enclosure for MD electronics. 30020, a second section enclosure 30021, a third section enclosure 30022, and a fourth section enclosure 30023. The sections can be joined together by, for example, without limitation, an elastomeric joining material. Bonding material can be applied to each edge of the sections, the sections can be fastened together and the edges abut, forming an enclosure.

Referring now to FIG. 1K, a sector gear cross shaft 21504 can be supported on glass-filled plastic bushings 21504-1, 21504-2, 21504-3, and 21504-4. Each bushing can be supported by one of a first partition enclosure 30020, a second partition enclosure 30021, a third partition enclosure 30022, and a fourth partition enclosure 30023. The redundant shaft support can efficiently share the load between the first section enclosure 30020, the second section enclosure 30021, the third section enclosure 30022, and the fourth section enclosure 30023, and Allows reducing the load on any one of the segmented enclosures 30020, the second segmented enclosure 30021, the third segmented enclosure 30022, and the fourth segmented enclosure 30023, allowing for a lighter enclosure structure. be able to.

Referring now to FIG. 1L, prior to intermeshing with one of the sections 30020-30023, for example, without limitation, high temperature resistance such as room temperature vulcanized silicone beads, acid and alkali resistance, and aging. A sealant bead having characteristics such as deterioration resistance can be applied to, for example, the perimeter 30023-1.

Referring now to FIG. 1M, oil port 40056-1, stopped by bolt 40056, can be used to add oil to the gear train enclosure. Each shaft, which penetrates the housing, can be surrounded by an elastomer lip and/or an O-ring seal. Exiting from the central housing, the electrical cable harness housings 30116A, 30116B, and 30116C do so through a leak-proof connector that can be sealed to the housing with an O-ring. The electronics enclosure is closed by a lid 21524 (FIG. 1F), which may include a perimeter seal that is crimped to the central housing. The electronics enclosure can provide shielding from the transmission of electromagnetic energy in and out of the enclosure. In some configurations, the sealing material that may join the enclosures together and the gasket that joins the electronic box lid 21524 (FIG. 1G) and the central enclosure are made of a conductive material to shield electromagnetic energy transfer. The capacity of the enclosure can be improved. The electrical connector exiting the central housing can include a printed circuit board having an electromagnetic energy shielding circuit to stop the transmission of electromagnetic energy along the cable that can be held in place by the cable clamp 30116. Each of the central housings 30020/30021/30022/30023 (FIGS. 1I and 1J) may be aligned with the adjacent housing by a spring pin 40008 (FIG. 1J-1) that is pressed into the adjacent housing. it can.

Referring now to FIGS. 1N-1R, skid plate 30026 (FIG. 1R) can protect the underside of the housing from impact and scratches. When installed, the skid plate 30026 (FIG. 1R) can accommodate an optional drive locking kingpin 30070-4 (FIGS. 1N and 1P). In some configurations, the skid plate 30026 (FIG. 1R) can be made from break-resistant plastic, which can be colored to limit visibility of scratches and scratches. The skid plate 30026 (FIG. 1R) can provide a barrier to oil as it drips from the central gearbox 21514. When equipped with an optional docking attachment, the MD can be secured for transport in conjunction with a vehicle mounted user actuated restraint system, which can be, for example, commercially available. The docking attachment can include, but is not limited to, a docking weld 30700 (FIG. 1P) and a back stabilizer loop 20700 (FIG. 10). The docking weld 30700 (FIG. 1P) can be mounted on the main chassis of the MD. The docking weld 30700 (FIG. 1P) can engage a vehicle mounted restraint system to provide mooring for the MD and limit its movement in the event of an accident. The restraint system of the MD can allow the user to remain seated in the MD for transportation within the vehicle. Docking weld 30700 (FIG. 1P) includes, but is not limited to, drive locking kingpin 30700-4 (FIGS. 1N and 1P), drive locking plate base 30700-2 (FIG. 1P), and drive locking plate front 30700. -3 (FIG. 1P). The docking weld 30700 (FIG. 1P) can optionally be included with the MD and can be attached to the central gearbox 21514 (FIG. 1N) at the drive locking plate front 30700-3 (FIG. 1P). The drive locking base 30700-2 (FIG. 1P) may include a drive locking kingpin 30700-4 (FIG. 1P) and a first side 297 (FIG. 1P) of the drive locking base and a first side of the drive locking base. 1 side 297 (FIG. 1Q), and may include a second side 299 (FIG. 1Q) of the drive locking base, which may be mounted flush with the central gearbox 21514 (FIG. 1N). .. The drive locking plate base 30700-2 (FIG. 1P) may optionally include at least one cavity 295 (FIG. 1Q) that may allow, for example, weight management of the MD and reduce weight and material costs. .. The drive lock kingpin 30700-4 can project from the first side 297 of the drive lock base and can interlock with, for example, a female connector (not shown) in the vehicle. The drive locking kingpin 30700-4 protrudes from the bottom surface of the MD, provides sufficient clearance for interlocking with a female connector (not shown), and also to avoid any interruption in motion, Can provide sufficient clearance. In some configurations, the drive locking kingpin 30700-4 may be 1.5 inches clear of the ground, for example. In some configurations, the back securement loop 20700 (FIG. 1O) may be at the same time as, before, or after the drive locking kingpin 30700-4 (FIG. 1R) interlocks with the female connector, for example. , Can be engaged with a hook (not shown) in the vehicle. The hooks that engage the back securement loop 20070 (FIG. 1O) can include, for example, sensors that can report to the vehicle when the back secure loop 20070 (FIG. 10) is engaged. If the back anchoring loop 20070 (FIG. 1O) is not engaged, the vehicle may provide an alert to the user or may not allow the vehicle to move until engagement is reported. In some configurations, the drive lock base plate 30700-2 (FIG. 1P) may be used to optionally insert and remove the drive lock kingpin 30700-4, a removable stamped portion 30026-1 (FIG. 1P). 1R). For example, the MD may include a drive locking base plate 30700-2 (FIG. 1P) with a removable die cut portion 30026-1 (FIG. 1R). Various types of drive locking kingpins 30700-4 can be adapted to allow mounting flexibility.

Referring now to FIG. 2A, the central gearbox wet section may include, but is not limited to, seat and cluster gears and shafts, a central gearbox housing left outside 30020 (FIG. 2A), and a center. The gearbox housing can include a left inner housing 30021 (FIG. 2A) and a right inner housing 30022 (FIG. 2A).

2B-2E, gear trains for clusters and seats are shown. The cluster drive gear train can include four stages with two outputs. The shaft on the gears of the third stage can span the base. The final gear on each side can provide the mounting surface for the wheel cluster assembly. The central gearbox wet section may include a cluster drive gear set, which may include a shaft pinion stage 1 cluster rotor 21518 (FIG. 2M), which itself may be a pinion gear cluster rotor stage 2 pinion. 21535 (FIGS. 2O, 2P, 2B), which can drive the cluster rotator pinion gear stage 3 pinion 21536 (FIGS. 2Q, 2B), which itself is the cluster rotator gear- Pinion cross shaft stage 321537 (FIGS. 2R, 2B) can be driven, which is connected to left and right cluster cross shafts 30888 and 30888-1 (FIGS. 6D, 2D, and 2E), which is the cluster rotation. The stage 4 ring gear 30891 (FIG. 6D) can be driven. The left and right clustering gears 30891 (FIG. 6D) can be operably coupled with the wheel cluster housing 21100 (FIG. 6A). The cluster drive gear train can include a pinion shaft stage 130617 (FIG. 2D), which can drive a gear cluster stage 130629 (FIG. 2D) and a pinion shaft stage 230628 (FIG. 2D), which is In turn, gear cluster stage 230627 (FIG. 2D) and pinion shaft 30626 (FIG. 2D) can be driven, which drives gear cluster rotor stage 330766 (FIG. 2D) and cross shaft cluster rotor 30765 (FIG. 2D). Can be driven. The input shaft of the wheel cluster assembly can engage two gear trains symmetrically installed with respect to the input shaft. There are two gear reduction stages that transfer power from the input shaft to the output shaft, where the wheel assembly 21203 (FIG. 1A) may be mounted. The two wheel cluster assemblies can be the same.

2F-2V, a seat drive transmission gear train can include four stages with two outputs. The shaft on the final gear can span the base and provide an interface to the drive arm. The central gearbox wet section may also include a seat drive gear train, which may include a pinion height actuator shaft stage 130618 (FIGS. 2G, 2N), which may include a pinion gear height actuator stage 221500. (FIG. 2H), which can drive gear height actuator stage 230633 (FIG. 2T), which includes gear height actuator stage 330625 (FIG. 2U) and pinion height actuator shaft. Stage 430877 (FIG. 2U) can be driven. Gear height actuator stage 330625 (FIG. 2U) can drive pinion height actuator shaft stage 330632 (FIG. 2T). The pinion gear height actuator 21502 (FIG. 2U) of stage 4 can drive the height actuator 30922 (FIG. 2S) of cross shaft sector gear stage 4, which cross stage sector gear height actuator stage 4 30909. (FIG. 2S), which is operably coupled at 255 to the left and right lift arms 30065 (FIG. 5A). Absolute seat position sensor 21578 (FIG. 3L) can be associated with cross-shaft sector gear height actuator 30909 (FIG. 2S).

Referring now to FIGS. 3A and 3B, seat motor assembly 21582 (FIG. 3A) and cluster motor assembly 21583 can be rigidly positioned within housings 30020, 30021, and 30022. Absolute seat height sensor 21578 (FIG. 3B) is operably coupled with rear half gear clamp 30135 (FIG. 3J), operably coupled with gear tooth rear clamp 30135 (FIG. 3J), and fan gear cross shaft. It can be mounted on the 30909 (FIG. 3B).

Referring now primarily to FIG. 3C, the central gearbox housing 21515 can include a footprint for seat/cluster brakes, motors, and sensors. Each drive transmission can include a motor, a brake, and a gear transmission. The brake can be disengaged when power is applied and engaged when power is removed. The seat/cluster motor mounting area includes motor mounting bottom 30126 (FIGS. 3D and 3E) and motor mounting top 30127 (FIGS. 3D and 3E), seat/cluster motor assembly 21582 (FIGS. 3D and 3E), and DC motor 70707 (FIGS. 3D) and a brake without manual release 70708-2 (FIG. 3H). The wheel motor mount area can accommodate the wheel motor assembly 21583 (FIGS. 3F and 3G), the motor mount top 30125, and the brake without manual release 70708-2 (FIG. 3H). In some configurations, seat and cluster cross shafts, motors, brakes, and motor couplings may include the same or similar parts. The motor can provide the primary type of motion on the MD, ie wheels, clusters, and seats. The wheel motor 21583 (FIG. 3F) can drive each wheel transmission. The cluster motor 21582 (FIG. 3D) can drive the cluster transmission. Device safety and reliability requirements may suggest a dual redundant load sharing motor configuration. Each motor can have two sets of stator windings mounted in a common housing. Two separate motor drives can be used to power the two sets of stator windings. The power source for each driver can be a separate battery. This configuration can minimize the effects of any single point failure in the path from the battery 70001 (FIG. 1E) to the motor output. Each set of stator windings, along with its corresponding segment of the rotor (referred to as the motor half), can contribute approximately equal torque during normal operation. One motor half may be able to provide the required torque for device operation. Each motor half may include a set of rotor position feedback sensors for commutation. Seat/cluster motor 21582 (FIG. 3D) and wheel motor 21583 (FIG. 3F) include, but are not limited to, a single shaft and dual, operating at up to 66 VDC with sinusoidal drive (voltage range 50-66 VDC). A (redundant) stator BLDC motor may be included. The motor can include two 12-V repeaters mounted on the interface board. One repeater can regulate motor activity. In some configurations, there may be three sensor outputs per motor half, each sensor being 60° offset from the next sensor. The sensor can include, for example, without limitation, a Hall sensor. The sensor can be used for commutation and can provide position information for further feedback. The motor may include dual motor windings, a drive, and a brake coil arrangement. That is, two separate sets of motor windings and two separate motor drives can be utilized to drive one shaft. Similarly, the brake drive can be used to drive two coils and disengage the brake for one shaft. This configuration may allow the system to respond to a single point failure of the electronic device by continuing to operate its motor and brake until a safe condition may be achieved. The seat and cluster motor shaft is aligned with the seat and cluster driveline input shaft by the motor coupling as the motor is installed. The motor shaft is secured in proper alignment by the motor mounting fasteners.

With continued reference to FIG. 3C, the mechanical package of each seat sensor 21578 (FIG. 3M) and cluster sensor 21579 (FIG. 3O) has two independent electronic sensors that can relay information to the PBC board 50001 (FIG. 15B). Can be stored. The seat position sensor processor A (FIG. 18C) and the cluster position sensor processor A (FIG. 18C) receive the position information into the A-side electronic device, and the seat position sensor processor B (FIG. 18D) and the cluster position sensor processor B( FIG. 18D) may provide redundant electronics that may receive location information into the B-side electronics and allow full system operation even if problems occur on one side of the electronics. Seat and cluster sensors, feeding A and B side electronics, can be co-located to allow measurement of similar mechanical movements. Co-location can enable result comparison and anomaly detection. Absolute seat and cluster position sensors can report seat and cluster position and can be referenced each time the MD is powered up as a backup position reference when the MD is powered up. While the MD is powered up, position sensors built into the seat and cluster motors can be used to determine seat and cluster position. The seat position sensor upper/lower housing 30138/30137 (FIG. 3M) includes an electronic sensor, a shaft, and a sensor on the fan gear cross shaft assembly 21504 (FIG. 3J) and the cluster cross shaft 30765 (FIG. 6D), respectively. The gears of the single-stage gear train to be connected can be housed. The shaft and gears can be molded as a single piece, for example, from a plastic, such as a lubricious plastic, which can allow formation without additional bearing material or lubricant.

Referring now to FIGS. 3D-3G, seat/cluster motor 21583 (FIG. 3F) and wheel motor 21582 (FIG. 3D) can each include at least one thermistor 70025, which can be thermally connected to the motor. .. At least one thermistor 70025 can report temperature data to the A-side and B-side electronics. The temperature data can be used, for example, but not by way of limitation, to reduce power usage when the motor reaches a preselected threshold temperature to avoid damage to the motor. In some configurations, each motor may include two thermistors 70025, one for each redundant half of the motor. The thermistor 70025 can be affixed to a sleeve that can be operably coupled to the stack that makes up the motor body. The thermistor 70025 can enable indirect estimation of motor winding temperature. Temperature data for a particular motor can be routed to a processor associated with the motor. In some configurations, the temperature data may be quantized by an analog-to-digital converter on a processor, where the quantized value may be fed into a temperature estimator algorithm. it can. For each motor, the algorithm may consider the power delivered to the windings, which is the heat flux through the windings and the housing (thermistor 70025 makes its measurement) from the housing to the chassis in which the motor is mounted. An experimentally derived model of the heat transfer path can be included. The heat estimator algorithm can use the current flowing in the motor as well as the motor housing (thermistor) temperature to provide an estimate of the motor winding temperature and other variables such as, but not limited to, motor speed. it can. If the motor is rotating at high speed, more heating can occur due to, for example, eddy current loss. If the motor is stalled, the current may be concentrated in one phase, increasing the heating rate in its windings. The thermistor signal can be transmitted along the cable between the motor and the PBC50001 (FIG. 15B). In the PBC50001 (FIG. 15B), each motor cable has two connectors: (1) a first connector 50001-1A (FIG. 15B) containing pins for three motor phase wires, and (2) holes. It can be split into a sensor, a phase repeater, a brake, and a second connector 50001-1B (FIG. 15B) for the thermistor 70025. In some configurations, the first connector 50001-1A (FIG. 15B) can include, but is not limited to, a 4-pin Molex Mega-Fit connector. In some configurations, the second connector 50001-1B (FIG. 15B) can include, but is not limited to, a 10-pin Molex Micro-Fit connector. The MD motor can be thermally pressed into the MD housing, which is fastened to the central housing. Thermal compression welding can provide a heat conduction path from the motor to the central housing.

Referring now to FIGS. 3H and 3I, a separate electromagnetic holding brake can be coupled to each motor. The electromagnetic holding brake can include two electrically isolated coils, each of which can be excited by a brake drive within each of the motor drives. The brake can be disengaged when both of its coils are energized, and disengaged when only one of its coils is energized. The brakes can be designed to automatically engage when the unit is turned off or in the event of total power loss, thus retaining position and/or failsafe. Electromagnetic brakes can be used to hold the MD in place when the wheels are not in motion, and similar brakes can hold the cluster and seat in place when the wheels are not in motion. .. The brakes can be controlled by commands from the board processor. When the MD is powered off, the brakes can automatically engage and prevent the MD from rolling. If the automatic brake is manually disengaged at power-on, the motor drive can be activated to hold the MD in place and the system informs the user that the wheel brakes have been disengaged. Can be reported. If the brake lever is disengaged after the power is turned on, a power off request may occur in some circumstances after the power is cut off to avoid unintentional rolling of the MD. Can be arrested. Automatic brake engagement and disengagement can be used to manually push the MD when the power is turned off. The four motors driving the right wheel, the left wheel, the cluster, and the seat can each be coupled to a holding brake. Each brake can be a spring loaded electromagnetic release brake with dual redundant coils. In some configurations, the motor brake can include a manual release lever. The brake without the brake lever 70708-2 (FIG. 3H) can include, but is not limited to, a motor interface 590 and an onboard interface 591. In some configurations, the motor interface 590 can include a hexagonal profile that can mate with a hexagonal motor shaft. The brake with brake lever 70708-1 (FIG. 3I) can include a mounting interface 591A, which can include a hexagonal profile 590A. The brake with brake lever 70708-1 can include a manual brake release lever 592A, which can be operably coupled to a brake release spring arm 30000 (FIG. 9G), which is spring 40037 (FIG. 9J).

Referring now to FIGS. 3J-3L, central gearbox housing 21515 can include at least one absolute seat position sensor 21578 (FIG. 3M), which includes seat position sensor gear tooth clamp 30135 (FIG. 3K). Can be operably combined with. The seat position sensor gear tooth clamp 30135 (FIG. 3K) includes an embossing 273 (FIG. 3K) around the cross shaft step 4 sector gear 21504 and fastened to a rear half gear clamp 30136. Alignment and orientation of tooth clamp 30135 (FIG. 3K) can be assisted. The seat position sensor toothed gear 30134 (FIG. 3M) of the absolute seat position sensor 21578 (FIG. 3M) moves along with the seat position sensor toothed gear 30134 (FIG. 3M) as the cross-shaft sector gear height actuator 30909 (FIG. 21A-3) moves. ) And the position sensor gear tooth clamp 30135 (FIG. 3K) can be interlocked. The fan cross shaft 30909 (FIG. 3L) can include a hollow shaft that can operably couple the seat drive system to the left and right seat lift arms of the central housing. A fourth stage seat height sector gear is crimped onto the shaft and constrained from rotation about the shaft by a wedge connection between the shaft and the gear. The left and right lift arms are aligned with each other and are needed to ensure that the seat will be lifted symmetrically. The left and right lift arms are connected in an asymmetric pattern, which can only be assembled in the correct orientation by pins and bolts. This forces the lift arm to always align. Absolute seat position sensor 21578 (FIG. 3M) connects to and lifts seat lift drive arms 21301 (FIG. 5D) to the left and right of central gearbox 21514 (FIG. 1A), lifting it, fan gear cross shaft 30909 (FIG. 3L). The rotation of can be measured. The sector gear cross shaft 30909 (FIG. 3J) can rotate through less than 90° rotation, causing the seat position sensor 21578 (FIG. 3M) to rotate above 180°, thereby increasing the sensitivity of seat position measurement. It can be coupled to the seat position sensor 21578 (FIG. 3M) through a single gear train, which can be doubled. The seat position sensor gear clamp 30136 (FIG. 3J) can be meshingly interlocked with the seat position sensor gear tooth clamp 30135 (FIG. 3K) around the sector gear cross shaft 30909 (FIG. 3J). The interlocked combination can provide geared interaction with seat absolute position sensor 21578 (FIG. 3M). Absolute seat position sensor 21578 (FIG. 3M) includes, but is not limited to, seat position sensor toothed gear 30139 (FIG. 3M), Hall sensor 70020 (FIG. 3M), magnet 70019 (FIG. 3M), and seat position sensor upper plate. 30138 (FIG. 3M) and a seat position sensor lower plate 30137 (FIG. 3M) may be included. Magnet 70019 (FIG. 3M) can be mounted on upper plate 30138 (FIG. 3M). The upper plate 30138 (FIG. 3M) can be fixedly mounted on the lower plate 30137 (FIG. 3M).

Referring now to FIG. 3O, at least one absolute cluster position sensor 21579 (FIG. 3O) includes a hall sensor 70020 (FIG. 3O), a cluster position sensor cluster cross shaft gear 30145 (FIG. 6E), and a cluster position tooth gear 30147. (FIG. 3O). The cluster rotator stage 3 cross shaft 21537 (FIG. 2R) can be geared and interfaced with the absolute cluster position sensor 21579 (FIG. 3O) through the cluster position sensor toothed gear 30147 (FIG. 3O). Absolute seat position sensor 21578 (FIG. 3M) can determine the location of seat support bracket 24001 (FIG. 8B) relative to central gearbox 21514 (FIG. 9). The cluster position sensor 21579 (FIG. 3O) can determine the position of the wheel cluster housing 21100 (FIG. 6A) with respect to the central gearbox 21514 (FIG. 9). Absolute seat position sensor 21578 (FIG. 3M) and cluster position sensor 21579 (FIG. 3O) can both determine the position of the seat relative to wheel cluster assembly 21100 (FIG. 6A). Seat position sensor 21578 (FIG. 3M) and cluster position sensor 21579 (FIG. 3O) can sense absolute position. Absolute seat position sensor 21578 (FIG. 3M) can detect that the seat has moved since the previous power off/on. If the MD is powered off and the seat or cluster driveline is moved, the seat and cluster sensor will detect the new location of the seat and cluster relative to the central gearbox 21514 (FIG. 9) when the MD is powered back on. Can be sensed. The MD's fully internal sensor system can provide the sensor with protection against mechanical effects, debris, and water damage.

Referring now primarily to FIG. 4, the caster wheels 21001 are mounted to the central gearbox 21514 for use when the seat height is at its lowest position and the MD is in standard mode 100-1 (FIG. 22A). At some point, a portion of the MD can be supported. The caster wheels 21001 can swivel around a vertical axis to allow for changes in direction. Castor wheels 21001 can allow maneuverability and obstacle crossing. The caster assembly 21000 can include a caster arm 30031 at a first end that can be operably connected to caster wheels 21001. The caster arm 30031 can include a caster arm shaft 229 that can enable an operative connection between the caster arm 30031 and the central gearbox 21514 at the caster arm port 225. The caster arm 30031 is secured within the pocket 225 and can be prevented from sliding off while allowing rotation. The pocket 225 can be aligned with the plastic bushing to allow the caster arm 30031 to rotate. The caster spring plate 30044 can be operably connected to the central gearbox 21514. The compression spring 40038 can enable shock absorption, stability, and continued motion when the caster assembly 21000 encounters an obstacle. The compression spring 40038 can provide suspension to the system when the caster wheels 21001 are in motion. The caster assembly 21000 can rest on the compression springs 40038 and itself can rest on the caster spring plates 30044. The compression spring 40038 can be attached to the caster spring plate 30044 by a spring cap 30037, a sleeve bushing 40023, and an O-ring 40027. In some configurations, the O-ring 40027-3 can be used as a rebound bumper. The compression spring 40038 can limit the range of rotation of the caster arm 30031 and keep the caster wheels 21001 in an acceptable location.

Referring now primarily to FIG. 5A, the user's vertical position can be varied through a seat drive mechanism, which consists of a transmission and a 4-bar linkage that attaches the seat assembly to the central gearbox 21514. Elements of the four-bar linkage include, but are not limited to, a central gearbox 21514, two drive arms 30065 (one on each side of the central gearbox), two stabilizer arms 30066 (one on each side), A seat bracket 30068 may be included. The seat drive transmission can include significant deceleration and provide torque to both drive arm links to lift the user and seat assembly relative to the central gearbox 21514. The central gearbox 21514 acts as an element of the four-bar linkage that drives the seat so that the central gearbox 21514 can rotate with respect to the ground and maintain seat angle during seat transitions. Therefore, the cluster drive and the seat drive can work together during a seat transition. Rotation of the central gearbox 21514 can move the caster assembly 21000, which movement can avoid obstacles such as, but not limited to, curbs. Any type of seat can be used with the MD by attaching the seat to the seat bracket 30068. Lift arm 21301 (FIGS. 5D/5E) can be operably coupled to seat bracket 30068 at a first end 243 of the lift arm. Lift arm 21301 (FIGS. 5D/5E) can be operably coupled to central gearbox 21514 at the second end 245 of the lift arm. Movement of lift arm 21301 (FIGS. 5D/5E) may be controlled using signals transmitted from electronics stored in central gearbox 21514 through control port 255 to lift arm 21301 (FIGS. 5D/5E). You can The lift arm 21301 (FIGS. 5D/5E) can include, for example, without limitation, a tie down 233 (FIG. 5E) that can allow a secure installation of the MD within the vehicle. The stabilizer arm 21302(5C) can be operably coupled to the seat bracket 30068 at the first end 239(5C) of the link. The stabilizer arm 21302(5C) can be operably coupled to the central gearbox 21514 at the second end 241(5C) of the link. The movement of the stabilizer arm 21302(5C) can be controlled by the movement of the lift arm 21301 (FIGS. 5D/5E). The stabilizer link static bumper 30055 can smooth boarding and alighting for MD users and reduce wear of gears in the central gearbox with electronics 21514. In some configurations, the bumper 30055 may rest within the bumper housing 263 and may be secured in place by the stabilizer link rest end cap 30073. The linkage assembly, formed by lift arm 21301 and stabilizer link 21302 (5C), can rest on bumper 30055 when the MD is in normal mode. The absolute position of the motor, as determined by the absolute position sensor associated with the motor, can determine when the linkage assembly should rest on the bumper 30055. The motor current required to move the linkage can be monitored to determine when the linkage assembly is resting on the bumper 30055. When the linkage assembly is resting on the bumper 30055, the gear train is subject to effects that may result from, for example, obstacles covered by the MD and/or obstacles covered by the vehicle carrying the MD and vehicle motion. Cannot be exposed.

Referring now to FIG. 5B, a vehicle tiedown 30069 can be operably coupled to the seat bracket 30068 to allow the MD to be secured within the motor vehicle. The MD restraint system can be designed to allow the user to remain seated in the MD for transport within the vehicle. Seat bracket 30068 may include, but is not limited to, seat support bracket plate 30068A, which may provide an interface between seat support bracket 30068 and central gearbox 21514 (FIG. 5A). The seat attachment rail 30081 can be sized according to the seat selected for use. The seat bracket 30068 can be customized to attach each type of seat to the lift arm 21301 (FIG. 5D) and the stabilizer arm 21302 (5C). The seat bracket 30068 may allow the seat to be quickly and easily removed, for example, to change the seat and to allow transportation and storage.

Referring now primarily to FIGS. 6A and 6B, the cluster assembly includes a cluster housing 30010/30011 (FIG. 6K), a cluster interface pin 30160 (FIG. 6A), and a cluster connection to enclose the interior of the central gearbox 21514. O-ring 40027-6 (FIG. 6A), which may be electrically isolated. Each cluster assembly may be duplicated on both the left and right sides of the central gearbox 21514 and may include two gear trains to drive each cluster assembly simultaneously. Each cluster assembly operates a set of two wheels 21203 (FIG. 6A) independently on a wheel cluster 21100 (FIG. 6A), which, in response to a command, causes forward, reverse, and rotational movement of the MD. Can be provided. The cluster assembly can provide structural support for wheel cluster 21100 (FIG. 6A) and power transmission for wheels 21203 (FIG. 6A). The cluster assembly includes, but is not limited to, ring gear nut 30016 (FIG. 6B), ring gear 21591 (6J), ring gear seal 30155 (FIG. 6B), cluster interface cover 21510 (FIG. 6C), and Configuration of the cluster plate interface 30014 (FIG. 6I), cluster interface gasket 40027-14 (FIG. 6B), pinion shaft 30888 (FIG. 31A4) of cluster rotating stage 4 and brake with manual release 70708 (FIG. 3I). , A brushless DC servo motor 2 inch stack 21583 (FIG. 3D) and a motor adapter 30124 (FIG. 6B). The second configuration cluster interface plate 30014A (FIG. 6H) may alternatively provide the functionality of the first configuration cluster interface plate 30014 (FIG. 6I). The cluster interface assembly can drive the cluster wheel drive assembly 21100 (FIG. 6A) under the control of the base processor on the base controller board 50001 (FIG. 15B). The cluster interface assembly provides mechanical force to rotate the wheel drive assembly 21100 (FIG. 6A) together and functions that depend on cluster assembly rotation, such as, but not limited to, stairs and curb lifts, stepped terrain, seats. Tilt adjustment and balance modes can be enabled. Cluster motor 21583 (FIG. 6B) can provide input torque to the cluster interface assembly. The cluster interface assembly can provide deceleration when delivering stairs up or down, or lifting to equilibrium mode 100-3 (FIG. 22B), delivering the torque required to lift a user seated on the MD. it can. Power from cluster motor 21583 (FIG. 6B) can be transferred to the output shaft to provide the low speed, high torque performance required for stair and obstacle navigation. The cluster O-ring 40027-14 (FIG. 6B) forms a three-way seal between the cluster plate 30014 (FIG. 6A), the cluster interface housing cap 30014 (FIG. 6B), and the central housing 21514 (FIG. 6A). can do.

With continued reference to FIG. 6B, the cluster drive system dampers 40027-21 can dampen oscillations when it is necessary to hold the cluster drive system steady. For example, when the cluster gear train is holding the front wheels off the ground in standard mode, it may be difficult for the cluster drive system to maintain steady using motor commands due to recoil in the drive system. The motor command may produce more correction than is needed and may require correction in the direction that can lead to oscillations. Oscillations can be damped using additional friction in the cluster drive system. Elastomer material can be crimped between the cluster output bearing and the cluster interface plate 30014, which can cause friction. Alternatively, less efficient bearings with significant drag, such as bronze or plastic bushings, can be used.

Referring primarily to FIG. 6C, the cluster cross shaft 30765 (FIG. 6D) can be operably coupled with a ring gear 30891 that can rotate the cluster housing 21100 (FIG. 6A). Cluster housing 21100 (FIG. 6A) can each include two wheels 21203 (FIG. 6A) symmetrically positioned about the center of rotation of cluster housing 21100 (FIG. 6A). In some configurations, the MD is substantially independent of which wheels 21203 (FIG. 6A) on the cluster housing 21100 (FIG. 6A) are closest to the stationary caster wheels 21001 (FIG. 4). Can function in the same way. The cluster position sensor 21579 (FIG. 3O) has a gear ratio that can rotate the cluster position sensor 21579 (FIG. 3O) once every half rotation of the cluster housing 21100 (FIG. 6A) based on symmetry, Coupling with the cluster cross shaft 30765 (FIG. 6C) can be included, which doubles the resolution of the cluster position sensor 21579 (FIG. 3O). The cluster housing 21100 (FIG. 6A) is symmetrical such that every half turn the cluster will function as if one revolution had occurred.

Referring now primarily to FIGS. 6C and 6D, a cluster cross shaft 30765 (FIG. 6F), which is part of the cluster gear train, has a centrally located third stage gear cluster rotating portion 30766 (FIG. 6F). It may be operably coupled to a fourth stage 30888 (FIG. 6D) of the gear train, mounted on the left and right sides of the central housing 21514 (FIG. 6A) under the cluster interface cap 30014 (FIG. 6C). The cluster cross shaft 30765 (FIG. 6F) can include a hollow shaft 30765-4 (FIG. 6G), which can include a female spline 30765-3 (FIG. 6G). The fourth stage 30888 (FIG. 6D) has a pinion gear 30888-2 (FIG. 6C) that is aligned at one end with the male spline 30888-1 (FIG. 6C) and at the other end with the teeth of the male spline 30888-1. ) And can be included. In this configuration, the teeth of the pinion gear 30888-2 (FIG. 6C) on the fourth stage 30888 (FIG. 6D) are aligned as they are assembled. In some configurations, splines and gears can include fifteen teeth, although other numbers of teeth can be accommodated with the present teachings. Gear alignment can allow the left and right cluster housings to be assembled on the central housing so that the wheels are aligned. This important alignment allows the MD to rest on all four wheels when driving with the four main drive wheels.

Referring now to FIG. 6K, cluster wheel drive 21100 (FIG. 6A) includes, but is not limited to, outer cluster housing 30011, input pinion plug assembly 21105, wheel drive output gear 30165, and wheel drive output. A shaft 30102, a wheel drive intermediate shaft and pinion spar 30163, a wheel drive intermediate gear 30164, and an inner cluster housing 30010 may be included. At least one magnet 40064, trapped between the housings 30010/30011 in the magnet housing 40064-1, can be positioned to be exposed to oil in the cluster housing 21100A and attract ferrous metal particles. However, it can be removed from the oil to reduce gear, bearing, and seal wear caused by particles in the oil. The teeth of the input pinion plug 21105 can engage the wheel drive intermediate stage spar 30163, and the wheel drive intermediate stage spar 30163 can engage the wheel drive output gear 30165. As the drive assembly 21532 (FIG. 6L) rotates, the output stage spar 21533 rotates, the output stage spar shaft rotates, and the wheels 21203 (FIG. 6A) can rotate. The wheel drive intermediate stage spar 30163 (FIG. 6L) achieves correct positioning by mating with a gear wedge 30602 (FIG. 6L) that fits within the shaft cavity of the wheel drive intermediate gear 30164 (FIG. 6L) and Can be maintained.

Referring now to FIG. 6M, a clamshell housing 21101/21103 includes a seam 21100-1 around the perimeter and stores oil within the housing 21100/21103 to contaminate housing 21101/21103. Can be prevented. A bonding material 21101-2, such as, but not limited to, an elastomeric bonding material, can be applied to the mating surface of the housing 21100/2103. A lip and/or O-ring seal may surround each shaft passing through and/or through the housing 21101/21103. The cluster housing 21100A can include an oil port 21101-4 for adding oil.

Referring now primarily to FIG. 7A, the main drive wheels are large enough to allow the MD to ride over obstacles, but sufficient to fit securely onto the stair treads. Can be small. Tire compliance can reduce vibrations transmitted to the user and loads transmitted to the MD. The main drive wheels can remain fixed in the MD unless deliberate action is taken by the user or technician. The tire can be designed to minimize electrostatic build up during surface traversal/contact. The split rim wheel pneumatic tire assembly 21203 can be mounted on the MD cluster assembly 21100 (FIG. 6A) to provide self-propelled movement to the MD.

Referring now to FIG. 7B, a split rim wheel tire assembly 21203 includes, but is not limited to, an outer split rim 30111, a tire 40060 (FIG. 7D), an inner tube 40061, a rim strip 40062, a shield disc 30113, A shield disc spacer 30123 and an inner split rim 30112 can be included. The pneumatic tire can house an inner tube 40061, which can surround a rim strip 40062. The shield disc 30113 can be captured between the inner and outer rims of the split rim assembly 21203. The shield disc 30113 can be preloaded in a preselected shape to allow, for example, stick positioning. The shield disc 30113 can protect against foreign object protrusion through the wheel tire assembly 21203. Shielding disk 30113 can provide a smooth surface that can prevent debris clogging and wheel damage. The shield disc 30113 can provide customization opportunities, for example, custom colors and designs can be selected and provided on the shield disc 30113. In some configurations, the tire assembly 21203 may house a solid tire, such as, but not limited to, a foam filled tire. Tire selection can be based on user-desired features such as durability, smooth entry and exit, and low failure rate.

Referring now to FIGS. 7C-7M, main drive wheel 21203 (FIG. 7B) can be configured to accommodate progression over various types of terrain, including, but not limited to, sandy surfaces. In some configurations, each drive wheel 21203 (FIG. 7B), such as the first outer split rim 21201A (FIG. 7C), can house a removable second drive wheel 21201B (FIG. 7C). The second drive wheel 21201B (FIG. 7C) can be installed by a user or an assistant seated in the MD. The second drive wheel 21201B (FIG. 7C) presses the second drive wheel 21201B (FIG. 7C) onto the first drive wheel 21201A (FIG. 7C) to rotate the second drive wheel 21201B (FIG. 7C). And can be attached to the first drive wheel 21201A (FIG. 7C) by inserting the locking pin 21201-A4 (FIG. 7K) until engaged. The mounting step can be performed by a user seated in the MD, expecting the user to encounter difficult terrain. The mounting step can also be performed while not seated in the MD. The first drive wheel 21201A (FIG. 7C) may provide a means for interlocking the first drive wheel 21201A (FIG. 7C) and the second drive wheel 21201B (FIG. 7C) with an attachment base 40062-. 1 (FIG. 7F). The attachment base 400612-1 (FIG. 7F) includes a locking pin receiving portion 40062-1B (FIG. 7F) and a retaining lip 30090-1A (FIG. 7C) for twist lock wheel attachment of the second drive wheel 21201B (FIG. 7C). 7E) and can be included. The second drive wheel 21201B (FIG. 7C) may be operably meshed with a lock pin receiving portion 40062-1B (FIG. 7F) of the second drive wheel 21201B (FIG. 7C), the lock pin 21201-A4 ( FIG. 7K) can be included. The locking pin 21201-A4 (FIG. 7K) may allow access to the locking pin 21201-A4 (FIG. 7K) after the locking pin 21201-A4 (FIG. 7K) is disengaged, and the locking A spring 21201-A2 (Fig. 7I) may be included that may allow a locking lock of the locking pin 21201-A4 (Fig. 7K) when the pin 21201-A4 (Fig. 7K) is engaged. The attachment base 400612-1 (FIG. 7F) can include a retention tongue 40062-1A (FIG. 7F) for the twist lock wheel attachment. The retention tongue 400621A (FIG. 7F) can be operably coupled to the retention lip 30090-1B (FIG. 7E) of the first drive wheel 21201A (FIG. 7C). In some configurations, the second drive wheel 21201B (FIG. 7C) may provide an access opening 21201-A1A (FIG. 7H) for a locking pin removal ring 21201-A4A (FIG. 7K), hub cap. 21201-A1 (FIG. 7H) can be accommodated. In some configurations, the first drive wheel 21201A (FIG. 7C) and the second drive wheel 21201B (FIG. 7C) can be different or the same size, and/or different or the same tread on the tire 40060. Can have.

With continued reference to FIGS. 7C-7M, in some configurations, the attachment means between the first drive wheel 21201A (FIG. 7C) and the second drive wheel 21201B (FIG. 7C) may include multiple radial directions. A grooved push-in and rotational locking means (not shown) having a tab extending therethrough and a mounting structure having a plurality of retention members may be included. In some configurations, the attachment means may include an undercut or male lip (not shown). In some configurations, the attachment means may include features (not shown) on the spokes 30090-1C (FIG. 7E). In some configurations, the attachment means may be mounted between the hubs 21201-A2 (FIG. 7E) of the second drive wheel 21201B (FIG. 7C) and the first drive wheel 21201A (FIG. 7C). 21201-A3 (FIG. 7J). Fasteners, such as, but not limited to, screws or bolts, may be threaded through a cavity in fastener housing 21201-A3 (FIG. 7J) to drive first drive wheel 21201A (FIG. 7C) and second drive wheel 21201B( 7C) can be operably engaged.

