Note: Descriptions are shown in the official language in which they were submitted.
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MOBILITY DEVICE
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation-in-part of U.S. Patent
Application Serial No.
15/787,613, filed on October 18, 2017 entitled MOBILITY DEVICE (Atty. Dkt. No.
W10),
and a continuation-in-part of U.S. Patent Application Serial No. 15/982,737,
entitled
SYSTEM AND METHOD FOR SECURE REMOTE CONTROL OF A MEDICAL
DEVICE, filed on May 17, 2018 (Atty. Dkt. No. X55), which are incorporated
herein by
reference in their entirety. This application claims the benefit of U.S.
Provisional
Application Serial No. 62/532,993, filed July 15, 2017, entitled MOBILITY
DEVICE
IMPROVEMENTS (Attorney Docket No. U30), U.S. Provisional Application Serial
No.
62/559,263, filed September 15, 2017, entitled MOBILITY DEVICE SEAT (Attorney
Docket No. V85), and U.S. Provisional Application Serial No. 62/581,670, filed
November
4, 2017, entitled MOBILITY DEVICE SEAT (Attorney Docket No. W07), which are
incorporated herein by reference in their entirety.
BACKGROUND
[0002] The present teachings relate generally to mobility devices, and
more specifically
to vehicles that have heightened requirements for safety and reliability.
[0003] A wide range of devices and methods are known for transporting
human subjects
experiencing physical incapacitation. The design of these devices has
generally required
certain compromises to accommodate the physical limitations of the users. When
stability
is deemed essential, relative ease of locomotion can be compromised. When
transporting a
physically disabled or other person up and down stairs is deemed essential,
convenient
locomotion along regions that do not include stairs can be compromised.
Devices that
achieve features that could be useful to a disabled user can be complex,
heavy, and difficult
for ordinary locomotion. Some systems provide for travel in upright positions,
while others
provide for ascending or descending stairs. Some systems can provide fault
detection and
operation after a fault has been detected, while others provide for
transporting a user over
irregular terrain.
[0004] The control system for an actively stable personal vehicle or
mobility device can
maintain the stability of the mobility device by continuously sensing the
orientation of the
mobility device, determining the corrective action to maintain stability, and
commanding
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the wheel motors to make the corrective action. Currently, if the mobility
device loses the
ability to maintain stability, such as through the failure of a component, the
user may
experience, among other things, discomfort at the sudden loss of balance.
Further, the user
may desire enhanced safety features and further control over the reaction of
the mobility
device to unstable situations.
[0005] Mobility devices such as, for example, wheelchairs, typically
include a seat that
is integrated with a chassis and wheels. Seats can include a variety of
features, and some
seats may be structured to help a user accommodate for certain challenges.
Likewise, the
mobility device chassis and wheels can come in a variety of configurations,
for example
some are motorized and some are not. When the seat is integrated with the
chassis, the user
may have to weigh the features of the integrated seat against the features of
the chassis and
wheels to decide which features are most important to the user. Combining the
most
important features in a seat with the most important features in a chassis and
wheels can be
useful when selecting a mobility device. Conveniently engaging a user-
preferred seat with
the mobility device can provide additional user options. Quickly releasing the
engaged seat
can provide for readily interchanging various seating options.
[0006] Wheelchair seats are further required to provide a user control
device engaged
therewith to maneuver the wheelchair as per user preference. Positioning of
the user control
(UC) can be challenging. The UC must be placed to align with comfort of the
user or the
wheelchair operator. Additionally, the positioning of the UC should be
qualified to avoid
obstructing any other movements or activities of the user. A rigidly
positioned UC can
cause such constraints to the user. Adjustable positioning of the UC can
enable the user to
perform required or routine activities without the UC's being a hindrance.
[0007] Electromagnetic holding brakes with and without manual brakes, can
be
coupled to each motor in a mobility device. In each brake, a friction disk
that is keyed to
the motor shaft can be trapped between two plates. One plate can be fixed, and
the other
can move axially under pressure. A magnet can be energized when the motor
supply is
switched on, releasing the pressure on the plates, allowing the motor shaft to
rotate. A
motor interface can include a prismatic profile that can mate with a like
prismatic motor
shaft. Mobility devices can exhibit noise under low motor speed operation. The
noise can
originate from the interface between the brake disk and motor coupling. This
interface can
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function as a clearance fit between a shaft which passes through a hole in the
brake disk.
Because there can be a clearance in this interface, the brake disk can have
rotational
freedom with respect to the brake coupling. During low motor speed operation,
this
clearance can allow the brake disk to vibrate which can cause a sound due to
motor speed
fluctuations. A brake disk/motor coupling interface can reduce the vibrations
while
maintaining a relatively low sensitivity to brake position, the ability to
transfer torque, the
ability to restrain the brake disk rotational freedom under the no brake load
condition, or
cushion the rotational impacts that occur between the two parts.
[0008] On occasion, motors in a mobility device such as a powered
wheelchair need to
run faster to accommodate the needs of a user, in particular safety needs. A
reliable,
lightweight, and stable mobility device can include an automatic response
capability to
situations that are commonly encountered by a disabled user such as, for
example, but not
limited to positional obstacles, slippery surfaces, tipping conditions, and
component failure.
A mobility device can include long-lived redundant batteries, ergonomically
positioned and
shock buffered caster wheel assemblies, and ride management bumpers. A
mobility device
can include automatic mode transitions, improved performance over other
mobility
vehicles, remote control, and a vehicle locking mechanism. A mobility device
can include
foreign substance sealing and slope management, a cabled charging port, and
accommodations for an increased payload over the prior art. A mobility device
can include
mode control based on battery charge, thumbwheel speed control, and
accommodations for
a loss of communications among processors.
SUMMARY
[0009] The powered balancing mobility device of the present teachings can
include, but
is not limited to including a powerbase assembly processing movement commands
for the
mobility device, and at least one cluster assembly operably coupled to the
powerbase
assembly, the at least one cluster assembly being operably coupled to a
plurality of wheels,
the plurality of wheels supporting the powerbase assembly, the plurality of
wheels and the
at least one cluster assembly moving the mobility device based at least on the
processed
movement commands. The mobility device can include an active stabilization
processor
estimating the center of gravity of the mobility device, the active
stabilization processor
estimating at least one value associated with the mobility device required to
maintain
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balance of the mobility device based on the estimated center of gravity. The
powerbase
processor can actively balance the mobility device on at least two of the
plurality of wheels
based at least on the at least one value. The powerbase assembly can
optionally include
redundant motors moving 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 powerbase assembly, the
redundant
processors selecting information from the sensor data, the selecting being
based on
agreement of the sensor data among the redundant processors, the redundant
processors
processing the movement commands based at least on the selected information.
[0010] The powered balancing mobility device can optionally include an anti-
tipping
controller stabilizing the mobility device based on stabilization factors, the
anti-tipping
controller executing commands including computing a stabilization metric,
computing a
stabilization factor, determining movement commands information required to
process the
movement commands, and processing the movement commands based on the movement
command information and the stabilization factor if the stabilization metric
indicates that
stabilization is required. The powered balancing mobility device can
optionally include a
stair-climbing failsafe means forcing the mobility device to fall safely if
stability is lost
during stair climbing. The powered balancing mobility device can optionally
include a
caster wheel assembly operably coupled with the powerbase assembly, a linear
acceleration
processor computing mobility device acceleration of the mobility device based
at least on
the speed of the wheels, the linear acceleration processor computing the
inertial sensor
acceleration of an inertial sensor mounted upon the mobility device based at
least on sensor
data from the inertial sensor, a traction control processor computing the
difference between
the mobility device acceleration and the inertial sensor acceleration, the
traction control
processor comparing the difference to a pre-selected threshold, and a
wheel/cluster
command processor commanding the at least one cluster assembly to drop at
least one of
the plurality of wheels and the caster assembly to the ground based at least
on the
comparison.
[0011] The powerbase processor can optionally use field weakening to
provide bursts of
speed to motors associated with the at least one cluster assembly and the
plurality of wheels.
The powerbase processor can optionally estimate the center of gravity of the
mobility
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device by (1) measuring data including a pitch angle required to maintain
balance of the
mobility device at a pre-selected position of the at least one wheel cluster
and a pre-selected
position of the seat, (2) moving the mobility device/user pair to a plurality
of points, repeats
step (1) at each of the plurality of points, (3) verifying that the measured
data fall within
pre-selected limits, and (4) generating a set of calibration coefficients to
establish the center
of gravity during operation of the mobility device, the calibration
coefficients based at least
on the verified measured data. The powerbase processor can optionally include
a closed
loop controller maintaining stability of the mobility device, the closed loop
controller
automatically decelerating forward motion and accelerating backward motion
under pre-
selected circumstances, the pre-selected circumstances being based on the
pitch angle of the
mobility device and the center of gravity of the mobility device.
[0012] The powered balancing mobility device can optionally include an all-
terrain
wheel pair including an inner wheel having at least one locking means
accessible by an
operator of the mobility device while the mobility device is operating, the
inner wheel
having at least one retaining means, the all-terrain wheel pair including an
outer wheel
having an attachment base, the attachment base accommodating the at least one
locking
means and the at least one retaining means, the at least one retaining means
operable by the
operator while the mobility device is in operation to connect the inner wheel
to the outer
wheel.
[0013] The powered balancing mobility device can optionally include a
powerbase
processor board including at least one inertial sensor, the at least one
inertial sensor being
mounted on an inertial sensor board, the at least one inertial sensor board
being flexibly
coupled with the powerbase processor board, the at least one inertial sensor
board being
separate from the powerbase processor board, the at least one inertial sensor
being
calibrated in isolation from the powerbase processor board. The powered
balancing
mobility device can optionally include at least one inertial sensor including
a gyro and an
accelerometer.
[0014] The powerbase processor can optionally include a mobility device
wireless
processor enabling communications with an external application electronically
remote from
the mobility device, the mobility device wireless processor receiving and
decoding
incoming messages from a wireless radio, the powerbase processor controlling
the mobility
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device based at least one the decoded incoming messages. The powerbase
processor can
optionally include a secure wireless communications system including data
obfuscation and
challenge-response authentication.
[0015] The powered balancing mobility device can optionally include an
indirect heat
dissipation path between the powerbase processor board and the chassis of the
mobility
device. The powered balancing mobility device can optionally include a seat
support
assembly enabling connection of a plurality of seat types to the powerbase
assembly, the
powerbase assembly having seat position sensors, the seat position sensors
providing seat
position data to the powerbase processor. The seat support assembly can
optionally include
seat lift arms lifting the seat, a shaft operably coupled with the seat lift
arms, the shaft
rotation being measured by the seat position sensors, the shaft rotating
through < 90 , the
shaft being couple to the seat position sensor by a one-stage gear train
causing the seat
position sensor to rotate > 180 , the combination doubling the sensitivity of
the seat position
data.
[0016] The powerbase assembly can optionally include a plurality of sensors
fully
enclosed within the powerbase assembly, the plurality of sensors including co-
located
sensor groups sensing substantially similar characteristics of the mobility
device. The
powerbase assembly can optionally include a manual brake including internal
components,
the internal components including a hard stop and a damper, the manual brake
including a
brake release lever replaceable separately from the internal components.
[0017] The powerbase processor can optionally include user-configurable
drive options
limiting speed and acceleration of the mobility device based on pre-selected
circumstances.
