JP7128746B2 - Mobility support device - Google Patents

Description

TECHNICAL FIELD The present teachings generally relate to mobility assistance devices, and more particularly to control systems for vehicles with enhanced requirements for safety and reliability.

A wide variety of devices and methods are known for transporting a human subject with a physical disability. The design of these devices generally requires some compromise to accommodate the physical limitations of the user. Relative ease of locomotion can be compromised when stability is deemed essential. When it is deemed essential to carry a disabled person or other person up and down stairs, expedient locomotion along areas not including stairs can be compromised. Devices that achieve features that may be useful to users with disabilities can be complex, heavy, and difficult for normal locomotion.

Some systems provide progression in an upright position, while others provide stair climbing. Some systems are capable of providing anomaly detection and manipulation after an anomaly is detected, while others provide for transporting users over irregular terrain.

A control system for an actively stabilizing personal vehicle or mobility assistance device continuously senses the orientation of the mobility assistance device, determines corrective action, maintains stability, and takes corrective action to the wheel motors. The stability of the mobility assistance device can be maintained by commanding the Currently, if a mobility assistance device loses its ability to maintain stability, such as through component failure, the user may experience discomfort, especially during a sudden loss of balance. Additionally, users may desire improved safety features and greater control over the mobility assistance device's reaction to unstable 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 positional obstacles, slippery surfaces, tipping conditions, and component failures. It is a lightweight, stable mobility support device. What is further needed is a mobility assistance device having long-life redundant batteries, ergonomically positioned and shock-damped caster wheel assemblies, and access control bumpers. What is still further needed is a mobility assistance device that includes automatic mode transitions, improved performance over other mobility assistance vehicles, remote controls, and vehicle locking mechanisms. Mobility assistance devices should also include foreign object seals and grade management, cable charging ports, and capacity for increased payload over the prior art.

A motorized balancing movement assistance device of the present teachings includes, but is not limited to, a base assembly and at least one cluster assembly operably coupled to the base assembly that processes movement commands for the movement assistance device. , at least one cluster assembly operably coupled to a plurality of wheels, the plurality of wheels supporting the base assembly, the plurality of wheels and the at least one cluster assembly at least based on the processed movement command; , a cluster assembly for moving the mobility assistance device. The mobility assistance device has an active stabilization processor that estimates the center of gravity of the mobility assistance device and, based on the estimated center of gravity, associates with the mobility assistance device required to maintain balance of the mobility assistance device. an active stabilization processor that estimates at least one value obtained by The underlying processor can 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 redundant motors that move the at least one cluster assembly and the plurality of wheels; redundant sensors that sense sensor data from the redundant motors and the at least one cluster assembly; A processor, wherein the redundant processors select information from the sensor data, the selection is based on matching of the sensor data between the redundant processors, and the redundant processors process the move command based at least on the selected information. , and redundant processors.

The motorized balance mobility assistance device optionally stabilizes the mobility assistance device based on the stabilization factor, the anti-tip controller calculates the stabilization metric, calculates the stabilization factor, and processes the movement command. determining movement command information required to perform the command; and processing the movement command based on the movement command information and the stabilization factor if the stabilization metric indicates that stabilization is required. can include an anti-tip controller that performs The motorized balancing mobility assistance device may optionally include a stair climbing fail-safe means that forces the mobility assistance device to safely tip over if stability is lost during stair climbing. The motorized balanced mobility aid device optionally has a caster wheel assembly operatively coupled to the base assembly and a linear acceleration processor that calculates a mobility aid device acceleration of the mobility aid device based at least on the speed of the wheels. a linear acceleration processor for calculating an inertial sensor acceleration of an inertial sensor mounted on the mobility assistance device based at least on sensor data from the inertial sensor; a traction control processor that calculates the difference and compares the difference to a preselected threshold; and a wheel/cluster command processor for commanding at least one of them to be lowered to the ground.

The board processor can optionally use field weakening to provide bursts of velocity to motors associated with the at least one cluster assembly and the plurality of wheels. The underlying processor optionally includes (1) a pitch angle required to maintain 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 data; (2) moving the mobility assistance device/user pair to a plurality of points; repeating step (1) at each of the plurality of points; (3) ensuring that the measured data are within preselected limits; and (4) generating a set of calibration coefficients and establishing a center of gravity during operation of the mobility assistance device, the calibration coefficients being based at least on the validated measurement data. can be estimated. The underlying processor can optionally include a closed-loop controller that maintains stability of the mobility assistance device, the closed-loop controller automatically decelerating forward motion and reducing backward motion under preselected circumstances. The accelerating and pre-selected conditions are based on the pitch angle of the mobility assistance device and the center of gravity of the mobility assistance device.

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

The motorized balance movement assistance device can optionally include 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 comprising: , the at least one inertial sensor board is flexibly coupled to the base processor board, the at least one inertial sensor board being separate from the base processor board, the at least one inertial sensor being calibrated separately from the base processor board. The motorized balance movement assistance device can optionally include at least one inertial sensor, including a gyroscope and an accelerometer.

The infrastructure processor can optionally include a mobility assistance device radio processor that enables communication with external applications electronically remote from the mobility assistance device, the mobility assistance device radio processor receiving incoming messages from radio waves. and the underlying 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 mobility assistance device can optionally include an indirect heat dissipation path between the underlying processor board and the chassis of the mobility assistance device. The motorized balanced mobility assistance 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: Provides seat position data to the underlying processor. The seat support assembly is optionally a seat lift arm that lifts the seat and a shaft operably coupled to the seat lift arm, wherein shaft rotation is measured by a seat position sensor and the shaft is <90° and the shaft is coupled to the seat position sensor by a single stage gear train to rotate the seat position sensor >180°, the combination doubling the sensitivity of the seat position data. .

The base assembly can optionally include a plurality of sensors fully enclosed within the base assembly, the plurality of co-located sensors sensing substantially similar characteristics of the mobility assistance device. Including groups. The base assembly can optionally include a manual brake including internal components including hard stops and dampers, the manual brake including a brake release lever that is separately replaceable from the internal components.

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

The motorized balance movement assist device is optionally a skid plate having a drive locking element for operable coupling between the base assembly and the docking station and a pop-out cavity containing the drive locking element. and a skid plate that allows for storage of oil escaping from the base assembly.

The motorized balancing mobility aid device can optionally include a seat, the foundation processor receiving an indication that the mobility aid device is encountering an incline between the ground and the vehicle, the foundation processor , directing the cluster of wheels to maintain contact with the ground, the foundation processor changing the orientation of at least one cluster assembly based on the position of the plurality of wheels according to the indications, and the movement of the mobility assistance device. Maintaining the center of gravity, the foundation 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, and the distance between the seat and the plurality of wheels. prevent contact with

The underlying processor optionally receives the obstacle data, automatically identifies at least one obstacle in the obstacle data, and automatically determines 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 context identifier; automatically maintaining the distance, the at least one obstacle, and the at least one accessing at least one authorization command associated with the context identifier; automatically accessing at least one automatic response to at least one movement command; receiving at least one movement command; automatically based on at least one automatic response associated with the at least one movement command and the mapped authorization command; and moving the mobility assistance device.

The underlying processor optionally receives at least one stair command; receives sensor data from sensors mounted on the mobility assistance device; locating at least one stair structure; receiving a selected stair structure selection of the at least one stair structure; and automatically measuring at least one characteristic of the selected stair structure. , automatically, based on sensor data, locating obstacles on the selected stair structure, if applicable; and automatically, based on sensor data, the last stair of the selected stair structure. and automatically navigating the mobility assistance device over the selected stair structure based on the measured at least one characteristic, the last stair and, if applicable, obstacles. can include a staircase processor, including

The base processor optionally automatically locates a door of the lavatory cubicle and automatically moves the mobility assistance device through the lavatory cubicle door and into the lavatory cubicle. automatically positioning the mobility assistance device with respect to the lavatory fixtures; automatically locating the door of the lavatory cubicle; and moving through and exiting the lavatory cubicle.

The underlying processor optionally receives sensor data from sensors mounted on the mobility assistance device, automatically identifies doors in the sensor data, and automatically measures doors. , automatically determining a door swing; and automatically moving a mobility aid device forward through a doorway, wherein the mobility aid device opens the door and the door swing is detected from the mobility aid device. maintaining the door in an open position when separated; and automatically positioning a mobility assistance device for access to the door handle, the mobility assistance device as the door opens: Moves away from the door a distance based on the width of the door, the mobility aid moves forward through the doorway, and the mobility aid moves the door to the open position if the door swing is toward the mobility aid a door processor, including steps to maintain the

The underlying processor optionally receives sensor data from sensors mounted on the mobility assistance device; automatically identifies doors in the sensor data; automatically includes door widths; Measuring the door and automatically generating an alert if the door is smaller than a preselected size related to the size of the mobility aid device and automatically moving the mobility aid device to access the door. automatically generating a signal to open the door; automatically moving the mobility assistance device through the doorway; a door processor comprising the step of:

The infrastructure processor optionally automatically locates a drop-off point at which the patient exits the mobility assistance device; automatically positions the mobility assistance device proximate the drop-off point; automatically locating a docking station; automatically positioning the mobility aid device at the docking station; and moving the mobility aid device to the docking station. a docking processor, including the step of operatively connecting to the

A method of the present teachings for controlling the speed of a mobility assistance device, the mobility assistance device can include multiple wheels and multiple sensors, and the method includes, but is not limited to, terrain and obstacle detection. receiving data from a plurality of sensors; mapping the terrain and, if applicable, obstacles in real-time based at least on the terrain and obstacle detection data; and based at least on the mapped data. , if applicable, calculating a potential collision area; and, if applicable, calculating a deceleration area, if applicable, based on at least the mapped data and the speed of the mobility assistance device; receiving user preferences for a desired direction of motion and speed; calculating wheel commands for commanding a plurality of wheels based at least on the potential collision area, the deceleration area, and the user preferences; and wheel commands. to the plurality of wheels.

A method of the present teachings for moving a balanced mobility assistance device over relatively steep terrain, the mobility assistance device including a cluster of wheels and a seat, the cluster of wheels and the seat 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; , instructing to maintain contact with the ground, and dynamically adjusting the distance between the seat and the cluster of wheels based on balancing and indications of the mobility assistance device. can be done.

A mobility assistance device of the present teachings includes a reliable, lightweight, and stable mobility assistance device that includes a base operably coupled with a user controller. The base may include a base controller, a power controller, a wheel cluster assembly, an all terrain wheel, caster arms, and casters. The foundation includes, for example, long-life redundant batteries with an on-board battery management system, ergonomically positioned and shock-damped caster wheel assemblies, docking capabilities, universal seat attachment hardware, and access control bumpers. can include The infrastructure and user controllers can communicate with external devices that can monitor and control the mobility assistance device, for example. The mobility assistance device can be protected from foreign object intrusion and tipping hazards, and can accommodate increased payload over the prior art.

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

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

In order to facilitate a beneficial user experience, the mobility assistance device has standard, four-wheel, stair, balance, remote, utility, calibrate, and optionally docking modes, all of which are described herein. It can operate in several functional modes, including When first powered on, the mobility assistance device may include a predetermined start-up process. The mobility assistance device can perform self-diagnostics to check the integrity of features of the mobility assistance device that are not readily testable during normal operation. When a power off request is detected by the mobility assistance device, it may be subject to determining whether the request should be approved. Prior to powering off, the mobility assistance device position can be reserved and all state and logged information can be stored.

In some configurations, mobility assistance devices of the present teachings can accommodate varying levels of user physical capabilities and device acumen. In particular, the user can adjust the mobility assistance device's response to joystick commands. In some configurations, the mobility assistance device of the present teachings may allow an individual user to configure the mobility assistance device, including the user controllers of the present teachings, for driving preferences, joystick command shaping and thumb shaping. User configurable drive options can be enabled in the form of wheel controls. The mobility assistance device of the present teachings may adjust the pivoting behavior of the mobility assistance device as a function of the speed of the mobility assistance device, making the mobility assistance device more responsive at high speeds and less jerky at low speeds. , can adapt to speed-sensitive steering.

In some configurations, mobility assistance devices of the present teachings can even further accommodate adaptive speed control to assist users in avoiding potentially hazardous conditions while driving. Adaptive speed control can reduce the required concentration of the driver by using sensors to detect obstacles and can help the user navigate difficult terrain or situations. can. A method of the present teachings for adaptive velocity control of a mobility assistance device includes, but is not limited to, receiving terrain and obstacle detection data; If so, mapping obstacles in real time. The method may optionally include calculating a virtual groove based at least on the mapped data, if applicable. The method still further comprises calculating, at least based on the mapped data, a potential collision area, if applicable; , and calculating a deceleration area. The method may also include receiving user preferences for deceleration area and desired direction and speed of motion, if applicable. The method still further comprises calculating at least one wheel command based on at least the potential collision area, the deceleration area, and user preferences, and optionally the virtual groove; and providing to the department.

A method for obstacle handling of the present teachings includes, but is not limited to, receiving PCL data; identifying at least one plane within the segmented PCL data; and identifying one obstacle. The method for obstacle handling further comprises determining at least one context identifier based at least on the obstacle, the user information, and the movement command; and determining a distance between The method for obstacle handling can also include accessing at least one authorization command associated with the distance, the obstacle, and the situation identifier. The method for obstacle handling still further comprises: accessing an automated response to a permit command; receiving a move command; mapping one of the move command and the permit command; and providing an automatic response associated with the mapped authorization command to the mode dependent processor.

Obstacles can be stationary or mobile. The distance may comprise a fixed quantity and/or may be a dynamically varying quantity. The movement commands may include follow commands, pass obstacle commands, follow obstacle commands, and follow no obstacle commands. Obstacle data can be stored and retrieved, for example, locally and/or in a cloud-based storage area. A method for obstacle handling includes the steps of 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); Tracking moving objects using SLAM based on location, identifying planes in the obstacle data, and providing automated responses associated with mapped authorization commands to a mode dependent processor. can include A method for obstacle handling can receive a resume command and, following the resume command, provide an automatic response associated with a move command and a mapped grant command to a mode dependent processor. Automatic responses may include speed control commands.

An obstacle processor of the present teachings can include, without limitation, a Nav/PCL data processor. A Nav/PCL processor may receive and segment PCL data from the PCL processor, identify planes within the segmented PCL data, and identify obstacles within the planes. The obstacle processor can include a range processor. A range processor can determine a context identifier based on user information, movement commands, and obstacles. A distance processor can determine a distance between the mobility assistance device and the obstacle based at least on the context identifier. The moving object processor and/or the stationary object processor can access authorization commands related to distances, obstacles, and context identifiers. The moving object processor and/or the stationary object processor can access automatic responses from the automatic response list associated with the authorization command. A moving object processor and/or a stationary object processor can access the movement commands and map one of the movement commands and authorization commands. The moving object processor and/or the stationary object processor can provide automatic responses associated with movement commands and mapped authorization commands to the mode dependent processor. Move commands can include follow commands, pass commands, sidestep commands, move in place commands, and no follow commands. The Nav/PCL processor can store obstacles in local storage and/or on the storage cloud, and can enable access to obstacles stored by systems external to the mobility assistance device.

In some configurations, mobility assistance devices of the present teachings can include weight-sensitive controllers that can adapt to the needs of different users. Additionally, the weight-sensitive controller can detect a sudden change in weight, such as, but not limited to, when the user steps off the mobility assistance device. User weight and center of gravity location can be significant contributors to system dynamics. By sensing 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 assistance device include, but are not limited to, estimating the weight and/or change in weight of a load on the mobility assistance device and the center of gravity of the combination of the mobility assistance device and the load. selecting a default value or values; calculating a controller gain based at least on the weight and/or weight change and the center of gravity value; applying the controller gain to control the mobility assistance device; can include A method of the present teachings for calculating the weight of a load on a mobility assistance device includes, but is not limited to, receiving a position of a load on the mobility assistance device and receiving a setting of the mobility assistance device to standard mode. measuring, at least once, the motor current required to transition the mobility assistance device into an extended mode; calculating, at least based on the motor current, a torque; and, at least, based on the torque. , calculating the weight of the load, and adjusting controller gains to stabilize the mobility assistance device based at least on the calculated weight.

In some configurations, mobility assistance devices of the present teachings can include traction control that modulates the torque applied to the wheels and can affect directionality and acceleration control. In some configurations, traction control can be assisted by rotating the cluster so that four wheels are in contact with the ground when braking is required above a certain threshold. 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. . If the difference between the expected linear acceleration of the mobility assistance device and the measured linear acceleration exceeds or equals a preselected threshold, adjust the torque to the cluster/wheel motor drives. If the difference between the expected linear acceleration of the mobility assistance device and the measured linear acceleration is less than a preselected threshold, the method can continue testing for loss of traction.

The mobility assistance device of the present teachings can assist the user to avoid obstacles, pass doors, climb stairs, ride elevators, and park/carry the mobility assistance device, a user controller ( UC) Assist can be included. UC Assist can receive user input and/or input from components of the mobility assistance device, and can automatically or manually enable invocation of selected processing modes. The command processor may activate the invoked mode by generating movement commands based at least on previous movement commands, data from the user, and data from the sensors. The command processor can receive user data, which can include signals from a joystick, which can provide an indication of the 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 be transitioned. Modes such as door mode, restroom mode, extended staircase mode, elevator mode, dynamic retraction mode, and static retraction/charging mode can be selected. Any of these modes can include a move to position mode, or the user can instruct the mobility assistance device to move to a position. UC Assist can generate commands, such as move commands, which can include, but are not limited to, speed and direction, and move commands can be provided to wheel motor drives and cluster motor drives.

Sensor data is collected by sensor handling processors, which may include, but are not limited to, geometry processors, point cloud library (PCL) processors, simultaneous localization and mapping (SLAM) processors, and obstacle processors. Movement commands can also be provided to the sensor handling processor. Sensors can provide environmental information, which can include, for example, but not limited to, geometric information about obstacles and mobility assistance devices. The sensors can include at least one time-of-flight sensor that can 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 perform any processing necessary to prepare the geometry information for use by the mode dependent processor. , and the processed geometry information can be provided to a mode dependent processor. The geometry of the mobility assistance device can be used to automatically determine whether the mobility assistance device can fit in and/or through spaces such as, for example, staircase structures and doors. The SLAM processor may determine navigation information based on, for example, without limitation, user information, environment information, and movement commands. The mobility assistance device can navigate, at least in part, within the route set by the navigation information. The obstacle processor can locate obstacles and distances to obstacles. Obstacles can include, but are not limited to, doors, stairs, cars, and miscellaneous features near the path of the mobility assistance device.

A method of the present teachings for navigating stairs may include, but is not limited to, receiving stair commands and receiving environmental information from an obstacle processor. A method for navigating a staircase comprises, based on environmental information, locating a stair structure within the environmental information; and receiving a selection of one of the stair structures located by an obstacle processor. can include The method for navigating a stair also includes measuring characteristics of the selected stair structure and, based on the environmental information, locating obstacles on the selected stair structure, if applicable. can contain. The method for navigating the stairs also includes the step of locating the last stair of the selected stair structure based on the environmental information and determining the measured characteristics, the last stair and, if applicable, the obstacles. and providing a movement command to move the mobility assistance device on the selected stair structure. The method for navigating stairs may continue to provide movement commands until the last stair is reached. Properties may include, but are not limited to, stair riser height, riser surface texture, and riser 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.

The 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 sensors onboard the mobility assistance device, for example, through an obstacle processor. a stair structure locator that receives environmental information from the . The stair structure locator can locate a stair structure within the environmental information and receive selected stair structure options based on the environmental information. The stair properties processor can measure properties of the selected stair structure and, based on the environmental information, locate obstacles on the selected stair structure, if applicable. The stair movement processor is capable of locating the last stair of the selected stair structure based on the environmental information, and instructs the movement processor to locate the last stair of the selected stair structure based on the characteristics, the last stair and, if applicable, the obstacles. A movement command can be provided to instruct the mobility assistance device to move on the selected stair structure. The staircase locator can locate staircases and build and store maps of selected staircases based on GPS data. Maps can be saved for use locally and/or by other devices unrelated to the mobility assistance device. A stair structure processor can access the geometry of the mobility assistance device, compare the geometry and characteristics of the selected stair structure, and modify the navigation of the mobility assistance device based on the comparison. The stair structure processor may optionally generate an alert if the surface temperature of the risers of the selected stair structure is outside the threshold range and the surface texture of the selected stair structure is outside the static friction setting. can. The stair movement processor can determine the 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 movement processor has access to a set of extreme situations that can be used to modify movement commands generated by the stair movement processor.

When the mobility aid device traverses the threshold of the door, the method of the present teachings for navigating the door may be mounted on the mobility aid device, where the door may include a door swing, a hinge location, and a door opening. receiving and segmenting environmental information from sensors. Environmental information may include the geometry of the mobility assistance device. The method may include identifying a plane within the segmented sensor data and identifying a door within the plane. A method for navigating a door includes measuring the door and providing a movement command that may move the mobility aid device away from the door if the door measurement is less than the movement aid device. be able to. A method for navigating a door may include determining a door swing and providing a movement command to move a mobility assistance device for access to a door handle. A method for navigating a door may include providing a movement command to move a mobility assistance device away from the door a distance based on the door measurement as the door opens. A method for navigating a door may include providing a movement command to move a mobility assistance device forward through a doorway. The mobility assistance device can maintain the door in the open position when the door swings toward the mobility 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 sensors. The movement processor of the present teachings can generate commands to the MD such as start/stop left turn, start/stop right turn, start/stop forward movement, start/stop backward movement, and Door mode can be facilitated by stopping the device, canceling any goals the mobility assistance device may be completing, and centering the joystick. A door processor 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 determine the x/y/z location of the door pivot point based on the current position and orientation of the mobility assistance device. If the door processor determines that the set of obstacles and/or the number of valid points in the image of the door derived from the 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 whether the door is moving based on successive samples of PCL data from the sensor processor. In some configurations, the door processor can assume that the side of the mobility assistance device is parallel to the handle side of the door, and uses that assumption to determine the width of the door as well as the position of the door pivot point. can be determined. The door processor can generate commands to move the mobility assistance device through the door based on the swing of the door and the width of the door. The mobility assistance device itself can keep the door open while the mobility assistance device traverses the threshold of the door.

In some configurations, the mobility assistance device can automatically negotiate the use of lavatory facilities. The door of the lavatory and lavatory cubicle can be located as discussed herein, and the mobility assistance device is moved into place relative to the door as discussed herein. be able to. Fixtures in the restroom can be located as obstacles, as discussed herein, and the mobility assistance device is automatically positioned near the fixtures to provide the user with access to, for example, toilets, sinks, etc. , and access to a changing table. The mobility assistance device can be automatically navigated through the door and obstacle handling discussed herein to exit the lavatory cubicle and lavatory. The mobility assistance device can automatically traverse the door threshold based on the geometry of the mobility assistance device.

For example, without limitation, a method of the present teachings for automatically storing a mobility assistance device within a vehicle, such as a wheelchair-accessible van, can assist a user with independent use of the vehicle. The mobility assistance device can remain parked outside the vehicle when the user exits the mobility assistance device and enters the vehicle, possibly as the vehicle's driver. When the mobility aid device is to be carried by the user within the vehicle for later use, the dynamic parking mode of the present teachings provides movement commands to the mobility aid device to automatically or in response to the command. , the movement support device main body can be stored and, in addition, can be recovered at the door of the vehicle. The mobility assistance device can be commanded to store the body, for example, through a command received from an external application. In some configurations, computer-driven devices such as mobile phones, laptops, and/or tablets run one or more external applications to generate information that can ultimately control the mobility assistance device. can be used for In some configurations, the mobility assistance device may automatically proceed to dynamic parking mode after the user exits the mobility assistance device. The movement commands may include commands for locating the door of the vehicle that the mobility assistance device will enter to be stowed, and commands for directing the mobility assistance device to the vehicle door. The dynamic parking mode can determine error conditions, such as, but not limited to, when a vehicle door is too small for a mobility assistance device to enter; No, but the user can be alerted of the error condition through 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. A dynamic parking mode can determine when the vehicle door is open and whether there is space for the mobility assistance device to be stored. The dynamic parking mode may invoke methods for obstacle handling to help determine the status of vehicle doors and whether there is room in the vehicle to accommodate a mobility assistance device. If there is sufficient room for the mobility assistance device, the dynamic parking mode can provide movement commands 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, for example, to return the mobility assistance device to the user. The status of the mobility assistance device can be recalled and a vehicle control command can command the vehicle to unlock the mobility assistance device and open the vehicle door. A vehicle door can be located and the mobility assistance device can be moved through the vehicle door to, for example, a passenger door commanded by one or more external applications. In some configurations, the vehicle may be tagged at a fixed location, such as the vehicle entrance door, for example, where the mobility assistance device may be stored.

The method of the present teachings for storing/recharging a mobility assistance device can assist the user to store and possibly recharge the mobility assistance device, potentially while 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 can initiate an automatic docking/docking function after the user disembarks from 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. A method for storing/recharging a mobility assistance device includes, but is not limited to, locating at least one storage/charging area; providing at least one movement command; and moving the mobility assistance device to the area. A method for storing/recharging a mobility assistance device includes the steps of locating a charging dock within a storage/charging area and providing at least one movement command to couple the mobility assistance device and the charging dock. can contain. The method for storing/recharging a mobility assistance device optionally includes providing at least one movement command to move the mobility assistance device to a first location when the mobility assistance device receives the activation command. be able to. If the storage/charging area does not exist, or if the charging dock does not exist, or if the mobility assistance device cannot be coupled with the charging dock, the method for storing/recharging the mobility assistance device optionally includes at least Providing an alert to the user and providing at least one movement command to move the mobility assistance device to the first location may be included.

A method of the present teachings for negotiating an elevator while navigating a mobility assistance device may allow a user to ascend and descend an elevator while seated on the mobility assistance device. When the elevator is e.g. automatically located and when the user selects the desired elevator direction and when the elevator arrives and the doors open, a travel command is provided to travel into the elevator Assistive devices can be moved. The geometry of the elevator can be determined and a movement command 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 can also be appropriate for exiting the elevator. When the elevator doors open, a move command can be provided to move the mobility assistance device and exit the elevator completely.

A motorized balance movement assistance device of the present teachings can include a base assembly including, but not limited to, a base controller and a power supply controller. A power controller can supply power to the base controller, and the base assembly can process movement commands for the movement assistance device. A motorized balance movement assistance device can include a cluster assembly operably coupled to a base assembly. The cluster assembly may include operable connections with multiple wheels. The wheels can support the base assembly and can move based on the processed movement commands. The base assembly and cluster assembly can enable balancing of the mobility assistance device on two of the multiple wheels.

The motorized balance movement assistance device can optionally include caster arms that can be operably coupled to the base assembly. The caster arms can include operable connections to caster wheels, and the caster wheels can support the base assembly. The motorized balance movement assistance device can optionally include a seat support assembly that can allow connection of the seat and base assembly. The base assembly may include a seat position sensor, and the seat position sensor may provide seat position data to the base assembly. The motorized balancing mobility assistance device can optionally include terrain wheels, which can include means for user attachability. The motorized balance movement assistance device can optionally include a base controller board that includes a base 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 underlying controller board. The IMU boards can be separate from the base controller board and at least one IMU can be calibrated in isolation from the base controller board.

The motorized balance movement assistance device can optionally include at least one field effect transistor (FET) positioned on the base controller board and at least one heat spreader plate that receives heat from the FET. At least one heat spreader plate can transfer heat to the chassis of the mobility assistance device. The motorized balance movement assistance device optionally includes at least one motor and at least one thermistor associated with the at least one motor thermocompressed within at least one housing of the movement assistance device. and the at least one thermistor enables reduced power usage when the associated at least one motor exceeds a thermal threshold. The motorized balancing mobility assistance device can optionally include multiple batteries that can power the mobility assistance device. Multiple batteries can be mounted with a mounting gap between each pair of batteries. A battery can be connected to the base assembly through an environmentally isolated seal. A motorized balance movement assistance device can optionally include an underlying controller board that can include redundant processors. Redundant processors can be physically separated from each other and can be fault tolerant based on the voting process.

The motorized balance movement assistance device can optionally include a drive locking element that can enable operable coupling between the base assembly and the docking station. The motorized balancing assist device can optionally include a skid plate having pop-out cavities that can accommodate drive locking elements. The skid plate can allow for storage of oil escaping from the base assembly. The motorized balance mobility assistance device can optionally include a fall prevention process that can reduce the likelihood of tipping of the mobility assistance device. The motorized balanced mobility assistance device can optionally include a field weakening process that can allow management of abnormal situations by the mobility assistance device by providing relatively short bursts of relatively high motor speeds. can. The motorized balancing mobility assistance device may optionally include a stair climbing fail-safe means that may force the mobility assistance device to tip backwards if stability is lost during stair climbing. The motorized balance movement assistance device can optionally include at least one magnet mounted within the cluster assembly. At least one magnet can attract particles within the cluster assembly. The motorized balance movement assistance device can optionally include at least one seal between segments of the cluster assembly. The motorized balance movement assistance device can optionally include an electrical connector that can include a printed circuit board (PCB) with electromagnetic (EM) energy shielding. The PCB can disable the transmission of EM energy along the cables associated with the electrical connectors.

Mobility assistance devices of the present teachings can include, but are not limited to, seats and clusters. The mobility assistance device may include a sensor system that is entirely internal and redundant, and the sensor system may include multiple sensors. The multiple sensors may include multiple absolute position sensors that may allow new location reporting if the seat and/or cluster moves while the mobility assistance 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 one of the multiple sensors that is failing to another of the multiple sensors. The plurality of sensors can include co-located groups of 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. Mobility assistance devices may include manual brakes, which may 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 may include a mechanically isolated sensor that reports when the manual brake is engaged, and the isolated sensor may 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 balance mode, which may include balancing the mobility assistance device/user pair; The device can include at least one wheel cluster and a seat and includes, but is not limited to, (1) entering a balance mode and (2) preselecting a preselected position of the at least one wheel cluster and seat. (3) moving the mobility assistance device/user pair to a plurality of preselected points; , (4) repeating step (2) at each of a plurality of preselected points; (5) verifying that the measured data are within preselected limits; ) generating a set of calibration factors for establishing the center of gravity during operation of the mobility assistance device. The calibration factor can be based at least on validated measurement data. The method may optionally include storing the verified measurement data in non-volatile memory.

A method of the present teachings for filtering parameters associated with movement of a mobility assistance device having an IMU, wherein the IMU includes a gyroscope, the gyroscope includes gyroscope bias and gyroscope data, the limitation (1) subtracting the gyroscope bias from the gyroscope data to correct the gyroscope data and (2) integrating the filtered gravitational velocity over time to obtain the filtered gravitational vector (3) calculating a gravity velocity vector and a predicted gravity velocity estimate based on at least the filtered body velocity and the filtered gravity vector; and (4) a first gain (5) subtracting the product of K1 and the gravity vector error from the gravity velocity vector, the gravity vector error being based on at least the filtered gravity vector and the measured gravity vector; (6) calculating the pitch velocity, roll velocity, yaw velocity, pitch, and roll of the mobility assistance device based on the filtered gravity velocity vector and the filtered body velocity; (7) calculating the cross product of the gravity vector error and the filtered gravity vector, and calculating the cross product; (8) adding a second gain to the dot product of the filtered gravity vector and the predicted gravity velocity estimate error to obtain the body velocity error; and (9) looping through steps (1)-(8) and continuously modifying the gyroscope data.

A method of the present teachings for making an all terrain wheel pair includes, but is not limited to, constructing an inner ring having at least one locking pin receiver, the inner ring having a retaining lip that accommodates a twist lock attachment. and constructing a paddle wheel having an attachment base. The attachment base can include a locking pin cavity, and the locking pin cavity can accommodate the locking pin. The locking pin cavity can include at least one retaining tang that can accommodate a twist lock attachment. The method may include attaching the outer ring to the inner ring by engaging one of the locking pin and the at least one locking pin receiver and engaging the retaining lip and the at least one retaining tongue.

A method of the present teachings for navigating over uneven terrain within a mobility assistance device can include, but is not limited to, installing an inner ring having at least one locking pin receiver. The inner ring can include a retaining lip that accommodates the twist lock attachment. The method includes threading the locking pin into the locking pin cavity, engaging the locking pin with one of the at least one locking pin receiver, and engaging the retaining lip with the at least one retaining tang. This can include attaching an outer ring having at least one retaining tang and an attachment base having a locking pin cavity to the inner ring.

An all terrain wheel pair of the present teachings can include, but is not limited to, an inner ring having at least one lock pin receiver. The inner ring can include a retaining lip that accommodates the twist lock attachment. A wheel pair may include a paddle wheel having an attachment base. The attachment base can include a locking pin cavity, and the locking pin cavity can accommodate the locking pin. The locking pin cavity can include at least one retaining tang that can accommodate a twist lock attachment. The outer ring may be attached to the inner ring by engaging one of the locking pins and at least one locking pin receiver, and engaging the retaining lip and at least one retaining tongue.

A user controller for a mobility assistance device of the present teachings can include, without limitation, a thumbwheel that can modify at least one speed range for the mobility assistance device. The thumbwheel can generate a signal during 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 casing including mounting features for at least one speaker, at least one circuit board, and at least one control device. The control device may enable selection of at least one option for the mobility assistance device. The user controller may optionally include mounting features for at least one first environmental isolation device, at least one display, at least one selection device, and at least one antenna. and The second part for the casing and the first part for the casing can be operably coupled around the at least one first environmental isolation device. At least one display enables monitoring of the status of the mobility assistance device, and at least one display can present at least one option. 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 mobility assistance device to the user controller. A power/data cable may allow data exchange between the user controller and the mobility assistance device. A user controller can optionally include a first component for a toggle platform that includes a toggle. A 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 that can include mobility support device mounting features. The second part for the toggle platform and the first part for the toggle platform can be operably coupled around the at least one second environmental isolation device. A mobility assistance device mounting feature may allow for the mounting of a user controller onto a mobility assistance device. The user controller can optionally include a two-way shortcut toggle, a four-way shortcut toggle, and at least one integration device that integrates the two-way shortcut toggle and the four-way shortcut toggle.

The at least one option may include desired speed, desired direction, speed mode, mobility device mode, seat height, seat tilt, and maximum speed. The control device may include at least one joystick and at least one thumbwheel. At least one joystick can enable receiving a desired speed and desired direction, and at least one thumbwheel can enable 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. Movement data can be dynamically associated with at least one user controller characteristic. The thumbwheel can include a thumbwheel position, at least one sensor for receiving movement data, and memory that can retain the thumbwheel position and at least one user controller characteristic across power down conditions. At least one user controller property may include maximum speed. At least one sensor can be environmentally isolated from the user controller. At least one sensor can include a Hall effect sensor.

A method of the present teachings for controlling the speed of a mobility assistance device, including non-stop thumbwheels and joysticks, the thumbwheels including, without limitation, (a) thumb (b) receiving the persistently stored change in position of the non-stop thumbwheel; (c) determining a multiplier based on the change and relationship; (d) persistently storing the changed position; (e) receiving a velocity signal from the joystick; adjusting the velocity signal based on the multiplier; and (g) repeating steps (a) through (f) while the mobility assistance device is active. The method may optionally include receiving an indication of thumbwheel sensitivity and adjusting the relationship based on the indication. The multiplier can be <1.