Referring now primarily to FIG. 8, the MD can be equipped with any number of sensors 147 (FIG. 16B) in any configuration. In some configurations, some of the sensors 147 (FIG. 16B) may be mounted on the MD back surface 122 to accomplish a specific goal, eg, backup safety. A stereo color camera/illuminator 122A, an ultrasonic beam rangefinder 122B, a time-of-flight camera 122D/122E, and a single-point LIDAR sensor 122F, for example, but not limited to, co-sensing obstacles behind the MD. Can be mounted on. The MD may receive messages that may include information from the camera and sensors and may allow the MD to react to what may occur outside the user's field of view. The MD may optionally include a reflector 122C, which may be equipped with additional sensors. The stereo color camera/illumination 122A can be used as a tail light. Other types of cameras and sensors can also be mounted on the MD. The information from the cameras and sensors provides the MD with information and allows for localization of obstacles that may interfere with the transition to the balanced mode (described herein), thereby allowing the balanced mode 100-3. It can be used to allow a smooth transition to (FIG. 3A).

Referring now primarily to FIG. 9A, a service brake is used to hold the MD in place by applying braking force to the wheel drive motor couplings and stopping the wheels from turning. be able to. The brake can act as a retarding brake whenever the device is not moving. The brake can hold it when the MD is powered on or off. A manual brake release lever can be provided so that the MD can be manually pushed with a reasonable amount of effort when the power is turned off. In some configurations, the lever can be located in front of the base and can be accessible by either the user or an attendant. In some configurations, the manual release lever can be sensed by a limit switch, which can indicate the position of the manual release lever. The central gearbox 21514 includes, but is not limited to, a manual brake release bracket 30003 (FIG. 9E), a manual brake release shaft arm 30001 (FIG. 9H), a manual brake release spring arm 30000 (FIG. 9G), and a hall sensor 70020(. 9A), a surface mount magnet 70022, a manual brake release cam 30004 (FIG. 9F), and a manual brake release shaft 30002 (FIG. 9D) may be included. The brake release lever handle 30070 (FIG. 9I) can activate manual brake release through the manual brake release shaft 30002 (FIG. 9D). The manual brake release shaft 30002 (FIG. 9D) can be held in place by the manual brake release bracket 30003 (FIG. 9E). The manual brake release shaft 30002 (FIG. 9D) can include a tapered end 30002A (FIG. 9D), which can engage the manual brake release shaft arm 30001 (FIG. 9H). It can be operably connected to a manual brake release cam 30004 (FIG. 9F). The manual brake release cam 30004 (FIG. 9H) can be operably connected to two manual brake release spring arms 30000 (FIG. 9G). Spring arm 30000 can be operably connected to a brake release lever 592A (FIG. 3I). Hall sensor 70020 (FIG. 9A) can be operably coupled to PBC board 50001 (FIG. 9I).

Referring now to FIGS. 9B and 9C, the brake release lever handle 30070 (FIG. 9I) has a return force, eg, a spring loaded force, which pulls it when in the engaged position. Rotational damper 40083 may allow bounce avoidance for lever 30070 (FIG. 9I). The rotary damper 40083 can be operably coupled to the brake shaft 30002 (FIG. 9D) through the connecting collar 30007 and the damper actuator arm 30009. The rotary damper 40083 may allow relatively unrestricted movement when the lever 30070 (FIG. 9I) is pivoted clockwise from a vertical position where the brake is engaged to a horizontal position where the brake is released. .. When lever 30070 (FIG. 9I) is pivoted counterclockwise and reengages the brake, rotational damper 40083 provides resistance to rotation of brake shaft 30002 (FIG. 9D), lever 30070 (FIG. 9I). Can slow down the speed of returning to the vertical position and thus substantially prevent the lever 30070 (FIG. 9I) from bouncing back to the vertical position. The rotary damper 40083 can be operably coupled to the brake assembly stop housing 30003 (FIG. 9E). The damper actuator arm 30009 (FIG. 9B) can be operably coupled to the brake shaft 30002 (FIG. 9D).

Referring now to FIG. 9I, the manual brake release lever 30070 can include a material that can be damaged when excessive force is applied before other manual brake release components are damaged. If the manual brake release lever 30070 is damaged, the manual brake release lever 30070 can be replaced without opening the central housing.

9J-9N, the manual release brake assembly includes a manual brake release bracket 30003 (FIG. 9E), a manual brake release shaft arm 30001 (FIG. 9H), and a manual brake release spring arm 30000 (FIG. 9G). ), a Hall sensor 70020 (FIG. 9J), a surface mount magnet 70022, a manual brake release pivot interface 30004 (FIG. 9F), and a manual brake release shaft 30002 (FIG. 9D). The brake release lever handle 30070 (FIG. 9I) can activate manual brake release through the manual brake release shaft 30002 (FIG. 9D). The manual brake release shaft 30002 (FIG. 9D) can be held in place by the manual brake release bracket 30003 (FIG. 9E). The manual brake release shaft 30002 (FIG. 9D) can include a tapered end 30002-2A (FIG. 9D), which can engage a manual brake release shaft arm 30001 (FIG. 9H). Can be operably connected to a manual brake release pivot interface 30004 (FIG. 9F). The manual brake release pivot interface 30004 (FIG. 9F) is operably coupled with two manual brake release spring arms 30000 (FIG. 15) in the fastening cavities 30004A-1 (FIG. 9F) and 30004A-2 (FIG. 9F). You can Spring arm 30000 (FIG. 9G) can be operably coupled to brake release lever 592A (FIG. 3I).

With continued reference primarily to FIGS. 9J-9N, service brakes may include, but are not limited to, travel stop 30005 (FIG. 9K), which, when viewed from the front of the MD, may be in a vertical position to a horizontal position. Movement of lever 30070 in a clockwise direction to can be limited. Travel stop 30005 (FIG. 9K) can prevent lever 30070 (FIG. 9J) from rotating in a counterclockwise direction and can assist the operator in releasing and engaging the brake. Travel stop 30005 (FIG. 9K) can be constructed from metal and can be operably coupled to a second brake release shaft 30002 (FIG. 9D). Travel stop 30005 (FIG. 9K) can interface with features of central housing 21515 (FIG. 9A), which can limit rotation of shaft 30002-2 (FIG. 9L). The Hall sensor 70020 can sense when manual brake release is engaged or disengaged. The Hall sensor 70020 can be operably coupled to both A-side and B-side electronics using a cable/connector 70030, which mechanically connects the Hall sensor 70020 to the A-side and B-side electronics. Can be isolated to. Travel stop 30005 (FIG. 9M) can be operably coupled to shaft 30002-2 (FIG. 9L) through fastener 4000-1 (FIG. 9M). The travel stop 30005 can encounter the protrusion 40003-2, which can allow limited rotation of the shaft 30002-2 (FIG. 9L).

Referring now to FIGS. 10A-10E and 11B, the harness can be mounted to span the inside and outside of the sealed portion of the central gearbox 21514 at the cable port, for example and not by way of limitation. Can be surrounded by sealing features such as O-rings or gaskets. The UC port harness 60007 (FIG. 10C) can be threaded through a wire extending from the UCP EMI filter 50007 (FIG. 10A) that can be connected to the PSC board 50002 (FIG. 11B). The UC port harness 60007 (FIG. 10C) may include a connector with which the cable 60016 (FIG. 10A) mates, thereby connecting the UCP EMI filter 50007 to the UC 130 (FIG. 12A). The charging input port harness 60008 (FIG. 10D) is provided with charging means for charging the PSC board 50002 (FIG. 9I) via the charger port 1158 (FIGS. 10A, 11A-11D), such as, but not limited to, charging power source 70002. Wires extending from the charging input filter 500008 (FIG. 10A), which may be connected to (FIGS. 11A-11D), may be threaded. The accessory port harness 60009 (FIG. 10E) can be threaded through a wire extending from the auxiliary connector filter 50009 that can connect the accessory wire to the PSC board 50002. The cable exit location can be protected from shock and environmental pollution by being positioned between the front wall of the MD and the battery 70001 (FIG. 1E). Articulating cable chains 1149 (FIGS. 11A-11D) can protect the cables, route the cables from the central housing to the seat, and protect the cables from entanglement in the lift and/or stabilizer arms. You can

Referring now to FIGS. 11A-11D, various wiring configurations connect PBC board 50001, PSC board 50002, and battery pack 70001 (FIG. 1E) to UC 130, charging port 1158, and optional accessory 1150. You can The emergency power off request switch 60006 can interface with the electronic box 1146 through the panel mounting portion 1153. Optional accessory DC/DC module 1155 can include, for example, without limitation, a module that can be plugged into PSC board 50002. In some configurations, the DC/DC source 1155 for optional accessories can be integrated into the PSC board 50002, eliminating the need to open the electronic box 1146 outside the controlled environment. .. In some configurations, charging port 1158 can include a solder terminal for the cable to the port. If the transmission means 1151 comprises a cable, the cable may be confined by the use of a cable carrier 1149 such as, but not limited to, IGUS energy chain Z06-10-018 or Z06-20-028. The electronic box 1146, which may include, but is not limited to, a PBC board 50001 and a PSC board 50002 in some configurations, includes a UC 130, an optional accessory 1150, and charging via a junction 1157 (FIG. 11A) and a transfer means 1151. It can be connected to port 1158. In some configurations, strain relief 1156 (FIG. 11C) may provide an interface between electronic box 1146 and UC 130, charging port 1158, and optional accessory 1150. In some configurations, the cable shield can be routed to the fork connector and terminated at the metal electronics box 1146, for example, with screws (see FIG. 11D). In some configurations, one or more printed circuit boards 1148 (FIG. 11C) can be operably coupled with strain relief means 1156L, J, and K (FIG. 11C), which is an electronic box. 1146 can be mounted. The strain relief means 1156L, J, and K (FIG. 11C) can serve a dual role as environmental seals and can provide a channel through which electrical signals or power can pass. The strain relief means 1156L, J, and K (FIG. 11C) may include, for example, grommets or packing retainers, or may be overmolded and inseparable from the cable. One or more printed circuit boards 1148 (FIG. 11C) provide (1) a place for connection to an internal harness between the printed circuit board 1148 (FIG. 11C) and the PSC board 50002, (2) A place can be provided for electromagnetic compatibility (EMC) filtering and electrostatic discharge (ESD) protection. EMC filtering and ESD protection can be enabled by connecting the printed circuit board 1148 (FIG. 11C) to the metal electronics box 1146 and forming a chassis ground 1147.

With continued reference to FIGS. 11A-11D, charger port 1158 is where AC/DC power supply 70002 can be connected to the MD. The AC/DC power supply can be connected to the main power supply via line cord 60025. Line cord 60025 can be modified to accommodate different wall outlet styles. The charger port 1158 can be separate from the UC 130 (FIG. 12A), allowing the charger port 1158 to be positioned within the most accessible location for each end user. End users may have different levels of athleticism and may require the charger port 1158 to be located in a personally accessible location. The connector that plugs into the charger port 1158 can be made without a latch to allow accessibility for users with limited hand functionality. The charger port 1158 can include a USB port for charging an external item such as a mobile phone or tablet with power from the MD. The charger port 1158 can be configured with a male pin that is operably coupled to a female pin on the AC/DC power source. In some configurations, it may not be possible to operate the MD when the charger port 1158 is engaged, regardless of whether the AC/DC power supply is connected to the main power source. ..

Referring now to FIGS. 12A and 12B, a user controller (UC) 130 includes, but is not limited to, a control device (eg, but not limited to a joystick 70007), mode selection control, and seat height and tilt/tilt. Controls, display panels, speed selection controls, power on and off switches, audible alert and mute capabilities, and horn buttons may be included. In some configurations, the use of a horn button while driving is enabled. The UC 130 may include means for preventing unauthorized use of the MD. The UC 130 can be mounted anywhere on the MD. In some configurations, the UC 130 may be mounted on the left or right armrest. The display panel of UC 130 may include a backlight. In some configurations, the UC 130 may include a joystick 70007 (FIG. 12A), an upper housing 30151, a lower housing 30152, a toggle housing 30157, an undercap 30158, and an option selection through, for example, a button press. Button platform 50020 (FIG. 12A), which may be enabled. Touch screens, toggle devices, joysticks, thumbwheels, and other user input devices can also be accommodated by the UC 130.

Referring now to FIGS. 12C and 12D, the second configuration of UC 130-1 may include a toggle platform 70036 (FIG. 12C), which may allow, for example, without limitation, selection of options. , Toggle lever 70036-2 and toggle switch 70036-1. In some configurations, the toggle lever 70036-2 can enable 4-way toggle operation (up, down, left, and right), and the toggle switch 70036-1 enables 2-way toggle operation. be able to. Other option selection means may replace the buttons and toggles to accommodate specific obstacles, if desired. The UC 130 (FIG. 12A) and the second configuration UC 130-1 may include a cable 60026 and a cable connector 60026-1. The cable connector 60026-2 can be operably coupled to the UC PCB50004 (FIG. 14A) to provide data and power to each configuration of the UC. The connector 60026-1 can operably couple the board to the UC 130 (FIG. 12A) through the cable 60016 (FIG. 10A) that mates with the circuit board 50007 (FIG. 10B).

Referring now to FIGS. 12E and 12F, the third configuration of UC 130-1A can include, for example, without limitation, a thumbwheel knob 30173, which can be used to adjust the maximum speed of the MD. In some configurations, thumbwheel knob 30173 can rotate one full turn without a stop. By omitting the stops, position mapping, position change, rotational speed, and thumbwheel knob 30173 function can be interpreted in a variety of different ways depending on the configuration of the system. In some configurations, the user can dial thumbwheel knob 30173 "up" to request higher speed gain, dial "down" and move the MD more slowly. The change in position, rather than the absolute position of the thumbwheel knob 30173, can be used to configure the characteristics of the MD. The sensitivity of the thumbwheel knob 30173 can be configurable. For example, a user with sufficient finger strength, sensitivity, and dexterity to roll and/or twist thumbwheel knob 30173 in small increments may achieve fine tuning of thumbwheel knob 30173 and its underlying functionality. it can. On the other hand, a user with impaired dexterity may adjust the thumbwheel knob 30173 by colliding it with the knuckles or edges of the hand. Thus, in some configurations, a relatively high sensitivity setting may allow the velocity gain to vary from a minimum to a maximum across a 180° progression, for example. In some configurations, relatively low sensitivity settings require, for example, 90° split bumps each to traverse the same gain range. Continuously dialing the thumbwheel knob 30173 "up" can eventually interrupt the increase in speed value. Further dialing up may be ignored. Dialing the thumbwheel knob 30173 "down" can be detected and the gain value can be immediately reduced, i.e. the "rewind" of the ignored upward movement of the thumbwheel knob 30173 is Cannot be needed. The absolute position of the thumbwheel knob 30173 cannot be a factor in processing the input from the thumbwheel knob 30173, so for example and without limitation, gain values through MD changes such as mode changes and power cycles. Can be dynamically configured. In some configurations, the gain value can return to the default value after a power cycle. In some configurations, the gain value can be determined by the settings saved during power down, even if the thumbwheel knob 30173 moved after power down.

With continued reference to FIGS. 12E and 12F, the MD has various speed settings that may accommodate the situation in which the MD may be installed, such as, but not limited to, when the MD is either indoors or outdoors. Can be included. Speed settings can be associated with joystick movements. For example, the maximum forward speed, which may be appropriate for a particular setting, may be set so that the user cannot go beyond the maximum speed regardless of how much the joystick is steered. In some configurations, the MD may be configured to ignore joystick movements. The effect of the thumbwheel assembly is to apply gain in addition to the MD's response to joystick movement.

With continued reference to FIGS. 12E and 12F, in some configurations the thumbwheel knob 30173 can rotate between less than one hard stop. In some configurations, changes in wheel position can indicate changes in maximum speed. When the MD is powered on, the position of the thumbwheel knob 30173 before proceeding to power off can be recalled, and the new maximum speed is that of the thumbwheel knob 30173 when the thumbwheel knob 30173 is rotated. It can be based on the recalled position. In some configurations, the sensitivity of thumbwheel knob 30173 can be adjusted. Depending on the sensitivity adjustment, the rotation of the thumbwheel knob 30173 can adjust the maximum speed from a relatively small amount to a relatively large amount. The thumbwheel knob 30173 is assembled in a blind hole, thus eliminating the need for an environmental seal at the mounting point of the thumbwheel assembly, water, dust, and/or other contaminants in the UC housing. Potential places to enter can be eliminated. Additionally, the thumbwheel mechanism can be cleaned and inspected, and parts can be replaced without access to the rest of the UC housing. The shaft angle of the thumbwheel knob 30173 can be measured by a non-contact Hall effect sensor. Hall effect sensors, which are non-contact sensors, can have an essentially infinite life. The sensor can provide a voltage corresponding to the rotational position of the thumbwheel. In some configurations, the signal can be processed by an analog to digital converter and the digital result can be further processed. In some configurations, the sensor may directly output a digital signal, which may be communicated to the UC main processor (see Figure 14C), for example, via I2C. In some configurations, the sensors can be double redundant.

Referring now to FIG. 12G, the upper housing 30151A of the third configuration includes, but is not limited to, an LCD display 70040, a button keypad 70035, a joystick 70007, an antenna 50025, a spacer 30181, and a joystick support ring. 30154 and a display cover glass 30153 may be included. In some configurations, the button 70035 can include an undermounted snap dome (not shown) that can allow a user to sense when the button 70035 is pressed. The antenna 50025 can be mounted in the upper housing 30151A having the third configuration, and can enable wireless communication between the UC 130-1A (FIG. 12F) having the third configuration, for example. The spacer 30181 can separate the LCD display 70040 from other electronic devices in the UC 130-1A (FIG. 12F) of the third configuration. The LCD display 70040 can be protected from environmental hazards by the display cover glass 30153. The joystick 70007 can include a connector 70007-1 (FIG. 12H) that can provide power to the joystick 70007 and enable signaling from the joystick 70007. In some configurations, the direction of movement of the joystick 70007 can be measured by more than one independent means to allow for redundancy.

12I-12K, the UC 130 can include a circuit board 50004 that can be stored and protected by an upper housing 30151 and a lower housing 30152. The UC 130 may include a display cover glass 30153, which may provide visual access to the screen, which may present options to the user. The display can be connected to the UC PCB50004 by a flexible connector 50004-2 (FIG. 14A). The optional EMC shield 50004-3 can protect the entry and/or exit emission of electromagnetic interference to/from the UC PCB 50004. Button assembly 50020-A and toggle switch 70036 can optionally be included. Buttons and/or toggles can be mounted on toggle housing 30157, which can be operably connected to lower housing 30152 and upper housing 30151 through undercap 30158. The UC 130 can be mounted on the MD in various ways and locations through the mounting cleat 30106. Throughout the UC 130 is characterized by, for example, but not limited to, an O-ring such as a toggle housing ring 130A, a grommet such as a cable grommet 40028 (FIG. 12K), and environmental isolation such as an adhesive, such as a circuit board 50004. Isolate components from water, dust, and other possible contaminants. In some configurations, joystick 70007 and speaker 60023 may be commercially available items. For example, without limitation, a joystick 70007, such as the APEMHF series, can include a protective sheath that can be housed, for example, by pressure mounting the protective sheath mounting cavity 30151-3 and the joystick support ring 30154.

Referring now to FIG. 12L, the upper housing 30151 can include ribs 30151-5 that can support the circuit board 50004. The upper housing 30151 can include a mounting spacer 30151-4, which is a space for fixed mounting of the joystick 70007 (FIG. 12A). The upper housing 30151 can include, but is not limited to, a display cavity 30151-2 that can provide a location for visual access for the display screen of the UC 130. The upper housing 30151 can also include a button cavity, such as, but not limited to, a power button cavity 30151-6 and a menu button cavity 30151-7. The upper housing 30151 can include a formed perimeter 30151-1 that can provide a look and feel consistent with the other sides of the MD. The upper housing 30151 can be constructed from, for example, without limitation, polycarbonate, polycarbonate acrylonitrile butadiene styrene hybrid, or other materials that can meet the strength and weight requirements associated with UC. The joystick 70007 (FIG. 12A) may be used, for example, to attach a gasket, support ring 30154 (FIG. 12Q), such as, but not limited to, joystick 70007 and support ring 30154 (FIG. 12Q) to the upper housing 30151. Fastening means such as screws and fastener holes 30151-X can be used to mount within the protective sheath mounting cavity 30151-3. Installation of the joystick protective sheath can isolate the UC PCB50004 (FIG. 14A) and other sensitive components from the environment. The upper housing 30151 may include a molding datum 30151-X2 that may allow orientation of the joystick 70007 during assembly. In some configurations, the cable datum 30151-X2 may indicate where the joystick cable connector 70007-1 (FIG. 12H) may be located.

Referring now to FIG. 12M, the lower housing 30152 can be spliced to the upper housing 30151 (FIG. 12L) at the perimeter geometry 30152-2. The combination of the lower housing 30152 and the upper housing 30151 (FIG. 12L), among other components,
The PCB 50004 (FIG. 14A), speaker 60023 (FIG. 12K), display cover glass 30153 (FIG. 12P), and joystick support ring 30154 (FIG. 12Q) can be housed. Environmental isolation features at the seam can include, for example, without limitation, gaskets, O-rings, and adhesives. The lower housing 30152 can include an audio access hole 30152-1 that can be located adjacent to the speaker mounting location 30152-6. A commercially available speaker can be mounted in speaker mounting location 30152-6, using attachment means such as, but not limited to, adhesives, screws, and hook-and-loop fasteners for the lower housing. It can be fixedly attached to 30152. The lower housing 30152 can include at least one post 30152-7 on which the UC PCB50004 (FIG. 12I) can rest. The lower housing 30152 accommodates, for example, without limitation, a joystick connector 50004-8 (FIG. 14A) and a power and communication connector 50004-7 (FIG. 14A) within the lower housing 30152. A connector flank 30152-3 can be included that can provide space. The lower housing 30152 can be attached to the MD, for example, through fastening means such as screws, bolts, claw fasteners, and adhesives. When screws are used, the lower housing 30152 can include a fastener receiver 30152-5, which can attach a toggle housing 30157 (FIG. 12R) to the lower housing 30152, a fastener. Can receive ingredients. The lower housing 30152 can also include a penetrating guide 30152-4, which can be a fastener, such as, but not limited to, a fastener that can securely connect the lower housing 30152 and the undercap 30158 (FIG. 12K). No, but seal fasteners can be positioned. Seal fasteners can provide environmental isolation. In some configurations, the lower housing 30152 may be constructed from, for example, but not limited to, die cast aluminum, which may provide strength to the structure.

Referring now to FIG. 12N, the lower housing 30152A of the third configuration can include a thumbwheel geometry 30152-A1, which can accommodate a thumbwheel 30173. The lower housing 30152 can optionally include a skeleton (not shown) molded into the inner posterior surface 30152-9. The skeleton can increase the strength and resistance to damage of UC 130 and can also provide a rest position for UC PCB50004 (FIG. 12I). The lower housing 30152A can also provide a raised post 30173-XYZ, which can provide a chassis ground contact for the UC PCB50004, which can be grounded to the board. The chassis ground contact 30173-2 for the cable shield 60031 (FIG. 12V) can tie the metal from the lower housing 30152A to the base metal. The lower housing 30152A of the third configuration may include, for example, without limitation, thumbwheel-compatible hardware such as a position sensor, and may include, for example, a magnetic rotary position sensor such as an AMSAS 5600 position sensor. Yes, this can sense the direction of the magnetic field created by the magnet 40064 rotating as the thumbwheel knob 30173 rotates. The magnetic sensor can be mounted on the flex circuit assembly, which can provide power to and receive information from the magnetic sensor. Corresponding hardware, including, but not limited to, bushing 40023, magnet 40064, magnet shaft 30171, O-ring 40027, retention nut 30172, and screw 40003, in some configurations, includes thumbwheel knob 30173 and a second configuration. Side housing 30152A may be operably coupled and may allow movement of magnet 40064 to be reliably sensed by a magnetic sensor. The lower housing 30152A can include a cylindrical pocket in the wall of the lower housing 30152A, where the bushing 40023 is located. Bushing 40023 can provide radial and axial bearing surfaces for shaft 30171. The shaft 30171 can include a flange on which the O-ring 40027 is installed. The shaft 30171 is sized to fit the shaft 30171 and is captured by a retaining threaded nut 30172 that includes a through hole that is smaller than the flange/O-ring 40027. When assembled, the O-ring 40027 is compressed, which can eliminate axial play and create a viscous drag when the shaft 30171 is pivoted. Thumbwheel knob 30173 is assembled to shaft 30171 using fastening means such as, but not limited to, low head fasteners, simple friction fits, and/or knurling. The shaft 30171 can include a magnet 40064. The magnetization direction creates a vector normal to the axis of the shaft 30171, which can be measured by the Hall effect sensor. A measurement of the magnetization vector can be provided to the UC 130 (FIG. 12A) by the sensor. The UC 130 (FIG. 12A) can calculate the relative change in maximum velocity based on the magnetization vector direction. In some configurations, at least some components of the corresponding hardware, such as, but not limited to, O-ring 40027, may be lubricated with, for example but not limited to, silicone grease to provide a smooth user experience. .. In some configurations, a detent can be added to the thumbwheel assembly to provide a click as the thumbwheel knob 30173 is operated.

Referring now to FIG. 120, the screw 40003 can pass through the thumbwheel 30173 and can be operably coupled to the magnet shaft 30171. Corresponding hardware geometries can interlock to retain thumbwheel 30173 in lower housing 30152A of the second configuration, where the shaft is lower housing of the second configuration in the configuration shown. Environmental isolation can be provided inside the UC 130 because there is no need to puncture the body 30152A. The thumbwheel assembly geometry allows for field inspection and/or replacement without separating the upper housing 30151 (FIG. 12E) from the lower housing 30152A. In particular, the thumbwheel knob 30173 can be replaced if damaged by impact or worn out from use. In some configurations, thumbwheel knob 30173 can be operably coupled to shaft 30171 by click-on or press-fit fastening means.

Referring now to FIG. 12P, the display cover glass 30153 can include a clear aperture 30153-1 that can expose menu and option displays for the user. The size of the clear aperture 30153-1 can be different from the display active area, for example, without limitation. The display cover glass 30153 can include a frame 30153-4, which can be black masked with a pressure sensitive adhesive layer. In some configurations, the display cover glass 30153 can be masked with black paint and double-sided tape applied to the top of the black mask. The clear unmasked area 30153-3 can receive ambient light. The UC 130 can vary the brightness of the display based on ambient light. Display cover glass 30153 can include button cavities 30153-5 and 30153-6, which can provide a location for button keypad 70035. The display cover glass 30153 can include an outward facing surface 30153-2, which in some configurations can include a coating that reduces glare reflections and/or scratch resistance, for example. Can be improved. In some configurations, a space may exist between the material of cover glass 30153 and frame 30153-4. The voids may include, for example, without limitation, decorative elements such as product logos, and may be permanently printed and/or etched.

Referring now to FIG. 12Q, the joystick support ring 30154 includes, but is not limited to, a receptacle 30154-3 for housing a joystick protective sheath and a body and a support ring 30154 fastened to the upper housing 30151 (FIG. 12L). Hole/slot 30154-2 for Hole/slot 30154-2 can be sized to accommodate multiple sizes of joystick 70007 (FIG. 12A). Hole 30154-1 can house, for example, a connection between each component of UC 130 (FIG. 12A). In some configurations, the support ring 30154 can include a pattern of notches 30154-X2 that is circumferentially oriented with respect to the holes 30154-1 and the slots 30154-2. Notches 30154-X2 can interface with ribs 30151-4 (FIG. 12M) in upper housing 30151 (FIG. 12M), and holes in support ring 30154 during assembly of UC 130 (FIG. 12A). It is possible to ensure the correct rotational position of the slot pattern.

Referring now to FIG. 12R, toggle housing 30157 can include a pocket 30157-2 that can house a toggle module, such as, but not limited to, button platform 50020-A (FIG. 12BB). The toggle housing 30157 includes a connector cavity 30157-3 and can accommodate a flexible cable extending from the toggle device. The toggle housing 30157 includes a through hole 30157-4 and can accommodate fastening means, which can connect together the components of the UC 130 (FIG. 12A). The toggle housing 30157 can include a lower housing connector cavity 30157-5, which can provide an opening for the fastening means to engage. The toggle housing 30157 can include a seal geometry 30157-6, which can allow a mating/sealing between the toggle housing 30157 and the undercap 30158, which is an undercap. It can be secured by the fastening means cavity 30157-8. The toggle housing 30157 may include a toggle module fastener cavity 30157-7 to allow attachment of the toggle module and toggle housing 30157. Toggle housing 30157 can include a fork guide 30157-1 to provide a guide for power/communication cable 60031 (FIG. 12X). The O-ring 130B may allow a seal and environmental isolation between the toggle housing 30157 and the lower housing 30152A (FIG. 12N).

Referring now to FIGS. 12S and 12T, a second configuration 30157B of the toggle housing can enable mounting of the toggle platform 70036 (FIG. 12T). A second configuration of toggle housing 30157B may provide support structure for toggle lever 70036-2 (FIG. 12T) and toggle switch 70036-1 (FIG. 12T), respectively, toggle lever support geometry 30157A-. 1 (FIG. 12S) and toggle switch support geometry 30157B-1 (FIG. 12S). The second configuration 30157A of the toggle housing can include a connector cavity 30157A-3 to accommodate the connection between the toggle platform 70036 (FIG. 12T) and the electronic components of the UC 130 (FIG. 12A). The toggle housing 30157B can include a pocket 30157-2 that can house a toggle module, such as, but not limited to, a button platform 50020-A (FIG. 12BB). The toggle housing 30157B includes a connector cavity 30157A-3 and can accommodate a flexible cable extending from the toggle device. The toggle housing 30157B includes a through hole 30157A-4 and can accommodate fastening means, which can connect together the components of the UC 130 (FIG. 12A). The toggle housing 30157B can include a lower housing connector cavity 30157A-5, which can provide an opening for the fastening means to engage. The toggle housing 30157B can include a seal geometry 30157A-6, which can allow mating/sealing between the toggle housing 30157B and the undercap 30158 (FIG. 12U). Can be secured by an undercap fastening means cavity 30157A-8. The toggle housing 30157B can include a toggle module fastener cavity 30157A-7 to allow attachment of the toggle module and toggle housing 30157B. The toggle housing 30157B can include a fork guide 30157A-1 to provide a guide for the power/communication cable 60031 (FIG. 12X). An O-ring (not shown) may allow for seal and environmental isolation between toggle housing 30157B and lower housing 30152A (FIG. 12N). Toggle lever 70036-2 (FIG. 12T) and toggle switch 70036-1 (FIG. 12T) can be positioned and sized to accommodate users with various hand geometries. In particular, toggle lever 70036-2 (FIG. 12T) can be spaced from toggle switch 70036-1 (FIG. 12T) by about 25-50 mm. The toggle lever 70036-2 (FIG. 12T) can have a rounded edge, its top can be slightly convex and approximately horizontal, and the measurement across it is 10-14 mm. It can be and can be about 19-23 mm high. The toggle switch 70036-1 (FIG. 12T) can be approximately 26-30 mm long, 10-14 mm wide, and 13-17 mm high. The toggle lever 70036-2 (FIG. 12T) and the toggle switch 70036-1 (FIG. 12T) can be positioned at an angle of 15° to 45° with respect to the joystick 70007 (FIG. 12K).

Referring now to FIG. 12U, the undercap 30158 can include a through fastening hole 30158-1 that can house fastening means for operably coupling to a component of the UC 130 (FIG. 12A). it can. Undercap 30158 can include a grommet cavity 30158-2, which can accommodate grommet 40028, which can environmentally seal the cable entry point. Undercap 30158 can include mounting cleat surface 30158-5, which can provide a connection point for mounting cleat 30106 (FIG. 12Z). The undercap 30158 can include a fastening housing 30158-4, which can enable fastening of the undercap 30158 and the toggle housing 30157. Undercap 30158 may include flank cuts 30158-3 for toggle module fasteners. The undercap 30158 can house the gasket 130A, which can environmentally seal the undercap 30158 to the toggle housing 30157.

Referring now to FIGS. 12V-12X, the second configuration undercap 30158-1 can include, but is not limited to, an EMI suppression ferrite 70041 and a ferrite retainer 30174. The ferrite retainer 30174 can be operably coupled to the second configuration undercap 30158-1 through mounting features 30158-3 (FIG. 12X) and struts 30158-2 (FIG. 12X). The retainer 30174 can be attached to the undercap 30158 by heat staking the post 30158-2 (FIG. 12X). In some configurations, the ferrite retainer 30174 can be attached to the undercap 30158 using threaded fasteners, adhesives, and/or snap features. In some configurations, when the cable 60031 is screwed through the ferrite retainer 30174, the EMI suppression ferrite 70041 causes the EMI emission to exit the UC 130 from the cable 60031 which may house the power and canvas connection for the UC 130. Can be protected. The shield 60031-4 can extend from the cable 60031 and can connect to a feature of the housing 30152 at the connector 60031-3. The metal barrel 60031-1 may allow the shield to continue to the substrate.

Referring now to FIG. 12C, the UC mounting device 16074 includes a UC 130 (FIG. 12A) mounted on an MD through an operative connection of a stem 16160A, a stem split mating portion 16164, and a seat bracket 24001 (FIG. 1A). Any device capable of accommodating a conventional seat can be used to allow it to be securely mounted to the MD. The tightening orifices 162-672 can provide a means for securely mounting the device 16074 to the MD. The mounting device 16074 can include ribs 16177 that can be raised from the mounting body 16160 to accommodate UC mounting features 30158 (FIG. 12B). The UC 130 (FIG. 12A) can be operably coupled to the mounting device 16074 by sliding the mounting cleat 30106 (FIG. 12Z) between the ribs 16177 and the mounting body 16160. The release lever 16161 can operate in conjunction with the spring loaded release knob 16162 to allow for a secure fastening and easy release of the UC 130 to/from the on-board device 16074.

Referring now to FIG. 12Z, the mounting cleat 30106 can enable mounting of the UC 130 (FIG. 12A) on an MD, eg, armrest, by, for example, mounting device 16074 (FIG. 12Y). The mounting cleat 30106 can include an engagement lip 30106-3, which slides between the mounting cleat 30106 and the receptacle, for example, by pressing a latch button until the UC 130 (FIG. 12A) is properly positioned. And a geometry that may allow locking engagement. In that position, the latch button may project into button cavity 30106-1 thereby locking UC 130 (FIG. 12A) in place. The edge 30106-4 of the mounting cleat 30106 can fit within the receptacle. The mounting cleat 30106 can include a fastening cavity for fastening the mounting cleat 30106 to the mounting cleat surface 30158-5 (FIG. 14A).

Referring now to FIG. 12AA, grommet 40028-1 can provide an environmental seal surrounding cable 60031 (FIG. 12X). The grommet 40028-1 can rest within the grommet cavity 30158-2 (FIG. 12U), with the reduced diameter portion 40028-1B captured by the geometry of the grommet cavity 30158-2 (FIG. 12U). Cable 60031 (FIG. 12X) can traverse grommet 40028-1 from cable inlet 40028-1A to cable outlet 40028-1C. In some configurations, the cable grommet 40028-1 may provide strain relief to the cable 60031 (FIG. 12X). Strain relief can prevent damage if the cable 60026 is bent or pulled. In some configurations, the cable grommet 40028-1 can be an overmolded feature integral with the cable 60031 (FIG. 12X).

Referring now to FIGS. 12BB and 12CC, the button assembly 50020-A can enable button option entry on the UC 130 (FIG. 12A). Button assembly 50020-A can include a button 50020-A1, for example, without limitation, a temporary push button that can be mounted on button circuit board 50020-A9. Button 50020-A1 can be operably coupled to button circuit board 50020-A9, which can include a cable connector 50020-A2, which includes, for example, without limitation, a flexible cable. Can be accommodated. Button assembly 50020-A can include a spacer plate 50020-S (FIG. 12CC), which can provide a cavity 50020-S1 (FIG. 12CC) for button 50020-A1. A coverlay (not shown), which provides the graphic and environmental seal, can cover the button 50020-A1.

Referring now to FIGS. 12DD and 12EE, toggle platform 70036 includes toggle lever 70036-2 (FIG. 12T), toggle switch 70036-1 (FIG. 12T), and toggle platform 70036 to toggle enclosure second configuration 30157A. And toggle mounting means 70036-3 for mounting on. The toggle mounting means 70036-3 can be adjacent to the toggle lever support geometry 30157A-2 (FIG. 12U). In some configurations, D-pad 70036A-2 (FIG. 12EE) instead of toggle lever 70036-2 (FIG. 12DD) and rocker switch 70036A-1 (FIG. 12DD) instead of toggle switch 70036-1 (FIG. 12DD). 12EE) and a thin toggle module 70036A (FIG. 12GG) can be included. In some configurations, the toggle lever 70036-2 (FIG. 12DD) can be replaced by two two-way toggles (not shown), which can be similar to controls for motorized seating tilt and recline. .. The resulting module can include three two-way toggles.

Referring now primarily to FIG. 13A, the UC holder 133A can house a manual and visual interface such as, for example, a joystick, a display, and associated electronics. In some configurations, the UC assist holder 145A can be attached to the visual/manual interface holder 145C without tools. The UC assist holder 145A may interface with the processor 100 (FIG. 16B) and may include sensors 122A (FIG. 8), 122B (FIG. 8), 122C (FIG. 8), 122D (FIG. 8), 122E (FIG. 8), And an electronic device capable of processing data from 122F (FIG. 8). Any of these sensors can include, but is not limited to, a TEXAS INSTRUMENTS OPT8241 time-of-flight sensor, or any device that can provide a three-dimensional location of the data sensed by the sensor. The UC assist holder 145A can be located anywhere on the MD and need not be limited to being mounted on the visual/manual interface holder 145C.

Referring now primarily to FIG. 13B, the manual/visual interface holder 145C includes, but is not limited to, a visual interface viewing window 137A available on the first side 133E of the manual/visual interface holder 145C. , A manual interface mounting cavity 133B. A connector 133C is provided on the second side 133D of the manual/visual interface holder 145C to connect the manual/visual interface holder 145C to the UC assist holder 145A (FIG. 13C). Any of viewing window 137A, manual interface mounting cavity 133B, and connector 133C can be located on any portion of manual/visual interface holder 145C, or can be completely absent. The manual/visual interface holder 145C, visual interface viewing window 137A (FIG. 13B), manual interface mounting cavity 133B, and connector 133C can be any size. The manual/visual interface holder 145C can be constructed from any material suitable for mounting the visual interface viewing window 137A, the manual interface mounting cavity 133B, and the connector 133C. The angle 145M can be associated with different orientations of the UC holder 133A and thus can be different values. The UC holder 133A can have a fixed orientation or can be hinged.