The powered balancing mobility device can optionally include a user control
device
including a thumbwheel, the thumbwheel modifying at least one speed range for
the
mobility device.
[0018] The powered balancing mobility device can optionally include a drive
lock
element enabling operable coupling between the powerbase assembly and a
docking station,
and a skid plate having a pop-out cavity accommodating the drive lock element,
the skid
plate enabling retention of oil escaping from the powerbase assembly.
[0019] The powered balancing mobility device can optionally include a seat,
wherein the
powerbase processor receiving an indication that the mobility device is
encountering a ramp
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between the ground and a vehicle, the powerbase processor directing the
clusters of wheels
to maintain contact with the ground, the powerbase processor changing the
orientation of
the at least one cluster assembly according to the indication to maintain the
center of gravity
of the mobility device based on the position of the plurality of wheels, the
powerbase
processor dynamically adjusting the distance between the seat and the at least
one cluster
assembly to prevent contact between the seat and the plurality of wheels while
maintaining
the seat as close to the ground as possible.
[0020] The powerbase processor can optionally include an obstacle system
including
receiving obstacle data, automatically identifying the at least one obstacle
within the
obstacle data, automatically determining at least one situation identifier,
automatically
maintaining a distance between the mobility device and the at least one
obstacle based on
the at least one situation identifier, automatically accessing at least one
allowed command
related to the distance, the at least one obstacle, and the at least one
situation identifier,
automatically accessing at least one automatic response to at least one
movement command,
receiving at least one movement command, automatically mapping the at least
one
movement command with one of the at least one allowed commands, and
automatically
moving the mobility device based on the at least one movement command and the
at least
one automatic response associated with the mapped allowed command.
[0021] The powerbase processor can optionally include a stair processor
including
receiving at least one stair command, receiving sensor data from sensors
mounted on the
mobility device, automatically locating, based on the sensor data, at least
one staircase
within the sensor data, receiving a selection of a selected staircase of the
at least one
staircase, automatically measuring at least one characteristic of the selected
staircase,
automatically locating, based on the sensor data, obstacles, if any, on the
selected staircase,
automatically locating, based on the sensor data, a last stair of the selected
staircase, and
automatically navigating the mobility device on the selected staircase based
on the
measured at least one characteristic, the last stair, and the obstacles, if
any.
[0022] The powerbase processor can optionally include a rest room processor
including
automatically locating a rest room stall door, automatically moving the
mobility device
through the rest room stall door into the rest room stall, automatically
positioning the
mobility device relative to rest room fixtures, automatically locating the
rest room stall
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door, and automatically moving the mobility device through the rest room stall
door exiting
the rest room stall.
[0023] The powerbase processor can optionally include a door processor
including
receiving sensor data from sensors mounted on the mobility device,
automatically
identifying the door within the sensor data, automatically measuring the door,
automatically
determining the door swing, automatically moving the mobility device forward
through the
doorway, the mobility device opening the door and maintaining the door in an
open
position, if the door swing is away from the mobility device, and
automatically positioning
the mobility device for access to a handle of the door, moving the mobility
device away
from the door, as the door opens, by a distance based on the width of the
door, and moving
the mobility device forward though the doorway, the mobility device
maintaining the door
in an open position, if the door swing is towards the mobility device.
[0024] The powerbase processor can optionally include a door processor
including
receiving sensor data from sensors mounted on the mobility device,
automatically
identifying the door within the sensor data, automatically measuring the door,
including the
width of the door, automatically generating an alert if the door is smaller
than the a pre-
selected size related to the size of the mobility device, automatically
positioning the
mobility device for access to the door, the positioning being based on the
width of the door,
automatically generating a signal for opening the door, and automatically
moving the
mobility device though the doorway.
[0025] The powerbase processor can optionally include a docking processor
including
automatically locating a transfer point at which a patient transfers out of
the mobility
device, automatically positioning the mobility device in the vicinity of the
transfer point,
automatically determining when the patients transfers out of the mobility
device,
automatically locating a docking station, automatically positioning the
mobility device at
the docking station, and operably connecting the mobility device to the
docking station.
[0026] The method of the present teachings for controlling the speed of a
mobility
device, where the mobility device can include a plurality of wheels and a
plurality of
sensors, the method can include, but is not limited to including receiving
terrain and
obstacle detection data from the plurality of sensors, mapping terrain and
obstacles, if any,
in real time based at least on the terrain and obstacle detection data,
computing collision
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possible areas, if any, based at least on the mapped data, computing slow-down
areas if any
based at least on the mapped data and the speed of the mobility device,
receiving user
preferences, if any, with respect to the slow-down areas and desired direction
and speed of
motion, computing wheel commands to command the plurality of wheels based at
least on
the collision possible areas, the slow-down areas, and the user preferences,
and providing
the wheel commands to the plurality of wheels.
[0027] The method of the present teachings for moving a balancing mobility
device on
relatively steep terrain, where the mobility device including clusters of
wheels and a seat,
and the clusters of wheels and the seat are separated by a distance, and the
distance varies
based on pre-selected characteristics, the method can include, but is not
limited to including,
receiving an indication that the mobility device will encounter the steep
terrain, directing
the clusters of wheels to maintain contact with the ground, and dynamically
adjusting the
distance between the seat and the clusters of wheels based on maintaining the
balance of the
mobility device and the indication.
[0028] The mobility device of the present teachings includes a reliable,
lightweight,
stable mobility device that includes a powerbase operably coupled with a user
controller.
The powerbase can include a powerbase controller, a power source controller,
wheel cluster
assemblies, all-terrain wheels, caster arms, and casters. The powerbase can
include long-
lived redundant batteries having, for example, on-board battery management
systems,
ergonomically positioned and shock buffered caster wheel assemblies, a docking
capability,
generic seat attachment hardware, and ride management bumpers. The powerbase
and the
user controller can communicate with an external device that can, for example,
monitor and
control the mobility device. The mobility device can be protected from foreign
substance
entry and tipping hazards, and can accommodate an increased payload over the
prior art.
[0029] The powerbase controller can include, but is not limited to
including, at least two
redundant processors controlling the mobility device. The at least one user
controller can
receive desired actions for the mobility device and can, along with the
powerbase controller,
process the desired actions. The at least two processors can each include at
least one
controller processing task. The at least one controller processing task can
receive sensor
data and motor data associated with sensors and motors that can be operably
coupled with
the mobility device. The mobility device can include at least one inertial
measurement unit
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(IMU) board that can be operably coupled with the powerbase controller. The at
least one
IMU can be mounted on a daughter board, and can be calibrated remotely from
the mobility
device. The coupling of the daughter board with the powerbase controller can
enable
shock-resistance in the IMU.
[0030] In
addition to redundant processors, the mobility device of the present teachings
can include reliability features such as, for example, redundant motors and
sensors, such as,
for example, IMU sensors. Eliminating data that could be incorrect from the
redundant
components can improve the safety and reliability of the mobility device. The
method of
the present teachings, referred to herein as "voting", for resolving which
value to use from
redundant of the at least one processor of the present teachings can include,
but is not
limited to including, initializing a counter, averaging values, for example,
but not limited to,
sensor or command values, from each processor (referred to herein as processor
values),
computing the absolute value difference between each processor value and the
average, and
discarding the highest difference. The method can further include computing
differences
between the remaining processor values and each other. If there are any
differences greater
than a preselected threshold, the method can include comparing the values that
have the
highest difference between them to the remaining value, voting out the value
with the
highest difference from the remaining value, comparing the voted out values to
the
remaining values, and voting out any difference above the pre-selected
threshold and
selecting one of the remaining processor values or an average of the processor
values. If
there are no differences greater than the pre-selected threshold, the method
can compare the
voted out value to the remaining values. If there are any differences greater
than the pre-
selected threshold, the method can include voting out the value voted out in
the compare
step, and selecting one of the remaining processor values or an average of the
remaining
processor values. If there are no differences greater than the pre-selected
threshold, the
method can include selecting one of the remaining processor values or an
average of the
remaining processor values. If a processor value is voted out a pre-selected
number of
times, the method can include raising an alarm. If the voting scheme fails to
find a
processor value that satisfies the selection criteria, the method can include
incrementing the
counter. If the counter has not exceeded a pre-selected number, the method can
include
discarding the frame having no remaining processor values and selecting a
previous frame
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having at least one processor value that meets the selection criteria. If the
frame counter is
greater than the pre-selected number, the method can include moving the
mobility device to
a failsafe mode. The mobility device of the present teachings can include a
filter to fuse
gyro and accelerometer data to produce an accurate estimate of a gravity
vector, and the
gravity vector can be used to define the orientation and inertial rotation
rates of the mobility
device. The orientation and inertial rotation rates of the mobility device can
be shared and
combined across redundant processors of the present teachings.
[0031] To facilitate a beneficial user experience, the mobility device can
operate in
several functional modes including, but not limited to, standard, 4-Wheel,
stair, balance,
remote, utility, calibration, and, optionally, docking modes, all described
herein. When first
powered, the mobility device can include a pre-determined start-up process.
The mobility
device can perform self-diagnostics to check the integrity of features of the
mobility device
that are not readily testable during normal operation. Power off requests can
be detected
and qualified by the mobility device to determine whether to grant the request
or not. Prior
to powering off, the mobility device position can be secured and all state
information and
logged information can be stored.
[0032] In some configurations, the mobility device of the present teachings
can
accommodate users of varying levels of physical ability and device acumen. In
particular,
users can adjust the response of the mobility device to joystick commands. In
some
configurations, the mobility device of the present teachings can allow user
configurable
drive options in the form of joystick command shaping and thumbwheel control
that can
allow individual users to configure the mobility device, including the user
controller of the
present teachings, for driving preferences. The mobility device of the present
teachings can
accommodate speed sensitive steering that can adjust the turn behavior of the
mobility
device as a function of the speed of the mobility device, making the mobility
device
responsive at high speeds and less jerky at low speeds.
[0033] In some configurations, the mobility device of the present teachings
can still
further accommodate adaptive speed control to assist users in avoiding
potentially
dangerous conditions while driving. Adaptive speed control can reduce required
driver
concentration by using sensors to detect obstacles, and can help users
negotiate difficult
terrain or situations. The method of the present teachings for adaptive speed
control of the
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mobility device can include, but is not limited to including, receiving
terrain and obstacle
detection data, and mapping terrain and obstacles, if any, in real time based
at least on the
terrain and obstacle detection data. The method can optionally include
computing virtual
valleys, if any, based at least on the mapped data. The method can still
further include
computing collision possible areas, if any, based at least on the mapped data,
and computing
slow-down areas if any based at least on the mapped data and the speed of the
mobility
device. The method can also include receiving user preferences, if any, with
respect to the
slow-down areas and desired direction and speed of motion. The method can
still further
include computing at least one wheel command based at least on the collision
possible
areas, the slow-down areas, and the user preferences and optionally the
virtual valleys, and
providing the at least one wheel command to the wheel motor drives.
[0034] The method for obstacle processing of the present teachings can
include, but is
not limited to including, receiving and segmenting PCL data, identifying at
least one plane
within the segmented PCL data, and identifying at least one obstacle within
the at least one
plane. The method for obstacle processing can further include determining at
least one
situation identifier based at least on the obstacles, user information, and
movement
commands, and determining the distance between the mobility device and the
obstacles
based at least on the situation identifier. The method for obstacle processing
can also
include accessing at least one allowed command related to the distance, the
obstacle, and
the situation identifier. The method for obstacle processing can still further
include
accessing an automatic response to the allowed command, receiving a movement
command,
mapping the movement command with one of the allowed commands, and providing
the
movement command and the automatic response associated with the mapped allowed
command to the mode-dependent processors.