The mobility assistance device of the present teachings provides redundancy, a lightweight housing, an inertial measurement system, advanced thermal management strategies, wheels and cluster gear trains specifically designed with wheelchair users in mind, lightweight and long-life redundant batteries, human By including engineered, shock-damped caster wheel assemblies, as well as access control bumpers, the limitations of the prior art can be overcome. Other improvements include, but are not limited to, automatic mode transitions, anti-tipping, improved performance, remote control, universal mounting for the vehicle locking mechanism and the locking mechanism itself, foreign object seals, tilt management, and cable routing. 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.
This specification also provides the following items, for example.
(Item 1)
A motorized balance movement support device,
a base assembly that processes movement commands for the mobility 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 the mobility assistance device based at least on the processed movement commands;
an active stabilization processor for estimating the center of gravity of the mobility assistance device, the active stabilization processor being called upon to maintain balance of the mobility assistance device based on the estimated center of gravity; an active stabilization processor that estimates at least one value associated with the mobility assistance device;
wherein said underlying processor actively balances said mobility aid device on at least two of said plurality of wheels based on at least said at least one value.
(Item 2)
The base assembly includes:
redundant motors that move the at least one cluster assembly and the plurality of wheels;
redundant sensors sensing sensor data from the redundant motors and the at least one cluster assembly;
redundant processors executing within the base assembly, wherein the redundant processors select information from the sensor data, the selections based on matching of sensor data between the redundant processors, the redundant processors comprising at least: redundant processors for processing the movement commands based on the selected information;
A motorized balance movement assistance device according to item 1, comprising:
(Item 3)
An anti-tip controller for stabilizing the mobility assistance device based on a stabilization factor, the anti-tip controller for calculating a stabilization metric, calculating a stabilization factor, and processing the movement 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, anti-tip controller
The motorized balance movement assistance device of item 1, further comprising:
(Item 4)
2. A motorized balance movement assistance device according to item 1, further comprising stair climbing fail-safe means for forcing said movement assistance device to tip over safely if stability is lost during stair climbing.
(Item 5)
a caster wheel assembly operably coupled with the base assembly;
A linear acceleration processor for calculating a mobility assistance device acceleration of the mobility assistance device based at least on the speed of the wheels, the linear acceleration processor calculating an inertial sensor acceleration of an inertial sensor mounted on the mobility assistance device. based at least on sensor data from the inertial sensor; and
a traction control processor for calculating a difference between the mobility assistance device acceleration and the inertial sensor acceleration, the traction control processor comparing the difference to a preselected threshold;
a wheel/cluster command processor for commanding the at least one cluster assembly to lower at least one of the plurality of wheels and the caster assembly to the ground based at least on the comparison;
The motorized balance movement assistance device of item 1, further comprising:
(Item 6)
2. The motorized balanced mobility assistance device of item 1, wherein the underlying processor uses field weakening to provide bursts of velocity to motors associated with the at least one cluster assembly and the plurality of wheels.
(Item 7)
The infrastructure processor estimates the center of gravity of the mobility assistance device, and the infrastructure processor (1) balances the mobility assistance device to preselected positions of the at least one wheel cluster and preselected seats. (2) moving said mobility assistance device/user pair to a plurality of points, performing step (1) on each of said plurality of points; (3) verifying that the measured data is within preselected limits; (4) generating a set of calibration coefficients and during operation of the mobility assistance device; 2. The motorized balanced movement assistance device of claim 1, wherein establishing the center of gravity, wherein the calibration factor is based at least on the validated measurement data.
(Item 8)
The underlying processor includes a closed-loop controller that maintains stability of the mobility assistance device, the closed-loop controller automatically decelerating forward motion, accelerating backward motion, and forward motion under preselected conditions. 8. The balanced mobility assistance device of item 7, wherein the pre-selected situation is based on a pitch angle of the mobility assistance device and a 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 mobility support device while the mobility support device is in operation, the inner ring having at least one retaining means. and said all-terrain wheel pair includes an outer ring having an attachment base, said attachment base housing said at least one locking means and said at least one retaining means, said at least one retaining means being connected to said moving means. 2. A motorized balance movement assistance device according to item 1, operable by the operator to connect the inner ring to the outer ring when the 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 to the base processor board; 2. The motorized balanced movement assistance device of item 1, wherein the at least one inertial sensor board is separate from the base processor board, and wherein the at least one inertial sensor is calibrated in isolation from the base processor board.
(Item 11)
2. A motorized balanced movement assistance device according to item 1, comprising at least one inertial sensor including a gyroscope and an accelerometer.
(Item 12)
the underlying processor,
a mobility assistance device radio processor for enabling communication with external applications electronically remote from said mobility assistance device, said mobility assistance device radio processor receiving and decoding incoming messages from radio waves; controls the mobility assistance device based on at least one of the decoded incoming messages;
A motorized balanced movement support device according to item 1.
(Item 13)
the underlying processor,
Equipped with a secure wireless communication system including data obfuscation and challenge/response authentication,
A motorized balanced movement support device according to item 1.
(Item 14)
2. The motorized balanced mobility assistance device of item 1, further comprising an indirect heat dissipation path between the underlying processor board and a chassis of the mobility assistance device.
(Item 15)
further comprising a seat support assembly enabling multiple seat-type connections to the base assembly, the base assembly having a seat position sensor, the seat position sensor providing seat position data to the base processor; A motorized balanced movement support device according to item 1.
(Item 16)
The seat support assembly includes:
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 to the seat position by a single gear train. a shaft coupled to a position sensor to rotate the seat position sensor >180°, the combination doubling the sensitivity of the seat position data;
12. A motorized balance movement assistance device according to item 11, comprising:
(Item 17)
The base assembly includes:
a plurality of sensors fully enclosed within the base assembly, the plurality of sensors including co-located sensors sensing substantially similar characteristics of the mobility assistance device;
12. A motorized balance movement assistance device according to item 11.
(Item 18)
The base assembly includes:
a manual brake including an internal component, said internal component including a hard stop and a damper, said manual brake including a brake release lever separately replaceable from said internal component;
A motorized balanced movement support device according to item 1.
(Item 19)
the underlying processor,
user-configurable drive options that limit the speed and acceleration of the mobility assistance device based on preselected conditions;
A motorized balanced movement support device according to item 1.
(Item 20)
2. The motorized balancing movement assistance device of claim 1, further comprising a user control device including a thumbwheel, said thumbwheel modifying at least one speed range for said movement assistance device.
(Item 21)
a drive locking element enabling operable coupling between the base assembly and a docking station;
a skid plate having a pop-out cavity that houses the drive lock element, the skid plate enabling storage of oil escaping from the base assembly;
The motorized balance movement assistance device of item 1, further comprising:
(Item 22)
with more seats,
The base processor receives an indication that the mobility assistance device is encountering an incline between the ground and the vehicle, and the base processor causes 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, maintains the center of gravity of the mobility assistance device, and the base processor according to the indications. A processor dynamically adjusts the distance between the seat and the at least one cluster assembly while maintaining the seat as close as possible to the ground, and between the seat and the plurality of wheels. prevent contact with
A motorized balanced movement support device according to item 1.
(Item 23)
the underlying processor,
receiving obstacle data;
automatically identifying at least one obstacle in the obstacle data;
automatically determining at least one context identifier;
automatically maintaining a distance between the mobility assistance device and the at least one obstacle based on the at least one context identifier;
automatically accessing at least one authorization command associated with said distance, said at least one obstacle, and said at least one situation identifier;
automatically accessing at least one automatic response to at least one movement command;
receiving at least one movement command;
automatically mapping one of the at least one move command and the at least one grant command;
automatically moving the mobility assistance device based on at least one movement command and at least one automatic response associated with the mapped authorization command;
with an obstacle system comprising
A motorized balanced movement support device according to item 1.
(Item 24)
the underlying processor,
receiving at least one stair command;
receiving sensor data from sensors mounted on the mobility assistance device;
automatically, based on the sensor data, locating at least one stair structure in the sensor data;
receiving a selected stair structure selection of the at least one stair structure;
automatically measuring at least one characteristic of the selected stair structure;
automatically locating obstacles on the selected stair structure, if applicable, based on the sensor data;
automatically locating the last stair of the selected stair structure based on the sensor data;
automatically navigating the mobility assistance device over the selected stair structure based on the measured at least one characteristic, the last stair and, if applicable, the obstacle;
comprising a stair processor,
A motorized balanced movement support device according to item 1.
(Item 25)
the underlying processor,
automatically locating a door of a lavatory cubicle;
automatically moving the mobility assistance device through a door of the lavatory compartment and into the lavatory compartment;
automatically positioning the mobility assistance device with respect to bathroom fixtures;
automatically locating the door of the lavatory cubicle;
automatically moving the mobility assistance device through a door of the lavatory compartment and out of the lavatory compartment;
comprising a restroom processor,
A motorized balanced movement support device according to item 1.
(Item 26)
the underlying processor,
receiving sensor data from sensors mounted on the mobility assistance device;
automatically identifying doors in the sensor data;
automatically measuring the door;
automatically determining door swing;
Automatically moving the mobility assistance device forward through a doorway, wherein the mobility assistance device opens the door and swings the door when the door swing is away from the mobility assistance device. maintaining an open position;
automatically positioning the mobility assistance device for access to the door handle and moving the mobility assistance device away from the door a distance based on the width of the door as the door opens; and moving the mobility assistance device forward through the doorway, wherein the mobility assistance device maintains the door in an open position when the door swings toward the mobility assistance device.
comprising a door processor,
A motorized balanced movement support device according to item 1.
(Item 27)
the underlying processor,
receiving sensor data from sensors mounted on the mobility assistance device;
automatically identifying doors 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, wherein the positioning is based on the width of the door;
automatically generating a signal to open the door;
automatically moving the mobility assistance device through the doorway;
2. A motorized balance movement assistance device according to item 1, comprising a door processor comprising:
(Item 28)
the underlying processor,
automatically locating a drop-off point for a patient to drop off from the mobility assistance device;
automatically positioning the mobility assistance device proximate the drop-off point;
automatically determining when the patient disembarks from the mobility assistance device;
automatically locating the docking station;
automatically positioning the mobility assistance device in the docking station;
operably connecting the mobility assistance device to the docking station;
with a docking processor comprising
A motorized balanced movement support device according to item 1.
(Item 29)
A method for controlling the speed of a mobility assistance device, said mobility assistance device comprising a plurality of wheels, said mobility assistance device comprising a plurality of sensors, said method comprising:
receiving terrain and obstacle detection data from the plurality of sensors;
mapping terrain and, if applicable, obstacles in real-time based at least on said terrain and obstacle detection data;
calculating a potential collision area, if applicable, based on at least the mapped data;
calculating a deceleration area, if applicable, based on at least the mapped data and the velocity of the mobility assistance device;
if applicable, receiving user preferences for said deceleration area and desired direction and speed of motion;
calculating wheel commands for commanding the plurality of wheels based at least on the potential collision area, the deceleration area, and the user preferences;
providing the wheel commands to the plurality of wheels;
A method, including
(Item 30)
A method for moving a balanced mobility assistance device over relatively steep terrain, said mobility assistance device including a cluster of wheels and a seat, said cluster of wheels and said seat being separated by a distance. , the certain distance varies based on a preselected characteristic, the method comprising:
receiving an indication that the mobility assistance device will encounter the steep terrain;
directing the cluster of wheels to maintain contact with the ground;
dynamically adjusting the distance between the seat and the cluster of wheels based on the balancing of the mobility assistance device and the indication;
A method, including

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

1A is a perspective schematic illustration of a front view of a mobility assistance device base of the present teachings; FIG. FIG. 1B is a perspective schematic illustration of a side view of a wheelchair base of the present teachings. FIG. 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 removable batteries; FIG. FIG. 1E is a perspective schematic illustration of an exploded side view of a battery pack of the present teachings. FIG. 1F is a perspective schematic view of a gearbox of the present teachings. FIG. 1G is a perspective schematic view of the electronic box lid of the present teachings. FIG. 1H is a perspective schematic view of the top cap of the present teachings. 1I and 1J are perspective schematic views of sections of the gearbox of the present teachings. 1I and 1J are perspective schematic views of sections of the gearbox of the present teachings. FIG. 1J-1 is a detailed perspective view of a spring pin of the present teachings. FIG. 1K is a cross-sectional view of a sector gear cross shaft of the present teachings. FIG. 1L is a plan view of the seal bead location of the present teachings. FIG. 1M is a perspective schematic view of a gearbox oil port of the present teachings. 1N is a perspective schematic view of a drive lock kingpin of the present teachings; FIG. FIG. 1O is a perspective schematic view of a dorsal anchoring loop of the present teachings. 1P, 1Q, and 1R are perspective schematic views of the skid plate and drive lock kingpin of the present teachings. 1P, 1Q, and 1R are perspective schematic views of the skid plate and drive lock kingpin of the present teachings. 1P, 1Q, and 1R are perspective schematic views of the skid plate and drive lock kingpin of the present teachings. FIG. 2A is a perspective schematic view of gears in a gearbox of the present teachings. 2B-2E are perspective and plan views of details of gears and cluster cross shafts of the present teachings. 2B-2E are perspective and plan views of details of gears and cluster cross shafts of the present teachings. 2B-2E are perspective and plan views of details of gears and cluster cross shafts of the present teachings. 2B-2E are perspective and plan views of details of gears and cluster cross shafts of the present teachings. FIG. 2F is a perspective schematic view of a cluster cross-shaft and sector gear cross-shaft of the present teachings. FIG. 2G is a perspective schematic view of a detail of a gear and sector gear cross shaft of the present teachings. FIG. 2H is a perspective schematic view of a detail 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. FIG. 2K is a perspective schematic view of a gear and cluster cross shaft of the present teachings. FIG. 2L is a perspective schematic view of a pinion gear height actuator stage 2 pinion with a retaining ring of the present teachings. FIG. 2M is a perspective schematic view of a shaft pinion cluster rotor stage 1 with an inner ring of the present teachings. FIG. 2N is a perspective schematic view of the pinion height actuator shaft stage 1 of the present teachings. 2O and 2P are perspective schematic views of a cluster rotor pinion gear stage 2 pinion of the present teachings. 2O and 2P are perspective schematic views of a cluster rotor pinion gear stage 2 pinion of the present teachings. FIG. 2Q is a perspective schematic view of a cluster rotor pinion gear stage 3 pinion of the present teachings. FIG. 2R is a perspective schematic view of the cluster rotor gear-pinion cross shaft stage 3 of the present teachings. FIG. 2S is a perspective schematic view of a sector gear cross shaft of the present teachings. FIG. 2T is a perspective schematic view of a pinion gear height actuator stage 3 pinion of the present teachings. FIG. 2U is a perspective schematic view of the pinion gear height actuator stage 4 of the present teachings. FIG. 2V is a perspective schematic view of a second configuration of the pinion gear height actuator stage 4 of the present teachings. FIG. 3A is a perspective schematic view of a motor and sector gear cross shaft of the present teachings. FIG. 3B is a perspective schematic view of a cluster and seat position sensor of the present teachings; FIG. 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 the seat/cluster motor of the present teachings. FIG. 3F is a perspective schematic view of a wheel motor of the present teachings. FIG. 3G is an exploded perspective view of a wheel motor of the present teachings. FIG. 3H is a perspective schematic view of a brake without a brake lever of the present teachings; FIG. 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 perspective schematic view of mating cutouts of the seat position sensor of the present teachings. FIG. 3M is an exploded perspective view of a seat position sensor of the present teachings; FIG. 3N is a plan view of a seat position sensor of the present teachings. FIG. 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 perspective schematic view of a caster arm of a caster of the present teachings; FIG. 5A is a perspective schematic view of a gearbox linkage arm and seat support structure of the present teachings. FIG. 5B is a perspective schematic view of connection features of a seat support structure of the present teachings; FIG. 5C is a perspective schematic view of a seat height linkage stabilizer link of the present teachings; FIG. 5D is a perspective schematic view of a first view of a seat height linkage lift arm of the present teachings; FIG. 5E is a perspective schematic view of a second view of the seat height linkage lift arm of the present teachings; FIG. 6A is a perspective schematic view of a cluster assembly of the present teachings; FIG. 6B is a perspective schematic view of a cluster motor assembly of the present teachings; FIG. 6C is a perspective schematic view of a cluster motor assembly with splines of the present teachings. FIG. 6D is a perspective schematic view of the gear-pinion cluster rotor stage 3 cross shaft and pinion shaft cluster rotor stage 4 of the present teachings. FIG. 6E is a perspective schematic view of a pinion shaft cluster rotor stage 4 and cluster position sensor tooth cluster cross shaft gear view of the present teachings. FIG. 6F is a perspective schematic view of a gear-pinion cluster rotor stage 3 cross-shaft of the present teachings. FIG. 6G is a sectioned perspective view of a cross shaft cluster rotor of the present teachings. FIG. 6H is a perspective schematic view of a cluster plate interface of the present teachings. FIG. 6I is a perspective schematic view of a second configuration of a cluster plate interface of the present teachings. FIG. 6J is a perspective schematic view of a ring gear of the present teachings. FIG. 6K is a perspective schematic view of a cluster housing and gears of the present teachings. FIG. 6L is a perspective schematic view of a wheel-driven intermediate stage of the present teachings. FIG. 6M is a plan view of a cluster housing of the present teachings, including seal beads. FIG. 7A is a perspective schematic view of a tire of the present teachings; FIG. 7B is a perspective schematic view of a tire assembly of the present teachings; FIG. 7C is a perspective schematic view of a dual tire assembly of the present teachings; FIG. 7D is a perspective schematic view of a tire of the present teachings; FIG. 7E is a perspective schematic view of a wheel of the present teachings; FIG. 7F is a perspective schematic view of an attachment base of the present teachings. FIG. 7G is a perspective schematic view of an inner split rim of the present teachings; FIG. 7H is a perspective schematic view of a hubcap of the present teachings; 7I is a perspective schematic view of a locking pin spring of the present teachings; FIG. FIG. 7J is a perspective schematic view of a fastener housing of the present teachings. FIG. 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 diagrammatic representation of a sensor positioning configuration of a mobility assistance device of the present teachings. 9A is an exploded perspective schematic view of a manual brake assembly of the present teachings; FIG. FIG. 9B is a perspective schematic view of the damper of the manual brake assembly of the present teachings; FIG. 9C is a perspective schematic view of the damper in operation of the manual brake assembly of the present teachings; FIG. 9D is a perspective schematic view of a manual brake release shaft of the present teachings; FIG. 9E is a perspective schematic view of a manual brake release bracket of the present teachings; FIG. 9F is a perspective schematic view of a manual brake release pivot interface of the present teachings; FIG. 9G is a perspective schematic view of a manual brake release spring arm of the present teachings; FIG. 9H is a perspective schematic view of a manual brake release shaft arm of the present teachings; FIG. 9I is a perspective schematic view of a brake release lever of the present teachings; FIG. 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. FIG. 9L is an exploded perspective view of a manual brake lever travel stop of the present teachings; FIG. 9M is an exploded perspective view of a manual brake lever travel stop of the present teachings; FIG. 9N is an exploded plan view of a 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 perspective schematic 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 perspective schematic view of a power off request switch of the present teachings. 12A and 12B are perspective schematic views of a first configuration of a UC of the present teachings. 12A and 12B are perspective schematic 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 perspective schematic views of a third configuration of a UC of the present teachings. 12E and 12F are perspective schematic 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 , 12J and 12K are exploded perspective views of a first configuration of a UC of the present teachings. 12I, 12J and 12K are exploded perspective views of the first configuration of the UC of the present teachings. It is a perspective view. 12I , 12J and 12K are exploded perspective views of a first configuration of a UC of the present teachings. 12L and 12M are perspective schematic views of the upper and lower housings of a first configuration of a UC of the present teachings. 12L and 12M are perspective schematic views of the upper and lower housings of a first configuration of a 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. FIG. 12O is a cross-sectional view of the thumbwheel sensor environmental isolation of the lower housing of the 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 joystick support ring of a UC of the present teachings. FIG. 12R is a perspective schematic view of a toggle housing of a UC of the present teachings. 12S and 12T are perspective schematic views of toggle housings of UCs of the present teachings. 12S and 12T are perspective schematic views of toggle housings of UCs of the present teachings. 12U and 12V are perspective schematic views of a UC undercap of the present teachings. 12U and 12V are perspective schematic views of a UC undercap of the present teachings. 12W and 12X are sectional and exploded perspective views of a UC EMI suppressing ferrite of the present teachings. 12W and 12X are sectional and exploded perspective views of a UC EMI suppressing ferrite of the present teachings. FIG. 12Y is a perspective schematic view of a UC-mounted device of the present teachings. FIG. 12Z is a perspective schematic view of a mounting cleat of a UC of the present teachings. 12AA is a perspective schematic view of a grommet of a UC of the present teachings; FIG. 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 the toggle module of the UC of the present teachings. 12DD and 12EE are perspective schematic views of the toggle module of the 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 perspective schematic view of a UC assist holder for 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 UC circuit board layouts for UCs of the present teachings. 14B and 14C are schematic block diagrams of UC circuit board layouts for UCs of the present teachings. FIG. 15A is a perspective schematic view of an electronics component board of the present teachings. FIG. 15B is an exploded perspective view of a circuit board of the present teachings; 15C-15D are perspective schematic views of an IMU assembly of the present teachings. 15C-15D are perspective schematic views of an IMU assembly of the present teachings. FIG. 15E is a perspective schematic view of the first view of the IMU board and EMF shield of the present teachings. FIG. 15F is a perspective schematic view of a second view of the 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 perspective schematic 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. FIG. 16A is a schematic block diagram of a system overview of the present teachings. FIG. 16B is a schematic block diagram of electronic components of a mobility assistance device of the present teachings. FIG. 17A is a schematic block diagram of a base controller of the present teachings. 17B-17C are message flow diagrams of the underlying controller of the present teachings. 17B-17C are message flow diagrams of the underlying controller of the present teachings. 18A-18D are schematic block diagrams of processors of the present teachings. 18A-18D are schematic block diagrams of processors of the present teachings. 18A-18D are schematic block diagrams of processors of the present teachings. 18A-18D are schematic block diagrams of processors of the present teachings. FIG. 19A is a schematic block diagram of an inertial measurement unit filter of the present teachings. FIG. 19B is a flowchart of a method of the present teachings for filtering gyroscope and acceleration data. FIG. 20 is a flowchart of a method of the present teachings for field weakening. FIG. 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 four-stage voting. 21B and 21C are flowcharts of methods of the present teachings for four-stage voting. 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. FIG. 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 of operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration of operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration of operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration of operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration of operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration of operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration of operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration of operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration of operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration of operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration of operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration of operational use of the mobility assistance device of the present teachings. 23L-23X are flow diagrams of a second configuration of operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration of operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration of operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration of operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration of operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration of operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration of operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration of operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration of operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration of operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration of operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration of operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration of operational use of the mobility assistance device of the present teachings. 23Y-23KK are flow diagrams of a third configuration of operational use of the mobility assistance device of the present teachings. 23LL-23VV are flow diagrams of a fourth configuration of operational use of the mobility assistance device of the present teachings. 23LL-23VV are flow diagrams of a fourth configuration of operational use of the mobility assistance device of the present teachings. 23LL-23VV are flow diagrams of a fourth configuration of operational use of the mobility assistance device of the present teachings. 23LL-23VV are flow diagrams of a fourth configuration of operational use of the mobility assistance device of the present teachings. 23LL-23VV are flow diagrams of a fourth configuration of operational use of the mobility assistance device of the present teachings. 23LL-23VV are flow diagrams of a fourth configuration of operational use of the mobility assistance device of the present teachings. 23LL-23VV are flow diagrams of a fourth configuration of operational use of the mobility assistance device of the present teachings. 23LL-23VV are flow diagrams of a fourth configuration of operational use of the mobility assistance device of the present teachings. 23LL-23VV are flow diagrams of a fourth configuration of operational use of the mobility assistance device of the present teachings. 23LL-23VV are flow diagrams of a fourth configuration of operational use of the mobility assistance device of the present teachings. 23LL-23VV are flow diagrams of a fourth configuration of operational use of the mobility assistance device of the present teachings. 23LL-23VV are flow diagrams of a fourth configuration of operational use of the mobility assistance device of the present teachings. 24A and 24B are graphical user interface representations of the home screen display of the present teachings. 24A and 24B are graphical user interface representations of the home screen display of the present teachings. 24C and 24D are graphical user interface representations of the main menu display of the present teachings. 24C and 24D are graphical user interface representations of the main menu display of the present teachings. 24E-24H are graphical user interface representations of selection screen displays of the present teachings. 24E-24H are graphical user interface representations of selection screen displays of the present teachings. 24E-24H are graphical user interface representations of selection screen displays of the present teachings. 24E-24H are graphical user interface representations of selection screen displays of the present teachings. 24I and 24J are graphical user interface representations of transition screen displays of the present teachings. 24I and 24J are graphical user interface representations of transition screen displays of the present teachings. 24K and 24L are graphical user interface representations of the forced power off display of the present teachings. 24K and 24L are graphical user interface representations of the forced power off display of the present teachings. 24M and 24N are CG-adapted screen representations of the present teachings. 24M and 24N are CG-adapted screen representations of the present teachings. FIG. 25A is a schematic block diagram of components of a velocity processor of the present teachings. FIG. 25B is a flowchart of a method of velocity 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 responses of the present teachings based on speed category. 25D, 25D-1, 25D-2, and 25D-3 are graphs of interface responses of the present teachings based on speed category. 25D, 25D-1, 25D-2, and 25D-3 are graphs of interface responses of the present teachings based on speed category. 25D, 25D-1, 25D-2, and 25D-3 are graphs of interface responses of the present teachings based on speed category. 25E and 25F are graphical representations of joystick control profiles of the present teachings. 25E and 25F are graphical representations of joystick control profiles of the present teachings. FIG. 25G is a schematic block diagram of components of an adaptive speed control processor of the present teachings. FIG. 25H is a flowchart of a method of adaptive speed processing of the present teachings. 25I-25K are graphical illustrations of exemplary uses of adaptive speed control of the present teachings. 25I-25K are graphical illustrations of exemplary uses of adaptive speed control of the present teachings. 25I-25K are graphical illustrations of exemplary uses of adaptive speed control of the present teachings. FIG. 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 control processing of the present teachings. FIG. 27A is a graphical representation of a comparison of a fall of a mobility assistance device of the present teachings versus an uphill climb of a mobility assistance device of the present teachings. FIG. 27B is a flowchart of a method of anti-tipping treatment of the present teachings. FIG. 27C is a schematic block diagram of an anti-tip controller of the present teachings. FIG. 27D is a schematic block diagram of a CG-adapted processor of the present teachings. FIG. 27E is a flowchart of a method of CG adaptation processing of the present teachings. FIG. 28A is a schematic block diagram of a weight processor of the present teachings. FIG. 28B is a flowchart of a method of weight processing of the present teachings. FIG. 28C is a schematic block diagram of a weight-current processor of the present teachings. FIG. 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 methods of obstacle detection of the present teachings. 29B-29C are flowcharts of methods of obstacle detection of the present teachings. FIG. 29D is a schematic block diagram of the obstacle detection components 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. FIG. 29I is a flowchart of an improved stair climbing method of the present teachings. FIG. 29J is a schematic block diagram of the enhanced stair climbing components of the present teachings. 29K-29L are flow charts of door traversal methods of the present teachings. 29K-29L are flow charts of door traversal methods of the present teachings. FIG. 29M is a schematic block diagram of door traversal components of the present teachings. FIG. 29N is a flowchart of a method of restroom navigation of the present teachings. FIG. 29O is a schematic block diagram of components of restroom navigation of the present teachings. 29P-29Q are flowcharts of methods of mobile retraction of the present teachings. 29P-29Q are flowcharts of methods of mobile retraction of the present teachings. FIG. 29R is a schematic block diagram of mobile retraction components of the present teachings. FIG. 29S is a flow chart of the storage/charging method of the present teachings. FIG. 29T is a schematic block diagram of storage/charging components of the present teachings. FIG. 29U is a flowchart of a method of elevator navigation of the present teachings. FIG. 29V is a schematic block diagram of components of elevator navigation of the present teachings. FIG. 30A is a table of communication packets exchanged within an 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 exemplary protocols of the present teachings. 31B and 31C are packet formats for exemplary protocols 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 messaging diagrams for wireless communication of the present teachings. 31G and 31H are messaging diagrams for wireless communication of the present teachings. FIG. 32A is a threat/solution block diagram of possible threats to MD of the present teachings. FIG. 32B is a flowchart of a method for obfuscating plain text of the present teachings. FIG. 32C is a flowchart of a method for deobfuscating plaintext of the present teachings. FIG. 32D is a transmitter/receiver communication block diagram of a method for challenge/response of the present teachings. FIG. 33 is a schematic block diagram of event processing of the present teachings.

A mobility assistance device (MD) of the present teachings can include a small, lightweight, and motorized vehicle that allows a user to maneuver in confined spaces, navigate curbs, stairs, and other obstacles. It can provide the ability to navigate the environment of everyday life, including the ability to climb up and down. By operating at an elevated seat height, MDs can improve the quality of life of individuals with mobility impairments by allowing them to traverse rough and difficult terrain. Elevated seat height provides benefits for everyday life activities (e.g. accessing higher shelves) and interaction with other people at "eye level" during either stationary or on the move be able to.

1A and 1B, a mobility assistance device (MD) of the present teachings may include a central gearbox 21514, an output mechanism, and a wheel cluster assembly 21100/21201 (FIG. 6A). can contain The central gearbox 21514 can control the rotation of the assembly 21100/21201 (FIG. 6A), can limit recoil, and can provide structural integrity to the MD. In some configurations, the central gearbox 21514 is lightweight and highly durable, thereby increasing the possible payload that the MD can accommodate and improving the operating range of the MD. Can be constructed from any material. The central gearbox 21514 may contain drive transmissions for cluster drives and seat height transmissions, electronics, two caster assemblies, two wheel cluster assemblies, and two sets of seat height arms. , and motors and brakes for the two wheel drives. Other components and seats can be attached to the base assembly through the use of rails 30081, for example. Movable transmission components can be contained within the base assembly , sealed, and protected from contamination. A central gearbox 21514 may include a gear train that may provide power, rotate the wheel clusters, and drive the seat height actuators. The base assembly consists of a four-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 seat bracket 24001 elements. can provide a structure and mounting points for the The base assembly can provide electrical and mechanical power to the drive wheels and cluster to provide seat height actuation. The central gearbox 21514 can house the cluster transmission, the seat height actuator transmission, and the electronics. Two wheel cluster assemblies 21100 ( FIG. 6A ) can be attached to the central gearbox 21514 . A seat support structure, 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 prevent electromagnetic energy transmission and can be sealed at its joints by a material that can provide EM shielding, such as, but not limited to, NUSIL RTV silicone. .

With continued reference to FIGS. 1A and 1B, the MD can accommodate seating arrangements through attachment of seating options to lift and stabilize the arms. The MD may provide power, communication, and structural interfaces for optional features such as, for example, but not limited to, electric seating arrangements, lighting and seating control options. Materials that may be used to construct the MD may include, but are not limited to, aluminum, delrin, magnesium, plywood, medium carbon steel, and stainless steel. Active stabilization of the MD can capture information from sensors and motors into the MD that can detect orientation and the rate of change of orientation of the MD and motors that can produce high power and high speed servo motion. , and incorporates 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 and rear wheels can be coupled to drive together, so the two left wheels can drive together and the two right wheels can drive together. Turning can be accomplished by driving the left and right motors at different speeds. The cluster motor can rotate the wheel base forward/backward. This can allow the MD to remain level while the front wheels are higher or lower than the rear wheels. Cluster motors can be used to keep the device level when climbing curbs, and can be used to repeatedly rotate the wheel base when climbing stairs. The seat can be automatically raised and lowered.

1C and 1D, the battery pack 70001 may generate heat as it charges and discharges. Positioning the battery packs 70001 on top of the central housing 21514 and including air gaps 70001-1 between the battery packs 70001 can allow airflow, which can aid in heat dissipation. Battery pack 70001 may be operably coupled to gearbox lid 21524 at fastener port 70001-4.

Referring now to FIG. 1E, battery 70001 can serve as the primary energy source for MD. Multiple separate identical batteries 70001 can provide redundant energy supply to the device. Each battery 70001 can supply a separate power bus from which other components can draw power. Each battery 70001 can provide power to the sensor, controller, and motor through a switched power converter. Battery 70001 can also receive regenerated 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, without limitation, via a blind mating connector. During battery installation, the power terminals of the connector can be mated before the battery signal terminals to prevent damage to the battery circuitry. The connector can allow correct connection and can deter and/or prevent incorrect connection. Each battery 70001 can 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 battery in a 16s2p arrangement, providing a nominal voltage of about 58V and a capacity of about 5Ah. Each battery can operate within a 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 six battery packs can be used on the system at once. In some configurations, a minimum of four battery packs are required for operation. An additional two batteries can be added over the extended range. In some configurations, the energy storage level for these battery packs can be the same as standard computer batteries, allowing transport by commercial aircraft. Installation of an empty battery pack 70001 can protect unused battery connection ports on the MD and provide a uniform and complete appearance for the MD. In some configurations, empty battery pack slots can be replaced with storage compartments (not shown) that can store, for example, battery chargers or other items. The containment can seal the empty battery opening to the electronics and prevent environmental contamination to the central housing. The battery pack can be protected from damage by wall 21524A.

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

With continued reference to FIG. 1E, a battery controller, which may execute on processor 401 (FIG. 15J), initializes, but is not limited to, each battery, runs each battery task when the battery is connected, Average the task results from each battery to get the bus battery voltage that would be suffered by the processor A/B 39/41 (FIGS. 18C/18D) and get the voltage from the ADC channel for the battery currently in use. get the battery voltage from the fuel gauge data, compare the voltage from the fuel gauge data with the voltage from the ADC channel, get the number of connected batteries, connect the battery 70001 to the bus, power the MD , may include commands for monitoring the battery and checking the battery temperature. Temperature thresholds that may be reported may include, but are not limited to, cold, medium, and hot battery conditions. The battery controller can check the charge of the battery 70001, compare the charge to a threshold, and issue a warning level under low charge conditions. In some configurations, there may be four thresholds: low charge, low charge alert, limited low charge, and minimum charge. A 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, such as, but not limited to, about 30V, and must communicate with the PSC 50002 (FIG. 15G) in order to be charged. The battery controller can restore the battery 70001, eg, by pre-charging the battery 70001, eg, if the battery 70001 has been discharged to the point that the battery protection circuit is enabled. DC power for charging the battery 70001 can be supplied by an external AC/DC power supply. The user can be isolated from potential shock hazards 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. , lift arm control port 255 , caster arm port 225 , cluster port 261 and bumper housing 263 . A power off request switch 60006 (FIG. 11E) can be mounted on the front of the gearbox 21514 (FIG. 1A) and wired to the PBC board 50001 (FIG. 11A). At least one battery pack 70001 (FIG. 1C) can be mounted on the electronics box lid 21524 . Cleats 21534 may allow positioning and securing of battery pack 70001 (FIG. 1C) at battery pack lip 70001-2 (FIG. 1E). Connector cavity 21524-1 can include a spigot that can protrude from lid 21524. FIG. Connector cavity 21524-1 may include a gasket (not shown), such as, but not limited to, an elastomeric gasket, around the base of the snout. Battery connector 50010 (FIG. 1E) can operatively couple battery 70001 (FIG. 1C) to the electronics of the MD through connector cavity 21524-1 and is mounted within fastening cavity 70001-4 (FIG. 1D). Battery 70001 (FIG. 1C) pressure provided by the fasteners can be sealed against gaskets in connector cavity 21524-1 to protect MD's gears and electronics from environmental contamination.

Referring now to FIG. 1G, the electronics enclosure can house the primary stabilization sensors and decision-making system for the MD. An electronics enclosure can protect the contents from electromagnetic interference while containing emissions. An electronics enclosure can impede foreign material intrusion 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 significant amounts of heat can be physically connected to the enclosure frame via thermally conductive materials. The electronics box lid 21524 is used to accommodate the battery connector opening 201, an in-situ formed gasket (not shown), and the mounting of the battery pack 70001 (FIG. 1E) on the electronics box lid 21524. mounting cleat attachment points 205. Battery connector opening 201 can include an elongated rectangle that can include a planar gasket. The battery can compress the planar gaskets during assembly and these gaskets can form an environmental seal between the battery and the chassis of the MD. An in-situ formed gasket (not shown) can seal portions of the central gearbox 21514, which can include gears, motors, and electronics, from intrusion of foreign objects, including fluids. In some configurations, harnesses 60007 (FIG. 10C), 60008 (FIG. 10D), and 60009 (FIG. 10E) can connect to sealed panel mount connectors to maintain environmental and EMC protection. Harnesses 60007 (FIG. 10C), 60008 (FIG. 10D), and 60009 (FIG. 10E) are surrounded by glands and/or panel mount connectors incorporating flat gaskets or O-rings, which may be impermeable to foreign matter. can be Surfaces within the central gearbox 21514 can be tilted so that environmental contamination, if present, can be carried away from sensitive parts of the MD. A central gearbox top cap housing 30025 (FIG. 1H) can include a hinge 30025-1 (FIG. 1H) and a cable routing guide 30025-2 (FIG. 1H). Cables are routed between the UC 130 (FIG. 12A) and the central gearbox 21514, for example, through routing guides 30025-2 that may avoid entangling the cables with the seat, particularly as the seat moves up and down. can be A hinged cable enclosure (not shown) can be operatively attached to hinge 30025-1 (FIG. 1H). A hinged cable enclosure (not shown) can further constrain the cables to avoid entanglement.

1I and 1J, the central gearbox 21514 may be joined together to form an enclosure for the seat and cluster gear trains and an enclosure for the electronics of the MD. 30020 , a second compartment enclosure 30021 , a third compartment enclosure 30022 and a fourth compartment enclosure 30023 . The sections can be joined together, for example, without limitation, by an elastomeric joining material. A joining material can be applied to each edge of the segments, and the segments can be fastened together so that the edges meet to form an enclosure.

Referring now to FIG. 1K, 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 section enclosure 30020, a second section enclosure 30021, a third section enclosure 30022, and a fourth section 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, Reducing the load on any one of the compartmental enclosure 30020, the second compartmental enclosure 30021, the third compartmental enclosure 30022, and the fourth compartmental enclosure 30023, enabling a lighter enclosure structure be able to.

Referring now to FIG. 1L, prior to intermeshing one of sections 30020-30023, high temperature resistance, acid and alkali resistance, and aging, such as, but not limited to, room temperature vulcanizing silicon beads. A sealant bead, which has properties such as degradation resistance, can be applied to perimeter 30023-1, for example.

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 that penetrates the housing can be surrounded by an elastomeric lip and/or O-ring seal. The electrical cable harness housing exiting the central housing does 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 perimeter seal that is crimped to the central housing. Electronics enclosures can provide shielding from the transmission of electromagnetic energy into or out of the enclosure. In some configurations, the sealing material that may join the housings together and the gasket that joins the electronic box lid 21524 (FIG. 1G) and the central housing are made of electrically conductive materials to shield electromagnetic energy transmission. Enclosure capabilities can be improved. The electrical connector exiting the central housing can include a printed circuit board that has electromagnetic energy shielding circuitry to stop the transmission of electromagnetic energy along the cable that can be held in place by cable clamps 30116. Each of the central housings 30020/30021/30022/30023 (FIGS. 1I and 1J) can be aligned to adjacent housings by spring pins 40008 (FIG. 1J-1) that press into the adjacent housings. can.

1N-1R, a skid plate 30026 (FIG. 1R) can protect the underside of the housing from impacts and scratches. Skid plate 30026 (FIG. 1R), when installed, can accommodate optional drive lock kingpin 30070-4 (FIGS. 1N and 1P). In some configurations, the skid plate 30026 (FIG. 1R) can be manufactured from a puncture resistant plastic that can be tinted to limit the visibility of scuffs and scratches. A skid plate 30026 (FIG. 1R) can provide a barrier to oil if it drips out of the center 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 commercially available, for example. Docking attachments can include, but are not limited to, docking welds 30700 (FIG. 1P) and rear stabilizer loops 20700 (FIG. 1O). A docking weldment 30700 (FIG. 1P) can be mounted to the main chassis of the MD. A docking weld 30700 (FIG. 1P) can engage the vehicle-mounted restraint system to provide anchorage for the MD and limit its movement in the event of an accident. The MD's restraint system can allow the user to remain seated in the MD for transport within the vehicle. Docking weld 30700 (FIG. 1P) includes, but is not limited to, drive lock kingpin 30700-4 (FIGS. 1N and 1P), drive lock plate base 30700-2 (FIG. 1P), and drive lock plate front 30700. -3 (FIG. 1P). A docking weld 30700 (FIG. 1P) can optionally be included with the MD and attached to the center gearbox 21514 (FIG. 1N) at the drive lock plate front face 30700-3 (FIG. 1P). Drive lock base 30700-2 (FIG. 1P) includes drive lock base first side 297 (FIG. 1P) and drive lock base second side 297 (FIG. 1P), which may include drive lock kingpin 30700-4 (FIG. 1P). and a second side 299 (FIG. 1Q) of the drive lock base, which may be opposite side one 297 (FIG. 1Q) and may be mounted flush with the central gearbox 21514 (FIG. 1N). . Drive lock plate base 30700-2 (FIG. 1P) can optionally include at least one cavity 295 (FIG. 1Q), which can, for example, enable weight management of the MD and reduce weight and material costs. . A 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. A drive lock kingpin 30700-4 protrudes from the underside of the MD to provide sufficient clearance to interlock with a female connector (not shown), and to avoid any disruption of motion. can provide sufficient clearance from In some configurations, the drive lock kingpin 30700-4 can be off the ground by, for example, 1.5 inches. In some configurations, the dorsal fastening loop 20700 (FIG. 1O) is simultaneously, before, or after the drive lock kingpin 30700-4 (FIG. 1R) interlocks with the female connector, for example. , can engage a hook (not shown) in the vehicle. The hook that engages the dorsal fastening loop 20700 (FIG. 1O) can include a sensor that can, for example, report to the vehicle when the dorsal fastening loop 20700 (FIG. 1O) is engaged. If the dorsal anchoring loop 20700 (FIG. 1O) is not engaged, the vehicle may provide a warning to the user or may not allow the vehicle to move until engagement is reported. In some configurations, drive lock base plate 30700-2 (FIG. 1P) has removable die-out portion 30026-1 (FIG. 1P) that can be used to insert and remove drive lock kingpin 30700-4 at any time. 1R). For example, the MD may comprise a drive lock base plate 30700-2 (FIG. 1P) with removable die-cut portion 30026-1 (FIG. 1R). Various types of drive lock kingpins 30700-4 can be adapted to allow mounting flexibility.

Referring now to FIG. 2A, the center gearbox wet section may include, but is not limited to, seat and cluster gears and shafts, and position sensors, center gearbox housing left outer 30020 (FIG. 2A), center A left inner gearbox housing 30021 (FIG. 2A) and a right inner housing 30022 (FIG. 2A) may be included.

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

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

3A and 3B, seat motor assembly 21582 (FIG. 3A) and cluster motor assembly 21583 can be fixedly positioned within housings 30020, 30021, and 30022. A seat height absolute position sensor 21578 (FIG. 3B) is operatively coupled with a gear tooth rear clamp 30135 (FIG. 3J), which is operatively coupled with a rear half gear clamp 30135 (FIG. 3J), and a sector gear cross shaft 30909 (FIG. 3B).

Referring now primarily to FIG. 3C, the central gearbox housing 21515 can include mounting areas 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 can be engaged when power is removed. The seat/cluster motor mounting area consists of bottom motor mounting 30126 (FIGS. 3D and 3E) and top motor mounting 30127 (FIGS. 3D and 3E), seat/cluster motor assembly 21582 (FIGS. 3D and 3E), and DC motor 70707 (FIGS. 3D and 3E). 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, the seat and cluster cross shafts, motors, brakes, and motor couplings can include identical or similar parts. Motors can provide the primary type of motion on the MD: wheels, clusters, and seats. A wheel motor 21583 (FIG. 3F) can drive each wheel transmission. A cluster motor 21582 (FIG. 3D) may drive the cluster transmission. Device safety and reliability requirements may suggest a dual redundant load sharing motor configuration. Each motor may have two sets of stator windings mounted within a common housing. Two separate motor drives can be used to power the two sets of stator windings. The power supply for each drive 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 a motor half), can contribute approximately equal torque during normal operation. One motor half may be able to provide the torque required for device operation. Each motor half may include a set of rotor position feedback sensors for commutation. The seat/cluster motors 21582 (Fig. 3D) and wheel motors 21583 (Fig. 3F) are dual, operating up to 66 VDC with, but not limited to, a single shaft and sinusoidal drive (voltage range 50-66 VDC). (Redundant) stator BLDC motors. The motor can include two 12-V repeaters mounted on the interface board. One repeater can regulate motor activity. In some configurations, there can be three sensor outputs per motor half, each sensor offset by 60° from the next sensor. The sensors can include, for example, without limitation, Hall sensors. Sensors can be used for commutation and can provide position information for further feedback. The motor can include dual motor windings, a drive section, 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, a brake drive can be used to drive two coils and disengage the brakes for one shaft. This configuration may allow the system to respond to a single point failure of the electronics by continuing to operate its motors and brakes until a safe state can be achieved. The seat and cluster motor shafts are aligned with the seat and cluster driveline input shafts by motor couplings as the motors are installed. The motor shaft is secured in this correct alignment by 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) are two independent electronic sensors that can relay information to the PBC board 50001 (FIG. 15B). can be stored. Seat position sensor processor A (FIG. 18C) and cluster position sensor processor A (FIG. 18C) receive position information into the A-Side electronics and seat position sensor processor B (FIG. 18D) and cluster position sensor processor B (FIG. 18D). FIG. 18D) can receive position information into the B-side electronics and provide redundant electronics that can allow full system operation even if one side of the electronics experiences a problem. Seat sensors and cluster sensors feeding the A and B side electronics can be co-located to allow similar mechanical movement measurements. 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 as a backup position reference when the MD is powered up each time the MD is powered up. Position sensors built into the seat and cluster motors can be used to determine seat and cluster position while the MD is powered on. The seat position sensor upper/lower housing 30138/30137 (Fig. 3M) mounts the electronic sensor, shaft and sensor to the sector gear cross shaft assembly 21504 (Fig. 3J) and cluster cross shaft 30765 (Fig. 6D) respectively. It can accommodate the gears of the single-stage gear train to be connected. The shaft and gear can be molded as a single piece, eg, from a plastic, such as a lubricated plastic, which can allow formation without additional bearing material or lubricants.