Referring now primarily to FIG. 13C, UC assist holder 145A includes, but is not limited to, a filter cavity 136G and a lens cavity 136F, such as, but not limited to, a TEXAS INSTRUMENTS OPT8241 3D time-of-flight sensor. , For example, but not limited to, providing time-of-flight sensor optical filters and lenses with visibility. The UC assist holder 145A can be of any shape and size, depending on the MD and any mounting location on the sensor, processor, and power supply provided within the UC assist holder 145A, for example. It can be constructed from materials. The rounded edges on cavities 136G and 136F and holder 145A can be replaced by edges of any shape.

Referring now to FIGS. 14A-14C, UC board 50004 can provide the electronics and connectors and control the activity of UC 130 (FIG. 12A). The UC board 50004 can include a circuit board 50004-9 on which the connector and IC can be mounted. For example, a joystick connector 50004-8, a power and communication connector 50004-7, a toggle connector 50004-5, a thumbwheel connector 50004-4, a speaker connector 50004-6, and a display connector 50004-2 on a mounting board 50004-9. Can be included. In some configurations, the UC board 50004 may include an ambient light sensor 50004-X (FIG. 14A), the signal from which varies the display brightness and contrast for viewing in indoor and outdoor environments. Can be used to The EMC shield 50004-3 can provide EMC protection to the UC board 50004. The connection 50004-1 to the wireless antenna 50025 (FIG. 12H) can include, for example, without limitation, a spring contact. The button snap dome 50004-10 can be adapted for button press activation, for example. In some configurations, each button snap dome 50004-10 can be associated with a backlight from, for example, without limitation, an LED. Toggle switches and toggle levers can be housed as well. The UC board 50004 can process data transmitted to/from the user, the PBC board 50001 (FIGS. 15A and 15B), the PSC board 50002 (FIG. 15G), and the wireless antenna. The UC board 50004 may perform filtering of incoming data and may enable the transitions and workflow described in Figures 23A-23KK. The UC board 50004 can include, but is not limited to, a wireless transceiver, which can support wireless communication using, for example, but not limited to, the BLUETOOTH® low energy protocol, and a processor and A transceiver can be included. The wireless transceiver can include, for example, without limitation, a Nordic Semiconductor nRF51422 chip.

15A and 15B, central gearbox 21514 can include a PSC board 50002 and a PBC stack. The electronics on the PSC board 50002 can manage and provide power to the PBC board 50001, which in turn provides power to the MD motors. The PBC board 50001 may include redundant computers and electronics, and its responsibilities may include processing inertial sensor data and calculating motor commands used to control the MD. The electronics for the PBC board 50001 can interface with at least one inertial measurement unit (IMU) 50003 (FIG. 15B) and UC 130 (FIG. 12A). The PBC board 50001 can include redundant processors, which can be physically separated from each other and have isolation barriers on their interconnections to increase the robustness of the redundant architecture. it can. Active redundancy can allow conflict resolution during abnormal conditions through voting on actuator commands and other critical data. In some configurations, the sensor, the underlying processor, and the power bus can be physically duplicated within the MD. Sensor inputs, processor outputs, and motor commands from the present redundant architecture can be cross-monitored and compared to determine if all signals are within acceptable tolerances. During normal operation, all signals are "matched" (within acceptable tolerances) and the full functionality of the MD is available to the user. If any one of these one set of signals is not within the other three ranges, the MD can ignore the data from the non-matching set and the data from the remaining sensor/processor string. Can be used to continue operation. Depending on the loss of redundancy, abnormal conditions can be identified and the user can be alerted, for example via visual and audible signals. For redundancy, the PBC and PSC can each include an "A" side and a "B" side. The PBC “A” side can be divided into “A1” and “A2” quadrants, which can be powered by the PSC “A” side. The PBC “B” side can be divided into “B1” and “B2” quadrants, which can be powered by the PSC “B” side. The IMU can include, for example, four inertial sensors, each of which can be directly mapped to one of the PBC quadrants.

With continued reference to FIGS. 15A and 15B, load sharing redundancy allows for higher stress short duration operation during system faults, in addition to sizing motors and batteries for normal fault-free conditions. Can be used for power amplifiers, high voltage power buses, and primary actuators. Load sharing redundancy can enable a lighter weight and higher performance fault tolerant system than other redundancy approaches. The MD may include multiple separate battery packs 70001 (FIG. 1E). A plurality of battery packs 70001 (FIG. 1E) dedicated to each PBC side can provide redundancy so that battery failure conditions can be mitigated. Redundant load sharing components can be kept separate throughout the system to minimize the chance of a failure on one side causing a cascading failure on the other side. The power delivery components (battery pack 70001 (FIG. 1E), wiring, motor drive circuitry, and motor) are sized to deliver sufficient power to keep the user safe while meeting system performance requirements. be able to.

With continued reference to FIGS. 15A and 15B, MD electronics and motors generate heat, which can be dissipated to prevent overheating of the MD. In some configurations, the components of PBC board 50001 can operate over a -25°C to +80°C temperature range. The heat spreader 30050 includes a heat spreader plate 30050 and at least one standoff 30052 (FIG. 15B) that can penetrate holes in the board controller board 50001 and support an inertial measurement unit (IMU) assembly 50003 (FIG. 15D). be able to. The heat spreader plate 30051 may be operably connected to the center housing and the circuit board of the MD, for example, through a thin electrically insulating material that may provide a heat transfer path for heat from the electronics to the center housing. it can. In some configurations, the metal-to-metal contact between the heat spreader 30050 and the mounting features on the housing 30020-30023 can dissipate heat. The standoff grommet 30187 (FIG. 15C), as well as the standoff 30052 (FIG. 15B), can isolate the IMU assembly from vibrations of the base controller board 50001 and heat spreader 30050. Vibrations can result from vibrations throughout the board. The thermal management system of the present teachings is mounted on the heat spreader 30050, but does not touch the PBC board 50001, between the bar 30114 (FIG. 15B), the copper area on the PBC board 50001, and the PBC board 50001 and the heat spreader 30050. A thermal gap pad that provides the thermal conductivity of the.

Referring now to FIG. 15B, an IMU mounted on heat spreader 30050 can provide vibration damping, soft grommet 30187 (FIG. 15C), and flex cable 50028- that can provide electrical connection to PBC board 50001. 9B (FIG. 15C). The IMU sensor may be isolated from the vibrations generated by the MD seats, clusters, and wheel drive systems by mechanically isolating the IMU PCB50003 (FIG. 15E) on which the sensor 608 (FIG. 15E) is mounted. it can. The IMU assembly can be mounted on at least one elastomer grommet 30187 (FIG. 15C), which can be attached to at least one strut 30052 that is fastened to the heat spreader plate 30050. At least one grommet 30187 (FIG. 15C) can include low hardness and damping capabilities, which can limit the transfer of vibrations from the MD to the IMU. The flex circuit cable 50028-9B can be compliant and unable to transfer significant vibrations to the IMU assembly.

With continued reference to FIG. 15B, the flux shield 30008 can protect the electronics on the PBC board 50001 from magnetic signals from the manual brake release position sensor 70020 (FIG. 9J). The flux shield 30008 can include a ferrous metal and can be operably coupled to the heat spreader assembly 30050 between the manual brake release position sensor 70020 (FIG. 9J) and the PBC board 50001. The iron-based metal can block and redirect the magnetic flux of the manual brake release position sensor 70020 (FIG. 9J) and substantially prevent interference of the PBC board 50001 with the electronic equipment. Possibly, to increase the overall reliability of the MD, the cable can utilize a connector with a latching mechanism.

Referring now to FIGS. 15C-15D, IMU assembly 50003 includes a main board 50003B (FIG. 15D) that may include, but is not limited to, inertial sensor 608 (FIG. 15D) and memory 610 (FIG. 15D). You can The IMU assembly 50003 includes at least one grommet 30187 (FIG. 15C) that may dampen vibrations and maintain stability of the inertial sensor 608, and the IMU assembly 50003 to the PBC board 50001 (FIG. 15B) to reduce vibration transmission. ), and a rigid flex circuit 50028-9B. The rigid flex circuit 50028-9B can include stiffeners 50028-9S, which can facilitate a robust connection. The rigid flex circuit 50028-9B can include a bend, which can divide the rigid flex circuit cable 50028-9B into two parts, which can provide a sensor interface and a connector interface. .. Similar to at least one grommet 30187 (FIG. 15C) in cavity 608A (FIG. 15D) through main board 50003 (FIG. 15B) and in optional IMU shield 70015 (FIG. 15C) and PBC board 50001 (FIG. 15B). It can extend through the cavity and can be operably coupled to the standoff 30052 (FIG. 15B). Rigid flex circuit cables 50028-9B (FIG. 15C) in other geometries are possible as well as other connector patterns and grommet locations.

With continued reference to FIGS. 15C-15D, the at least one inertial sensor 608 can include, for example, without limitation, a ST Microelectronics LSM330DLC IMU. IMU assembly 50003 can include an IMU PCB50003B, which can house standoffs 30052 (FIG. 15B) and allow elevated and cushioned mounting of IMU PCB50003B over PBC board 50001. IMU assembly 50003 may include features to allow IMU shield 70015 (FIG. 15C) to be mounted on IMU PCB50003B. The optional IMU shield 70015 considers inertial sensor 608 (FIG. 15D) as possible, including but not limited to EM interference from PBC board 50001 (FIG. 15B) and/or PSC board 50002 (FIG. 15G). Can be protected from interference. IMU PCB50003B can include a connector 609 (FIG. 15F) that can receive/transmit signals to/from inertial sensor 608 to/from PBC board 50001 (FIG. 15B). Inertial sensor 608 (FIG. 15D) can be mounted on IMU PCB50003B, which can allow IMU assembly 50003 to be calibrated separately from the rest of the MD. IMU PCB50003B may provide a mount for memory 610 (FIG. 15D), which may hold calibration data, for example. Non-volatile memory 610 (FIG. 15D) may include, for example, without limitation, microchip 25AA320AT-I/MNY. The storage of calibration data can allow IMU assemblies 50003 from multiple systems to be calibrated in a single batch and installed without any additional calibration. As sensor technology changes, inertial sensor 608 (FIG. 15D) is updated with the latest available sensor in relative electronics design isolation because IMU assembly 50003 can be relatively isolated from PBC board 50001. be able to. Inertial sensors 608 can be positioned at an angle to each other. Angular positioning can improve the accuracy of the data received from inertial sensor 608. Inertial information, such as pitch angle or yaw speed, which may be entirely dependent on one sensing axis of one inertial sensor 608, may be spread across the two sensing axes of the angled inertial sensor. In some configurations, two inertial sensors 608 may be positioned at a 45° angle from two other inertial sensors 608. In some configurations, the angled inertial sensor 608 can alternate location with the non-angled inertial sensor 608.

Referring now to FIGS. 15E and 15F, the second configuration IMU assembly 50003A can include at least one inertial sensor 608. The second configuration IMU assembly 50003A can include a second configuration IMU PCB50003A-1 that houses the standoffs 30052 (FIG. 15B) and above the PBC board 50001. The IMU PCB50003A-1 can be elevated and buffered. The second configuration IMU assembly 50003A may include features to allow the IMU shield 70015 to be mounted on the second configuration IMU PCB50003A. The optional IMU shield 70015 can protect the inertial sensor 608 from possible interference, including, but not limited to, EM interference from PBC board 50001 and/or PSC board 50002 (FIG. 15G). .. The second configuration of the IMU PCB50003A can include a connector 609 (FIG. 15F) that can receive/transmit signals to/from the inertial sensor 608 to/from the PBC board 50001 (FIG. 15B). The inertial sensor 608 (FIG. 15E) can be mounted on the IMU PCB50003A in the second configuration. The second configuration of IMU PCB50003A can provide a mount for memory 610 (FIG. 15E), which can hold calibration data, for example.

15G and 15H, PSC board 50002 may include a connector 277 (FIG. 15G) that may allow battery 70001 (FIG. 1E) to supply power to PSC board 50002. The connector 277 can include, for example, contacts and circuit board mounting means such as, but not limited to, MOLEX MLX 44068-0059. The PSC board 50002 may include at least one microcontroller 401, and at least one bumper 30054/30054A for buffering the interface between the PSC board 50002 and the electronic box lid 21524 (FIG. 1G), and the PSC. At least one spacer 30053 may be included to maintain the spacing between the board 50002 and the PBC board 50001 (FIG. 15B). In some configurations, spacers 30053, which may include, for example, metal, may be operably coupled to PSC board 50002. In some configurations, the spacer 30053 can be used as an electrical connection to the chassis of the MD for EMC purposes. The spacer 30053 can provide durability and robustness to the MD. The PSC board 50002 has a charge input connector 1181, a UC connector 1179, an auxiliary connector 1175A, at least one power interconnect to a PBC connector 1173, and a canvas/PBC connected as shown in FIGS. 15I and 15J. A connector 1179A can be included. The PSC board 50002 includes at least one power switch 401C, at least one battery charging circuit 1171/1733A, and at least one coin battery battery 1175ABC for powering at least one real time clock 1178A (FIG. 15J). You can The PSC board 50002 is not limited to the components listed herein and can include any integrated circuit and other components that can enable operation of the MD.

Referring now to FIGS. 15I-15J, the PSC board 50002 provides power to, for example but not limited to, a UC130(15V regulator 1175, a UC connector 1179, a 24-V regulator 1175XYZ, and an auxiliary connector 1175A. 12A) and an auxiliary device, which may provide a battery 70001 (FIG. 15I). The PSC board 50002 can communicate with a battery management system 50015 (FIG. 1E) from which, for example, without limitation, battery capacity and temperature can be determined. The PSC board 50002 can monitor the line voltage from the battery pack 70001 (FIG. 15I), for example, whether the charger power supply cord 70002 (FIGS. 11A-11D) is plugged in. Battery 70001 (FIG. 15I) may be, for example, without limitation, regulator 1176 (FIG. 15J), such as, but not limited to, a 3.3-V regulator and regulator 1177 (FIG. 15J), such as limitation. Power may be provided to at least one microcontroller 401 (FIG. 15J) through a 5-V regulator, but not. The PSC board 50002 provides power to the PBC board 50001 through an interboard connector 1173/1173A (FIG. 15J) such as, but not limited to, SAMTECPES-02. The at least one microcontroller 401 (FIG. 15J), such as, but not limited to, the Reneases RX64M, has a power switch between the battery 70001 (FIG. 15I) and the inter-board connector 1173/1173A (FIG. 15J) to the PBC board 50001. The opening and closing of 401C (FIG. 15J) can be controlled. The at least one microcontroller 401 (FIG. 15J) may include a memory 1178 (FIG. 15J), such as, but not limited to, a ferroelectric non-volatile memory that may retain data after being powered off. .. The PSC board 50002 can include, for example, a real time clock that can be used to time stamp usage data and event logs. The real-time clock can be powered by the battery 70001 (FIG. 15I) or, alternatively, by the lithium coin battery 1175ABC (FIG. 15J). Communication between at least one microcontroller 401 (FIG. 15J) and battery 70001 (FIG. 15I) can be enabled by an I2C bus and an I2C accelerator 1174 (FIG. 15J). Communication between at least one microcontroller 401 (FIG. 15J) and UC 130 (FIG. 12A) can be enabled by the canvas protocol through UC connector 1179 (FIG. 15I/15G). Communication between at least one microcontroller 401 (FIG. 15G) and PBC board 50001 (FIG. 15B) can be enabled by the canvas protocol through connector 1179A. The sensor 401B (FIG. 15J) is positioned throughout the PSC board 50002 and is supplied to the PBC board 50001 for the voltage level reported by the battery 70001 (FIG. 15I) and sensed by the sensor 410A (FIG. 15I). The actual levels of voltage and current present can be determined. The at least one sensor 410A (FIG. 15I) can sense high acceleration events such as, but not limited to, strong impacts, vehicle collisions, and mishandling during shipping. High acceleration events can be logged and can be used, for example, as part of after-sales inspection and warranty claims, and can provide usage statistics, which can provide data for quality improvement efforts, for example. be able to. In some configurations, at least one sensor 410A (FIG. 15I) may reside on the PSC board 50002, eg, via a small peripheral interface (SPI) bus, to the corresponding PSC processor 401 (FIG. 15J). Can be communicated to.

With continued reference to FIGS. 15I-15J, power can flow from each battery pack 70001 (FIG. 15I) through the PSC board 50002 and then through the PBC board 50001 (FIG. 15B) to the motor. Battery pack 70001 (FIG. 15I) may discharge at different rates due to, for example, internal impedance differences. Since they are electrically linked together, the A-side battery has approximately the same voltage and the B-side battery has approximately the same voltage, but the voltage in the A-side battery and the voltage in the B-side battery are the same. There may be differences between. The bus voltage can be monitored and, if necessary, the voltage of the battery 70001 on each side sends a slightly larger command to the motor with the higher voltage and a smaller command to the motor on the other side. Can be equalized. Current limiting devices may be used throughout the power distribution to prevent overcurrent conditions on one subsystem from affecting the power delivery to another subsystem. Anomalies caused by slight power supply operation can be mitigated by 1) supply monitoring for critical analog circuits and 2) power supply supervisory features for digital circuits.

Referring now to FIG. 16A, the MD may include, but is not limited to, a base 21514A, a communication means 53, a power means 54, a UC 130, and a remote control device 140. The base 21514A can communicate with the UC 130 using a communication means 53 using a protocol such as, but not limited to, a canvas protocol. The user controller 130 can communicate with the remote control device 140 through a wireless technology 18, such as, but not limited to, BLUETOOTH® technology, for example. In some configurations, the base 21514A may include redundancy, as discussed herein. In some configurations, the communication means 53 and power means 54 may operate inside the base 21514A and may be redundant therein. In some configurations, the communication means 53 may provide communication from the base 21514A to components external to the base 21514A.

Referring now primarily to FIG. 16B, in some configurations MD control system 200A may use, but is not limited to, system serial bus messaging system 130F to communicate bidirectionally via serial bus 143. At least one base processor 100 and at least one power supply controller 11 may be included. The system serial bus messaging 130F can enable bidirectional communication between the external application 140, the I/O interface 130G, and the UC 130. The MD can access peripherals, processors, and controllers through interface modules, which can include, but are not limited to, input/output (I/O) interfaces 130G and external communication interfaces 130D. In some configurations, the I/O interface 130G transmits the message to/from, for example, without limitation, at least one of an audio interface 150A, an electronic interface 149A, a manual interface 153A, and a visual interface 151A. / Can be received. The audio interface 150A can provide the information to an audio device, such as a speaker, that can alert when the MD requests attention, for example. The electronic interface 149A can transmit/receive messages to/from the external sensor 147, for example, without limitation. External sensors 147 can include, but are not limited to, time-of-flight cameras and other sensors. The manual interface 153A provides a message with information such as, but not limited to, a joystick 70007 (FIG. 12A) and/or a switch 70036-1/2 (FIG. 12V) and a button 70035 (FIG. 12H), and/or an LED light. Lights and/or can be transmitted/received to/from a UC 130 (FIG. 12A), having, for example, a touch screen. The UC 130 and the processor 100 can transmit/receive information to/from the I/O interface 130G, external communication 130D, and each other.

Continuing to mainly refer to FIG. 16B, the system serial bus interface 130F includes a UC 130, a processor 100 (also, for example, a processor A143A (FIG. 18C), a processor A243B (FIG. 18C), a processor B143C (FIG. 18D), and a processor). B2 43D (also shown as FIG. 18D), and power supply controller 11 (also shown as, for example, power supply controller A98 (FIG. 18B) and power supply controller B99 (FIG. 18B)). it can. The messages described herein can be exchanged between UC 130 and processor 100 using, for example, without limitation, system serial bus 143. The external communication interface 130D may use wireless communication 144, such as, but not limited to, BLUETOOTH™ technology to enable communication between the UC 130 and the external application 140, for example. The UC 130 and processor 100 can transmit/receive messages to/from external sensors 147, which can be used to enable automatic and/or semi-automatic control of the MD.

17A, the board controller 50001 (FIG. 15B) may include a board processor 100, which may process incoming motor data 775 and sensor data 767 to which wheel commands are applied. 769, cluster command 771, and seat command 773 may be based at least in part. To perform data processing, the base processor 100 includes, but is not limited to, a canvas controller 311 that manages communications, a motor drive control processor 305 that prepares motor commands, and a timer break check request processor 301 that manages timing. , A voting/commit processor 329 for managing redundant data, a main loop processor 321 for managing various data inputs and outputs, and a controller processing task 325 for receiving and processing incoming data. The controller processing task 325 includes, but is not limited to, an IMU filter 753 that manages IMU data preparation, a speed limited processor 755 that manages speed-related features, a weight processor 757 that manages weight-related features, and obstacle avoidance management. Adaptive speed control processor 759, traction control processor 762 to manage difficult terrain, and active stabilization processor 763 to manage stability features. Inertial sensor pack 1070/23/29/35 can provide IMU data 767 to IMU filter 753, which sends wheel commands 769 to right wheel motor drive 19/31 and left wheel motor drive 21/33. Can provide data that can be brought. IMU filter 753 includes, but is not limited to, body velocity vs. gravity velocity and predicted velocity processor 1102 (FIG. 19A), body velocity and gravity vs. Euler angle and velocity processor 1103 (FIG. 19A), gravity velocity error and predicted yaw velocity. Error vs. body speed processor 1103 (FIG. 19A). Seat motor 45/47 can provide motor data 775 to weight processor 757. Voting processor 329 may include, but is not limited to, primary voting processor 873, secondary voting processor 871, and tertiary voting processor 875.

Referring now primarily to FIGS. 17B and 17C, in some configurations, the foundation processor 100 may, for example, be controlled by a canvas controller task 311 (FIG. 17B) through canvas 53A/B (FIG. 18B). Accelerometer and gyroscope data from the inertial sensor pack 1070/23/29/35 (FIG. 17A) can be shared. The base serial bus 53A/B (FIG. 18B) can communicatively couple the processor A1/A2/B1/B2 43A-43D (FIG. 18C/18D) and other components of the MD. When the canvas message arrives, the canvas controller 311 (FIG. 17B) can receive the interrupt and can maintain the current frame buffer 307 (FIG. 17B) and the previous frame buffer 309 (FIG. 17B). When the accelerometer and gyroscope data (sensor data 767 (FIG. 17A)) arrives from the processors A1/A2/B1/B2 43A-43D (FIG. 18C/18D), the canvas controller 311 (FIG. 17B) starts commit processing. Message 319 (FIG. 17B) may be sent to voting/commit processor 329 (FIG. 17C). The voting/commit processor 329 (FIG. 17C) is applied to the voting process, such as, but not limited to, motor data 775 (FIG. 17A) and IMU data 767 (FIG. 17A) 150 (FIGS. 21B/21C). A commit message 331 (FIG. 17C) may be sent, which may include the result of the voting process in FIG. 17, and a controller process start message 333 (FIG. 17C) may be sent to the controller process task 325 (FIG. 17C). The controller processing task 325 (FIG. 17C) can calculate an estimate based at least on the received IMU data 767 (FIG. 17A) and motor data 775 (FIG. 17A), at least Based on MD traction (traction control processor 762 (FIG. 17A)), speed (speed processor 755 (FIG. 17A), adaptive speed control processor 759 (FIG. 17A)), and stabilization (active stabilization processor 763 ( 17A)) can be managed and a motor related message 335 can be sent. If the canvas controller 311 (FIG. 17B) does not receive a message from the processor A1/A2/B1/B2 43A-D (FIGS. 18C/18D) within a timeout period such as, but not limited to, 5 ms, timer interrupt. When the inspection request processor 301 (FIG. 17B) expires, the commit backup timer 317 may start the commit process by sending a commit process start message 319 (FIG. 17B) to the commit process task 329 (FIG. 17C). (FIG. 17B) can be started. When the timer expires, the timer interruption check request processor 301 (FIG. 17B) also sends a main loop start message 315 (FIG. 17B) to the main loop processor 321 (FIG. 17B) every 5 ms to control the motor drive unit. The motor message 303 (FIG. 17B) to 305 (FIG. 17B) can be updated and the main loop processor 321 (FIG. 17B) can capture sensor data and data from the user controller 130 (FIG. 16A). .. When the main loop processor 321 (FIG. 17B) is executing on the master of the processors A1/A2/B1/B2 43A-D (FIGS. 18C/18D), the main loop processor 321 (FIG. 17B) is a canvas 53A/ The synchronization message 313 (FIG. 17B) can be transmitted via B (FIG. 18B). The main loop processor 321 (FIG. 17B) can track timed activity across the underlying processor 21514A (FIG. 16A) and can also start other processes, the underlying output packet 323 (FIG. 17B). Communication can be enabled through.

Referring now primarily to FIGS. 18A-18D, a PBC board 50001 (FIG. 15G) includes, but is not limited to, at least one processor 43A-43D (FIGS. 18C/18D) and at least one motor driven processor 1050,19. , 21, 25, 27, 31, 33, 37 (FIG. 18C/18D) and at least one power supply controller (PSC) processor 11A/B (FIG. 18B). The PBC board 50001 (FIG. 15G) is operably coupled with the UC 130 (FIG. 18A) through, for example, without limitation, electronic communication means 53C and a protocol such as the canvas protocol. PBC board 50001 (FIG. 15G) can be operably coupled to at least one IMU and inertial system processors 1070, 23, 29, 35 (FIG. 18C/18D). UC 130 (FIG. 18A) may optionally be operably coupled with electronic devices such as, for example, without limitation, computers such as, but not limited to, tablets and personal computers, telephones, and light systems. UC 130 (FIG. 18A) can include, but is not limited to, at least one joystick and at least one display. The UC 130 (FIG. 18A) can include push buttons and toggles. UC 130 (FIG. 18A) may optionally be communicatively coupled to peripheral control module 1144 (FIG. 18A), sensor assistance module 1141 (FIG. 18A), and autonomous control module 1142/ 1143 (FIG. 18A). it can. Communication can be enabled by, for example, without limitation, canvas protocol and Ethernet protocol 271 (FIG. 18A).

With continued reference mainly to FIGS. 18A-18D, processor 39/41 (FIG. 18C/18D) is wheel motor processor 85/87/91/93 (FIG. 18C/18D), cluster motor processor 1050/27 (FIG. 18C/18D), and commands to the seat motor processor 45/47 (FIGS. 18C/18D). Processor 39/41 (FIGS. 18C/18D) may receive joystick, seat height, and frame tilt commands from UC 130 (FIG. 12A). Software that may enable the UC 130 (FIG. 12A) can perform user interface processing, including display processing, and can communicate with external product interfaces. Software that may enable the PSC 11A/B (FIG. 18B) can read information from the battery 70001 (FIG. 1E) via a bus such as, but not limited to, an I2C bus or SM bus, and the UC 130. The information can be sent on canvas 53A/53B (FIG. 18B) for interpretation (FIG. 12A). Bootcode software running on processor 39/41 (FIGS. 18C/18D) can initialize the system and provide the ability to update application software. The external application can execute on a processor such as, but not limited to, a personal computer, a mobile phone, and a mainframe computer. The external application can communicate with the MD and support, for example, configuration and development. For example, the product interface is an external application that can be used, for example, by maintenance personnel, manufacturers, and clinicians to configure and service the MD. The engineering interface may be used, for example, by the manufacturer to communicate with the UC 130 (FIG. 12A), processors 39/41 (FIGS. 18C/18D), and PSC 11A/B (FIG. 18B) when operating the MD. It is an external application. The software installer can be used, for example, by manufacturers and maintenance personnel to install software on the UC 130 (FIG. 12A), the processor 39/41 (FIG. 18C/18D), and the PSC 11A/B (FIG. 18B). It is an external application.

With continued reference primarily to FIGS. 18C-18D, in some configurations, each at least one processor 43A-43D (FIGS. 18C/18D) includes, but is not limited to, at least one cluster motor driven processor 1050, 27. (FIGS. 18C/18D), at least one right wheel motor drive processor 19, 31 (FIG. 18C), at least one left wheel motor drive processor 21, 33 (FIGS. 18C/18D), at least one seat motor drive processor 25, 37 (FIG. 18C/18D) and at least one inertial sensor pack processor 1070, 23, 29, 35 (FIG. 18C/18D). The at least one processor 43A-43D further includes at least one cluster brake processor 57/69 (FIG. 18C/18D), at least one cluster motor processor 83/89 (FIG. 18C/18D), and at least one right wheel brake. Processor 59/73 (FIG. 18C/18D), at least one left wheel brake processor 63/77 (FIG. 18C/18D), at least one right wheel motor processor 85/91 (FIG. 18C/18D), and at least one Left wheel motor processor 87/93 (FIG. 18C/18D), at least one seat motor processor 45/47 (FIG. 18C/18D), at least one seat brake processor 65/79 (FIG. 18C/18D), and at least one It may include one cluster position sensor processor 55/71 (Fig. 18C/18D) and at least one manual brake release processor 61/75 (Fig. 18C/18D). Processors 43A-43D can be used to drive cluster assembly 21100 (FIG. 6A) of the wheel forming ground contact module. The ground contact module may be mounted on the cluster assembly 21100 (FIG. 6A), with each wheel of the ground contact module having a right wheel motor drive processor A19 (FIG. 18C) or a redundant right wheel motor drive processor B31 (FIG. 18D). ) Commanded by a wheel motor drive. The cluster assembly 21100 (FIG. 6A) can rotate about the cluster axis, with rotation controlled by, for example, the cluster motor drive processor A1050 (FIG. 18C) or redundant cluster motor drive processor B27 (FIG. 18D). For example, without limitation, at least one cluster position sensor processor 55/71 (FIG. 18C/18D), at least one manual brake release sensor processor 61/75 (FIG. 18C/18D), at least one motor current sensor processor ( (Not shown), and at least one of the sensor processors, such as at least one inertial sensor pack processor 17, 23, 29, 35 (FIGS. 18C/18D), transmits data transmitted from sensors residing on the MD Can be processed. Processors 43A-43D (FIGS. 18C/18D) can be operably coupled to UC 130 (FIG. 18A) to receive user input. Communication 53A-53C (FIG. 18B) between UC 130 (FIG. 18A), PSC 11A/11B (FIG. 18B), and processors 43A-43D (FIG. 18C/18D) may be any protocol, including, but not limited to, a canvas protocol. Can follow. At least one VBus 95/97 (FIG. 18B) connects at least one PSC11A/B (FIG. 18B) to a PBC board through processors 43A-43D (FIGS. 18C/18D) and an external VBus 107 (FIG. 18B). It can be operably coupled to components external to 50001 (FIG. 15G). In some configurations, processor A143A (FIG. 18C) may be the master of canvas A53A (FIG. 18B). The slaves on canvas A53A (FIG. 18B) can be processor A243B (FIG. 18C), processor B143C (FIG. 18D), and processor B243D (FIG. 18D). In some configurations, processor B143C (FIG. 18D) may be the master of canvas B53B (FIG. 18B). The slaves on canvas B53B (FIG. 18B) can be processor B243C (FIG. 18D), processor A143A (FIG. 18C), and processor A243B (FIG. 18C). In some configurations, UC 130 (FIG. 18A) may be the master of canvas C53C (FIG. 18B). The slaves on canvas C53C (FIG. 18B) can be PSC11A/B (FIG. 18B) and processors A1/A2/B1/B2 43A/B/C/D (FIG. 18C/18D). The master node (either processor 43A-43D (FIG. 18C/18D) or UC 130 (FIG. 18A)) can send data to, or request data from, the slave.

Referring primarily to FIGS. 18C/18D, in some configurations, the base controller board 50001 (FIG. 15G) may control the cluster 21100 (FIG. 6A) and rotate the drive wheels 21201 (FIG. 7B), a redundant processor. The set A/B 39/41 may be included. The right/left wheel motor drive processor A/B 19/21, 31/33 drives the right/left wheel motor A/B 85/87/91/93 which drives the right and left wheels 21201 (FIG. 7B) of the MD. You can Wheels 21201 (FIG. 7B) can be combined and driven together. Turning can be accomplished by driving left wheel motor processor A/B 87/93 and right wheel motor processor A/B 85/91 at different speeds. The cluster motor drive processor A/B 1050/27 can drive the cluster motor processor A/B 83/89, which can rotate the wheel base in the forward/rearward direction, which is the front wheel 21201 (Fig. 6A) can allow the MD to remain horizontal while 6A) is higher or lower than the rear wheel 21201 (FIG. 6A). The cluster motor processor A/B 83/89 can keep the MD horizontal when raising and lowering the curb and can repeatedly rotate the wheel base to raise and lower stairs. The seat motor drive processor A/B 25/37 can drive a seat motor processor A/B 45/47, which can raise and lower a seat (not shown).

Continuing with reference to FIGS. 18C/18D, the cluster position sensor processor A/B 55/71 may receive data from the cluster position sensor, which may indicate the position of the cluster 21100 (FIG. 3). Data from the cluster position sensor and the seat position sensor can be communicated between processors 43A-43D and used by processor set A/B 39/41, eg, right wheel motor driven processor A/B 19/31, cluster The information to be sent to the motor drive processor A/B 15/27 and the seat motor drive processor A/B 25/37 can be determined. Independent control of the cluster 21100 (FIG. 3) and drive wheels 21201 (FIG. 7B) allows the MD to operate in several modes, thereby allowing the user or processor 43A-43D to respond to local terrain, for example. It is then possible to switch between modes.

Continuing still with reference to FIGS. 18C/18D, the inertial sensor pack processors 1070, 23, 29, 35 may receive data, which may be indicative of, for example, without limitation, the orientation of the MD. Each inertial sensor pack processor 1070, 23, 29, 35 can process data from, for example, without limitation, accelerometers and gyroscopes. In some configurations, each inertial sensor pack processor 1070, 23, 29, 35 is capable of processing information from four sets of 3-axis accelerometers and 3-axis gyroscopes. Accelerometer and gyroscope data can be fused and produced so that gravity vectors can be used to calculate MD orientation and inertial rotation rates. The fused data can be shared across processors 43A-43D and can comply with threshold criteria. Threshold criteria can be used to improve accuracy of device orientation and inertial rotation rates. For example, merged data from some processors 43A-43D that exceed some threshold may be discarded. The fused data from each of the pre-selected limits 43A-43D can be averaged or processed, for example, without limitation, in any other form. The inertial sensor pack processor 1070, 23, 29, 35 may be, for example, a STmicroelectronics LSM330DLC, or any sensor that provides a 3D digital accelerometer and 3D digital gyroscope, or any sensor that may also measure gravity and body velocity. The data from the sensors can be processed. The sensor data may be processed, for example but not limited to, filtering to improve control of the MD. The cluster position sensor processor A/B 55/71, the seat position sensor processor A/B 67/81, and the manual brake release sensor processor A/B 61/75 can process hall sensor data, but is not limited thereto. The processor 39/41 can manage the storage of user-specific information.

Referring now primarily to FIG. 19A, at least one inertial sensor pack processor 17, 23, 29, 35 (FIGS. 18C/18D) processes sensor information from IMU 608 (FIG. 15D) through IMU filter 9753. You can The state estimator can estimate the dynamic state of the MD with respect to the inertial coordinate system from the sensor information measured in the body coordinate system, ie with respect to the coordinate system associated with the MD. The estimation process involves associating the inertial coordinate system with the acceleration and velocity measurements made by the IMU board 50003 (FIG. 15B) on the on-board axis system (body coordinate system) to generate a dynamic state estimate. be able to. The dynamic state relating the body and inertial coordinate frames can be described using Euler angles and velocities, which are calculated from estimates of the Earth's gravitational field vector. The gyroscope can provide velocity measurements for its onboard reference frame. The pitch Euler angle 9147 and the roll Euler angle 9149 can be estimated as follows.

式中、

は、重力速度ベクトルであって、

は、フィルタ処理された重力ベクトルであって、Ω_ｆは、本体速度ベクトルである。 Mapping the velocity from the reference body coordinate frame to the reference inertial coordinate frame can include evaluating a kinematic equation of rotation of the vector.

In the formula,

Is the gravity velocity vector,

Is the filtered gravity vector and Ω _f is the body velocity vector.

は、重力ベクトル推定値を提供する。予測される重力速度推定値は、以下のようになる。

式中、

は、予測される重力速度である。 When integrated over time,

Provides a gravity vector estimate. The predicted gravity velocity estimate is:

In the formula,

Is the predicted gravity velocity.

式中、

は、重力速度誤差であって、Ω_ｅは、本体速度誤差であって、これは、以下と等価である。

式中、

は、フィルタ処理された重力ベクトル９１２５の成分であって、

は、フィルタ処理された本体速度誤差９１５７の成分であって、

は、フィルタ処理された重力速度誤差９１２９の成分である。予測される重力速度は、以下のように算出されることができる。

または

上記の行列と結合されると、これは、Ａｘ＝ｂ形式で見られ得る、行列をもたらす。

本体速度誤差９１５７を解法するために、「Ａ」行列の擬似逆行列が、以下のように算出されることができる。

「Ａ」行列で乗算された転置「Ａ」行列は、以下の行列をもたらす。

Backmapping the velocity of inertia to the body coordinate frame to integrate the error and compensate for the gyroscope bias can be accomplished as follows.

In the formula,

Is the gravity velocity error and Ω _e is the body velocity error, which is equivalent to

In the formula,

Is the component of the filtered gravity vector 9125,

Is the component of the filtered body speed error 9157,

Is the filtered component of the gravity velocity error 9129. The predicted gravity velocity can be calculated as follows.

Or

Combined with the above matrix, this results in a matrix that can be seen in the form Ax=b.

To solve the body velocity error 9157, the pseudo-inverse of the "A" matrix can be calculated as follows.

The transposed "A" matrix multiplied by the "A" matrix yields the following matrix:

式中、

は、予測される重力速度９１１９と右／左輪モータから受信されたデータから導出される車輪速度との間の差異である。結果として生じる行列は、以下の恒等式として記述されることができる。

フィルタ処理された重力ベクトル９１２５は、オイラーピッチ９１４７およびオイラーロール９１４９に変換されることができる。
オイラー角：
θ（ピッチ）＝−ａｓｉｎ（Ｇ_ｆｙ）
φ（ロール）＝−ａｔａｎ（Ｇ_ｆｘ／Ｇ_ｆｚ）
フィルタ処理された本体速度は、オイラーピッチ速度９１５３およびオイラーロール速度９１５５に変換されることができる。
ピッチ速度：

ロール速度：

ヨー速度：

Since the filtered gravity vector 9125 is a unit vector, the above matrix is simplified to a 3×3 unit matrix, and its inverse matrix is also a 3×3 unit matrix. Therefore, the pseudo-inverse solution of the Ax=b problem is summarized below.