[0035] The obstacles can be stationary or moving. The distance can include
a fixed
amount and/or can be a dynamically varying amount. The movement command can
include
a follow command, a pass-the-obstacle command, a travel-beside-the-obstacle
command,
and a do-not-follow-the- obstacle command. The obstacle data can be stored and
retrieved
locally and/or in a cloud-based storage area, for example. The method for
obstacle
processing can include collecting sensor data from a time-of-flight camera
mounted on the
mobility device, analyzing the sensor data using a point cloud library (PCL),
tracking the
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moving object using SLAM based on the location of the mobility device,
identifying a plane
within the obstacle data using, and providing the automatic response
associated with the
mapped allowed command to the mode-dependent processors. The method for
obstacle
processing can receive a resume command, and provide, following the resume
command, a
movement command and the automatic response associated with the mapped allowed
command to the mode-dependent processors. The automatic response can include a
speed
control command.
[0036] The
obstacle processor of the present teachings can include, but is not limited to
including, a nay /PCL data processor. The nay /PCL processor can receive and
segment
PCL data from a PCL processor, identify a plane within the segmented PCL data,
and
identify obstacles within the plane. The obstacle processor can include a
distance
processor. The distance processor can determine a situation identifier based
user
information, the movement command, and the obstacles. The distance processor
can
determine the distance between the mobility device and the obstacles based at
least on the
situation identifier. The moving object processor and/or the stationary object
processor can
access the allowed command related to the distance, the obstacles, and the
situation
identifier. The moving object processor and/or the stationary object processor
can access an
automatic response from an automatic response list associated with the allowed
command.
The moving object processor and/or the stationary object processor can access
the
movement command and map the movement command with one of the allowed
commands.
The moving object processor and/or stationary object processor can provide
movement
commands and the automatic response associated with the mapped allowed command
to the
mode-dependent processors. The movement command can include a follow command,
a
pass command, a travel-beside command, a move-to-position command, and a do-
not-
follow command. The nay /PCL processor can store obstacles in local storage
and/or on
storage cloud, and can allow access to the stored obstacles by systems
external to the
mobility device.
[0037] In some
configurations, the mobility device of the present teachings can include
weight sensitive controllers that can accommodate the needs of a variety of
users. Further,
the weight sensitive controllers can detect an abrupt change in weight, for
example, but not
limited to, when the user exits the mobility device. The weight and center of
gravity
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location of the user can be significant contributors to the system dynamics.
By sensing the
user weight and adjusting the controllers, improved active response and
stability of the
mobility device can be achieved.
[0038] The method of the present teachings for stabilizing the mobility
device can
include, but is not limited to including, estimating the weight and/or change
in weight of a
load on the mobility device, choosing a default value or values for the center
of gravity of
the mobility device and load combination, computing controller gains based at
least on the
weight and/or change in weight and the center of gravity values, and applying
the controller
gains to control the mobility device. The method of the present teachings for
computing
the weight of a load on the mobility device can include, but is not limited to
including,
receiving the position of the load on the mobility device, receiving the
setting of the
mobility device to standard mode, measuring the motor current required to move
the
mobility device to enhanced mode at least once, computing a torque based at
least on the
motor current, computing a weight of the load based at least on the torque,
and adjusting
controller gains based at least on the computed weight to stabilize the
mobility device.
[0039] In some configurations, the mobility device of the present teachings
can include
traction control that can adjust the torque applied to the wheels to affect
directional and
acceleration control. In some configurations, traction control can be assisted
by rotating the
cluster so that four wheels contact the ground when braking above a certain
threshold is
requested. The method of the present teachings for controlling traction of the
mobility
device can include, but is not limited to including, computing the linear
acceleration of the
mobility device, and receiving the IMU measured acceleration of the mobility
device. If the
difference between an expected linear acceleration and a measured linear
acceleration of the
mobility device is greater than or equal to a preselected threshold, adjusting
the torque to
the cluster/wheel motor drives. If the difference between an expected linear
acceleration
and a measured linear acceleration of the mobility device is less than a
preselected
threshold, the method can continue testing for loss of traction.
[0040] The mobility device of the present teachings can include a user
controller (UC)
assist that can assist a user in avoiding obstacles, traversing doors,
traversing stairs,
traveling on elevators, and parking/transporting the mobility device. The UC
assist can
receive user input and/or input from components of the mobility device, and
can enable the
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invocation of a processing mode that has been automatically or manually
selected. A
command processor can enable the invoked mode by generating movement commands
based at least on previous movement commands, data from the user, and data
from sensors.
The command processor can receive user data that can include signals from a
joystick that
can provide an indication of a desired movement direction and speed of the
mobility device.
User data can also include mode selections into which the mobility device
could be
transitioned. Modes such as door mode, rest room mode, enhanced stair mode,
elevator
mode, mobile storage mode, and static storage/charging mode can be selected.
Any of these
modes can include a move-to-position mode, or the user can direct the mobility
device to
move to a certain position. UC assist can generate commands such as movement
commands that can include, but are not limited to including, speed and
direction, and the
movement commands can be provided to wheel motor drives and cluster motor
drives.
[0041] Sensor data can be collected by sensor-handling processors that can
include, but
are not limited to including, a geometry processor, a point cloud library
(PCL) processor, a
simultaneous location and mapping (SLAM) processor, and an obstacle processor.
The
movement commands can also be provided to the sensor handling processors. The
sensors
can provide environmental information that can include, for example, but not
limited to,
obstacles and geometric information about the mobility device. The sensors can
include at
least one time-of-flight sensor that can be mounted anywhere on the mobility
device. There
can be multiple sensors mounted on the mobility device. The PCL processor can
gather and
process environmental information, and can produce PCL data that can be
processed by a
PCL library.
[0042] The geometry processor of the present teachings can receive geometry
information from the sensors, can perform any processing necessary to prepare
the
geometry information for use by the mode-dependent processors, and can provide
the
processed of geometry information to mode-dependent processors. The geometry
of the
mobility device can be used for automatically determining whether or not the
mobility
device can fit in and/or through a space such as, for example, a stairway and
a door. The
SLAM processor can determine navigation information based on, for example, but
not
limited to, user information, environmental information, and movement
commands. The
mobility device can travel in a path at least in part set out by navigation
information. An
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obstacle processor can locate obstacles and distances to the obstacles.
Obstacles can
include, but are not limited to including, doors, stairs, automobiles, and
miscellaneous
features in the vicinity of the path of the mobility device.
[0043] The method of the present teachings for navigating stairs can
include, but is not
limited to including, receiving a stair command, and receiving environmental
information
from the obstacle processor. The method for navigating stairs can include
locating, based on
the environmental information, staircases within environmental information,
and receiving a
selection of one of the staircases located by the obstacle processor. The
method for
navigating stairs can also include measuring the characteristics of the
selected staircase, and
locating, based on the environmental information, obstacles, if any, on the
selected
staircase. The method for navigating stairs can also include locating, based
on the
environmental information, a last stair of the selected staircase, and
providing movement
commands to move the mobility device on the selected staircase based on the
measured
characteristics, the last stair, and the obstacles, if any. The method for
navigating stairs can
continue providing movement commands until the last stair is reached. The
characteristics
can include, but are not limited to including, the height of the stair riser
of the selected
staircase, the surface texture of the riser, and the surface temperature of
the riser. Alerts can
be generated if the surface temperature falls outside of a threshold range and
the surface
texture falls outside of a traction set.
[0044] The navigating stair processor of the present teachings can include,
but is not
limited to including, a staircase processor receiving at least one stair
command included in
user information, and a staircase locator receiving, through, for example, the
obstacle
processor, environmental information from sensors mounted on the mobility
device. The
staircase locator can locate, based on environmental information, the
staircases within the
environmental information, and can receive the choice of a selected staircase.
The stair
characteristics processor can measure the characteristics of the selected
staircase, and can
locate, based on environmental information, obstacles, if any, on the selected
staircase.
The stair movement processor can locate, based on environmental information, a
last stair
of the selected staircase, and can provide to movement processor movement
commands to
instruct the mobility device to move on the selected staircase based on the
characteristics,
the last stair, and the obstacles, if any. The staircase locator can locate
staircases based on
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GPS data, and can build and save a map of the selected staircase. The map can
be saved for
use locally and/or by other devices unrelated to the mobility device. The
staircase processor
can access the geometry of the mobility device, compare the geometry to the
characteristics
of the selected staircase, and modify the navigation of the mobility device
based on the
comparison. The staircase processor can optionally generate an alert if the
surface
temperature of the risers of the selected staircase falls outside of a
threshold range and the
surface texture of selected staircase falls outside of a traction set. The
stair movement
processor can determine, based on the environmental information, the
topography of an area
surrounding the selected staircase, and can generate an alert if the
topography is not flat.
The stair movement processor can access a set of extreme circumstances that
can be used to
modify the movement commands generated by the stair movement processor.
[0045] When the mobility device traverses the threshold of a door, where
the door can
include a door swing, a hinge location, and a doorway, the method of the
present teachings
for navigating a door can include receiving and segmenting environmental
information from
sensors mounted on the mobility device. The environmental information can
include the
geometry of the mobility device. The method can include identifying a plane
within the
segmented sensor data, and identifying the door within the plane. The method
for
navigating a door can include measuring the door, and providing movement
commands that
can move the mobility device away from the door if the door measurements are
smaller than
the mobility device. The method for navigating a door can include determining
the door
swing and providing movement commands to move the mobility device for access
to a
handle of the door. The method for navigating a door can include providing
movement
commands to move the mobility device away from the door as the door opens by a
distance
based on the door measurements. The method for navigating a door can include
providing
movement commands to move the mobility device forward though the doorway. The
mobility device can maintain the door in an open position if the door swing is
towards the
mobility device.
[0046] The method of the present teachings for processing sensor data can
determine,
through information from the sensors, the hinge side of the door, the
direction and angle of
the door, and the distance to the door. The movement processor of the present
teachings
can generate commands to the MD such as start/stop turning left, start/stop
turning right,
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start/stop moving forward, start/stop moving backwards, and can facilitate
door mode by
stopping the mobility device, cancelling the goal that the mobility device can
be aiming to
complete, and centering the joystick. The door processor of the present
teachings can
determine whether the door is, for example, a push to open, a pull to open, or
a slider. The
door processor can determine the width of the door based on the current
position and
orientation of the mobility device, and can determine the x/y/z location of
the door pivot
point. If the door processor determines that the number of valid points in the
image of the
door derived from the set of obstacles and/or PCL data is greater than a
threshold, the door
processor can determine the distance from the mobility device to the door. The
door
processor can determine if the door is moving based on successive samples of
PCL data
from the sensor processor. In some configurations, the door processor can
assume that a
side of the mobility device is even with the handle side of the door, and can
use that
assumption, along with the position of the door pivot point, to determine the
width of the
door. The door processor can generate commands to move the mobility device
through the
door based on the swing and the width of the door. The mobility device itself
can maintain
the door in an open state while the mobility device traverses the threshold of
the door.