3D-3G, seat/cluster motor 21583 (FIG. 3F) and wheel motor 21582 (FIG. 3D) can each include at least one thermistor 70025 that 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, without limitation, to reduce power usage to avoid damage to the motor once the motor reaches a preselected threshold temperature. 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 operatively coupled with the laminations that make up the motor body. A thermistor 70025 can allow indirect estimation of the 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 can optionally be quantized by an analog-to-digital converter on the processor, and the quantized values fed into the temperature estimator algorithm. can. The algorithm may consider the power delivered to the windings, which is the heat flux through the windings and housing (thermistor 70025 provides that measurement) from the housing to the chassis in which the motor is mounted, for each motor An experimentally derived model of the heat transfer path can be included. Thermal estimator algorithms may use the current through the motor as well as the motor housing (thermistor) temperature to provide estimates of the motor winding temperature and other variables such as, but not limited to, motor speed. can. If the motor is rotating at high speed, more heating may occur due to, for example, eddy current losses. If the motor is stalled, 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 PBC 50001 (FIG. 15B), each motor cable has two connectors: (1) a first connector 50001-1A (FIG. 15B) containing pins for the three motor phase wires; It can be split into sensors, phase repeaters, brakes, and a second connector 50001-1B (FIG. 15B) for thermistor 70025. FIG. In some configurations, the first connector 50001-1A (FIG. 15B) can include, without limitation, a 4-pin Molex Mega-Fit connector. In some configurations, the second connector 50001-1B (FIG. 15B) can include, without limitation, a 10-pin Molex Micro-Fit connector. The MD's motor can be thermally welded into the MD's housing, which is fastened to the central housing. Thermal compression welding can provide a heat transfer path from the motor to the central housing.

3H and 3I, a separate electromagnetic holding brake can be coupled to each motor. The electromagnetic holding brake may include two electrically isolated coils, each energized by a brake drive within each of the motor drives. A brake can be disengaged when both of its coils are energized and can be disengaged when only one of its coils is energized. The brakes can be designed to engage automatically when the unit is turned off or in the event of a 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 also hold the cluster and seat in place when the wheels are not in motion. . Brakes can be controlled by commands from the underlying processor. When the MD is powered off, the brake can automatically engage and prevent the MD from rolling. If the autobrakes are manually disengaged at power on, the motor drive can be activated and 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 power has been turned on, the power off request can, under some circumstances, avoid unintentional rolling of the MD after power has been turned off. can be blocked. Autobrake disengagement can be used to manually push the MD when the power is turned off. Each of the four motors driving the right wheel, left wheel, cluster and seat can 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. A brake without a brake lever 70708-2 (FIG. 3H) can include, without limitation, a motor interface 590 and a mounting interface 591. In some configurations, motor interface 590 can include a hexagonal profile that can mate with a hexagonal motor shaft. A brake with brake lever 70708-1 (FIG. 3I) can include a mounting interface 591A that can include a hexagonal profile 590A. The brake with brake lever 70708-1 can include a manual brake release lever 592A, which can be operatively associated with a brake release spring arm 30000 (FIG. 9G), which engages a spring 40037 (FIG. 9G). 9J).

3J-3L, central gearbox housing 21515 can include at least one absolute seat position sensor 21578 (FIG. 3M), which is seat position sensor gear tooth clamp 30135 (FIG. 3K). can be operatively coupled with Seat position sensor gear tooth clamp 30135 (FIG. 3K) includes embossing 273 (FIG. 3K) around cross shaft stage 4 sector gear 21504 and fastened to rear half gear clamp 30136 Tooth clamp 30135 (FIG. 3K) can assist in alignment and orientation. Seat position sensor tooth gear 30134 (FIG. 3M) of absolute seat position sensor 21578 (FIG. 3M) shifts as cross shaft sector gear height actuator 30909 (FIG. 21A-3) moves. ) and the position sensor gear tooth clamp 30135 (FIG. 3K). A sector cross shaft 30909 (FIG. 3L) can include a hollow shaft that can operably couple the seat drive train to the left and right seat lift arms of the center housing. A fourth stage seat height sector gear is crimped onto the shaft and constrained from rotating about the shaft by a wedge connection between the shaft and the gear. Left and right lift arms are required to be aligned with each other to ensure that the seat will be lifted symmetrically. The left and right lift arms are connected in an asymmetrical pattern that can only be assembled in the correct orientation by pins and bolts. This forces the lift arms to be aligned all the time. The seat absolute position sensor 21578 (FIG. 3M) connects to the left and right seat lift drive arms 21301 (FIG. 5D) of the central gearbox 21514 (FIG. 1A) and lifts it, sector gear cross shafts 30909 (FIG. 3L). can be measured. Sector gear cross shaft 30909 (Fig. 3J) can rotate through less than 90° of rotation, causing seat position sensor 21578 (Fig. 3M) to rotate more than 180°, thereby increasing the sensitivity of seat position measurement. It can be coupled to the seat position sensor 21578 (FIG. 3M) through a single stage gear train, which can be doubled. A seat position sensor gear clamp 30136 (FIG. 3J) can mesh and interlock with a seat position sensor gear tooth clamp 30135 (FIG. 3K) around sector gear cross shaft 30909 (FIG. 3J). The interlocked combination can provide gear 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 tooth gear 30134 (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). Magnets 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). Cluster rotor stage 3 cross shaft 21537 (FIG. 2R) can be geared and interfaced with absolute cluster position sensor 21579 (FIG. 3O) through cluster position sensor tooth gear 30147 (FIG. 3O). A seat absolute position sensor 21578 (FIG. 3M) can determine the location of the seat support bracket 24001 (FIG. 8B) relative to the central gearbox 21514 (FIG. 9). A cluster position sensor 21579 (Fig. 3O) can determine the position of the wheel cluster housing 21100 (Fig. 6A) relative to the center gearbox 21514 (Fig. 9). Both absolute seat position sensor 21578 (FIG. 3M) and cluster position sensor 21579 (FIG. 3O) can 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. An absolute seat position sensor 21578 (FIG. 3M) can sense 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 sensors will indicate 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. MD's fully internal sensor system can provide the sensor with protection against mechanical impacts, debris, and water damage.

Referring now primarily to FIG. 4, caster wheels 21001 (FIG. 27A) are mounted in the center gearbox 21514 for use when the seat height is at its lowest position, and the MD is standard mode 100-1 ( When in FIG. 22A), a portion of the MD can be supported. Caster wheels 21001 (FIG. 27A) can swivel about a vertical axis to allow a change of direction. Caster wheels 21001 (FIG. 27A) can allow for maneuverability and obstacle crossing. Caster assembly 21000 (FIG. 5A) can include a caster arm 30031 that can be operably connected at a first end to caster wheel 21001 (FIG. 27A) . Caster arm 30031 may include a caster arm shaft 229 that may enable operable connection between caster arm 30031 and central gearbox 21514 at caster arm port 225 . Caster arms 30031 may be secured within pockets 225 to prevent them from sliding out while allowing rotation. Pockets 225 can be aligned with plastic bushings to allow caster arms 30031 to rotate. Caster spring plate 30044 can be operably connected to central gearbox 21514 (FIG. 5A) . A compression spring 40038 can allow shock absorption, stability, and continued motion when the caster assembly 21000 (FIG. 5A) encounters an obstacle. A compression spring 40038 can provide suspension to the system when the caster wheels 21001 (FIG. 27A) are in motion. Caster assembly 21000 ( FIG. 5A ) can rest on compression spring 40038 , which itself can rest on caster spring plate 30044 . Compression spring 40038 can be attached to caster spring plate 30044 by spring cap 30037 , sleeve bushing 40023 and O-ring 40027 . In some configurations, O-ring 40027-3 can be used as a rebound bumper. A compression spring 40038 can limit the range of rotation of caster arm 30031 and maintain caster wheel 21001 (FIG. 27A) in an acceptable location.

Referring now primarily to FIG. 5A, the user's vertical position can be varied through the seat drive mechanism, which consists of a transmission and four-bar linkage that attach the seat assembly to the central gearbox 21514. The 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 reduction and provide torque to both drive arm links to lift the user and seat assembly relative to the central gearbox 21514. Because the central gearbox 21514 acts as an element of the four-bar linkage that drives the seat, the central gearbox 21514 can rotate with respect to the ground and maintain the seat angle during seat transitions. Thus, the cluster drive and the seat drive can work in tandem during seat transitions. Rotation of the central gearbox 21514 can move the caster assembly 21000, which movement can avoid obstacles such as, for example, without limitation, curbs. Any type of seat can be used with the MD by attaching the seat to the seat bracket 30068. A lift arm 21301 (FIGS. 5D/5E) can be operably coupled to the seat bracket 30068 at a first end of the lift arm. A lift arm 21301 (FIGS. 5D/5E) can be operatively coupled with a central gearbox 21514 at a second end of the lift arm. Movement of lift arm 21301 (FIGS. 5D/5E) is achieved using signals transmitted to lift arm 21301 (FIGS. 5D/5E) through control port 255 (FIG. 1F) from electronics housed within central gearbox 21514. can be controlled. Lift arms 21301 (FIGS. 5D/5E) may include tie -downs that may allow, for example, but not limited to, fixed installation of the MD within the vehicle. A stabilizer arm 21302 ( FIG. 5C) can be operably coupled to the seat bracket 30068 at the first end of the link. A stabilizer arm 21302 ( FIG. 5C) can be operatively coupled with the central gearbox 21514 at the second end of the link. Movement of stabilizer arm 21302 ( FIG. 5C) can be controlled by movement of lift arm 21301 (FIGS. 5D/5E). Stabilizer link stationary bumper 30055 can smooth out entry and exit for MD users and reduce gear wear in the central gearbox with electronics 21514 . In some configurations, bumper 30055 can rest within bumper housing 263 and can be secured in place by stabilizer link rest end cap 30073 . A linkage assembly, formed by lift arm 21301 and stabilizer arm 21302 ( FIG. 5C), can rest on bumper 30055 when the MD is in normal mode. The absolute position of the motor, determined by an absolute position sensor associated with the motor, can determine when the linkage assembly should rest on bumper 30055 . The motor current required to move the linkage can be monitored to determine when the linkage assembly is resting on bumper 30055 . When the linkage assembly rests on the bumper 30055, the gear train is subject to influences, which can result from, for example, obstacles suffered by the MD and/or obstacles suffered by the vehicle carrying the MD and vehicle motion. cannot be exposed.

Referring now to FIG. 5B, vehicle tie-downs 30069 can be operably coupled with seat brackets 30068 to allow the MD to be secured within the motor vehicle. The MD's restraint system can be designed to allow the user to remain seated in the MD for transport within the vehicle. The seat bracket 30068 can include, without limitation, a seat support bracket plate that can provide an interface between the seat support bracket 30068 and the central gearbox 21514 (FIG. 5A). The seat attachment rail 30081 can be sized according to the seat selected for use. Seat brackets 30068 can be customized to attach each type of seat to lift arm 21301 (FIG. 5D) and stabilizer arm 21302 ( FIG. 5C). The seat bracket 30068 can allow the seat to be quickly and easily removed, for example, to change seats and to allow transport and storage.

6A and 6B, the cluster assembly includes cluster housings 30010/30011 (FIG. 6K), cluster interface pins 30160 (FIG. 6A), and the interior of central gearbox 21514 at the cluster connection. O-ring 40027-6 (FIG. 6A) can be included which can be physically isolated. Each cluster assembly is replicated on both left and right sides of the central gearbox 21514 and may include a two-stage gear train for driving each cluster assembly simultaneously. Each cluster assembly operates a set of two wheels 21203 (FIG. 6A) independently on wheel cluster 21100 (FIG. 6A), thereby providing forward, reverse, and rotational motion of the MD on command. can be provided. The cluster assembly can provide structural support for wheel cluster 21100 (FIG. 6A) and power transmission for wheel 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 first Configuration cluster plate interface 30014 (FIG. 6I), cluster interface gasket 40027-14 (FIG. 6B), cluster rotor stage 4 pinion shaft 30888 (FIG. 31A4), 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) can 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 control of the underlying processor on the underlying controller board 50001 (FIG. 15B). The cluster interface assembly provides mechanical power to rotate the wheel drive assemblies 21100 (FIG. 6A) together and functions that rely on cluster assembly rotation such as, but not limited to, stair and curb climbing, uneven terrain, seating Tilt adjustment, and balance mode can be enabled. A cluster motor 21583 (FIG. 6B) can provide input torque to the cluster interface assembly. The cluster interface assembly may provide deceleration and deliver the torque required to lift a user seated on the MD when ascending or descending stairs or lifting for balance mode 100-3 (FIG. 22B). can. Power from the cluster motor 21583 (FIG. 6B) is transmitted to the output shaft and can provide the low speed high torque performance required for stair and obstacle navigation. Cluster O-ring 40027-14 (FIG. 6B) forms a three-way seal between cluster plate 30014 (FIG. 6A), cluster interface housing cap 30014 (FIG. 6B) and center housing 21514 (FIG. 6A). can do.

With continued reference to FIG. 6B, cluster driveline damper 40027-21 can dampen oscillations when necessary to hold the cluster driveline steady. For example, when the cluster gear train is holding the front wheels off the ground in normal mode, the cluster driveline may have difficulty holding steady using motor command due to recoil in the driveline. Motor commands may produce more correction than is needed and may request correction in directions that may lead to oscillations. Oscillations can be damped using additional friction in the cluster drive system. An elastomeric material may be crimped between the cluster output bearing and the cluster interface plate 30014, which may create friction. Alternatively, less efficient bearings with significant drag, such as bronze or plastic bushings, can be used.

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

Referring now primarily to FIGS. 6C and 6D, cluster cross shaft 30765 (FIG. 6F), which is part of the cluster gear train, drives gear cluster rotation 30766 (FIG. 6F) of the centrally located third stage to It can be operably coupled to the fourth stage 30888 (FIG. 6D) of the gear train mounted on the left and right sides of the center housing 21514 (FIG. 6A) under the cluster interface cap 30014 (FIG. 6C). Cluster cross shaft 30765 (FIG. 6F) can include hollow shaft 30765-4 (FIG. 6G) that can include female splines 30765-3 (FIG. 6G). The fourth stage 30888 (FIG. 6D) has a male spline 30888-1 (FIG. 6C) on one end and a pinion gear 30888-2 (FIG. 6C) aligned with the teeth of the male spline 30888-1 on the other end. ) and In this configuration, the teeth of pinion gear 30888-2 (FIG. 6C) on fourth stage 30888 (FIG. 6D) are aligned as they are assembled. In some configurations, the splines and gears can include 15 teeth, although other numbers of teeth can also be accommodated in the present teachings. Gear alignment can allow the left and right cluster housings to be assembled on the center housing so that the wheels are aligned. This key alignment allows the MD to rest on all four wheels when driving with the four primary drive wheels.

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 May include shaft 30102 , wheel drive intermediate shaft and pinion spar 30163 , wheel drive intermediate gear 30164 and inner cluster housing 30010 . At least one magnet 40064, captured between housings 30010/30011 in magnet housing 40064-1, can be positioned so as to be exposed to oil within cluster housing 21100A, attracting ferrous metal particles. and 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 spur 30163 and the wheel drive intermediate spur 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 spur shaft rotates, and the wheels 21203 (FIG. 6A) can rotate. The wheel drive intermediate 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). can be maintained.

Referring now to FIG. 6M, clamshell housing 21101 A includes seams 21100-1 around the perimeter to retain oil within housing 21101A and prevent environmental contamination to housing 21101 A. be able to. A bonding material 21101-2, such as, but not limited to, an elastomeric bonding material, can be applied to the mating surface of housing 21101A . A lip and/or O-ring seal may surround each shaft passing into and/or through housing 21101A . Cluster housing 21100A can include an oil port 21101-4 for adding oil.

Referring now primarily to FIG. 7A, the primary drive wheels are large enough to allow the MD to climb over obstacles, but large enough to fit securely over stair treads. can be small. Tire compliance can reduce vibration transmitted to the user and load transmitted to the MD. The primary drive wheels can remain fixed to the MD unless deliberate action is taken by the user or technician. Tires can be designed to minimize static build-up during surface crossing/contact. A split-rim wheel pneumatic tire assembly 21203 can be mounted on the MD's cluster assembly 21100 (FIG. 6A) to provide self-propelled mobility to the MD.

7B, the 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 disk spacer 30123 and an inner split rim 30112 may be included. A pneumatic tire may contain an inner tube 40061 , which may surround a rim strip 40062 . Shield disc 30113 can be captured between the inner and outer rims of split rim assembly 21203 . The shield disc 30113 can be preloaded in a preselected shape to allow fixed positioning, for example. The shield disc 30113 can protect against foreign objects protruding through the wheel-tire assembly 21203 . The shield disc 30113 can provide a smooth surface that can deter foreign object jams and wheel damage. Shielding disc 30113 can provide customization opportunities, for example, custom colors and designs can be selected and provided on shielding disc 30113 . In some configurations, tire assembly 21203 can house a solid tire, such as, for example, without limitation, a foam-filled tire. Tire selection can be based on features desired by the user, such as durability, smooth entry and exit, and low failure rate.

7C-7M, the primary drive wheels 21203 (FIG. 7B) can be configured to accommodate travel 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 accommodate a removable second drive wheel 21201B (FIG. 7C). A 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) pushes the second drive wheel 21201B (FIG. 7C) onto the first drive wheel 21201A (FIG. 7C) and rotates the second drive wheel 21201B (FIG. 7C). can be attached to the first drive wheel 21201A (FIG. 7C) by turning and inserting locking pin 21201-A4 (FIG. 7K) until engaged. The mounting step can be performed by the user seated within the MD if the user anticipates encountering difficult terrain. The mounting step can also be performed while not seated in the MD. First drive wheel 21201A (FIG. 7C) may provide a means for interlocking first drive wheel 21201A (FIG. 7C) and second drive wheel 21201B (FIG. 7C), attachment base 40062- 1 (FIG. 7F). Attachment base 40062-1 (FIG. 7F) includes locking pin receiver 40062-1B (FIG. 7F) and retaining lip 30090-1A (FIG. 7C) for the twist lock wheel attachment of second drive wheel 21201B (FIG. 7C). 7E). Second drive wheel 21201B (FIG. 7C) has lock pin 21201-A4 (FIG. 7C) that may operatively mate with lock pin receiver 40062-1B (FIG. 7F) of second drive wheel 21201B (FIG. 7C). FIG. 7K). Lock pin 21201-A4 (FIG. 7K) may allow access to lock pin 21201-A4 (FIG. 7K) after lock pin 21201-A4 (FIG. 7K) is disengaged, and A spring 21201-A2 (FIG. 7I) may be included that may allow for rigid locking of locking pin 21201-A4 (FIG. 7K) when pin 21201-A4 (FIG. 7K) is engaged. Attachment base 40062-1 (FIG. 7F) may include retaining tang 40062-1A (FIG. 7F) for twist lock wheel attachment. Retaining tang 40062-1A (FIG. 7F) can be operably coupled with retaining lip 30090-1B (FIG. 7E) of first drive wheel 21201A (FIG. 7C). In some configurations, second drive wheel 21201B (FIG. 7C) may provide access opening 21201-A1A (FIG. 7H) for locking pin removal ring 21201-A4A (FIG. 7K). 21201-A1 (FIG. 7H). In some configurations, first drive wheel 21201A (FIG. 7C) and second drive wheel 21201B (FIG. 7C) can be different or the same size and/or have different or the same tread on tire 40060. can have to

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) are arranged in multiple radial directions. A slotted push-and-rotate locking means (not shown) having tabs extending into the grooves and a mounting structure having a plurality of retaining 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 spokes 30090-1C (FIG. 7E). In some configurations, the attachment means can be mounted between the hub 21201-A2 (FIG. 7E) of the second drive wheel 21201B (FIG. 7C) and the first drive wheel 21201A (FIG. 7C). 21201-A3 (FIG. 7J). For example, and without limitation, fasteners such as screws or bolts pass through cavities in fastener housing 21201-A3 (FIG. 7J) to first drive wheel 21201A (FIG. 7C) and second drive wheel 21201B (FIG. 7C). 7C) can be operatively engaged.

Referring now primarily to Figure 8, the MD can be equipped with any number of sensors 147 (Figure 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 specific goals, such as backup safety. Stereo color camera/illuminator 122A, ultrasonic beam rangefinder 122B, time-of-flight camera 122D/122E, and single-point LIDAR sensor 122F cooperate to sense obstacles behind the MD, for example, without limitation. can be mounted on The MD can receive messages, which may include information from cameras and sensors and allow the MD to react to things that may occur outside the user's field of view. The MD can optionally include a reflector 122C that can be equipped with additional sensors. Stereo color camera/light 122A can be used as a tail light. Other types of cameras and sensors can also be mounted on the MD. Information from the cameras and sensors is used to enable balance mode 100-3 by providing information to the MD and enabling the location of obstacles that may interfere with the transition to balance mode (described herein). (FIG. 3A) can be used to enable a smooth transition to

Referring now primarily to Figure 9A, the service brake is used to hold the MD in place by applying a braking force to the wheel drive motor coupling to stop the wheels from turning. be able to. The brake can act as a holding 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 when the power is off, the MD can be manually pushed with a reasonable amount of effort. In some configurations, the lever can be located in front of the base and accessible by either the user or 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 mounted magnet 70022, a manual brake release cam 30004 (FIG. 9F), and a manual brake release shaft 30002 (FIG. 9D). A brake release lever handle 30070 (FIG. 9I) can activate manual brake release through a manual brake release shaft 30002 (FIG. 9D). A manual brake release shaft 30002 (FIG. 9D) can be held in place by a manual brake release bracket 30003 (FIG. 9E). Manual brake release shaft 30002 (FIG. 9D) can include a tapered end 30002-2A (FIG. 9D) that can engage manual brake release shaft arm 30001 (FIG. 9H), This can be operably connected to a manual brake release cam 30004 (FIG. 9F). A manual brake release cam 30004 (FIG. 9H) can be operably connected to two manual brake release spring arms 30000 (FIG. 9G). Spring arm 30000 may be operably connected to brake release lever 592A (FIG. 3I). Hall sensor 70020 (FIG. 9A) can be operatively coupled with PBC board 50001 (FIG. 9I).

Referring now to Figures 9B and 9C, the brake release lever handle 30070 (Figure 9I) has a return force, eg, a spring loaded force, to pull it back when in the engaged position. A rotational damper 40083 can enable bounce avoidance for the lever 30070 (FIG. 9I). Rotary damper 40083 can be operably coupled to brake shaft 30002 (FIG. 9D) through connecting collar 30007 and damper actuator arm 30009 . The rotary damper 40083 can allow relatively unrestricted movement when the lever 30070 (FIG. 9I) is pivoted clockwise from a vertical position with the brake engaged to a horizontal position with the brake released. . When lever 30070 (FIG. 9I) is pivoted counterclockwise to re-engage the brake, rotary damper 40083 provides resistance to rotation of brake shaft 30002 (FIG. 9D) and lever 30070 (FIG. 9I) slows the speed of returning to the vertical position, thus substantially preventing the lever 30070 (FIG. 9I) from rebounding to the vertical position. The rotary damper 40083 can be operably coupled with the brake assembly stop housing 30003 (FIG. 9E). A damper actuator arm 30009 (FIG. 9B) can be operatively coupled with the brake shaft 30002 (FIG. 9D).

Referring now to FIG. 9I, manual brake release lever 30070 can include a material that can be damaged before other manual brake release components are damaged when excessive force is applied. 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 mounted magnet 70022, a manual brake release pivot interface 30004 (FIG. 9F), and a manual brake release shaft 30002 (FIG. 9D). A brake release lever handle 30070 (FIG. 9I) can activate manual brake release through a manual brake release shaft 30002 (FIG. 9D). A manual brake release shaft 30002 (FIG. 9D) can be held in place by a manual brake release bracket 30003 (FIG. 9E). Manual brake release shaft 30002 (FIG. 9D) can include tapered end 30002-2A (FIG. 9D), which can engage manual brake release shaft arm 30001 (FIG. 9H), which can can be operatively connected to manual brake release pivot interface 30004 (FIG. 9F). A manual brake release pivot interface 30004 (FIG. 9F) is operatively coupled with two manual brake release spring arms 30000 (FIG. 15) at fastening cavities 30004A-1 (FIG. 9F) and 30004A-2 (FIG. 9F). can A spring arm 30000 (Fig. 9G) can be operatively associated with the brake release lever 592A (Fig. 3I).

Continuing to refer primarily to FIGS. 9J-9N, service brakes can include, but are not limited to, travel stops 30005 (FIG. 9K), which when viewed from the front of the MD move from a vertical position to a horizontal position. Movement of the lever 30070 in the clockwise direction can be limited to . 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 operatively coupled with 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). A Hall sensor 70020 can sense when the manual brake release is engaged or disengaged. The Hall sensor 70020 can be operably coupled to both the A-side and B-side electronics using a cable/connector 70030, which mechanically couples the Hall sensor 70020 from the A-side and B-side electronics. can be isolated to Travel stop 30005 (FIG. 9M) can be operatively coupled with shaft 30002-2 (FIG. 9L) through fastener 40000-1 (FIG. 9M). Travel stop 30005 may encounter protrusion 40003-2, which may allow for limiting rotation of shaft 30002-2 (FIG. 9L).

10A-10E and 11B, a harness can be mounted at the cable port to straddle the inside and outside of the sealed portion of the central gearbox 21514, such as, but not limited to, can be surrounded by sealing features such as O-rings or gaskets. The UC port harness 60007 (FIG. 10C) can be threaded with wires extending from the UCP EMI filter 50007 (FIG. 10A) that can be connected to the PSC board 50002 (FIG. 11B). UC port harness 60007 (FIG. 10C) may include a connector to which cable 60016 (FIG. 10A) may mate, thereby connecting UCP EMI filter 50007 to UC 130 (FIG. 12A). Charging input port harness 60008 (FIG. 10D) connects PSC board 50002 (FIG. 9I) via charger port 1158 (FIGS. 10A, 11A-11D) to charging means, such as, but not limited to, charging power supply 70002. A wire extending from the charging input filter 50008 (FIG. 10A) can be threaded through which can be connected to (FIGS. 11A-11D). An accessory port harness 60009 (FIG. 10E) can be fitted with wires extending from the auxiliary connector filter 50009 that can connect accessory wires to the PSC board 50002 . The cable exit location can be protected from impact and environmental contamination 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 them from the center housing to the seat, and protect the cables from entangling in the lift and/or stabilizer arms. can be done.

11A-11D, various wiring configurations connect the PBC board 50001, PSC board 50002, and battery pack 70001 (FIG. 1E) to the UC 130, charging port 1158, and optional accessories 1150A . be able to. Emergency power off request switch 60006 can interface with electronics box 1146 through panel mount 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, a DC/DC supply 1155 for optional accessories can be integrated into the PSC board 50002, eliminating the need to open the electronics box 1146 outside of the controlled environment. . In some configurations, the charging port 1158 can include solder terminations of cables to the port. If the transmission means 1151 includes a cable, the cable may be confined by use of a cable carrier 1149 such as, for example but not limited to, IGUS Energy Chain Z06-10-018 or Z06-20-028. In some configurations, electronics box 1146, which may include, but is not limited to, PBC board 50001 and PSC board 50002, connects UC 130, optional accessories 1150A , and Can be connected to charging port 1158 . In some configurations, strain relief 1156 (FIG. 11C) can provide an interface between electronics box 1146 and UC 130, charging port 1158, and optional accessory 1150A . In some configurations, the cable shield can be routed to the fork connector and terminated at the metal electronic box 1146, eg, using screws (see FIG. 11D). In some configurations, one or more printed circuit boards 1148 (FIG. 11C) can be operatively coupled with strain relief means 1156L, J, and K (FIG. 11C), which are electronic boxes. 1146 can be mounted. Strain relief means 1156L, J, and K (FIG. 11C) can serve dual roles as environmental seals and can provide channels through which electrical signals or power can pass. Strain relief means 1156L, J, and K (FIG. 11C) can include, for example, grommets or glands, or can be overmolded and inseparable from the cable. One or more printed circuit boards 1148 (FIG. 11C) (1) provide locations for connecting to internal harnesses between the printed circuit boards 1148 (FIG. 11C) and the PSC board 50002, and (2) It can provide a place for electromagnetic compatibility (EMC) filtering and electrostatic discharge (ESD) protection. EMC filtering and ESD protection can be enabled by connecting a printed circuit board 1148 (FIG. 11C) to a metal electronic box 1146 and forming a chassis ground 1147.

With continued reference to FIGS. 11A-11D, the charger port 1158 is where the AC/DC power supply 70002 can be connected to the MD. An AC/DC power supply can be connected to the main power supply via line cord 60025 . The line cord 60025 can be changed 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 have different levels of athletic ability and may require that the charger port 1158 be positioned in a personally accessible location. The connector that plugs into charger port 1158 can be made without latches to allow accessibility for users with limited hand function. Charger port 1158 may include a USB port for charging external items such as mobile phones or tablets with power from the MD. Charger port 1158 can be configured with a male pin that operatively mates with a female pin on an AC/DC power supply. 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 mains power. .

12A and 12B, User Controller (UC) 130 includes, but is not limited to, control devices (eg, but not limited to joystick 70007), mode selection controls, seat height and tilt/tilt. It may include controls, a display panel, a speed selection control, a power on and off switch, an audible alert and mute capability, and a horn button. In some configurations, use of the horn button during actuation is enabled. UC 130 may include means to prevent unauthorized use of MD. UC 130 can be mounted anywhere on the MD. In some configurations, UC 130 can be mounted on the left or right armrest. The display panel of UC 130 can include a backlight. In some configurations, the UC 130 allows selection of options through a joystick 70007 (FIG. 12A), an upper housing 30151, a lower housing 30152, a toggle housing 30157, an undercap 30158, e.g., button presses. button platform 50020 (FIG. 12A). Touch screens, toggle devices, joysticks, thumbwheels, and other user input devices can also be accommodated by UC 130.

12C and 12D, the second configuration UC 130-1 may include a toggle platform 70036 (FIG. 12C), which may allow for, for example, but not limited to, selection of options. , toggle lever 70036-2 and toggle switch 70036-1. In some configurations, toggle lever 70036-2 can allow for 4-way toggle operation (up, down, left, and right) and toggle switch 70036-1 allows for 2-way toggle operation. be able to. Other option selection means can replace the buttons and toggles and adapt to specific obstacles as needed. UC 130 (FIG. 12A) and second configuration UC 130-1 may include cable 60026 and cable connector 60026-1. Cable connector 60026-2 can operatively couple with UC PCB 50004 (FIG. 14A) to provide data and power to each component of the UC. Connector 60026-1 can operatively couple UC 130 (FIG. 12A) and the board through cable 60016 (FIG. 10A) that mates with the circuit board .

12E and 12F, a third configuration UC 130-1A can include a thumbwheel knob 30173 that can be used, for example, without limitation, to adjust the maximum speed of the MD. In some configurations, the thumbwheel knob 30173 can be rotated one turn with no stops. By omitting stops, the mapping of position, change of position, rotational speed, and function of thumbwheel knob 30173 can be interpreted in a variety of different ways, depending on the configuration of the system. In some configurations, the user can dial the thumbwheel knob 30173 "up" to request a higher speed gain and "down" to move the MD more slowly. Change in position, rather than absolute position, of the thumbwheel knob 30173 can be used to configure the properties of the MD. The sensitivity of thumbwheel knob 30173 may be configurable. For example, a user with sufficient finger strength, sensitivity, and dexterity to roll and/or twist the thumbwheel knob 30173 in small increments can achieve fine tuning of the thumbwheel knob 30173 and its underlying functionality. can. On the other hand, a user with impaired dexterity may adjust the thumbwheel knob 30173 by colliding it with a knuckle or edge of the hand. Thus, in some configurations, a relatively high sensitivity setting can allow the velocity gain to vary from minimum to maximum across a 180 degree progression, for example. In some configurations, relatively low sensitivity settings require, for example, 90° decoupling bumps each to traverse the same gain range. Continually dialing the thumbwheel knob 30173 "up" can eventually cause the speed value increase to cease. Further dialing "up" may be ignored. Dialing the thumbwheel knob 30173 "down" can be detected and can immediately decrease the gain value, i.e., "unwinding" the neglected upward movement of the thumbwheel knob 30173 cannot be required. Since the absolute position of the thumbwheel knob 30173 cannot be a factor in processing the input from the thumbwheel knob 30173, gain values through changes to MD such as, but not limited to, mode changes and power cycles. can be dynamically configured. In some configurations, the gain value can revert to the default value after a power cycle. In some configurations, gain values may be determined by settings saved during power down even if thumbwheel knob 30173 is moved after power down.

With continued reference to FIGS. 12E and 12F, the MD has various speed settings that can be adapted to the situations in which the MD may be installed, such as, but not limited to, when the MD is either indoors or outdoors. can contain. Speed settings can be associated with joystick movements. For example, a maximum forward speed, which may be appropriate for a particular setting, can be set such that the user cannot go beyond the maximum speed regardless of how much the joystick is maneuvered. In some configurations, the MD can be configured to ignore joystick movements. The effect of the thumbwheel assembly is to apply gain on top of 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 hard stops of less than one revolution. In some configurations, changes in wheel position can indicate changes in maximum speed. When the MD is powered on, the position of thumbwheel knob 30173 before proceeding to power off can be recalled, and the new maximum speed is set to 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, rotation of thumbwheel knob 30173 can adjust the maximum speed from a relatively small amount to a relatively large amount. The thumbwheel knob 30173 is assembled into a blind hole, thus eliminating the need for an environmental seal at the mounting point of the thumbwheel assembly, allowing water, dust, and/or other contaminants to escape from the UC housing. Potential locations for entry into can be eliminated. Additionally, the thumbwheel mechanism can be cleaned and serviced and parts can be replaced without accessing the rest of the UC housing. The angle of the shaft of thumbwheel knob 30173 can be measured by a non-contact Hall effect sensor. Hall effect sensors, which are non-contact sensors, can inherently have an infinite lifetime. A sensor may 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 FIG. 14C), eg, via I2C. In some configurations, the sensors can be dual redundant.

Referring now to FIG. 12G, a third configuration upper housing 30151A 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. In some configurations, the button 70035 can include an undermount snap dome (not shown) that can allow the user to sense when the button 70035 is pressed. Antenna 50025 may be mounted within third configuration upper housing 30151A and may, for example, enable wireless communication between third configuration UCs 130-1A (FIG. 12F). Spacers 30181 can separate the LCD display 70040 from other electronics in the third configuration UC 130-1A (FIG. 12F). The LCD display 70040 can be protected from environmental hazards by a display cover glass 30153. The joystick 70007 can include a connector 70007-1 (FIG. 12H) that can provide power to the joystick 70007 and allow signal transmission from the joystick 70007. FIG. In some configurations, the direction of movement of the joystick 70007 can be measured by more than one independent means to allow redundancy.

12I-12K, UC 130 can include circuit board 50004, which can be housed and protected by upper housing 30151 and lower housing 30152. As shown in FIG. UC 130 may include display cover glass 30153, which may provide visual access to screens that may present options to the user. A display can be connected to the UC PCB 50004 by a flexible connector 50004-2 (FIG. 14A). An optional EMC shield 50004-3 may protect incoming and/or outgoing emissions 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 . UC 130 can be mounted on MD in a variety of ways and locations through mounting cleats 30106 . Throughout the UC 130 may feature environmental isolation such as, but not limited to, O-rings such as toggle housing ring 130A, grommets such as cable grommet 40028 (FIG. 12K), and adhesives, such as circuit board 50004. components from water, dust, and other possible contaminants. In some configurations, the joystick 70007 and speaker 60023 can be off-the-shelf items. For example, and without limitation, a joystick 70007 such as the APEMHF series may include a protective sheath that may be accommodated, for example, by pressure mounting of 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. As shown in FIG. Upper housing 30151 can include mounting spacers 30151-4, which are spaces for fixed mounting of 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 UC 130's display screen. Upper housing 30151 may also include button cavities such as, but not limited to, power button cavity 30151-6 and menu button cavity 30151-7. The upper housing 30151 can include a shaped perimeter 30151-1 that can provide a consistent look and feel with other sides of the MD. The upper housing 30151 can be constructed from, for example, without limitation, polycarbonate, polycarbonate acrylonitrile butadiene styrene hybrids, or other materials that can meet the strength and weight requirements associated with UC. Joystick 70007 (FIG. 12A) can be used, for example, to attach gasket, support ring 30154 (FIG. 12Q), such as, but not limited to, joystick 70007 and support ring 30154 (FIG. 12Q) to 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 a joystick protective sheath can isolate the UC PCB50004 (FIG. 14A) and other sensitive components from the environment. Upper housing 30151 may include molded datums 30151-X2 that may allow orientation of joystick 70007 during assembly. In some configurations, cable datum 30151-X2 may indicate where joystick cable connector 70007-1 (FIG. 12H) may be positioned.

Referring now to FIG. 12M, lower housing 30152 can be joined to upper housing 30151 (FIG. 12L) at perimeter geometry 30152-2. The combination of lower housing 30152 and upper housing 30151 (FIG. 12L) includes, among other parts, a UC PCB 50004 (FIG. 14A), a speaker 60023 (FIG. 12K), and a display cover glass 30153 (FIG. 12P). , a joystick support ring 30154 (FIG. 12Q). Environmental isolation features at the seams can include, for example, without limitation, gaskets, O-rings, and adhesives. Lower housing 30152 may include audio access holes 30152-1, which may be located adjacent speaker mounting locations 30152-6. A commercially available speaker can be mounted within speaker mounting location 30152-6, using attachment means such as, but not limited to, adhesives, screws, and barbed fasteners to the lower housing. 30152 can be fixedly attached. Lower housing 30152 can include at least one post 30152-7 on which UC PCB 50004 (FIG. 12I) can rest. Lower housing 30152 is for housing within lower housing 30152, for example, without limitation, joystick connector 50004-8 (FIG. 14A) and power and communication connector 50004-7 (FIG. 14A). A connector relief surface 30152-3 may be included that may provide space. The lower housing 30152 can be attached to the MD through fastening means such as screws, bolts, barbed fasteners, and adhesives, for example. When screws are used, the lower housing 30152 can include fastener receivers 30152-5, which can attach the toggle housing 30157 (FIG. 12R) to the lower housing 30152. equipment. The lower housing 30152 can also include through guides 30152-4, which can securely connect the lower housing 30152 and the undercap 30158 (FIG. 12K) to fasteners such as, by way of limitation, No, but a seal fastener can be positioned. Seal fasteners can provide environmental isolation. In some configurations, the lower housing 30152 can be constructed from, for example, but not limited to, die-cast aluminum, which can provide strength to the structure.

Referring now to FIG. 12N, third configuration lower housing 30152A can include thumbwheel geometry 30152-A1, which can accommodate thumbwheel 30173. As shown in FIG. Lower housing 30152 can optionally include a skeleton (not shown) molded into inner rear surface 30152-9. The scaffolding can increase the strength and resistance to damage of the UC 130 and can also provide a resting position for the UC PCB 50004 (FIG. 12I). Lower housing 30152A may also provide raised posts 30173-XYZ, which may provide chassis ground contacts for UC PCB50004, which may be grounded to the substrate. Chassis ground contact 30173-2 for cable shield 60031 (FIG. 12V) can tie metal from lower housing 30152A to base metal.
Referring now to FIG. 12O, a third configuration lower housing 30152A can include, for example, without limitation, thumbwheel-enabled hardware such as a position sensor, for example a magnetic sensor such as an AMSAS5600 position sensor. A rotary position sensor can be included that can sense the direction of the magnetic field created by the magnet 40064 that rotates as the thumbwheel knob 30173 rotates. A magnetic sensor can be mounted on a flex circuit assembly, which can provide power to the magnetic sensor and receive information therefrom. In some configurations, corresponding hardware, including but not limited to bushing 40023, magnet 40064, magnet shaft 30171, O-ring 40027, retaining nut 30172, and screw 40003, is thumbwheel knob 30173 and under a second configuration. Side housing 30152A can be operably coupled to allow movement of magnet 40064 to be reliably sensed by the magnetic sensor. Lower housing 30152A may include a cylindrical pocket within the walls of lower housing 30152A in which bushing 40023 is positioned. Bushing 40023 can provide radial and axial bearing surfaces for shaft 30171 . Shaft 30171 may include a flange on which O-ring 40027 is installed. The shaft 30171 is captured by a retaining threaded nut 30172 that is sized to fit the shaft 30171 and 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 can create viscous drag as 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 fit, and/or knurling. Shaft 30171 may include magnet 40064 . The magnetization direction creates a vector normal to the shaft 30171 axis, which can be measured by a Hall effect sensor. Magnetization vector measurements can be provided to UC 130 (FIG. 12A) by sensors. 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 parts of the compliant hardware, such as, but not limited to, O-ring 40027, can 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 manipulated.