In the formula,

Is the difference between the predicted gravity velocity 9119 and the wheel velocity derived from the data received from the right/left wheel motor. The resulting matrix can be written as the following identity:

The filtered gravity vector 9125 can be converted to Euler pitch 9147 and Euler roll 9149.
Euler angle:
θ (pitch)=−asin(G _fy )
φ (roll)=-atan( _Gfx / _Gfz )
The filtered body speed can be converted to Euler pitch speed 9153 and Euler roll speed 9155.
Pitch speed:

Roll speed:

Yaw speed:

With continued reference to FIG. 19A, IMU filter 9753 can filter gravity vector 9125, which can represent the inertial z-axis. The IMU filter 9753 can provide a two-dimensional inertial reference in three-dimensional space. Measured body speed 9113 (eg, measured from a gyroscope, which may be part of an inertial sensor pack), filtered gravity vector 9127 calculated based on accelerometer data, and differential wheel speed 9139. The left and right wheels 21201 (FIG. 1A) (which may be calculated from the data received from the right/left wheel motor drive) may be input to the IMU filter 9753. IMU filter 9753 can calculate pitch 9147, roll 9149, yaw speed 9151, pitch speed 9153, and roll speed 9155, which is used, for example, to calculate wheel command 769 (FIG. 21A). .. The filtered output (G) and the measured input (G _meas ) are compared to determine the error along with a comparison of the predicted gravity velocity and the differential wheel velocity. The error is fed back to the speed measurement to compensate for the speed sensor bias. The filtered gravity vector 9125 and the filtered body velocity 9115 can be used to calculate pitch 9147, roll 9149, yaw velocity 9151, pitch velocity 9153, and roll velocity 9155.

式中

は、測定された重力速度ベクトルであって、

は、フィルタ処理された重力ベクトルであって、ωは、フィルタ処理された本体速度ベクトルである。

式中、

は、予測される速度である。

式中、

は、予測される速度誤差であって、

は、微分車輪速度である。

式中、

は、フィルタ処理された重力速度であって、

は、測定された重力速度ベクトルであって、Ｋ１は、利得であって、

は、重力誤差ベクトルである。

式中、G_mは、加速度計読取値から測定された重力ベクトルである。

式中、

は、本体速度誤差ベクトルであって、

は、重力速度誤差ベクトルである。

式中、

は、積分された本体速度誤差ベクトルであって、Ｋ２９１３３（図１９Ａ）は、利得である。

式中、ω_ｍは、測定された本体速度ベクトルである。

Referring now to FIG. 19B, a method 9250 for processing data using IMU filter 9753 (FIG. 19A) includes, but is not limited to, subtracting the gyroscope bias from the gyroscope reading 9251 to remove the offset. Can be included. The method 9250 further includes a gravity velocity vector 9143 (FIG. 19A) and an estimated gravity velocity estimate based at least on the filtered body velocity 9115 (FIG. 19A) and the filtered gravity vector 9125 (FIG. 19A). A step of calculating 9255 (FIG. 19A) may be included. The method 9250 still further subtracts 9257 the product of the gain K1 and the gravity vector error from the gravity velocity vector 9117 (FIG. 19A) and integrates the filtered gravity velocity 9143 (FIG. 19A) over time 9259 and filters. The step of determining the gravitational force vector 9125 (FIG. 19A) can be included. The gravity vector error 9129 (FIG. 19A) can be based at least on the filtered gravity vector 9125 (FIG. 19A) and the measured gravity vector 9127 (FIG. 19A). The method 9250 further includes pitch velocity 9153 (FIG. 19A), roll velocity 9155 (FIG. 19A), yaw based on the filtered gravity velocity vector 9125 (FIG. 19A) and the filtered body velocity 9115 (FIG. 19A). Calculating speed 9151 (FIG. 19A), pitch, and roll 9261 can be included. The gyroscope bias 9141 (FIG. 19A) subtracts the differential wheel speed 9139 (FIG. 19A) between the wheels 21201 (FIG. 1A) from the predicted gravity speed estimated value 9119 (FIG. 19A), and the predicted speed error 9137 ( 19A) can be calculated. Further, a cross product of the gravity vector error 9129 (FIG. 19A) and the filtered gravity vector 9125 (FIG. 19A) is calculated and the predicted gravity velocity error of the filtered gravity vector 9125 (FIG. 19A) is predicted. It can be added to the dot product of 9137 (FIG. 19A) to obtain the body speed error 9157 (FIG. 19A). Method 9250 is based on applying gain K29133 (FIG. 19A) to integral 9135 (FIG. 19A) of body velocity error 9157 (FIG. 19A) over time to determine the gyroscope bias to be subtracted in step 9251. The step of calculating the bias 9141 (FIG. 19A) can be included. The equations that describe method 9250 are:

In the ceremony

Is the measured gravity velocity vector,

Is the filtered gravity vector and ω is the filtered body velocity vector.

In the formula,

Is the expected speed.

In the formula,

Is the predicted velocity error,

Is the differential wheel speed.

In the formula,

Is the filtered gravity velocity,

Is the measured gravity velocity vector, K1 is the gain,

Is the gravity error vector.

Where G _m is the gravity vector measured from the accelerometer readings.

In the formula,

Is the body velocity error vector,

Is the gravity velocity error vector.

In the formula,

Is the integrated body velocity error vector and K29133 (FIG. 19A) is the gain.

Where ω _m is the measured body velocity vector.

式中、Ｖ_ｄＬＮは、中性点への直流電圧ラインであって、
ω_ｅは、電気速度であって、
Ｌ_ＬＮは、中性点への巻線インダクタンスラインであって、
Ｉ_ｑは、直交電流であって、
Ｉ_ｄは、直流電流であって、
Ｒ_ＬＮは、中性点接地抵抗であって、
Ｖ_ｑＬＮは、中性点への直交電圧ラインであって、
Ｋ_ｅＬＮは、中性点への逆ＥＭＦラインであって、
ω_ｍは、機械的速度であって、
ブラシレスモータ駆動部の通常磁界方向制御下、Ｉ_ｄは、ゼロに調整され、以下となる。

磁界方向制御スキームにおいて弱め界磁を実装するために、項ω_ｅＬ_ＬＮＩ_ｑは、直流電流コントローラに非ゼロ電流コマンドを与え、より高いモータ速度および減少トルク能力をもたらすことによって増加加され得る。 Referring to FIG. 20, the field weakening may optionally cause the motor to run temporarily faster, at any time, for example, when an unexpected situation occurs. The electrical system equation of motion for the motor in the rotating frame of reference is

_Where V _dLN is the DC voltage line to the neutral point,
ω _e is the electric velocity,
L _LN is a winding inductance line to the neutral point,
I _q is a quadrature current,
I _d is a direct current,
R _LN is a neutral point ground resistance,
V _qLN is a quadrature voltage line to the neutral point,
K _eLN is the back EMF line to the neutral point,
ω _m is the mechanical velocity,
Under normal magnetic field direction control of the brushless motor drive, I _d is adjusted to zero and becomes:

To implement field weakening in a magnetic field steering scheme, the term ω _e L _LN I _q can be augmented by providing a non-zero current command to the DC current controller, resulting in higher motor speed and reduced torque capability. ..

であって、式中、Ｖ_ｂｕｓは、バス電圧である。直交コマンド電圧が増加するにつれて、モータ駆動電圧コントローラは、デューティサイクルがコマンド電圧と等しいその最大かつ逆ＥＭＦ電圧に到達するまで、デューティサイクルを増加させ、コマンドされた入力を整合させる。直流電流が、ゼロに調整されると、弱め界磁を伴わない通常モータ制御条件下、以下となる。

式中、Ｖ_{ｃｏｍｍａｎｄ}は、基盤からコマンドされた電圧である。
弱め界磁条件下、方程式（２）における最終項は、非ゼロであって、以下をもたらす。

直交電圧が、バスにおいて飽和すると、直接軸電流は、非ゼロ値にコマンドされ、モータ速度を増加させ、基盤車輪速度コントローラによって被られるようなモータに対するより高い電圧コマンドをエミュレートすることができる。方程式（６）の直流電流成分を隔離することによって、直流電流コマンドは、以下のように算出され得る。

速度コントローラは、事実上、より高い速度をモータにコマンドすることができ、モータは、より大きい電圧を受信するかのように挙動することができる。 With continued reference to FIG. 20, the field weakening in the reference rotating frame can be implemented as follows. In the conventional drive without field weakening, the maximum command voltage is

_Where V _bus is the bus voltage. As the quadrature command voltage increases, the motor drive voltage controller increases the duty cycle and matches the commanded inputs until it reaches its maximum and back EMF voltage where the duty cycle equals the command voltage. When the DC current is adjusted to zero, under normal motor control conditions without field weakening:

_Where V _command is the voltage commanded from the _board .
Under field-weakening conditions, the last term in equation (2) is non-zero, yielding

When the quadrature voltage saturates on the bus, the direct shaft current can be commanded to a non-zero value to increase the motor speed and emulate a higher voltage command to the motor as experienced by the base wheel speed controller. By isolating the DC component of equation (6), the DC command can be calculated as follows.

The speed controller can effectively command a higher speed to the motor, and the motor can behave as if it were receiving a higher voltage.

直流電流コントローラは、直流電流を調整するとき、優先順位を有し、残余を直交コントローラに残し、後続限界をプロセッサＡ／Ｂ３９／４１（図１８Ｃ／１８Ｄ）に報告することができる。 Continuing to refer to FIG. 20, in some configurations, the addition of about 25 amps of direct current approximately doubles the maximum speed of a motor, for example when unexpected regulation is required, and is relatively high. Can enable relatively fast bursts and relatively short bursts. The current and voltage command limits can be calculated as follows.

The DC current controller has priority when adjusting the DC current, leaving the residue in the quadrature controller and reporting the trailing limit to processor A/B 39/41 (FIGS. 18C/18D).

に基づいて、電圧限界Ｖ_ｌｉｍを算出するステップとを含むことができる。方法１０１６０は、全体的電流限界および前の測定からコマンドされた直流電流に基づいて、クワッド電圧コントローラ電流限界を設定１０１６３するステップを含むことができる。方法１０１６０はさらに、直流電流コマンドを算出１０１６５するステップと、全体的電流限界Ｉ_ｌｉｍを制限するステップと、コマンドされた直流電圧Ｖ_{ｄＬＮＣｏｍｍａｎｄｅｄ}を算出するステップとを含むことができる。方法１０１６０は、全体的電圧限界および直流電流コントローラからコマンドされた直流電圧に基づいて、クワッド電圧コントローラ電流限界を設定１０１６７するステップを含むことができる。 With continued reference to FIG. 20, a method 10160 for calculating command voltage limits and current limits includes, but is not limited to, calculating 10161 an overall current limit I _lim based on FET temperature and measured. Bus voltage,

Calculating the voltage limit V _lim based on Method 10160 can include setting 10163 a quad voltage controller current limit based on the overall current limit and the direct current commanded from a previous measurement. Method 10160 may further include calculating 10165 a DC current command, limiting an overall current limit I _lim , and calculating a _commanded DC voltage V _dLNCommanded . Method 10160 may include setting 10167 a quad voltage controller current limit based on the overall voltage limit and the DC voltage commanded by the DC current controller.

において飽和すると、報告される。弱め界磁が使用されると、モータ駆動部は、直交電圧が飽和すると、直流電流を注入し、モータ速度を増加させる。直流電流コントローラは、コマンドされた電圧が直交電圧をコマンドするバスの能力を超えるときのみ、直流電流コマンドを算出する。そうでなければ、直流電流は、ゼロに調整され、効率を維持する。したがって、電圧飽和は、従来の駆動部のように、直交電圧がバス電圧限界において飽和するときではなく、直流電流コントローラが直流電流コマンドを最大値に調整しようとするときに報告されることができる。従来のモータ駆動部では、電流飽和は、電圧コントローラからの電流コマンドが、熱によって別様に限定されない限り、最大電流、例えば、限定ではないが、３５アンペアにおいて飽和すると、報告される。しかしながら、電圧コントローラの電流コマンドは、最大直交電圧コマンドがバス限界に到達すると、飽和する。これが、弱め界磁にも当てはまる場合、電圧コントローラは、実際の直交電流にかかわらず、電流飽和を報告するであろう。したがって、直交電圧コントローラが、最大電流コマンドを発しており、直交電流コントローラが、電圧ヘッドルームを使い果たしていない場合、最大電流に到達している。直交電流コントローラが、電圧ヘッドルームを使い果たしている場合、直交電流コントローラは、最大電流を生成することは不可能であって、電流限界は、到達していない。 Continuing to refer to FIG. 20, in the conventional motor driver, voltage saturation is caused by the voltage command from the current controller being the bus voltage limit.

Is reported to be saturated at. When field weakening is used, the motor driver injects a direct current to increase the motor speed when the quadrature voltage saturates. The DC controller calculates the DC command only when the commanded voltage exceeds the bus's ability to command the quadrature voltage. Otherwise, the DC current is adjusted to zero to maintain efficiency. Therefore, voltage saturation can be reported when the dc controller attempts to adjust the dc command to the maximum value, rather than when the quadrature voltage saturates at the bus voltage limit, as in conventional drives. .. In conventional motor drives, current saturation is reported to be saturated at the maximum current, eg, but not limited to 35 amps, unless the current command from the voltage controller is otherwise limited by heat. However, the voltage controller current command saturates when the maximum quadrature voltage command reaches the bus limit. If this also applies to field weakening, the voltage controller will report current saturation regardless of the actual quadrature current. Therefore, if the quadrature voltage controller is issuing the maximum current command and the quadrature current controller is not running out of voltage headroom, the maximum current is reached. If the quadrature current controller runs out of voltage headroom, the quadrature current controller cannot produce the maximum current and the current limit has not been reached.

Referring now primarily to FIG. 21A, the MD may include, but is not limited to, redundant subsystems to enable failsafe operation, thereby allowing, for example, data associated with each subsystem. And a comparison of the data associated with the remaining subsystems allows the fault to be detected. Fault detection in redundant subsystems can create fault-tolerant functionality, and the MD can fail one subsystem until the MD can be brought into safe mode without jeopardizing the user. If found, operation can continue based on the information provided by the remaining non-faulty subsystems. If a failed subsystem is detected, the remaining subsystems may be required to match within pre-defined limits in order to continue operation, and the operation may be inconsistent between the remaining subsystems. If, then it can be terminated. Voting processor 329 may include, but is not limited to, at least one method to determine a value for use from a redundant subsystem, and in some configurations voting processor 329 may include different types of data, such as , But not limited to, the calculated command data and inertial measurement unit data can be managed in different ways.

With continued reference primarily to FIG. 21A, the voting processor 329 may include, but is not limited to, a primary voting processor 873, a secondary voting processor 871, and a tertiary voting processor 875. Primary voting processor 873 includes, but is not limited to, sensor data 767 or command data 767A (referred to herein as processor value) from each processor A1/A2/B1/B2 43A-43D (FIGS. 18C/18D). ) Can be included in the computer instructions. Primary voting processor 873 may further include computer instructions for calculating an absolute difference between each processor value and the average value, discarding the highest absolute difference, and leaving the three remaining processor values. The secondary voting processor 871 calculates, but is not limited to, the difference between the remaining processor values and each other, compares the difference with a preselected threshold, and determines which processor value has the highest difference between them. Compare the remaining values, vote the processor value with the highest difference out of the remaining values, compare the excluded values with the remaining values, and, if applicable, exceed the preselected threshold Can be voted out and include computer instructions for selecting the remaining processor value or the average of the processor values, for example, depending on the type of data the processor value represents. The tertiary voting processor 875 compares, but is not limited to, the discarded value with the remaining value if there is no difference above the preselected threshold, and there is any difference above the preselected threshold. Computer instructions for voting out discarded values and selecting one of the remaining processor values or the average of the remaining processor values, for example, depending on the type of data the processor value represents. Can be included. Third-order voting processor 875 may also include computer instructions for selecting a remaining processor value or an average of remaining processor values if there is no difference above a preselected threshold. It is also possible that the discarded values are not voted out and all processor values remain selected or averaged. The tertiary voting processor 875 still further raises an alarm if the processor value is excluded in the vote a preselected number of times, and if the voting scheme fails to find a processor value that meets the selection criteria, the frame Computer instructions can be included to increment the counter. The tertiary voting processor 875 also discards frames containing processor values, where the voting scheme fails to find a processor value that meets the selection criteria if the frame counter does not exceed a preselected number of frames, Computer instructions may be included for selecting the last frame with at least one processor value that may be used. Tertiary voting processor 875 may also include computer instructions to put the MD into failsafe mode if the frame counter exceeds a preselected number of frames.

Referring now to FIGS. 21B and 21C, a method 150 for resolving values for use from redundant processors, referred to herein as “voting,” includes but is not limited to initializing a counter. 149 and averaging 151 values from each processor 43A-43D (FIG. 21A), such as, but not limited to, sensor or command values (referred to herein as processor values). The steps may include calculating 153 the absolute difference between the processor value and the average value, and discarding the highest difference. Method 150 may further include calculating 155 the difference between the remaining processor values and each other. At 157, if there are any differences above the preselected threshold, the method 150 compares 167 the value with the highest difference between them and the remaining values, and leaves the value with the highest difference. From the value of 169 by vote, comparing 171 the value excluded by vote with the remaining value, and 173 by voting 173 any difference above a preselected threshold, and the remaining processor value Or selecting one of the averages of the processor values. For example, if the processor values from processors A1 43A (FIG. 21A), B1 43C (FIG. 21A), and B2 43D (FIG. 21A) remain, the processor values (or the average of the processor values) from any of the remaining processors. Can be selected. At 157, if there is no difference above the preselected threshold, then the method 150 may compare 159 the value excluded in the vote with the remaining value. At 161, if there is any difference above the preselected threshold, then the method 150 votes 163 the vote excluded values in the compare 159 step and the remaining processor values or remaining processors. Selecting one of the mean values of the values. At 161, if there is no difference above the preselected threshold, then the method 150 may include selecting 165 one of the remaining processor values or an average of the remaining processor values. At 185, if the processor value is voted out a preselected number of times, method 150 may include raising an alarm 187. At 175, if the voting scheme fails to find a processor value that meets the selection criteria, then method 150 may include incrementing 177 a counter. At 179, if the counter does not exceed the preselected number, the method 150 discards the frame that has no remaining processor values and the previous frame that has at least one processor value that meets the selection criteria. Selecting 181. At 179, if the frame counter exceeds a preselected number, method 150 may include transitioning 183 the MD into failsafe mode.

Referring now primarily to FIG. 21D, a voting embodiment 1519 can include a first calculation 521 and the processor values for processors A1-B2 43A-43D (FIG. 21A) are averaged. And can be compared to the calculated average value. In the processor with the largest difference from the mean, Example 1 519, processor A1 43A (FIG. 21A) can be discarded. The processor value from processor B2 43D (FIG. 21A) may instead be discarded. The second calculation 523 can include a comparison between the processor values of the remaining three processors A2/B1/B243B-43D (FIG. 21A). The comparison can be made between the discarded processor values of processor A143A (FIG. 21A) and the processor values of the three remaining processors A2/B1/B2 43B-43D (FIG. 21A). In Example 1 519, none of the differences exceed the exemplary threshold 15. The voting result from Example 1 519 is that any of the processor values from processors A1/A2/B1/B2 43A-43D (FIG. 21A) can be selected.

Referring now primarily to FIG. 21E, Voting Example 2 501 can include a first calculation 507 and the processor values for processors A1-B2 43A-43D (FIG. 21A) are averaged. And can be compared to the calculated average value. In the processor with the largest difference from the mean, Example 2 501, processor A1 43A (FIG. 21A) is discarded. The second calculation 509 can include a comparison between the processor values of the remaining three processors A2/B1/B243B-43D (FIG. 21A). In Example 2 501, none of the differences exceed the exemplary threshold 15. The comparison can be made between the processor values of the discarded processor A1 43A (FIG. 21A) and the three processor values of the remaining processors A2/B1/B243B-43D (FIG. 21A). Example 2 In 501, one of the differences is processor A1 43A (FIG. 21A) and processor B2.
The difference between the processor values of 43D (FIG. 21A) exceeds the exemplary threshold of 15. Processor values from discarded processor A1 43A (FIG. 21A) may be voted out because one difference exceeds an exemplary threshold. Voting results from Example 2 501 indicate that processor A1 43A (FIG. 21A) was excluded by voting, so processor A2/B1/B2
Any of the processor values from 43A-43D (FIG. 21A) can be selected.

Referring now primarily to FIG. 21F, Voting Example 3 503 can include a first calculation 511 and the processor values for processors A1-B2 43A-43D (FIG. 21A) are averaged. And can be compared to the calculated average value. In the processor with the largest difference from the mean, Example 3 503, processor A1 43A (FIG. 21A) is discarded. The second calculation 513 can include a comparison between the processor values of the remaining three processors A2/B1/B243B-43D (FIG. 21A). In Example 3 511, none of the differences exceed the exemplary threshold 15. The comparison can be made between the processor values of the discarded processor A1 43A (FIG. 21A) and the processor values of the three remaining processors A2/B1/B2 43B-43D (FIG. 21A). In Example 3 511, two of the differences, the difference between processor A1 43A (FIG. 21A) and processor B1/B2 43C/43D (FIG. 21A), exceed exemplary threshold 15. Processor values from discarded processor A1 43A (FIG. 21A) may be voted out because at least one difference exceeds an exemplary threshold.

With continued reference mainly to FIG. 21G, Voting Example 4 505 can include a first calculation 515 and the processor values for processors A1-B2 43A-43D (FIG. 21A) are averaged. Can be compared with the calculated average value. In the processor with the largest difference from the mean, Example 4 515, processor B2 43D (FIG. 21A) is discarded. The second calculation 517 may include a comparison between the processor values of the remaining three processors A1/A2/B143A-43C (FIG. 21A). In Example 4 505, the difference between the processor values of processors A1/B1 43A/C (FIG. 21A) exceeds the exemplary threshold of 15. The comparison can be made between the processor values of processor A1/B1 43A/C (FIG. 21A) and the remaining processors A243B (FIG. 21A). In Example 4 505, the difference between the processor values of the processors A1/A2 43A/B (FIG. 21A) is equal to the threshold value 15, thus the processor A1 of the two processors A1/B1 43A/C (FIG. 21A). 43A (FIG. 21A) can be discarded. The comparison can be made between the processor values of the discarded processors A1/B2 43A/43D (FIG. 21A) and the processor values of the two remaining processors A2/B1 43B-43C (FIG. 21A). In Example 4 505, one of the differences, the difference between the processor values of processor A1 43A (FIG. 21A) and processor A2 43B (FIG. 21A), does not exceed exemplary threshold 15. Therefore, processor values from processors A1 and B2 43A/D (FIG. 21A) can be voted out. Example 4 The voting result from 505 can be selected to be the processor value from either processor A2 43B (FIG. 21A) or B1 43C (FIG. 21A), and A2 43B (FIG. 21A) Selected at 4505.

22A, the MD can operate in several modes. In standard mode 100-1, the MD can operate on two drive wheels and two caster wheels. Standard mode 100-1 can provide turning performance and mobility on relatively solid horizontal surfaces (eg, indoor environments, sidewalks, paved roads). The seat tilt can be adjusted to provide pressure relief and tilt both the seat bottom and back. From standard mode 100-1, the user can transition to balanced mode 100-3 through four wheels 100-2, docking 100-5, stairs 100-4, and remote 100-6 modes, as well as other modes. .. The standard mode 100-1 is used when the surface is smooth and ease of swivel is important, such as, but not limited to, positioning the chair toward the desk, to and from other supports. It can be used when maneuvering for hauling, and riding around in the office or home. Population into standard 100-1, remote 100-6, and docking mode 100-5 can be based on the operating mode and cluster/wheel speed the MD is currently in. In extended mode or four-wheel mode 100-2, the MD can operate on four drive wheels and can be actively stabilized through on-board sensors to reduce main chassis, casters, and seating arrangements. Can be raised. The four-wheel mode 100-2 can provide the user with mobility in various environments and allow the user to climb steep uphill hills and travel over soft and stepped terrain. In four wheel mode 100-2, all four drive wheels can be deployed and the caster wheels can be retracted by rotating the MD. Driving four wheels and equalizing the weight distribution on the wheels allows the MD to climb steep hills and drive through many types of gravel, sand, snow and mud. You can Cluster rotation allows operation on stepped terrain and can maintain the center of gravity of the device across the wheels. The drive wheels can climb the curb and get over it. This functionality can provide the user with mobility in various outdoor environments. The seat height can be adjusted by the user to overcome obstacles and provide the necessary clearance along the tilt. The user can be directly trained to operate in 4-wheel mode for up to 10° tilt and stability can be tested up to 12° to demonstrate margin. The MD is stable and stable, but can also work on wet, outdoor surfaces.

With continued reference to FIG. 22A, frost heave and other natural phenomena can degrade outdoor surfaces and create cracks and relaxation materials. In four-wheel mode 100-2, the MD can operate on these degraded surfaces under preselected conditions. The four-wheel mode 100-2 can be available for selection by the user from, for example, standard 100-1, balanced 100-3, and stair 100-4 modes. The user may transition from the four-wheel mode 100-2 to each of these other modes. In the case of loss of stability in equilibrium mode 100-3 due to loss of traction or driving into an obstacle, the MD may attempt to perform an automatic transition to 4-wheel mode 100-2. Sensor data and user commands can be processed in a closed loop control system and the MD can react to pitch changes caused by terrain changes, external influences, and other factors. The four-wheel mode 100-2 can use both wheels and cluster motors to maintain stability. Crossing an obstacle can be a dynamic activity, where the user and MD potentially pitch back and forth as the wheels follow the terrain and the cluster motors compensate for the changing slope of the terrain. The four-wheel mode 100-2 can protect the user, coordinate the wheels and cluster motors, and keep the MD directly under the user, if desired. The four-wheel mode 100-2 can provide the user with the ability to traverse stepped terrain such as slopes, gravel, and curbs. The four-wheel mode 100-2 is an automatic transition from the equilibrium mode 100-3 and a normal transition from the stair mode 100-4 to the top when the two-wheel controller fails (due to loss of traction, collision, etc.). Can be used to bring The seat height can be adjustable between "cluster gap height" and maximum seat height. The frame tilt position can be set to an optimum position for active stabilization. The four-wheel mode 100-2 can coordinate the wheels and the cluster servo to actively stabilize the MD.

Continuing to refer to FIG. 22A, in balanced mode 100-3, the MD can operate on two drive wheels at elevated seat height and can be actively stabilized through onboard sensors. .. Balanced mode 100-3 can provide mobility at elevated seat heights. In balance mode 100-3, the MD can mimic human balance, i.e., the MD can operate on two wheels. The additional height is caused in part by rotating the cluster and placing a single pair of wheels directly under the user. Seat height may be adjusted by the user as well. Balance mode 100-3 can be requested from several modes, and balance mode 100-3 can be entered when the wheels and cluster motor are substantially stationary and the MD is horizontal. The calibration mode can be used to determine the user's center of gravity for a particular MD. In the calibration mode, the user can achieve equilibrium at the defined calibration points while the controller averages the MD pitch. The averaged value can be stored with the seat height and cluster position for use in calculating the user center of gravity (CG) fitting parameter. The CG fit parameter can be used to determine the MD/user centroid. In stair mode 100-4, the MD can use wheel clusters to climb stairs and be actively stabilized. The MD can move up and down stairs by rotating the cluster while the machine is at least partially balanced by the user or attendant. The user can control the movement of the cluster by offsetting the MD from the equilibrium point. If the MD is pitched forward, the cluster can rotate in a downward hoisting direction (the stairs can be hoisted with the user facing away from the stairs). Conversely, when the MD is pitched backwards, the cluster can rotate upwards and downwards. The user can balance the MD by applying a moderate force to the handrail, or alternatively, the assistant can use the attendant handle on the MD to balance the MD. .. Stair mode 100-4 may allow a user to climb stairs. If the MD begins to lose stability in the stair mode 100-4, the MD may be tipped backwards instead of tipped forward to provide a safety feature to the user.

With continued reference to FIG. 22A, in remote mode 100-6, the MD can operate on four drive wheels in the unloaded state. Remote mode 100-6 may provide the user with a method of operating the device when not seated therein. This mode is for transporting, parking the device after transporting (eg, after transporting to bed, the user can move the device out of the way), and to steer the device for other purposes. Can be useful. Remote mode 100-6 can be used in any environment where standard mode 100-1 can be used as well as on steep slopes. In remote mode 100-6, the MD can operate with the frame tilt reclined so that the casters can be raised above the ground using four drive wheels. The joystick 70007 (FIG. 12A) can be inactive unless the frame tilt is at the back detent. The back detent can be selected to provide sufficient caster clearance to climb forward on relatively steep uphills, such as 20° uphills. The UC 130 (FIG. 12A) can communicate remotely with the device, for example through a wireless interface, which can control the MD in remote mode 100-6. In the optional docking mode 100-5, the MD operates on four drive wheels and two caster wheels, thus allowing the main chassis to be lowered. The docking mode 100-5 may allow the user to steer the MD for engagement with the docking base. The docking mode 100-5 can operate in a configuration that can lower the docking attachment and engage the MD and the vehicle docking base. The docking mode 100-5 can be used in a motor vehicle, for example, configured with a docking base. Utility mode can be used to access various device features, configure the MD, or diagnose problems with the MD. Utility mode can be activated when the device is stationary and in standard mode 100-1.

Continuing to refer to FIG. 22A, the MD refers to the caster wheels 21001 (FIG. 7) being deployed, the four drive wheels 21201 (FIG. 1A) with the frame tilt reclining, or the seats. When adjusted during the transition, standard mode 100-1 can be entered. In standard mode 100-1, the MD can use inertial data to set tilt limits, seat height limits, speed, and acceleration to improve MD stability. If inertial data is not available, speed, acceleration, seat height, and tilt limits can take default values, which can be, but are not limited to, conservative estimates. In standard mode 100-1, active control may not be required to maintain the MD in the upright position. The MD can continue in standard mode 100-1 after the failure of one of the redundant systems. In some configurations, populating standard mode 100-1 may depend on the MD's current mode. In some configurations, the transfer to standard mode 100-1 may depend at least on cluster and wheel speed. When the MD is in the remote mode 100-6, the transfer to the standard mode 100-1 can be based on the movement of the MD and the position of the caster wheels 21001 (FIG. 7). In some configurations, populating standard mode 100-1 may be based on movement of the MD. In some configurations, populating the standard mode 100-1 may activate the seat controller and set the MD to sub-mode based on the MD's current mode. MD tilt and seat limits, joystick status, and cluster speed can be based on submodes. While in standard mode 100-1, the MD can receive and filter desired front/rear and yaw velocities, calculate cluster velocity, wheel and yaw position, and velocity error, if required. , The speed can be limited. While in standard mode 100-1, the MD applies wheels and cluster brakes when the MD is not moving, for example, power can be saved, wheel speed can be monitored, and joystick 70007( 12A) can be overridden. In some configurations, the MD may automatically adjust tilt limits and acceleration back if the data coming from the IMU50003 (FIG. 15C) is inaccurate. In some configurations, if the joystick command is in the reverse direction of the current speed, the brakes will be adjusted, going from the reverse command to the forward command, which can occur on the uphill and can cause stability problems. Any sudden changes in can be minimized.

With continued reference to FIG. 22A, in some configurations, there may be multiple machine statuses in standard mode 100-1, including, but not limited to, drive, recline, and transition. In the drive status, the caster wheels 21001 (FIG. 7) can touch the ground and the front drive wheels 21513 can be held away from the ground. In the reclining status, the caster wheels 21001 (FIG. 7) can be raised off the ground, the cluster can be moved by the user, and the joystick can be disabled. In the transition status, the MD can transit to the four-wheel mode 100-2. In some configurations, the transition may include phases such as tilting the frame backwards, raising/lowering the seat, accessing/terminating 4-wheel mode 100-2. In some configurations, the reclining angle limit for reclining status may be set to a cluster angle, which may correspond to, for example, but not limited to, a seat bottom angle reclined from about 6° from horizontal to a forward tilt limit. Can be based. In some configurations, the back frame tilt limit for normal mode 100-1 may be based on parameters related to center of gravity and cluster angle. Rear static stability can be based on the center of gravity for rear drive wheels 21201 (FIG. 1A). In some configurations, the posterior tilt limit may be set to a posterior static stability of, for example, less than 13° to provide stability margin, and there may be an absolute limit for the posterior tilt limit. In some configurations, additional aft frame tilt may be disallowed because the center of gravity location is outside the wheel drive wheel base, the tilt is excessive for operation in normal mode 100-1, or for other reasons. ..

Continuing to refer to FIG. 22A, in some configurations, the joystick 70007 (FIG. 12A) may have a caster wheel 21001 (FIG. 7), such as, but not limited to, due to frame tilt or seat height adjustment. , Standard mode 100-1 can be disabled if moving away from the advance. In some configurations, the joystick 70007 (FIG. 12A) is disabled whenever the wheel motor is hot and the desired wheel speed is in the same direction as the wheel command or the desired yaw speed is in the same direction as the yaw command. But can be enabled otherwise. The desired speed command can be obtained from the UC 130 (FIG. 12A). The desired speed command can be shaped to provide acceptable acceleration and braking speeds for front/rear speed control in standard mode 100-1. The filter can be used to shape the command into an acceptable trajectory. The corner frequency of the filter can vary depending on whether the MD is accelerating or braking. The corner frequency of the yaw filter can be reduced when the MD is slowly moving. In some configurations, the corner frequency is scaled when the wheel speed is less than a preselected value, such as, but not limited to, 1.5 m/sec, such as, but not limited to. You can In some configurations, the filter coefficients may be linearly scaled as the wheel speed decreases, the reduction being limited to a preselected value, such as, but not limited to, 25% of the original value. Can be done. Under some configurations and under certain conditions, when the MD is accelerating on a level ground, the filter corner frequency is set to a preselected value such as, but not limited to, 0.29 Hz. be able to. Under other conditions, for example, the MD may be at a slope up to a preselected value, such as, but not limited to, 5°, the acceleration may be reduced as a linear function of pitch. , The maximum corner frequency can be set to a preselected value such as, but not limited to, 0.29 Hz, and the minimum corner frequency can be set to a preselected value, such as, but not limited to, 0.15 Hz. Can be set to the selected value. In some configurations, the MD is at a slope, such as, but not limited to, 5°, for example, above a preselected value, and other conditions are met, such as, but not limited to, A preselected value of the minimum corner frequency, such as 0.15 Hz, can be used to reduce acceleration. The backward velocity is, for example, but not limited to, 0.35 m/sec, when the MD is at a preselected value, such as, but not limited to, a slope above 5°, and other conditions are met. Can be limited to preselected values such as In some configurations, the filter corner frequency may be set constant under some modes and/or when the MD is braking.

Referring now primarily to FIG. 22B, in some configurations, the MD may include, but is not limited to, standard mode 100-1, extended mode 100-2, balanced mode 100-3, stair mode 100-4, docking mode. 100-5, and at least one mode of operation may be supported, which may include remote mode 100-6. The inspection mode includes, but is not limited to, the restore mode 100-7, the fail-safe mode 100-9 (FIG. 22C), the update mode 100-10 (FIG. 22C), the self-test mode 100-13 (FIG. 22C), the calibration mode 100-. 8, power on mode 100-12 (FIG. 22C), and power off mode 100-11 (FIG. 22C). Mode descriptions and screen flows associated with the modes are described herein. For restore mode 100-7, the MD is one of a set of preselected modes such as, but not limited to, standard mode 100-1, docking mode 100-5, or remote mode 100-6. If not, the MD can enter the restore mode 100-7 and safely restore the MD to the drive position of the standard mode 100-1, for example. During the restore mode 100-7, the board controller 100 (FIG. 22D) is, for example, the seat motor drive A/B 25/37 (FIG. 18C/18D) and the cluster motor drive A/B 1050/27 (FIG. 18C/18D). Some components can be selected for activation, such as. Functionality can be limited to, for example, controlling the position of the seat and cluster 21100 (FIG. 6A). In calibration mode 100-8, the board controller 100 (FIG. 22D) receives data related to the center of gravity of the MD, for example, from the user controller 130 (FIG. 12A) and uses those data to update the center of gravity data. can do. Mode information can be provided to active controller 64A, which can provide mode information to mode controller 62A (FIG. 17A12).

22C and 22D, when the board controller 100 (FIG. 22D) determines that the board controller 100 (FIG. 22D) can no longer effectively operate the MD, the board controller 100 (FIG. 22D) sends the MD to the fail-safe mode 100. It is possible to transition to -9. In failsafe mode 100-9 (FIG. 22C), the board controller 100 (FIG. 22D) may stop at least some active activity and potentially protect against false or uncontrolled movements. The infrastructure controller 100 (FIG. 22D) transitions from the standard mode 100-1 (FIG. 22B) to the update mode 100-10 (FIG. 22C) and communicates with an application, such as, but not limited to, that can be executed outside the MD. Can be made possible. The board controller 100 (FIG. 22D) can transition to the self-test mode 100-13 (FIG. 22C) when the MD is first powered on. In the self-test mode 100-13 (FIG. 22C), the electronic devices in the board controller 100 (FIG. 22D) can perform self-diagnosis and can synchronize with each other. In some configurations, the board controller 100 (FIG. 22D) performs system self-tests, such as memory integrity verification tests and circuit invalidity tests, that are not readily testable during normal operation to ensure system integrity. Can be checked. While in self-test mode 100-13 (FIG. 22C), operational features can be disabled. The mode controller 62A (FIG. 17A12) can determine the requested mode, and can set the mode in which the MD can transit. In some configurations, the board controller 100 (FIG. 22D) can calibrate the center of gravity of the MD. The infrastructure controller 100 (FIG. 22D) can control task creation, eg, via controller task 325, and can control user notification, eg, via user notification task 165A.

Referring now to FIGS. 23A-23K, a first configuration of a process in which a user interfaces with an MD can include a workflow, which can be specifically user-friendly to a user with a disability. When the power button is selected on the UC 130 (FIG. 12A), the UC 130 (FIG. 12A) may display a start screen 1000 (FIG. 23A), such as, but not limited to, a splash screen. At 10001 (FIG. 23A), if the MD is in a restore mode, and at 10001A (FIG. 23F) under certain circumstances a restore occurs, the UC 130 (FIG. 12A) may specifically Graphic user interface (GUI) information can be displayed. In 10001 (FIG. 23A), if the MD is not in restore mode, the UC 130 (FIG. 12A) may display various icons, notification icons, for example, notification banner, current time, current mode, current speed, A home screen 1020 (FIG. 24A) may be displayed, which may include and battery status. If the user chooses to change the seat height, and in 10001C (FIG. 23B), the user can change the seat height in the current mode, the UC 130 (FIG. 12A) will display 10005A (FIG. 23B). ), a seat height change command can be sent to the processor A/B 39/41 (FIGS. 18C/18D). In 10001C (FIG. 23B), if the user cannot change the seat height in the current mode, UC 130 (FIG. 12A) can ignore the seat height change request in 10005B (FIG. 23B). The user can also choose to tilt/tilt the seat. At 10001D (FIG. 23B), if the user can tilt the seat in the current mode, UC 130 (FIG. 12A) can display a seat tilt icon at 10005D (FIG. 23B). In 10001D (FIG. 23B), if the user cannot tilt the seat in the current mode, UC 130 (FIG. 12A) can ignore the seat tilt request at 10005C (FIG. 23B). The user can move the UC input device, eg, joystick 70007 (FIG. 12A). In 10001E (FIG. 23C), if the move is a double tap forward or backward or a quick push and hold, UC 130 (FIG. 12A) can display transition screen 1040 (FIG. 24I). In some configurations, UC 130 (FIG. 12A) may, for example, balance mode 100-3 while the user is transitioning from/to balance mode 100-3 (FIG. 22B) to/from standard mode 100-1 (FIG. 22B). The icon associated with (FIG. 22B) and standard mode 100-1 (FIG. 22B) may be displayed. At 10001E (FIG. 23C), if the movement is not a double tap forward or backward, and at 10001F (FIG. 23C) if the movement is a single holding movement forward or backward, UC130 (FIG. 12A). ) Can display a transition screen 1040 (FIG. 24I). At 10001F (FIG. 23C), UC 130 (FIG. 12A) may display home screen 1020 (FIG. 24A) if the move is not a single holding movement forward or backward. The user can press the power button while the home screen 1020 (FIG. 24A) is displayed. In 10006 (FIG. 23A), when UC 130 (FIG. 12A) is in standard mode 100-1 (FIG. 22B) or docking mode 100-5 (FIG. 22A), UC 130 (FIG. 12A) is in off state 10006B (FIG. 23A). ) Can be transitioned to. In 10006 (FIG. 23A), when UC 130 (FIG. 12A) is in any mode and the power button is pressed quickly, UC 130 (FIG. 12A) displays home screen 1020 in 10006A (FIG. 23A). The current speed can be changed to zero (FIG. 24A), ie an emergency/quick stop.