[0047] In some configurations, the mobility device can automatically
negotiate the use of
rest room facilities. The doors to the rest room and to the rest room stall
can be located as
discussed herein, and the mobility device can be moved to locations with
respect to the
doors as discussed herein. Fixtures in the rest room can be located as
obstacles as discussed
herein, and the mobility device can be automatically positioned in the
vicinity of the
fixtures to provide the user with access to, for example, the toilet, the
sink, and the changing
table. The mobility device can be automatically navigated to exit the rest
room stall and the
rest room through door and obstacle processing discussed herein. The mobility
device can
automatically traverse the threshold of the door based on the geometry of the
mobility
device.
[0048] The method of the present teachings for automatically storing the
mobility device
in a vehicle, such as, for example, but not limited to, an accessible van, can
assist a user in
independent use of the vehicle. When the user exits the mobility device and
enters the
vehicle, possibly as the vehicle's driver, the mobility device can remain
parked outside of
the vehicle. If the mobility device is to accompany the user in the vehicle
for later use, the
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mobile park mode of the present teachings can provide movement commands to the
mobility device to cause the mobility device to store itself either
automatically or upon
command, and to be recalled to the door of the vehicle as well. The mobility
device can be
commanded to store itself through commands received from external
applications, for
example. In some configurations, a computer-driven device such as a cell
phone, laptop,
and/or tablet can be used to execute one or more external applications and
generate
information that could ultimately control the mobility device. In some
configurations, the
mobility device can automatically proceed to mobile park mode after the user
exits the
mobility device. Movement commands can include commands to locate the door of
the
vehicle at which the mobility device will enter to be stored, and commands to
direct the
mobility device to the vehicle door. Mobile park mode can determine error
conditions such
as, for example, but not limited to, if the vehicle door is too small for the
mobility device to
enter, and mobile park mode can alert the user of the error condition through,
for example,
but not limited to, an audio alert through audio interface and/or a message to
one or more
external applications. If the vehicle door is wide enough for the mobility
device to enter,
mobile park mode can provide vehicle control commands to command the vehicle
to open
the vehicle door. Mobile park mode can determine when the vehicle door is open
and
whether or not there is space for the mobility device to be stored. Mobile
park mode can
invoke the method for obstacle processing to assist in determining the status
of the vehicle
door and if there is room in the vehicle to store the mobility device. If
there is enough room
for the mobility device, mobile park mode can provide movement commands to
move the
mobility device into the storage space in the vehicle. Vehicle control
commands can be
provided to command the vehicle to lock the mobility device into place, and to
close the
vehicle door. When the mobility device is again needed, one or more external
applications,
for example, can be used to bring the mobility device back to the user. The
status of the
mobility device can be recalled, and vehicle control commands can command the
vehicle to
unlock the mobility device and open the door of the vehicle. The vehicle door
can be
located and the mobility device can be moved through the vehicle door and to
the passenger
door to which it had been summoned by, for example, one or more external
applications.
In some configurations, the vehicle can be tagged in places such as, for
example, the vehicle
entry door where the mobility device can be stored.
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[0049] The method of the present teachings for storing/recharging the
mobility device
can assist the user in storing and possibly recharging the mobility device,
possibly when the
user is sleeping. After the user exits the mobility device, commands can be
initiated by one
or more external applications, to move the perhaps riderless mobility device
to a
storage/docking area. In some configurations, a mode selection by the user
while the user
occupies the mobility device can initiate automatic storage/docking functions
after the user
has exited the mobility device. When the mobility device is again needed,
commands can
be initiated by one or more external applications to recall the mobility
device to the user.
The method for storing/recharging the mobility device can include, but is not
limited to
including, locating at least one storage/charging area, and providing at least
one movement
command to move the mobility device from a first location to the
storage/charging area.
The method for storing/recharging the mobility device can include locating a
charging dock
in the storage/charging area and providing at least one movement command to
couple the
mobility device with the charging dock. The method for storing/recharging the
mobility
device can optionally include providing at least one movement command to move
the
mobility device to the first location when the mobility device receives an
invocation
command. If there is no storage/charging area, or if there is no charging
dock, or if the
mobility device cannot couple with the charging dock, the method for
storing/recharging the
mobility device can optionally include providing at least one alert to the
user, and providing
at least one movement command to move the mobility device to the first
location.
[0050] The method of the present teachings for negotiating an elevator
while
maneuvering the mobility device can enable a user to get on and off the
elevator while
seated in the mobility device. When the elevator is, for example,
automatically located, and
when the user selects the desired elevator direction, and when the elevator
arrives and the
door opens, movement commands can be provided to move the mobility device into
the
elevator. The geometry of the elevator can be determined and movement commands
can be
provided to move the mobility device into a location that makes it possible
for the user to
select a desired activity from the elevator selection panel. The location of
the mobility
device can also be appropriate for exiting the elevator. When the elevator
door opens,
movement commands can be provided to move the mobility device to fully exit
the
elevator.
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[0051] The powered balancing mobility device of the present teachings can
include, but
is not limited to including, a powerbase assembly including a powerbase
controller and a
power source controller. The power source controller can supply power to the
powerbase
controller, and the powerbase assembly can process movement commands for the
mobility
device. The powered balancing mobility device can include cluster assemblies
operably
coupled to the powerbase assembly. The cluster assemblies can include operable
coupling
with a plurality of wheels. The wheels can support the powerbase assembly and
can move
based on the processed movement commands. The powerbase assembly and the
cluster
assembly can enable balance of the mobility device on two of the plurality of
wheels.
[0052] The powered balancing mobility device can optionally include caster
arms that
can be operably coupled to the powerbase assembly. The caster arms can include
operable
coupling to the caster wheels, and the caster wheels can support the powerbase
assembly.
The powered balancing mobility device can optionally include a seat support
assembly that
can enable connection of a seat to the powerbase assembly. The powerbase
assembly can
include seat position sensors, and the seat position sensors can provide seat
position data to
the powerbase assembly. The powered balancing mobility device can optionally
include
terrain wheels that can include a means for user-detachability. The powered
balancing
mobility device can optionally include a powerbase controller board including
the
powerbase controller and at least one inertial measurement unit (IMU). The at
least one
IMU can be mounted upon an IMU board, and the IMU can include flexibly
coupling with
the powerbase controller board. The IMU board can be separate from the
powerbase
controller board, and the at least one IMU can be calibrated in isolation from
the powerbase
controller board.
[0053] The powered balancing mobility device can optionally include at
least one field-
effect transistor (FET) positioned on the powerbase controller board, and at
least one heat
spreader plate receiving heat from the FET. The at least one heat spreader
plate can transfer
the heat to the chassis of the mobility device. The powered balancing mobility
device can
optionally include at least one motor being thermally pressed into at least
one housing of the
mobility device, and at least one thermistor associated with the at least one
motor, the at
least one thermistor enabling reduced power usage when the associated at least
one motor
exceeds a heat threshold. The powered balancing mobility device can optionally
include a
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plurality of batteries that can power the mobility device. The plurality of
batteries can be
mounted with mounting gaps between each pair of the batteries. The batteries
can be
connected to the powerbase assembly through environmentally isolated seals.
The powered
balancing mobility device can optionally include a powerbase controller board
that can
include redundant processors. The redundant processors can be physically
separated from
each other, and can enable fault tolerance based on a voting process.
[0054] The powered balancing mobility device can optionally include a drive
lock
element that can enable operable coupling between the powerbase assembly and a
docking
station. The powered balancing mobility device can optionally include a skid
plate having a
pop-out cavity that can accommodate the drive lock element. The skid plate can
enable
retention of oil escaping from the powerbase assembly. The powered balancing
mobility
device can optionally include an anti-tipping process that can reduce the
likelihood of the
mobility device tipping over. The powered balancing mobility device can
optionally
include a field weakening process that can enable management of abnormal
circumstances
by the mobility device by supplying relatively short bursts of relatively high
motor speed.
The powered balancing mobility device can optionally include a stair-climbing
failsafe
means that can force the mobility device to fall backwards if stability is
lost during stair
climbing. The powered balancing mobility device can optionally include at
least one
magnet mounted within the cluster assembly. The at least one magnet can
attract particles
within the cluster assembly. The powered balancing mobility device can
optionally include
at least one seal between sections of the cluster assembly. The powered
balancing mobility
device can optionally include electrical connectors that can include printed
circuit boards
(PCBs) having electromagnetic (EM) energy shielding. The PCBs can disable
transmission
of EM energy along cables associated with the electrical connectors.
[0055] The mobility device of the present teachings can include, but is not
limited to
including, a seat and a cluster. The mobility device can include a fully
internal and
redundant sensor system, and the sensor system can include a plurality of
sensors. The
plurality of sensors can include a plurality of absolute position sensors that
can enable new
location reports if the seat and/or cluster move during a power off of the
mobility device.
The plurality of sensors can include a plurality of seat sensors and a
plurality of cluster
sensors operating during power on. The sensor system can enable fail-over from
a failing
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one of the plurality of sensors to another of the plurality of the sensors.
The plurality of
sensors can include co-located sensor groups that can sense substantially
similar
characteristics of the mobility device. The mobility device can include an
environmentally
isolated gearbox. The contents of the gearbox being can be shielded from
physical
contaminants and electromagnetic transmissions. The gearbox can be oiled by an
oil port in
a housing of the mobility device. The mobility device can include a manual
brake that can
include a hard stop and a damper. The manual brake can include a brake release
lever
isolated from the contents of the gearbox. The manual brake can include a
mechanically
isolated sensor reporting when the manual brake is engaged, and the isolated
sensor can
include a flux shield.
[0056] The method of the present teachings for establishing the center of
gravity for a
mobility device/user pair, where the mobility device can include a balancing
mode that can
include a balance of the mobility device/user pair, and where the mobility
device can
include at least one wheel cluster and a seat, can include, but is not limited
to including, (1)
entering the balancing mode, (2) measuring data including a pitch angle
required to
maintain the balance at a pre-selected position of the at least one wheel
cluster and a pre-
selected position of the seat, (3) moving the mobility device/user pair to a
plurality of pre-
selected points, (4) repeating step (2) at each of the plurality of pre-
selected points, (5)
verifying that the measured data fall within pre-selected limits, and (6)
generating a set of
calibration coefficients to establish the center of gravity during operation
of the mobility
device. The calibration coefficients can be based at least on the verified
measured data.
The method can optionally include storing the verified measured data in non-
volatile
memory.
[0057] The method of the present teachings for filtering parameters
associated with the
movement of a mobility device having an IMU, where the IMU includes a gyro,
and the
gyro includes a gyro bias and gyro data, can include, but is not limited to
including, (1)
subtracting the gyro bias from gyro data to correct the gyro data, (2)
integrating a filtered
gravity rate over time to produce a filtered gravity vector, (3) computing a
gravity rate
vector and a projected gravity rate estimate based at least on filtered body
rates and the
filtered gravity vector, (4) subtracting the product of a first gain K1 and a
gravity vector
error from the gravity rate vector, the gravity vector error being based at
least on the filtered
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gravity vector and a measured gravity vector, (5) computing a pitch rate, a
roll rate, a yaw
rate, a pitch, and a roll of the mobility device based on a filtered gravity
rate vector and the
filtered body rates, (6) subtracting a differential wheel speed between wheels
of the mobility
device from the projected gravity rate estimate to produce a projected rate
error and the
gyro bias, (7) computing the cross product of gravity vector error and the
filtered gravity
vector, and adding the cross product to the dot product of the filtered
gravity vector and a
projected gravity rate estimate error to produce a body rate error, (8)
applying a second gain
to an integration over time of the body rate error to produce the gyro bias,
and (9) looping
through steps (1) ¨ (8) to continually modify the gyro data.