Screw 40003 can pass through thumbwheel 30173 and can be operatively coupled with magnet shaft 30171 . Corresponding hardware geometries can interlock to retain the thumbwheel 30173 to the second configuration lower housing 30152A, and in the configuration shown, the shaft extends to the second configuration lower housing 30152A. Environmental isolation can be provided to the interior of UC 130 because there is no need to puncture body 30152A. The geometry of the thumbwheel assembly allows field service and/or replacement without separating upper housing 30151 (FIG. 12E) from lower housing 30152A. In particular, the thumbwheel knob 30173 can be replaced if damaged by impact or worn 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, display cover glass 30153 can include clear openings 30153-1 that can expose menu and option displays for the user. The dimensions of the clear aperture 30153-1 can be different than the display active area, for example and without limitation. Display cover glass 30153 can include frame 30153-4, which can be masked black with a pressure sensitive adhesive layer. In some configurations, the display cover glass 30153 can be masked with black paint and double-sided tape is applied on top of the black mask. Clear unmasked areas 30153-3 can receive ambient light. UC 130 can vary the brightness of the display based on ambient light. Display cover glass 30153 may include button cavities 30153-5 and 30153-6, which may provide locations 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 to reduce glare reflections and/or scratch resistance, for example. can be improved. In some configurations, a space can exist between the cover glass 30153 material and the frame 30153-4. The space can include, for example, without limitation, decorative elements such as product logos, and can be indelibly printed and/or etched.

Referring now to FIG. 12Q, the joystick support ring 30154 includes, but is not limited to, a receiver 30154-3 for housing the joystick protective sheath and body, and fastening the support ring 30154 to the upper housing 30151 (FIG. 12L). holes/slots 30154-2 for Hole/slot 30154-2 can be sized to accommodate multiple sizes of joystick 70007 (FIG. 12A). Holes 30154-1 can, for example, accommodate connections between components of UC 130 (FIG. 12A). In some configurations, the support ring 30154 can include a pattern of notches 30154-X2 circumferentially oriented with respect to the holes 30154-1 and slots 30154-2. Notches 30154-X2 can interface with ribs 30151-4 (FIG. 12M) in upper housing 30151 (FIG. 12M), holes in support ring 30154 and Correct rotational positioning of the slot pattern can be ensured.

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

12S and 12T, a second configuration 30157B of toggle housing can allow mounting of toggle platform 70036 (FIG. 12T). A second configuration 30157B of the toggle housing may provide support structures 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). A second configuration 30157A of the toggle housing may include connector cavities 30157A-3 to accommodate connections between the toggle platform 70036 (FIG. 12T) and the electronic components of the UC 130 (FIG. 12A). Toggle housing 30157B can include pocket 30157-2 that can accommodate a toggle module, such as, but not limited to, button platform 50020-A (FIG. 12BB). Toggle housing 30157B includes connector cavity 30157A-3 and can accommodate a flexible cable extending from the toggle device. Toggle housing 30157B includes through holes 30157A-4 and can accommodate fastening means, which can connect the components of UC 130 (FIG. 12A) together. Toggle housing 30157B can include lower housing connector cavity 30157A-5, which can provide openings for engagement by fastening means. Toggle housing 30157B can include seal geometry 30157A-6, which can enable mating/sealing between toggle housing 30157B and undercap 30158 (FIG. 12U), which can can be secured by undercap fastener cavity 30157A-8. Toggle housing 30157B may include toggle module fastener cavities 30157A-7 to allow attachment of toggle module and toggle housing 30157B. Toggle housing 30157B can include fork guide 30157A-1 to provide a guide for power/communication cable 60031 (FIG. 12X). O-rings (not shown) can provide a 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 approximately 25-50 mm. Toggle lever 70036-2 (FIG. 12T) can have rounded edges and its top can be slightly convex and generally horizontal, measuring 10-14 mm across its top. and can be about 19-23 mm high. Toggle switch 70036-1 (FIG. 12T) can be approximately 26-30 mm long, 10-14 mm wide, and 13-17 mm high. Toggle lever 70036-2 (FIG. 12T) and toggle switch 70036-1 (FIG. 12T) can be positioned at an angle of 15° to 45° relative to joystick 70007 (FIG. 12K).

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

12V-12X, a second configuration of undercap 30158-1 can include, without limitation, an EMI suppressing ferrite 70041 and a ferrite retainer 30174. As shown in FIG. The ferrite retainer 30174 can be operatively coupled with the second configuration undercap 30158-1 through mounting feature 30158-3 (FIG. 12X) and post 30158-2 (FIG. 12X). The retainer 30174 can be affixed to the undercap 30158 by heat staking the posts 30158-2 (FIG. 12X). In some configurations, the ferrite retainer 30174 can be affixed to the undercap 30158 using threaded fasteners, adhesives, and/or snap features. In some configurations, when cable 60031 is threaded through ferrite retainer 30174, EMI suppressing ferrite 70041 shields UC 130 from EMI emissions emanating from cable 60031, which may house power and canvas connections for UC 130. can be protected. Shield 60031-4 can extend from cable 60031 and connect to a feature of housing 30152 at connector 60031-3. A metal barrel 60031-1 can allow the shield to continue to the base.

12C, UC-mounted device 16074 is such that UC 130 (FIG. 12A) is mounted on MD through operable coupling of stem 16160A, stem split mate 16164, and seat bracket 24001 (FIG. 1A). Any device that can accommodate a conventional seat and can be used to allow it to be fixedly mounted to the MD. The clamping orifices 162-672 can provide a means for fixedly mounting the device 16074 to the MD. Mounting device 16074 can include ribs 16177 that protrude from mounting body 16160 and can accommodate UC mounting features 30158 (FIG. 12B). UC 130 (FIG. 12A) can be operatively coupled with mounting device 16074 by sliding mounting cleat 30106 (FIG. 12Z) between rib 16177 and mounting body 16160 . A release lever 16161 may work in conjunction with a spring-loaded release knob 16162 to allow secure fastening and easy release of the UC 130 to/from the mounting device 16074.

Referring now to FIG. 12Z, the mounting cleat 30106 can allow mounting of the UC 130 (FIG. 12A) onto an MD, eg, an armrest, eg, by means of a mounting device 16074 (FIG. 12Y). The mounting cleat 30106 can include an engagement lip 30106-3 that allows sliding of the mounting cleat 30106 and receptacle by, for example, depressing a latch button until the UC 130 (FIG. 12A) is properly positioned. and can include geometries that can allow for locking engagement. At that position, the latch button may protrude into button cavity 30106-1, thereby locking UC 130 (FIG. 12A) in place. Rim 30106-4 of mounting cleat 30106 can fit within the receptacle. The mounting cleat 30106 can include fastening cavities 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). Grommet 40028-1 can rest within grommet cavity 30158-2 (FIG. 12U), with reduced diameter portion 40028-1B captured by the geometry of grommet cavity 30158-2 (FIG. 12U). Cable 60031 (FIG. 12X) can traverse grommet 40028-1 from cable entry 40028-1A to cable exit 40028-1C. In some configurations, cable grommet 40028-1 can provide strain relief to cable 60031 (FIG. 12X). Strain relief can prevent damage if the cable 60026 is flexed or pulled. In some configurations, cable grommet 40028-1 can be an integral overmolded feature with cable 60031 (FIG. 12X).

12BB and 12CC, button assembly 50020-A can enable button option entry in UC 130 (FIG. 12A). Button assembly 50020-A can include button 50020-A1, such as, but not limited to, a momentary push button that can be mounted on button circuit board 50020-A9. Button 50020-A1 may be operably coupled to button circuit board 50020-A9, which may include cable connector 50020-A2, which may include, for example, without limitation, flexible cable can accommodate. Button assembly 50020-A may include spacer plate 50020-S (FIG. 12CC), which may provide cavity 50020-S1 (FIG. 12CC) for button 50020-A1. A coverlay (not shown) that provides a graphic and environmental seal can cover button 50020-A1.

12DD and 12EE, toggle platform 70036 includes toggle lever 70036-2 (FIG. 12T), toggle switch 70036-1 (FIG. 12T), and toggle platform 70036 in second configuration 30157A of toggle housing. and a toggle mounting means 70036-3 for mounting thereon. Toggle mounting means 70036-3 can be adjacent to toggle lever support geometry 30157A-2 (FIG. 12U). In some configurations, D-pad 70036A-2 (FIG. 12EE) replaces toggle lever 70036-2 (FIG. 12DD) and rocker switch 70036A-1 (FIG. 12DD) replaces toggle switch 70036-1 (FIG. 12DD). A low profile toggle module 70036A (FIG. 12GG) can be included, including FIG. 12EE). In some configurations, toggle lever 70036-2 (FIG. 12DD) can be replaced by two two-way toggles (not shown), which can resemble controls for power seat arrangement tilt and recline. . The resulting module can contain three two-way toggles.

Referring now primarily to FIG. 13A, UC holder 133A can house manual and visual interfaces such as, for example, joysticks, displays, and associated electronics. In some configurations, UC assist holder 145A can be attached to visual/manual interface holder 145C without tools. UC assist holder 145A may interface with processor 100 (FIG. 16B) and may include sensors 122A (FIG. 8), 122B (FIG. 8), 122C (FIG. 8), 122D (FIG. 8), 122E (FIG. 8), and 122F (FIG. 8). Any of these sensors can include, but are not limited to, the TEXAS INSTRUMENTS OPT8241 time-of-flight sensor, or any device capable of providing the three-dimensional location of the data sensed by the sensor. UC assist holder 145A can be located anywhere on the MD and need not be limited to being mounted on 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 a first side 133E of the manual/visual interface holder 145C. , and a manual interface mounting cavity 133B. A connector 133C is provided on a 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 may be located on any portion of manual/visual interface holder 145C, or may be absent entirely. Manual/visual interface holder 145C, visual interface viewing window 137A (FIG. 13B), manual interface mounting cavity 133B, and connector 133C can be any size. Manual/visual interface holder 145C can be constructed from any material suitable for mounting visual interface viewing window 137A, manual interface mounting cavity 133B, and connector 133C. Angle 145M can be associated with different orientations of UC holder 133A and can therefore be of different values. 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, filter cavity 136G and lens cavity 136F, such as, but not limited to, the OPT8241 3D time-of-flight sensor manufactured by TEXAS INSTRUMENTS. Visibility may be provided for, for example, but not limited to, time-of-flight sensor optical filters and lenses. The UC assist holder 145A can be of any shape and size and can be any shape, depending on the MD and the mounting position on, for example, the sensors, processors, and power supplies provided within the UC assist holder 145A. Can be constructed from any material. The rounded edges on cavities 136G and 136F and holder 145A can be replaced by edges of any shape.

14A-14C, UC board 50004 can provide electronics and connectors to control the activities of UC 130 (FIG. 12A). UC board 50004 may include a circuit board 50004-9 on which connectors and ICs may be mounted. For example, joystick connector 50004-8, power and communication connector 50004-7, toggle connector 50004-5, thumbwheel connector 50004-4, speaker connector 50004-6, and display connector 50004-2 are mounted on mounting board 50004-9. can be included. In some configurations, the UC board 50004 can include an ambient light sensor 50004-X (FIG. 14A), the signal from which varies the brightness and contrast of the display for viewing in indoor and outdoor environments. can be used to EMC shield 50004-3 may provide EMC protection to UC board 50004. Connection 50004-1 to radio antenna 50025 (FIG. 12H) can include, for example, without limitation, a spring contact. Button snapdome 50004-10 may accommodate button press activation, for example. In some configurations, each of the button snap domes 50004-10 can be associated with backlighting from, for example, without limitation, LEDs. Toggle switches and toggle levers can be accommodated 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 radio antenna. The UC board 50004 can perform filtering of incoming data and enable the transitions and workflows illustrated in FIGS. 23A-23KK. The UC board 50004 can include, but is not limited to, a wireless transceiver, which can support wireless communication using, for example, without limitation, the BLUETOOTH® low energy protocol, processor and A transceiver can be included. A radio transceiver may include, for example, without limitation, a Nordic Semiconductor nRF51422 chip.

15A and 15B, the central gearbox 21514 can include a PSC board 50002 and a PBC stack. The electronics of the PSC board 50002 can manage power and provide power to the PBC board 50001, which in turn provides power to the motors of the MD. The PBC board 50001 may contain redundant computers and electronics whose 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 contain 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. can. Active redundancy can enable conflict resolution during abnormal conditions through voting on actuator commands and other critical data. In some configurations, sensors, underlying processors, and power buses can be physically replicated within the MD. Sensor inputs, processor outputs, and motor commands from this 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 full functionality of the MD is available to the user. If any one of a set of these signals is not within the range of the other three, the MD can ignore the data from the non-matching set and the data from the remaining sensor/processor strings can be used to continue operation. Upon loss of redundancy, an abnormal condition can be identified and the user alerted via visual and audible signals, for example. For redundancy, the PBC and PSC may 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 may be divided into 'B1' and 'B2' quadrants, which may be powered by the PSC 'B' side. An IMU, for example, can include four inertial sensors, each of which can be mapped directly 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 as well as to size motors and batteries for normal no fault conditions. can be used for power amplifiers, high voltage power buses, and primary actuators to Load-sharing redundancy can enable a lighter weight and higher performance fault-tolerant system than other redundancy approaches. The MD can include multiple separate battery packs 70001 (FIG. 1E). Multiple 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 chances of a failure on one side causing cascading failures on the other side. The power delivery components (battery pack 70001 (FIG. 1E), wiring, motor driver circuitry, and motors) are sized to deliver sufficient power to keep users safe while meeting system performance requirements. be able to.

With continued reference to FIGS. 15A and 15B, MD electronics and motors generate heat that 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 base controller board 50001 and support an inertial measurement unit (IMU) assembly 50003 (FIG. 15D). be able to. The heat spreader plate 30050 is operably connected to the central housing and the circuit board of the MD through a thin electrically insulating material that can provide a thermal conduction path for heat from the electronics to the central housing, for example. can be done. In some configurations, metal-to-metal contact between heat spreader 30050 and mounting features on housings 30020-30023 can dissipate heat. Standoffs 30052 (FIG. 15B) along with standoff grommets 30187 (FIG. 15C) can isolate the IMU assembly from vibrations of the base controller board 50001 and heat spreader 30050 . Vibration can result from vibrations throughout the substrate. The thermal management system of the present teachings is mounted on heat spreader 30050 but does not touch PBC board 50001, bar 30114 (FIG. 15B), copper area on PBC board 50001, and between PBC board 50001 and heat spreader 30050. and thermal gap pads that provide thermal conductivity of .

Referring now to FIG. 15B, the IMU mounted on the heat spreader 30050 includes a soft hardness grommet 30187 (FIG. 15C), which may dampen vibrations, and a flex cable 50028- which may provide electrical connection to the PBC board 50001. 9B (FIG. 15C). The IMU sensors can be isolated from vibrations generated by the MD seat, cluster, and wheel drive train by mechanically isolating the IMU PCB 50003 (FIG. 15E) on which sensor 608 (FIG. 15E) is mounted. can. The IMU assembly can be mounted on at least one elastomeric grommet 30187 ( FIG. 15C ), which can be attached to at least one post 30052 that is fastened to the heat spreader plate 30050 . At least one grommet 30187 (FIG. 15C) can include low stiffness and dampening capabilities, which can limit transmission of vibrations from the MD to the IMU. The flex circuit cable 50028-9B can be compliant and cannot transmit significant vibrations to the IMU assembly.

With continued reference to FIG. 15B, the magnetic 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). Flux shield 30008 may comprise ferrous metal and may be operably coupled with heat spreader assembly 30050 between manual brake release position sensor 70020 (FIG. 9J) and PBC board 50001. The ferrous metal can seal and redirect the magnetic flux of the manual brake release position sensor 70020 (Fig. 9J), substantially preventing it from interfering with the electronics of the PBC board 50001. Potentially, to increase the overall reliability of the MD, the cable can utilize connectors with latching mechanisms.

15C-15D, IMU assembly 50003 includes main board 50003B (FIG. 15D), which may include, but is not limited to, inertial sensor 608 (FIG. 15D) and memory 610 (FIG. 15D). can be done. The IMU assembly 50003 includes at least one grommet 30187 (FIG. 15C), which 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. ), which may be connected to a rigid flex circuit 50028-9B. Rigid flex circuit 50028-9B can include stiffeners 50028-9S that can promote a durable connection. Rigid flex circuit 50028-9B can include a bend that can split rigid flex circuit cable 50028-9B into two parts that can provide sensor and connector interfaces . At least one grommet 30187 (FIG. 15C) extends in cavity 608A (FIG. 15D) through main board 50003 (FIG. 15B) and likewise within optional IMU shield 70015 (FIG. 15C) and PBC board 50001 (FIG. 15B). It can extend through the cavity and can be operably coupled with standoffs 30052 (FIG. 15B). Other geometries of rigid flex circuit cables 50028-9B (FIG. 15C) are also possible, as are 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, an ST Microelectronics LSM330DLC IMU. The IMU assembly 50003 can include an IMU PCB 50003B, which can accommodate standoffs 30052 (FIG. 15B) to allow elevated and cushioned mounting of the IMU PCB 50003B above the PBC board 50001. IMU assembly 50003 may include features to allow mounting of IMU shield 70015 (FIG. 15C) onto IMU PCB 50003B. Optional IMU shield 70015 shields inertial sensor 608 (FIG. 15D), potentially 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 PCB 50003B may include connector 609 B (FIG. 15F) that may receive/transmit signals to/from inertial sensor 608 to/from PBC board 50001 (FIG. 15B). Inertial sensors 608 (FIG. 15D) can be mounted on IMU PCB 50003B, which can allow IMU assembly 50003 to be calibrated separately from the rest of the MD. The IMU PCB 50003B can provide a mount for memory 610 (FIG. 15D), which can hold calibration data, for example. Non-volatile memory 610 (FIG. 15D) may include, for example, without limitation, a Microchip 25AA320AT-I/MNY. 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, the inertial sensor 608 (FIG. 15D) is updated with the latest available sensors in relative electronics design isolation since the IMU assembly 50003 can be relatively isolated from the PBC board 50001. be able to. Inertial sensors 608 can be positioned at an angle with respect to each other. Angular positioning can improve the accuracy of data received from inertial sensors 608 . Inertial information, such as pitch angle or yaw rate, that can rely entirely on one sensing axis of one inertial sensor 608 can be spread across the two sensing axes of an angled inertial sensor. In some configurations, two inertial sensors 608 can be positioned at a 45° angle from two other inertial sensors 608 . In some configurations, angled inertial sensors 608 may alternate locations with non-angled inertial sensors 608 .

15E and 15F, the second configuration IMU assembly 50003 A can include at least one inertial sensor 608 . The second configuration IMU assembly 50003A can include a second configuration IMU PCB 50003A-1, which houses the standoffs 30052 (FIG. 15B) and the second configuration above the PBC board 50001. can allow for overhead and shock mounting of the IMU PCB50003A-1. The second configuration IMU assembly 50003A may include features to allow the IMU shield 70015 to be mounted on the second configuration IMU PCB 50003A. Optional IMU shielding 70015 can protect 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 IMU PCB 50003A can include a connector 609 B (FIG. 15F) that can receive/transmit signals to/from the inertial sensor 608 to/from the PBC board 50001 (FIG. 15B). Inertial sensor 608 (FIG. 15E) can be mounted on IMU PCB 50003A in the second configuration. The second configuration IMU PCB 50003A can provide a mount for memory 610 (FIG. 15E), which can hold, for example, calibration data.

15G and 15H, the PSC board 50002 can include a connector 277 (FIG. 15G) that can allow the battery 70001 (FIG. 1E) to supply power to the PSC board 50002. Connector 277 may include, for example, contacts and circuit board mounting means, such as, but not limited to, MOLEXMLX44068-0059. The PSC board 50002 can include at least one microcontroller 401, at least one bumper 30054/30054A for buffering the interface between the PSC board 50002 and the electronics box lid 21524 (FIG. 1G), and the PSC and at least one spacer 30053 for maintaining spacing between board 50002 and PBC board 50001 (FIG. 15B). In some configurations, a spacer 30053, which may comprise metal, for example, can be operatively coupled with the PSC board 50002. In some configurations, spacer 30053 can be used as an electrical connection to the chassis of the MD for EMC purposes. Spacer 30053 can provide durability and robustness to the MD. The PSC board 50002 has a charging input connector 1181, a UC connector 1179, an auxiliary connector 1175A, at least one power interconnect to the PBC connector 1173, and a canvas/PBC connector, connected as shown in FIGS. 15I and 15J. connector 1179A. PSC board 50002 includes at least one power switch 401C, at least one battery charging circuit 1171/1173A, and at least one coin cell battery 1175ABC for powering at least one real-time clock 1178A (FIG. 15J). can be done. The PSC board 50002 is not limited to the components listed herein and can include any integrated circuit and other components that can enable MD operation.

15I-15J, the PSC board 50002 provides power to the UC 130 ( 12A) and a battery 70001 (FIG. 1E) connected to a battery connector 70001 A (FIG. 15I) that may provide an auxiliary device. 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 line voltage from the battery pack 70001 (FIG. 1E ), eg, whether the charger power supply cord 70002 (FIGS. 11A-11D) is plugged in. Battery 70001 (FIG. 1E ) is connected to, for example, but not limited to, regulator 1176 (FIG. 15J), such as, but not limited to, 3. Power can be provided to at least one microcontroller 401 (FIG. 15J) through a 3V regulator and a regulator 1177 (FIG. 15J), such as but not limited to a 5V regulator. PSC board 50002 provides power to PBC board 50001 through inter-board connectors 1173/1173A (FIG. 15J) such as, but not limited to, SAMTECPES-02. At least one microcontroller 401 (FIG. 15J), such as, but not limited to, a Renesas RX64M , connects between battery 70001 (FIG. 1E ) and board-to-board connector 1173/1173A (FIG. 15J) to PBC board 50001. The opening and closing of power switch 401C (FIG. 15J) can be controlled. At least one microcontroller 401 (FIG. 15J) may include memory 1178 (FIG. 15J), such as, but not limited to, ferroelectric non-volatile memory that may retain data after power is turned off. . PSC board 50002 can include a real-time clock that can be used, for example, to time stamp usage data and event logs. The real time clock can be powered by battery 70001 (FIG. 1E ) or alternatively by backup battery lithium coin cell 1175ABC (FIG. 15J). Communication between at least one microcontroller 401 (FIG. 15J) and battery 70001 (FIG. 1E ) can be enabled by an I2C bus and I2C accelerator 1174 (FIG. 15J). Communication between at least one microcontroller 401 (Fig. 15J) and UC 130 (Fig. 12A) can be enabled by canvas protocol through UC connector 1179 (Figs. 15I/15G). Communication between at least one microcontroller 401 (FIG. 15G) and PBC board 50001 (FIG. 15B) can be enabled by canvas protocol through connector 1179A. Sensors 4 10 B (FIG. 15J) are positioned throughout the PSC board 50002 to measure the level of voltage reported by battery 70001 (FIG. 1E ) and sensed by sensor 410A (FIG. 15I) . ) can be determined. The at least one sensor 410A (FIG. 15I) can sense high acceleration events such as, but not limited to, hard impacts, vehicle crashes, and shipping mishandling. High acceleration events can be logged and used, for example, as part of aftermarket and warranty claims, providing usage statistics that can, for example, provide data for quality improvement efforts be able to. In some configurations, at least one sensor 410A (FIG. 15I) can reside on the PSC board 50002 and communicate with the corresponding PSC processor 401 (FIG. 15J) via, for example, a serial peripheral interface (SPI) bus. can communicate to

With continued reference to FIGS. 15I-15J, power can flow from each battery pack 70001 (FIG. 15I) through the PSC board 50002 and thence through the PBC board 50001 (FIG. 15B) to the motor. Battery packs 70001 (FIG. 15I) may discharge at different rates, for example, due to internal impedance differences. Since they are electrically coupled 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 There may be differences between The bus voltage can be monitored and, if necessary, the voltage of the battery 70001 on each side will send a slightly larger command to the motor on the side with the higher voltage and a smaller command to the motor on the other side. can be equalized by Current limiting devices can be used throughout the power distribution to prevent an overcurrent condition on one subsystem from affecting power delivery to another subsystem. Anomalies caused by marginal power supply activity 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, MD can include, but is not limited to, base 21514A, communication means 53, power means 54, UC 130, and remote control device 140. Infrastructure 21514A may communicate with UC 130 using communication means 53 using a protocol such as, but not limited to, Canvas protocol. User controller 130 may communicate with remote control device 140, for example, through wireless technology 18, such as, but not limited to, BLUETOOTH technology. In some configurations, foundation 21514A can include redundancy, as discussed herein. In some configurations, communication means 53 and power means 54 may operate inside infrastructure 21514A and may be redundant therein. In some configurations, communication means 53 may provide communication from base 21514A to components external to base 21514A.

Referring now primarily to FIG. 16B, in some configurations MD control system 200A communicates bidirectionally over serial bus 143 using, but not limited to, system serial bus messaging system 130F. It can include at least one underlying processor 100 and at least one power supply controller 11 . System serial bus messaging 130F may enable bi-directional communication between external application 140, I/O interface 130G, and UC 130. FIG. 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, I/O interface 130G transmits messages to/from at least one of, for example, without limitation, audio interface 150A, electronic interface 149A, manual interface 153A, and visual interface 151A. / can be received. Audio interface 150A can provide information to an audio device, eg, a speaker, which can alert, eg, when the MD requires attention. Electronic interface 149A can transmit/receive messages to/from external sensors 147, for example, without limitation. External sensors 147 may include, but are not limited to, time-of-flight cameras and other sensors. Manual interface 153A displays messages such as, but not limited to, joystick 70007 (FIG. 12A) and/or switches 70036-1/2 (FIG. 12V) and buttons 70035 (FIG. 12H), and/or information such as LED lights. lights and/or can be transmitted/received to/from UC 130 (FIG. 12A), eg, having a touch screen. UC 130 and processor 100 can transmit/receive information to/from I/O interface 130G, external communication 130D, and each other.

Continuing to refer primarily to FIG. 16B, system serial bus interface 130F interfaces UC 130, processor 100 (also, for example, processor A 143A (FIG. 18C), processor A 243B (FIG. 18C), processor B 143C (FIG. 18D), and processor B2 43D (FIG. 18D)), and power supply controller 11 (also shown, for example, as power supply controller A 98 (FIG. 18B) and power supply controller B 99 (FIG. 18B)). can. Messages described herein may be exchanged between UC 130 and processor 100 using, for example, without limitation, system serial bus 143 . External communication interface 130D may use wireless communication 144, such as, but not limited to, BLUETOOTH technology, to enable communication between UC 130 and external application 140, for example. 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.

Referring now primarily to FIG. 17A, the infrastructure controller 50001 (FIG. 15B) can include an infrastructure processor 100, which can process incoming motor data 775 and sensor data 767, to which wheel command 769, cluster commands 771, and seat commands 773 can be based, at least in part. To perform data processing, the underlying 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 interrupt check request processor 301 that manages timing. , a vote/commit processor 329 that manages redundant data, a main loop processor 321 that manages various data inputs and outputs, and a controller processing task 325 that receives and processes incoming data. Controller processing task 325 includes, but is not limited to, IMU filter 753 managing IMU data preparation, speed limit processor 755 managing speed related features, weight processor 757 managing weight related features, and obstacle avoidance. an adaptive speed control processor 759 that manages dynamics, a traction control processor 762 that manages difficult terrain, and an active stabilization processor 763 that manages stability features. Inertial sensor packs 1070/23/29/35 can provide IMU data 767 to IMU filter 753, which passes wheel commands 769 to right wheel motor drives 19/31 and left wheel motor drives 21/33. can provide data that can IMU filters 753 include, but are not limited to, body velocity versus gravity velocity and predicted velocity processor 1102 (FIG. 19A), body velocity and gravity versus Euler angle and velocity processor 1103 (FIG. 19A), gravity velocity error and predicted yaw velocity error versus body velocity processor 1103 (FIG. 19A). Seat motors 45/47 may provide motor data 775 to weight processor 757. Voting processors 329 may include, without limitation, primary voting processor 873 , secondary voting processor 871 , and tertiary voting processor 875 .

Referring now primarily to FIGS. 17B and 17C, in some configurations, underlying processor 100, for example, through canvas 53A/B (FIG. 18B), as controlled by canvas controller task 311 (FIG. 17B): Accelerometer and gyroscope data from inertial sensor packs 1070/23/29/35 (FIG. 17A) can be shared. An underlying serial bus 53A/B (FIG. 18B) may communicatively couple processors A1/A2/B1/B2 43A-43D (FIGS. 18C/18D) and other components of the MD. Canvas controller 311 (FIG. 17B) can receive interrupts when canvas messages arrive, and can maintain current frame buffer 307 (FIG. 17B) and previous frame buffer 309 (FIG. 17B). When accelerometer and gyroscope data (sensor data 767 (FIG. 17A)) arrives from processors A1/A2/B1/B2 43A-43D (FIGS. 18C/18D), canvas controller 311 (FIG. 17B) begins commit processing. Message 319 (FIG. 17B) can be sent to vote/commit processor 329 (FIG. 17C). Voting/commit processor 329 (Fig. 17C) processes methods 150 (Figs. 21B/21C) applied to voting processes such as, but not limited to, motor data 775 (Fig. 17A) and IMU data 767 (Fig. 17A). A commit message 331 (FIG. 17C) may be sent, which may include the results of the voting process, 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 on, for example, received IMU data 767 (FIG. 17A) and motor data 775 (FIG. 17A), and at least Based on MD traction (traction control processor 762 (FIG. 17A)), velocity (velocity processor 755 (FIG. 17A), adaptive velocity control processor 759 (FIG. 17A)), and stabilization (active stabilization processor 763 ( FIG. 17A)) can be managed and motor related messages 335 can be sent. If canvas controller 311 (FIG. 17B) does not receive a message from processor A1/A2/B1/B2 43A-D (FIGS. 18C/18D) within a timeout period, such as, but not limited to, 5 ms, timer interrupt Commit backup timer 317, which service request processor 301 (FIG. 17B) may initiate commit processing by sending commit processing start message 319 (FIG. 17B) to commit processing task 329 (FIG. 17C) when the timer expires (FIG. 17B) can be initiated. The timer interrupt check request processor 301 (Fig. 17B) also sends a main loop start message 315 (Fig. 17B) to the main loop processor 321 (Fig. 17B), e.g. Motor message 303 (FIG. 17B) to 305 (FIG. 17B) can be updated and main loop processor 321 (FIG. 17B) can capture sensor data and data from user controller 130 (FIG. 16A). . The main loop processor 321 (FIG. 17B), if the main loop processor 321 (FIG. 17B) is running on the master of processors A1/A2/B1/B2 43A-D (FIGS. 18C/18D), processes canvas 53A/ A synchronization message 313 (FIG. 17B) can be sent via B (FIG. 18B). The main loop processor 321 (Fig. 17B) can track timed activity across the infrastructure processor 21514A (Fig. 16A), can also initiate other processes, and can process infrastructure output packets 323 (Fig. 17B). can enable communication through

18A-18D, 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 drive processor 1050, 19 , 21, 25, 27, 31, 33, 37 (FIGS. 18C/18D) and at least one power supply controller (PSC) processor 11A/B (FIG. 18B). PBC board 50001 (FIG. 15G) is operatively coupled to, for example but not limited to, UC 130 (FIG. 18A) through electronic communication means 53C and a protocol such as, for example, CANVAS protocol. and PBC board 50001 (FIG. 15G) can be operatively coupled to at least one IMU and inertial system processors 1070, 23, 29, 35 (FIGS. 18C/18D). UC 130 (FIG. 18A) can optionally be operatively coupled with electronic devices such as, for example, 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. UC 130 (FIG. 18A) may include push buttons and toggles. UC 130 (FIG. 18A) may optionally be communicatively coupled with peripheral control module 1144 (FIG. 18A), sensor auxiliary module 1141 (FIG. 18A), and autonomous control module 1142/1143 (FIG. 18A). can. Communication may be enabled by, for example, but not limited to, Canvas protocol and Ethernet protocol 271 (FIG. 18A).

Continuing to refer primarily to FIGS. 18A-18D, processors 39/41 (FIGS. 18C/18D) include wheel motor processors 85/87/91/93 (FIGS. 18C/18D), cluster motor processors 1050/27 (FIGS. 18C/18D), and commands to the seat motor processors 45/47 (FIGS. 18C/18D). Processors 39/41 (FIGS. 18C/18D) can receive joystick, seat height, and frame tilt commands from UC 130 (FIG. 12A). Software, which may enable the UC 130 (FIG. 12A), may perform user interface processing, including display processing, and may communicate with external product interfaces. Software, which may enable the PSC 11A/B (FIG. 18B), can read information from the battery 70001 (FIG. 1E), for example, 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 by (FIG. 12A). Boot code software running on processors 39/41 (FIGS. 18C/18D) can initialize the system and provide the ability to update application software. External applications may run on processors such as, but not limited to, personal computers, mobile phones, and mainframe computers. External applications can communicate with the MD to support configuration and development, for example. For example, a product interface is an external application that can be used to configure and service the MD, eg, by maintenance personnel, manufacturers, and clinicians. The engineering interface can be used, for example, by the manufacturer to communicate with UC 130 (FIG. 12A), processors 39/41 (FIGS. 18C/18D), and PSC 11A/B (FIG. 18B) when operating the MD. Is an external application. Software installers can be used, for example, by manufacturers and maintenance personnel to install software on UC 130 (FIG. 12A), processors 39/41 (FIGS. 18C/18D), and PSC 11A/B (FIG. 18B). 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, without limitation, at least one cluster motor drive 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 (FIGS. 18C/18D) and at least one inertial sensor pack processor 1070, 23, 29, 35 (FIGS. 18C/18D). The at least one processor 43A-43D further includes at least one cluster brake processor 57/69 (FIGS. 18C/18D), at least one cluster motor processor 83/89 (FIGS. 18C/18D), and at least one right wheel brake. processor 59/73 (FIGS. 18C/18D), at least one left wheel brake processor 63/77 (FIGS. 18C/18D), at least one right wheel motor processor 85/91 (FIGS. 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); There may be one cluster position sensor processor 55/71 (FIGS. 18C/18D) and at least one manual brake release processor 61/75 (FIGS. 18C/18D). Processors 43A-43D can be used to drive a cluster assembly 21100 (FIG. 6A) of wheel-forming ground contact modules. The ground contacting module can be mounted on the cluster assembly 21100 (FIG. 6A) and each wheel of the ground contacting module is connected to a right wheel motor drive processor A19 (FIG. 18C) or a redundant right wheel motor drive processor B31 (FIG. 18D). ), can be driven by a wheel motor drive. The cluster assembly 21100 (FIG. 6A) can rotate about the cluster axis, with rotation governed by, for example, cluster motor drive processor A 1050 (FIG. 18C) or redundant cluster motor drive processor B27 (FIG. 18D). For example, without limitation, at least one cluster position sensor processor 55/71 (FIGS. 18C/18D), at least one manual brake release sensor processor 61/75 (FIGS. 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), processes data transmitted from sensors residing on the MD. can be processed. Processors 43A-43D (FIGS. 18C/18D) can be operatively coupled to UC 130 (FIG. 18A) to receive user input. Communications 53A-53C (FIG. 18B) between UC 130 (FIG. 18A), PSC 11A/11B (FIG. 18B), and processors 43A-43D (FIGS. 18C/18D) can be any protocol, including but not limited to Canvas protocol. can follow. At least one VBus 95/97 (FIG. 18B) connects at least one PSC 11A/B (FIG. 18B) to processors 43A-43D (FIG. 18C/18D) and to the PBC board through external VBus 107 (FIG. 18B). 50001 (FIG. 15G). In some configurations, processor A 143A (FIG. 18C) may be the master of canvas A 53A (FIG. 18B). The slaves on canvas A53A (Fig. 18B) can be processor A 243B (Fig. 18C), processor B 143C (Fig. 18D), and processor B 243D (Fig. 18D). In some configurations, processor B 143C (FIG. 18D) may be the master of canvas B 53B (FIG. 18B). The slaves on canvas B 53B (FIG. 18B) can be processor B 243C (FIG. 18D), processor A 143A (FIG. 18C), and processor A 243B (FIG. 18C). In some configurations, UC 130 (FIG. 18A) can 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 (FIGS. 18C/18D). A master node (either processor 43A-43D (FIGS. 18C/18D) or UC 130 (FIG. 18A)) can send data to or request data from a slave.

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) with redundant processors. A set A/B39/41 may be included. The Right/Left Wheel Motor Drive Processor A/B 19/21, 31/33 drives the Right/Left Wheel Motors A/B 85/87/91/93 that drive the right and left wheels 21201 (FIG. 7B) of the MD. can be done. Wheels 21201 (FIG. 7B) can be coupled and driven together. A turn can be accomplished by driving the left wheel motor processor A/B 87/93 and the 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 forward/backward, which drives the front wheels 21201 (Fig. 6A) can allow the MD to remain horizontal while the rear wheels 21201 (FIG. 6A) are higher or lower. The cluster motor processor A/B83/89 can keep the MD level when going up and down curbs, repeatedly rotate the wheel bases, and go up and down stairs. Seat motor drive processor A/B25/37 can drive seat motor processor A/B45/47, which can raise and lower the seat (not shown).

With further reference to Figures 18C/18D, the cluster position sensor processor A/B 55/71 may receive data from the cluster position sensors that may indicate the position of the cluster 21100 (Figure 3). Data from the cluster position sensors and seat position sensors can be communicated between processors 43A-43D and used by processor set A/B39/41, for example right wheel motor drive processor A/B19/31, cluster Information to be sent to the motor drive processor A/B15/27 and the seat motor drive processor A/B25/37 can be determined. Independent control of cluster 21100 (FIG. 3) and drive wheels 21201 (FIG. 7B) allows the MD to operate in several modes, thereby allowing the user or processors 43A-43D to respond to local terrain, for example. to allow switching between modes.

Continuing with still further reference to FIGS. 18C/18D, the inertial sensor pack processor 1070, 23, 29, 35 can receive data that can indicate, 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 can process information from four sets of 3-axis accelerometers and 3-axis gyroscopes. Accelerometer and gyroscope data can be fused and produced such that a gravity vector can be used to calculate the orientation and inertial rotation rate of the MD. The fused data can be shared across processors 43A-43D and subject to threshold criteria. A threshold criterion can be used to improve the accuracy of device orientation and inertial rotation rate. For example, fused data from certain processors 43A-43D that exceed a certain threshold can be discarded. The fused data from each of processors 43A-43D within preselected limits can be averaged or processed in any other manner, for example, without limitation. Inertial sensor pack processor 1070, 23, 29, 35, for example, STmicroelectronics LSM330DLC, or any sensor that provides a 3D digital accelerometer and 3D digital gyroscope, or any sensor that can also measure gravity and body velocity, etc. of sensors can be processed. Sensor data may be subjected to processing, such as, but not limited to, filtering, to improve control of MD. Cluster position sensor processors A/B55/71, seat position sensor processors A/B67/81, and manual brake release sensor processors A/B61/75 can process, without limitation, hall sensor data. Processors 39/41 may 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. can be done. 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 the coordinate system associated with the MD. The estimation process involves correlating the acceleration and velocity measurements made by the IMU board 50003 (FIG. 15B) on the on-board axis system (body coordinate system) to the inertial coordinate system to produce a dynamic state estimate. be able to. Dynamic conditions relating 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. A gyroscope can provide velocity measurements relative to its on-board frame of reference. Pitch Euler angles 9147 and roll Euler angles 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 and inertial coordinate frames of reference from the body coordinate frame of reference can include evaluating the kinematic equations of vector rotation.

During the ceremony,

is the gravitational velocity vector and

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。 Integrating over time,

provides the gravity vector estimate. The expected gravitational velocity estimate is:

During the ceremony,

is the expected gravitational 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。

Inverse mapping of the inertial velocity to the body coordinate frame to integrate the error and compensate for the gyroscope bias can be performed as follows.

During the ceremony,

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

During the ceremony,

are the components of the filtered gravity vector 9125, and

is the component of the filtered body velocity error 9157, and

is the component of the filtered gravitational velocity error 9129. The expected gravitational velocity can be calculated as follows.

or

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

To solve for 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 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 simplifies to a 3x3 identity matrix, and its inverse is also a 3x3 identity matrix. Therefore, the pseudo-inverse matrix solution for the Ax=b problem is summarized below.

During the ceremony,

is the difference between the predicted gravity speed 9119 and the wheel speed derived from the data received from the right/left wheel motors. The resulting matrix can be written as the following identity.