With continued reference to FIGS. 23A-23K, the UC 130 (FIG. 12A) may display the main menu screen 1010 (FIG. 24C) when the menu button is pressed from the home drive screen. If the menu button is pressed from a screen other than the home drive screen, except the transition screen, the user can be brought to the home drive screen. Using the main menu screen 1010 (FIG. 24C), the user can, for example, without limitation, select a mode, adjust seats, adjust speed, and configure the device. Device configurations can include, but are not limited to, brightness adjustment, non-critical attention and alert muting, inspection wrench mark clearing, and forced power off. If the user selects the mode (FIG. 23D) change, the UC 130 (FIG. 12A) can display a selection screen 1050 (FIG. 24E), the user including, but not limited to, standard, four wheel, You can choose between balance, stairs, docking, and remote. When the user confirms the new mode selection in 10007A (FIG. 23E), the UC 130 (FIG. 12A) displays the transition screen 1040 (FIG. 24I), transitions the MD to the selected mode, and the home screen 1020 ( FIG. 24A) can be displayed. If the user confirms the mode that the MD is already in, the home screen 1020 (FIG. 24A) is displayed. If the user selects seat (FIG. 23D) adjustment, the UC 130 (FIG. 12A) may display a selection screen 1050 (FIG. 24E), the user including but not limited to seat height adjustment and seat tilt. A variety of seat adjustments may be selected, including but not limited to/tilt, and a display home screen 1020 (FIG. 24A) may be displayed. If the user selects the speed (FIG. 23D) adjustment, the UC 130 (FIG. 12A) can display a selection screen 1050 (FIG. 24E), where the user can, for example and without limitation, speed 0 (joystick off). ), speed 1 (indoors), speed 2 (outdoors), etc., for example, without limitation, a variety of speed options may be selected. If the user confirms the selected speed option (FIG. 23D) at 10010 (FIG. 23D), the UC 130 (FIG. 12A) causes the processor A/B 39/41 (FIGS. 18C/18D) to select the selected speed option. Can be notified and the home screen 1020 (FIG. 24A) can be displayed. If the clinician selects a setting (FIG. 23D, FIG. 29-7) adjustment, the UC 130 (FIG. 12A) may display a selection screen 1050 (FIG. 24E), and the user and/or clinician may, for example, , But not limited to clearing the inspection wrench mark, visualizing the inspection code, logging inspection requests, setting the brightness/contrast of the UC 130 (FIG. 12A), muting non-critical notes and alerts, entering inspection updates. (Clinician and maintenance personnel/technician), and power off forced. In some configurations, UC 130 (FIG. 12A) may detect under preselected conditions, such as, but not limited to, UC 130 (FIG. 12A), when the clinician attempts to adjust the setting. The setting selection screen 1050 (FIG. 24E) can be displayed. If the clinician chooses to perform a CG fit (FIG. 23G), the UC 130 (FIG. 12A) can display a CG fit selection screen 1050 (FIG. 24E). If the clinician chooses to continue the CG fit at 10005G, the UC 130 (FIG. 12A) may display a transition screen 1040 (FIG. 24I) or a CG fit screen 1070 (FIGS. 24M/24N), with a calibration icon, for example. Can be displayed. The UC 130 (FIG. 12A) may display a seat height icon at 10009-1 (FIG. 23H) that may guide the user in the first step required to perform a CG fit. Once the user has completed the steps, the MD may perform a CG conformance related calibration at 10009-2 (FIG. 23H). If the calibration is successful at 10009-3 (FIG. 23H), the UC 130 (FIG. 12A) at 10009-4 (FIG. 23H) requires the second to sixth steps (FIG. 23H) necessary to perform CG matching. Seat tilt and/or seat height icons can be displayed that can guide the user at -23J). At 10009-3 (FIG. 23H), if the calibration is unsuccessful, the UC 130 (FIG. 12A) may transition the MD to standard mode 100-1 (FIG. 22B) at 10009-6 (FIG. 23H). At -7 (FIG. 23H), the attention can be identified before returning to the CG match selection screen 1070 (FIG. 24M/24N) and initiating the CG match again. In some configurations, a backward joystick move on the transition screen 1040 (FIG. 24I) may end all transitions. When the user successfully completes all six steps, the UC 130 (FIG. 12A) causes the processor A/B 39/41 (FIG. 18C/18D) to move the MD to the standard mode 100-1 at 10012-2 (FIG. 23J). (FIG. 22B) can be instructed to display, and in 10012-1 (FIG. 23J), the status of CG matching can be displayed, and the menu screen 1010 (FIG. 24C) can be displayed to respond to user input. Then, the home screen 1020 (FIG. 24A) can be selected. If the user views the inspection code and/or chooses to adjust the brightness/contrast of the UC 130 (FIG. 12A) (FIG. 23G), the UC 130 (FIG. 12A) displays the appropriate selection screen 1050. (FIG. 24E) and can receive user input based on the displayed screen and display menu screen 1010 (FIG. 24C) in response to the user input (FIG. 23D). When the user selects forced power off of the MD (FIG. 29-11), the UC 130 (FIG. 12A) causes the power off user sequence 10013-2 (FIG. 23K) to hold the front joystick in 1003-1 (FIG. 23K). A configuration screen (FIG. 23G) may be displayed that may prompt the user to perform through.

With continued reference to FIGS. 23A-23K, left/right joystick movement over a particular icon on menu screen 1010 (FIG. 24C) can open selection screen 1050 (FIG. 24E). For example, moving the left/right joystick over the mode icon can open the mode selection screen. Left/right joystick movement in mode selection, seat adjustment, speed selection, and settings can cycle through options to the user. The icons can be looped, for example, with respect to the mode selection screen, joystick movement can cause icons for four wheels, standard, balance, stairs, docking, remote mode to appear and then return to four wheels icon. .. For example, but not limiting of, an up/down joystick move on menu screen 1010 (FIG. 27), indicated by an arrow of a first preselected color, can change the selected icon. For example, but not limiting of, any other on-screen up/down joystick movement indicated by a second pre-selected color arrow can be used as confirmation of the selection. Upon entering the menu screen 1010 (FIG. 24C), the icon can be highlighted, eg, the mode icon can be highlighted. In some configurations, if the user accidentally hits the menu button while driving the MD, the menu screen 1010 (FIG. 24C) will be disabled unless the joystick 70007 (FIG. 12A) is in the neutral position. May be. If the transition screen 1040 (FIG. 24I) is displayed, the user can complete the transition using, for example, a joystick or toggle (if available). The menu button may be disabled while the transition screen 1040 (FIG. 24I) is displayed. The transition screen 1040 (FIG. 24I) may remain displayed or a problem with the transition may exist until the transition is complete. If there is a problem with the transition, UC 130 (FIG. 12A) may provide the user with an indication that the transition was not completed properly. During the attention state, the user can drive, for example, when the battery 70001 (FIG. 1E) is not depleted, as long as the level of attention does not prevent the user from driving. If the user can drive, the display can include modes and speeds. If the user cannot drive, the speed icon can be replaced with a prompt that indicates what the user needs to do to be able to drive again. When the user tilts the seat in the standard mode 100-1 (FIG. 22B), the UC 130 (FIG. 12A) can display the seat adjustment icon, for example. The alert sound can continue until the user takes some action, such as pressing a button. The alarm icon may remain illuminated until the alarm condition is resolved. When the user transitions from the equilibrium mode 100-3 (FIG. 22B) to the standard mode 100-1 (FIG. 22B), the UC 130 (FIG. 12A) causes the MD to transition to the standard mode 100-1 (FIG. 22B). Can be shown. However, if the MD is on a stepped terrain, the MD may automatically stop and proceed to 4-wheel mode 100-2 (FIG. 22B) and the UC 130 (FIG. 12A) informs the user. Good. In some configurations, the selection of balance mode 100-3 (FIG. 22B) may be denied if the load on the MD falls below a preselected threshold. The default mode selection screen 1050 (FIG. 24E) may include four-wheel mode 100-2 (FIG. 22B), standard mode 100-1 (FIG. 22B), and balanced mode 100-3 (FIG. 22B) options, of which One of them is highlighted and can be positioned, for example, within the central circle, eg, standard mode 100-1 (FIG. 22B). Moving the joystick right or left can move another mode into the central circle and highlight that mode. If the user is in a mode that may prevent the user from transitioning to other modes, the UC 130 (FIG. 12A) notifies the user by, for example, without limitation, greying out the modes that cannot be accessed. can do.

Referring now to FIGS. 23L-23X, the second configuration workflow may include a screen that may allow a user and/or clinician to control the MD. When the power button is pressed by the user or the clinician when the MD is in the off state and the MD is not in the restore mode, the user can be presented with the home screen 1020 (FIGS. 23L, 24A). When a screen other than the home screen 1020 (FIG. 23L) is displayed and the power button is pressed for 3+ seconds, the MD can shut down if in standard, remote, or docking mode. In any other mode, the user can stay on the current screen and the MD can suffer an emergency stop. If there is a short press of the power button, the speed of the MD can be modified. From home screen 1020 (FIG. 23L), the user can view the MD status and can select options based on the MD status. Options may include, but are not limited to, seat height and tilt adjustments, and advance to main menu screen 1010 (FIGS. 23O, 24C). Main menu screen 1010 (FIG. 23O) provides options such as, but not limited to, mode selection (FIG. 23P), seat adjustment (FIG. 23O), speed control (FIG. 23O), and setting control (FIG. 23R). can do. If the MD is in restore mode and the power button is pressed (see FIG. 23V), options for restore can include, but are not limited to, standard restore. Each type of restoration provides a different workflow, and possibly different instructions, to the user, for example, the UC 130 provides the user with a four wheel mode 100-2 (FIG. 22B) to a standard mode 100-1 (FIG. 22B). Can be commanded to transition.

With continued reference to Figures 23L-23X, in some configurations, a transition screen 1040 (Figures 23N, 24I) may be displayed to guide the user through the transition from the current mode to the selected mode of the MD. You can In some configurations, the standard mode 100-1 (FIG. 22B) may be automatically shown as the selected option when the user opens the mode selection screen 1060 (FIG. 23P). In some configurations, the MD may display information about drive availability within drive speed area 1020-2 (FIG. 24A) on home screen 1020 (FIG. 23L). In some configurations, when the main menu screen 1010 (FIG. 23O) is selected during the transition (FIG. 23Q), the setting selection can be automatically shown as the selected option. In some configurations, when the settings selection screen 1110 (FIG. 23R) is displayed, the icons may include, but are not limited to, CG conform, MD check, brightness/contrast edit, wireless connection, and forced power. It can be shown with options such as off. The user can scroll and select the desired settings, and can scroll and confirm the selection. In some configurations, if a CG fit is selected (see FIG. 23R), a CG fit screen (FIGS. 24M and 24N) may be displayed when the clinician connects to the UC 130. In some configurations, a connected icon or status icon may be displayed when the wireless screen 1120 (FIG. 23R) is selected. If the clinician selects the back (menu) button and the wireless screen exits, the wireless connection can also be terminated. During the CG matching workflow (see Figures 23S-23U), the UC 130 can display the direction in which the joystick should be moved. The menu button can be used to enter the CG conform workflow, exit the CG conform workflow, and drive the MD. If the inspection screen (see FIG. 23X) is selected, the inspection code may be displayed. In some configurations, a service icon grayed out with an "X" may be displayed if a service code is not present. An 8-digit code can be displayed if wrench mark clear is not needed. If wrench mark clear is required, the numbers 1-4 correspond to joystick movements after the user has entered a command given by inspection (eg, but not limited to N, S, E/R, W/L) Can be displayed as you can. After the user has entered 6 digits, a green up arrow can be displayed for the user to then hold the joystick forward. If the user is in a position that requires a forced power off (see FIG. 23W), for example, if the user gets stuck in the middle of a transition, the user has a menu button for a preselected amount of time, for example 6+ seconds , The home screen 1020 (FIG. 23L) can be displayed with icons associated with MD conditions. If the user finishes the preselected steps and confirms the power off, the MD can be powered off.

Referring now to FIGS. 23Y-23KK, a third configuration workflow may include a screen that may allow a user and/or clinician to control the MD. When the power button is pressed by the user or clinician when the MD is in the off state and the MD is not in the restore mode, the user can be presented with the home screen 1020 (FIGS. 23Y, 24A). If the power button is pressed from the home screen 1020 (FIGS. 23Y, 24A), and at 10005, the user is in a mode, such as, but not limited to, standard, docked, or remote mode, the user: A power off screen can be presented. If the power button is pressed and held for a preselected amount of time, such as, but not limited to, about 2 seconds, the MD can transition to the off state. If the power button is not held for a preselected time, the user can be presented with the power off screen again. In some configurations, confirmation is not needed for shutdown. In modes other than one of certain preselected modes, at 10006, if the power button experiences a short press for a first time, the speed of the MD can be modified, eg, emergency. A stop can be initiated at 10006B and the home screen 1020 (FIG. 23Y, 24A) can be presented to the user again. At 10006, if the power button does not experience a short press for a first time, the MD can return to the previous value of the speed before the power button was pressed, and the home screen 1020 (FIGS. 23Y, 24A). ) Can be presented to the user. From the home screen 1020 (FIGS. 23Y and 24A), the user can view the MD status and select an option based on the MD status. Options may include, but are not limited to, seat height and tilt adjustments, such as, but not limited to, audio activation such as a horn, settings, and navigating to the main menu screen 1010 (FIGS. 23BB, 24C). .. Main menu screen 1010 (FIG. 23O) provides options such as, but not limited to, mode selection (FIG. 23CC), seat adjustment (FIG. 23BB), speed control FIG. 23BB), and setting control (FIG. 23EE). be able to. If the MD is in restore mode and the power button is pressed (see FIG. 23II), options for restore can include, but are not limited to, standard restore. Each type of restore can provide the user with different workflows, and possibly different instructions, for example, the UC 130 provides the user with four-wheel mode 100-12 (FIG. 22B) to standard mode 100-1 (FIG. 22B). ) Can be instructed to transition to. The user can be instructed how to transition from one mode to another before the transition occurs.

With continued reference to FIGS. 23Y-23KK, in some configurations, a transition screen 1040 (FIGS. 23DD, 24I) is displayed to guide the user through the transition from the current mode to the selected mode of the MD. You can In some configurations, the standard mode 100-1 (FIG. 22B) may be automatically shown as the selected option when the user opens the mode selection screen 1060 (FIG. 23CC). In some configurations, if drive is not enabled during the transition (FIG. 23Q), the MD may be aware of drive availability in the drive speed area 1020-2 (FIG. 24A) on the home screen 1020 (FIG. 23L). Information can be displayed. In some configurations, when the main menu screen 1010 (FIG. 23DD) is selected during the transition (FIG. 23DD), the mode selection can be automatically shown as the selected option. In some configurations, when the setting selection screen 1110 (FIG. 23EE) is displayed, the icons may include, but are not limited to, CG conform, MD check, brightness/contrast edit, connect to wireless, and force. It can be shown with options such as power off. The user can scroll and select the desired settings, and can scroll and confirm the selection. In some configurations, if CG conform is selected (see FIG. 23EE), a CG conform screen (see FIGS. 23FF-23HH) is displayed when the clinician configures the connection between the wireless display and the UC 130. You can In some configurations, the user cannot see the display. In some configurations, the connected wireless or status icon may be displayed when a connection to the wireless screen 1120 (FIG. 23EE) is selected. If the clinician selects the back (menu) button and the wireless screen is closed, the wireless connection can also be closed. During the CG adaptation workflow (see FIGS. 23FF-23HH), when the UC 130 indicates the direction in which the joystick should be moved, in some configurations, when the user moves the joystick, the user is dependent on the orientation of the joystick. , CG workflow can be taken to a step. The menu button can be used to enter the CG conform workflow, exit the CG conform workflow, and drive the MD. If the inspection screen (see FIG. 23KK) is selected, the inspection code may be displayed. In some configurations, a check icon with an "X" may be displayed if the check code is not present and the existing condition is not present. A check icon with an "X" can be displayed with the code if an existing condition exists. If the user is in a position that requires a forced power off (see FIG. 23JJ) and if the user holds the menu button for a preselected amount of time, eg, 6+ seconds, the settings (see FIG. 23EE) are , Can be presented to the user. If the user finishes the preselected steps and confirms the power off, the MD can be powered off.

With continued reference to Figures 23Y-23KK, in some configurations, a user and/or clinician may use a horn (see Figure 23Y) while driving and press a power button (see Figure 23Y). You may force an emergency stop by doing so. In some configurations, pressing the menu button while driving does not display the menu button display, which can be displayed while the joystick is in the neutral position. When transitioning from one mode to another, the user can control the MD using either joystick 70007 (FIG. 12A) and/or toggle 70036-2 (FIG. 12D). In some configurations, transitioning from standard mode 100-1 (FIG. 22B) to balanced mode 100-3 (FIG. 22B), when the terrain is a step, the MD is stopped and the four-wheel mode 100-2. The transition can be terminated at (FIG. 22B). In some configurations, if the UC 130 (FIG. 12A) is disconnected from the MD during the transition, the transition status may be recalled when the UC 130 (FIG. 12A) is reconnected. During the alarm condition, the audible alarm can continue until the user presses the horn button. Left/right movement of the joystick 70007 (FIG. 12A) on some screens can open a selection, while on other screens movement can cycle the user through options. The up/down movement of the joystick 70007 (FIG. 12A) can change the selected icon on some screens, while on other screens the movement can be used as confirmation of the selection. ..

Referring now to FIGS. 23LL-23VV, the workflow of the fourth configuration can include a screen that can allow a user and/or clinician to control the MD. Workflows include, but are not limited to, normal workflow 1070 (FIG. 23LL), power button workflow 1072 (FIG. 23MM), stair mode workflow 1074 (FIG. 23NN), forced power off workflow 1076 (FIG. 23OO), CG conforming workflow 1078 (FIG. 23PP-1, 23PP-2), restoration mode workflow 1080 (FIG. 23QQ), wireless workflow 1082 (FIG. 23RR), brightness workflow 1084 (FIG. 23SS), alarm mute workflow 1086 (FIG. 23TT), shortcut toggle workflow 1088 (FIG. 23 UU), and a battery charging workflow 1090 (FIG. 23VV), which can be divided into sub-flows. The normal workflow 1070 (FIG. 23LL) may include a display of the start screen 1000 and the home/drive screen 1020 may be displayed when the MD is not in the restore mode. Otherwise, the display may transition to the restore mode workflow 1080 (FIG. 23QQ). When the home/drive screen 1020 is displayed, if the menu button is pressed, the main menu screen 1010 can be displayed, and the operation of the joystick for selecting an option is the setting screen 1043, speed selection. Either the screen 1041, the seat adjustment selection screen 1042, or the mode selection screen 1060 can be displayed. If the menu button is pressed, the home/drive screen 1020 can be displayed. When the setting screen 1043 is displayed, the alarm mute workflow 1086 (FIG. 23TT), the brightness workflow 1084 (FI.23SS), the CG compatible workflow 1078 (FIGS. 23PP and 23PP-1), the FPO workflow 1076 (FIG. 23OO), and You can enter any of the wireless workflows 1082 (FIG. 23RR). If the settings screen 1043 is displayed and the menu button is pressed, the home/drive screen 1020 can be displayed. When the speed selection screen 1041 is displayed, the user can either select the speed with the joystick or press the menu button to either return to the home/drive screen 1020. If the seat adjustment selection screen is pressed, the user can return to the home/drive screen 1020 by adjusting seats and pressing the menu button. When the mode selection screen 1060 is displayed, the user can return to the home/drive screen 1020 by selecting a mode, confirming it through a joystick operation, or pressing a menu button. If the user selects stair mode, the MD may enter stair mode workflow 1074 (FIG. 23NN). If the user does not select the stair mode, the transition screen 1040 may be displayed, and when the transition is complete, the home/drive screen 1020 may be displayed.

Referring now to FIG. 23MM, when the power button is pressed, the home/drive screen 1020 (FIG. 23LL) can be displayed unless the power button is pressed while the transition screen 1040 is being displayed. .. When the MD is in standard mode 100-1 (FIG. 22A), docking mode 100-5 (FIG. 22A), or remote mode 100-6 (FIG. 22A), the user presses the power button for a preselected amount of time. If is pressed, the MD power can be turned off. If the user does not press the power button for a preselected amount of time, emergency stop can be enabled and the speed set to zero. If the MD is not in standard mode 100-1 (FIG. 22A), docking mode 100-5 (FIG. 22A), or remote mode 100-6 (FIG. 22A) and the user presses the power button, an emergency stop occurs, Can be enabled. The user may press the power button again to allow the MD to return to the speed it was in before the power button was pressed and return to the home/drive screen 1020 (FIG. 23LL).

Referring now to FIG. 23NN, when the user selects stair mode, stair mode workflow 1074 may be entered. If the single mode is selected, the transition screen 1040 may be displayed followed by the handrail grip confirmation screen 1092. If the user confirms that the handrail should be used, the home/drive screen 1020 (FIG. 23LL) can be displayed. If the menu button is pressed, no further input is accepted. If the user refuses to use the handrail, the MD will automatically transition to four wheel mode 100-2 (FIG. 22A) and the home/drive screen 1020 (FIG. 23LL) can be displayed. .. If the assist mode is selected, the stair attendant confirmation screen 1094 can be displayed. If the user refuses to use the stair attendant, a mode selection screen 1060 can be displayed. If the user presses the menu button, no further input will be accepted. If the user confirms the use of the stair attendant, the transition screen 1040 can be displayed until the transition is complete and the home/drive screen 1020 (FIG. 23LL) can be displayed.

Referring now to FIG. 23OO, if the user presses and holds the menu button for a preselected amount of time, such as, but not limited to, 6+ seconds, the forced power off workflow 1076 can be entered and set. Screen 1043 can be displayed. When the joystick is operated, the forced power off confirmation screen 1096 can be displayed, and when the menu button is pressed, the home/drive screen 1020 (FIG. 23LL) can be displayed. When the forced power-off is confirmed, the MD is powered off. If the forced power off is not confirmed, the user may be given another opportunity to perform the forced power off after a preselected amount of time. The user can press the menu button to display the home/drive screen 1020 (FIG. 23LL). If the user does not hold the menu button for a preselected amount of time, the home/drive screen 1020 can be displayed and the main menu screen 1010 can be displayed if the menu button is pressed. You can The user can enable forced power off by opening the settings screen 1043, operating the joystick, and enabling the forced power off confirmation screen 1096 to be displayed, as described herein.

Referring now to FIGS. 23PP-1 and 23PP-2, the CG conform workflow 1078 can be entered if the CG conform is selected from the settings screen 1043 (FIG. 23LL). Depending on how to enter the CG fit, the CG fit icon may either appear or not appear on the settings screen 1043 (FIG. 23LL). When the CG compatible icon appears, joystick operation may allow transition from standard mode 100-1 (FIG. 22A) to balanced mode 100-3 (FIG. 22A). If the joystick is moved backwards, the CF matching workflow 1078 can be terminated. Otherwise, the steps in the CG matching process can be displayed. Step-by-step sub-steps include, but are not limited to, an indication that the MD is in a CG compliant step, receive a horn/acknowledge button press selection, calibrate MD, and check the success of the step. Can be included. When all steps have been performed, the MD can transition to standard mode 100-1 (FIG. 22A) and the settings screen 1043 (FIG. 23LL) is displayed with an indication that the calibration is complete. You can If the MD power is cycled, the CG compliant calibration can be removed from the MD. If all steps are unsuccessful, the MD may transition to standard mode 100-1 (FIG. 22A), a CG conform failure icon may be displayed, and may be visual and/or audible. Alerts can be generated. Any of the processes can be repeated, or the menu button can be pressed and the home/drive screen 1020 (FIG. 23LL) can be displayed.

Referring now to FIG. 23QQ, following the power on and display of the start screen 1000, the restore mode workflow 1080 may be executed when the MD is in the restore mode. In particular, a prompt may appear in the status area of the display to show the user how to return to standard mode 100-1 (FIG. 22A). The home/drive screen 1020 (FIG. 23LL) may be displayed upon completion of the transition to the standard mode 100-1 (FIG. 23LL) or if the MD is not in the restore mode at the start.

Referring now to FIG. 23RR, when wireless connectivity is selected, wireless workflow 1082 can be executed. In particular, the check update screen 1083 can be displayed and the user can enter a passcode or provide another form of authentication. The user can be a clinician and wireless connectivity can be used to control the MD remotely. If the user is authenticated, the inspection update screen 1083 can be displayed with an indication that the user is allowed to connect wirelessly. The user can be given a preselected maximum number of times for authentication.

Referring now to FIG. 23SS, when the brightness adjustment is selected from the settings screen 1043 (FIG. 23LL), the brightness workflow 1084 can be executed. A brightness screen 1085 can be displayed and a joystick operation can change the brightness of the display. If the menu button is pressed, the brightness setting can be saved and the home/drive screen 1020 (FIG. 23LL) can be displayed.

Referring now to FIG. 23TT, the alarm mute workflow 1086 can be executed when alarm mute is selected from the settings screen 1043 (FIG. 23LL). An alarm silence screen 1087 can be displayed and joystick operation can enable or disable volume. Further, the joystick operation can save the volume setting and return to the home/drive screen 1020 (FIG. 23LL), while pressing the menu button does not save the volume setting, the home/drive screen 1020 (FIG. 23LL). You can go back to.

Referring now to FIG. 23UU, when a shortcut is made from the home/drive screen 1020, the shortcut toggle workflow 1088 can be executed. Possible shortcuts can include, but are not limited to, seat height shortcuts, seat tilt shortcuts, and shortcut toggles. Since seat height and seat tilt can only be changed in certain modes, any attempt to change seat height and/or seat tilt, including through seat height and seat tilt shortcuts, is ignored. be able to. If the MD is in a mode in which the seat height and/or the seat tilt can be changed, the seat height shortcut and/or the seat tilt shortcut may be used to change the seat height and/or the seat tilt. it can. The user can continue driving while changing the seat height. The home/drive screen 1020 (FIG. 23LL) may be displayed after the seat height and/or seat tilt has been changed. To use the shortcut toggle, the joystick is operated in a preselected manner, such as, but not limited to, short tap and hold. When this occurs, a transition screen 1040 can be displayed and the MD's mode can be changed, eg, the MD can move from the standard mode 100-1 (FIG. 22A) to the balanced mode 100-3 (FIG. 22A). 23LL) and vice versa. If the joystick is operated in a different preselected way, for example a single hold, a transition screen 1040 can be displayed. Otherwise, home/drive screen 1020 (FIG. 23LL) may be displayed.

Referring now to FIG. 23VV, a battery charging workflow 1090 can be performed to charge the MD's battery. When the MD is powered off and the A/C adapter is connected to the MD, the battery charging icon can be displayed until the battery is charged or a battery malfunction occurs. If the battery is charging, a full battery icon can be displayed. If a battery abnormality occurs, a battery abnormality icon can be displayed. When the user disconnects the A/C adapter from the MD, the MD can be powered off. If the MD is not powered off and the A/C adapter is not connected to the MD, an indication that the battery is not charged may be displayed on the home/drive screen 1020 (FIG. 23LL). If the MD is not powered off and the A/C adapter is connected to the MD, an indication of the current status, such as, but not limited to, an audible alert, is emitted, for example, until the alert is muted. Can be reported.

Referring now to FIGS. 24A and 24B, the UC home screen 1020/1020A includes, but is not limited to, time and indications of parking brake status, alert status, service request status, and temperature status. A base banner 1020-1, which may be included, may be included. The UC home screen 1020/1020A may include, for example, without limitation, a first screen area 1020-2 that may present MD speed and may provide shortcuts for seat adjustment. The prompt can inform the user that the seat is in the drive-prevention position. The second screen area 1020-3 can display, for example, but not limited to, the current mode of the MD in, for example, but not limited to, an icon form. The UC home screen 1020A (FIG. 24B) may be, for example, red, yellow, and green, and may be visually highlighted, for example, but not limited to, providing battery status strips 1020-4. Can be included.

Referring now to FIGS. 24C and 24D, the UC main menu screen 1010/1010A includes, but is not limited to, the base banner 1020-1 and, optionally, the battery status strip 1020-4, as described herein. (FIG. 24D). The UC main menu screen 1010/1010A can accommodate selections of modes, seat adjustments, speeds, and settings. The selection can be indicated, for example, by the presence of a highlighted icon in the selected area 1010-2, which can be further surrounded by the selection option arrow 1010-1. Each of the selection areas 1010-3 can include, but is not limited to, icons that indicate possible selection options.

Referring now to FIGS. 24E-24H, UC selection screens 1050/1050A/1050B/1050C include, but are not limited to, base banner 1020-1 and, optionally, battery status strips, as described herein. 1020-4 (FIG. 24F). The UC selection screen 1050/1050A/1050B/1050C can accommodate an indication of the mode selected in the mode selection area 1050-1. Optionally, the selected mode is also displayed in selected transition area 1050-3, which is unselected, but may be surrounded by possible modes within unselected areas 1050-2 and 1050-4. You can The UC selection screen may include a breadcrumb 1050B-1 (FIG. 24G) that may provide a navigation path for the mode being navigated.

24I and 24J, the UC transition screens 1040/1040A include, but are not limited to, the base banner 1020-1 and, optionally, the battery status strip 1020-4(as described herein). FIG. 24D). The UC transition screen 1040/1040A may include a target mode area 1040-1, for example, an icon indicating the mode in which the transition occurs may be displayed. The UC transition screen 1040/1040A may include a transition direction area 1040-2 and a transition status area 1040-3 that may indicate the status and direction of the transition from one mode to another mode.

Referring now to FIG. 24K, UC power off screen 1060A includes, but is not limited to, base banner 1020-1, power off first screen area 1060A-1, power off second screen area 1060A-2, and optionally. Battery status area 1020-4. If the user indicates a desire to power off the MD under normal conditions, for example and without limitation, when the user presses and holds the power button on the UC 130, the power off first screen area 1060A-1 will cause the MD to The power-off second screen area 1060A-2 can indicate the power-off progress degree. In some configurations, the power off progress may be indicated by a gradual change in color of the area inside the power off second screen area 1060A-2 inside the shape. Base banner 1020-1 and optional battery status area 1020-4 are described elsewhere herein.

Referring now to FIG. 24L, the UC forced power off screen 1060B includes, but is not limited to, a base banner 1020-1, a forced power off first screen area 1060B-1, and a power off second screen area 1060A-2. , An optional battery status area 1020-4. If the user indicates a desire to power down the MD under conditions other than normal, for example, but not limiting of, if the MD suffers a mechanical problem, the forced power off screen 1060A indicates that the power down sequence is in progress. The degree can be displayed. In particular, the forced power off first screen area 1060B-1 may indicate that the forced power off sequence is in progress, and the power off first screen area 1060A-1 may indicate the forced power off progress. it can. In some configurations, the forced power off progress may be indicated by a gradual change in color of the area inside the power off second screen area 1060A-2 inside the shape. In some configurations, the user may initiate a forced power off sequence by navigating the menu and selecting a forced power off.

24M and 24N, the CG conform screen 1070 includes, but is not limited to, a base banner 1020-1, a CG conform breadcrumb 1070-1, a menu button indicator 1070-2, and an optional battery status area. 1020-4. When the user indicates a desire to perform a CG fit, the CG fit screen 1070 may display prompts for actions that may be needed to perform the CG fit. In particular, CG conform breadcrumb 1070-1 can indicate that CG conformance is in progress and can indicate the joystick action required to transition from one step to the next in the CG conform process. A prompt can be displayed. The steps may include raising, lowering, and tilting the MD when input is received by the MD, such as, for example, those outlined in Figures 23FF-23HH. Menu button 1070-2 can be pressed when it is desired to drive the MD while CG adaptation is in progress. In some configurations, either a successful or unsuccessful completion of the CG adaptation process may indicate that the CG adaptation process may be terminated.

式中、ｋ_ｘ，１は、利得ｋ_ｘの範囲の最小値であって、ｋ_ｘ，２は、利得ｋ_ｘの範囲の最大値であって、ｘ＝ｓまたはａまたはｍである。例示的パラメータ境界７６５は、以下を含むことができる。Ｊ_ｍａｘ＝最大ジョイスティックコマンド
Ｃ_１＝一次係数＝ｋ_ｄ，ｍ
Ｃ_３＝三次係数＝ｋ_ｓ，ｍ
式中、ｋ_ｄ，ｍは、プロファイルＡ６１３（図２５Ｅ）とプロファイルＢ６１５（図２５Ｅ）のマージの利得ｋ_ｄであって、ｋ_ｓ、ｍは、プロファイルＡ６１３（図２５Ｅ）とプロファイルＢ６１５（図２５Ｅ）のマージの利得ｋ_ｓである。
ｋ_ｗ＝ｍ／ｓあたりの車輪数
Ｖ_ｍａｘ＝最大コマンド＝Ｃ_１Ｊ_ｍａｘ＋Ｃ_３Ｊ_ｍａｘ ^３

車輪コマンド７６９に関する例示的算出は、以下を含むことができる。
Ｊ_ｉ＝ジョイスティックコマンド

式中、Ｗ_ｉ７６９は、右／左輪モータ駆動部１９／３１、２１／３３に送信される、速度またはヨーコマンドである。 Referring now to FIG. 25A, the velocity processor 755 can adapt a continuously adjustable scale factor to control the MD. The user and/or clinician may set at least one parameter boundary 765, which may be adjusted according to the driving needs of the user and/or clinician. Wheel command 769 include, but are not limited _to, k s 601/607 (FIG. _25E), k a 603/609 (FIG. _25E), k d 605/611 (FIG. 25E), and _k m 625 includes (Fig. 25E) Can be calculated as a function of the joystick input 629 and the profile constant 768, k _s 601/607 (FIG. 25E) is the maximum velocity range, and k _a 603/609 (FIG. 25E) is the acceleration range. Where k _d 605/611 (FIG. 25E) is the dead zone range, k _m 625 (FIG. 25E) is the merge range, and k _w is the conversion from wheel number to speed. Range of profiles constant _{k s, k a, k d} , and _k m 625 (Fig. 25E), the coverage provided varied and, herein are exemplary. The parameter boundaries 765 and profile constants 768 can be, for example, without limitation, provided by the user, preset, and determined in any other way. Velocity processor 755 can access parameter boundaries 765 and profile constants 768. Exemplary ranges for the profile constant 768 can include:
k _s =maximum velocity value, for example and without limitation, can be scaled from 1-4 m/s.
k _a =acceleration value, for example and without limitation, can be scaled from 0.5-1.5.
k _d =dead band value, which can be scaled from, for example, but not limited to, 0-5.5.
k _m =merge value, which can be scaled from, for example, but not limited to, 0-1.

Where k _x,1 is the minimum value in the range of gain k _x , k _x,2 is the maximum value in the range of gain k _x , and x=s or a or m. Exemplary parameter boundaries 765 may include: J _max =maximum joystick command C ₁ =linear coefficient=k _d,m
C ₃ = _third -order coefficient=ks _,m
Where k _d,m is the merge gain k _d of profile A 613 (FIG. 25E) and profile B 615 (FIG. 25E), and k _s,m is profile A 613 (FIG. 25E) and profile B 615 (FIG. 25E). ) Merge gain k _s .
k _w =number of wheels per m/s V _max =maximum command=C ₁ J _max +C ₃ J _max ³

An exemplary calculation for wheel command 769 may include:
J _i =joystick command

Where W _i 769 is the speed or yaw command transmitted to the right/left wheel motor drive 19/31, 21/33.

With continued reference primarily to FIG. 25A, the adjustment of C ₃ is dependent on the shape of the profile's curve, and thus the user command, such as, but not limited to, joystick command 629, to the user's wheel command 769. You can adjust your experience. In particular, regulation of _{C 3} is capable of adjusting the maximum and minimum values on either side of the dead band 605/611 size and dead zone (Fig. 25E) 605-611 (Fig. 25E). Speed processor 755 accesses joystick processor 756, including, but not limited to, computer instructions for receiving joystick command 629, and profile constant 768 and merge value 625 (FIG. 25E), for example, but not limited to, A profile constant processor 754, including computer instructions for scaling the profile constant 768 based at least on the merge value 625 (FIG. 25E), as shown in the equations described herein. .. The velocity processor 755 also calculates a maximum velocity based at least on the profile constant 768 and the maximum joystick command, eg, but not limited to, the equations described herein, and at least the profile constant. A boundary processor 760 may be included that includes computer instructions for calculating a proportional gain based on 768 and the maximum velocity. The speed processor 755 also calculates a wheel command 769 and a wheel command 769 based at least on the profile constant 768 and the joystick command 629, such as, but not limited to, the equations described herein. A wheel command processor 761 can be included, which includes computer instructions for providing a wheel motor driver 19/31/21/33.

Referring now primarily to FIG. 25B, a method 550 for continuously adapting an adjustable scale factor includes, but is not limited to, receiving 551 a joystick command 629 (FIG. 25A) and a profile constant 768 (FIG. 25A) and the merge value (exemplarily shown as merge value 625 (FIG. 25E), which indicates the merge of profile A 613 (FIG. 25E) and profile B 615 (FIG. 25E)) 553, and at least the merge value Scaling 555 profile constant 768 (FIG. 25A) based on, and at least profile constant 768 (FIG. 25A) and maximum joystick command (velocity 601 (FIG. 25E), acceleration 603 (FIG. 25E), and dead zone 605 (FIG. 25E) is exemplarily shown as a maximum value) of calculating a maximum speed 557, and calculating a proportional gain 559 based at least on the profile constant 768 (FIG. 25A) and the maximum speed. At least, a step 561 of calculating the wheel command 769 (FIG. 25A) based on the profile constant 768 (FIG. 25A) and the joystick command 629 (FIG. 25A) and the wheel command 769 (FIG. 25A) are set to the wheel motor driving unit 19/31. /21/33 (FIG. 25A). In some configurations, the board controller 100 may modify the joystick command 629 provided by the user controller 130 before the joystick command 629 is provided to the joystick processor 756. In some configurations, user controller 130 may receive joystick commands 629 from the joystick, while in some configurations user controller 130 may include a joystick.