[0058] The method of the present teachings for making an all-terrain wheel
pair can
include, but is not limited to including, constructing an inner wheel having
at least one
locking pin receiver, the inner wheel having a retaining lip accommodating
twist-lock
attachment, and constructing an outer wheel having an attachment base. The
attachment
base can include a locking pin cavity, and the locking pin cavity can
accommodate a
locking pin. The locking pin cavity can include at least one retaining tang
that can
accommodate twist-lock attachment. The method can include attaching the outer
wheel to
the inner wheel by mating the locking pin with one of the at least one locking
pin receivers
and mating the retaining lip with the at least one retaining tang.
[0059] The method of the present teachings for traveling over rough terrain
in a mobility
device can include, but is not limited to including, attaching an inner wheel
having at least
one locking pin receiver. The inner wheel can include a retaining lip
accommodating twist-
lock attachment. The method can include attaching an outer wheel having at
least one
retaining tang and an attachment base having a locking pin cavity to the inner
wheel by
threading a locking pin into the locking pin cavity and mating the locking pin
with one of
the at least one locking pin receivers, and mating the retaining lip with the
at least one
retaining tang.
[0060] The all-terrain wheel pair of the present teachings can include, but
is not limited
to including, an inner wheel having at least one locking pin receiver. The
inner wheel can
include a retaining lip accommodating twist-lock attachment. The wheel pair
can include
an outer wheel having an attachment base. The attachment base can include a
locking pin
cavity, and the locking pin cavity can accommodate a locking pin. The locking
pin cavity
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can include at least one retaining tang that can accommodate twist-lock
attachment. The
outer wheel can be attached to the inner wheel by mating the locking pin with
one of the at
least one locking pin receivers and mating the retaining lip with the at least
one retaining
tang.
[0061] The user controller for a mobility device of the present teachings
can include, but
is not limited to including, a thumbwheel that can modify at least one speed
range for the
mobility device. The thumbwheel can generate signals during movement of the
thumbwheel, and the signals can be provided to the user controller. The user
controller can
maintain environmental isolation from the thumbwheel while receiving the
signals. The
user controller can optionally include a casing first part including mounting
features for at
least one speaker, at least one circuit board, and at least one control
device. The control
device can enable selection of at least one option for the mobility device.
The user
controller can optionally include at least one first environmental isolation
device, and a
casing second part that can include mounting features for at least one
display, at least one
selection device, and at least one antenna. The casing second part and the
casing first part
can be operably coupled around the at least one first environmental isolation
device. The at
least one display can enable monitoring of the status of the mobility device,
and the at least
one display can present the at least one option. The at least one selection
device can enable
selection of the at least one option. The user controller can optionally
include a power/data
cable enabling power to flow from the mobility device to the user controller.
The
power/data cable can enable data exchange between the user controller and the
mobility
device. The user controller can optionally include a toggle platform first
part including
toggles, and the toggles can be field replaceable. The toggles can enable
selection of the at
least one option. The user controller can optionally include at least one
second
environmental isolation device, and a toggle platform second part that can
include mobility
device mounting features. The toggle platform second part and the toggle
platform first
part can be operably coupled around the at least one second environmental
isolation device.
The mobility device mounting features can enable mounting of the user
controller on the
mobility device. The user controller can optionally include 2-way shortcut
toggles, 4-way
shortcut toggles, and at least one integration device integrating the 2-way
shortcut toggles
with the 4-way shortcut toggles.
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[0062] The at least one option can include desired speed, desired
direction, speed mode,
mobility device mode, seat height, seat tilt, and maximum speed. The control
device can
include at least one joystick and at least one thumbwheel. The at least one
joystick can
enable receiving the desired speed and the desired direction, and the at least
one
thumbwheel can enable receiving the 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 receiving wireless signals.
[0063] The thumbwheel for a user controller of the present teachings can
include, but is
not limited to including, a full rotation selector that can enable movement of
the
thumbwheel to produce movement data throughout a full rotation of the
thumbwheel. The
movement data can be dynamically associated with at least one user controller
characteristic. The thumbwheel can include a thumbwheel position, at least one
sensor
receiving the movement data, and memory that can retain the thumbwheel
position and the
at least one user controller characteristic across a power down state. The at
least one user
controller characteristic can include maximum speed. The at least one sensor
can be
environmentally isolated from the user controller. The at least one sensor can
include a
Hall-effect sensor.
[0064] The method of the present teachings for controlling the speed of a
mobility device
that includes a non-stop thumbwheel and a joystick, where the thumbwheel
includes a
persistently stored position, can include, but is not limited to including,
(a) accessing a
relationship between a change in the rotational position of the thumbwheel and
a multiplier
for a maximum speed of the personal transport device, (b) receiving a change
in the
persistently stored position of the non-stop thumbwheel, (c) determining the
multiplier
based on the change and the relationship, (d) persistently storing the changed
position, (e)
receiving a speed signal from the joystick, (f) adjusting the speed signal
based on the
multiplier, and (g) repeating steps (a) through (f) while the mobility device
is active. The
method can optionally include receiving an indication of the sensitivity of
the thumbwheel,
and adjusting the relationship based on the indication. The multiplier can be
< 1.
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[0065] The
mobility device of the present teachings can overcome the limitations of the
prior art by including redundancy, a lightweight housing, an inertial
measurement system,
advanced heat management strategy, wheel and cluster gear trains specifically
designed
with the wheelchair user in mind, lightweight, long-lived redundant batteries,
ergonomically positioned and shock buffered caster wheel assemblies, and ride
management bumpers. Other improvements can include, but are not limited to
including,
automatic mode transitions, anti-tipping, improved performance, remote
control, a generic
mounting for a vehicle locking mechanism and the locking mechanism itself,
foreign
substance sealing, slope management, and a cabled charging port. Because of
the reduction
in weight of the mobility device, the mobility device can accommodate
increased payload
over the prior art.
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[0066] The powered balancing mobility device of the present teachings can
include, but
is not limited to including, a plurality of redundant processors processing
movement
commands for the mobility device, each of the plurality of redundant
processors receiving
sensor data, and a voting processor executing on each of the plurality of
redundant
processors. The voting processor can receive the sensor data from each of the
plurality of
redundant processors, and can determine valid data of the sensor data based at
least on
whether the sensor data are within a pre-selected range. The voting processor
can
determine whether the voting processor has received invalid of the sensor data
from an
associated one of the plurality of sensors, and whether there are
communications among the
plurality of redundant processors. The plurality of redundant processors can
compute the
movement commands based at least on the valid data. The voting processor can
optionally
execute commands that can create a list of candidate processors from the
plurality of
redundant processors associated with the valid data, determine the average
value of the
valid data for the candidate processors, order the list of the candidate
processors based at
least on the comparison between the valid data for each of the candidate
processors and the
average values, perform a three-way vote of the valid data if there are at
least three of the
candidate processors, and indicate which of the candidate processors is
associated with
voted out sensor data. The voting processor can optionally execute commands
that can
perform a two-way vote of the valid data if there are two of the candidate
processors,
indicate that the two candidate processors are associated with voted out
sensor data if the
valid data from each of the two candidate processors do not agree, indicate
that one of the
candidate processors is associated with voted out sensor data if there is only
a single
candidate processor associated with valid data, and average any of the valid
data that is not
voted out. The powered balancing mobility can optionally include at least four
processors.
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[0067] The powered balancing mobility device of the present teachings can
include, but
is not limited to including, a plurality of redundant processors processing
movement
commands for the mobility device, at least four batteries, and a power source
controller
including connections for the at least four batteries. The power source
controller can
receive power from the at least four batteries, and can manage power to the
plurality of
redundant processors. The power source controller can include at least one
sensor
collecting current data and voltage data for the at least four batteries. The
mobility device
can include a plurality of modes governing the movement commands. The
plurality of
redundant processors can determine which of the plurality of modes the
mobility device can
enter based at least in part on the current data and voltage data. The powered
balancing
mobility device can optionally include six batteries. The connections can
include, but are
not limited to including, up to four of the connections for operably coupling
up to four
batteries with the power source controller. The power source controller can
include at least
one battery recharge circuit. At least one of the connections can operably
couple at least
one shunt circuit with the power source controller. The at least one shunt
circuit can
prevent overcharge of the at least four batteries. The power source controller
can optionally
include a plurality of states including an on state, a charging state, a sleep
state, and an off
state.
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[0068] The powered balancing mobility device of the present teachings can
include, but
is not limited to including, a plurality of redundant processors processing
movement
commands for the mobility device. Each of the plurality of redundant
processors can
receive sensor data. The mobility device can include a user controller
including a
thumbwheel. The thumbwheel can be associated with a virtual thumbwheel
position. The
user controller can receive signals based on movement of the thumbwheel. The
sensitivity
of the thumbwheel can be adjustable according to the virtual thumbwheel
position. The
signals can be processed to produce a value, and the movement commands can be
based at
least in part on the value. The mobility device can optionally include at
least one drive
speed setting. The at least one drive speed setting can limit the speed of the
mobility
device. The value can be based at least in part on the at least one drive
speed setting. The
powered balancing mobility device can optionally include a thumbwheel position
processor.
The thumbwheel position processor can include a sampler that can sample the
signals and
save the virtual thumbwheel position for the drive speed setting. The sampler
can recover a
previous of the virtual thumbwheel position for the drive speed setting. The
position
processor can include a recorder that can record the sampled signals, and a
filter that can
filter the signals to determine a set of filtered signals. The filter can
determine a change in
the signals. The position processor can include an absolute position processor
that can
integrate the change in signals into the virtual thumbwheel position, and a
speed percent
processor that can calculate a speed percent based at least on the virtual
thumbwheel
position. The position processor can include a transmittor that can make the
speed percent
available for further processing. The thumbwheel position processor can
optionally include
storing the virtual thumbwheel position for the drive speed setting. The
filter can
optionally include a change in signals processor that can compute the change
in signals, a
threshold processor that can set the change in signals to zero if the change
in signals
exceeds a wrap threshold, and a weighted average processor that can compute a
weighted
average on the computed change in signals between a first sample of the
signals and a
second sample of the signals. The weighted average processor can calculate a
weighted
average of data stored in an historic buffer and can set the change in signals
equal to the
weighted average. The filter can include a deadband processor that can set the
change in
signals to zero, flag the change in signals as noise, and integrate the change
in signals into
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the virtual thumbwheel position if the change in signals does not exceed, or
is equal to, a
deadband. The deadband processor can set the change in signals to zero and
integrate the
change in signals into the virtual thumbwheel position if the change in
signals exceeds the
deadband and if the previous one of the samples was noise. The deadband
processor can
integrate the change in signals into the virtual thumbwheel position if the
change in signals
exceeds the deadband, and if the previous one of the samples was not noise.
The filter can
include an historical buffer processor that can add the change in signals to
the historic
buffer. The historical buffer processor can set the change in signals equal to
a maximum of
the previous samples and can add the change in signals to the historical
buffer if the change
in signals does not exceed the wrap threshold, and if the change in signals
exceeds the
maximum of the previous samples. The deadband optionally includes a threshold
filtering
noise signals. The filtered noise signals can be unlikely to constitute actual
movement of
the thumbwheel. The change in signals can optionally include the difference
between a
first sample of the signal and a second sample of the signal.