Filtered gravity vector 9125 can be converted to Euler pitch 9147 and Euler roll 9149 .
Euler angles:
θ (pitch) = -asin (G _fy )
φ (roll) = -a tan (G _fx /G _fz )
The filtered body velocity can be converted to Euler pitch velocity 9153 and Euler roll velocity 9155 .
Pitch speed:

Roll speed:

Yaw speed:

With continued reference to FIG. 19A, the IMU filter 9753 can filter the 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 velocity 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 differentiated wheel velocity 9139 (which can be calculated from data received from the right/left wheel motor drives of the left and right wheels 21201 (FIG. 1A)) can be input to the IMU filter 9753 . IMU filter 9753 can calculate pitch 9147, roll 9149, yaw rate 9151, pitch rate 9153, and roll rate 9155, which are used, for example, to calculate wheel command 769 (FIG. 21A). . The filtered output (G) and measured input (G _meas ) are compared to determine the error, along with a comparison of the gravity predicted velocity and the differentiated wheel velocity. The error is fed back into the speed measurement to compensate for speed sensor bias. Filtered gravity vector 9125 and 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 the IMU filter 9753 (FIG. 19A) includes, but is not limited to, subtracting 9251 the gyroscope bias from the gyroscope reading and removing the offset. may include the step of The method 9250 further generates a gravity velocity vector 9143 (FIG. 19A) and a predicted 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 9119 (FIG. 19A) can 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), integrates 9259 the filtered gravity velocity 9143 (FIG. 19A) over time, and filters determining the calculated gravity vector 9125 (FIG. 19A). Gravity vector error 9129 (FIG. 19A) can be based at least on filtered gravity vector 9125 (FIG. 19A) and measured gravity vector 9127 (FIG. 19A). Method 9250 further calculates pitch velocity 9153 (FIG. 19A), roll velocity 9155 (FIG. 19A), yaw velocity based on filtered gravity velocity vector 9125 (FIG. 19A) and filtered body velocity 9115 (FIG. 19A) Calculating 9261 velocity 9151 (FIG. 19A), pitch, and roll can be included. A gyroscopic bias 9141 (FIG. 19A) subtracts the differential wheel velocity 9139 (FIG. 19A) between the wheels 21201 (FIG. 1A) from the predicted gravitational velocity estimate 9119 (FIG. 19A), yielding a predicted velocity error 9137 (FIG. 19A). It can be calculated by obtaining FIG. 19A). In addition, the cross product of the gravity vector error 9129 (FIG. 19A) and the filtered gravity vector 9125 (FIG. 19A) is calculated and the filtered gravity vector 9125 (FIG. 19A) and the predicted gravity velocity estimate error It can be added to the dot product of 9137 (FIG. 19A) to give the body velocity error 9157 (FIG. 19A). The method 9250 is based on applying the gain K2 9133 (FIG. 19A) to the integral 9135 (FIG. 19A) of the body velocity error 9157 (FIG. 19A) over time to determine the gyroscope bias that is subtracted in step 9251. A step of calculating the bias 9141 (FIG. 19A) can be included. The equations describing method 9250 are:

during the ceremony

is the measured gravitational velocity vector and

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

During the ceremony,

is the expected velocity.

During the ceremony,

is the predicted velocity error and

is the differential wheel speed.

During the ceremony,

is the filtered gravitational velocity, and

is the measured gravitational velocity vector, K1 is the gain,

is the gravitational error vector.

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

During the ceremony,

is the body velocity error vector, and

is the gravitational velocity error vector.

During the ceremony,

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 can temporarily cause the motor to run at a higher speed whenever necessary, eg, when an unexpected situation arises. The electrical equations of motion for the motor in the rotating reference frame are:

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

To implement field-weakening in a field-oriented control scheme, the term ω _{e LN} I _q can be augmented by giving 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。 Continuing to refer to FIG. 20, field weakening in the rotating frame of reference can be implemented as follows. For 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 to match the commanded input until it reaches its maximum back EMF voltage where the duty cycle equals the command voltage. When the DC current is regulated 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, emulating a higher voltage command to the motor as experienced by the base wheel speed controller. By isolating the DC current component of equation (6), the DC current 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 receives 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。 With continued reference to FIG. 20, in some configurations, the addition of about 25 amperes of DC current can approximately double the maximum speed of some motors, for example when unexpected stabilization is required, and relatively can allow relatively short bursts at high speeds. Current and voltage command limits can be calculated as follows.

The DC current controller has priority when adjusting the DC current and can leave the remainder to the quadrature controller and report subsequent limits 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 and current limits includes, but is not limited to, calculating 10161 an overall current limit _{I_lim} based on the FET temperature; bus voltage,

and calculating a voltage limit V _lim based on V lim . The method 10160 can include setting 10163 the quad voltage controller current limit based on the overall current limit and the commanded DC current from previous measurements. The method 10160 may further include calculating 10165 a DC current command, limiting the overall current limit I _lim , and calculating a commanded DC voltage V _dLNCommanded . The method 10160 can include setting 10167 the quad voltage controller current limit based on the overall voltage limit and the DC voltage commanded from 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。 With continued reference to FIG. 20, in conventional motor drives, voltage saturation occurs when the voltage command from the current controller reaches the bus voltage limit.

It is reported to saturate at When field weakening is used, the motor drive injects DC current and increases motor speed when the quadrature voltage saturates. The DC current controller computes a DC current command only when the commanded voltage exceeds the bus's ability to command a quadrature voltage. Otherwise the DC current is regulated to zero to maintain efficiency. Therefore, voltage saturation can be reported when the DC current controller attempts to adjust the DC current command to its 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 as saturating at maximum current, such as, but not limited to, 35 amps, unless the current command from the voltage controller is otherwise limited by heat. However, the current command of the voltage controller saturates when the maximum quadrature voltage command reaches the bus limit. If this were also true for field weakening, the voltage controller would report current saturation regardless of the actual quadrature current. Thus, if the quadrature voltage controller is issuing a maximum current command and the quadrature current controller has not run out of voltage headroom, the maximum current has been reached. If the quadrature current controller runs out of voltage headroom, the quadrature current controller cannot produce maximum current and the current limit has not been reached.

Referring now primarily to FIG. 21A, to enable fail-safe operation, the MD can include, but is not limited to, redundant subsystems whereby, for example, data associated with each subsystem By comparing the data associated with the remaining subsystems, faults can be detected. Fault detection within the redundant subsystems can create fault-tolerant functionality, and the MD will not allow one subsystem to fail until it can be brought into a safe mode without endangering the user. If found to be, operation can continue based on information provided by the remaining non-failed subsystems. If a failed subsystem is detected, the remaining subsystems may be required to conform within pre-specified limits in order to continue operation; can be terminated. Voting processor 329 may include, but is not limited to, at least one method to determine values for use from redundant subsystems; , but not limited to, calculated command data and inertial measurement unit data can be managed differently.

Continuing to refer primarily to FIG. 21A, voting processors 329 may include, but are not limited to, primary voting processor 873, secondary voting processor 871, and tertiary voting processor 875. The primary voting processor 873 includes, but is not limited to, sensor data 767 or command data 767A (referred to herein as processor values) from each processor A1/A2/B1/B2 43A-43D (FIGS. 18C/18D). ) can be included. The primary voting processor 873 may further include computer instructions for calculating the 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 to a preselected threshold, and selects the processor value with the highest difference between them. Compare the remaining values, vote out the processor value with the highest difference from the remaining values, compare the voted out values with the remaining values, and, if applicable, any value above a preselected threshold may include computer instructions for voting out differences in and, for example, selecting the average of the remaining processor values or the processor values depending on the type of data the processor values represent. The tertiary voting processor 875 compares the discarded values to the remaining values if there are no differences above a preselected threshold, and if there are any differences above a preselected threshold, the tertiary voting processor 875 is non-limiting. If so, computer instructions for voting out the discarded values, e.g., selecting one of the remaining processor values or the average of the remaining processor values, depending on the type of data the processor values represent. can include The tertiary voting processor 875 can also include computer instructions for selecting the remaining processor value or the average of the remaining processor values if there is no difference above a preselected threshold. It is also possible that the value to be discarded is not voted out and all processor values remain selected or averaged. The tertiary voting processor 875 still further issues an alarm if a processor value is voted out a preselected number of times, and a frame if the voting scheme fails to find a processor value that meets the selection criteria. Computer instructions may be included for incrementing a counter. The tertiary voting processor 875 also discards frames containing processor values for which the voting scheme fails to find a processor value that satisfies the selection criteria if the frame counter does not exceed a preselected number of frames; Computer instructions can be included for selecting the last frame with at least one processor value that can be used. The tertiary voting processor 875 can also include computer instructions for transitioning the MD into failsafe mode if the frame counter exceeds a preselected number of frames.

21B and 21C, a method 150 for resolving values for use from redundant processors, referred to herein as "voting," initializes, but is not limited to, counters. 149 and averaging 151 the values, such as, but not limited to, sensor or command values (referred to herein as processor values) from each processor 43A-43D (FIG. 21A); Calculating 153 the absolute difference between the processor value and the mean value and discarding the highest difference may be included. The method 150 may further include calculating 155 the difference between the remaining processor values and each other. At 157, if there is any difference above a preselected threshold, the method 150 compares 167 the value with the highest difference between them with the remaining values, and the value with the highest difference between the remaining values. comparing 171 the voted-out values to the remaining values, voting out 173 any differences above a preselected threshold and determining the remaining processor values or selecting one of the averages of the processor values. For example, if 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 a preselected threshold, the method 150 may compare 159 the voted out values with the remaining values. At 161, if there is any difference above a preselected threshold, the method 150 performs the steps of voting out 163 the value that was voted out in the comparison 159 step and the remaining processor value or remaining processor and selecting one of the averages of the values. At 161, if there is no difference above a preselected threshold, the method 150 may include selecting 165 one of the remaining processor values or the average of the remaining processor values. At 185, the method 150 may include issuing an alarm 187 if the processor value is voted out a preselected number of times. At 175, if the voting scheme fails to find a processor value that satisfies the selection criteria, the method 150 can include incrementing 177 a counter. At 179, if the counter does not exceed the preselected number, the method 150 discards frames that do not have remaining processor values, and discards previous frames that have at least one processor value that satisfies the selection criteria. and selecting 181 . At 179, if the frame counter exceeds a preselected number, the method 150 can include transitioning 183 the MD into a failsafe mode.

Referring now primarily to FIG. 21D, a voting embodiment 1519 can include a first calculation 521, in which the processor values for processors A1-B2 43A-43D (FIG. 21A) are averaged can be compared with the calculated mean value. The processor with the largest difference from the mean, in example 1 519, processor A1 43A (FIG. 21A), can be discarded. Processor values from processor B2 43D (FIG. 21A) may instead be discarded. A second calculation 523 may involve comparisons between the processor values of the remaining three processors A2/B1/B243B-43D (FIG. 21A). A comparison can be made between the discarded processor value of processor A 143A (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 an exemplary threshold of fifteen. 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, in which the processor values for processors A1-B2 43A-43D (FIG. 21A) are averaged can be compared with the calculated mean value. The processor with the largest difference from the mean, in example 2 501, processor A1 43A (FIG. 21A), is discarded. A 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 exemplary threshold 15 . A comparison can be made between the processor value of the discarded processor A1 43A (FIG. 21A) and the three processor values of the remaining processors A2/B1/B 243B-43D (FIG. 21A). In Example 2 501, one of the differences, the difference between the processor values of processor A1 43A (FIG. 21A) and processor B2 43D (FIG. 21A), exceeds an exemplary threshold of fifteen. The processor value from discarded processor A1 43A (FIG. 21A) can be voted out because one difference exceeds an exemplary threshold. The voting results from Example 2 501 indicate that any of the processor values from processors A2/B1/B2 43A-43D (FIG. 21A) will be selected since processor A1 43A (FIG. 21A) was voted out. It is possible.

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

Referring now primarily to FIG. 21G, Voting Example 4 505 can include a first calculation 515 in which the processor values for processors A1-B2 43A-43D (FIG. 21A) are averaged can be compared with the calculated average. The processor with the largest difference from the mean, in Example 4 515, processor B2 43D (FIG. 21A) is discarded. A second calculation 517 may involve comparisons between the processor values of the remaining three processors A1/A2/B143A-43C (FIG. 21A). In Example 4 505, the difference between processor values for processors A1/B1 43A/C (FIG. 21A) exceeds an exemplary threshold of fifteen. A comparison may be made between the processor values of processor A1/B1 43A/C (FIG. 21A) and the remaining processor A 243B (FIG. 21A). In Example 4 505, the difference between the processor values of processors A1/A2 43A/B (FIG. 21A) is equal to the threshold of 15, so of the two processors A1/B1 43A/C (FIG. 21A), processor A1 43A (FIG. 21A) can be discarded. A comparison can be made between the processor value of the discarded processor 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 fifteen. Therefore, processor values from processors A1 and B2 43A/D (FIG. 21A) can be voted out. The voting result from Example 4 505 is that the processor value from either processor A2 43B (FIG. 21A) or B1 43C (FIG. 21A) can be selected, A2 43B (FIG. 21A) being the Example 4 505 is selected.

Referring now to Figure 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 firm horizontal surfaces (eg, indoor environments, sidewalks, paved roads). The seat tilt can be adjusted to provide pressure relief and both the bottom and back of the seat can be tilted. From standard mode 100-1, the user can transition to balance mode 100-3 through four-wheel 100-2, docking 100-5, stairs 100-4, and remote 100-6 modes, and other modes. . Standard mode 100-1 is useful when surfaces are smooth and ease of pivoting is important, e.g., but not limited to, positioning a chair toward a desk, moving the user to and from other supports. Can be used when maneuvering for transport and driving around the office or home. Entry into standard 100-1, remote 100-6, and docking modes 100-5 can be based on the operating mode and cluster/wheel speed the MD is currently in. In extended mode or 4-wheel mode 100-2, the MD can operate on four drive wheels and can be actively stabilized through on-board sensors, allowing the main chassis, casters, and seating arrangement to be can be raised. 4-wheel mode 100-2 can provide the user with mobility in a variety of environments, allowing the user to climb steep hills and navigate over soft and uneven terrain. In 4-wheel mode 100-2, all four drive wheels can be extended 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 go up and down steep grades and drive through many types of gravel, sand, snow and mud. can be done. Cluster rotation enables operation over uneven terrain and can maintain the device's center of gravity across the wheels. Drive wheels can climb and roll over curbs. This functionality can provide users with mobility in various outdoor environments. The seat height can be adjusted by the user to climb over obstacles and provide the necessary clearance along the tilt. Users can be trained to operate in 4-wheel mode directly up to 10° up/down tilt, and stability can be tested up to 12° to demonstrate margin. The MD is robust and stable, but can also operate on wet, outdoor surfaces.

With continued reference to FIG. 22A, frost heave and other natural phenomena can degrade outdoor surfaces, creating cracks and loose material. In 4-wheel mode 100-2, the MD can operate on these degraded surfaces under preselected conditions. A four wheel mode 100-2 may be available for selection by the user from, for example, standard 100-1, balance 100-3, and stair 100-4 modes. The user may transition from 4-wheel mode 100-2 to each of these other modes. In the event of a loss of stability in balance 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. 4-wheel mode 100-2 can use both the wheels and cluster motors to maintain stability. Traversing obstacles can be a dynamic activity, with the user and MD possibly pitching back and forth as the wheels follow the terrain and the cluster motors compensate for the terrain's changing slope. The 4-wheel mode 100-2 can protect the user if desired and coordinate the wheels and cluster motors to keep the MD directly below the user. 4-wheel mode 100-2 may give the user the ability to traverse uneven terrain such as inclines, gravel, and curbs. 4 wheel mode 100-2 provides automatic transition from balance mode 100-3 if the 2 wheel controller fails (due to loss of traction, crash, etc.) and normal transition from stair mode 100-4 to top. can be used to bring about The seat height can be adjustable between a "cluster gap height" and a maximum seat height. The frame tilt position can be set to the optimum position for active stabilization. 4-wheel mode 100-2 can coordinate the wheels and cluster servos to actively stabilize the MD.

With continued reference 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. . Balance mode 100-3 can provide mobility at elevated seat heights. Balance mode 100-3 allows the MD to mimic human balance, ie, the MD can operate on two wheels. Additional height is created in part by rotating the cluster and placing a single pair of wheels directly below the user. The 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 motors are substantially stationary and the MD is horizontal. A calibration mode can be used to determine the user's center of gravity for a specific MD. In calibration mode, the user can achieve equilibrium at defined calibration points while the controller averages the pitch of the MD. The averaged values can be stored along with seat heights and cluster positions for use in calculating user center of gravity (CG) fit parameters. The CG fit parameter can be used to determine the MD/user centroid. In stair mode 100-4, the MD can ascend and descend stairs using the wheel clusters and can be actively stabilized. The MD can ascend and descend stairs by rotating the cluster while the machine is at least partially balanced by the user or attendant. The user can control the motion of the cluster by offsetting the MD from the equilibrium point. When the MD is pitched forward, the cluster can rotate in a downward ascending direction (stairs can be ascended/descended with the user facing away from the stairs). Conversely, if the MD is pitched backwards, the cluster can rotate in an upward lift direction. The user can balance the MD by applying moderate force to the handrail, or alternatively, an assistant can balance the MD using the attendant handle on the MD. . A stair mode 100-4 may allow the user to ascend and descend stairs. If the MD begins to lose stability in stair mode 100-4, instead of tipping forward, the MD can tip backward, providing 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 while unridden. Remote mode 100-6 can provide the user with a way to operate the device when not seated therein. This mode can be used for transport, parking the device after transport (e.g. after transport to a bed, the user can move the device out of the way), and maneuvering 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 inclines. In remote mode 100-6, the MD can operate with the frame tilt reclined so that the casters can be raised using the four drive wheels on the ground. Joystick 70007 (FIG. 12A) can be inactive as long as the frame tilt is not on the back detent. The rear detents can be selected to provide sufficient caster clearance for forward climbing a relatively steep incline, such as a 20° incline, for example. The UC 130 (FIG. 12A) can communicate remotely with the device, eg, through a wireless interface, and it can control the MD in remote mode 100-6. In optional docking mode 100-5, the MD operates on four drive wheels and two caster wheels, thus allowing the main chassis to be lowered. Docking mode 100-5 may allow the user to maneuver the MD for engagement with the docking base. Docking mode 100-5 can operate in a configuration in which the docking attachment can be lowered to engage the MD and vehicle docking base. Docking mode 100-5 can be used, for example, in a motor vehicle 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 normal mode 100-1.

Continuing to refer to FIG. 22A, the MD is on four drive wheels 21201 (FIG. 1A) with the frame tilt reclined, or when the caster wheels 21001 (FIG. 7) are deployed, or when the seat is Standard mode 100-1 may be entered when adjusted during the transition. 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, velocity, 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 an upright position. The MD can continue in standard mode 100-1 after failure of one of the redundant systems. In some configurations, entry into standard mode 100-1 may depend on the MD's current mode. In some configurations, entry into standard mode 100-1 may depend on at least cluster and wheel speed. When the MD is in remote mode 100-6, entry into standard mode 100-1 can be based on movement of the MD and the position of caster wheels 21001 (FIG. 7). In some configurations, entry into standard mode 100-1 may be based on movement of the MD. In some configurations, entry into standard mode 100-1 may activate the seat controller and set the MD to a submode 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 the desired fore/aft and yaw velocities, calculate cluster velocities, wheel and yaw positions, and velocity errors, and if requested , the speed can be limited. While in standard mode 100-1, the MD can apply wheel and cluster brakes when the MD is not moving, e.g., conserve power, monitor wheel speed, and joystick 70007 ( FIG. 12A) can be disabled. In some configurations, if the data coming from the IMU 50003 (FIG. 15C) is inaccurate, the MD can automatically adjust back the tilt limit and acceleration. In some configurations, if the joystick command is in the reverse direction of the current speed, the brakes are adjusted from the reverse command to the forward command, which can occur on uphills and cause stability problems. any abrupt 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, such as, but not limited to, drive, recline, and transition. In drive status, caster wheels 21001 (FIG. 7) can touch the ground and front drive wheels 21203 (FIG. 1A) can be held off 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 transition status, the MD can transition to 4 wheel mode 100-2. In some configurations, transitions may include phases such as tilting the frame back, raising/lowering the seat, accessing/exiting the 4-wheel mode 100-2. In some configurations, the recline angle limit for the recline status may be set to a cluster angle, which may correspond to, for example, but not limited to, a seat bottom angle reclined about 6° from horizontal, to a forward lean limit. can be based. In some configurations, the back frame tilt limit for standard mode 100-1 can be based on parameters related to the 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 rearward tilt limit can be set at a rearward static stability of, for example, less than 13° to provide a stability margin, and there can be absolute limits on the rearward tilt limit. In some configurations, additional rear frame tilt may not be permitted if the center of gravity location is outside the wheel drive wheel base, if the tilt is excessive for operation in standard mode 100-1, or for other reasons. .

With continued reference to FIG. 22A, in some configurations, the joystick 70007 (FIG. 12A) may be displaced by the caster wheels 21001 (FIG. 7) due to, for example, without limitation, frame tilt or seat height adjustment. , the standard mode 100-1 can be disabled when moving away from the pre-existing state. In some configurations, the joystick 70007 (FIG. 12A) is disabled whenever the wheel motors are 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 otherwise enabled. A desired velocity command can be obtained from the UC 130 (FIG. 12A). A desired speed command can be shaped to provide acceptable acceleration and braking speeds for forward/rear speed control in standard mode 100-1. Filters can be used to shape commands into acceptable trajectories. 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 traveling slowly. In some configurations, the corner frequency is scaled when the wheel speed is below a preselected value, such as, but not limited to, 1.5 m/s. can be done. In some configurations, the filter coefficients can be scaled linearly as wheel speed decreases, with the decrease limited to a preselected value, such as, but not limited to, 25% of the original value. can be In some configurations and under certain conditions, when the MD is accelerating over horizontal 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, e.g., when the MD is at a tilt up to a preselected value, e.g., but not limited to 5°, acceleration can 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 a value selected for In some configurations, if the MD is at a slope greater than a preselected value, such as, but not limited to, 5°, and other conditions are met, such as, but not limited to, A preselected value of minimum corner frequency, such as 0.15 Hz, can be used to reduce acceleration. The rearward velocity is determined when the MD is at an inclination greater than a preselected value, such as, but not limited to, 5°, and other conditions are met, such as, but not limited to, 0.35 m/sec. can be limited to preselected values such as In some configurations, the filter corner frequency can be set constant under some modes and/or when the MD is damping.

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, staircase mode 100-4, docked mode. 100-5, and remote mode 100-6. The service modes include, but are not limited to, restore mode 100-7, failsafe mode 100-9 (FIG. 22C), update mode 100-10 (FIG. 22C), self-test mode 100-13 (FIG. 22C), calibration mode 100-. 8, a power on mode 100-12 (FIG. 22C), and a power off mode 100-11 (FIG. 22C). The mode descriptions and screen flows that accompany the modes are described herein. With respect to restore mode 100-7, the MD is in one of a preselected set of modes such as, but not limited to, standard mode 100-1, docked mode 100-5, or remote mode 100-6. When not in, if a power off occurs, the MD can enter restore mode 100-7 to safely restore the MD to, for example, the drive position of normal mode 100-1. During restore mode 100-7, board controller 100 (FIG. 22D), for example, controls seat motor drives A/B 25/37 (FIGS. 18C/18D) and cluster motor drives A/B 1050/27 (FIGS. 18C/18D). You can select certain components to activate, such as Functionality can be limited, for example, to controlling the position of the seat and cluster 21100 (FIG. 6A). In calibration mode 100-8, base controller 100 (FIG. 22D) receives data related to the center of gravity of the MD, for example from 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 the mode controller .

22C and 22D, board controller 100 (FIG. 22D) puts the MD into failsafe mode 100 when board controller 100 (FIG. 22D) determines that the MD is no longer effectively operable. -9 can be made. In failsafe mode 100-9 (FIG. 22C), board controller 100 (FIG. 22D) can suspend at least some active operations to protect against potentially erroneous or uncontrolled motion. Infrastructure controller 100 (FIG. 22D) transitions from standard mode 100-1 (FIG. 22B) to update mode 100-10 (FIG. 22C) to communicate with applications that may, for example, but not limited to, run outside the MD. can make it possible to The board controller 100 (FIG. 22D) can transition to self-test mode 100-13 (FIG. 22C) when the MD is first powered up. In self-test mode 100-13 (FIG. 22C), the electronics in onboard controller 100 (FIG. 22D) can perform self-tests and synchronize with each other. In some configurations, onboard controller 100 (FIG. 22D) performs system self-tests that are not readily testable during normal operation, such as memory integrity verification tests and circuit disable tests, to can be checked. While in self-test mode 100-13 (FIG. 22C), operational features can be disabled. A mode controller can determine the required mode and set the modes to which the MD can transition. 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, through the controller task 325, and control user notifications, eg, through the user notification task 165A (FIG. 22D) .

Referring now to Figures 23A-23K, a first configuration of processes by which users interface with MDs can include workflows, which can be specifically user-friendly to users with disabilities. When the power button on UC 130 (FIG. 12A) is selected, UC 130 (FIG. 12A) may display start screen 1000 (FIG. 23A), such as, but not limited to, a splash screen. At 10001 (FIG. 23A), if the MD is in recovery mode, and at 10001A (FIG. 23F), if recovery occurs under certain circumstances, UC 130 (FIG. 12A) specifically Graphical user interface (GUI) information can be displayed. At 10001 (FIG. 23A), if the MD is not in recovery mode, the UC 130 (FIG. 12A) may display various icons, notification icons, for example, notification banner, current time, current mode, current speed, and battery status, home screen 1020 (FIG. 24A) can be displayed. If the user selects to change the seat height, and at 10001C (FIG. 23B), if the user is allowed to change the seat height in the current mode, the UC 130 (FIG. 12A) responds to 10005A (FIG. 23B). ), a seat height change command can be sent to the processor A/B 39/41 (FIGS. 18C/18D). At 10001C (FIG. 23B), if the user cannot have the seat height changed in the current mode, the UC 130 (FIG. 12A) can ignore the seat height change request at 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, the UC 130 (FIG. 12A) can display a seat tilt icon at 10005D (FIG. 23B). At 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). A user can move a UC input device, eg, joystick 70007 (FIG. 12A). At 10001E (FIG. 23C), if the movement 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, while the user is transitioning from/to balanced mode 100-3 (FIG. 22B) to/from standard mode 100-1 (FIG. 22B), UC 130 (FIG. 12A), for example, (FIG. 22B) and icons associated with standard mode 100-1 (FIG. 22B). At 10001E (FIG. 23C), if the movement is not a forward or backward double tap, and at 10001F (FIG. 23C), if the movement is a single forward or backward holding motion, the UC 130 (FIG. 12A ) can display transition screen 1040 (FIG. 24I). At 10001F (FIG. 23C), if the movement is not a single forward or backward holding motion, UC 130 (FIG. 12A) can display home screen 1020 (FIG. 24A). The user can press the power button while home screen 1020 (FIG. 24A) is displayed. At 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). ). At 10006 (FIG. 23A), if the UC 130 (FIG. 12A) is in any mode and the power button is pressed quickly, the UC 130 (FIG. 12A) displays the home screen 1020 at 10006A (FIG. 23A). (FIG. 24A) You can change the current speed to zero, ie emergency/sudden stop.

With continued reference to FIGS. 23A-23K, when the menu button is pressed from the home drive screen, UC 130 (FIG. 12A) can display main menu screen 1010 (FIG. 24C). If the menu button is pressed from a screen other than the home drive screen, excluding transition screens, the user can be brought to the home drive screen. Using main menu screen 1010 (FIG. 24C), the user can select modes, adjust seats, adjust speed, and configure the device, for example, without limitation. Configurations of the device can include, but are not limited to, adjusting brightness, silencing non-critical attentions and alerts, clearing check wrench marks, and force powering off. If the user selects Change Mode (FIG. 23D), UC 130 (FIG. 12A) may display a selection screen 1050 (FIG. 24E) that allows the user to select, for example, but not limited to, standard, 4-wheel, You can choose between Balance, Stairs, Docked, and Remote. If the user confirms the new mode selection at 10007A (FIG. 23E), UC 130 (FIG. 12A) displays transition screen 1040 (FIG. 24I), causing the MD to transition to the selected mode and home screen 1020 (FIG. 24I). FIG. 24A) can be displayed. If the user confirms the mode the MD is already in, the home screen 1020 (FIG. 24A) is displayed. If the user selects seat (FIG. 23D) adjustment, UC 130 (FIG. 12A) may display a selection screen 1050 (FIG. 24E) that allows the user to select, without limitation, seat height adjustment and seat tilt. A variety of seat adjustments can be selected, including, but not limited to, tilt/tilt, and display home screen 1020 (FIG. 24A) can be displayed. If the user selects the speed (FIG. 23D) adjustment, the UC 130 (FIG. 12A) may display a selection screen 1050 (FIG. 24E) where the user may, for example, without limitation, speed 0 (joystick off). ), speed 1 (indoor), or speed 2 (outdoor), etc., for example, without limitation, among various speed options. If the user confirms the selected speed option (FIG. 23D) at 10010 (FIG. 23D), UC 130 (FIG. 12A) informs processor A/B 39/41 (FIGS. 18C/18D) of the selected speed option can be notified and the home screen 1020 (FIG. 24A) can be displayed. If the clinician selects settings (FIGS. 23D, 29-7) adjustment, UC 130 (FIG. 12A) may display selection screen 1050 (FIG. 24E), where the user and/or clinician may, for example, , but not limited to, clear service wrench marks, view service codes, log service requests, set brightness/contrast for UC 130 (FIG. 12A), silence non-critical notes and alerts, enter service updates (clinician and maintenance personnel/technician), and force power off. In some configurations, UC 130 (FIG. 12A) may, under preselected conditions, such as, but not limited to, when UC 130 (FIG. 12A) detects that a clinician is attempting to adjust settings. A settings selection screen 1050 (FIG. 24E) may be displayed. If the clinician chooses to perform CG matching (FIG. 23G), UC 130 (FIG. 12A) may display CG matching selection screen 1050 (FIG. 24E). If the clinician chooses to continue with CG adaptation at 10005G, UC 130 (FIG. 12A) displays transition screen 1040 (FIG. 24I), or CG adaptation screen 1070 (FIGS. 24M/24N), with a calibration icon, for example. can be displayed. UC 130 (FIG. 12A) may display a seat height icon at 10009-1 (FIG. 23H) that may guide the user in the first steps necessary to perform CG adaptation. Once the user completes the steps, the MD can perform CG fit related calibration at 10009-2 (FIG. 23H). At 10009-3 (FIG. 23H), if calibration is successful, UC 130 (FIG. 12A) performs the second through sixth steps (FIG. 23H) necessary to perform CG adaptation at 10009-4 (FIG. 23H). -23J) can display seat tilt and/or seat height icons that can guide the user. At 10009-3 (FIG. 23H), if the calibration is not successful, 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), we return to the CG adaptation selection screen 1070 (Fig. 24M/24N) so that we can identify a note before starting CG adaptation again. In some configurations, backward joystick movement in transition screen 1040 (FIG. 24I) can end all transitions. When the user successfully completes all six steps, UC 130 (FIG. 12A) directs processor A/B 39/41 (FIG. 18C/18D) to MD at 10012-2 (FIG. 23J) in standard mode 100-1. (FIG. 22B), and at 10012-1 (FIG. 23J), the status of CG conformance can be displayed, and menu screen 1010 (FIG. 24C) can be displayed to respond to user input. to select home screen 1020 (FIG. 24A). If the user views the inspection code and/or chooses to adjust the brightness/contrast of UC 130 (FIG. 12A) (FIG. 23G), UC 130 (FIG. 12A) displays appropriate selection screen 1050. (FIG. 24E), user input can be received based on the displayed screen, and a menu screen 1010 (FIG. 24C) can be displayed (FIG. 23D) in response to the user input. If the user selects force power off of the MD (FIG. 29-11), the UC 130 (FIG. 12A) at 10013-1 (FIG. 23K) turns off the power off user sequence 10013-2 (FIG. 23K) holds the forward joystick. A setup screen (FIG. 23G) may be displayed that may prompt you to perform through the.

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, left/right joystick movement on a mode icon can open a mode selection screen. Left/right joystick movement in mode selection, seat adjustment, speed selection, and settings can cycle through options to the user. Icons can loop, for example, for the mode select screen, movement of the joystick may cause icons for 4-wheel, standard, balance, stairs, docking, remote modes to appear, then back to the 4-wheel icon. . For example, without limitation, an up/down joystick movement on the menu screen 1010 (FIG. 27), indicated by the first preselected color arrow, can change the selected icon. For example, without limitation, any other on-screen up/down joystick movement indicated by a second pre-selected color arrow can be used as confirmation of selection. Upon entering the menu screen 1010 (Fig. 24C), icons can be highlighted, for example, 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) is disabled unless the joystick 70007 (FIG. 12A) is in neutral position. may When transition screen 1040 (FIG. 24I) is displayed, the user can use, for example, a joystick or toggle (if available) to complete the transition. The menu button may be disabled while transition screen 1040 (FIG. 24I) is displayed. Transition screen 1040 (FIG. 24I) can remain displayed until the transition is finished or there will be a problem with the transition. If there is a problem with the transition, UC 130 (FIG. 12A) can provide an indication to the user that the transition was not properly completed. During the attention state, the user can drive unless the level of attention prevents the user from driving, for example, when the battery 70001 (FIG. 1E) is not depleted. If the user can drive, the display can include mode and speed. If the user is unable to drive, the speed icon can be replaced with a prompt indicating what the user needs to do to become drivable again. UC 130 (FIG. 12A) may, for example, display a seat adjustment icon when the user is tilting the seat in standard mode 100-1 (FIG. 22B). The attention sound can continue until the user performs some action, such as pressing a button, for example. The alarm icon may remain illuminated until the alarm condition is resolved. If the user is transitioning from balanced mode 100-3 (FIG. 22B) to standard mode 100-1 (FIG. 22B), UC 130 (FIG. 12A) will cause MD to transition to standard mode 100-1 (FIG. 22B). It can be shown that However, if the MD is on uneven terrain, the MD may automatically stop and proceed to 4-wheel mode 100-2 (FIG. 22B) and the UC 130 (FIG. 12A) will notify the user. good too. In some configurations, selection of balance mode 100-3 (FIG. 22B) may be disallowed if the load on the MD is 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 the can be highlighted, eg, positioned within the central circle, eg, standard mode 100-1 (FIG. 22B). Moving the joystick right or left can move another mode into the center circle and highlight that mode. If the user is in a mode that may prevent the user from transitioning to another mode, the UC 130 (FIG. 12A) notifies the user by, for example, without limitation, graying out the modes that cannot be accessed. can do.

Referring now to FIGS. 23L-23X, a second configuration workflow can include screens that can allow the user and/or clinician to control the MD. When the MD is in the off state and the MD is not in recovery mode, when the power button is pressed by the user or clinician, the user can be presented with the home screen 1020 (FIGS. 23L, 24A). When a screen other than 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 docked mode. In any other mode, the user can remain on the current screen and the MD can undergo an emergency stop. If there is a short press of the power button, the speed of the MD can be modified. From the home screen 1020 (Fig. 23L), the user can view the MD status and select options based on the MD status. Options may include, but are not limited to, seat height and tilt adjustments, go 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 Figure 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 can direct the user from 4-wheel mode 100-2 (FIG. 22B) to standard mode 100-1 (FIG. 22B). can be commanded to transition.

With continued reference to FIGS. 23L-23X, in some configurations a transition screen 1040 (FIGS. 23N, 24I) is displayed to guide the user through the transition from the current mode to the selected mode of the MD. can In some configurations, standard mode 100-1 (FIG. 22B) can be automatically presented as the selected option when the user opens mode selection screen 1060 (FIG. 23P). In some configurations, the MD can display information about drive availability in 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 automatically be shown as the selected option. In some configurations, when the settings selection screen 1110 (FIG. 23R) is displayed, icons may include, but are not limited to, CG Adapt, MD Check, Brightness/Contrast Edit, Connect to Wireless, and Force Power. It can be shown with options such as off. The user can scroll through and select the desired setting and can scroll through and confirm the selection. In some configurations, if CG matching is selected (see FIG. 23R), a CG matching screen (FIGS. 24M and 24N) can be displayed when the clinician connects to the UC 130. FIG. In some configurations, when wireless screen 1120 (FIG. 23R) is selected, a connected icon or status icon can be displayed. The wireless connection can also be terminated if the clinician selects the back (menu) button and the wireless screen is terminated. During the CG adaptation workflow (see Figures 23S-23U), the UC 130 can display the direction in which the joystick should be moved. A menu button can be used to enter the CG adaptation workflow, exit the CG adaptation workflow, and drive MD. If the inspection screen (see FIG. 23X) is selected, inspection codes may be displayed. In some configurations, an inspection icon grayed out with an "X" may be displayed if an inspection code does not exist. An 8-digit code can be displayed if no wrench mark clearing is required. If a wrench mark clear is required, numbers 1-4 correspond to movement of the joystick after the user enters a command given by the inspection (eg, but not limited to N, S, E/R, W/L) can be displayed as possible. After the user has entered the 6 digits, a green up arrow may appear 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), e.g., if the user is stuck in the middle of a transition, the user presses the menu button for a preselected amount of time, e.g., 6+ seconds. , the home screen 1020 (FIG. 23L) can be displayed with icons associated with the conditions of the MD. When the user has completed the pre-selected steps and confirms power off, the MD can be powered off.

Referring now to FIGS. 23Y-23KK, a third configuration workflow can include screens that can allow the user and/or clinician to control the MD. When the MD is in the off state and the MD is not in recovery mode, when the power button is pressed by the user or clinician, 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 if the user is in some mode, such as, but not limited to, standard, docked, or remote mode, the user A power off screen may 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 be transitioned to the off state. If the power button is not held for a preselected amount of time, the user can again be presented with the power off screen. In some configurations, no confirmation is required for shutdown. In a mode other than one of certain pre-selected modes, at 10006, if the power button suffers a short press for a first period of time, the speed of the MD can be modified, e.g. A halt can be initiated at 10006B and the home screen 1020 (FIGS. 23Y, 24A) can again be presented to the user. At 10006, if the power button does not suffer a short press for a first time period, the MD can revert to the previous value of the speed before the power button was pressed, displaying the home screen 1020 (FIGS. 23Y, 24A). ) can be presented to the user. From the home screen 1020 (FIGS. 23Y, 24A), the user can view the MD status and select options based on the MD status. Options may include, but are not limited to seat height and tilt adjustments, audio activation such as but not limited to horn, settings, and go to 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 settings 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 restoration can provide a different workflow, and potentially different instructions, to the user, for example, the UC 130 can provide the user with a ) can be commanded 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. can In some configurations, standard mode 100-1 (FIG. 22B) can be automatically presented as the selected option when the user opens mode selection screen 1060 (FIG. 23CC). In some configurations, if the drive is not enabled during the transition (FIG. 23Q), the MD will check the 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 automatically be shown as the selected option. In some configurations, when the settings selection screen 1110 (FIG. 23EE) is displayed, icons may include, but are not limited to, CG Adapt, MD Check, Brightness/Contrast Edit, Connect to Wireless, and Force It can be shown with options such as power off. The user can scroll through and select the desired setting and can scroll through and confirm the selection. In some configurations, if CG Adaptation is selected (see FIG. 23EE), a CG Adaptation screen (see FIGS. 23FF-23HH) is displayed when the clinician sets up the connection between the wireless display and the UC 130. can In some configurations, the user cannot see the display. In some configurations, a connected wireless icon or status icon may be displayed when a connection to wireless screen 1120 (FIG. 23EE) is selected. The wireless connection can also be terminated if the clinician selects the back (menu) button and the wireless screen is terminated. 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 can , can be advanced to a step in the CG workflow. A menu button can be used to enter the CG adaptation workflow, exit the CG adaptation workflow, and drive MD. If the inspection screen (see Figure 23KK) is selected, inspection codes may be displayed. In some configurations, an inspection icon with an "X" may be displayed if no inspection code exists and no existing conditions exist. If an existing condition exists, a check icon with an "X" can be displayed with the code. 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, e.g., 6+ seconds, the setting (see FIG. 23EE) is , can be presented to the user. When the user has completed the pre-selected steps and confirms power off, the MD can be powered off.