Referring now primarily to FIG. 25C, the joystick 130 (FIG. 12A) can be configured to have different transfer functions to be used under different conditions, eg, according to the user's capabilities. Velocity template (transfer function) 700 illustrates an exemplary relationship between physical displacement 702 of joystick 70007 (FIG. 12A) and output 703 of UC 130 (FIG. 12A) after transfer function processing with a particular transfer function. .. The forward and reverse travels of the joystick 70007 (FIG. 12A) can be interpreted as a forward longitudinal request and a backward longitudinal request, respectively, from the perspective of the user in the MD seat and commanded speed. Can be equivalent to The left and right travels of the joystick 70007 (FIG. 12A) can be interpreted as a left turn request and a right turn request, respectively, from the perspective of the user in the seat and may be equivalent to the commanded turn speed. it can. The joystick output 703 may include, but is not limited to, battery voltage conditions, seat height, modes, joystick 70007 (FIG. 12A) failure conditions, and when speed correction is required by the board controller 100 (FIG. 25A), etc. Can be modified during certain conditions. The joystick output 703 may be ignored and the joystick 70007 (FIG. 12A) may, for example but not limitation, be in staircase mode when a battery charger is connected while in update mode when a mode change occurs. , When the joystick 70007 (FIG. 12A) is disabled, or under some other condition.

With continued reference primarily to FIG. 25C, the MD can be configured to suit a particular user. In some configurations, the MD can be tailored to the user's capabilities, for example, by setting speed templates and mode limits. In some configurations, the MD may receive commands from an external application 140 (FIG. 16B) executing on devices such as, but not limited to, mobile phones, computer tablets, and personal computers. The commands can provide, for example, default and/or dynamically determinable settings for configuration parameters. In some configurations, the user and/or attendant may configure the MD.

Referring now primarily to FIG. 25D, in some configurations the speed setting can control the system response to joystick movement. In some configurations, a speed setting such as speed 0 may be used to disable the response to joystick movements, and a speed setting such as speed 1 may be appropriate for indoor travel, maximum Speed settings may be used to set speeds, such as speed 2 may be used to set maximum speeds that may be suitable for outdoor and/or corridor travel. The MD can be configured with any number of speed settings and the relationship between joystick movement and motor commands can include non-linear functions. For example, a parabolic relationship may provide slower and finer control. In some configurations, a thumbwheel assembly such as in FIG. 12P can be used to apply gain in addition to the speed settings described. In some configurations, the gain can vary from 0 to 1 and a gain of 1 can be used when velocity variation is not desired for the configured velocity. When the thumbwheel assembly is used to change the gain by dialing the thumbwheel knob 30173 (FIG. 12N) "down", the maximum velocity and all velocities along the configured velocity trajectory are: It can be reduced in proportion to the amount of "down" dialing. For example, any maximum value for speeds 1 and 2 can be configured, and a minimum value can be configured as well. In some configurations, speed 2 may include a minimum speed that is greater than speed 1's maximum speed (see FIG. 25D-3), and speed 2's minimum speed and speed 1's maximum speed may overlap. (See FIG. 25D-1), the minimum value of speed 2 can be substantially equal to the maximum value of speed 1 (see FIG. 25D-2). In some configurations, when the current speed setting is already at its maximum value, further dialing, eg, “above” thumbwheel 30173 (FIG. 12N), can be ignored, causing a change in speed. You can bring nothing. However, any dial down "down" of the thumbwheel can immediately reduce velocity gain in proportion to the "down" movement of the thumbwheel. Similarly, when the current speed setting is at its minimum value, dialing the thumbwheel "down" cannot make a change, while dialing "up" immediately increases the speed gain. be able to.

With continued reference to FIG. 25D, in some configurations, operation of thumbwheel knob 30173 (FIG. 12N) can be interpreted as a desire for speed setting changes. In some configurations, continuing to dial the thumbwheel "up" when the gain is already saturated at its maximum speed may indicate a requirement to increase the speed setting. Similarly, continuing to dial "down" when the gain is at its minimum value may indicate a request to decrease the speed setting. In some configurations, dialing thumbwheel knob 30173 (FIG. 12N), suspending any thumbwheel assembly operation, and resuming dialing thumbwheel knob 30173 (FIG. 12N) may be required to change speed settings. Can be shown. In some configurations, multiple operations around one or more pauses may indicate a request for a change in speed setting. In some configurations, the operating speed of thumbwheel knob 30173 (FIG. 12N) may indicate a request to change the speed setting instead of changing the gain itself.

Referring now primarily to FIG. 25E, a user and/or clinician can use a graphical user interface display, including, but not limited to, included in the user controller 130 (FIG. 12A). , Can configure drive options in the form of joystick command shaping, which can allow the user and/or clinician to configure the MD for drive preferences. A template can be provided for the user/clinician to set or preset the profile constant 768 (FIG. 25A), which sets the MD in at least one situation, such as, but not limited to, It can be installed in sports situations, comfort situations, or economic situations. In economic mode, for example, speed and acceleration can be limited to reduce power consumption. In sports situations, the user may be allowed to actively drive, for example, but not by way of achieving a maximum speed. The comfort situation can represent an average between economic and sports situations. Other situations can be considered as possible. Profile constant _{k s 601/607, k a} 603/609, k d 605/611 and _k m 625, is, for example, but not limited to, through the variable display item, to be modulated that can, wheel command speed _{W i} 627, at least, _k s _601/607 is _{adjusted, k a 603/609, k} d 605/611, and on the basis of the _k m 625, can be calculated and graphed. For example, profile A/B 613/615 can result from adjusting the velocity and dead zone ranges so that k _s 601 and k _s 607 are different and k _d 605 and k _d 611 are similar. Wheel command speed _W i 627 _{is, k s 601/607, k} a 603/609, k d 605/611, and the minimum value of _k m 625 (profile A613) and _{k s 601/607, k a} 603/609, k _d 605/611, and the maximum value of _k m 625 can be calculated and graphed as to the scope of the joystick command number 629 for both (profile B615). Profile A 613 and profile B 615 can be averaged for easier comparison with other configurations of profile constants k _s 601/607, k _a 603/609, k _d 605/611, and k _m 625. .. For example, the first joystick control graph 600, 100 joystick average wheel command 617 1.5 m / sec in the command _{number, k s 601/607, k} a 603/609, k d 605/611 and _k m 625, From the first configuration of FIG.

Referring now to FIG. 25F, when k _s 601 and k _s 607 are similar and k _d 605 and k _d 611 are different, the wheel command speeds W _i 627 are k _s 601/607, k _a 603/609, k _d 605/611, and _k the minimum value of m 625 (the profile _A623), the maximum value of _{k s 601/607, k a} 603/609, k d 605/611, and _k m 625 both (profile B 621) The number of joystick commands for 629 can be calculated and graphed over a range. Profile A623 and profile B621 are averaged, the profile constant _{k s 601/607, k a} 603/609, k d 605/611, and other can be compared with the configuration of the _k m 625. For example, a second joystick control graph 700, 100 average wheel command 617 1.75 m / sec in the number joystick command profile constants _{k s 601/607, k a} 603/609, k d 605/611, and k It shows that it arises from the second configuration of _m 625. The modification of k _a 603 and k _a 609 can be scale filter constants under certain circumstances. In addition, the joystick command 629 can be filtered by the joystick filter to manage acceleration to enable speed sensitive steering. For example, the relatively low corner frequency CF of the joystick filter can result in a relatively high damping response between the joystick command 629 and MD activity. For example, the corner frequency CF results in a relatively high rate relationship between the joystick command 629 and the wheel command speed W _i 769, for example, but not limited to, when the MD is traveling relatively fast, It can be an adjustable function of speed that can result in a relatively low rate relationship between the joystick command 629 and the wheel command speed W _i 769 when the MD is traveling relatively slowly. For example, the wheel command speed W _i 769 can be compared to the full speed threshold T and the corner frequency CF can be set according to the result of the comparison. In some configurations, the corner frequency CF may be set to a first value if the wheel command speed W _i 769 is at least less than a value based on the threshold T, or the wheel command speed W _i 769. Is less than the threshold value T, the corner frequency CF can be set to another value, for example, (W _i ×CF)/T. The deceleration rate and the acceleration rate can be managed separately and can be independent of each other. For example, the deceleration rate may not be as aggressive as the acceleration rate. The deceleration rate can depend, for example, on the acceleration rate, can be dynamically varied in some other way, or can be a fixed value. The user can control the deceleration rate, for example.

Referring now to FIG. 25G, adaptive speed control processor 759 for adaptive speed control of MD includes, but is not limited to, terrain near the MD and terrain including computer instructions for receiving obstacle data. / Obstacle data receiver 1107 may be included. By using terrain and obstacle detection sensors, such as, but not limited to, LIDAR, remote sensing techniques allow lasers to illuminate the target and analyze reflected light, stereo cameras, and radar to detect distance. Can be measured. Adaptive speed control processor 759 may also include at least a mapping processor 1109 that includes computer instructions for mapping obstacles and approaching terrain in real time based on terrain and obstacle data. Adaptive speed control processor 759 can further include at least a virtual groove processor 1111 that includes computer instructions for calculating a virtual groove based on the mapped data. Virtual groove processor 1111 can bound a lower area, referred to herein as a virtual groove near the MD. The virtual groove is at least one low point and a gradual and/or abrupt altitude increase from the at least one low point and at least one low point at which the gradual and/or abrupt altitude increase terminates at the edge. And at least one edge surrounding the. In the virtual groove, a relatively high wheel command 769 may be required to exit the virtual groove, potentially helping the MD stay within the low point of the virtual groove. Adaptive speed control processor 759 may further include at least a collision potential processor 1113 including computer instructions for calculating a collision potential area based on the mapped data. The collision potential area can be a sub-area that can make it difficult for the adaptive speed control processor 759 to steer the MD to an obstacle when in proximity to the MD. The collision possibility area can prevent the MD from hitting an object, for example. The position of the MD can be measured, for example, from any part or parts of the MD, eg, the center, the perimeter, or anywhere in between. Adaptive speed control processor 759 may further include a deceleration processor 1115 that includes at least computer instructions for calculating a deceleration area based on the mapped data and the velocity of the MD. The adaptive speed control processor 759 can decelerate the MD within the deceleration area. Adaptive speed control processor 759 may also make it difficult to turn to a decelerated area as opposed to a turn to a non-decelerated area. Adaptive speed control processor 759 can recognize any number of types of deceleration areas, each having a set of characteristics. For example, the adaptive speed control processor 759 may adjust the processing of pre/post commands to the MD differently for some types of deceleration areas than for others. In some configurations, the size of different types of deceleration areas can change as the speed of the MD changes. Adaptive speed control processor 759 may still further include a preference processor 1117 including computer instructions for receiving a user preference for a deceleration area. The adaptive speed control processor 759 calculates a wheel command 769 based on at least, for example, but not limited to, a virtual groove, a potential collision area, a deceleration area, and a user preference, and the wheel command 769 is used to calculate the wheel command 769. A wheel command processor 761 may be included, including computer instructions for providing 19/31/21/33. When adaptive speed control processor 759 detects that the MD has entered, for example, a collision potential area, adaptive speed control processor 759 may move the MD away from the collision potential area, for example. .. The adaptive speed control processor 759 can move the MD in a direction opposite to the collision possibility area, in a direction parallel to the collision possibility area, or in a direction to move the MD to a collision-free area.

Referring now primarily to FIG. 25H, a method 1150 for adaptive speed control of a MD includes, but is not limited to, receiving 1151 terrain and obstacle detection data, and, if applicable, at least terrain and obstacles. Real-time mapping 1153 of the terrain and obstacles based on the object detection data; and, if applicable, at least optionally calculating a virtual groove 1155 based on the mapped data, and if applicable, Corresponding to at least calculating 1157 a collision possibility area based on the mapped data, and if applicable, calculating a deceleration area 1159 based on at least the mapped data and MD speed. If the wheel commands 769() based on at least receiving 1161 user preferences regarding deceleration area and desired direction of motion and velocity, and at least a collision potential area, deceleration area, and user preferences, and optionally virtual grooves. 25G) can be calculated 1163 and the wheel command 769 (FIG. 25G) can be provided 1165 to the wheel motor drive 19/31/21/33 (FIG. 25G). The collision potential area may follow the contour of a discrete obstacle, may include a cushion, or may follow some type of contour, such as, but not limited to, a polygon surrounding a discrete obstacle, a discrete obstacle. Can be included. The collision potential area can also include a number of discrete obstacles, which are considered as a single discrete obstacle. The transition area between one sub-area and another sub-area can be steep or gradual, for example. The shape of the virtual groove can be dynamic based at least on the position of the MD within the virtual groove.

Referring now to FIG. 25I, a gradient map 1120 is updated to the user, for example but not limited to, in the user controller 130 (FIG. 12A), either periodically or dynamically, near the MD. It can be used to indicate the sub-area. For example, the collision potential area 1121 may be automatically de-steered by the adaptive speed control processor 759 and may be prevented from automatically hitting the object by the MD, such as, but not limited to, different. It can be a place that can be steered in the direction of travel. In some configurations, the position of the MD can be measured from the center of the MD, and in some configurations the edges of the MD can be substantially proximate to a physical object proximate to the MD. .. In some configurations, the first deceleration area 1125 may allow the adaptive speed control processor 759 to slightly decelerate the MD automatically, and turn to the first deceleration area 1125 to a barrier-free subarea 1127. It can be a place, which can be more difficult than turning. In some configurations, the second deceleration area 1123 may allow the adaptive speed control processor 759 to automatically decelerate front/back commands to MD from within the first deceleration subarea 1125, and There can be a location where the control processor 759 can automatically make a turn to the second deceleration subarea 1123 more difficult than a turn to the first deceleration subarea 1125.

Referring now to FIG. 25J, the route map 1130 can show a route 1133 that the MD can follow when the adaptive speed control processor 759 (FIG. 25G) recognizes a special subarea near the MD. As the user controller 130 (FIG. 16A) receives the forward speed command, the MD turns under the control of the adaptive speed control processor 759 (FIG. 25G), following the path 1133, towards the barrier free subarea 1127. For example, it is possible to turn in the traveling direction in which the possibility of collision is lower.

Referring now to FIG. 25K, adaptive speed control processor 759 can recognize a moving object (referred to herein as a dynamic object). The terrain/obstacle data receiver 1107 may receive from the sensor 1105 terrain/obstacle detection data 1101 that is a characteristic of the unsteady (dynamic) object 1134. The preference processor 1117 indicates, for example, that the linear path 1132 will intersect the dynamic object 1134 when the dynamic object 1134 is in front of the MD, while the linear path 1132 is the user-selected heading direction, A joystick command 629 may be received and the dynamic object processor 1119 (FIG. 25G) may start with a first deceleration area 1125 and then transition to a second deceleration subarea 1123 and finally a collision potential. A set of sub-areas around dynamic object 1134 that transition to sub-area 1121 can be specified. When the sensor 1105 recognizes a sub-area in the vicinity of the dynamic object 1134, the deceleration processor 1115 can decelerate the MD as it enters the first deceleration sub-area 1125, and the dynamic object processor 1119 The pace of the dynamic object 1134 within the deceleration sub-area 1123 of 2 can be matched. If the preference processor 1117 receives an aggressive forward command, ie a diagonal command, within the first deceleration subarea 1125 and/or the second deceleration subarea 1123, the dynamic object processor 1119 may, for example, Within path 1131, path 1132 may be adjusted to turn to follow the safest closest path past dynamic object 1134. The forward speed command directs the first deceleration subarea 1125, the second deceleration subarea 1123, and the collision potential subarea 1121 directly to the MD in the absence of the adaptive speed control processor 759 (FIG. 25G). The path 1132 to be followed can be made to follow.

Referring now primarily to FIG. 26A, traction control processor 762 can adjust the torque applied to wheels 21201 (FIG. 6A) to minimize slippage. In particular, adjusting the torque can prevent the wheels 21201 (FIG. 6A) from excessive sliding. When the linear acceleration measured by inertial sensor pack 1070/23/29/35 and the linear acceleration measured from the wheel speed do not match the preselected threshold, cluster 21100 (FIG. 6A) causes wheel 21201( 6A) and caster assembly 21000 (FIG. 7) can be lowered so that it is on the ground. Having wheels 21201 (FIG. 6A) and caster assembly 21000 (FIG. 7) on the ground at the same time can extend the wheel base of the MD and increase the coefficient of friction between the MD and the ground. The linear acceleration processor 1351 can include at least computer instructions for calculating acceleration of the MD based on the speed of the wheels 21201 (FIG. 6A). IMU acceleration processor 1252 may include at least computer instructions for calculating IMU acceleration based on sensor data 767 from inertial sensor packs 1070/23/29/35. Loss of tractive force processor 1254 can calculate a difference between MD acceleration and IMU acceleration and compare the difference to a preselected threshold. If the threshold is exceeded, the wheels/cluster command processor 761 sends a cluster command 771 (FIG. 17A) to lower the wheels 21201 (FIG. 6A) and caster assembly 21000 (FIG. 7) onto the cluster 21100 (FIG. 17A). 6A). The wheel/cluster command processor 761 can adjust the torque to the wheel motor drive 19/21/31/33 by dynamically adjusting the drive current limit if loss of traction is detected. In some configurations, the wheel/cluster command processor 761 calculates torque values for the wheels 21201 (FIG. 6A) that are independent of each other and may be based at least on the speed of the MD and the speed of the wheels 21201 (FIG. 6A). can do. In some configurations, the loss of traction processor 1254 may include computer instructions for dynamically adjusting the center of gravity of the MD, such as, but not limited to, backward and forward, and managing traction for the MD. Do what you can.

Continuing with further reference to FIG. 26A, in standard mode 100-1 (FIG. 22B), cluster 21100 (FIG. 6A) has wheels 21201 (FIG. 6A) when active and/or rapid braking is required. It can be rotated and affect traction so that it can contact the ground. Aggressive braking can occur when the MD is moving forward and receives a reverse command that exceeds a preselected threshold, for example, from the user controller 130 (FIG. 12A). In extended mode 100-2 (FIG. 22B), tractive force control processor 762 detects loss of tractive force by (1) determining the difference between the gyroscope measuring device yaw and the expected differential wheel speed of the device yaw. (2) When the loss of the traction force is detected, the traction force control is performed by dynamically reducing the drive current limit to reduce the torque to the wheel motor drive unit A/B 19/21/31/33. Can be carried out.

Referring now primarily to FIG. 26B, a method 1250 for controlling MD traction includes, but is not limited to, calculating a MD linear acceleration 1253 and receiving an MD IMU measured acceleration 1255. Can be included. At 1257, if the difference between the expected linear acceleration and the measured linear acceleration of the MD is greater than or equal to a preselected threshold, then the cluster/wheel motor drive 19/21/31/33( Adjust torque 1259 to FIG. 2C/D). At 1257, if the difference between the expected linear acceleration and the measured linear acceleration of MD is less than a preselected threshold, then method 1250 may continue testing for loss of traction ( Step 1253).

Referring now to FIG. 27A, a fall of the MD can be controlled to actively stabilize the MD and protect, for example, backward fall. In some configurations, standard mode 100-1 (FIG. 22A) may not be actively stabilized. If the caster wheels 21001 face obstacles such that no forward motion occurs, successive forward commands can overlap. Excessive commands in this scenario can lead to backward falls. In some configurations, an overall command limit is provided for the wheel commands to prevent excessive wheel commands from overlapping when the wheels are immovable. In some configurations, fall protection can be enabled when the posterior pitch of the MD is within a range, such as, but not limited to, about 5°-30°. The tipping control is disabled when the caster wheels 21001 are raised during frame tilt adjustment, or when the MD is transitioning to four wheel mode 100-2, or under certain conditions in IMU50003 (FIG. 15C). be able to.

With continued reference to FIG. 27A, when the MD leans rearward on the rear wheels 21201, the MD drives the rear wheels 21201 rearward and attempts to recover from a potential rearward fall. Fall control can be implemented through fall prevention and wheel controller interaction, and the motor control authority of the two controllers is governed by a ramp function that depends on the rear pitch angle. Wheel speed proportional and integral errors and pitch proportional and derivative errors can be multiplied by the ramp function to change the behavior of the MD with respect to the rear pitch angle. The pitch error can be calculated, for example and without limitation, for a nominal pitch of -6.0°. The pitch rate can be filtered to smooth the error measurements, for example, but not limited to, a 0.7 Hz filter. A dead zone can be applied to the pitch velocity value. The controller gain, when multiplied by the ramp function, can be applied as a variable function, which varies between 0 and 1 over the range of the rear pitch error. The ramp function can be continuously used in the standard mode 100-1.

With continued reference to FIG. 27A, the wheel controller calculates the command based on the desired wheel speed from the joystick input while at the same time adjusting the rear pitch value to prevent the chair from falling backwards. You can respond. A PI loop can be used to calculate the command based on the wheel speed error. The dynamic state of the MD, characterized by the value of the rearward pitch error, can be used to determine the terms used to calculate the wheel front/rear command. The ramp function can be based on the pitch of the MD. The ramp function is a sliding gain that affects pitch, pitch speed, and wheel error. The ramp function may allow the wheel controller and the anti-tip controller to interact and maintain MD stability and control. The tipping control can be disabled, for example, but not limited to, if the inertial sensor on the MD is not initialized, or if the inertial estimator has an abnormality and the MD falls. ..

Referring now primarily to FIG. 27B, in standard mode wheel control, the method 8750 includes, at 8267, whether the MD has already fallen, or whether the inertia estimator has anomalies, or the MD transitions. A step of determining whether stabilization is possible based on whether At 8267, if stabilization is not possible, various actions can be taken depending on whether stabilization is not possible. At 8267, if stabilization is possible, the method 8750 may, for example but not limited to, based on the distance traveled by the MD since active stabilization was addressed and the measured pitch angle, a stabilization metric. The step of calculating 8255 may be included. Method 8750 may include, for example and without limitation, calculating a stabilization factor 8257 based on the measured pitch angle, which allows only backward angles and is filtered to undergo a proportional gain. it can. The stabilization factor can be based on the measured pitch velocity, around which a hysteresis band is placed and a derivative gain is applied. A ramp function can be applied to the stabilization factor. The method 8750 provides a wheel command input based on a desired front/rear speed, a desired front/rear speed, a measured front/rear speed, a desired yaw speed, and a derivative of the measured yaw speed over time. The step of calculating 8259 may be included. The derivative of velocity can be used to calculate the feedforward component. The desired and measured front/back speeds can be input to the PI controller and the ramp function can be applied to the results. The desired and measured yaw rates can be input to the proportional controller. At 8261, if the metric indicates that stabilization is required, then the method 8750 can include calculating a right/left wheel voltage command based on the wheel command input and the stabilization factor. At 8261, if the metric indicates that stabilization is not required, then the method 8750 can include calculating a right/left wheel voltage command based on the wheel command input.

27C, a control for implementing method 8750 (FIG. 27B) is shown. A filter 8843 can be applied to the measured pitch angle 8841 to provide a pitch velocity in the backward tipping direction and a hysteresis band 8849 can be installed around the measured pitch velocity 8847. The derivative of the desired front/rear speed 8853 is used as the feedforward term in the wheel controller. The desired front/rear speed 8853 and the measured front/rear speed 8855 can be fed to a first proportional-plus-integral (PI) controller 8857, and a ramp function 8859 is output to the first PI controller 8857. Can be applied. The desired yaw rate 8861 and the measured yaw rate 8863 can be fed to a proportional controller 8865. If active stabilization is addressed, the measured pitch angle 8841 filtered and the proportional gain 8845 applied is modified to combine with the measured pitch velocity 8849 modified and the derivative gain 8851 applied. To be The ramp function 8867 can be applied to the combination. The right wheel voltage command 768A and the left wheel voltage command 768B can be based on the combined results and the results of the PI controller 8857 and the proportional controller 8865.

With continued reference to FIG. 27C, the CG fit of the MD estimates the maximum allowable acceleration that may help prevent backward falls based at least on the pitch angle θ 705 (FIG. 27A) and the center of gravity determination for the MD. can do. The active stabilization processor 763 may include a closed loop controller that may maintain MD stability by slowing forward motion and accelerating backward motion automatically as the MD begins to fall backwards. it can. At least, for example and without limitation, a dynamic metric 845, which may be based on the measured pitch angle, controls whether pitch velocity feedback should be included in the wheel voltage command 768, thereby applying active stabilization. Can be measured. Optionally, the anti-tip controller can base its calculations at least in part on the CG location. If the anti-tip controller drives the MD backwards over a preselected distance, the MD can enter failsafe mode.

27D, the active stabilization processor 763 includes a centroid estimator 1301 including at least, but not limited to, computer instructions for estimating a centroid based on a mode, and at least a centroid estimate. An inertial estimator 1303 for estimating the pitch angle required to maintain balance. In some configurations, the location of center of gravity 181 (FIG. 27A) can be used to set frame tilt limits. In some configurations, an estimate of the location of the center of gravity 181 (FIG. 27A) may be, for example but not limited to, actively stabilizing the mobility assistance device 120 (FIG. 27A) and coordinating transitions between modes. Can be used for. The location of the center of gravity 181 (FIG. 27A) can vary with each user and seat setting combination and is a function of the height of the seat 105 (FIG. 27A) and the position of the cluster 21100 (FIG. 3). An estimate of the center of gravity 181 (FIG. 27A) over the range of seat heights and cluster positions that may occur during normal operation of the mobility assistance device 120 (FIG. 27A) can be calculated. Calibration parameters can be calculated such that they can be used to determine various reference pitch angles that may relate the location of the center of gravity 181 (FIG. 27A) to the equilibrium point of the system. The calibration parameters may allow the reference angle to be calculated for each control cycle as seat height and cluster position change. The estimation process balances the mobility assistance device 120 (FIG. 27A) and its load at various angles of the cluster 21100 (FIG. 3) and at each height of the seed seat 105 (FIG. 27A), and the mobility assistance device against gravity. Collecting data at each location, including a pitch angle of 120 (FIG. 27A). These data can be used to error check the results of the estimation process. The board controller 100 is used at least at the location of the center of gravity 181 (FIG. 27A), such as, but not limited to, (1) extended mode 100-2 (FIG. 22A) and stair mode 100-4 (FIG. 22A). The angle of the mobility assistance device 120 (FIG. 27A) with the center of gravity 181 (FIG. 27A) placed across the axis of the cluster 21100 (FIG. 3) as a function of seat 105 (FIG. 27A) height, and (2) balance mode A set of wheels 21201 (FIG. 27A) with a center of gravity 181 (FIG. 27A) as a function of seat 105 (FIG. 27A) height and cluster 21100 (FIG. 3) position used in 100-3 (FIG. 22A). ) Of the seats 105 (FIG. 27A) used in the standard mode 100-1 (FIG. 22A) and stair mode 100-4 (FIG. 22A), and the angle of the base 160 (FIG. 27A). The reference variable can be calculated based on the distance from the pivot point of the cluster 21100 (FIG. 3) estimated to the center of gravity, which is a function of height. These values can allow the controller to maintain active balance.

Referring now to FIG. 27E, a method 11350 for calculating a centroid fit (CG fit) includes, but is not limited to, (1) entering a balance mode 11351 step, and (2) prior to at least one wheel cluster. Measuring 11353 data including the selected position and the pitch angle required to maintain equilibrium at the preselected position of the seat; and (3) a plurality of mobility assist device/user pairs in advance. Moving 11355 to the selected point and collecting calibration data at each of the plurality of preselected points; and (4) at each of the plurality of preselected points, steps (2) and (3). ) Is repeated 11357, (5) verify 11359 that the measured data are within preselected limits, and (6) generate a set of calibration coefficients 11361 to generate verified measurement data. Based on the above, establishing a center of gravity at any available cluster and seat position during machine operation. The method 11350 may optionally include storing the coefficients in a non-volatile memory, for example, without limitation, for use during operation of the mobility assistance device 120 (FIG. 27A). Methods for entering a vehicle while seated in the MD include, but are not limited to, receiving an indication that the MD is encountering a tilt between the ground and the vehicle, and the cluster of wheels to the ground. Instructing to maintain contact with the wheel, changing the orientation of the cluster of wheels according to the indication, maintaining the device center of gravity between the wheels, and dynamically determining the distance between the seat and the cluster of wheels. Adjusting and keeping the seat as low as possible while preventing contact between the seat and the wheels. The MD and the user of the vehicle are advised that if the seat remains as low as possible and close to the cluster of wheels, and if the MD is actively stabilized while the MD traverses the slope in and out of the vehicle. You can get over the door frame. Methods for moving the equilibrium mobility assistance device over relatively steep terrain include, but are not limited to, receiving an indication that the mobility assistance device is on steep terrain and a cluster of wheels, Instructing to maintain contact with the ground and, at least, dynamically adjusting the distance between the seat and the cluster of wheels based on an indication and active stabilization of the movement assistance device. Can be included. The method may optionally include the step of setting the speed of travel of the mobility assistance device based on the indication.

28A, the controller gain for a given load on the MD can be a function of the weight of the load, and the stability of the MD is at least a function of the controller gain. The controller gain may include, but is not limited to, extended mode 100-2 (FIG. 22B) to stabilize MD when the load is light or when transitioning to balanced mode 100-3 (FIG. 22B), for example. ) May be included. The board controller 100 may include at least one default value for the center of gravity for the MD. The weight of the load on the MD can determine the default value for the centroid used. The load weight and/or the change in load weight and the selected default value of the center of gravity can be used to adjust the controller gain. The controller gain can include a range of discrete or analog values. For example, if the load falls from the seat, the MD may experience a relatively large acceleration resulting from a relatively small input torque. In some configurations, a change in load weight on the seat may change the controller gain based at least on the load weight. The weight processor 757 can adjust the stability of the MD based at least on the change in load weight. Weight processor 757 can determine the weight of the load based at least, for example, without limitation, on the motor current of seat motors 45/47 (FIGS. 18C/18D). The weight processor 757 potentially processes the collected pitch velocity data using, for example, without limitation, a Discrete Fast Fourier Transform, to represent the instability-generated changes, resulting pitch velocity frequencies. The pitch velocity frequency is filtered based on the recognized value, and the filtered pitch velocity frequency is squared, based at least on the known profile of potential instability, By analyzing the square pitch velocity frequency, an unstable situation can be detected. A weight processor 757 for stabilizing the MD includes a weight estimation processor 956 including, but not limited to, computer instructions for estimating the weight of the load on the MD, and at least calculating a controller gain based on the weight. A controller gain processor 947, which includes computer instructions for controlling the MD, and a wheel command processor 761 that applies controller gain and controls the MD.

Referring now primarily to FIG. 28B, a method 800 for stabilizing MD includes, but is not limited to, estimating 851 the load weight and/or weight change on the MD and the center of gravity of the MD. 853, selecting a default value or a plurality of values of, and calculating 855 a controller gain based on at least the weight and/or the weight change and the center of gravity value; and applying the controller gain 857 to control the MD. And steps.

Referring now primarily to FIG. 28C, the weight-current processor can measure the weight of the load on the MD. Weight-current processor 758 may include, but is not limited to, position and function receiver 1551, motor current processor 1552, and torque-weight processor 1553. The position and function receiver 1551 can receive the sensor data 767 and the mode information 776 to determine possible action that can be taken on the load. Motor current processor 1552 may, for example and without limitation, measure current into seat motor drive 25/37 (FIGS. 18C/18D) when MD is transitioning to expansion mode 100-2 (FIG. 22B). Can be processed. Since the motor current is proportional to torque, the torque-weight processor 1553 can use the current reading to provide an estimate of the torque required to lift the load in the seat. In some configurations, for an exemplary motor, MD geometry, and seat height, the weight of the load on the seat can be calculated as: where SC = seat correction, SH=seat height, and MC=motor current.
SC=a×SH+b, where a and b are constants determined by the MD geometry.
MC (correction) = MC (measurement) + SC
When MC(correction)>T, weight=c×MC(correction)×MC(correction)+d×MC(correction)−e, where c, d, and e are motor currents, Is a constant related to the seat, seat, and UC weight. The total system weight is the user/seat/UC weight plus the weight of the base and wheels.

With continued reference primarily to FIG. 28C, when the seat reaches a stable position and the seat brake is engaged, there is no current flowing through the motor windings. When the seat brake is released, the current required to hold the position of the seat can be measured. In some configurations, the weight of the load is estimated at least by calculating a continuous estimate of weight based on continuous monitoring of the current signal from the seat motor processor 45/47 (FIGS. 18C/18D). be able to. Prediction of a sudden change in weight is at least, for example, but not limited to, accelerometer data, current data from other than seat motor processor 45/47 (FIGS. 18C/18D), abrupt rotation of cluster 21100 (FIG. 6A). It can be based on the current required and the wheel acceleration. The specific predictor can be based at least on whether the MD is stationary or moving.

Referring now primarily to FIG. 28D, a method 900 for calculating weight on MD includes, but is not limited to, receiving 951 the position of a load on MD, and standard mode 100-1 (FIG. 22B). 953 to receive the setting of the MD to the MD, and at least once to measure 955 the motor current required to transition the MD to the extended mode 100-2 (FIG. 22B), based at least on the motor current. Torque calculation 957, at least the load weight calculation 959 based on the torque, and at least the controller gain adjustment 961 based on the weight to stabilize the MD. be able to.

Referring now to FIG. 29A, the MD provides a user with enhanced functionality 145, such as, but not limited to, the user avoiding obstacles, passing through doors, climbing stairs, to elevators. It can assist in riding and parking/transporting the MD. In general, the MD can receive user input (eg, UI data 633) and/or input from the MD, such as, but not limited to, through messages from the user interface device and sensor 147. The MD may also receive sensor input, such as, but not limited to, through the sensor processing system 661. The UI data 633 and the output from the sensor processing system 661 can inform the command processor 601 to invoke the selected mode automatically or manually, for example. The command processor 601 can pass the UI data 633 and the output from the sensor processing system 661 to the processor, which can enable the called mode. The processor can generate the move command 630 based at least on the previous move command 630, the UI data 633, and the output from the sensor processing system 661.

With continued reference to FIG. 29A, the MD includes, but is not limited to, a command processor 601, a mobile processor 603, a simultaneous localization and mapping (SLAM) processor 609, a point cloud library (PCL) processor 611, and a geometry. A geometry processor 613 and an obstacle processor 607 may be included. The command processor 601 can receive user interface (UI) data 633 from the message bus. The UI data 633 can include, for example, without limitation, a signal from a joystick 70007 (FIG. 12A) that provides an indication of the desired direction and speed of movement of the MD. The UI data 633 can also include selections such as alternative modes in which the MD can transition. In some configurations, in addition to the modes described with respect to FIG. 22B, the MD includes, but is not limited to, door mode 605A, restroom mode 605B, extended stair mode 605C, elevator mode 605D, dynamic parking mode 605E, and quiet. Mode selections such as static storage/charge mode 605F can be processed. Any of these modes can include a home position move mode, or the user can instruct to move to a position in the MD. The message bus 54 is capable of receiving control information regarding the MD in the form of UI data 633 and of processing performed by the MD in the form of commands such as move commands 630, which may include, but are not limited to, speed and direction. The result can be received. The move command 630 may transmit this information to the wheel motor drive 19/21/31/33 (FIG. 18C/18D) and the cluster motor drive 1050/27 (FIG. 18C/18D) via the message bus 54, MD. Can be provided to. The move command 630 can be determined by the move processor 603 based on information provided by the mode-specific processor. The mode specific processor can determine the mode dependent data 657 based on, among other things, the information provided through the sensor handling processor 661.

With continued reference primarily to FIG. 29A, the sensor handling processor 661 can include, but is not limited to, an MD geometry processor 613, a PCL processor 611, a SLAM processor 609, and an obstacle processor 607. .. The move processor 603 can provide a move command 630 to the sensor handling processor 661 to provide the information needed to determine future movement of the MD. Sensor 147 can provide environmental information 651, which can include, for example, without limitation, geometric information about obstacles 623 and MD. In some configurations, the sensor 147 may include at least one time-of-flight sensor that may be mounted anywhere on the MD. Multiple sensors 147 can be mounted on the MD. PCL processor 611 can collect and process environmental information 651 and can produce PCL data 655. PCL, a group of code libraries for processing 2D/3D image data, can assist in processing environment information 651, for example. Other processing techniques can also be used.

With continued reference primarily to FIG. 29A, MD geometry processor 613 can receive MD geometry information 649 from sensor 147 and retrieve MD geometry information 649 for use by the mode dependent processor. Any processing required to prepare can be performed and the processed MD geometry information 649 can be provided to the mode dependent processor. The geometry of the MD can be used to automatically determine whether the MD can fit in and/or through spaces such as, but not limited to, stair structures and doors. The SLAM processor 609 can determine the navigation information 653 based on, for example, without limitation, the UI data 633, the environment information 651, and the move command 630. The MD may, at least in part, travel within the route established by the navigation information 653. Obstacle processor 607 can locate obstacle 623 and distance 621 to obstacle 623. Obstacles 623 can include, but are not limited to, doors, stairs, cars, and miscellaneous features near the MD's path.

29B and 29C, a method 650 for handling at least one obstacle 623 (FIG. 29D) while navigating an MD includes, but is not limited to, receiving at least one move command. And receiving and segmenting 1151 (FIG. 29B) the PCL data 655 (FIG. 29D), and identifying 1153 (FIG. 29B) at least one plane in the segmented PCL data 655 (FIG. 29D). , Identifying 1155 (FIG. 29B) at least one obstacle 623 (FIG. 29D) in at least one plane. Method 650 further determines at least one status identifier 624 (FIG. 29D) based on at least one obstacle, UI data 633 (FIG. 29D), and move command 630 (FIG. 29D) 1157 (FIG. 29B). Determining 1159 (FIG. 29B) the distance 621 (FIG. 29D) between the MD and the at least one obstacle 623 (FIG. 29D) based on at least one situation identifier 624 (FIG. 29D). And steps. Method 650 also accesses 1161 (FIG. 29B) to at least one authorization command associated with distance 621 (FIG. 29D), at least one obstacle 623 (FIG. 29D), and at least one status identifier 624 (FIG. 29D). It can include steps. The method 650 still further includes accessing 1163 (FIG. 29B) at least one automated response to the at least one authorization command and one of at least one move command 630 (FIG. 29D) and at least one authorization command. 1167 (FIG. 29C) and providing 1169 (FIG. 29C) to the mode dependent processor at least one move command 630 (FIG. 29D) and at least one automatic response associated with the mapped authorization command. Can be included.