[0069] A
powered balancing mobility device of the present teachings can include, but is
not limited to including, a control device and a controlled device. The
controlled device can
include a plurality of redundant processors processing movement commands for
the
mobility device, each of the plurality of redundant processors receiving data
from the
control device, a second protocol relaying commands specific to the controlled
device from
the control device, and a first protocol supporting communications between the
control
device and the controlled device. The controlled device can be physically
remote from the
control device. The first protocol can transparently tunnel messages formatted
in the second
protocol and encapsulated within messages formatted according to the first
protocol for
transmission and reception. The mobility device can include a communication
message
manager that can identify first protocol messages and extract tunneled second
protocol
messages. The first protocol can optionally include a RIS protocol. The
control device can
optionally include a portable computer processor. The controlled device can
optionally
include a medical device. The control device can optionally include a virtual
joystick. The
second protocol can optionally include a SCA protocol.
[0070] The
quick-release system of the present teachings can enable a user to combine
the most important features in a seat with the most important features in a
chassis and
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wheels when selecting a mobility device. The seat can be engaged with base of
the mobility
device, and seats can be readily interchanged. The quick-release feature can
include a
pairing assembly comprising the pairing bracket in combination with the first
and second
mounts, pins related to the mounts. The two mounts can jointly function to
provide quick-
release. The quick-release assembly can include a rotating handle that can
lock in a pocket
of first mount can partially and subsequently completely release the seat. The
quick-release
assembly can include a first mount providing supplemental features that can
engage the
pairing bracket, for example, but not limited to, a catch that can capture a
part of the pairing
bracket when the mount pins perform complete engagement. The quick-release
feature can
include a pairing assembly that can allow rapid engaging and disengaging of a
seat to a
mobility device.
[0071] At least
two seat support brackets can mount to powerbase 21514 (FIG. 1) by
bolting to their corresponding lifting arm pivot in the front and stabilizer
link pivot in the
back. A seat mounting pin is bolted on to each seat support bracket in the
rear, facing
outwards. The seat support brackets and rear mounting pins stay attached to
the powerbase
and interface with the seat assembly as it is attached to and removed from the
powerbase.
Each of the 2 rear mounting pins interface with a seat mounted rear bracket.
The rear
brackets are each mounted to the seat by bolting to an outer component to
clamp across the
seat tubes and hold the bracket in place with friction. The seat mounted rear
brackets both
have a groove that accepts its corresponding pin when the seat is being placed
on. Once the
seat mounted rear bracket grooves are guided over the pins, the seat assembly
is constrained
to one degree of rotation. The seat assembly is then rotated forwards until
the alignment
features of the seat support brackets accept the corresponding alignment
features of two seat
mounted forward brackets. The front brackets are each mounted to the seat by
bolting to an
outer component to clamp across the seat tubes and hold the bracket in place
with friction.
With these features aligned and the seat assembly held in place by gravity,
the retractable
pins can be engaged. This is accomplished by pulling both retractable pin
handles out of
their locked position in resting grooves, and rotating them each approximately
180 degrees.
Each retractable pin handle can sit at a different position, causing each pin
to be inserted
into its corresponding hole in the seat support bracket. The seat assembly can
be reversed by
reversing the mounting procedure.
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[0072] The mobility device of the present teachings can include, but is
not limited to
including, a brake disk/motor coupling interface that can reduce chattering
while
maintaining a low sensitivity to brake position. The brake disk/motor coupling
can
maintain a low sensitivity to brake position. The tight clearance of the
interface of the
present teachings can allow the brake disk to use the motor coupling to define
a rotation
axis, which can allow the brake to be assembled without tight control of its
radial position,
because the brake disk and the brake assembly do not require perfect radial
alignment. The
shape of the motor coupling can allow the brake disk to be positioned anywhere
along its
length, which can remove the sensitivity of the brake disk/motor coupling to
axial position.
The brake disk/motor coupling assembly can transmit all of the available brake
torque, and
can restrain the brake disk rotational freedom under the no brake load
condition, and can
cushion the rotational impacts that occur between the two parts.
[0073] The method of the present teachings for reducing motor brake
noise, where the
motor brake includes a brake disk and a motor coupling, can include, but is
not limited to
including, manufacturing a compliant insert, providing a brake disk having
cavity including
a geometry compatible with the compliant insert, mounting the compliant insert
in the
cavity, and assembling the motor brake by sliding the motor coupling into the
compliant
insert. The compliant insert can optionally include an enclosed shape
including a first
surface and a second surface. The first surface can optionally include at
least one
protrusion. The first surface can optionally enable flush mounting of the
motor coupling
against the at least one protrusion. The second surface can optionally rest
within the cavity.
The second surface can optionally include a geometry compatible with the
cavity. At least
one retention clip can optionally be operably coupled with the enclosed shape.
The at least
one retention clip can supply pressure to the motor coupling. The second
surface can
optionally include a hexagonal shape. The first surface can optionally include
at least one
face including the at least one protrusion, and at least one face including
the at least one
retention clip.
[0074] The compliant insert of the present teachings for reducing motor
brake noise,
where the motor brake includes a brake disk and a motor coupling, can include,
but is not
limited to including, an enclosed shape including a first surface and a second
surface. The
first surface can include at least one protrusion, and the first surface can
enable flush
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mounting of the motor coupling against the at least one protrusion. The second
surface can
rest within the cavity, and the second surface can include a geometry that can
be compatible
with the cavity. The compliant insert can include at least one retention clip
that can be
operably coupled with the enclosed shape. The at least one retention clip can
supply
pressure to the motor coupling. The second surface can optionally include a
hexagonal
shape. The first surface can optionally include at least one face including
the at least one
protrusion, and at least one face including the at least one retention clip.
[0075] The
method for reducing motor brake noise, where the motor brake includes a
brake disk and a motor coupling, can include, but is not limited to including,
manufacturing
a motor coupling. The motor coupling can include a first surface and a second
surface. The
motor coupling can include at least one groove machined circumferentially into
the first
surface. The method can include fitting a gasket into the at least one
grooved, and
providing a brake disk having a cavity. The cavity can include a geometry
compatible with
the first surface. The method can include assembling the motor brake by
sliding the motor
coupling into the cavity adjacent to the gasket. The gasket can optionally
include an o-ring.
The first surface can optionally include a hexagonal shape.
[0076] The method of the present teachings for controlling a motor using
field
weakening can include, but is not limited to including, measuring system
parameters,
converting phase current and voltage to a stationary frame, converting the
stationary phase
current and voltage to a synchronous rotary frame, calculating the minimum and
maximum
quadrature and direction current commands from the measured motor parameters,
calculating the desire direct current, closing the loop on commanded motor
voltage,
commanded direct current, and command quadrature current, adjusting the
measured motor
angle, converting the direct and quadrature command voltage to the stationary
frame, and
converting the stationary command voltage to phase voltage commands.
[0077] The seat
of the present teachings can include a combination of features. A
first feature relates to the connection of the seat to a wheelchair base. The
connection can
consequently allow the user to remove and replace the seat from the wheelchair
base. A
second feature relates to a removable attendant handle that can allow the
wheelchair to
operate with or without an attendant handle. A third feature relates to
adjustability and
changeability of the seat backrest. In some configurations, the angle of the
seat backrest
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can be adjusted, and the seat backrest cushion, and the entire seat backrest,
can be removed
and replaced. The backrest can be selected based on a desired curvature. A
fourth feature
relates to the adjustability of the armrest positions. The armrests, mounted
between
coupling brackets, can be raised and lowered independently from one another
along a slide
between the coupling brackets, by the user, with a simple button depression. A
fifth feature
relates to the removability of the seat cushion structure and the seat cushion
itself. The seat
cushion structure can be selected based on a desired shape and comfort level.
A sixth
feature relates to the height and tilt angle adjustments of the footrest. A
seventh feature
relates to the transportability of the seat. The backrest can be hinged and
can be folded
upon the seat cushion, and the footrest can be hinged and can be folded
towards the footrest
post. When the backrest is folded towards the seat cushion, the armrests can
fold flush with
the backrest. A single footrest can accommodate both feet.
[0078] The method of the present teachings for assembling a seat for a
mobility
device, where the seat includes a footrest, a bracket, at least one arm, a
seat shell, and a
backrest, the method can include, but is not limited to including, pivotally
connecting the
footrest to a rod. The rod can include a rod first end and a rod second end.
The footrest can
include a first pivot means at the connection between the footrest and the rod
first end. The
method can include sliding, to adjust the footrest to a desired height, the
rod second end into
a receiving port of a hollow tube. The hollow tube can include a connection
port, and the
connection port can include shock absorbing features. The method can include
pivotally
connecting the connection port to the bracket. The bracket can include seat
shell connection
features, and at least one mobility device motor connection feature. The
method can
include operably connecting the seat shell to the seat shell connection
features and bracket,
and pivotally connecting the backrest to the bracket. The backrest can include
a third pivot
means, that can be enabled by a spring-loaded latch. The method can include
operably
connecting at least one armrest mount to the bracket. The at least one armrest
mount can
include a height adjustment means. The method can include pivotally connecting
the at
least one arm to the at least one armrest mount. The bracket can optionally
include an
aluminum alloy. The method can optionally include operably connecting a seat
cushion to
the seat shell. The height adjustment means can optionally include a push
button actuation
mounted on the at least one armrest mount. The footrest can optionally include
an
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accommodation for two feet. The first pivot means can optionally include a
thumbscrew.
The second pivot means can optionally include a multipositional clamping
means. The at
least one mobility device connection feature can optionally include at least
one bracket
extension. The backrest can optionally include a backrest angle adjustment
means, and the
backrest angle adjustment means can optionally include a tension knob. The
connection
port can optionally include the second pivot means.
[0079] The
method of the present teachings for transporting a seat of a mobility device,
where the seat can include a footrest operably coupled with to a seat bracket,
and the seat
bracket can be operably coupled with a tube holder bracket. The tube holder
bracket can be
operably coupled with at least one armrest and a frame bracket, and the frame
bracket can
be operably coupled with a backrest. The method can include, but is not
limited to
including, pivoting the footrest towards a rod connected to the footrest until
the footrest is
approximately flush with the rod. The rod can include a rod first end and a
rod second end,
and the footrest can include a first pivot means at the connection between the
footrest and
the rod first end. The method can include sliding the rod second end into a
receiving port of
a hollow tube. The hollow tube can include a connection port, and the
connection port can
be operably coupled with the seat bracket. The method can include pivoting the
backrest
towards the seat bracket at a second pivot means. The second pivot means can
be enabled
by a spring-loaded latch. The method can include pivoting the at least one
armrest towards
the backrest. The method can include reducing the height of the at least one
arm rest mount
by adjusting a height adjustment means, and pivoting the at least one arm
towards the at
least one arm rest mount until the at least one arm is flush with the at least
one arm rest
mount.
[0080] The
seat for a mobility device of the present teachings can include, but is not
limited to including, a footrest pivotally connected to a footrest rod. The
footrest rod can
include a rod first end and a rod second end, and a first pivot means at the
connection
between the footrest and the rod first end. The rod second end can be operably
coupled
with a receiving port of a hollow tube, and the hollow tube can include a
connection port.
The connection port can be pivotally connected a seat bracket. The seat
bracket can include
seat shell connection features, and at least one mobility device motor
connection feature.