With continued reference to FIGS. 23Y-23KK, in some configurations the user and/or clinician may use the horn (see FIG. 23Y) and press the power button (see FIG. 23Y) while driving. may force an emergency stop by In some configurations, pressing the menu button while driving does not cause the display of the menu button to appear, 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 with either joystick 70007 (FIG. 12A) and/or toggle 70036-2 (FIG. 12D). In some configurations, when transitioning from standard mode 100-1 (FIG. 22B) to balanced mode 100-3 (FIG. 22B) and the terrain is bumpy, the MD is stopped and four-wheel mode 100-2 At (FIG. 22B) the transition can be terminated. In some configurations, if UC 130 (FIG. 12A) is disconnected from the MD during transition, the transition status can be recalled when UC 130 (FIG. 12A) is reconnected. During alarm conditions, the alarm sound can continue until the user presses the horn button. Left/right movement of the joystick 70007 (FIG. 12A) on some screens can open selections, while on other screens movement can cycle through options to the user. 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, a fourth configuration workflow can include screens that can allow the 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 adaptation workflow 1078 (Fig. 23PP-1, 23PP-2), restore mode workflow 1080 (FIG. 23QQ), wireless workflow 1082 (FIG. 23RR), brightness workflow 1084 (FIG. 23SS), alarm silence workflow 1086 (FIG. 23TT), shortcut toggle workflow 1088 (FIG. 23UU), and battery charging workflow 1090 (FIG. 23VV). The normal workflow 1070 (FIG. 23LL) can include the display of the start screen 1000, and if the MD is not in restore mode, the home/drive screen 1020 can be displayed. Otherwise, the display can transition to recovery mode workflow 1080 (FIG. 23QQ). When the home/driving screen 1020 is displayed, if the menu button is pressed, the main menu screen 1010 can be displayed and the operation of the joystick to select options is the settings screen 1043, speed selection Either screen 1041, seat adjustment selection screen 1042, or mode selection screen 1060 may be displayed. When the menu button is pressed, home/drive screen 1020 can be displayed. When setting screen 1043 is displayed, alarm mute workflow 1086 (FIG. 23TT), brightness workflow 1084 (FI.23SS), CG adaptation workflow 1078 (FIGS. 23PP, 23PP-1), FPO workflow 1076 (FIG. 23OO), and Any of the wireless workflows 1082 (Fig. 23RR) can be entered. When the settings screen 1043 is displayed and the menu button is pressed, the home/driving screen 1020 can be displayed. When speed selection screen 1041 is displayed, the user can either select a speed with the joystick or press the menu button to return to home/drive screen 1020 . If the seat adjustment selection screen is depressed, the user can adjust the seat and return to the home/driving screen 1020 by pressing the menu button. If the mode selection screen 1060 is displayed, the user can select a mode and return to the home/driving screen 1020 by confirming it through joystick manipulation or pressing the menu button. If the user selects stair mode, the MD can enter the stair mode workflow 1074 (FIG. 23NN). If the user does not select stair mode, transition screen 1040 may be displayed, and home/driving screen 1020 may be displayed when the transition is complete.

Referring now to FIG. 23MM, if 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 displayed. . With the MD in standard mode 100-1 (FIG. 22A), docked mode 100-5 (FIG. 22A), or remote mode 100-6 (FIG. 22A), the user presses the power button for a preselected amount of time. When pressing , the power of the MD can be turned off. If the user does not press the power button for a preselected amount of time, an emergency stop can be enabled and the speed is set to zero. If the MD is not in standard mode 100-1 (FIG. 22A), docked mode 100-5 (FIG. 22A), or remote mode 100-6 (FIG. 22A) and the user presses the power button, an emergency shutdown will can be enabled. The user can press the power button again to allow the MD to return to the speed it was progressing before the power button was pressed and return to the home/drive screen 1020 (FIG. 23LL).

Referring now to FIG. 23NN, if the user selects stair mode, a stair mode workflow 1074 may be entered. If solo mode is selected, transition screen 1040 may be displayed followed by handrail grip confirmation screen 1092 . If the user confirms that the handrails should be used, a home/drive screen 1020 (FIG. 23LL) may be displayed. If the menu button is pressed, no further input is accepted. If the user declines to use the handrails, the MD automatically transitions to 4 wheel mode 100-2 (FIG. 22A) and the Home/Drive screen 1020 (FIG. 23LL) may be displayed. . If assist mode is selected, a stair attendant confirmation screen 1094 may be displayed. If the user declines to use the stair attendant, a mode selection screen 1060 may be displayed. If the user presses the menu button, no further input is accepted. If the user confirms use of the stair attendant, transition screen 1040 may be displayed until the transition is complete and home/drive screen 1020 (FIG. 23LL) may 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 the settings A screen 1043 can be displayed. If the joystick is manipulated, a forced power off confirmation screen 1096 may be displayed, and if the menu button is pressed, the home/drive screen 1020 (FIG. 23LL) may be displayed. If a forced power off is confirmed, the power of the MD is cut off. If a forced power off is not confirmed, the user may be given another opportunity to perform a 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/driving screen 1020 can be displayed, and the main menu screen 1010 is displayed if the menu button is pressed. can be done. The user can enable a forced power off by opening the settings screen 1043 and manipulating the joystick to enable the display of the force power off confirmation screen 1096, as described herein.

23PP-1 and 23PP-2, if CG adaptation is selected from the setup screen 1043 (FIG. 23LL), the CG adaptation workflow 1078 can be entered. Depending on how CG adaptation is entered, the CG adaptation icon may or may not appear on the settings screen 1043 (FIG. 23LL). Joystick operation may allow transition from standard mode 100-1 (FIG. 22A) to balanced mode 100-3 (FIG. 22A) when the CG matching icon appears. If the joystick is moved backward, the CF adaptation workflow 1078 can be terminated. Otherwise, the steps in the CG matching process can be displayed. Substeps for each step include, but are not limited to, displaying an indication that the MD is in the CG adaptation step, receiving a selection of a horn/acknowledge button press, calibrating the MD, and checking for step success. can include doing Once all steps have been performed, the MD can transition to standard mode 100-1 (FIG. 22A) and setup screen 1043 (FIG. 23LL) will be displayed with an indication that calibration is complete. can be done. When the MD power is cycled, the CG match calibration can be removed from the MD. If all steps are not successfully completed, the MD may transition to standard mode 100-1 (FIG. 22A) and a CG match failure icon may be displayed, visual and/or audible. Alerts can be generated. Either 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 power on and display of start screen 1000, if the MD is in recovery mode, recovery mode workflow 1080 can be executed. In particular, a prompt appears within the status area of the display to indicate how the user may return to standard mode 100-1 (FIG. 22A). Upon completion of the transition to standard mode 100-1 (FIG. 23LL), or if the MD is not in restore mode when started, home/drive screen 1020 (FIG. 23LL) may be displayed.

Referring now to FIG. 23RR, when wireless connectivity is selected, wireless workflow 1082 can be executed. In particular, a 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 remotely control the MD. If the user is authenticated, a service update screen 1083 may be displayed with an indication that the user is authorized to connect wirelessly. A user may be given a preselected maximum number of times to authenticate.

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

Referring now to FIG. 23TT, when alarm silence is selected from settings screen 1043 (FIG. 23LL), alarm silence workflow 1086 can be executed. An alarm mute screen 1087 can be displayed and a joystick operation can enable or disable the volume. Additionally, a joystick operation can save the volume setting and return to the Home/Drive screen 1020 (FIG. 23LL), while a menu button press can save the volume setting and return to the Home/Drive screen 1020 (FIG. 23LL). can return to

Referring now to FIG. 23UU, when a shortcut is performed from the home/drive screen 1020, the shortcut toggle workflow 1088 can be executed. Potential shortcuts may 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 the seat height and seat tilt shortcuts, will be ignored. be able to. When the MD is in a mode in which the seat height and/or seat tilt can be changed, the seat height shortcut and/or seat tilt shortcut can be used to change the seat height and/or seat tilt. can. The user can continue to drive during the seat height change. After the seat height and/or seat tilt has been changed, a home/driving screen 1020 (FIG. 23LL) may be displayed. 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 may be displayed and the mode of the MD may be changed, eg, the MD may change from standard mode 100-1 (FIG. 22A) to balanced mode 100-3 (FIG. 22A). 23LL) and vice versa. A transition screen 1040 may be displayed when the joystick is operated in a different preselected manner, eg, a single hold. Otherwise, Home/Drive screen 1020 (FIG. 23LL) may be displayed.

Referring now to FIG. 23VV, a battery charge workflow 1090 can be executed to charge the MD's battery. If the MD's power is disconnected and the A/C adapter is connected to the MD, a battery charge icon can be displayed until the battery is charged or a battery failure occurs. A full battery icon may be displayed when the battery is charging. If a battery failure occurs, a battery failure icon can be displayed. When the user disconnects the A/C adapter from the MD, the power of the MD can be cut 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 charging can be displayed on the Home/Drive screen 1020 (FIG. 23LL). If the MD is not powered down 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 until, for example, the alert is muted. can be reported.

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

24C and 24D, UC main menu screen 1010/1010A includes, but is not limited to, base banner 1020-1 and, optionally, battery status strip 1020-4, as described herein. (FIG. 24D). UC main menu screen 1010/1010A may contain selections for modes, seat adjustments, speeds, and settings. A selection may be indicated, for example, by a highlighted icon presence within the selected area 1010-2, which may further be surrounded by a selection option arrow 1010-1. Selection areas 1010-3 may each include, without limitation, icons that indicate possible selection options.

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

24I and 24J, UC transition screen 1040/1040A includes, but is not limited to, base banner 1020-1 and optionally battery status strip 1020-4 (as described herein). FIG. 24D). UC transition screen 1040/1040A can include target mode area 1040-1, where, for example, icons can be displayed that indicate the mode in which the transition occurs. UC transition screen 1040/1040A can include transition direction area 1040-2 and transition status area 1040-3 that can indicate the status and direction of transitioning 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. When the user indicates a desire to power off the MD under normal conditions, for example, but not by way of limitation, when the user presses and holds the power button on the UC 130, the power off first screen area 1060A-1 will turn off the MD. power off second screen area 1060A-2 may indicate the power off progress. In some configurations, the power off progress can be indicated by a gradual change in color of the area inside the shape in the power off second screen area 1060A-2. Base banner 1020-1 and optional battery status area 1020-4 are described elsewhere herein.

Referring now to FIG. 24L, UC forced power off screen 1060B includes, but is not limited to, base banner 1020-1, forced power off first screen area 1060B-1, and power off second screen area 1060A-2. , and an optional battery status area 1020-4. If the user indicates a desire to power down the MD under unusual conditions, such as, but not limited to, if the MD is suffering from a mechanical problem, the Force Power Off screen 1060A will prompt the power down sequence to proceed. degree can be displayed. In particular, the forced power off first screen area 1060B-1 can indicate that a forced power off sequence is in progress, and the power off first screen area 1060A-1 can indicate the degree of forced power off progress. can. In some configurations, the degree of forced power off progress can be indicated by a gradual change in color of the area inside the shape in power off second screen area 1060A-2. In some configurations, the user can initiate a forced power off sequence by navigating a menu and selecting force power off.

24M and 24N, a CG adaptation screen 1070 includes, but is not limited to, a base banner 1020-1, a CG adaptation breadcrumb 1070-1, a menu button indicator 1070-2, and an optional battery status area. 1020-4. Once the user indicates a desire to perform CG matching, CG matching screen 1070 can display prompts for actions that may be required to perform CG matching. In particular, the CG adaptation breadcrumb 1070-1 may indicate that CG adaptation is in progress and may indicate the joystick actions required to transition from one step to the next in the CG adaptation process. A prompt can be displayed. The steps can include raising, lowering and tilting the MD as inputs are received by the MD, such as those outlined in Figures 23FF-23HH, for example. Menu button 1070-2 can be depressed when it is desired to drive the MD while CG adaptation is in progress. In some configurations, either successful or unsuccessful completion of the CG adaptation process can indicate that the CG adaptation process can 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, velocity processor 755 can apply a continuously adjustable scale factor to control MD. A user and/or clinician can set at least one parameter boundary 765 that can be adjusted according to the user's and/or clinician's driving needs. Wheel commands 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 _km 625 (FIG. 25E). can be calculated as a function of joystick input 629 and profile constant 768, where 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 deadband range, k _m 625 (FIG. 25E) is the merge range, and k _w is the wheel number to speed conversion. The ranges for profile constants k _s , k _a , k _d , and _km 625 (FIG. 25E) can vary, and the ranges provided herein are exemplary. Parameter bounds 765 and profile constants 768 can be, for example, without limitation, user-supplied, preset, and determined in any other manner. Velocity processor 755 has access to parameter bounds 765 and profile constants 768 . Exemplary ranges for profile constant 768 can include:
k _s = maximum velocity value, which can be scaled from, for example, but not limited to 1-4 m/s.
k _a = acceleration value, which can be scaled from, for example, but not limited to 0.5-1.5.
k _d = deadband value, which can be scaled from, for example, but not limited to 0-5.5.
k _m = merge value, which can be scaled from 0-1, for example but not limited to.

where _kx,1 is the minimum value of the range of gain kx, kx _,2 is the maximum value of the range of gain _kx , and _x =s or a or m. Exemplary parameter bounds 765 can include: J _max = maximum joystick command C ₁ = linear coefficient = k _d,m
C ₃ = cubic coefficient = k _s,m
where k _d,m is the merging 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). ) is the merging gain k _s .
_kw = number of wheels per m/s V _max = maximum command = C ₁ J _max + C ₃ J _max ³

Exemplary calculations for wheel command 769 can include:
J _i = joystick command

where W _i 769 is the velocity or yaw command sent to the right/left wheel motor drives 19/31, 21/33.

Continuing to refer primarily to FIG. 25A _, the adjustment of C3 determines the shape of the curve of the profile and thus the user command, such as, but not limited to, the user command when joystick command 629 is translated into wheel command 769. You can adjust your experience. In particular, adjusting C3 can adjust the size of the deadbands _605/611 (FIG. 25E) as well as the maximum and minimum values on either side of the deadbands 605-611 (FIG. 25E). Velocity processor 755 accesses joystick processor 756, which includes, but is not limited to, computer instructions for receiving joystick commands 629, profile constants 768 and merge values 625 (FIG. 25E), for example, without limitation, and a profile constant processor 754 that includes 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 on at least the profile constant 768 and the maximum joystick command, for example, but not limited to, the equations set forth herein; 768 and a boundary processor 760 containing computer instructions for calculating a proportional gain based on the maximum velocity. Velocity processor 755 also calculates wheel commands 769 based on at least profile constants 768 and joystick commands 629, such as, but not limited to, equations set forth herein; to the wheel motor drives 19/31/21/33.

Referring now primarily to Figure 25B, a method 550 for continuously adapting an adjustable scale factor includes, but is not limited to, receiving 551 a joystick command 629 (Figure 25A) and a profile constant 768 (Figure 25A). 25A) and a merge value (illustrated illustratively as merge value 625 (FIG. 25E), which indicates the merge of profile A 613 (FIG. 25E) and profile B 615 (FIG. 25E)); scaling 555 profile constant 768 (FIG. 25A) and calculating at least profile constant 768 (FIG. 25A) and maximum joystick commands (velocity 601 (FIG. 25E), acceleration 603 (FIG. 25E), and deadband 605 (FIG. 25E) based on 25E)), and calculating 559 a proportional gain based at least on the profile constant 768 (FIG. 25A) and the maximum velocity; calculating 561 wheel commands 769 (FIG. 25A) based at least on profile constants 768 (FIG. 25A) and joystick commands 629 (FIG. 25A); and providing 563 on /21/33 (FIG. 25A). In some configurations, underlying controller 100 may modify joystick commands 629 provided by user controller 130 before joystick commands 629 are provided to joystick processor 756 . In some configurations, user controller 130 may receive joystick commands 629 from a joystick, while in some configurations user controller 130 may include a joystick.

Referring now primarily to FIG. 25C, joystick 130 (FIG. 12A) can be configured to have different transfer functions for use under different conditions, for example, according to the capabilities of the user. Velocity template (transfer function) 700 shows 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. . Forward and reverse travel of the joystick 70007 (FIG. 12A) can be interpreted as forward and reverse longitudinal requests, respectively, from the perspective of a user in the seat of the MD, and the commanded velocity can be equivalent to Joystick 70007 (FIG. 12A) left and right travel can be interpreted as left and right turn requests, respectively, from the perspective of a user in the seat and are equivalent to commanded turn rates. can. Joystick outputs 703 are for example, but not limited to, battery voltage condition, seat height, mode, failure condition of joystick 70007 (FIG. 12A), and when a speed correction is requested by board controller 100 (FIG. 25A). can be modified during certain conditions of The joystick output 703 can be ignored and the joystick 70007 (FIG. 12A) is in stair mode, for example, but not limited to, when a mode change occurs, when a battery charger is connected, while in update mode. , may be considered centered when the joystick 70007 (FIG. 12A) is disabled, or under some other condition.

Continuing to refer 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 can receive commands from external applications 140 (FIG. 16B) running on devices such as, but not limited to, mobile phones, computer tablets, and personal computers. Commands may, for example, provide default and/or dynamically determinable settings for configuration parameters. In some configurations, the user and/or attendant can 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 movement, and a speed setting such as speed 1 may be appropriate for indoor progression, up to A speed setting such as speed 2 can be used to set a maximum speed that may be appropriate for outdoor and/or hallway 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 features. For example, a parabolic relationship may provide finer control at low speeds. In some configurations, a thumbwheel assembly such as in FIG. 12P can be used to apply gains in addition to the speed settings described. In some configurations, the gain can range from 0 to 1, and a gain of 1 can be used when speed variations are not desired for the configured speed. When the thumbwheel assembly is used to vary the gain by dialing "down" on the thumbwheel knob 30173 (FIG. 12N), the maximum velocity and all velocities along the configured velocity trajectory are It can be reduced in proportion to the amount you dial "down". For example, arbitrary maximum values for speeds 1 and 2 can be configured, and minimum values can be configured as well. In some configurations, Velocity 2 can include a minimum velocity above the maximum velocity of Velocity 1 (see FIG. 25D-3), and the minimum velocity of Velocity 2 and the maximum velocity of Velocity 1 can overlap. (See FIG. 25D-1), the minimum value of Velocity 2 can be approximately equal to the maximum value of Velocity 1 (see FIG. 25D-2). In some configurations, when the current speed setting is already at its maximum value, for example, further dialing "up" on thumbwheel 30173 (FIG. 12N) can be ignored, resulting in a change in speed. can not bring. However, any dial "down" of the thumbwheel can immediately decrease the speed gain in proportion to the "downward" movement of the thumbwheel. Similarly, when the current speed setting is at its minimum value, dialing the thumbwheel "down" has no effect, but dialing "up" increases the speed gain immediately. be able to.

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

Referring now primarily to FIG. 25E, a user and/or clinician may employ a graphical user interface display, which may be included, for example, without limitation, within user controller 130 (FIG. 12A). , may allow configuration of drive options in the form of joystick command shaping, which may 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 pre-set the profile constants 768 (FIG. 25A), which allows the MD to be used in at least one situation, such as, but not limited to, It can be installed in sports situations, comfort situations, or economic situations. In economy mode, for example, speed and acceleration can be limited to reduce power consumption. In sport situations, the user may be allowed to drive aggressively, for example, without limitation, by achieving maximum speed. A comfort situation may represent an average between economic and sport situations. Other situations can also be considered as possibilities. Profile constants k _s 601/607, k _a 603/609, k _d 605/611, and _km 625 can be adjusted through, for example, without limitation, variable display items, wheel command speed W _i 627 can be calculated and graphed based on at least the adjusted k _s 601/607, k _a 603/609, k _d 605/611, and k _m 625 . For example, profiles A/B 613/615 can result from adjusting the speed and deadband range such that k _s 601 and k _s 607 are different and k _d 605 and k _d 611 are similar. The wheel command speed W _i is the minimum of k _s 601/607, k _a 603/609, k _d 605/611, and _km 625 (profile A613) and k _s 601/607, k _a 603/609, k The range of joystick command numbers 629 for both _{d 605/611} and the maximum value of km 625 (Profile B 615) can be calculated and graphed. 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 shows that an average wheel command 617 of 1.5 m/s at 100 joystick command numbers is k _s 601/607, k _a 603/609, k _d 605/611, and _km 625 resulting from the first configuration of .

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, wheel commanded speeds W _i 627 are: k _s 601/607, k _a 603/609, Both k _d 605/611 and _km 625 minimum (Profile A623) and k _s 601/607, k _a 603/609, k _d 605/611 and _km 625 maximum (Profile B621) can be calculated and graphed over a range of joystick command numbers 629 for . Profile A 623 and profile B 621 can be averaged and compared with other configurations of profile constants k _s 601/607, k _a 603/609, k _d 605/611, and _km 625 . For example, the second joystick control graph 700 A shows that an average wheel command 617 of 1.75 m/s at 100 joystick command numbers is the profile constants k _s 601/607, k _a 603/609, k _d 605/611, and results from the second configuration of _km 625; Changes in k _a 603 and k _a 609 can be scaled filter constants under certain circumstances. Additionally, the joystick commands 629 can be filtered by a joystick filter to allow speed sensitive steering by managing acceleration. For example, a relatively low corner frequency CF of the joystick filter can result in a relatively high damping response between joystick command 629 and MD activity. For example, the corner frequency CF results in a relatively high rate relationship between joystick command 629 and wheel command speed W _i 769, for example, but not limited to, when MD is traveling at a relatively high speed; Can be an adjustable function of speed that can result in a relatively low rate relationship between joystick command 629 and wheel command speed W _i 769 when 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, if the wheel commanded speed W _i 769 is at least less than a value based on threshold T, the corner frequency CF can be set to a first value, or the wheel commanded speed W _i 769 is less than the threshold T, the corner frequency CF can be set to another value, eg, (W _i *CF)/T. The deceleration rate and acceleration rate can be managed separately and independent of each other. For example, the deceleration rate may not be made as aggressive as the acceleration rate. The deceleration rate can, for example, be dependent on the acceleration rate, or can be dynamically varied in some other way, or can be a fixed value. A user can, for example, control the rate of deceleration.

Referring now to FIG. 25G, adaptive speed control processor 759 for adaptive speed control of the MD includes, but is not limited to, computer instructions for receiving terrain and obstacle data in the vicinity of the MD. / Obstacle data receiver 1107 may be included. By using terrain and obstacle detection sensors, such as, but not limited to, LIDAR, remote sensing technology illuminates the target with lasers and analyzes the reflected light, stereo cameras, and radar to determine range. can be measured. The adaptive speed control processor 759 can also include a mapping processor 1109 that includes at least computer instructions for real-time mapping of obstacles and oncoming terrain based on the terrain and obstacle data. Adaptive velocity control processor 759 can further include virtual groove processor 1111, which includes computer instructions for at least calculating virtual grooves based on mapped data. The virtual groove processor 1111 can bound sub-areas, referred to herein as virtual grooves near the MD. The imaginary groove comprises at least one low point, a gradual and/or abrupt increase in elevation from the at least one low point, and at least one low point where the gradual and/or abrupt elevation increase terminates at a margin. and at least one edge surrounding the In a 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 can further include a collision probability processor 1113 that includes at least computer instructions for calculating a collision probability area based on the mapped data. The potential collision area can be a sub-area that, when in the vicinity of the MD, can make it difficult for the adaptive speed control processor 759 to steer the MD into an obstacle. The potential collision area can, for example, prevent the MD from colliding with objects. The position of the MD can be measured, eg, from any part or parts of the MD, eg, the center, the periphery, or anywhere in between. The adaptive velocity control processor 759 can further include a deceleration processor 1115 that includes computer instructions for calculating a deceleration area based at least on the mapped data and the velocity of the MD. The adaptive speed control processor 759 can slow the MD within the deceleration area. The adaptive speed control processor 759 can also make turns into decelerated areas difficult as opposed to turns into non-decelerated areas. Adaptive speed control processor 759 can recognize any number of types of deceleration areas, each with a set of characteristics. For example, the adaptive speed control processor 759 can adjust the processing of forward/backward commands to the MD differently for some types of deceleration areas than others. In some configurations, the size of the different types of deceleration areas can change as the speed of the MD changes. Adaptive speed control processor 759 can still further include a preference processor 1117 that includes computer instructions for receiving user preferences regarding the deceleration area. Adaptive speed control processor 759 calculates wheel commands 769 based on at least, but not limited to, virtual grooves, potential crash areas, deceleration areas, and user preferences, and sends wheel commands 769 to wheel motor drives. A wheel command processor 761 may be included that includes computer instructions for providing on 19/31/21/33. When adaptive speed control processor 759 detects that MD has, for example, entered a potential collision area, adaptive speed control processor 759 can, for example, move MD away from the potential collision area. . The adaptive speed control processor 759 can move the MD in a direction opposite to the potential collision area, parallel to the potential collision area, or in a direction that moves the MD to a collision-free area.

Referring now primarily to FIG. 25H, a method 1150 for adaptive speed control of MD includes, but is not limited to, receiving 1151 terrain and obstacle detection data; mapping 1153 real-time terrain and obstacles based on the object detection data; optionally computing 1155 virtual grooves based at least on the mapped data, if applicable; calculating 1157 a potential collision area based at least on the mapped data; and, if applicable, calculating 1159 a deceleration area based at least on the mapped data and the velocity of the MD; If so, receiving 1161 user preferences for deceleration area and desired direction and speed of motion, and wheel commands 769 ( 25G) and providing 1165 wheel commands 769 (FIG. 25G) to wheel motor drives 19/31/21/33 (FIG. 25G). The collision probability area may follow the contour of the discrete obstacle, may include a buffer, or may follow some type of contour, such as, but not limited to, a polygon surrounding the discrete obstacle. can include The potential collision area can also include several discrete obstacles that are considered as a single discrete obstacle. The transition area between one sub-area and another sub-area can be abrupt 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 A is provided to the user, for example, but not limited to, at the user controller 130 (FIG. 12A), either periodically or dynamically updated near the MD. can be used to indicate sub-areas of For example, the potential collision area 1121 may be automatically disabled by the adaptive speed control processor 759 and prevented automatically by the MD from colliding with objects, 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 near physical objects near the MD. . In some configurations, the first deceleration area 1125 allows the adaptive speed control processor 759 to automatically decelerate the MD slightly and redirect the turn to the first deceleration area 1125 to the barrier-free sub-area 1127. It can be in places, which can make turning more difficult. In some configurations, the second deceleration area 1123 allows the adaptive speed control processor 759 to automatically decelerate forward/backward commands to the MD from within the first deceleration sub-area 1125, and adaptive speed It can be a place where the control processor 759 can automatically make turning to the second deceleration sub-area 1123 more difficult than turning to the first deceleration sub-area 1125 .

Referring now to Figure 25J, a path map 1130 can indicate a path 1133 that the MD may follow once the adaptive speed control processor 759 (Figure 25G) recognizes a special subarea near the MD. As the user controller 130 (FIG. 16A) receives a forward speed command, the MD turns toward the barrier-free subarea 1127 following path 1133 under the control of the adaptive speed control processor 759 (FIG. 25G). , for example, to turn in a direction of travel with a lower probability of collision.

Referring now to FIG. 25K, adaptive velocity control processor 759 can recognize moving objects (referred to herein as dynamic objects). Terrain/obstacle data receiver 1107 can receive terrain/obstacle detection data 1101 from sensor 1105 that is characteristic of non-stationary (dynamic) objects 1134 . Preference processor 1117 indicates, for example, that straight path 1132 would intersect dynamic object 1134 when straight path 1132 is the user-selected direction of travel, but dynamic object 1134 is in front of the MD. A joystick command 629 can be received and the dynamic object processor 1119 (FIG. 25G) starts with the first deceleration area 1125, then transitions to the second deceleration sub-area 1123, and finally the collision probability A set of sub-areas around dynamic object 1134 can be specified that transition to sub-area 1121 . Once the sensor 1105 recognizes a sub-area near 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 can The pace of the dynamic object 1134 within the deceleration subarea 1123 of 2 can be matched. If preference processor 1117 receives an aggressive forward or diagonal command within first deceleration sub-area 1125 and/or second deceleration sub-area 1123, dynamic object processor 1119 may, for example: Within path 1131 , path 1132 can be adjusted to turn to follow the safest nearest neighbor path past dynamic object 1134 . The forward speed command directs the first deceleration sub-area 1125, the second deceleration sub-area 1123, and the collision probability sub-area 1121 directly to the MD in the absence of the adaptive speed control processor 759 (FIG. 25G). A path 1132 passing through may be followed.

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, the torque adjustment can prevent wheels 21201 (FIG. 6A) from slipping excessively. When the linear acceleration measured by the inertial sensor packs 1070/23/29/35 and the linear acceleration measured from the wheel speed do not match the preselected thresholds, cluster 21100 (FIG. 6A) detects wheel 21201 ( 6A) and caster assembly 21000 (FIG. 7) can be lowered so that they are on the ground. Having the wheel 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. Linear acceleration processor 1351 may include computer instructions for calculating MD acceleration based at least on the speed of wheels 21201 (FIG. 6A). IMU acceleration processor 1252 may include computer instructions for calculating IMU acceleration based at least on sensor data 767 from inertial sensor pack 1070/23/29/35. Traction loss processor 1254 may calculate the difference between MD acceleration and IMU acceleration and compare the difference to a preselected threshold. If the threshold is exceeded, wheel/cluster command processor 761 sends cluster command 771 (FIG. 17A) to cluster 21100 (FIG. 7A) to lower wheel 21201 (FIG. 6A) and caster assembly 21000 (FIG. 7) on the ground. 6A). Wheel/cluster command processor 761 can adjust torque to wheel motor drives 19/21/31/33 by dynamically adjusting drive current limits when traction loss is detected. In some configurations, wheel/cluster command processor 761 computes torque values for wheels 21201 (FIG. 6A) that may be independent of each other and based on at least the speed of the MD and the speed of wheels 21201 (FIG. 6A). can do. In some configurations, the traction loss processor 1254 may include computer instructions for dynamically adjusting the MD's center of gravity, for example, but not limited to, rearward and forward, and managing traction for the MD. do what you can

Continuing with still further reference to FIG. 26A, in standard mode 100-1 (FIG. 22B), cluster 21100 (FIG. 6A) causes wheels 21201 (FIG. 6A) to It can be rotated to affect traction so that it can make contact with the ground. Aggressive braking can occur when the MD is traveling forward and receives a reverse command that exceeds a preselected threshold, eg, from user controller 130 (FIG. 12A). In extended mode 100-2 (FIG. 22B), the traction control processor 762 (1) detects loss of traction by determining the difference between the gyroscope-measured device yaw and the predicted device yaw differential wheel speed; and (2) traction control by reducing torque to the wheel motor drives A/B 19/21/31/33 by dynamically reducing drive current limits when loss of traction is detected. can be carried out.

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

Referring now to FIG. 27A, MD tipping can be controlled to actively stabilize the MD and, for example, protect against backward tipping. In some configurations, standard mode 100-1 (FIG. 22A) may not be actively stabilized. Consecutive forward commands may overlap if the caster wheel 21001 encounters an obstacle such that no forward motion occurs. Excessive command in this scenario can lead to a backward fall. In some configurations, global command limits may be provided for wheel commands to prevent excessive wheel commands from overlapping when the wheels are immobile. In some configurations, anti-tipping can be enabled when the rearward pitch of the MD is in a range such as, but not limited to, about 5°-30°. Tip-over control is disabled when caster wheels 21001 are raised during frame tilt adjustment, or when MD is transitioning to 4-wheel mode 100-2, or under certain conditions in IMU 50003 (FIG. 15C). be able to.

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

With continued reference to FIG. 27A, the wheel controller calculates a command based on the desired wheel speed from the joystick input while at the same time adjusting the rearward pitch value to prevent the chair from tipping backwards. 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 commands. The ramp function can be based on MD pitch. A ramp function is a sliding gain acting on pitch, pitch velocity, and wheel error. The ramp function can allow the wheel controller and anti-tip controller to interact to maintain stability and controllability of the MD. Tip-over control can be disabled, for example, without limitation, if the inertial sensors on the MD are not initialized or if the inertial estimator has an anomaly and if the MD is tipped. .

Referring now primarily to FIG. 27B, in standard mode wheel control, the method 8750 determines at 8267, for example, whether the MD has already rolled over, or whether the inertia estimator has an anomaly, or whether the MD has transitioned. determining whether stabilization is possible based on whether the 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 calculates a stabilization metric based, for example, but not limited to, the distance the MD has traveled and the measured pitch angle since active stabilization was addressed. calculating 8255 can be included. The method 8750 can include, for example, without limitation, calculating a stabilization factor 8257 based on the measured pitch angle filtered to allow only rearward angles and receive a proportional gain. can. The stabilization factor can be based on the measured pitch rate, 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 calculates wheel command inputs based on the desired front/rear velocity, the desired front/rear velocity, the measured front/rear velocity, the desired yaw velocity, and the derivative of the measured yaw velocity over time. calculating 8259 can be included. The velocity derivative can be used to calculate the feedforward component. Desired and measured front/rear velocities can be input into the PI controller and a ramp function can be applied to the results. The desired and measured yaw rate can be input to the proportional controller. At 8261, if the metric indicates that stabilization is required, method 8750 may include calculating right/left wheel voltage commands based on the wheel command inputs and the stabilization factor. At 8261, if the metric indicates that stabilization is not required, method 8750 may include calculating right/left wheel voltage commands based on the wheel command inputs.

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

Continuing to refer to FIG. 27C, CG adaptation of MD estimates the maximum allowable acceleration that can help prevent backward rollover based at least on pitch angle θ 705 (FIG. 27A) and center of gravity determination for MD. can do. The active stabilization processor 763 may include a closed-loop controller that may maintain stability of the MD by automatically decelerating forward motion and accelerating backward motion when the MD begins to tip backwards. can. A dynamic metric 845, which may be based at least, for example, but not by way of limitation, 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 more than a preselected distance, the MD can enter failsafe mode.

Referring now to FIG. 27D, the active stabilization processor 763 includes a center of gravity estimator 1301 including, but not limited to, computer instructions for estimating the center of gravity based at least on mode, and at least a center of gravity estimate. and an inertia estimator 1303 for estimating the pitch angle required to maintain balance based on . In some configurations, the location of the center of gravity 181 (FIG. 27A) can be used to set the frame tilt limit. In some configurations, an estimate of the location of the center of gravity 181 (FIG. 27A) is used, for example, without limitation, to actively stabilize the mobility assistance device 120 (FIG. 27A) and coordinate 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 clusters 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 that can be used to determine various reference pitch angles that can relate the location of the center of gravity 181 (FIG. 27A) to the equilibrium point of the system. Calibration parameters may allow a reference angle to be calculated for each control cycle as the seat height and cluster position change. The estimation process consists of balancing the mobility assistance device 120 (FIG. 27A) and its load at various angles of the cluster 21100 (FIG. 3) and the height of each seed seat 105 (FIG. 27A), and balancing the mobility assistance device against gravity. and 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. Base controller 100 is used at least in locations of center of gravity 181 (FIG. 27A), including but not limited to: (1) Extended mode 100-2 (FIG. 22A) and Stair mode 100-4 (FIG. 22A); (2) the balance mode, the angle of the mobility assistance device 120 (FIG. 27A) placing the center of gravity 181 (FIG. 27A) across the axis of the cluster 21100 (FIG. 3) as a function of the height of the seat 105 (FIG. 27A); Center of gravity 181 (FIG. 27A), which is a function of the height of seat 105 (FIG. 27A) and the position of cluster 21100 (FIG. 3), used in 100-3 (FIG. 22A) is mounted on a set of wheels 21201 (FIG. 27A). ) and (3) the height of the seat 105 (FIG. 27A) used in standard mode 100-1 (FIG. 22A) and stair mode 100-4 (FIG. 22A). , and the distance from the pivot point of the cluster 21100 (FIG. 3) to the estimated centroid, the reference variable can be calculated. These values can allow the controller to maintain active balance.

Referring now to FIG. 27E, a method 11350 for calculating the center of gravity fit (CG fit) includes, but is not limited to: (1) entering a balance mode 11351 step; (3) measuring 11353 data, including the pitch angle required to maintain equilibrium at the selected position and the preselected position of the seat; (4) moving 11355 to the selected point and collecting calibration data at each of the plurality of pre-selected points; ); (5) verifying 11359 that the measured data is within preselected limits; and (6) generating 11361 a set of calibration coefficients and applying the establishing the center of gravity at any available cluster and seat position during machine operation. The method 11350 can optionally include storing the coefficients in, for example, but not limited to, non-volatile memory for use during operation of the mobility assistance device 120 (FIG. 27A). Methods for entering the vehicle while seated on the MD include, but are not limited to, receiving an indication that the MD is encountering a slope between the ground and the vehicle; change the orientation of the cluster of wheels according to the indication to maintain the device center of gravity between the wheels; and dynamically adjust the distance between the seat and the cluster of wheels. to prevent contact between the seat and the wheels while keeping the seat as low as possible. The MD and the user are more comfortable with the vehicle if the seat remains as low and close to the wheel cluster as possible, and if the MD is actively stabilized while the MD traverses in and out of the vehicle's ramp. Can climb over door frames. A method for moving a balanced mobility assistance device over relatively steep terrain includes, but is not limited to, receiving an indication that the mobility assistance device is on steep terrain; instructing to maintain contact with the ground; and dynamically adjusting the distance between the seat and the cluster of wheels based on at least the indications and active stabilization of the mobility assistance device. can contain. The method may optionally include setting a travel speed of the mobility assistance device based on the indication.

Referring now primarily to FIG. 28A, the controller gain for a load on the MD can be a function of the weight of the load, and MD stability is at least a function of the controller gain. The controller gain may be adjusted to the extended mode 100-2 (FIG. 22B) to stabilize the MD, for example, but not limited to, when the load is light or when transitioning to the balanced mode 100-3 (FIG. 22B). ) can be included. The base controller 100 can include at least one default value for the center of gravity for MD. The weight of the load on the MD can determine the default value for the center of gravity used. The weight of the load and/or changes in the weight of the load and the chosen default value of the center of gravity can be used to adjust the controller gains. The controller gain can include a range of discrete or analog values. For example, if the load overturns from the seat, the MD may experience relatively large acceleration resulting from relatively small input torque. In some configurations, changes in load weight on the seat may change the controller gain based at least on the load weight. The weight processor 757 can adjust MD stability based at least on changes in load weight. The weight processor 757 can determine the weight of the load based at least, for example and without limitation, on the motor current of the seat motors 45/47 (FIGS. 18C/18D). The weight processor 757 may potentially process the collected pitch speed data using, for example, but not limited to, a rotating discrete fast Fourier transform, to generate a resulting pitch speed frequency , filtering the pitch rate frequency based on at least the recognized value, squaring the filtered pitch rate frequency, and based at least on a known profile of potential instability, An unstable situation can be detected by analyzing the squared pitch velocity frequency. 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 the controller gain based on the weight. and a wheel command processor 761 that applies the controller gains and controls the MD.

Referring now primarily to FIG. 28B, a method 800 for stabilizing the MD includes, but is not limited to, estimating 851 the weight and/or change in weight of the load on the MD; calculating 855 a controller gain based at least on the weight and/or weight change and the center of gravity value; applying 857 the controller gain to control the MD 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, without limitation, position and function receiver 1551 , motor current processor 1552 , and torque-weight processor 1553 . Position and function receiver 1551 can receive sensor data 767 and mode information 776 and determine possible actions that can be taken on the load. Motor current processor 1552 provides, for example, but not limited to, the measured current to seat motor drives 25/37 (FIGS. 18C/18D) when MD is transitioning to extended mode 100-2 (FIG. 22B). can be processed. Since motor current is proportional to torque, the torque-weight processor 1553 can use the current readings 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 follows, where SC = seat correction; SH=seat height and MC=motor current.
SC = a x SH + b, where a and b are constants determined by the MD geometry.
MC (correction) = MC (measurement) + SC
If MC(correction)>T, weight=c*MC(correction)*MC(correction)+d*MC(correction)−e, where c, d, and e are motor currents , seat, and UC weight. The total system weight is the user/seat/UC weight plus the base and wheel weight.

Continuing to refer primarily to FIG. 28C, once the seat reaches a stable position and the seat brakes are engaged, there is no current flowing through the motor windings. When the seat brakes are released, the current required to hold the seat position can be measured. In some configurations, the weight of the load is estimated at least by calculating a continuous estimate of the weight based on continuous monitoring of the current signal from the seat motor processor 45/47 (FIGS. 18C/18D). be able to. Anticipation of sudden changes in weight include at least, but not limited to, accelerometer data, current data from other than seat motor processors 45/47 (Figs. It can be based on current requested and wheel acceleration. A specific predictor can be based at least on whether the MD is stationary or moving.

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

Referring now to FIG. 29A, the MD provides enhanced functionality 145 to the user, such as, but not limited to, allowing the user to avoid obstacles, pass doors, climb stairs, climb elevators, and more. Can assist in getting on and parking/carrying the MD. Generally, the MD can receive user input (eg, UI data 633) and/or input from the MD through, for example, without limitation, messages from user interface devices and sensors 147. The MD may also receive sensor input through, for example, without limitation, sensor processing system 661 . Output from UI data 633 and sensor processing system 661 can inform command processor 601 A , for example, to invoke the selected mode automatically or manually. Command processor 601 A can pass UI data 633 and output from sensor processing system 661 to the processor, which can enable the invoked mode. The processor can generate movement commands 630 based at least on previous movement commands 630 , UI data 633 , and output from sensor processing system 661 .