With continued reference to FIGS. 29B and 29C, the at least one obstacle 623 (FIG. 29D) can optionally include at least one stationary object and/or at least one moving object. Distance 621 (FIG. 29D) can optionally include a fixed amount and/or a dynamically varying amount. The at least one move command 630 (FIG. 29D) optionally includes a follow command, a command to traverse at least one obstacle at least once, a command to traverse at least one obstacle, and at least one obstacle non- A follow command can be included. The method 650 optionally includes, for example, storing obstacle data 623 (FIG. 29D) and in an external system of the MD into cloud storage 607G (FIG. 29D) and/or local storage 607H (FIG. 29D). Enabling access to the stored stored obstacle data. PCL data 655 (FIG. 29D) can optionally include sensor data 147 (FIG. 29A). The method 650 optionally collects sensor data 147 (FIG. 29A) from at least one time-of-flight sensor mounted on the MD and uses the point cloud library (PCL) to provide the sensor data 147 (FIG. 29A). ), and tracking at least one moving object using simultaneous localization and mapping (SLAM) with detection and tracking of moving objects based on MD location (DATMO); Using, but not limited to, a random sample consensus and a PCL library to identify at least one plane in obstacle data 623 (FIG. 29D) and at least one automated response associated with the mapped authorization command. Is provided to the mode dependent processor. The method 650 also optionally includes the step of receiving a resume command, followed by the resume command, at least one move command 630 (FIG. 29D), and at least one automatic response associated with the mapped permit command. Providing to the dependent processor. The at least one automated response can optionally include speed control commands.

Referring now to FIG. 29D, an obstacle processor 607 for processing at least one obstacle 623 while navigating the MD receives, but is not limited to, PCL data 655 from PCL processor 611 and segmentation. , A navigation/PCL data processor 607F that identifies at least one plane in the segmented PCL data 655 and identifies at least one obstacle 623 in the at least one plane. The obstacle processor 607 may further include a distance processor 607E that determines at least one situation identifier 624 based on at least the UI data 633, the at least one move command 630, and the at least one obstacle 623. The distance processor 607E can determine the distance 621 between the MD and the at least one obstacle 623 based at least on the at least one situation identifier 624. Mobile object processor 607D and/or stationary object processor 607C can access at least one authorization command associated with distance 621, at least one obstacle 623, and at least one situation identifier 624. The mobile object processor 607D and/or the stationary object processor 607C can access at least one automatic reply associated with at least one authorization command from the automatic reply list 627. The moving object processor 607D and/or the stationary object processor 607C access at least one move command 630, including, for example, velocity/signal commands and direction commands/signals, of at least one move command 630 and at least one permit command. One of them can be mapped. The moving object processor 607D and/or the stationary object processor 607C can provide at least one automatic response associated with the at least one move command 630 and the mapped grant command to the mode dependent processor.

With continued reference to FIG. 29D, the stationary object processor 607C may optionally perform any special processing required when encountering at least one stationary object, and the moving object processor 607D may optionally: Any special processing required when encountering at least one moving object can be implemented. Distance processor 607E is capable of processing distance 621, which may optionally be a fixed and/or dynamically varying amount. The at least one move command 630 can optionally include a follow command, a pass command, a side-walk command, a move to home command, and a non-follow command. The navigation/PCL processor 607F may optionally store the obstacle 623, for example, but not limited to, in the local storage device 607H and/or on the storage cloud 607G, and, for example, without limitation, An external system of the MD, such as external application 140 (FIG. 16B), may allow access to stored obstacles 623. The PCL processor 611 can optionally collect sensor data 147 (FIG. 29A) from at least one time-of-flight camera mounted on the MD and use a point cloud library (PCL) to provide the sensor data 147. (FIG. 10) can be analyzed to yield PCL data 655. The moving object processor 607D optionally tracks at least one moving object based on the location of the MD using navigation information 653 collected by the simultaneous localization and mapping (SLAM) processor 609, for example, to limit Although not, a random sample consensus and PCL library can be used to identify at least one plane and based on at least one auto-response associated with the mapped authorization command, at least one move command. 630 may be provided to a mode dependent processor. Obstacle processor 607 optionally receives a resume command and, following the resume command, at least one move command 630 to the mode dependent processor based on the at least one automatic response associated with the mapped authorization command. Can be provided. The at least one automated response can optionally include speed control commands. For example, if 70007 (FIG. 12A) indicates a direction in which the MD may be positioned within a collision course with an obstacle 623, such as a wall, then at least one automatic response includes speed control to drive the MD from the collision. Can be protected. At least one automatic response may be disabled by a reverse user command, for example, joystick 70007 (FIG. 12A) may be released and MD movement may be stopped. The joystick 70007 (FIG. 12A) can then be re-engaged to resume movement of the MD towards the obstacle 623.

Referring now primarily to FIGS. 29E-29H, environmental information 651 (FIG. 29A) can be received from sensor 147 (FIG. 29A). The MD can process the environmental information 651 (FIG. 29A). In some configurations, the PCL processor 611 (FIG. 29A) may use the sensor 147 (FIG. 29A) to, for example, respond to environmental information 651 (FIG. 29A), or point cloud library (PCL) functionality, accordingly. Can be processed. As the MD travels along the path of travel 2001 (FIG. 29H) around the potential obstacle 2001A, the sensor 147 (FIG. 29A) may be moved from the sensor 147 (FIG. 29A), for example, to the point cloud, accordingly. That is, it is possible to detect a box 2005 (FIGS. 29G-29H) that may include data that can take the shape of a truncated cone 2003 (FIGS. 29F-29H). For example, without limitation, a sample consensus method from PCL, such as but not limited to a random sample consensus method, can be used to find the plane between the point clouds. The MD can create predicted groups and can determine point cloud exact correspondences from which the predicted group centroids can be determined. The central reference point 148 can be used to determine the location of environmental conditions for the MD. For example, whether the MD is moving toward or away from the obstacle, or the location of the door hinge relative to the MD, can be determined based on the location of the central reference point 148. Sensor 147 (FIG. 29A) can include, for example, time-of-flight sensor 147A.

Referring now primarily to FIG. 29I, a method 750 for enabling an MD to navigate stairs includes, but is not limited to, receiving 1251 at least one stair command and mounted on the MD. Receiving 1253 environmental information 651 (FIG. 29A) from obstacle sensor 147 (FIG. 29A) through obstacle processor 607 (FIG. 29A). The method 750 further includes locating 1255 at least one stair structure 643 (FIG. 29J) in the environmental information 651 (FIG. 29A) based on the environmental information 651 (FIG. 29A), and stair structure 643 (FIG. 29J). Receiving 1257 a selection of stair structures 643A (FIG. 29J) selected from at least one of the above. The method 750 still further comprises measuring 1259 at least one property 645 (FIG. 29J) of the selected stair structure 643A (FIG. 29J) and, if applicable, selecting based on the environmental information 651 (FIG. 29J). Locating 1261 an obstacle 623 (FIG. 29J) on the staircase structure 643A (FIG. 29J) that has been located. The method 750 also locates 1263 the last staircase of the selected staircase structure 643A (FIG. 29J) based on the environmental information 651 (FIG. 29J), and measures at least one property 645 (FIG. 29J). Providing 1265 a move command 630 (FIG. 29J) based on the last stairs and, if applicable, an obstacle 623 (FIG. 29J) to move the MD onto the selected stair structure 643A (FIG. 29J). Can be included. At 1267, if the last staircase has not been reached, method 750 may continue to provide move command 630 (FIG. 29J) and move the MD. The method 750 optionally locates at least one of the stair structures 643 (FIG. 29J) based on GPS data, and selects the stairs selected using, for example, without limitation, a SLAM. And building a map of structure 643A (FIG. 29J). The method 750 also optionally includes accessing the MD geometry 649 (FIG. 29J) and the characteristics 645 (FIG. 29J) of the geometry 649 (FIG. 29J) and the selected stair structure 643A (FIG. 29J). Comparing at least one of the steps, and modifying the step of navigating based on the step of comparing. At least one of the characteristics 645 (FIG. 29J) optionally includes at least one rise height, at least one rise surface texture, and at least one rise of the selected stair structure 643A (FIG. 29J). Surface temperature can be included. The method 750 may optionally include generating an alert if the surface temperature is outside the threshold range and the surface texture is outside the static friction setting. The threshold range can optionally include temperatures below 33°F. The static friction setting can optionally include a carpet texture. The method 750 further includes determining a topography of an area surrounding the selected stair structure 643A (FIG. 29J) based on the environmental information 651 (FIG. 29J) and generating an alert if the topography is not flat. Can be included. The method 750 may still further optionally include accessing the set of extreme situations.

Referring now primarily to FIG. 29J, automated navigation of stairs can be enabled by stair processor 605C to enable the MD to navigate the stairs. The sensor 147 (FIG. 29A) on the MD can, if applicable, determine if the environmental information 651 (FIG. 29A) includes at least one stair structure 643. In conjunction with any automatic determination of the location of at least one stair structure 643, the UI data 633 can include selection of stair mode 215 (FIG. 22B), which can be an automatic, semi-automatic, or semi-manual stair climb process. Can be called. Either automatic location of at least one stair structure 643 or receipt of UI data 633 can call the stair processor 605C for enhanced stair navigation functionality. The staircase processor 605C provides data from the obstacle processor 607, such as, for example, at least one obstacle 623, a distance 621 to the at least one obstacle 623, a situation 624, navigation information 653, and geometric information 649 regarding MD. Can be received. The navigation information can include, but is not limited to, possible paths that the MD may traverse. The at least one obstacle 623 can include at least one stair structure 643, among other obstacles. The staircase processor 605C can locate at least one staircase structure 643 and either automatically or otherwise, such as, but not limited to, navigation information 653 and/or UI data 633 and/or Alternatively, the selected staircase structure 643A can be determined based on the MD geometric shape information 649. For example, characteristics 645 of the selected staircase structure 643A, such as riser information, can be used to determine the distance 640 to the first staircase and the next staircase. The staircase processor 605C can determine the MD move command 630 based on, for example, without limitation, the characteristics 645, the distance 621, and the navigation information 647. The move processor 603 can move the MD based on the move command 630 and the distance 640 to the next staircase, and transfers control to the sensor process 661 after the staircase from the selected staircase structure 643A has been traversed. Can be migrated. The sensor process 661 either navigates the selected stair structure 643A or continues to follow the path set by the navigation information 653, depending on whether the MD has completed traversing the selected stair structure 643A. You can either do it. While the MD is traversing the selected stair structure 643A, the obstacle processor 607 can detect an obstacle 623 on the selected stair structure 643A and the stair processor 605C can avoid the obstacle 623. , Move commands 630 can be provided. The location of the obstacle 623 can be stored locally on the MD and/or external to the MD for future use.

With continued reference primarily to FIG. 29J, the staircase processor 605C includes, but is not limited to, a staircase structure processor 641B that receives at least one staircase command contained within the UI data 633 and a sensor mounted on the MD. A staircase structure locator 641A that receives environmental information 651 (FIG. 29A) from an obstacle processor 607 (FIG. 29A) from 147 (FIG. 29A). The staircase structure locator 641A is further capable of locating at least one of the staircase structures 643 in the environment information 651 (FIG. 29A) based on the environment information 651 (FIG. 29A), and of the staircase structure 643. Of at least one of the stair structures 643A may be received. The selected staircase structure 643A can be stored in storage 643B for possible future use. The staircase property processor 641C can measure at least one of the properties 645 of the selected staircase structure 643A, and based on the environmental information 651, if applicable, at least one on the selected staircase structure 643A. One obstacle 623 can be located. The staircase move processor 641D locates the last staircase of the selected staircase structure 643A based on the environmental information 651 and informs the move processor 603 of the measured at least one property 645, the last staircase, and if applicable. , A move command 630 may be provided for the MD to move on the selected stair structure 643A based on the at least one obstacle 623. The staircase structure locator 641A can optionally locate at least one of the staircase structures 643 based on GPS data and uses SLAM to build a map of the selected staircase structure 643A and Can be saved. The map can be saved for local use of the MD and/or for use by other devices. The staircase structure processor 641B may optionally access the MD geometry 649 and compare the geometry 649 with at least one of the properties 645 of the selected staircase structure 643A, and based on the comparison. Thus, the navigation of the MD can be modified. The staircase structure processor 641B optionally generates an alert if the rise surface temperature of the selected staircase structure 643A is outside the threshold range and the surface texture of the selected staircase structure 643A is outside the static friction setting. be able to. The stair move processor 641D can optionally determine a topography of the area surrounding the selected stair structure 643A based on the environmental information 651 (FIG. 29A) and generates an alert if the topography is not flat. can do. The stair move processor 641D may optionally access a set of extreme situations.

Referring now primarily to FIGS. 29K-29L, a method for negotiating with a door 675 (FIG. 29M) while manipulating an MD, wherein the door 675 (FIG. 29M) may include door swings, hinge locations, and doorways. 850 may include, but is not limited to, receiving environmental information 651 (FIG. 29A) from sensor 147 (FIG. 29A) mounted on the MD and segmenting 1351 (FIG. 29K). The environment information 651 (FIG. 29A) can include the MD geometric shape. The method 850 includes identifying 1353 (FIG. 29K) at least one plane in the segmented sensor data and identifying 1355 (FIG. 29K) a door 675 (FIG. 29M) in at least one plane. Can be included. Method 850 can further include measuring 1357 (FIG. 29K) door 675 (FIG. 29M) and providing a door measurement. Method 850 can also include determining 1361 (FIG. 29K) a door swing. The method 850 further comprises providing 1363 (FIG. 29L) at least one move command 630 (FIG. 29M) for accessing the handle of the door 675 (FIG. 29M), moving the MD, and at least one move. Providing command 630 (FIG. 29M) 1365 (FIG. 29L) and moving the MD away from door 675 (FIG. 29M) by a distance based on the door measurement as door 675 (FIG. 29M) opens. be able to. If the door 675 (FIG. 29M) is a push door, the method 850 provides at least one move command to move the MD relative to the door 675 (FIG. 29M), and thus the movement of the MD through the doorway. To position the door 675 (FIG. 29M). The method 850 also provides 1367 (FIG. 29L) at least one move command 630 (FIG. 29M) if the door swing is toward the MD and moves the MD forward through the doorway, causing the MD to move to the door 675 (FIG. 29M) may be maintained in the open position.

Referring now to FIG. 29M, the sensor process 661 can determine the hinge side of the door 675 and the direction, angle, and distance of the door through information from the sensor 147 (FIG. 29A). The movement processor 603 can generate commands to the MD such as start/stop of left turn, start/stop of right turn, start/stop of forward movement, start/stop of backward movement, and stop MD. , MD can be completed and the door mode 605A can be accelerated by centering the joystick 70007 (FIG. 12A). Door processor 671B can determine whether door 675 is, for example, a push door, a sliding door, or a sliding door. Door processor 671B can determine the width of door 675 by determining the MD's current position and orientation, and determining the x/y/z location of the door pivot point. If the door processor 671B determines that the number of valid points in the image of the door 675 derived from the obstacle 623 and/or PCL data 655 (FIG. 29A) exceeds a threshold, the door processor 671B causes the MD to open the door. The distance to 675 can be determined. Door processor 671B can determine whether door 675 is moving based on successive samples of PCL data 655 (FIG. 29A) from sensor processor 661. In some configurations, the door processor 671B may assume that the sides of the MD are parallel to the handle side of the door 675 and use that assumption, along with the position of the door pivot point, of the door 675. The width can be determined.

Continuing to mainly refer to FIG. 29M, if the movement of the door 675 is toward the MD, the door movement processor 671D generates a movement command 630 and provides it to the movement processor 603, which indicates that the door 675 is moving. The MD can be moved backwards by a predetermined or dynamically determined percentage amount. The move processor 603 can provide a move command 630 to the MD, and the MD can receive the GUI data 633A and provide the GUI data 633A to the move processor 603. If the door 675 is moving away from the MD, the door move processor 671D generates a move command 630 to cause the MD to move forward by a predetermined or dynamically determined percentage amount the door 675 moves. Can be instructed to move. The amount that the MD moves, either forwards or backwards, can be based on the width of the door 675. Door processor 671B can locate the side of door 675 that provides the opening/closing function for door 675 based on the location of the door pivot point. Door processor 671B can determine the distance to the front plane of sensor 147 (FIG. 16B). Door move processor 671D may generate move command 630 and instruct the MD to move through door 675. The door move processor 671D can wait a preselected amount of time for the MD move to complete, and the door move processor 671D generates a move command 630 based on the position of the door 675, You can adjust the location. Door processor 671B can determine the door angle and the door pivot point. The door processor 671B can determine whether the door 675 is stationary, can determine whether the door 675 is moving, and can determine the direction in which the door 675 is moving. it can. Upon completion of the door mode 605A, the door move processor 671D can generate a move command 630, which can instruct the MD to interrupt the move.

Still further principally with continued reference to FIG. 29M, door mode 605A for negotiating with door 675 while manipulating an MD, in which door 675 may include door swings, hinge locations, and doorways, is not limiting. No, but may include a sensor process 661 that receives and segments the environmental information 651 from the sensor 147 (FIG. 29A) mounted on the MD, the environmental information 651 including the MD geometry 649. You can Door mode 605A can also include a door locator 671A that identifies at least one plane in the segmented sensor data and identifies a door 675 in the at least one plane. Processor 671B may include measuring door 675 and providing door measurement 645A. The door move processor 671D may provide at least one move command 630 to move the MD away from the door 675 if the door measurement 645A is less than the MD geometry 649. Door processor 671B can also include the step of determining a door swing, and door movement processor 671D can provide at least one movement command 630 to move the MD forward through the doorway. The MD can open the door 675 and maintain the door 675 in the open position when the door swing is away from the MD. The door move processor 671D may provide at least one move command 630 to move the MD for access to the handle of the door 675 and provide at least one move command 630 to open the door 675. Accordingly, the MD can be moved away from the door 675 by a distance based on the door measurement 645A. Door movement processor 671D may provide at least one movement command 630 to move the MD forward through the doorway. The MD can maintain the door 675 in the open position when the door swing is toward the MD.

Referring now to FIG. 29N, the MD can automatically negotiate the use of restroom facilities. The MD can automatically locate the private room door of the restroom, if multiple doors are present, automatically generate a move command 630 (FIG. 29O), and MD through the doors. Can be moved and the MD can be automatically positioned with respect to the restroom fixtures. After the use of the restroom equipment is completed, the MD automatically locates the door, automatically generates a move command 630 (FIG. 29O), moves the MD through the door, and separates the restroom and/or makeup room. You can leave the room. The lavatory private room may have a door 675 (FIG. 29O), and the door 675 (FIG. 29O) may have a door sill and a door swing. The method 950 for negotiating can include, but is not limited to, providing at least one move command 630 (FIG. 29O) to cause the MD to cross the door sill and enter the toilet 1451. The method 950 also provides at least one move command 630 (FIG. 29O) 1453 to position the MD to access the door entry and exit handles and, if the door swing is toward the MD, at least one. Providing a move command 630 (FIG. 29O) 1455 and moving the MD away from the door 675 (FIG. 29O) as the door 675 (FIG. 29O) closes. The method 950 also provides 1457 at least one move command 630 (FIG. 29O) if the door swing is away from the MD, causing the MD (FIG. 100) to move to the door 675 (as the door 675 (FIG. 29O) closes. 29O) and providing at least one move command 630 (FIG. 29O) to position the MD beside the first restroom fixture 1459. The method 950 can include providing 1461 at least one move command 630 (FIG. 29O) and stopping the MD, providing 1463 at least one move command 630 (FIG. 29O), and the second toilet. Positioning the MD in the vicinity of the equipment can be included. The method 950 can include providing 1465 at least one move command 630 (FIG. 29O) to traverse the door sill and exit the toilet cubicle.

Continuing to refer primarily to FIG. 29N, the steps of automatically traversing the door sill optionally, but not exclusively, from sensor 147 (FIG. 29A) mounted on the MD to environmental information 651 (FIG. 29A). And segmenting 1351 (FIG. 29K). The environment information 651 (FIG. 10) may include MD geometric shapes. Automatically traversing the door sill also optionally identifying 1353 at least one plane in the segmented sensor data (FIG. 29K), and a door 675 in at least one plane (FIG. 29M). Identifying 1355 (FIG. 29K). The step of automatically traversing the door sill further optionally measures 1357 (FIG. 29K) the door 675 (FIG. 29M) and provides the door measurement, and the door measurement is a MD geometry 649 (FIG. 29M). )), providing 1359 (FIG. 29K) at least one move command 630 (FIG. 29O) and moving the MD away from the door 675 (FIG. 29M). The step of automatically traversing the door sill also optionally provides a step 1361 of determining the door swing (FIG. 29K) and at least one move command 630 (FIG. 29O) if the door swing is away from the MD. And moving the MD forward through the door opening causing the MD to open the door 675 (FIG. 29M) and maintain the door 675 (FIG. 1A) in the open position 1363 (FIG. 29K). Automatically traversing the door sill further optionally provides 1365 (FIG. 29L) at least one move command 630 (FIG. 29O) to move the MD for access to the door handle. , 1367 (FIG. 29L) providing at least one move command 630 (FIG. 29O) and moving the MD away from door 675 (FIG. 29M) by a distance based on the door measurement as door 675 (FIG. 29M) opens. And a step of causing it to be performed. The step of automatically traversing the door sill also optionally provides 1369 (FIG. 29L) at least one move command 630 (FIG. 29O) if the door swing is towards the MD and MD forward through the doorway. And causing the MD to maintain the door 675 (FIG. 29M) in the open position. The method 950 may optionally include automatically locating the restroom and automatically driving the MD into the restroom. SLAM techniques can optionally be used to locate the destination, eg, the restroom. The MD may optionally access a database of frequently visited places, may receive a selection of one of the frequently visited places, and may include at least one move command 630 (FIG. 29O). And can move the MD to a selected location, which can include, but is not limited to, a restroom, for example.

Referring now to FIG. 29O, the private room of the restroom may have a door, which may have a door sill and a door swing, negotiate with the private room of the restroom in the restroom in MD. Restroom mode 605B for use may include, but is not limited to, a door mode 605A that provides at least one move command 630 to cause the MD to traverse the door sill and enter the restroom. The restroom can also include equipment such as, but not limited to, toilets, sinks, and changing tables. The entry/exit processor 681C may provide the at least one move command 630 to position the MD to access the door entry and exit handles and at least one move if the door swing is toward the MD. A command 630 may be provided to move the MD away from the door as it closes. The entry/exit processor 681C may provide at least one move command 630 if the door swing of the door 675 is away from the MD and move the MD toward the door 675 as the door 675 closes. The stationary processor 681B can provide at least one move command 630 to position the MD near the first restroom fixture and can provide at least one move command to stop the MD. Fixed processor 681B may also provide at least one move command 630 to position the MD in the vicinity of the second restroom fixture. The entry/exit processor 681C can provide at least one move command 630 to traverse the door sill and exit the private room of the restroom.

Referring now to FIGS. 29P and 29Q, a method 1051 for automatically storing an MD in a vehicle, such as, but not limited to, a wheelchair-accessible van, assists the user in autonomous use of the vehicle. be able to. The MD may be left parked outside the vehicle when the user gets out of the MD and possibly gets into the vehicle as the driver of the vehicle. If the MD is to be carried by the user in the vehicle for later use, the dynamic parking mode 605E (FIG. 29R) provides the move command 630 (FIG. 29R) to the MD, either automatically or upon command. In either case, the MD main body can be stored, and in addition, can be collected by the vehicle door. The MD can be commanded to store the body, for example, through commands received from the external application 140 (FIG. 16B). In some configurations, a computer-powered device, such as a cell phone, laptop, and/or tablet, executes one or more external applications 140 (FIG. 16B) to provide information that may ultimately control the MD. Can be used to generate. In some configurations, when the MD is installed in a parking mode, for example by the user, the MD may automatically advance to the dynamic parking mode 605E after the user exits the MD. The move command 630 (FIG. 29R) may include a command for locating a vehicle door that will enter because the MD is stored and a command for directing the MD to the door. The dynamic parking mode 605E (FIG. 29R) can determine error conditions, such as, but not limited to, a door being too small for the MD to enter, and, for example, without limitation, The user may be alerted of an error condition through an audio alert through audio interface 150A (FIG. 16B) and/or a message to external application 140 (FIG. 16B). If the door is wide enough for the MD to enter, dynamic parking mode 605E (FIG. 29R) can provide vehicle control commands and command the vehicle to open the door. The dynamic parking mode 605E (FIG. 29R) can determine when the vehicle door is open and whether there is space for the MD to be stored. The dynamic parking mode 605E (FIG. 29R) may call the obstacle handling 607 (FIG. 29M) to assist in determining the vehicle door status and whether there is room in the vehicle to store the MD. it can. If the dynamic parking mode 605E (FIG. 29R) determines that there is sufficient room for the MD, the dynamic parking mode 605E (FIG. 29R) provides the move command 630 (FIG. 29R) and stores it in the vehicle. The MD can be moved into the space. The dynamic parking mode 605E (FIG. 29R) can provide vehicle control commands to command the vehicle to lock the MD in place and close the vehicle door. When the MD is needed again, the external application 140 (FIG. 16B) can be used, for example, to call the dynamic parking mode 605E. Dynamic parking mode 605E (FIG. 29R) can recall the status of the MD and provide vehicle control commands to handle by unlocking the MD in the vehicle and commanding the vehicle door to open. Can start. Dynamic parking mode 605E (FIG. 29R) can again locate the vehicle door, or, for example, from local storage 607H (FIG. 29M) and/or cloud storage 607G (FIG. 29M). You can access the location. The dynamic parking mode 605E (FIG. 29R) provides a move command 630 (FIG. 29R) to move the MD through the vehicle door, eg, to the passenger door commanded by the external application 140 (FIG. 16B). it can. In some configurations, the vehicle may be tagged in place, such as an entrance door for storage of the MD, for example. The dynamic parking mode 605E can, for example and without limitation, recognize tags such as but not limited to fiducials, barcodes, and/or QRCODEs, and as a result of recognizing tags, the methods described herein. Can be executed. Other tags may also be included, such as a tag in the storage compartment to indicate the proper storage location and a tag on the vehicle occupant door. The tag can be RFID enabled, eg, the MD can include an RFID reader.

With continued reference primarily to FIGS. 29P and 29Q, a method 1051 for automatically storing an MD in a vehicle provides, but is not limited to, at least one move command 630 (FIG. 29R) 1551, MD Locating a vehicle door that would enter to be stored in a storage space within the vehicle, and providing 1553 at least one move command 630 (FIG. 29R) to direct the MD to the door. Can be included. At 1555, if the vehicle door is wide enough for the MD to enter, method 1051 can include providing at least one vehicle control command 1557 to command the vehicle to open the door. At 1559, if the door is opened, and at 1561 there is room to store the MD in the vehicle, method 1051 provides 1563 at least one move command 630 (FIG. 29R) to cause the vehicle to May include moving the MD into the storage space of the. The method 1051 may include providing 1565 at least one vehicle control command to command the vehicle to lock the MD in place and close the vehicle door. At 1555, if the vehicle door is not wide enough, or at 1559, if the vehicle door is not open, or at 1561 there is no space for the MD, then the method 1051 alerts the user 1567. Providing 1569 one move command 630 (FIG. 29R) and returning the MD to the user.

With continued reference primarily to FIGS. 29P and 29Q, at least one move command 630 (FIG. 29R) for storing an MD is received from an external application 140 (FIG. 16B) and/or automatically generated. Can be done. The method 1051 optionally alerts the user of an error condition, such as, but not limited to, via an audio alert through the audio interface 150A (FIG. 16B) and/or a message to the external application 140 (FIG. 16B). Can be included. The method 1051 optionally invokes obstacle handling 607 (FIG. 29M) to locate the vehicle door, determine if there is sufficient room in the vehicle for the MD to be stored, and optionally in the vehicle. Can assist in locating the locking mechanism of the. When the MD is needed again, ie when the user arrives at the destination in the vehicle, the external application 140 (FIG. 16B) can be used to launch the MD, for example. The method 1051 may include recalling the status of the MD, and may include providing vehicle control commands to command the vehicle to unlock the MD and open the vehicle door. Method 1051 may include locating the vehicle door, or accessing the vehicle door location from, for example, local storage 607H (FIG. 29M) and/or cloud storage 607G (FIG. 29M). It may include steps. Method 1051 includes providing a move command 630 (FIG. 29R) and moving the MD through the vehicle door to, for example, without limitation, a passenger door commanded by external application 140 (FIG. 16B). You can

Referring now to FIG. 29R, the dynamic parking mode 605E provides, but is not limited to, at least one move command 630, which the MD will enter to be stored in a storage space within the vehicle. A vehicle door processor 691D that may locate the door 675 of the vehicle. The vehicle door processor 691D can also provide at least one move command 630 to direct the MD to the door 675. If the door 675 is wide enough for the MD to enter, the vehicle command processor 691C can provide at least one vehicle control command to command the vehicle to open the door 675. If the door 675 is opened and there is room in the vehicle to store the MD, the space processor 691B provides at least one move command 630 to move the MD into the storage space in the vehicle. Can be made. The vehicle command processor 691C can provide at least one vehicle control command to command the vehicle to lock the MD in place and close the vehicle's door 675. If the door 675 is not wide enough, or if the door 675 is not opened, or if there is no room for the MD, the error processor 691E can alert the user and issue at least one move command 630. The MD can be provided and returned to the user.

With continued reference to FIG. 29R, the vehicle door processor 691D may optionally recall the status of the MD, and the vehicle command processor 691C may provide vehicle control commands to unlock the MD to the vehicle, The door 675 can be commanded to open. The vehicle door processor 691D may again locate the vehicle door 675, or, for example, from local storage 607H (FIG. 29M) and/or cloud storage 607G (FIG. 29M) and/or door database 673B. , The location of the door 675 can be accessed. The vehicle door processor 691D may provide a move command 630 to move the MD through the door 675 to, for example, the passenger door commanded by the external application 140 (FIG. 16B).

Referring now primarily to FIG. 29S, a method 1150 for storing/recharging an MD can assist a user in storing and potentially recharging an MD. For example, the MD may be recharged when the user sleeps. After the user exits the MD, a command may be initiated, for example, in the external application 140 (FIG. 16B) to move the possibly unoccupied MD to the storage/docking area. In some configurations, mode selection by the user while the user is using the MD may initiate the automatic storage/docking function after the user exits the MD. When the MD is needed again, a command can be initiated by the external application 140 (FIG. 16B) to bring the MD back to the user. Method 1150 includes, but is not limited to, locating 1651 at least one storage/charging area and providing 1655 at least one move command 630 (FIG. 29T) to MD from the first location to the storage/charging area. Can be moved. The method 1150 may include locating 1657 a charging dock within the storage/charging area, providing 1663 at least one move command 630 (FIG. 29T), and coupling the MD and charging dock. The method 1150 may optionally include providing at least one move command 630 (FIG. 29T) when the MD receives the activate command to move the MD to the first location. If there is no storage/charging area at 1653, or if there is no charging dock at 1659, or if the MD is unable to combine with the charging dock at 1666, the method 1150 optionally includes at least one. Providing an alert to the user 1665 and providing 1667 at least one move command 630 (FIG. 29T) to move the MD to the first location may be included.

Referring now to FIG. 29T, the static storage/charge mode 605F may, but is not limited to, locate at least one storage/charge area, provide at least one move command 630, and from the first location. A storage/charging area processor 702A may be included that may move the MD to the storage/charging area. The combination processor 702D can locate the charging dock within the storage/charging area, provide at least one move command 630, and combine the MD and charging dock. The feedback processor 702B may optionally provide at least one move command 630 when the MD receives the activate command to move the MD to the first location. The error processor 702E may optionally provide at least one alert to the user if there is no storage/charging area, or if there is no charging dock, or if the MD is unable to combine with the charging dock. , And providing at least one move command 630 to move the MD to the first location.

Referring now to FIG. 29U, a method 1250 for manipulating an MD while negotiating with an elevator can assist a user in climbing and descending to an elevator 685 (FIG. 29V) while in the MD. The sensor process 661 can be used, for example, to locate the elevator 685 (FIG. 29V), or the elevator location 685A (FIG. 29V) can be used in the local storage 607H (FIG. 29M) and/or the storage cloud 607G. (FIG. 29M). When the elevator 685 (Fig. 29V) is located, and the user selects the desired elevator direction, and the elevator 685 (Fig. 29V) arrives and the door is opened, the elevator mode 605D (Fig. 29V) , Move command 630 (FIG. 29V) can be provided to move the MD into elevator 685 (FIG. 29V). The geometry of the elevator 685 (FIG. 29V) can be determined and a move command 630 (FIG. 29V) is provided, where the user can select the desired activity from the elevator selection panel. The MD can be moved. The MD location may also be suitable for exiting elevator 685 (FIG. 29V). When the elevator door is opened, a move command 630 (Fig. 29V) is provided to move the MD and allow it to exit the elevator 685 (Fig. 29V) completely. The method 1250 can include, but is not limited to, locating an elevator 685 (FIG. 29V), the elevator 685 (FIG. 29V) having an elevator door and an elevator sill associated with the elevator door. The method 1250 may include providing at least one move command 630 (FIG. 29V) to move the MD through the elevator doors and across the elevator sill. The method 1250 also provides determining the geometry of the elevator 685 (FIG. 29V) and at least one move command 630 (FIG. 29V) to move the MD to an elevator sill to a floor select/exit location. And steps. Method 1250 also includes providing at least one move command 630 (FIG. 29V) to move the MD across and across the elevator sill and exit elevator 685 (FIG. 29V). You can

Referring now primarily to FIG. 29V, elevator mode 605D includes an elevator locator 711A capable of locating elevator 685 having, but not limited to, an elevator door and an elevator sill associated with the elevator door. You can The elevator locator 711A may store the obstacle 623, the elevator 685, and the elevator location 685A in, for example, the elevator database 683B. The elevator database 683B can be located locally or remotely from the MD 120. The entry/exit processor 711B provides at least one move command 630 to move the MD through the elevator doors, across the elevator sill, and into or out of the elevator 685. You can Elevator geometry processor 711D can determine the geometry of elevator 685. The entry/exit processor 711B may provide at least one move command 630 to move the MD to the floor select/exit location for the elevator sill.

Referring now primarily to FIG. 30A, SSB 143 (FIG. 16B) can provide communication, for example, through use of the canvas protocol. Devices connected to SSB 143 (FIG. 16B) can be programmed to respond to/listen to specific messages received, processed, and transmitted by SSB messaging 130F (FIG. 16B). The message may include a packet, which may include, but is not limited to, data and canvas device identification, which may identify the source of the packet. A device that receives a canvas packet can ignore the invalid canvas packet. When an invalid canvas packet is received, the recipient device can take alternative actions depending on, for example, the MD's current mode, the previous canvas message, and the recipient device. Alternatives can, for example, maintain MD stability. The bus master of SSB 143 (FIG. 16B) can transmit a master sync packet 901 to establish a bus alive sequence on a frame basis and synchronize the time bases. PBP A1 43A (FIG. 18C) can be designated as the master of SSB 143 (FIG. 16B), for example, and PBP B1 43C (FIG. 18D), eg, PBP A1 43A (FIG. 18C), no longer transmits on the bus. If not, it can be designated as the secondary master of SSB 143 (FIG. 16B). The master of SSB 143 (FIG. 16B) may transmit master sync packet 901 at a periodic rate, for example, but not limited to, every 20 ms +/-1%. Devices communicating using SSB 143 (FIG. 16B) can synchronize the transmission of messages with the start of master sync packet 901. PSC packet 905 may include data originated by PSC 11 (FIG. 16B) and PBP packet 907 may include data originated by PBP 100 (FIG. 16B).

Referring now primarily to FIG. 30B, the user control packet 903 is primarily wireless to and from the external application 140 (FIG. 16B) using, for example, without limitation, the BLUETOOTH™ protocol. It may include a header for the message to proceed, a message ID, and data. User control packet 903 (FIG. 30A) may include, for example, packet format 701. Packet format 701 includes, but is not limited to, status 701A, error device identification 701B, requested mode 701C, out-of-control 701D, commanded speed 701E, commanded turn speed 701F, and seat control 701G. And system data 701H. Status 701A may include, but is not limited to, self-test in progress, device OK, non-fatal device failure (data OK), and fatal device failure such that the receiving device may ignore the data in the packet. Possibility can be included. If UC 130 receives, for example, a device failure status, UC 130 may post an error, for example, to a graphical user interface (GUI) on UC 130 (FIG. 12A). The error device ID 701B may include the logical ID of the device for which the received communication is determined to be in error. The error device ID 701B can be set to zero when no error is received.

Referring now primarily to FIG. 30C, the required mode code 701C (FIG. 30B) can be defined such that a single bit error cannot indicate another valid mode. For example, mode codes include, but are not limited to, self test, standard, expanded or four wheel, stair, balance, dock, remote, calibration, update, power off, power on, failsafe, restore, flasher, door, It can include dynamic storage, static storage/charging, restrooms, elevators, and extended stairs, the meanings of which are discussed herein. The requested mode code 701C indicates that the requested mode either (1) maintains the current mode or performs an allowed mode change, or (2) enables context sensitive processing. Can be indicated as to whether to be processed. In some configurations, special circumstances may require automatic control of the MD. For example, the MD can automatically transition from the stair mode 100-4 (FIG. 22B) to the expanded mode 100-2 (FIG. 22B) when the MD reaches the top of the staircase structure. In some configurations, the MD can modify the MD's response to, for example, without limitation, a command from the joystick 70007 (FIG. 12A), for example, by setting the MD in a particular mode. In some configurations, the MD may be automatically set to the slow drive mode when the MD transitions from stair mode 100-4 (FIG. 22B). In some configurations, the joystick 70007 (FIG. 12A) may be disabled when the MD automatically transitions from stair mode 100-4 (FIG. 22B) to extended mode 100-2 (FIG. 22B). .. When a mode is selected, for example, but not limited to, through user input, mode availability can be determined based at least in part on current operating conditions.

With continued reference primarily to FIG. 30C, in some configurations, the user may be alerted if the transition is not enabled from the current mode to the user-selected mode. Certain modes and mode transitions may require user notification and possibly accessibility. For example, seat adjustments, as well as loads on the MD, may be required when positioning the MD for determination of the MD's center of gravity. The user may be prompted to perform a specific action based on the current mode and/or the mode in which the transition may occur. In some configurations, the MD can be configured for, for example, without limitation, fast, medium, medium decay, or slow templates. The speed of the MD can be modified, for example, by using a speed template 700 (25A) that correlates output 703 (25A) (and wheel commands) with joystick displacement 702 (25A).

Referring now to FIG. 30D, the out-of-control 701D (FIG. 30B) may include, but is not limited to, power off OK 801A, drive selection 801B, emergency power off request 801C, calibration state 801D, mode limit 801E, user training 801F. , And joystick centering 801G, but not limited thereto, may include indications. In some configurations, a power down 801A OK can be defined to be zero if power down is not currently allowed, and the drive select 801B can be a motor drive 1 (bit 6=0) or It can be defined to define the motor drive 2 (bit 6=1). In some configurations, the emergency power off request 801C may indicate whether the emergency power off request is normal (bit 5=0) or an emergency power off request sequence is in progress (bit 5=1). And a calibration state 801D can be defined to indicate a request for user calibration (bit 4=1). In some configurations, the mode limit 801E can be defined to indicate whether there is a limit to enter a particular mode. Bit 3 can be zero if the mode can be entered without restriction. If there is a limit to entering the mode, for example but not limitation, the balanced-critical mode may require some limit to maintain the safety of the MD occupant, bit 3 must be 1. You can User training 801F can be defined to indicate whether user training is possible (bit 2=1) or not possible (bit 2=0) and joystick centering 801G is a joystick 70007 ( 12A) can be defined to indicate whether it is centered (bits 0-1=2) or not centered (bits 0-1=1).