The seat shell can be operably connected to the seat shell connection features
and bracket,
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and can pivotally connect a backrest to the bracket. The backrest can include
a second pivot
means that can be enabled by a spring-loaded latch. At least one armrest mount
can be
pivotally connected the to the bracket. The at least one armrest mount can
include a height
adjustment means. The at least one arm can be pivotally connected to the at
least one
armrest mount. The bracket can optionally include aluminum alloy. A seat
cushion can
optionally be operably connected to the seat shell. The height adjustment
means can
optionally include a push button actuation mounted on the at least one armrest
mount. The
footrest can optionally include an accommodation for two feet. The first pivot
means can
optionally include a thumbscrew. The second pivot means can optionally include
a
multipositional clamping means. The at least one mobility device connection
feature can
optionally include at least one bracket extension. The backrest can optionally
include a
backrest angle adjustment means, and the backrest angle adjustment means can
optionally
include a tension knob. The connection port can optionally include the second
pivot means.
[0081] The
locking mechanism of the present teachings for adjusting a length of a
handle projecting from a portable device, where the handle includes a user-
operable portion
and a rail portion exposed to the locking mechanism, and the rail portion
travels along rail
slots occupying a portion of the portable device, where the locking mechanism
can include,
but is not limited to including, a user-operable segment. The user-operable
segment can be
disposed externally to the portable device and can advance a user operation to
a plurality of
inter-operable components of the locking mechanism. The user-operable segment
can
include, but is not limited to including, a latch with a flange portion. The
latch can be
switched from a locked position to an unlocked position and can cause a motion
of the
flange. The flange can serve as an intermediate component between the latch
and the inter-
operable components of the locking mechanism. The inter-operable components
can
include, but are not limited to including, a first stopper operably engaged
with one of the
rails of the rail portion. The first stopper can operate on at least one of
the rails occupying
the corresponding rail slot. The inter-operable components can include a
second stopper
that can engage with a second of the rails in the rail portion when the second
of the rails is
occupying a second corresponding rail slot. The inter-operable components can
include a
central beam in contact with the flange in receiving the user-operation and
controlling the
first and second stopper. The central beam can include, but is not limited to
including, a
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focal point on one end and a flexible joint on the other end. At least one
first side beam can
include, but is not limited to including, a first end and a second end. The at
least one first
side beam can engage with the central beam on the focal point and can engage
with the first
stopper on the second end. The at least one second side beam can include, but
is not
limited to including, a first end and a second end. The at least one second
side beam can
engage with the central beam on the focal point and with the second stopper on
the second
end. When the latch is in the locked position, the first and second stopper
can restrain
movement of the rail portion along the rail slots. When the latch is in the
unlocked position
the first and second stopper can decouple from the rails, and allow the rails
to travel in the
rail slots.
[0082] An
adjustable mount of the present teachings for supporting a user control
assembly, where the user control assembly can control a mobility device, the
mount can
include, but is not limited to including, a platform supporting the user
control assembly, and
a bar including a proximal end, a distal end and a central region there
between. The bar
can be operably coupled with the platform at the distal end. The mount can
include a
pivoting assembly operably coupled with the proximal end. The pivoting
assembly can
include, but is not limited to including, at least one bracket that can engage
the user control
mount with an armrest of the mobility device. The bracket can include, but is
not limited to
including, a roller facing away from the bar. The mount can include a housing
fastened to
the at least one bracket. The housing can include, but is not limited to
including, a
receptacle. The mount can include a rotary structure that can include, but is
not limited to
including, a protrusion segment and an elongated segment. The rotary structure
can
operably couple with the bracket and the housing. The receptacle can movably
receive the
protrusion segment. The elongated segment can operably couple with the
proximal end of
the bar. The roller can receive the rotary structure, and a pre-determined
radial fit can be
achieved there between. The mount can include a locking assembly occupying the
central
region of the bar. The locking assembly can include, but is not limited to
including, a lever
portion and a barb portion. The lever portion and the barb portion can jointly
engagd the
bar of the user control assembly mount. When the bar is displaced, the
platform is
displaced.
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[0083] The pivotable mount assembly for a mobility device of the
present teachings
can include, but is not limited to including, a platform to engage a user-
operable
component, and a shaft having a distal end and a proximal end. The distal end
can operably
couple with the platform, and the platform can operably couple with an armrest
of the
mobility device through the proximal end. The assembly can include a rotary
structure that
can operably couple with the proximal end. The rotary structure can enable the
shaft to
pivot with respect to the armrest. The rotary structure can include, but is
not limited to
including, a brace that can operably couple with the armrest. The brace can
include, but is
not limited to including, an axle facing away from the shaft. The assembly can
include a
receiver that can operably couple with the brace. The receiver can include,
but is not
limited to including, a pocket. The assembly can include a roller that can
include, but is not
limited to including, a projection and an elongation. The roller can operably
couple with
the brace by receiving the axle into a roller space. The roller can pivot
around the axle, and
the pivoting can be constrained by the projection in the pocket. The roller
can operably
couple with the shaft through the elongation. The assembly can include a lock
assembly
that can include, but is not limited to including, a clasp that can include,
but is not limited to
including, a handle portion and a spike portion. The operation of the handle
portion can
cause the spike portion to trap into or release the shaft from the clasp.
[0084] The method of the present teachings for adjustably mounting a
user-operable
device to a mobility device can include, but is not limited to including,
engaging a brace
piece with an armrest of the mobility device. The brace piece can include, but
is not limited
to including, at least one roller projecting away from the brace piece. The
method can
include providing a bar having a proximal end, a distal end, and a central
region. The
central region can operably couple the proximal end and the distal end. The
proximal end,
the distal end, and the central region can cooperate to telescopically adjust
a length of the
bar. The method can include coupling a support platform with the distal end.
The support
platform can retain the user-operable device therewith. The method can include
coupling a
pivoting assembly with the proximal end. The pivoting assembly can operably
couple the
bar with the armrest by coupling the bar with the brace piece. The method can
include
providing a locking mechanism that can operably couple with the central region
of the bar.
The locking mechanism can be operated by a user to engage the bar with and
disengage the
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bar from the armrest. The method can optionally include receiving a housing on
the brace
piece. The housing can at least partially occupy the brace piece.
[0085] The
method of the present teachings for assembling a mount for engaging a
user-operable device therewith, where the mount can operably couple with a
seating device
providing an armrest, the method can include, but is not limited to including,
providing a
shaft with a first end and a second end. The first end and the second end can
define a
central region there between. The method can include operably coupling a
support platform
to the first end. The support platform can engage the user-operable device.
The method
can include providing a pivoting assembly on the second end. The pivoting
assembly can
include, but is not limited to including, a rotary structure having a
projection and an
elongation. The projection can oppose the elongation, and the rotary structure
can include,
but is not limited to including, a roller space. The roller space can receive
a complementing
component from the armrest. The roller space can pivotally engage the shaft
with the
armrest.
[0086] The seat assembly of the present teachings for a mobility device,
where the seat
can include, but is not limited to including, a backrest, a seat pan, and an
armrest, and the
seat assembly can include, but is not limited to including, a back frame
bracket enabling
coupling with the backrest, a tube holder bracket enabling coupling with the
seatpan, an
armrest bracket enabling coupling with the armrest, and a cane. The cane can
be
surrounded by the armrest bracket, and can enable adjustment of the armrest
bracket. The
cane can enable coupling between the back frame bracket and the tube holder
bracket. The
armrest bracket can optionally include a cane cavity receiving the cane. The
cane can
include a plurality of set cavities. The armrest bracket can optionally
include at least one
fastener cavity, and an armrest geometry that can accommodate bracket geometry
in the
armrest. The armrest geometry and the bracket geometry can enable movement of
the
armrest. The cane can optionally include at least one channel surrounding the
plurality of
set cavities, and the armrest bracket can optionally include cane geometry
complementing
the at least one channel. The cane geometry can enable alignment between at
least one of
the plurality of set cavities and the at least one fastener cavity. The seat
assembly can
optionally include an armrest height adjustment button, a button slide
including a straight
edge interrupted by a divot, and a button transition rod achieving aligned
coupling with the
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button slide. The button transition rod can operably couple the height
adjustment button
with the button slide. The seat assembly can optionally include a lock pin
having a first end
and a second end. The first end can be in contact with the straight edge of
the button slide
when there is no pressure on the height adjustment button, and the first end
being in contact
with the divot when there is pressure on the height adjustment button. The
second end can
be captured in one of the plurality of set cavities when the first end is in
contact with the
straight edge of the button slide, and the second end being in contact with
one of the at least
one cane channels when the first end is in contact with the divot.
[0087] The seat assembly of the present teachings for a mobility device,
where the seat
can include, but is not limited to including, a backrest assembly, a seat pan,
an armrest, and
an attendant handle, and the seat assembly can include, but is not limited to
including, a
back frame bracket enabling coupling with the backrest. The back frame bracket
can
include an attendant handle operating mechanism that can enable movement of
the attendant
handle. The seat assembly can include a tube holder bracket enabling coupling
with the
seatpan, an armrest bracket enabling coupling with the armrest, and a cane.
The cane can
be surrounded by the armrest bracket, and can enable adjustment of the armrest
bracket.
The cane can enable coupling between the back frame bracket and the tube
holder bracket.
The attendant handle operating mechanism can optionally include at least one
attendant
handle stopper in contact with the attendant handle, and a first beam that can
have a first
beam first end and a first beam second end. The first beam second end can be
movably
coupled with one of the at least one attendant handle stoppers. The attendant
handle
operating mechanism can optionally include a second beam that can have a
second beam
first end and a second beam second end. The second beam second end can be
movably
coupled with one of the at least one attendant handle stoppers. The attendant
handle
operating mechanism can optionally include a central beam that can have a
central beam
first end and a central beam second end. The central beam first end can
movably couple the
first beam first end and the second beam first end. The movement of the
attendant handle
can be based at least on movement of the central beam. The seat assembly can
optionally
include a latch that can be operably coupled with the central beam second end.
The latch
can be disengaged from the central beam second end which can enable movement
of the
attendant handle. The latch being engaged with the central beam second end
which can
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disable movement of the attendant handle. The backrest further can optionally
include a
frame housing the attendant handle operating mechanism. The backrest can
optionally
include a plate between the attendant handle operating mechanism and a
backrest cushion.