With continued reference to FIG. 29A, the MD includes, but is not limited to, a command processor 601 A , a movement processor 603 A , a simultaneous localization and mapping (SLAM) processor 609 A , and a point cloud library (PCL) processor 611. A , a geometry processor 613A , and an obstacle processor 607A . Command processor 601 A can receive user interface (UI) data 633 from the message bus. UI data 633 can include, for example and without limitation, signals from joystick 70007 (FIG. 12A) that provide an indication of the desired direction and speed of movement of the MD. UI data 633 can also include selections such as alternate modes to which the MD can be transitioned. In some configurations, in addition to the modes described with respect to FIG. 22B, the MD can also operate in, but not limited to, door mode 605A, restroom mode 605B, extended stair mode 605C, elevator mode 605D, dynamic parking mode 605E, and static mode. Mode selections such as storage/charging mode 605F can be handled. Any of these modes can include a move to position mode, or the user can instruct to move to a position on the MD. The message bus 54 can receive control information about the MD in the form of UI data 633 and can include, but is not limited to, speed and direction of operations performed by the MD in the form of commands such as movement commands 630. You can receive the results. Move command 630 may transmit this information over message bus 54 to wheel motor drives 19/21/31/33 (FIGS. 18C/18D) and cluster motor drives 1050/27 (FIGS. 18C/18D), MD can be provided to Movement commands 630 can be determined by movement processor 603 A based on information provided by mode-specific processors. A mode-specific processor can determine mode-dependent data 657 based on information provided through sensor handling processor 661, among other things.

Continuing to refer primarily to FIG. 29A, sensor handling processor 661 includes, but is not limited to, MD geometry processor 613A , PCL processor 611, SLAM processor 609A , and obstacle processor 607A . be able to. Movement processor 603 A can provide movement commands 630 to sensor handling processor 661 to provide the information necessary to determine future movement of the MD. Sensors 147 can provide environmental information 651, which can include, for example, but not limited to, geometric information about obstacles 623 and MD. In some configurations, sensors 147 can include at least one time-of-flight sensor that can be mounted anywhere on the MD. Multiple sensors 147 can be mounted on the MD. PCL processor 611 A 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 help process environmental information 651, for example. Other processing techniques can also be used.

Continuing to refer primarily to FIG. 29A, MD geometry processor 613 A can receive MD geometry information 649 from sensor 147 and prepare MD geometry information 649 for use by the mode dependent processor. 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 if the MD can fit in and/or through spaces such as, but not limited to, staircase structures and doors. SLAM processor 609 A may determine navigation information 653 based on, for example, without limitation, UI data 633 , environment information 651 , and movement commands 630 . The MD can navigate, at least in part, within the route set by the navigation information 653 . Obstacle processor 607 A 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 path of the MD.

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

With continued reference to Figures 29B and 29C, the at least one obstacle 623 (Figure 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 movement command 630 (FIG. 29D) optionally includes a follow command, a command to pass at least one obstacle at least once, a command to navigate by at least one obstacle, and at least one non-obstacle command. May contain follow commands. Method 650 optionally includes, for example, storing obstacle data 623 (Fig. 29D) and by systems external to 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). Method 650 optionally includes collecting sensor data 147 (FIG. 29A) from at least one time-of-flight sensor mounted on the MD; ) and tracking at least one moving object using simultaneous localization and mapping (SLAM) with MD location-based moving object detection and tracking (DATMO), e.g. Identifying at least one plane within obstacle data 623 (FIG. 29D) using, but not limited to, random sample consensus and PCL libraries; and at least one automated response associated with the mapped grant command. to the mode dependent processor. Method 650 also optionally includes the step of receiving a Resume command and, following the Resume command, sending at least one Move command 630 (FIG. 29D) and at least one automatic response associated with the mapped Allow command. and providing to dependent processors. At least one automatic response can optionally include a speed control command.

Referring now to FIG. 29D, obstacle processor 607 A for handling at least one obstacle 623 while navigating the MD receives, but is not limited to, PCL data 655 from PCL processor 611 A , A navigation/PCL data processor 607F may be included that segments and identifies at least one plane within the segmented PCL data 655 and identifies at least one obstacle 623 within the at least one plane. Obstacle processor 607 A can further include a distance processor 607 E that determines at least one situation identifier 624 based at least on UI data 633 , at least one movement command 630 , and at least one obstacle 623 . . Distance processor 607E can at least determine distance 621 between MD and at least one obstacle 623 based on at least one situation identifier 624 . Moving 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. Moving object processor 607D and/or stationary object processor 607C can access at least one automatic response associated with at least one authorization command from automatic response list 627 . Moving object processor 607D and/or stationary object processor 607C accesses at least one movement command 630, including, for example, velocity/signal commands and direction commands/signals, and outputs at least one movement command 630 and at least one permission command. one of which can be mapped. The moving object processor 607D and/or the stationary object processor 607C can provide at least one movement command 630 and at least one automatic response associated with the mapped authorization command to the mode dependent processor.

With continued reference to FIG. 29D, the stationary object processor 607C can optionally perform any special processing required when encountering at least one stationary object, and the moving object processor 607D can optionally: Any special handling required when encountering at least one moving object can be implemented. Distance processor 607E can optionally process distance 621, which can be a fixed and/or dynamically varying quantity. The at least one move command 630 can optionally include a follow command, a pass command, a sidetrack command, a move in place command, and a non-track command. Nav/PCL processor 607F may optionally store obstacles 623, for example, without limitation, in local storage 607H and/or on storage cloud 607G, and for example, without limitation, Stored obstacles 623 can be made accessible by systems external to the MD, such as external applications 140 (FIG. 16B). A PCL processor 611 A 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 process the sensor data 147 (FIG. 10) can be analyzed to yield PCL data 655 . Moving object processor 607D optionally tracks at least one moving object using navigation information 653 collected by simultaneous localization and mapping (SLAM) processor 609A based on the location of the MD, e.g. At least one plane can be identified using, but not limited to, a random sample consensus and a PCL library, and based on at least one automated response associated with the mapped authorization command, at least one movement A command 630 can be provided to the mode dependent processor. Obstacle processor 607A optionally receives the resume command and, following the resume command, outputs at least one move command 630 to the mode dependent processor based on at least one automatic response associated with the mapped permit command. can be provided to At least one automatic response can optionally include a speed control command. For example, if 70007 (FIG. 12A) indicates a direction that may position the MD in a collision course with an obstacle 623, such as a wall, at least one automatic response includes speed control to keep the MD out of collision. can be protected. At least one automatic response can be overridden by a reverse user command, eg, joystick 70007 (FIG. 12A) can be released and movement of the MD stopped. The joystick 70007 (FIG. 12A) can then be reengaged to resume movement of the MD toward the obstacle 623.

Referring now primarily to Figures 29E-29H, environment information 651 (Figure 29A) can be received from sensors 147 (Figure 29A). The MD can process environment information 651 (FIG. 29A). In some configurations, PCL processor 611 A (FIG. 29A) uses sensors 147 (FIG. 29A), for example, to generate environment information 651 (FIG. 29A), i.e., point cloud library (PCL) functions, in response. can be processed. As the MD moves along a travel path 2001 B (FIG. 29H) around potential obstacles 2001A, sensor 147 (FIG. 29A) moves from sensor 147 (FIG. 29A), e.g. , ie box 2005 (FIGS. 29G-29H), which may contain data that may take the shape of a truncated cone 2003 A (FIGS. 29F-29H). For example, without limitation, a sample consensus method from PCL, such as, without limitation, a random sample consensus method, can be used to find planes between point clouds. The MD can create predicted clusters and determine the point cloud correct correspondences, from which the centroid of the predicted clusters can be determined. A center reference point 148 can be used to determine the location of environmental conditions relative to the MD. For example, whether the MD is moving toward or away from an obstacle, or the location of the door hinge relative to the MD can be determined based on the location of the center reference point 148. Sensors 147 (FIG. 29A) may 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; receiving 1253 environmental information 651 (FIG. 29A) from sensors 147 (FIG. 29A) on the vehicle through obstacle processor 607A (FIG. 29A). The method 750 further includes locating 1255 at least one stair structure 643 (FIG. 29J) within the environment information 651 (FIG. 29A) based on the environment information 651 (FIG. 29A); receiving 1257 a selection of staircase structures 643A (FIG. 29J) selected from at least one of. The method 750 still further comprises measuring 1259 at least one characteristic 645 (FIG. 29J) of the selected staircase structure 643A (FIG. 29J) and, based on the environmental information 651 (FIG. 29J), selecting and locating 1261 an obstacle 623 (FIG. 29J) on the constructed stair structure 643A (FIG. 29J). The method 750 also includes the step of locating 1263 the last stair of the selected stair structure 643A (FIG. 29J) based on the environmental information 651 (FIG. 29J) and the measured at least one property 645 (FIG. 29J). , last staircase and, if applicable, obstacles 623 (FIG. 29J), providing 1265 a move command 630 (FIG. 29J) to move the MD over the selected stair structure 643A (FIG. 29J). and At 1267, if the last stair has not been reached, method 750 can continue to provide movement commands 630 (FIG. 29J) to move the MD. The method 750 optionally includes the steps of locating at least one of the stair structures 643 (FIG. 29J) based on the GPS data and locating the selected stair using, for example, without limitation, SLAM. building and saving a map of structure 643A (FIG. 29J). The method 750 also optionally accesses the geometry 649 (FIG. 29J) of the MD and the properties 645 (FIG. 29J) of the geometry 649 (FIG. 29J) and the selected stair structure 643A (FIG. 29J). and modifying the navigating step based on the comparing step. At least one of properties 645 (FIG. 29J) optionally comprises at least one riser height, at least one riser surface texture, and at least one riser height of the selected stair structure 643A (FIG. 29J). Can include surface temperature. The method 750 can optionally include generating an alert if the surface temperature is outside the threshold range and the surface texture is outside the traction setting. The threshold range can optionally include temperatures below 33°F. Traction settings can optionally include carpet textures. The method 750 further includes determining the topography of the 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. and The method 750 can still optionally include accessing a set of extreme situations.

Referring now primarily to FIG. 29J, automated navigation of stairs can be enabled by a stair processor 605C for enabling the MD to navigate the stairs. A sensor 147 (FIG. 29A) on the MD can determine whether environmental information 651 (FIG. 29A) includes at least one stair structure 643, if applicable. In conjunction with optional automatic determination of the location of at least one stair structure 643, UI data 633 may include selection of stair mode 100-4 (FIG. 22B), which may be automatic, semi-automatic, or semi-manual stair. A lift process can be called. Either automatically locating at least one stair structure 643 or receiving UI data 633 can invoke the stair processor 605C for enhanced stair navigation functionality. Stair processor 605C receives from obstacle processor 607 A (FIG. 29A) , for example, at least one obstacle 623, distance 621 to at least one obstacle 623, situation 624, navigation information 653, and geometry information about the MD 649 data can be received. The navigation information may include, but is not limited to, possible routes traversed by the MD. At least one obstacle 623 can include, among other obstacles, at least one stair structure 643 . The stair processor 605C can locate at least one stair structure 643 and either automatically or otherwise provide, for example, without limitation, navigation information 653 and/or UI data 633 and/or Or based on the MD geometry information 649, the selected stair structure 643A can be determined. For example, properties 645 of the selected stair structure 643A, such as riser information, can be used to determine the distance 640 to the first stair and the next stair. The stair processor 605C can determine the MD movement command 630 based on, for example, without limitation, the characteristics 645, the distance 621, and the navigation information 647. The movement processor 603A can move the MD based on the movement command 630 and the distance to the next stair 640, and transfer control to sensor processing 661 after the stair from the selected stair structure 643A is traversed. can move to Sensor processing 661 either proceeds to navigate 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 While the MD is traversing the selected stair structure 643A, the obstacle processor 607A may detect an obstacle 623 on the selected stair structure 643A, and the stair processor 605C may , a move command 630 can be provided. The locations of obstacles 623 can be stored locally on the MD and/or external to the MD for future use.

Continuing to refer primarily to FIG. 29J, stair processor 605C includes, but is not limited to, stair structure processor 641B, which receives at least one stair command contained within UI data 633, and sensors mounted on MD. and a stair structure locator 641A, which receives environmental information 651 (Fig. 29A) from 147 (Fig. 29A) through obstacle processor 607A (Fig. 29A). The stair structure locator 641A is further capable of locating at least one of the stair structures 643 in the environment information 651 (FIG. 29A) based on the environment information 651 (FIG. 29A), and can receive a selection of staircase structures 643A selected from at least one of The selected staircase structure 643A can be stored in storage device 643B for possible future use. The stair property processor 641C can measure at least one of the properties 645 of the selected stair structure 643A and, based on the environmental information 651, measure at least one property on the selected stair structure 643A, if applicable. One obstacle 623 can be located. Stair movement processor 641D locates the last stair of selected stair structure 643A based on environmental information 651 and provides movement processor 603A with at least one measured characteristic 645, the last stair, and the corresponding If so, based on at least one obstacle 623, a movement command 630 can be provided for the MD to move over the selected stair structure 643A. The staircase locator 641A can optionally locate at least one of the staircases 643 based on the GPS data, and use SLAM to build and map the selected staircase 643A. can be saved. Maps can be saved for local use on the MD and/or for use by other devices. The stair structure processor 641B can optionally access the geometry 649 of the MD, compare the geometry 649 with at least one of the properties 645 of the selected stair structure 643A, and based on the comparison can be used to modify the navigation of the MD. The stair structure processor 641B optionally generates an alert if the surface temperature of the risers of the selected stair structure 643A is outside the threshold range and the surface texture of the selected stair structure 643A is outside the traction setting. be able to. The stair movement processor 641D can optionally determine the topography of the area surrounding the selected stair structure 643A based on the environmental information 651 (FIG. 29A), and generate an alert if the topography is not flat. can do. Stair movement processor 641D can optionally access a set of extreme situations.

Referring now primarily to FIGS. 29K-29L, the door 675 (FIG. 29M) can include door swings, hinge locations, and door openings, methods for negotiating with the door 675 (FIG. 29M) while maneuvering the MD. 850 may include, but is not limited to, receiving and segmenting 1351 (FIG. 29K) environmental information 651 (FIG. 29A) from sensors 147 (FIG. 29A) mounted on the MD. Environmental information 651 (FIG. 29A) may include the geometry of the MD. The method 850 comprises identifying 1353 (FIG. 29K) at least one plane within the segmented sensor data and identifying 1355 (FIG. 29K) the door 675 (FIG. 29M) in the at least one plane. can contain. The method 850 may further include measuring 1357 (FIG. 29K) the door 675 (FIG. 29M) and providing the door measurements. The method 850 may also include determining 1361 (FIG. 29K) the door swing. The method 850 further provides 1363 (FIG. 29L) at least one movement command 630 (FIG. 29M) for access to the handle of the door 675 (FIG. 29M) to move the MD; providing 1365 (FIG. 29L) command 630 (FIG. 29M) to move MD away from door 675 (FIG. 29M) a distance based on door measurements as door 675 (FIG. 29M) opens. be able to. If the door 675 (Fig. 29M) is a sliding door, the method 850 provides at least one movement command to move the MD relative to the door 675 (Fig. 29M), thus moving the MD through the doorway. To do so, the step of positioning door 675 (FIG. 29M) can be included. The method 850 also provides 1367 (FIG. 29L) at least one movement command 630 (FIG. 29M) to move the MD forward through the doorway if the door swing is toward the MD, causing the MD to move toward the door 675 (FIG. 29L). 29M) in an open position.

Referring now to FIG. 29M, sensor processing 661 can determine the hinge side of door 675 as well as the orientation, angle, and distance of the door through information from sensor 147 (FIG. 29A). The movement processor 603 A can generate commands to the MD such as start/stop left turn, start/stop right turn, start/stop forward movement, start/stop backward movement, etc., and stop the MD. Door mode 605A can be facilitated by letting the MD cancel any goals it may be completing and centering the joystick 70007 (FIG. 12A). Door processor 671B can determine whether door 675 is a sliding door, a sliding door, or a sliding door, for example. Door processor 671B can determine the width of door 675 by determining the current position and orientation of the MD 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 obstacles 623 and/or the PCL data 655 (FIG. 29A) exceeds a threshold, the door processor 671B extracts the door from the MD. Distances up 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 can assume that the side of the MD is parallel to the handle side of the door 675, and uses that assumption to determine the position of the door 675 along with the location of the door pivot point. Width can be determined.

Continuing to refer primarily to FIG. 29M, if movement of door 675 is toward the MD, door movement processor 671D generates and provides movement command 630 to movement processor 603 to indicate that door 675 is moving. The MD can be moved backward by a predetermined or dynamically determined percentage amount. Movement processor 603A can provide movement commands 630 to the MD, which can receive GUI data 633A and provide GUI data 633A to movement processor 603A. If the door 675 is moving away from the MD, the door movement processor 671D generates a movement command 630 to instruct the MD to move forward a predetermined or dynamically determined percentage amount that the door 675 moves. You can tell it to move. The amount 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 open/close functionality for door 675 based on the location of the door pivot point. Door processor 671B can determine the distance to the plane in front of sensor 147 (FIG. 16B). A door movement processor 671D can generate movement commands 630 to direct the MD to move through door 675 . Door movement processor 671D can wait a preselected amount of time for movement of the MD to be completed, and door movement processor 671D generates movement command 630 based on the position of door 675 to location can be adjusted. The door processor 671B can determine door angles and door pivot points. Door processor 671B can determine if door 675 is stationary, can determine if door 675 is moving, and can determine the direction in which door 675 is moving. can. Once door mode 605A is complete, door movement processor 671D can generate movement command 630, which can instruct MD to discontinue movement.

Continuing to refer still more primarily to FIG. 29M, the door mode 605A for negotiating with the door 675 while maneuvering the MD can include, but is not limited to, door swings, hinge locations, and door openings. No, but may include sensor processing 661 that receives and segments environmental information 651 from sensors 147 (FIG. 29A) mounted on the MD, where the environmental information 651 includes the geometry 649 of the MD. can be done. The door mode 605A can also include a door locator 671A that identifies at least one plane within the segmented sensor data and identifies a door 675 within the at least one plane. Asprocessor 671B may include measuring door 675 and providing door measurement 645A. Door movement processor 671D may provide at least one movement command 630 to move MD away from door 675 when door measurement 645A is less than MD geometry 649 . The door processor 671B may also include determining door swing, and the door movement processor 671D may provide at least one movement command 630 to move the MD forward through the doorway. The MD can open the door 675 and keep the door 675 in the open position if the door swing is away from the MD. The door movement processor 671D provides at least one movement command 630 to move the MD for access to the handle of the door 675 and provides at least one movement command 630 to open the door 675. As the MD is moved away from the door 675 by a distance based on the door measurement 645A. The door movement processor 671D can provide at least one movement command 630 to move the MD forward through the doorway. The MD can keep the door 675 in the open position if the door swing is towards the MD.

Referring now to Figure 29N, the MD can automatically negotiate the use of the restroom facilities. The MD can automatically locate the lavatory door, if multiple doors exist, the door of the lavatory cubicle, automatically generate a move command 630 (FIG. 29O), and move the MD through the door. can be moved and the MD can be automatically positioned relative to the restroom fixtures. After use of the lavatory fixtures is complete, the MD automatically locates the door and automatically generates a move command 630 (FIG. 29O) to move the MD through the door and move the MD through the lavatory cubicle and/or vanity. You can leave the room. The lavatory cubicles may have a door 675 (FIG. 29O), which may have a door sill and a door swing. The method 950 for negotiating may include, but is not limited to, providing at least one movement command 630 (FIG. 29O) to cause the MD to cross the door sill and enter 1451 the restroom. The method 950 also provides 1453 at least one movement command 630 (FIG. 29O) to position the MD to access the door access handle and, if the door swing is toward the MD, at least one providing 1455 a move command 630 (Fig. 29O) to move 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 swings away from the MD and moves the MD (Fig. 100) to the door 675 (Fig. 29O) as the door 675 (Fig. 29O) closes. 29O) and providing at least one movement command 630 (FIG. 29O) to position 1459 the MD beside the first restroom fixture. The method 950 may include providing 1461 at least one movement command 630 (Fig. 29O) to stop the MD, providing 1463 at least one movement command 630 (Fig. 29O), and A step of positioning the MD in the vicinity of the fixture can be included. The method 950 may include providing 1465 at least one movement command 630 (FIG. 29O) to cross the door threshold and exit the lavatory cubicle.

Continuing to refer primarily to FIG. 29N, the step of automatically traversing the door sill optionally includes, but is not limited to, environmental information 651 (FIG. 29A) from sensors 147 (FIG. 29A) mounted on the MD. and segmenting 1351 (FIG. 29K). Environmental information 651 (FIG. 10) may include MD geometry. Automatically traversing the door sill also optionally includes identifying 1353 at least one plane within the segmented sensor data (FIG. 29K) and door 675 in at least one plane (FIG. 29M). (FIG. 29K). The step of automatically traversing the door sill is further optionally measuring 1357 (FIG. 29K) the door 675 (FIG. 29M) and providing the door measurement; ), providing 1359 (FIG. 29K) at least one movement command 630 (FIG. 29O) to move the MD away from the door 675 (FIG. 29M). Automatically traversing the door sill also optionally determines 1361 the door swing (Fig. 29K) and provides at least one movement command 630 (Fig. 29O) if the door swing is away from the MD. and moving the MD forward through the doorway causing the MD to open door 675 (FIG. 29M) and maintain 1363 (FIG. 29K) door 675 (FIG. 1A) in the open position. Automatically traversing the door threshold further optionally provides 1365 (FIG. 29L) at least one movement command 630 (FIG. 29O) to move the MD for access to the door handle; , provides 1367 (FIG. 29L) at least one movement command 630 (FIG. 29O) to move MD away from door 675 (FIG. 29M) a distance based on door measurements as door 675 (FIG. 29M) opens. and the step of The step of automatically traversing the door sill also optionally provides 1369 (FIG. 29L) at least one movement command 630 (FIG. 29O) if the door swing is toward the MD and forward MD through the doorway. to cause the MD to maintain the door 675 (FIG. 29M) in the open position. Method 950 may optionally include automatically locating the restroom and automatically driving the MD to the restroom. SLAM techniques can optionally be used to locate a destination, such as a restroom. The MD may optionally access a database of frequently visited locations, may receive a selection of one of the frequently visited locations, and may provide at least one movement command 630 (FIG. 29O). and can move the MD to a selected location, which can include, for example, without limitation, a restroom.

Referring now to FIG. 29O, a lavatory cubicle may have a door, and the door may have a door sill and a door swing, negotiating with the lavatory cubicle in the lavatory on the MD. Lavatories modes 605B for may include, but are not limited to, door modes 605A that provide at least one movement command 630 to cause the MD to cross the door sill and enter the lavatories. A restroom can also include fixtures such as, for example, but not limited to, a toilet, sink, and changing table. The entry/exit processor 681C provides at least one movement command 630 to position the MD to access the door entry handle, and at least one movement if the door swing is toward the MD. A command 630 can 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 when the door swing of the door 675 is away from the MD to move the MD towards the door 675 as the door 675 closes. Stationary processor 681B can provide at least one move command 630 to position the MD beside the first restroom fixture and can provide at least one move command to stop the MD. Stationary processor 681B may also provide at least one movement command 630 to position the MD proximate a second restroom fixture. The entry/exit processor 681C can provide at least one movement command 630 to cross the door threshold and exit the lavatory cubicle.

Referring now to Figures 29P and 29Q, a method 1051 for automatically storing an MD within a vehicle, such as, for example, without limitation, a wheelchair-accessible van, assists a user in autonomous use of the vehicle. be able to. The MD can remain parked outside the vehicle when the user exits the MD and enters the vehicle, possibly as the vehicle's driver. If the MD is to be carried by the user in a vehicle for later use, dynamic parking mode 605E (Fig. 29R) provides movement commands 630 (Fig. 29R) to the MD to automatically or on command In either case, the MD body can be retracted and additionally retrieved at the vehicle door. The MD can be commanded to store the body, for example, through a command received from the external application 140 (Fig. 16B). In some configurations, a computer-driven device such as a mobile phone, laptop, and/or tablet executes one or more external applications 140 (FIG. 16B) to provide information that can ultimately control the MD. can be used to generate In some configurations, when the MD is placed in parking mode by a user, for example, the MD can automatically advance to dynamic parking mode 605E after the user exits the MD. A move command 630 (FIG. 29R) may include a command to locate the door of the vehicle that the MD will be entering to store, and a command to direct the MD to the door. Dynamic parking mode 605E (FIG. 29R) can determine error conditions, such as, but not limited to, a door that is too small for the MD to enter, and, for example, but not limited to: A user may be alerted to the 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, the dynamic parking mode 605E (Fig. 29R) can provide a vehicle control command to command the vehicle to open the door. A dynamic parking mode 605E (Fig. 29R) can determine when the vehicle doors are open and if there is room for the MD to be stored. Dynamic parking mode 605E (Fig. 29R) may invoke obstacle handling 607 (Fig. 29M) to help determine the status of vehicle doors and whether there is room in the vehicle to store the MD. can. If the dynamic parking mode 605E (Fig. 29R) determines that there is sufficient room for MD, the dynamic parking mode 605E (Fig. 29R) provides a move command 630 (Fig. 29R) to store in the vehicle. MD can be moved in space. A dynamic parking mode 605E (Fig. 29R) can provide vehicle control commands and command the vehicle to lock the MD in place and close the vehicle doors. When MD is needed again, external application 140 (FIG. 16B) can be used to invoke dynamic parking mode 605E, for example. A dynamic parking mode 605E (Fig. 29R) can recall the status of the MD and provide vehicle control commands, commanding the vehicle to unlock the MD and open the vehicle doors. can be started. The dynamic parking mode 605E (Fig. 29R) can again locate the vehicle's doors or, for example, from local storage 607H (Fig. 29M) and/or cloud storage 607G (Fig. 29M), location can be accessed. A dynamic parking mode 605E (Fig. 29R) may provide a move command 630 (Fig. 29R) to move the MD through the vehicle door to, for example, the passenger door commanded by the external application 140 (Fig. 16B). can. In some configurations, the vehicle may be tagged at a fixed location, such as an entry door for MD storage. The dynamic parking mode 605E can recognize tags such as, but not limited to, references, barcodes, and/or QRCODE, and as a result of recognizing the tags, the methods described herein. can be executed. Other tags may also be included, such as a tag in the storage compartment and a tag on the vehicle passenger door to indicate proper storage location. 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 includes, but is not limited to, providing 1551 at least one movement command 630 (FIG. 29R) and locating a door of the vehicle that the MD will enter to be stored in a storage space within the vehicle; providing 1553 at least one movement command 630 (FIG. 29R) to direct the MD to the door; can include At 1555, if the vehicle door is wide enough for the MD to enter, the method 1051 may include providing 1557 at least one vehicle control command to command the vehicle to open the door. At 1559, if the door is open, and at 1561, if there is room to store the MD in the vehicle, the method 1051 provides 1563 at least one move command 630 (FIG. 29R) to 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 doors. If the vehicle door is not wide enough at 1555, or if the vehicle door is not opened at 1559, or if there is no room for the MD at 1561, the method 1051 alerts 1567 the user and at least providing 1569 one movement command 630 (Fig. 29R) to return the MD to the user.

Continuing to refer primarily to FIGS. 29P and 29Q, at least one movement command 630 (FIG. 29R) for storing MD is received from external application 140 (FIG. 16B) and/or automatically generated. can be Method 1051 optionally alerts the user of the error condition through, for example, without limitation, an audio alert through audio interface 150A (FIG. 16B) and/or a message to external application 140 (FIG. 16B). can contain. Method 1051 optionally calls Obstacle Processing 607A (FIG. 29M) to locate the vehicle door, determine if there is sufficient room in the vehicle to store the MD, and It can assist in locating any locking mechanism. When the MD is needed again, ie when the user reaches the destination in the vehicle, an external application 140 (FIG. 16B) can be used, for example, to activate the MD. The method 1051 may include recalling the status of the MD and may include providing a vehicle control command and commanding the vehicle to unlock the MD and open the vehicle doors. The method 1051 may include locating a door of the vehicle or accessing the location of the vehicle door, eg, from local storage 607H (FIG. 29M) and/or cloud storage 607G (FIG. 29M). can include steps. The method 1051 includes providing a move command 630 (Fig. 29R) to move the MD through the vehicle door, such as, but not limited to, the passenger door commanded by the external application 140 (Fig. 16B). can be done.

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

With continued reference to FIG. 29R, the vehicle door processor 691D can optionally recall the status of the MD and the vehicle command processor 691C provides vehicle control commands to the vehicle to unlock the MD, door 675 can be commanded to open. Vehicle door processor 691D can again locate vehicle door 675 or from, for example, local storage 607H (FIG. 29M) and/or cloud storage 607G (FIG. 29M) and/or door database 673B. , the location of door 675 can be accessed. Vehicle door processor 691D may provide move command 630 to move MD through door 675 to, for example, a passenger door commanded by 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 can be recharged when the user sleeps. After the user exits the MD, a command can be initiated, for example in the external application 140 (FIG. 16B), perhaps to move the unoccupied MD to the storage/docking area. In some configurations, mode selection by the user while the user is using the MD can initiate an automatic docking/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 return the MD to the user. The method 1150 includes, but is not limited to, locating 1651 at least one storage/charging area and providing 1655 at least one movement command 630 (FIG. 29T) to MD from the first location to the storage/charging area. and moving the . The method 1150 may include locating 1657 the charging dock within the storage/charging area and providing 1663 at least one movement command 630 (Fig. 29T) to couple the MD and the charging dock. Method 1150 can optionally include providing at least one move command 630 (FIG. 29T) to move the MD to the first location when the MD receives the activation command. If a storage/charging area does not exist at 1653, or if a charging dock does not exist at 1659, or if the MD is unable to couple with a charging dock at 1666, method 1150 optionally includes at least one Providing 1665 an alert to the user, and providing 1667 at least one movement command 630 (FIG. 29T) to move the MD to the first location.

Referring now to FIG. 29T, static storage/charging mode 605F may locate, without limitation, at least one storage/charging area, provide at least one movement command 630, and A storage/charging area processor 702A can be included that can move the MD to the storage/charging area. The docking processor 702D can locate the charging dock within the storage/charging area and provide at least one move command 630 to dock the MD with the charging dock. Feedback processor 702B can optionally provide at least one move command 630 to move the MD to the first location when the MD receives the activation command. If the storage/charging area does not exist, or if the charging dock does not exist, or if the MD cannot mate with the charging dock, the error processor 702E can optionally provide at least one alert to the user. , and provide at least one move command 630 to move the MD to the first location.

Referring now to FIG. 29U, a method 1250 for negotiating an elevator while navigating the MD can assist the user in ascending and descending the elevator 685 (FIG. 29V) while on the MD. Sensor processing 661 can be used, for example, to locate elevator 685 (FIG. 29V), or elevator location 685A (FIG. 29V) can be stored in local storage 607H (FIG. 29M) and/or storage cloud 607G. (FIG. 29M). Once elevator 685 (Fig. 29V) is located and the user selects the desired elevator direction, and elevator 685 (Fig. 29V) arrives and the doors open, elevator mode 605D (Fig. 29V) is , can provide a move command 630 (FIG. 29V) 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 to allow the user to select the desired activity from the elevator selection panel. MD can be moved. The MD location may also be suitable for exiting elevator 685 (FIG. 29V). When the elevator doors open, a move command 630 (Fig. 29V) is provided to move the MD to allow it to exit the elevator 685 (Fig. 29V) completely. Method 1250 may include, but is not limited to, locating elevator 685 (FIG. 29V), elevator 685 (FIG. 29V) having an elevator door and an elevator threshold associated with the elevator door. Method 1250 may include providing at least one movement command 630 (FIG. 29V) to move the MD through the elevator door and over the elevator threshold. The method 1250 also determines the geometry of the elevator 685 (Fig. 29V) and provides at least one movement command 630 (Fig. 29V) to move the MD to the floor selection/exit location relative to the elevator sill. steps. The method 1250 also includes providing at least one movement command 630 (Fig. 29V) to move the MD across and over the elevator sill and exit the elevator 685 (Fig. 29V). can be done.

Referring now primarily to FIG. 29V, elevator mode 605D includes, without limitation, elevator locator 711A that can locate elevator 685 having an elevator door and an elevator threshold associated with the elevator door. can be done. Elevator locator 711A may store obstacle 623, elevator 685, and elevator location 685A, for example, in elevator database 683B. Elevator database 683B may be located locally or remotely from MD 120 . The entry/exit processor 711B provides at least one movement command 630 to move the MD through the elevator door and across the elevator threshold to either enter or exit the elevator 685. can be done. Elevator geometry processor 711 D may determine the geometry of elevator 685 . The entry/exit processor 711B may provide at least one movement command 630 to move the MD to the floor selection/exit location relative to the elevator sill.

Referring now primarily to FIG. 30A, the SSB 143 (FIG. 16B) can provide communication through use of the Canvas protocol, for example. Devices connected to SSB 143 (Fig. 16B) can be programmed to respond to/listen for specific messages received, processed and transmitted by SSB messaging 130F (Fig. 16B). A message can include, without limitation, a packet that can include data and a canvas device identification that can identify the source of the packet. Devices that receive Canvas packets can ignore Invalid Canvas packets. When an Invalid Canvas packet is received, the receiving device can take alternative actions depending on, for example, the current mode of MD, the previous Canvas message, and the receiving device. Alternate measures can, for example, maintain MD stability. A bus master of SSB 143 (FIG. 16B) can transmit a master synchronization packet 901 to establish a bus alive sequence on a frame basis and synchronize the time base. PBP A1 43A (FIG. 18C), for example, can be designated as the master of SSB 143 (FIG. 16B), and PBP B1 43C (FIG. 18D), for example, PBP A1 43A (FIG. 18C) is no longer transmitting on the bus. If not, it can be designated as a secondary master for SSB 143 (FIG. 16B). A master of SSB 143 (FIG. 16B) may transmit master synchronization packet 901 at a periodic rate, eg, but not limited to, every 20ms+/-1%. Devices communicating using SSB 143 (FIG. 16B) can synchronize the transmission of messages with the start of master synchronization packet 901 . PSC packets 905 may contain data originated by PSC 11 (FIG. 16B), and PBP packets 907 may contain data originated by PBP 100 (FIG. 16B).

Referring now primarily to FIG. 30B, user control packets 903 are primarily transmitted wirelessly to and from external application 140 (FIG. 16B) using, for example, without limitation, the BLUETOOTH protocol. It can contain a header, a message ID, and data for the message to go on. User control packet 903 (FIG. 30A) may include packet format 701, for example. 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 where the receiving device may ignore data in the packet. Possibilities can be included. When UC 130 receives, for example, a device failure status, UC 130 may post an error to, for example, a graphical user interface (GUI) on UC 130 (FIG. 12A). Error Device ID 701B may include the logical ID of the device for which the received communication was determined to be in error. Error Device ID 701B can be set to zero when no error is received.

Referring now primarily to Figure 30C, the required mode code 701C (Figure 30B) can be defined such that a single bit error cannot indicate another valid mode. For example, mode codes may include, but are not limited to, self-test, standard, extended or 4-wheel, stairs, balance, docking, remote, calibrate, update, power off, power on, failsafe, restore, auto flasher, door, Dynamic storage, static storage/charging, restrooms, elevators, and extended staircases can be included, the implications of which are discussed herein. Requested mode code 701C indicates whether the requested mode is either (1) to keep the current mode or perform a permitted mode change, or (2) to enable context sensitive processing. can indicate whether it should be treated as In some configurations, special circumstances may require automatic control of the MD. For example, the MD can automatically transition from staircase mode 100-4 (FIG. 22B) to extended mode 100-2 (FIG. 22B) when the MD reaches the top of the staircase structure. In some configurations, the MD can modify, for example, without limitation, the MD's response to commands from the joystick 70007 (FIG. 12A), eg, by setting the MD to a particular mode. In some configurations, the MD can be automatically set to slow drive mode when the MD is transitioned out of staircase mode 100-4 (FIG. 22B). In some configurations, joystick 70007 (FIG. 12A) can be disabled when the MD automatically transitions from stair mode 100-4 (FIG. 22B) to advanced mode 100-2 (FIG. 22B). . When a mode is selected, for example, without limitation, through user input, mode availability can be determined based, at least in part, on current operating conditions.

Continuing to refer primarily to FIG. 30C, in some configurations, the user can be alerted if a transition is not allowed 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 may be required when positioning the MD for determination of the MD's center of gravity as well as the load on the MD. A user can be prompted to perform specific actions based on the current mode and/or the modes in which the transition may occur. In some configurations, MDs can be configured for, for example, but not limited to, fast, medium, medium decay, or slow templates. The speed of the MD can be modified, for example, by using a speed template 700 ( Fig . 25A), which relates the output 703 ( Fig. 25A) (and wheel commands) and the joystick displacement 702 ( Fig. 25A).

Referring now to Figure 30D, Out of Control 701D (Figure 30B) includes, for example, but not limited to, Power Off OK 801A, Drive Select 801B, Emergency Power Off Request 801C, Calibration State 801D, Mode Limit 801E, User Training 801F. , and joystick centering 801G. In some configurations, Power Down 801A OK may be defined to be zero if power down is not currently allowed, and Drive Select 801B may be Motor Drive 1 (bit 6=0) or It can be defined to define 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 may be defined to indicate a request for user calibration (bit 4=1). In some configurations, mode restrictions 801E may be defined to indicate whether there are restrictions on entering a particular mode. Bit 3 can be zero if the mode can be entered without restriction. If there are restrictions to enter the mode, e.g., but not limited to, balanced-critical mode, may require certain restrictions to maintain MD passenger safety, bit 3 shall be 1 can be done. User training 801F can be defined to indicate whether user training is enabled (bit 2 = 1) or disabled (bit 2 = 0), and joystick centering 801G is the 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, values representing forward or reverse velocity. The forward velocity can, for example, include positive values and the reverse velocity can be negative. Commanded turn speed 701F may include a value representing the left or right commanded turn speed. Left turns can include positive values and right turns can include negative values. The value may represent the differential velocity between the left and right wheels 21201 (FIG. 1A) scaled evenly to the commanded velocity 701E.

Referring again primarily to Figure 30D, the joystick 70007 (Figure 12A) can include multiple redundant hardware inputs. For example, signals such as commanded velocity 701E (FIG. 30B), commanded turn velocity 701F (FIG. 30B), and joystick centering 801G can be received and processed. Commanded velocity 701E (FIG. 30B) and commanded turn velocity 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 velocity 701E (FIG. 30B) and a non-zero commanded turn velocity 701F (FIG. 30B) are in effect. For example, abnormal conditions of the joystick 70007 (FIG. 12A) in the X and Y directions can be detected. For example, each axis of joystick 70007 (FIG. 12A) can be associated with dual sensors. Each sensor pair input (X (Commanded Velocity 701E (Fig. 30B)) and Y (Commanded Turn Velocity 701F (Fig. 30B)) can be associated with an independent A/D converter, each voltage reference channel check input. In some configurations, commanded velocity 701E (FIG. 30B) and commanded turn velocity 701F (FIG. 30B) can be held at zero by secondary inputs to avoid misalignment. Joystick 70007 (FIG. 12A) can be indicated as centered if joystick centering 801G is within the minimum deadband or joystick 70007 (FIG. 12A) has an anomaly. 12A) can indicate the amount of displacement of the joystick 70007 (FIG. 12A) that can occur before a non-zero output from 12A) can appear.The deadband range is, for example, but not limited to, 45% of the defined signal range. A 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. Frame tilt command 921 may include values such as Disabled, Forward tilt, Backward tilt, and Idle, for example. The seat height command 923 may include values such as disable, seat down, seat up, and idle, for example.

Referring now to FIG. 31A, remote control of MDs is a secure communication between a controlling device 5107 and a controlled device 5111, whose configuration may include an MD (also referred to as a mobility assistance device 5111A (FIG. 31D)). communication. Control device 5107 can include, but is not limited to, mobile phones, personal computers, and tablet-based devices, also referred to herein as external devices, configured to run external application 5107A (FIG. 31D). can contain. In some configurations, UC 130 (FIG. 12A) may include support for wireless communication to/from mobility support device 5111A (FIG. 31D). Mobility assistance device 5111A (FIG. 31D) and external application 5107A (FIG. 31D), for example, can accommodate virtual joystick software that can override commands generated by joystick 70007 (FIG. 12I). Control device 5107 can include voice recognition, which can be used to control controlled device 5111 . Controlling device 5107 and controlled device 5111 communicate using a first protocol, a second protocol, and a wireless protocol such as, for example, but not limited to, the BLUETOOTH® Low Energy protocol. be able to.

Referring now to Figure 31B, a first protocol can be supported with a communication control device 5107 (Figure 31A), which can be physically remote from the control device interface 5115 (Figure 31A). In some configurations, the first protocol can include the RIS protocol and each message can 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 validate data check section 5519 . Header 5511 may include, but is not limited to, payload 5501 of length, command 5503, subcommand 5515, and sequence number 5505. Sequence number 5505 may be incremented for each new message sent. Data check section 5519 may include, without limitation, a cyclic redundancy check of header 5511 and payload 5517 . The first protocol can include, without limitation, messages that can vary in length. The message may include a header 5511, a payload 5517 and a CRC 5519. The controlling device interface 5115 (Fig. 31A) may require certain messages to be available in the first protocol to support remote control of the controlled device 5111 (Fig. 31A). The first protocol transparently transmits messages formatted with a second protocol, e.g., encapsulated within messages formatted according to the first protocol for transmission and reception over wireless link 5136. can be tunneled. Devices that communicate using the second protocol can be compatible with any updates that may occur in the wireless protocol and/or the first protocol and require no changes to operate seamlessly. can.