Referring again primarily to FIG. 30B, commanded velocity 701E can include, for example, a value representative of forward or reverse velocity. The forward speed can include, for example, a positive value and the reverse speed can be a negative value. Commanded turn speed 701F may include a value representing a left or right commanded turn speed. A left turn can include a positive value and a right turn can include a negative value. The value can represent the differential speed between the left and right of wheel 21201 (FIG. 1A) scaled evenly to commanded speed 701E.

Referring again primarily to FIG. 30D, the joystick 70007 (FIG. 12A) can include multiple redundant hardware inputs. For example, signals such as commanded speed 701E (FIG. 30B), commanded turn speed 701F (FIG. 30B), and joystick centering 801G can be received and processed. Commanded speed 701E (FIG. 30B) and commanded turn speed 701F (FIG. 30B) can be determined from a first plurality of hardware inputs, and joystick centering 801G can be determined from a second hardware input. Can be judged. The value of joystick centering 801G can indicate when a non-zero commanded speed 701E (FIG. 30B) and a non-zero commanded turn speed 701F (FIG. 30B) are in effect. For example, abnormal conditions for the joystick 70007 (FIG. 12A) in the X and Y directions can be detected. For example, each axis of the joystick 70007 (FIG. 12A) can be associated with a dual sensor. Each sensor pair input (X (commanded speed 701E (FIG. 30B)) and Y (command swing speed 701F (FIG. 30B)) can be associated with an independent A/D converter, each with a voltage reference channel check input. In some configurations, the commanded velocity 701E (FIG. 30B) and the commanded turn velocity 701F (FIG. 30B) may be held at zero by the secondary input to avoid misalignment. Yes, if the joystick centering 801G is within the minimum dead zone, or if the joystick 70007 (FIG. 12A) has an abnormality, the joystick 70007 (FIG. 12A) can be shown as centering. 12A) can indicate the amount of displacement of the joystick 70007 (FIG. 12A) that can occur before a non-zero output can occur. The zero reference region can be set to include the electrical center position, which can be ˜55%.

Referring now primarily to FIG. 30E, seat control 701G (FIG. 30B) can communicate seat adjustment commands. The frame tilt command 921 may include values such as invalid, forward tilt, backward tilt, and idle. Seat height command 923 may include values such as invalid, seat down, seat up, and idle, for example.

Referring now to FIG. 31A, MD remote control secures between a control device 5107 and a controlled device 5111 whose configuration may include an MD (also referred to as mobility assistance device 5111A (FIG. 31D)). Communication can be enabled. The control device 5107 can include, but is not limited to, cell phones, personal computers, and tablet-based devices, also referred to herein as external devices, the configuration of which is external application 5107A (FIG. 31D). Can be included. In some configurations, UC 130 (FIG. 12A) may include support for wireless communication to/from mobile assistance device 5111A (FIG. 31D). Mobility assistance device 5111A (FIG. 31D) and external application 5107A (FIG. 31D) may be adapted to virtual joystick software, which may overwrite commands generated by joystick 70007 (FIG. 12I), for example. The control device 5107 may include voice recognition, which may be used to control the controlled device 5111. The control device 5107 and the controlled device 5111 communicate using a first protocol, a second protocol, and a wireless protocol such as, but not limited to, BLUETOOTH® low energy protocol. be able to.

Referring now to FIG. 31B, the first protocol can be supported with a communication control device 5107 (FIG. 31A), which can be physically remote from the control device interface 5115 (FIG. 31A). In some configurations, the first protocol may include the RIS protocol and each message may include a header 5511, a payload 5517, and a data check 5519. A messaging system running on control device 5107 (FIG. 31A) and control device interface 5115 (FIG. 31A) can parse header 5511 and verify data check section 5519. The header 5511 can include, but is not limited to, a length of payload 5501, a command 5503, a subcommand 5515, and a sequence number 5505. The sequence number 5505 can be incremented for each new message sent. Data check section 5519 can include, but is not limited to, a cyclic redundancy check of header 5511 and payload 5517. The first protocol can include, but is not limited to, messages that can vary in length. The message can include a header 5511, a payload 5517, and a CRC 5519. The control device interface 5115 (FIG. 31A) may request that a message be available in the first protocol to support remote control of the controlled device 5111 (FIG. 31A). The first protocol is transparent to the message, formatted in the second protocol and encapsulated within the message formatted in accordance with the first protocol, eg, for transmission and reception over wireless link 5136. Can be tunneled. Devices that communicate using a second protocol may be compatible with the wireless protocol and/or any updates that may occur in the first protocol and may not require changes to operate seamlessly. it can.

With continued reference primarily to FIG. 31B, the communications device driver may provide driver bytes 5513 before the message header 5511, which may be used by, for example, serial peripheral interface (SPI) and telecommunications drivers. Subcommand 5515 may include a response bit that may indicate that the message is a response to command 5503. In some configurations, the maximum message length can be forced so that it cannot include the driver byte 5513. If the controlled device 5111 (FIG. 31A) is a medical device, the message can include a therapy command, which can include therapy number 5613 (FIG. 32A) in the payload 5517. In some configurations, the next therapy number can be provided in either the status message or response. The therapy command can be denied if the controlled device 5111 (FIG. 31A) is not configured for therapy. In some configurations, the response message sequence number 5505 must match the original message sequence number 5505. The control device interface 5111 (FIG. 31A) and the controlled device interface 5103 can detect and respond to communication problems such as, but not limited to, CRC inconsistency, timeouts, and therapy number inconsistencies. ..

Continuing still with reference to FIG. 31B, the first protocol CRC 5519 can be calculated over the header 5511 and the payload 5517. When a message that the CRC verification is passed is received, a response message can be sent. In some configurations, if the message does not include a valid command 5503, or if the command 5503 cannot currently be processed by the system, the response may indicate why the message is considered invalid or inoperable. It may include a negative acknowledgment, which may have a code. A message that the CRC verification failed or an unexpected message response can be treated like any message that was dropped and lost during transport. Both the controlled device interface 5103 (FIG. 31A) and the controlled device interface 5115 (FIG. 31A) can be the source and/or conductor of the source message, respectively, so that they can perform the source node function. Regardless of whether the controlled device interface 5103 (FIG. 31A) or the controlled device interface 5115 (FIG. 31A) sends a message, a timeout is generated if necessary, and a message transmission retry is performed if necessary. If a dropped message is detected, it can self-generate a negative acknowledgment for the dropped message.

Referring now to FIG. 31C, controlled device interface 5103 (FIG. 31A) and controlled device interface 5115 (FIG. 31A) manage extraction of messages formatted from a first protocol message according to a second protocol and vice versa. can do. Communication message management may include identifying a first protocol message and optionally extracting a tunneled second protocol message. The first protocol message, including the second protocol message, can be processed separately from other messages. The first protocol message may be separately prepared and queued for transmission depending on whether the second protocol message is included. A message formatted according to the second protocol may include a control byte, a message ID, data, and a CRC calculated over the control byte, the message ID, and the data. The control byte 5521 may be used for message addressing, a message sequence number that may be generated by the controlled device interface 5103 (FIG. 31A) and may be echoed back by the controlled device interface 5115 (FIG. 31A). Can be included. The sequence number is used by the controlled device interface 5103 (FIG. 31A) to match the received response message with the request message sent. In some configurations, the sequence number can start at 0h, increment after the message is sent, and go back to 0h after Fh. Control byte 5521 may indicate an identification in which a response to the message may be expected. Control byte 5521 may include a processor ID, which may identify the processor for which the message is intended.

With continued reference to FIG. 31C, message ID 5523 can provide commands and/or indications of the identification of message data 5525. In some configurations, the message ID 5523 can take the exemplary values in Table I. In some configurations, the sender of the message with message ID 5523 may expect an exemplary response, as shown in Table I.

With continued reference to FIG. 31C, the second protocol message that may be exchanged is, without limitation, an initialization message that may be sent from the control device 5107 (FIG. 31A) to the controlled device 5111 (FIG. 31A). , An initialization response message that may be sent from the controlled device 5111 (FIG. 31A) to the control device 5107 (FIG. 31A). The initialization message can include, but is not limited to, a protocol map, an application ID, a communication timeout value, and padding. The second protocol message may be sent from the control device 5107 (FIG. 31A) to the controlled device 5111 (FIG. 31A), the joystick (virtual joystick) X-deflection and the joystick (virtual joystick) Y-deflection, It may include joystick commands, which may include padding. The second protocol message may enable communication between the controlling device 5107 (FIG. 31A) and the controlled device 5111 (FIG. 31A), eg, to interface with a wireless protocol such as the BLUETOOTH® protocol. Can be used to include commands. The command is, for example, a peripheral device such as a controlled device 5111 (FIG. 31A) that scans the peripheral device, interrupts scanning, reads the name of the peripheral device, or operates as a peripheral device with the control device 5107 (FIG. 31A), for example. You can initiate actions such as connecting to and canceling peripheral connections. The command can query the peripheral by, for example, discovering the service and characteristics of the peripheral, reading and setting the value of the characteristic. Responses to commands can include, but are not limited to, status updates regarding peripherals, connections, services, and characteristics.

31B and 31C, the first protocol command is that the control device interface 5115 (FIG. 31A) may continue to operate without the control device 5107 (FIG. 31A), and the alarm is a control device. If received from the interface 5115 (FIG. 31A), the control device 5107 (FIG. 31A) may include a step of disabling wireless communication, which may be responsive. The second protocol command may include, but is not limited to, echo, set/get system event, clear log, get data, force alarm, set log record on control device 5111 (FIG. 31A), control device. Commands such as forced reset of 5111 (FIG. 31A), test start of control device 5111 (FIG. 31A), integrated test commands, and wireless service commands may be included. The second protocol commands include, for example, without limitation, commands such as setting identification of control device 5111 (FIG. 31A), setting calibration and measurement options, performing manufacturing tests, and providing a list of events. You can

Referring now to FIG. 31D, the wireless communication system 100P, for example, but not limited to, through an external application (EA) 5107A executing on a control device 5107 (FIG. 31A) (eg, cell phone, PC, or tablet). , Controlled device 5111 (FIG. 31A), such as, but not limited to, control of mobility assistance device 5111A. The wireless communication system 100P can include, but is not limited to, a mobility assistance device 5111A and an external application 5107A that can decode and use messages traveling between them. The wireless communication system 100P may include, but is not limited to, a protocol conversion process 5317, an input queue 5311/5335, an output queue 5309/5333, state machines 5305E and 5305M, and a wireless processor 5325/5330. it can. The mobility assistance device state machine 5305M can manage processes that communicate wirelessly from the perspective of the mobility assistance device 5111A. External application state machine 5305E can manage the processes that communicate wirelessly from the perspective of external application 5107A. In particular, the mobility assistance device state machine 5305M and the external application state machine 5305E can both manage the start and end of states from which messages are generated and sent and/or received according to a preselected protocol. Can be done. The message may, for example, direct the direct mobility assistance device 5111A and/or external application 5107A to respond to the status of the radio 5349. The external application wireless processor 5325 can execute on the control device 5107 (FIG. 31A) and can communicate with the external application 5107A. The mobility assistance device wireless processor 5330 can execute on the mobility assistance device 5111A and can communicate with components of the mobility assistance device 5111A.

With continued reference to FIG. 31D, the external application radio processor 5325 and the mobility assistance device radio processor 5330 are both processors that may execute radio control code, referred to herein for convenience as a radio 5349, eg, The ARM processor 5329 may be included, but is not limited to. The radio 5349 executing on the control device 5107 (FIG. 31A) may include at least one external application radio state machine 5337E, and the radio 5349 executing on the mobile assistance device 5111A may include at least one radio assistance state machine 5337M. Can be included. At least one wireless state machine can manage the state of I/O to the soft device 5347. Soft device 5347 may include, for example, without limitation, a wireless protocol processor, such as a processor, that communicates using the BLUETOOTH® low energy protocol. Both the external application radio state machine 5337E and the mobility assistance device radio state machine 5337M can manage the state of the radio 5331 and provide information about the radio 5331 to the external application 5107A and the mobility assistance device 5111A. The dradio 5349 includes general-purpose functionality and customized services and can support, for example, the mobility assistance device 5111A. The communication means between the mobility assistance device 5111A and the control device 5107 (FIG. 31A) can support digital communication between processors inside the mobility assistance device 5111A. The external application 5107 can be executed on a control device 5107 (FIG. 31A) such as, but not limited to, personal computers and mobile devices. The communication means allows customization of the mobility assistance device 5111A for users of various capabilities and physical characteristics, configuration of training modes for new users, remote control of the device for storage, and downloading of parameter and performance data. You can enable it. In some configurations, UC 130 (FIG. 12A) may include wireless processor 5325. When the mobility assistance device 5111A enters the wireless-enabled mode, the external application 5107A can send a command to the mobility assistance device 5111A and receive a corresponding response. The external application 5107A creates a message formatted according to a first protocol, such as, but not limited to, the RIS protocol (see FIG. 31C), but is not limited thereto, and sends the information to the processor of the mobility assistance device 5111A and the like. The opposite is possible. The external application 5107A creates a message formatted according to a second protocol, such as, but not limited to, the SCA protocol (see FIG. 31B), for example, but not limited to, and sends control commands and data to the mobility assistance device 5111A. Can communicate with the processor. The second protocol can be extensible to accommodate the different functions available through different types of controlled devices 5111 (FIG. 31A) and external applications 5107A. For example, a radio control application running on an IPOD device can establish communication, for example but not limited to, by using a message in accordance with the RIS protocol (see FIG. 31C), including, but not limited to: According to the SCA protocol (see FIG. 31B), the message can be used to send a virtual joystick command to the mobile assistance device 5111A.

With continued reference to FIG. 31D, at the user's command, the dradio 5349, through the state machine 5337E/M and the soft device 5347, collaborate to scan the perimeter radio and advertise its ready state for communication. Selected wireless communication device to start a wireless session with a desired peripheral wireless communication, for example, but not limited to, the peripheral wireless communication of the mobile support device 5111A. If BLUETOOTH® communication is used, the radio 5331 and soft device 5347 request to set up and maintain communication between the mobility assistance device 5111A and the control device 5107 (FIG. 31A). BLUETOOTH(R)(R)-centric radio functionality can be provided. In some configurations, ANDROID® and an external application 5107A running on an iOS device may use ANDROID® or a wireless mechanism internal to the iOS to communicate with the mobility assistance device 5111A. .. The external application state machine 5305E can configure, control, and monitor the wireless chip 5325 in certain modes, such as the central wireless mode.

With continued reference to FIG. 31D, the radio 5349 may, for example, without limitation, send a message and response, command and query the wireless 5331, send data via a wireless link 5136, a remote wireless 5331. Securely pair, encrypt wireless traffic, filter from a list of perimeter radios advertising a preselected device, and whitelist the last paired remote radio 5331, etc. Through the functionality, the radio 5331 can be managed, which can assist the scanning/pairing/connection sequence. Regarding mobility assistance device 5111A, state machine 5337M can manage radio 5331, serial I/O processor 5339 can provide low-level thread-safe serial I/O support, and RIS-SCA process 5317 can , SCA messages can be extracted from/embedded in the RIS protocol payload. In some configurations, RIS-only messages transmitted/received by radio 5331 may be discarded by external application radio state machine 5305E or controlled device interface 5103. Encapsulated SCA messages, such as, but not limited to, commands and status requests, can be queued to SCA output queue 5319O for transfer to output queue 5309. To support various types of controlled devices 5115 (FIG. 31A), RIS messages specific to a particular controlled device 5115 (FIG. 31A) can extend the basic set of RIS messages. For incoming data packets, the SCA message can be extracted from the incoming RIS message and the message can be dispatched to a thread-safe circular queue for consumption by the external application 5107A or mobile assistance device 5111A. Outgoing messages can be queued separately depending on whether they are RIS or SCA messages. RIS messages originating from external application 5107A can be placed on RIS output Q5303O and moved to output queue 5309 as queue slots become available. The RIS-SCA process 5317 can read SCA messages from RIS messages and vice versa, and remain transparent to SCA aware software in system 100P.

Continuing to refer to FIG. 31D, in some configurations, encapsulation of the second protocol formatted message within the first protocol formatted message may be performed by the mobility assistance device 5111A and the external application 5107A. Flexible communication between them can be enabled. The external application 5107A can receive the information from, for example, a user, and the information can be converted into a second protocol message, which is then encapsulated within the first protocol message, It can be transmitted to the mobility assistance device 5111A. The wireless state machine 5305E/M can include software structures that can manage the state of the wireless processors 5325/5330. The state machine 5305E/M can maintain synchronization of peripheral and central wireless states of the mobility assistance device 5111A and the external application 5107A.

Referring now primarily to FIG. 31E, an external application state machine 5305E (FIG. 31D), for example, but not limited to, wireless 5331 does not experience activity, idle state 3001 and wireless 5331 are initiated, start A state such as the state 3003 can be recognized. In the start state 3003, the external application state machine 5305E (FIG. 31D) sends a status message to the external application state machine 5305E (FIG. 31D) indicating that the wireless 5331 (FIG. 31D) is ready to start. (FIG. 31D) is set to listen from. In the check state 3005, the external application state machine 5305E (FIG. 31D) waits for a ready/start status message. Other states may include a send state 3007, which allows an external application state machine 5305E (FIG. 31D) to request and start information about a radio 5349 (FIG. 31D), such as, but not limited to, its software version number. A wireless command is transmitted to the radio 5349 (FIG. 31D), a command to start pairing with the mobility assistance device 5111A (FIG. 31D) is transmitted to the radio 5349 (FIG. 31D), and the user selects the radio 5349 (FIG. 31D). Notify about the movement support device 5111A (FIG. 31D) that is considered to be possible. The Wait for Acknowledge state 3009 allows the external application state machine 5305E (FIG. 31D) to respond to the last message sent, such as, but not limited to, wireless version number, wireless start, pairing, start scan, and data. Set to wait for confirmation response for analysis. For data analysis acknowledgement, the acknowledge wait state 3009 informs the radio 5349 (FIG. 31D) that a response has been received and loops back to the previous state until pairing is selected or scanning is stopped. Back. Other responses that may be awaited may include a connection response message and a connection status message, this state waiting for a successful connection of the mobility assistance device 5111A (FIG. 31D) and the external application 5107A (FIG. 31D). The scan wait state 3011 waits for a command to start the pairing process and listens for a response from the available mobility assistance device 5111A (FIG. 31D). The start scan state 3013 sends a command to the radio 5349 (FIG. 31D) to start scanning the available mobility assistance device 5111A (FIG. 31D) and the external application state machine 5305E (FIG. 31D) enters the connection state 3015 Set the state machine to enable. If the wireless link 5136 (FIG. 31D) is lost, or the message response times out, or on an external request, the external application state machine 5305E (FIG. 31D) can enter the start reset state 3017, from which the wireless The reset state 3019 can be entered, a reset command is sent to the radio 5349 (FIG. 31D), followed by waiting for a reset command response 3017. The stopped state 3021 can be set to clean up the external application state machine 5305E (FIG. 31D) and return to the idle state 3001.

Referring now to FIG. 31F, the mobility assistance device state machine 5305M (FIG. 31D), for example, without limitation, has no wireless activity, the idle state 3101 and the wireless 5331 (FIG. 31D) are enabled, The start state 3103, the mobile support device 5111A (FIG. 32) receives a permission to advertise the availability of the mobile support device 5111A (FIG. 31D) for wireless communication, the advertisement permission state 3105, and the mobile support device 5111A (FIG. 31D) The identification information may include a state, such as an advertised state 3107, that is made available for listening to a radio, such as radio 5331 (FIG. 31D) associated with external application 5107A (FIG. 31D), for example. it can. The states further include a connection request waiting state 3109, a connection request approval state, and a mobility assistance device 5111A (FIG. 31D) that can communicate with the desired central radio, a connection state 3111, and a user action or loss of radio signal. A wait state 3113, whether or not the mobility assistance device 5111A (FIG. 31D) waits for the end of the wireless session. The state may further include a reset request state 3117 in which the wireless 5331 (FIG. 31D) may be placed in a reset state 3119, and the wireless 5331 (FIG. 31D) is automatically re-established in the wireless session depending on the state in which the wireless session has ended. An automatic reconnect state 3115, which may attempt to connect.

Referring now to FIG. 31G, the external application 5107A (FIG. 31D) can provide an interface between the user interface 5107B executing on the external device and the wireless communication means. In some configurations, the wireless communication means can be based on the BLUETOOTH® low energy protocol, configuring the communication between the mobile assistance device 5111A and the external application 5107A, and the mobile assistance device 5111A and the external. Starting sending messages to and from the application 5107A, splitting large messages, and validating virtual joystick commands initiated by the user of the external device and transmitted to the mobility assistance device 5111A. Can be included. The messages that may be exchanged may include, but are not limited to, scanning the device, stopping scanning, and reading the device, and the device may include the mobility assistance device 5111A. Mobility assistance device 5111A and external application 5107A can communicate with wireless processor 5325/5330, which can manage the transmission and reception of messages between external application 5107A and mobility assistance device 5111A. The external application 5107A is generated and created using an application program interface, which can receive, for example, but not limited to, the created message 2001, which can communicate with an external application wireless processor 5325. The information from message 2001 can be used to build advertisement information 2003 and send it to mobile assist device wireless processor 5330. Advertisement information 2003 can include, but is not limited to, company identification, project identification, and customer identification. The mobility assistance device radio processor 5330 can use the advertisement information 2003 to build the advertisement data 2005 and send it through the external application radio processor 5325 to the external application 5107A, which builds the device information and sends it to the user. It can be sent to interface 5107B and displayed on an external device. The external application 5107A can send a connection request 2007 to the external application wireless processor 5325, which can build a connection request and send it to the mobility assistance device wireless processor 5330. The mobility assistance device wireless processor 5330 can respond to the connection request to the external application 5107A through the external application wireless processor 5325, which responds by sending a service request 2009 to the external application wireless processor 5325. It can react, which can be responded by sending the service 2011 to the external application 5107A. The connection request 2007 may include a command to connect to the mobility assistance device 5111A and/or cancel the connection to the mobility assistance device 5111A. The response to the connection request 2007 can include a success or failure notification. The external application 5107 can receive the service 2011 and notify the external device user interface 5107B that the device has been connected. As the communication initiation progresses, the central manager within the external application radio processor 5325 can update the state of the external application radio processor 5325 and send the updated state information to the external application 5107A. The disconnect request and response may be exchanged while the communication is in progress and the external application radio processor 5325 may provide the disconnect request to the external application 5107A. As the communication initiation progresses, the external application 5107A may send messages such as, but not limited to, discovering services and characteristics of the mobility assistance device 5111A and requesting reading and writing values from/to the mobility assistance device 5111A. By transmitting, the mobile assistance device 5111A can be queried. The query may be answered by a response that may provide data and status for mobility assistance device 5111A.

Referring now to FIG. 31H, following the start of communication, external application 5107A commands external application radio processor 5325, sends initialization message 2013, sends joystick enable message 2027, and moves heartbeat message 2025. By transmitting to the assistive device wireless processor 5330, communication with the mobile assistive device 5107A can be initiated. The mobility assistance device wireless processor 5330 can receive the joystick valid message 2027 and notify the mobility assistance device 5111A that the virtual joystick of the external application 5107A is valid. The external application radio processor 5325 can request the status of the mobile assistance device 5111A through the mobile assistance device wireless processor 5330. Mobility assistance device 5111A can receive the status request, access the status, and send status message 2119 to external application 5107A through mobility assistance device wireless processor 5330 and external application wireless processor 5325, which externalizes the status. It can be provided to the device user interface 5107B. The external application wireless processor 5325 can request a log from the mobile assistance device 5111A through the mobile assistance device wireless processor 5330. Mobility assistance device 5111A can receive the log request, access the log, and send log message 2121 to external application 5107A through mobility assistance device wireless processor 5330 and external application wireless processor 5325, which externalizes the log. Can be provided to a storage device.

Referring to FIG. 32A, there may be several points where the security of MD may be compromised. External communication and internal control can be exploited, either explicitly or accidentally, with minor to catastrophic consequences. External communications may be at risk, for example, without limitation, through malicious modification of message traffic 5603, eavesdropping and replay attacks 5601, and capture control 5621 of control device interface 5115 (FIG. 31A). Internal control compromises can include, but are not limited to, malicious and/or erroneous applications 5617 that can compromise the security of the MD, and can cause intented and/or unintended consequences. In-flight modification 5603 of message traffic is based on the BLUETOOTH® low energy standard, for example, but not limited to, a secure link may be established using Elliptic Curve Diffie-Hellman key exchange and AES-128 encryption. Compliant, can be detected by standard procedures that may be available in commercial wireless products 5607, such as products. CRC protection 5605 can also be used to detect in-flight threats.

With continued reference to FIG. 32A, for a man-in-the-middle (MitM) threat 5601, when a wireless device is first paired, an attacker may place itself "in the middle" of the connection. Fraudster, two valid but separate wireless encrypted connections that centralize themselves and read or modify unencrypted cleartext that may be available between two encrypted connections Can be established. MITM attack 5601 may include an attacker's monitoring message, modify the message, and/or inject it into a communication channel. One example is active eavesdropping, where an attacker makes independent connections with a victim, relays messages between them, and believes they are talking directly to each other via a private connection. But in reality, the entire conversation is controlled by the attacker. An attacker can intercept messages exchanged between two victims and inject new ones. The victim may also be subject to a replay attack in which MitM records the traffic, inserts a new message containing the same text, and then plays the message continuously. For example, standard security features of commercial wireless protocol 5607, such as authentication, confidentiality, and authorization, may thwart some types of MitM attacks 5601. Authentication can include verifying the identity of the communication device based on the device address. Confidentiality can include protecting information from eavesdropping by ensuring that only authorized devices can access and view transmitted data. Authorization may include the step of ensuring that the device is authorized to use the service. MITM threat 5601 can be thwarted by using passkey entry pairing methods, out-of-band pairing methods, or numerical comparison methods.

With continued reference to FIG. 32A, PIN protection 5609 from MitM threat 5601 is a code between control device interface 5115 (FIG. 31A) and control device 5107 (FIG. 31A) using short term keys, eg, 6 digits. Can include code exchange. A 6-digit code can be exchanged one bit at a time, and both must agree on a bit setting before another bit can be exchanged. Upon pairing, the control device 5107 (FIG. 31A) can request an entry for a 6-digit code that can be physically located on the control device interface 5115 (FIG. 31A), and the control device interface 5115 (FIG. 31A). ) Can respond with the same 6-digit code. The MitM threat 5601 does not have access to the 6-digit code physically located on the control device interface 5115 (FIG. 31A), and thus, from the control device 5107 (FIG. 31A) to the control device interface 5115 (FIG. 31A). 31A) cannot be controlled. The pairing mechanism is the process by which the control device 5107 (FIG. 31A) and control device interface 5115 (FIG. 31A) exchange identities in preparation for setting the encryption key for future data exchange. ..

With continued reference to FIG. 32A, anyone who purchases the complete system can see the controlled device PIN and attempt a MitM attack 5601. MitM can operate the system and derive a first protocol. Alternatively, MitM may intercept message traffic between control device 5107 (FIG. 31A) and control device interface 5115 (FIG. 31A) and learn the first protocol. Alternatively, the MitM may probe the internal electrical bus of the control device interface 5115 (FIG. 31A) to capture the first protocol traffic and derive the first protocol. Clear text obfuscation 5611 may thwart these types of threats. Clear text obfuscation 5611 can include randomizing the clear text so that the eavesdropping version can randomly fluctuate even if the same message is sent multiple times. Either the control device 5107 (FIG. 31A) or the control device interface 5115 (FIG. 31A) can obfuscate the clear text in the message before transmitting the message, and the control device interface 5115 (FIG. 31A) or Any of the control devices 5107 (FIG. 31A) can deobfuscate the clear text. Once obfuscated, the message appears to be of random length and contains random data, and clear text is not visible outside the control device interface 5115 (FIG. 31A) or control device 5107 (FIG. 31A). .. The obfuscation algorithm on the control device 5107 (FIG. 31A) can be kept secret through security features such as the Ricel's DexProtector tool. The obfuscation algorithm secretly controls the control device interface 5115 (FIG. 31A) by configuring the wireless processor in the control device interface 5115 (FIG. 31A) to inhibit code reading and access debug features. Can be kept. In some configurations, the obfuscation algorithm eliminates the need for the transmitted message to be restored independently of any previous message traffic, maintaining any shared state between the transmitter and receiver. It can be "stateless" in that it can. In some configurations, the obfuscated message length can vary randomly, even for clear text, which is a series of messages of the same length. In some configurations, the first few bytes of every message may be random. In some configurations, the algorithm can be run without a ROM for the data table, using a relatively small amount of RAM, code, and compute cycles.

Referring now to FIG. 32B, a method 5150 for obfuscating plain text includes, but is not limited to, using random bytes as a random key to generate 6151 random bytes, and the random key to a known range. 6153, converting 6153 to a count of random bytes in the table, generating 6155 a number of random bytes equal to that count, and 6157 converting some of the random bytes to a linear feedback shift register (LFSR) seed value. Can be included. Method 5150 may include whitening 6159 the input count string using the LFSR seed value.

Referring now to FIG. 32C, a method 5160 for deobfuscation of clear text includes, but is not limited to, converting a random key into a count of random bytes within a known range 6161; 6163 may include converting some to an LFSR seed value 6163, dewhitening 6165 the byte count value of the original count string, and dewhitening 6167 the count string using the byte count value. ..

Referring again to FIG. 32A, the MitM can record a message between the control device 5107 (FIG. 31A) and the control device interface 5115 (FIG. 31A) and play it back continuously. If control device interface 5115 (FIG. 31A) is a medical device, the random therapy message number transmitted by the controlled device must be repeated by control device 5107 (FIG. 31A) with the next command message. Since it must be, it can interfere with the replay attack. If the control device 5107 (FIG. 31A) does not include a random therapy message number, the controlled device can deny the message, thereby preventing it from playing the same message multiple times. In some configurations, a trust boundary 5619 may be established between the control device 5107 (FIG. 31A) and the operating system environment. Trust boundary means may include, but are not limited to, the use of preselected keys, sandboxes, file encryption rights, and file system encryption tied to the preselected keys.

Referring now to FIG. 32D, anyone with a wireless device capable of communicating according to the wireless protocol used between the control device 5107 (FIG. 31A) and the control device interface 5115 (FIG. 31A) is controlled by the control device interface 5115. The challenge/response process 5615 can be used to thwart a malicious actor because it can be hacked between (FIG. 31A) and the control device 5107 (FIG. 31A). For example, if a third party application is readily available for sale on a mobile device, eg, in an application store, either the control device interface 5115 (FIG. 31A) or the control device 5107 (FIG. 31A) , Acting as a transmitter and presenting the challenge to the control device 5107 (FIG. 31A), or either the control device interface 5115 (FIG. 31A) acts as a receiver and the receiver gives the correct response. Must be presented. The method, from the perspective of the transmitter, includes, but is not limited to, selecting a large random number 7701, and transmitting a large random number 7703 to the receiver to interfere with the security threat by issue/response; Depending on the receiver, converting the large random number in the same secret manner 7705/7709. The method comprises hashing or encrypting 7707/7711 the transformed number by a transmitter and a receiver in a cryptographically secure manner, and receiving the hashed or encrypted number from the receiver. 7713 and checking 7715 that the number hashed or encrypted by the transmitter and the number hashed or encrypted by the receiver are equal. The challenge/response process can rely on both the transmitter and receiver using the same secret transformation algorithm. The transformed number never travels over the air in an unencrypted manner, protecting the secret transformation. To keep the algorithm secret, the controller may, for example, but not limited to, provide encryption of strings, classes, and resources, integrity control, and hiding of application programming interfaces, such as a commercial DICE Protector, such as the License DEX Protector. Tools can be used.

Referring now to FIG. 33, event handling, including error and abnormal condition handling, includes dynamic, flexible, and integrated event management between the UC 130, PSC 98/99, and processor 39/41. You can Event handling can include, but is not limited to, an event receiver 2101, an event lookup processor 2103, and an event dispatch processor 2105. The event receiver 2101 can receive the event 2117 from any component of the MD including, but not limited to, UC 130, PSC 98/99, and PB 39/41. The event lookup processor 2103 can receive the event 2117 from the event receiver 2101 and can convert the event 2117 into an event index 2119. The event lookup process 2103 can use means such as, but not limited to, table lookup and hashing algorithms to create means for identifying event information. The event lookup process 2103 can provide the event index 2119 to the event dispatch processor 2105. The event dispatch processor 2105 can determine the event entry 2121 based at least in part on the event index 2119. Event entry 2121 may include information that may be associated with the response to event 2117. The event may be processed by UC 130, PSC 98/99, and PB 39/41, including, but not limited to, status level processor 2107, filter processor 2109, action processor 2111, and indication processor 2115. Can be included. The status level processor 2107 can extract a status level, such as, but not limited to, the anomaly category from the event entry 2121 and can provide an indication based on the status level. In some configurations, the status level, e.g., range of values, can adapt to conditions ranging from transient to severe, providing indications that range from possible audible tones to flashing lights and automatic power down. be able to. The UC 130 may, for example, but not limited to, notify the user audibly and visually when a potential fault condition is detected, and may allow the user to disable an alert, such as an audible alert. You can enable it. The UC 130 may request user confirmation of an event such as, but not limited to, powering off, the powering off for a period of time, such as, but not limited to, a four wheel mode 100-2 (FIG. 22A), It can be disabled in balance mode 100-3 (FIG. 22A) and stair mode 100-4 (FIG. 22A).

With continued reference to FIG. 33, the filter processor 2109 can extract from the event entry 2121 the indication when the event 2117 should be handled. In some configurations, event 2117 may be handled immediately or after some number of reported events 2117 progress. In some configurations, the reports may be discontinuous. In some configurations, event 2117 may be reported at a first rate and processed at a second rate. In some configurations, event 2117, when reported, instead of deferring handling for batch processing, causes event 2117 to occur at a preselected time or a preselected type of error. Once detected, can be handled. Each of the UC 130, PSC 98/99, and PB 39/41 may include a particular event count threshold. In some configurations, event handling may be latched if a preselected number of events 2117 has occurred. In some configurations, the latch can be maintained until power cycle.

Continuing with further reference to FIG. 33, the action processor 2111 may extract from the event entry 2121 the indication of the action associated with the event 2117. In some configurations, the action may include the step of commanding the MD to suspend movement and place data in the event log and/or alarm log. In some configurations, event and/or alarm log data from PB39/41, UC130, and PSC98/99 may be managed by PSC98/99. In some configurations, an external application can read event and/or alarm log data from PSC98 and PSC99 and synchronize the data. The data may include, for example, without limitation, a list of alarms and reports that may be associated with particular events and status identifications such as controller failures and position sensor malfunctions. Controller failures can be associated with explicit reasons for the failure, which can be logged. In some configurations, the event 2117 may be exacerbated, and the exacerbation may include a reporting event 2117, which may be associated with the event being reported. In some configurations, event entry 2121 may define an accumulator to be incremented when event 2117 is detected. In some configurations, the accumulators within PB39/41, UC130, and PSC98/99 are all managed by PSC98/99 and can be accessed by external applications. In some configurations, event entry 2121 may include a service request indication specification associated with event 2117, which is also managed by PSC 98/99, as described herein. It can be read by an external application. In some configurations, event entry 2121 may include a black box trigger name to be used when event 2117 is detected. The restriction processor 2113 can extract information about the immediate and downstream effects of the event 2117 from the event entry 2121. In some configurations, the immediate effect may include user notification, for example, audible and visual notifications may occur when the temperature of the MD exceeds a preselected threshold when the battery needs to be charged. And can be made available when the MD needs inspection. Immediate impact may also include notifying the user of the severity of event 2117. In some configurations, the downstream impact may include limiting the mode of operation based on event 2117. In some configurations, entries can be restricted to expansion, balance, stairs, and remote modes. In some configurations, downstream effects may affect the operation of the MD, such as limiting speed, disabling movement, automatically transitioning to certain modes, limiting MD tilt, limiting power off. , And blocking external application communication. In some configurations, returning to four-wheel mode may include, but is not limited to, a failed equilibrium transition on two wheels, a pitch in the MD that exceeds safe operating limits for equilibrium mode, and It may be automatic under certain preselected conditions, such as/or the wheel has lost traction in equilibrium mode.

With continued reference to FIG. 33, the indication processor 2115 can extract from the event entry 2121 any indication that should be triggered as a result of event 2117. In some configurations, the indication is that a loss of communication occurs between components of the MD, such as between PSC 98/99 and UC 130 and between PB 39 and PB 41, and the battery voltage is at a preselected threshold. Can be triggered when below. In some configurations, event entry 2121 may provide interprocess communication, for example, status flags may provide status of seat, cluster, yaw, pitch, and IMU indicators.

Structures of the present teachings are directed to computer systems for performing the methods discussed in the descriptions herein and computer-readable media containing programs for performing these methods. Raw data and results can be stored, printed, displayed, transferred to another computer, and/or transferred elsewhere for future retrieval and processing. Communication links can be wired or wireless, using, for example, cellular, military, and satellite communication systems. The components of the system can run on a computer with a variable number of CPUs. Other alternative computer platforms can also be used.

The arrangement is also directed to software for performing the methods discussed herein and computer readable media having software for performing these methods stored thereon. The various modules described herein can be performed on the same CPU or on different computers. In compliance with the statute, the structure is described in more or less specific terms with respect to structural and methodological features. However, it is to be understood that the present disclosure is not limited to the specific features shown and described, as the means disclosed herein comprises preferred forms for implementing the same.

The method can be implemented in whole or in part electronically. Signals representative of actions taken by the elements of the system and other disclosed configurations can travel via at least one live communication network. Control and data information can be performed electronically and stored on at least one computer-readable medium. The system can be implemented to run on at least one computer node in at least one live communication network. At least one computer-readable medium in its general form is, for example, without limitation, a floppy disk, flexible disk, hard disk, magnetic tape, or any other magnetic medium, compact disk read-only memory or Any other optical medium, punched card, paper tape, or any other physical medium with a pattern of holes, random access memory, programmable read only memory, and clearable programmable read only memory (EPROM), Flash EPROM, or It may include any other memory chip or cartridge, or any other medium readable by a computer. Further, the at least one computer readable medium is optionally, according to a suitable license, including but not limited to Graphic Interchange Format (GIF), Joint Photographic Experts Group (JPEG), Portable Network It can contain graphs in any form, including graphics (PNG), scalable vector graphics (SVG), and tagged image file format (TIFF).

Although the present teachings are described above in terms of specific configurations, it is to be understood that they are not limited to these disclosed configurations. Many modifications and other constructions will occur to those skilled in the art, which are intended to be covered by, and are covered by, both the present disclosure and the appended claims. The scope of the present teachings should be determined by the proper interpretation and construction of the appended claims and their legal equivalents, as will be understood by one of ordinary skill in the art in light of the present disclosure in this specification and the accompanying drawings. Is intended to be.

Claims (1)

The invention described herein.

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