Continuing to refer primarily to FIG. 31B, communication device drivers can provide driver bytes 5513 prior to message header 5511, which can be used by serial peripheral interface (SPI) and telecommunications drivers, for example. 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 constrained to not include driver bytes 5513 . If controlled device 5111 (FIG. 31A) is a medical device, the message may include a therapy command that may include therapy number 5613 (FIG. 32A) in payload 5517. In some configurations, the next therapy number can be provided within either the status message or the response. A therapy command may be denied if controlled device 5111 (FIG. 31A) is not configured for therapy. In some configurations, the sequence number 5505 of the reply message must match the sequence number 5505 of the original message. The controlling device interface 5111 (FIG. 31A) and controlled device interface 5103 are capable of detecting and reacting to communication problems such as, but not limited to, CRC inconsistencies, timeouts, and therapy number inconsistencies. .

Continuing with still further reference to FIG. 31B, a first protocol CRC 5519 can be calculated over header 5511 and payload 5517 . A response message may be sent upon receipt of a message that the CRC verification has passed. In some configurations, if the message does not contain 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 can contain a negative acknowledgment that can have a code. Messages that fail CRC verification or unexpected message responses can be dropped and treated like any message lost during transport. Both the controlled device interface 5103 (FIG. 31A) and the controlling device interface 5115 (FIG. 31A) can be source message originators and/or conductors, respectively, and thus can implement source node functionality. If either the controlled device interface 5103 (FIG. 31A) or the controlling device interface 5115 (FIG. 31A) sends a message, it will generate a timeout and, if necessary, perform a message transmission retry. , if a dropped message is detected, it can self-generate a negative acknowledgment of the dropped message.

Referring now to Figure 31C, controlled device interface 5103 (Figure 31A) and controlling device interface 5115 (Figure 31A) manage the extraction of messages formatted according to a second protocol from a first protocol message and vice versa. can do. Communication message management can include identifying the first protocol message and optionally extracting the tunneled second protocol message. A first protocol message, including a second protocol message, can be processed separately from other messages. A first protocol message may be separately prepared and queued for transmission depending on whether a second protocol message is included. A message formatted according to the second protocol may include control bytes, a message ID, data, and a CRC calculated over the control bytes, message ID, and data. Control byte 5521 provides a message sequence number, which can be used for message addressing and can be generated by controlled device interface 5103 (FIG. 31A) and echoed back by controlling device interface 5115 (FIG. 31A). can contain. The sequence number can be used by the controlled device interface 5103 (FIG. 31A) to match received response messages with transmitted request messages. In some configurations, the sequence number may start at 0h, increment after the message is sent, and wrap back to 0h after Fh. Control byte 5521 may indicate an identification by which responses to the message may be expected. Control byte 5521 may contain 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 a command and/or indication of identification of message data 5525 . In some configurations, 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 messages that may be exchanged include, but are not limited to, initialization messages and , and an initialization response message, which may be sent from the controlled device 5111 (FIG. 31A) to the controlling device 5107 (FIG. 31A). The initialization message can include, without limitation, a protocol map, an application ID, a communication timeout value, and padding. A second protocol message may be sent from the controlling device 5107 (FIG. 31A) to the controlled device 5111 (FIG. 31A), X-deflection of the joystick (virtual joystick), Y-deflection of the joystick (virtual joystick), Joystick commands can be included, which can include padding. A second protocol message may enable communication between the controlling device 5107 (FIG. 31A) and the controlled device 5111 (FIG. 31A), e.g., to interface with a wireless protocol such as the BLUETOOTH protocol. can contain commands used for The command may be, for example, scanning a peripheral, interrupting scanning, reading the name of a peripheral, for example a peripheral such as controlled device 5111 (FIG. 31A) operating as a peripheral with controlling device 5107 (FIG. 31A). You can initiate actions such as connecting to or canceling peripheral connections. A command can query a peripheral, for example, by discovering the peripheral's services and properties, and reading and setting the values of the properties. Responses to commands can include, but are not limited to, status updates regarding peripherals, connections, services, and features.

Referring now primarily to Figures 31B and 31C, a first protocol command allows control device interface 5115 (Figure 31A) to continue operation without control device 5107 (Figure 31A) and an alarm to This can include disabling wireless communication, to which the control device 5107 (FIG. 31A) can respond if received from the interface 5115 (FIG. 31A). The second protocol commands include, for example, but not limited to, echo, set/get system event, clear log, get data, force alarm, set logging on control device 5111 (FIG. 31A), control device Commands such as force reset of 5111 (FIG. 31A), start test of control device 5111 (FIG. 31A), integration test commands, and wireless service commands may be included. Second protocol commands may include, for example, but not limited to, commands to set identification of control device 5111 (FIG. 31A), set calibration and measurement options, run manufacturing tests, and provide a list of events. can be done.

Referring now to FIG. 31D, the wireless communication system 100P, for example, without limitation, through an external application (EA) 5107A running on a control device 5107 (FIG. 31A) (eg, mobile phone, PC, or tablet). , controlled device 5111 (FIG. 31A), such as, but not limited to, mobility assistance device 5111A. The wireless communication system 100P can include, without limitation, a mobility assistance device 5111A and an external application 5107A that can decode and use messages traveling therebetween. Wireless communication system 100P may include, without limitation, protocol conversion process 5317, input queues 5311/5335, output queues 5309/5333, state machines 5305E and 5305M, and radio processors 5325/5330. can. The mobile assistance device state machine 5305M can manage the process of communicating wirelessly from the perspective of the mobile assistance device 5111A. External application state machine 5305E can manage the process of communicating wirelessly from the perspective of external application 5107A. In particular, both the mobility assistance device state machine 5305M and the external application state machine 5305E can manage entering and exiting states from which messages are generated and sent and/or received according to preselected protocols. can be The message may, for example, instruct the direct mobility assistance device 5111A and/or the external application 5107A to respond to the dradio 5349 status. An external application radio processor 5325 can run on the control device 5107 (FIG. 31A) and can communicate with the external application 5107A. A mobility assistance device radio processor 5330 may execute on the mobility assistance device 5111A and may communicate with the components of the mobility assistance device 5111A.

With continued reference to FIG. 31D, both the external application radio processor 5325 and the mobility assistance device radio processor 5330 may execute radio control code, referred to herein for convenience as dradio 5349, processors such as It may include, but is not limited to, an ARM processor 5329. The dradio 5349 running on the control device 5107 (FIG. 31A) can include at least one external application radio state machine 5337E, and the dradio 5349 running on the mobility assistance device 5111A can include at least one mobility assistance device radio state machine 5337M. can include At least one radio state machine can manage the state of I/O to 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. dradio 5349 includes general functionality and customized services and can support, for example, 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 internal to the mobility assistance device 5111A. External application 5107 A may run on control device 5107 (FIG. 31A) such as, for example, without limitation, personal computers and mobile devices. The communication means allows customization of the mobility assistance device 5111A for users of various abilities and physical characteristics, configuration of training modes for new users, remote control of the device for storage, and download of parameters and performance data. can be made possible. In some configurations, UC 130 ( FIG. 12A ) can include radio processor 5325 . Once the mobility assistance device 5111A enters wireless enabled mode, the external application 5107A can send commands to the mobility assistance device 5111A and can receive corresponding responses. External application 5107A creates a message formatted according to, for example, but not limited to, a first protocol, such as, but not limited to, the RIS protocol (see FIG. 31C), and sends the information to the processor of mobility assistance device 5111A and You can communicate vice versa. External application 5107A creates messages formatted according to, for example, but not limited to, a second protocol, such as, but not limited to, the SCA protocol (see FIG. 31B), and transfers control commands and data to migration assistance device 5111A. processor. The second protocol can be extensible to accommodate different types of controlled devices 5111 (FIG. 31A) and different functions available through external applications 5107A. For example, a wireless control application running on an IPOD device may establish communications by using messages in accordance with, but not limited to, the RIS protocol (see FIG. 31C), such as, but not limited to, Virtual joystick commands can be sent to the mobility assistance device 5111A by using messages according to the SCA protocol (see FIG. 31B).

With continued reference to FIG. 31D, at the user's command, dradio 5349, through state machine 5337E/M and soft device 5347, cooperates to scan the surrounding radio and advertise its readiness for communication. and initiates a wireless session with the desired peripheral radio, such as, but not limited to, the peripheral radio of mobility assistance device 5111A. If BLUETOOTH® communication is used, radio 5331 and soft device 5347 are required to set up and maintain communication between mobility assistance device 5111A and control device 5107 (FIG. 31A). BLUETOOTH® centric wireless functionality can be provided. In some configurations, external applications 5107A running on ANDROID® and iOS devices may use wireless mechanisms internal to ANDROID® or iOS devices to communicate with mobility assistance device 5111A. . External application state machine 5305E can configure, control, and monitor radio chip 5325 in a particular mode, such as central radio mode.

Continuing to refer to FIG. 31D, dradio 5349 transmits remote radio 5331, for example, without limitation, transmits messages and responses, commands and queries radio 5331, transmits data via radio link 5136. Securely pair, encrypt radio traffic, filter pre-selected devices from the list of neighboring radios advertising them, and whitelist the last paired remote radio 5331, etc. Through functionality, the radio 5331 can be managed, which can assist with scanning/pairing/connection sequences. For mobility support 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 , the SCA message can be extracted from/embedded within the RIS protocol payload. In some configurations, RIS-only messages transmitted/received by radio 5331 can 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 enqueued to SCA output queue 5319 O for transfer to output queue 5309 . RIS messages specific to a particular controlled device 5115 (FIG. 31A) can extend the basic set of RIS messages to support different types of controlled devices 5115 (FIG. 31A). 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 mobility support device 5111A. Outgoing messages can be queued separately depending on whether they are RIS or SCA messages. RIS messages originating from external application 5107A are placed in RIS Output Q 5303O and can be moved to Output Queue 5309 when a queue slot becomes available. RIS-SCA process 5317 can read SCA messages from RIS messages and vice versa, maintaining transparency to SCA-aware software within system 100P.

With continued reference to FIG. 31D, in some configurations, the encapsulation of messages formatted in a second protocol within messages formatted in a first protocol may be performed between mobility assistance device 5111A and external application 5107A. It can enable flexible communication between External application 5107A can receive information, e.g., from a user, which can be converted into a second protocol message, which is then encapsulated within the first protocol message, It can be transmitted to the mobility support device 5111A. The radio state machine 5305E/M can include software structures that can manage the state of the radio processors 5325/5330. State machine 5305E/M can maintain synchronization of peripheral and central radio conditions of mobility assistance device 5111A and external application 5107A.

Referring now primarily to FIG. 31E, the external application state machine 5305E (FIG. 31D) can be, for example, but not limited to, an idle state 3001 in which the radio 5331 suffers no activity, and an idle state 3001 in which the radio 5331 is started. States such as state 3003 can be recognized. In start state 3003, external application state machine 5305E (Fig. 31D) sends a status message to radio 5331 (Fig. 31D) telling external application state machine 5305E (Fig. 31D) that radio 5331 (Fig. 31D) is ready to start. (FIG. 31D). 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, in which an external application state machine 5305E (FIG. 31D) requests information about dradio 5349 (FIG. 31D), such as, but not limited to, its software version number, and initiates send a wireless command to the dradio 5349 (FIG. 31D) to send the dradio 5349 (FIG. 31D) a command to initiate pairing with the mobility assistance device 5111A (FIG. 31D); A possible mobility assistance device 5111A (FIG. 31D) is informed. Wait for Acknowledgment state 3009 causes external application state machine 5305E (FIG. 31D) to receive responses from the last sent message, such as, but not limited to, radio version number, radio start, pairing, scan start, and data. Set the status to wait for an acknowledgment regarding analysis. For data parsing acknowledgments, the wait for acknowledgment state 3009 informs dradio 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 up. Other responses that may be awaited may include a connection response message and a connection status message, where this state awaits a successful connection between mobility assistance device 5111A (FIG. 31D) and external application 5107A (FIG. 31D). The Wait for Scan state 3011 waits for a command to initiate the pairing process and listens for responses from available mobility assistance devices 5111A (FIG. 31D). The Start Scanning state 3013 sends a command to the dradio 5349 (Fig. 31D) to start scanning for available mobility assistance devices 5111A (Fig. 31D), and the External Application State Machine 5305E (Fig. 31D) enters the Connection state 3015. Configure the state machine to enable If the wireless link 5136 (FIG. 31D) is lost, or if a message response times out, or upon an external request, the external application state machine 5305E (FIG. 31D) can enter the start reset state 3017 from which the wireless A reset state 3019 can be entered and a reset command is sent to the dradio 5349 (FIG. 31D) followed by waiting for a reset command response . The stop 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, mobility assistance device state machine 5305M (FIG. 31D) includes, for example, without limitation, idle state 3101, where there is no radio activity, and radio 5331 (FIG. 31D) enabled. Start state 3103, Advertise Allowed state 3105, in which the mobility assistance device 5111A (FIG. 32) receives permission to advertise the availability of the mobility assistance device 5111A (FIG. 31D) for wireless communication, and Advertise Allowed state 3105, and the mobility assistance device 5111A ( FIG. 31D) Identity information may include states, such as advertise state 3107, made available for listening to radios, such as radios 5331 (FIG. 31D) associated with external application 5107A (FIG. 31D). can. The states further include a connection request waiting state 3109, a connection request approved state, a connected state 3111 in which the mobility assistance device 5111A (FIG. 31D) is able to communicate with the desired central radio, and a user action or loss of radio signal to A wait state 3113, in which the mobility assistance device 5111A (FIG. 31D) waits for the end of the wireless session, whether or not. The states further include a reset request state 3117 in which the radio 5331 (FIG. 31D) can be placed in a reset state 3119, and a reset request state 3117 in which the radio 5331 (FIG. 31D) automatically rejoins the wireless session depending on the state in which the wireless session ended. An auto-reconnect state 3115 may be included, which may attempt to connect.

Referring now to Figure 31G, an external application 5107A (Figure 31D) can provide an interface between a user interface 5107B running on an external device and wireless communication means. In some configurations, the wireless communication means may be based on the BLUETOOTH® Low Energy protocol, configuring communication between the mobility assistance device 5111A and the external application 5107A; initiating transmission of messages to and from application 5107A; splitting large messages; and enabling virtual joystick commands initiated by the user of the external device and transmitted to mobility assistance device 5111A. can contain. The messages that may be exchanged may include, but are not limited to, scan device, stop scan, and read device, and devices may include mobility assistance device 5111A. The mobility assistance device 5111A and the external application 5107A can communicate with a wireless processor 5325/5330 that can manage the transmission and reception of messages between the external application 5107A and the mobility assistance device 5111A. External application 5107A generates and composes message 2001 using an application program interface, which may communicate with external application radio processor 5325, which may receive, for example, but not limited to, composed message 2001; Information from the received message 2001 can be used to construct the advertisement information 2003 and send it to the mobility assistance device radio processor 5330 . Advertisement information 2003 may include, without limitation, company identification, project identification, and customer identification. The mobility assistance device radio processor 5330 can use the advertising information 2003 to build advertising data 2005A and send it through the external application radio processor 5325 to the external application 5107A , which builds device information, It can be sent to user interface 5107B and displayed on an external device. External application 5107 A can send connection request 2007 to external application radio processor 5325 , which can construct and send the connection request to mobility assistance device radio processor 5330 . Mobility assistance device radio processor 5330 can respond to a connection request to external application 5107 A through external application radio processor 5325 , which responds by sending a service request 2009 to external application radio processor 5325 . It can react, which can respond by sending service 2011 to external application 5107A. Connection request 2007 may include a command to connect to mobility assistance device 5111A and/or to cancel connection to mobility assistance device 5111A. Responses to connection requests 2007 may include success or failure notifications. External application 5107 can receive service 2011 and notify external device user interface 5107B that the device has been connected. As communication initiation progresses, the central manager within external application radio processor 5325 can update the state of external application radio processor 5325 and send updated state information to external application 5107A. Disconnect requests and responses may be exchanged while communication is ongoing, and external application radio processor 5325 may provide the disconnect request to external application 5107A. As the communication initiation proceeds, the external application 5107A sends messages such as, but not limited to, the discovery of services and properties of the mobility assistance device 5111A and requests to read and write values from/to the mobility assistance device 5111A. The mobility assistance device 5111A can be queried by sending. Queries can be answered with responses that can provide data and status of mobility assistance device 5111A.

Referring now to FIG. 31H, following communication initiation, external application 5107A commands external application radio processor 5325 to send initialization message 2013, send joystick enable message 2027, and move heartbeat message 2025. Communication with the mobile assistance device 51 11 A can be initiated by sending to the assistance device radio processor 5330 . Mobility assistance device radio processor 5330 can receive joystick enable message 2027 and notify mobility assistance device 5111A that external application 5107A's virtual joystick is enabled. The external application radio processor 5325 can request the status of the mobility assistance device 5111A through the mobility assistance device radio processor 5330 . The mobility assistance device 5111A can receive the status request, access the status, and send a status message 2119A through the mobility assistance device radio processor 5330 and the external application radio processor 5325 to the external application 5107A, which communicates the status. It can be provided to the external device user interface 5107B. External application radio processor 5325 can request logs from mobility assistance device 5111A through mobility assistance device radio processor 5330 . The mobility assistance device 5111A can receive the log request, access the log, and send the log message 2121A through the mobility assistance device radio processor 5330 and the external application radio processor 5325 to the external application 5107A, which logs the log. It can be provided on an external storage device.

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

Continuing to refer to FIG. 32A, with respect to the man-in-the-middle (MitM) threat 5601, when wireless devices are first paired, an attacker may place himself "in the middle" of the connection. Two valid but separate wireless encrypted connections locate themselves centrally and read or modify the unencrypted cleartext that may be available between the two encrypted connections. can be established. A MITM attack 5601 may include an attacker's monitoring message, modify the message, and/or inject into the communication channel. One example is active eavesdropping, where an attacker establishes an independent connection with a victim and relays messages between them, making them believe 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. Victims can also be subject to replay attacks in which MitM records the traffic, inserts new messages containing the same text, and then plays the messages continuously. For example, standard security features of commercial wireless protocols 5607, such as authentication, confidentiality, and authorization, can thwart some types of MitM attacks 5601. Authentication may include verifying the identity of the communication device based on its device address. Confidentiality can include protecting information from eavesdropping by ensuring that only authorized devices can access and view transmitted data. Authorization may include ensuring that the device is authorized to use the service. The 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, e.g. code replacement. A 6-digit code can be exchanged one bit at a time, and both parties must agree on a bit setting before another bit can be exchanged. Upon pairing, the control device 5107 (FIG. 31A) can request entry of a 6-digit code that can be physically located on the control device interface 5115 (FIG. 31A). ) can respond with the same six-digit code. MitM threat 5601 does not have access to the 6-digit code physically located on control device interface 5115 (Fig. 31A) cannot dominate the control. The pairing mechanism is the process by which the control device 5107 (Fig. 31A) and the control device interface 5115 (Fig. 31A) exchange identification information in preparation for establishing encryption keys for future data exchange. .

Continuing to refer to FIG. 32A, anyone who purchases the complete system can learn the controlled device PIN and attempt a MitM attack 5601. MitM may operate the system and derive the first protocol. Alternatively, MitM may exploit message traffic between control device 5107 (FIG. 31A) and control device interface 5115 (FIG. 31A) to learn the first protocol. Alternatively, MitM may probe the internal electrical bus of control device interface 5115 (FIG. 31A), capture first protocol traffic, and derive the first protocol. Cleartext obfuscation 5611 can thwart these types of threats. Cleartext obfuscation 5611 may include randomizing the cleartext such that even if the same message is sent multiple times, the intercepted version will vary randomly. 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 it, and the control device interface 5115 (FIG. 31A) or Any of the control devices 5107 (FIG. 31A) can deobfuscate the cleartext. Once obfuscated, the message appears to be of random length and appears to contain random data, and the clear text is not seen outside of control device interface 5115 (FIG. 31A) or control device 5107 (FIG. 31A). . The obfuscation algorithm on control device 5107 (FIG. 31A) can be kept secret through security features such as, for example, Licel's DexProtector tool. The obfuscation algorithm is hidden on the control device interface 5115 (FIG. 31A) by configuring the wireless processor within the control device interface 5115 (FIG. 31A) to inhibit code reading and access debug features. can be kept. In some configurations, the obfuscation algorithm ensures that transmitted messages are recovered independently of any previous message traffic, eliminating the need to maintain any shared state between sender and receiver. It can be "stateless" in that it can In some configurations, the length of obfuscated messages can vary randomly, even for cleartext, which is a series of messages of the same length. In some configurations, the first few bytes of every message can be random. In some configurations, the algorithm can be run without ROM for the data table and with a relatively small amount of RAM, code, and computation cycles.

Referring now to Figure 32B, a method 5150 for obfuscating plaintext includes, but is not limited to, generating 6151 random bytes using random bytes as a random key; generating 6155 a number of random bytes equal to the count; and converting 6157 some of the random bytes to a linear feedback shift register (LFSR) seed value. and The method 5150 can include whitening 6159 the input count string using the LFSR seed value.

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

Referring again to FIG. 32A, MitM can record messages between control device 5107 (FIG. 31A) and control device interface 5115 (FIG. 31A) and play them back continuously. If the control device interface 5115 (Fig. 31A) is a medical device, the random therapy message number transmitted by the controlled device should cause the control device 5107 (Fig. 31A) to repeat the random therapy message number with the next command message. Therefore, replay attacks can be thwarted. If the controlling device 5107 (FIG. 31A) does not contain the random therapy message number, the controlled device can disavow the message, thereby preventing playing the same message multiple times. In some configurations, a trust boundary 5619 can be established between the controlling device 5107 (FIG. 31A) and the operating system environment. Trust boundaries can include, but are not limited to, the use of preselected keys, sandboxes, file encryption rights, and file system encryption tied to preselected keys.

Referring now to FIG. 32D, anyone with a wireless device capable of communicating according to the wireless protocol used between control device 5107 (FIG. 31A) and control device interface 5115 (FIG. 31A) can access control device interface 5115. (FIG. 31A) and the control device 5107 (FIG. 31A), the challenge/response process 5615 can be used to thwart malicious actors. For example, if a third party application is readily available for sale on a mobile device, for example, in an application store, either control device interface 5115 (FIG. 31A) or control device 5107 (FIG. 31A) , acting as a transmitter, and issues can be presented to the control device 5107 (FIG. 31A), or the control device interface 5115 (FIG. 31A), acting as a receiver, which sends the correct response. must be presented. The method, from the transmitter's point of view, includes, but is not limited to, screening 7701 random numbers, transmitting 7703 the random numbers to the receiver, transmitting 7703 the random numbers to the receiver, and and transforming 7705/7709 the random number in the same secret manner by the receiver. The method includes hashing or encrypting 7707/7711 the transformed number in a cryptographically secure manner by the transmitter and receiver; and receiving the hashed or encrypted number from the receiver. 7713 and checking 7715 that the number hashed or encrypted by the sender and the number hashed or encrypted by the receiver are equal. The challenge/response process can rely on both the sender and receiver using the same secret transformation algorithm. The transformed number is not transmitted over the air in an unencrypted manner, protecting the confidential transformation. To keep the algorithms secret, the controller can provide, for example, but not limited to, string, class, and resource encryption, integrity control, and application programming interface hiding, such as the Licel DEXProtector. tools can be used.

Referring now to FIG. 33, event processing, including error and abnormal condition handling, includes dynamic, flexible, and integrated event management between UC 130, PSC 98/99, and processors 39/41. can be done. Event handling can include, but is not limited to, event receiver 2101 , event lookup processor 2103 , and event dispatch processor 2105 . Event receiver 2101 can receive events 2117 from any part of the MD including, but not limited to, UC130, PSC98/99, and PB39/41. Event lookup processor 2103 can receive event 2117 from event receiver 2101 and can convert event 2117 to event index 2119 . The event lookup process 2103 can create a means for identifying event information using means such as, but not limited to, table lookups and hashing algorithms. Event lookup process 2103 can provide event index 2119 to event dispatch processor 2105 . Event dispatch processor 2105 can determine event entry 2121 based at least in part on event index 2119 . Event entry 2121 may contain information that may be relevant to responding to event 2117 . Events can be processed by UC 130, PSC 98/99 and PB 39/41, each including, but not limited to, status level processor 2107, filter processor 2109, action processor 2111, and indication processor 2115. can contain. Status level processor 2107 can extract status levels, such as, without limitation, anomaly categories, from event entries 2121 and provide indications based on the status levels. In some configurations, status levels, e.g., ranges of values, can accommodate conditions ranging from transient to severe, providing indications ranging from possible audible tones to flashing lights and automatic power off. be able to. The UC 130 may, for example, but not by way of limitation, audibly and visually notify a user when a potential failure condition is detected, and prompt the user to override the alert, such as, for example, an audible alert. can be made possible. The UC 130 may request user confirmation of events such as, but not limited to, power off, which may be for a period of time, such as, but not limited to, 4-wheel mode 100-2 (FIG. 22A); Balance mode 100-3 (FIG. 22A), and staircase mode 100-4 (FIG. 22A) can be disabled.

With continued reference to FIG. 33, filter processor 2109 can extract from event entry 2121 an indication of when event 2117 should be handled. In some configurations, event 2117 may be handled immediately, or may be handled after a certain number of events 2117 have been reported. In some configurations, reporting can be non-sequential. In some configurations, event 2117 may be reported at a first rate and processed at a second rate. In some configurations, event 2117 is reported at a preselected time or on a preselected type of error instead of deferring handling for batch processing. can be handled. UC130, PSC98/99, and PB39/41 can each include specific event count thresholds. In some configurations, event handling can be latched when a preselected number of events 2117 have occurred. In some configurations, the latch can be maintained until power cycle.

Continuing with still further reference to FIG. 33, action processor 2111 can extract from event entry 2121 an indication of an action associated with event 2117 . In some configurations, the action may include commanding the MD to abort movement and put data into the event log and/or alarm log. In some configurations, event and/or alarm log data from PB39/41, UC130, and PSC98/99 can be managed by PSC98/99. In some configurations, an external application can read event and/or alarm log data from PSC 98 and PSC 99 and synchronize the data. The data can include, for example, without limitation, a list of alarms and reports that can be associated with specific events and status identifications such as controller failures and position sensor failures. Controller failures can be associated with explicit reasons for the failure that can be logged. In some configurations, event 2117 may include a reporting event 2117 that may be severed and the seriousness may be associated with the reported event. In some configurations, event entry 2121 may define an accumulator to be incremented when event 2117 is detected. In some configurations, accumulators in all of PB39/41, UC130, and PSC98/99 can be managed by PSC98/99 and accessed by external applications. In some configurations, event entry 2121 may include specifications for service required indications associated with event 2117, also managed by PSC98/99 as described herein, 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. Limits processor 2113 can extract information from event entry 2121 about the immediate and downstream impact of event 2117 . In some configurations, immediate effects can include user notifications, e.g., audible and visual notifications such as when the battery needs to be charged, when the temperature of the MD exceeds a preselected threshold, and MD can be made available when they need servicing. Immediate impact can also include notifying the user of the severity of event 2117 . In some configurations, downstream effects can include restricting modes of operation based on event 2117 . In some configurations, entry can be restricted to extended, balanced, staircase, and remote modes. In some configurations, downstream influences affect MD operation, e.g., limit speed, disable movement, automatically transition to a mode, limit MD tilt, limit power off. , and blocking external application communication. In some configurations, reversion to 4-wheel mode is accomplished by, for example, but not limited to, a failed balanced transition on two wheels, MD pitch exceeded safe operating limits for balanced mode, and /or can be automatic under certain preselected conditions, such as the wheels have lost traction in balance mode.

With continued reference to FIG. 33, indication processor 2115 can extract from event entry 2121 any indications that should be caused as a result of event 2117 . In some configurations, the indication is when a loss of communication between components of the MD occurs, e.g. can be triggered when In some configurations, event entry 2121 may provide communication between processes, for example, status flags may provide status of seat, cluster, yaw, pitch, and IMU indicators.

Arrangements of the present teachings are directed to computer systems for performing the methods discussed in the description herein, and computer-readable media containing programs for performing those methods. The raw data and results can be stored, printed, displayed, transferred to another computer, and/or transferred elsewhere for future reading and processing. Communication links can be wired or wireless, using, for example, cellular, military, and satellite communication systems. Components of the system can operate on computers with variable numbers of CPUs. Other alternative computer platforms can also be used.

The present configuration is also directed to software for performing the methods discussed herein and computer-readable media storing software for performing those methods. Various modules described herein may be performed on the same CPU or may be performed on different computers. In compliance with the statute, the present structures have been described in more or less specific terms as to structural and methodological features. It is to be understood, however, that the arrangements are not limited to the specific features shown and described, as the means disclosed herein comprise preferred forms for practicing the arrangements.

Methods can be implemented electronically, in whole or in part. Signals representing actions taken by elements of the system and other disclosed structures can travel through at least one live communication network. Control and data information can be electronically implemented and stored on at least one computer-readable medium. The system can be implemented to run on at least one computer node within at least one live communication network. At least one computer-readable medium in its general form includes, 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, punch cards, 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 Any other memory chip or cartridge or any other computer readable medium may be included. In addition, at least one computer-readable medium may be, where applicable, subject to appropriate license, but not limited to, Graphics 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).

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

Claims (29)

A motorized balance movement support device,
a base assembly comprising a plurality of base processors for processing movement commands for the mobility 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 the mobility assistance device based at least on the processed movement commands;
an active stabilization processor for estimating the center of gravity of the mobility assistance device, the active stabilization processor being called upon to maintain balance of the mobility assistance device based on the estimated center of gravity; an active stabilization processor that estimates at least one value associated with the mobility assistance device, wherein the plurality of underlying processors determine at least one of the plurality of wheels based on the at least one value; actively balancing the mobility assistance device with at least two;
The base assembly includes:
redundant motors that move the at least one cluster assembly and the plurality of wheels;
redundant sensors that sense sensor data from the redundant motors and the at least one cluster assembly;
The plurality of underlying processors includes redundant underlying processors executing within the underlying assembly, wherein the plurality of underlying processors selects information from the sensor data, wherein the selection comprises the sensor data among the plurality of underlying processors. , the plurality of underlying processors processes the movement command based at least on the selected information;
each of the plurality of underlying processors comprises a voting processor configured to determine which information to select from the sensor data, each voting processor comprising:
a primary voting processor that eliminates the information from the sensor data using a preselected process, leaving residual information in the sensor data;
calculating a difference between the remaining information and each other; comparing the difference to a preselected threshold; and if any of the differences exceeds the preselected threshold, a preselected a secondary voting processor that selects information from the remaining information based at least on a threshold selected for
a tertiary voting processor that selects information from the remaining information based at least on the preselected threshold if none of the differences exceed the preselected threshold. , motorized balance movement support device. An anti-tip controller for stabilizing the mobility assistance device based on a stabilization factor, the anti-tip controller for calculating a stabilization metric, calculating a stabilization factor, and processing the movement 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. 10. The motorized balance movement assistance device of claim 1, further comprising: an anti-tip controller that executes commands comprising: an anti-tip controller. 2. A motorized balance movement assistance device according to claim 1, further comprising stair climbing fail-safe means for forcing said movement assistance device to tip over safely if stability is lost during stair climbing. a caster wheel assembly operably coupled with the base assembly;
A linear acceleration processor for calculating a mobility assistance device acceleration of the mobility assistance device based at least on the speed of the wheels, the linear acceleration processor calculating an inertial sensor acceleration of an inertial sensor mounted on the mobility assistance device. based at least on sensor data from the inertial sensor; and
a traction control processor for calculating a difference between the mobility assistance device acceleration and the inertial sensor acceleration, the traction control processor comparing the difference to a preselected threshold;
a wheel/cluster command processor that commands the at least one cluster assembly to lower at least one of the plurality of wheels and the caster assembly to the ground based on at least the comparison. Item 1. The electrically driven balanced movement support device according to item 1. 2. The motorized balanced mobility assistance device of claim 1, wherein the underlying processor uses field weakening to provide bursts of velocity to motors associated with the at least one cluster assembly and the plurality of wheels. The plurality of infrastructure processors estimate the center of gravity of the mobility assistance device, and the plurality of infrastructure processors are configured to: (1) balance the mobility assistance device at preselected positions and seats of the at least one cluster assembly; (2) moving the mobility assistance device/user pair to a plurality of points, performing step (1) on the plurality of points; (3) verifying that the measured data is within preselected limits; (4) generating a set of calibration coefficients and 2. The motorized balanced movement assistance device of claim 1, wherein during operation, establishing the center of gravity, wherein the calibration factor is based at least on the verified measurement data. The active stabilization processor includes a closed-loop controller that maintains stability of the mobility assistance device, the closed-loop controller automatically decelerating forward motion and accelerating backward motion under preselected conditions. 7. The balanced mobility assistance device of claim 6, wherein the preselected situation is based on a pitch angle of the mobility assistance device and a center of gravity of the mobility assistance device. An all terrain wheel pair including an inner ring having at least one locking means accessible by an operator of the mobility support device while the mobility support device is in operation, the inner ring having at least one retaining means. and said all-terrain wheel pair includes an outer ring having an attachment base, said attachment base housing said at least one locking means and said at least one retaining means, said at least one retaining means being connected to said moving means. 2. The motorized balance movement assistance device of claim 1, operable by the operator to connect the inner ring to the outer ring when the device is in operation. 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 to the base processor board; 2. The motorized balanced movement assistance device of claim 1, wherein the at least one inertial sensor board is separate from the base processor board, and wherein the at least one inertial sensor is calibrated in isolation from the base processor board. . 2. The motorized balanced movement assistance device of claim 1, comprising at least one inertial sensor including a gyroscope and an accelerometer. a mobile assistance device radio processor for enabling communication with external applications electronically remote from said mobility assistance device, said mobility assistance device radio processor receiving and decoding incoming messages from radio waves; controls the mobility assistance device based on at least one of the decoded incoming messages;
The motorized balanced movement support device according to claim 1. further comprising a secure wireless communication system including data obfuscation and challenge/response authentication;
The motorized balanced movement support device according to claim 1. 10. The motorized balanced mobility assistance device of claim 9, further comprising an indirect heat dissipation path between the underlying processor board and the chassis of the mobility assistance device. Further comprising a seat support assembly enabling multiple seat-type connections to the base assembly, the base assembly having a seat position sensor, the seat position sensor providing seat position data to the plurality of base processors. The motorized balance movement assistance device according to claim 1, wherein: The seat support assembly includes:
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 through less than 90 degrees of rotation, the shaft having a single stage gear train 11. The motor of claim 10, comprising: a shaft coupled to the seat position sensor by to rotate the seat position sensor more than 180 degrees, the combination doubling the sensitivity of the seat position data; Balanced movement support device. The base assembly includes:
a plurality of sensors fully enclosed within the base assembly, the plurality of sensors including co-located sensors sensing substantially similar characteristics of the mobility assistance device;
The motorized balanced movement support device according to claim 10. The base assembly includes:
a manual brake including an internal component, said internal component including a hard stop and a damper, said manual brake including a brake release lever separately replaceable from said internal component;
The motorized balanced movement support device according to claim 1. the plurality of underlying processors,
user-configurable drive options that limit the speed and acceleration of the mobility assistance device based on preselected conditions;
The motorized balanced movement support device according to claim 1. 2. The motorized balancing movement assistance device of claim 1, further comprising a user control device including a thumbwheel, said thumbwheel modifying at least one speed range for said movement assistance device. a drive locking element enabling operable coupling between the base assembly and a docking station;
2. The skid plate of claim 1, further comprising: a skid plate having a pop-out cavity housing said drive lock element, said skid plate enabling storage of oil escaping from said base assembly. 's motorized balance movement support device. with more seats,
The plurality of infrastructural processors receives an indication that the mobility assistance device is encountering an inclination between the ground and a vehicle, and the plurality of infrastructural processors directs the cluster of wheels to the ground and the vehicle. and the plurality of underlying processors according to the indications and based on the positions of the plurality of wheels, change the orientation of the at least one cluster assembly to change the center of gravity of the mobility assistance device. and the plurality of base processors dynamically adjust the distance between the seat and the at least one cluster assembly while maintaining the seat as close to the ground as possible; and the plurality of wheels,
The motorized balanced movement support device according to claim 1. the plurality of underlying processors,
receiving obstacle data;
automatically identifying at least one obstacle in the obstacle data;
automatically determining at least one context identifier;
automatically maintaining a distance between the mobility assistance device and the at least one obstacle based on the at least one context identifier;
automatically accessing at least one authorization command associated with said distance, said at least one obstacle, and said at least one situation identifier;
automatically accessing at least one automatic response to at least one movement command;
receiving at least one movement command;
automatically mapping one of the at least one move command and the at least one grant command;
automatically moving the mobility assistance device based on at least one movement command and at least one automatic response associated with the mapped authorization command;
The motorized balanced movement support device according to claim 1. the plurality of underlying processors,
receiving at least one stair command;
receiving sensor data from sensors mounted on the mobility assistance device;
automatically, based on the sensor data, locating at least one stair structure in the sensor data;
receiving a selected stair structure selection of the at least one stair structure;
automatically measuring at least one characteristic of the selected stair structure;
automatically locating obstacles on the selected stair structure, if applicable, based on the sensor data;
automatically locating the last stair of the selected stair structure based on the sensor data;
automatically navigating the mobility assistance device over the selected stair structure based on the measured at least one characteristic, the last stair and, if applicable, the obstacles. , with a stair processor,
The motorized balanced movement support device according to claim 1. the plurality of underlying processors,
automatically locating a door of a lavatory cubicle;
automatically moving the mobility assistance device through a door of the lavatory compartment and into the lavatory compartment;
automatically positioning the mobility assistance device with respect to bathroom fixtures;
automatically locating the door of the lavatory cubicle;
automatically moving the mobility assistance device through a door of the lavatory cubicle and out of the lavatory cubicle;
The motorized balanced movement support device according to claim 1. the plurality of underlying processors,
receiving sensor data from sensors mounted on the mobility assistance device;
automatically identifying doors in the sensor data;
automatically measuring the door;
automatically determining door swing;
Automatically moving the mobility assistance device forward through a doorway, wherein the mobility assistance device opens the door and swings the door when the door swing is away from the mobility assistance device. maintaining an open position;
automatically positioning the mobility assistance device for access to the door handle and moving the mobility assistance device away from the door a distance based on the width of the door as the door opens; and moving the mobility assistance device forward through the doorway, wherein the mobility assistance device maintains the door in an open position when the door swings toward the mobility assistance device. comprising a door processor,
The motorized balanced movement support device according to claim 1. the plurality of underlying processors,
receiving sensor data from sensors mounted on the mobility assistance device;
automatically identifying doors 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, wherein the positioning is based on the width of the door;
automatically generating a signal to open the door;
2. The motorized balanced movement assistance device of claim 1, comprising a door processor comprising: automatically moving the movement assistance device through the doorway. the plurality of underlying processors,
automatically locating a drop-off point for a patient to drop off from the mobility assistance device;
automatically positioning the mobility assistance device proximate the drop-off point;
automatically determining when the patient disembarks from the mobility assistance device;
automatically locating the docking station;
automatically positioning the mobility assistance device in the docking station;
operably connecting the mobility assistance device to the docking station;
The motorized balanced movement support device according to claim 1. A method for controlling the speed of a mobility assistance device, said mobility assistance device comprising a plurality of wheels, said mobility assistance device comprising a plurality of sensors, said method comprising:
receiving terrain and obstacle detection data from the plurality of sensors;
mapping terrain and, if applicable, obstacles in real-time based at least on said terrain and obstacle detection data;
calculating a potential collision area, if applicable, based on at least the mapped data;
calculating a deceleration area, if applicable, based on at least the mapped data and the velocity of the mobility assistance device;
if applicable, receiving user preferences for said deceleration area and desired direction and speed of motion;
calculating wheel commands for commanding the plurality of wheels based at least on the potential collision area, the deceleration area, and the user preferences;
and providing said wheel commands to said plurality of wheels. A method for moving a balanced mobility assistance device over relatively steep terrain, said mobility assistance device including a cluster of wheels and a seat, said cluster of wheels and said seat being separated by a distance. , the certain distance varies based on a preselected characteristic, the method comprising:
receiving an indication that the mobility assistance device will encounter the steep terrain;
directing the cluster of wheels to maintain contact with the ground;
dynamically adjusting a distance between the seat and the cluster of wheels based on the balancing of the mobility assistance device and the indication.

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