BRIEF DESCRIPTION OF THE DRAWINGS
[0088] The present teachings will be more readily understood by reference
to the
following description, taken with the accompanying drawings, in which:
[0089] FIG. 1A is a perspective schematic diagram of a front views the
mobility device
base of the present teachings;
[0090] FIG. 1B is a perspective schematic diagram of side views the
wheelchair base of
the present teachings;
[0091] FIG. 1C is a perspective schematic diagram of the wheelchair base of
the present
teachings including batteries;
[0092] FIG. 1D is a perspective schematic diagram of the wheelchair base of
the present
teachings illustrating removable batteries;
[0093] FIG. 1E is a perspective schematic diagram of an exploded side view
of the
battery pack of the present teachings;
[0094] FIG. 1F is a perspective schematic diagram of the gearbox of the
present
teachings;
[0095] FIG. 1G is a perspective diagram of the e-box lid of the present
teachings;
[0096] FIG. 1H is a perspective diagram of the top cap of the present
teachings;
[0097] FIGs. II and 1J are perspective schematic diagrams of the sections
of the gearbox
of the present teachings;
[0098] FIG. 1J-1 is a detailed perspective view of the spring pins of the
present
teachings;
[0099] FIG. 1K is a cross section diagram of the sector gear cross shaft of
the present
teachings;
[00100] FIG. 1L is a plan diagram of the sealing bead location of the present
teachings;
[00101] FIG. 1M is a perspective schematic diagram of the oil port of the
gearbox of the
present teachings;
[00102] FIG. 1N is a perspective schematic diagram of the drive lock kingpin
of the
present teachings;
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[00103] FIG. 10 is a perspective schematic diagram of the rear securement loop
of the
present teachings;
[00104] FIGs. 1P, 1Q, and 1R are perspective schematic diagrams of the skid
plate and
drive lock kingpin of the present teachings;
[00105] FIG. 2A is a perspective diagram of the gears within the gearbox of
the present
teachings;
[00106] FIGs. 2B-2E are perspective diagrams and plan views of the detail of
the gears
and cluster cross shaft of the present teachings;
[00107] FIG. 2F is a perspective diagram of the cluster cross shaft and the
sector gear
cross shaft of the present teachings;
[00108] FIG. 2G is a perspective diagram of detail of the gears and the sector
gear cross
shaft of the present teachings;
[00109] FIG. 2H is a perspective diagram of detail of the gears and pinion
height actuator
stage 1 of the present teachings;
[00110] FIGs. 21 and 2J are plan views of detail of the gears and pinion
height actuator
stage 1 of the present teachings;
[00111] FIG. 2K is a perspective diagram of the gears and cluster cross shaft
of the
present teachings;
[00112] FIG. 2L is a perspective diagram of the pinion-gear height actuator
stage 2 pinion
with retaining ring of the present teachings;
[00113] FIG. 2M is a perspective diagram of the shaft pinion cluster rotation
stage 1 with
inner ring of the present teachings;
[00114] FIG. 2N is a perspective diagram of the pinion height actuator shaft
stage 1 of the
present teachings;
[00115] FIGs. 20 and 2P are perspective diagrams of the cluster rotate pinion-
gear stage 2
pinion of the present teachings;
[00116] FIG. 2Q is a perspective diagram of the cluster rotate pinion-gear
stage 3 pinion
of the present teachings;
[00117] FIG. 2R is a perspective diagram of the cluster rotate gear-pinion
cross-shaft
stage 3 of the present teachings;
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[00118] FIG. 2S is a perspective diagram of the sector gear cross shaft of the
present
teachings;
[00119] FIG. 2T is a perspective diagram of the pinion-gear height actuator
stage 3 pinion
of the present teachings;
[00120] FIG. 2U is a perspective diagram of the pinion-gear height actuator
stage 4 of the
present teachings;
[00121] FIG. 2V is a perspective diagram of the second configuration of the
pinion-gear
height actuator stage 4 of the present teachings;
[00122] FIG. 3A is a perspective diagram of the motors and sector gear cross
shaft of the
present teachings;
[00123] FIG. 3B is a perspective diagram of the cluster and seat position
sensor of the
present teachings;
[00124] FIG. 3C is a perspective diagram of the motors and sensors of the
present
teachings;
[00125] FIG. 3D is a perspective diagram of the seat/cluster motor of the
present
teachings;
[00126] FIG. 3E is an exploded perspective diagram of the seat/cluster motor
of the
present teachings;
[00127] FIG. 3F is a perspective diagram of the wheel motor of the present
teachings;
[00128] FIG. 3G is an exploded perspective diagram of the wheel motor of the
present
teachings;
[00129] FIG. 3H is a perspective diagram of the brake without brake lever of
the present
teachings;
[00130] FIG. 31 is a perspective diagram of the brake with brake lever of the
present
teachings;
[00131] FIG. 31-1 is an exploded perspective diagram of an exemplary
mobility device
base including motor and brake examples;
[00132] FIG. 31-2 is a perspective diagram of an exemplary motor brake;
[00133] FIG. 31-3 is a perspective diagram of a motor brake with the
insert of the
present teachings;
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[00134] FIG. 31-4 is an exploded perspective diagram of a motor brake with
the insert of
the present teachings;
[00135] FIG. 31-5 is a perspective diagram of a motor coupling, disk, and
insert of the
present teachings;
[00136] FIG. 31-6 is a perspective diagram of the insert of the present
teachings;
[00137] FIG. 31-7 shows front, side, and perspective schematic diagrams of
the insert of
the present teachings;
[00138] FIG. 31-8 shows front, side, and perspective schematic diagrams of
the second
configuration of the insert of the present teachings;
[00139] FIG. 31-9 is a perspective diagram of a motor brake with grooved
motor
coupling of the present teachings;
[00140] FIG. 31-10 is an exploded perspective diagram of a motor brake
with grooved
motor coupling of the present teachings;
[00141] FIG. 31-11 is a perspective diagram of the grooved motor coupling
and o-rings
of the present teachings;
[00142] FIG. 31-12 is a perspective detailed diagram of grooves and o-
rings of the
present teachings;
[00143] FIG. 31-13 is a perspective detailed diagram of the o-ring
protrusion of the
present teachings;
[00144] FIG. 3J is a perspective diagram of the mating notch on the gear clamp
of the
present teachings;
[00145] FIG. 3K is a perspective diagram of the seat position sensor gear
teeth clamp with
mating notch of the present teachings;
[00146] FIG. 3K-1 is a perspective diagram of a second configuration of the
seat position
sensor gear teeth clamp with mating notch of the present teachings;
[00147] FIG. 3L is a perspective diagram of the mating notch of the seat
position sensor
of the present teachings;
[00148] FIG. 3M is an exploded perspective diagram of the seat position sensor
of the
present teachings;
[00149] FIG. 3N is a plan view of the seat position sensor of the present
teachings;
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[00150] FIG. 30 is an exploded perspective diagram of the cluster position
sensor of the
present teachings;
[00151] FIG. 3P is a plan view of the cluster position sensor of the present
teachings;
[00152] FIG. 4 is a perspective diagram of the caster arm of the caster of the
present
teachings;
[00153] FIG. 5A is a perspective diagram of the linkage arms and seat support
structure of
the gearbox of the present teachings;
[00154] FIG. 5B is a perspective diagram of the connective features of the
seat support
structure of the present teachings;
[00155] FIG. 5C is a perspective diagram of the seat height linkage stabilizer
link of the
present teachings;
[00156] FIG. 5D is a perspective diagram of a first view of the seat height
linkage lift arm
of the present teachings;
[00157] FIG. 5E is a perspective diagram of a second view of the seat height
linkage lift
arm of the present teachings;
[00158] FIGs. 5F-5H are pictorial representations of a release mechanism
between seat
rails and base of a mobility device;
[00159] FIG. 51 is a bottom right-side perspective view depicting seat
rail/s captured by
an exemplary pairing assembly;
[00160] FIGs. 5J-5M are right-side perspective views depicting engagement
and
disengagement of seat rail with exemplary pairing assembly;
[00161] FIGs. 5N and 50 are right side detailed perspective views
depicting alignment
before engagement of first and second mounts with exemplary pairing bracket;
[00162] FIGs. 5P and 5Q are right side detailed views depicting engagement
of first and
second mounts with exemplary pairing bracket;
[00163] FIGs. 5R and 5S are perspective views of the attachment mechanism
between
the seat bracket of the present teachings and a seat;
[00164] FIG. 6A is a perspective diagram of a the cluster assembly of the
present
teachings;
[00165] FIG. 6B is a perspective diagram of the cluster motor assembly of the
present
teachings;
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[00166] FIG. 6B-1 is an exploded perspective diagram of the second
configuration of the
cluster motor assembly of the present teachings;
[00167] FIG. 6C is a perspective diagram of the cluster motor assembly with
splines of
the present teachings;
[00168] FIG. 6D is a perspective diagram of the gear-pinion cluster rotate
stage 3 cross
shaft and pinion shaft cluster rotate stage 4 of the present teachings;
[00169] FIG. 6E is a perspective diagram of views of the pinion shaft cluster
rotate stage 4
and cluster position sensor tooth cluster cross shaft gear of the present
teachings;
[00170] FIG. 6F is a perspective diagram of the gear-pinion cluster rotate
stage 3 cross
shaft of the present teachings;
[00171] FIG. 6G is a cross section perspective diagram of the cross shaft
cluster rotate of
the present teachings;
[00172] FIG. 6H is a perspective diagram of the cluster plate interface of the
present
teachings;
[00173] FIG. 61 is a perspective diagram of the second configuration cluster
plate
interface of the present teachings;
[00174] FIG. 6J is a perspective diagram of the ring gear of the present
teachings;
[00175] FIG. 6K is a perspective diagram of the cluster housings and gears of
the present
teachings;
[00176] FIG. 6L is a perspective diagram of the wheel drive intermediate stage
of the
present teachings;
[00177] FIG. 6M is a plan view of the cluster housing of the present teachings
including a
sealing bead;
[00178] FIG. 7A is a perspective diagram of the tire of the present teachings;
[00179] FIG. 7B is a perspective diagram of the tire assembly of the present
teachings;
[00180] FIGs. 7B-1 and 7B-2 are exploded perspective diagrams of the second
configuration of the tire assembly of the present teachings;
[00181] FIG. 7C is a perspective diagram of the dual tire assembly of the
present
teachings;
[00182] FIG. 7D is a perspective diagram of the tire of the present teachings;
[00183] FIG. 7E is a perspective diagram of the wheel of the present
teachings;
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[00184] FIG. 7F is a perspective diagram of the attachment base of the present
teachings;
[00185] FIG. 7G is a perspective diagram of the inner split rim of the present
teachings;
[00186] FIG. 7H is a perspective diagram of the hubcap of the present
teachings;
[00187] FIG. 71 is a perspective diagram of the locking pin spring of the
present
teachings;
[00188] FIG. 7J is a perspective diagram of the fastener housing of the
present teachings;
[00189] FIG. 7K is a perspective diagram of the locking pin of the present
teachings;
[00190] FIG. 7L is a perspective cross section diagram of the dual tire
assembly with
locking pin partially inserted;
[00191] FIG. 7M is a perspective cross section diagram of the dual tire
assembly with
locking pin fully inserted;
[00192] FIG. 8 is a pictorial representation of a configuration of the
positioning of sensors
of the mobility device of the present teachings;
[00193] FIG. 9A is a perspective diagram of an exploded view of the manual
brake
assembly of the present teachings;
[00194] FIG. 9A-1 is a perspective diagram of the second configuration of the
manual
brake assembly of the present teachings;
[00195] FIG. 9B is a perspective diagram of the damper of the manual brake
assembly of
the present teachings;
[00196] FIG. 9C is a perspective diagram of the damper in motion of the manual
brake
assembly of the present teachings;
[00197] FIG. 9D is a perspective diagram of the manual brake release shaft of
the present
teachings;
[00198] FIG. 9E is a perspective diagram of the manual brake release bracket
of the
present teachings;
[00199] FIG. 9F is a perspective diagram of the manual brake release pivot
interface of
the present teachings;
[00200] FIG. 9G is a perspective diagram of the manual brake release spring
arm of the
present teachings;
[00201] FIG. 9H is a perspective diagram of the manual brake release shaft arm
of the
present teachings;
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[00202] FIG. 91 is a perspective diagram of the brake release lever of the
present
teachings;
[00203] FIG. 9J is a perspective diagram of the manual brake release assembly
of the
present teachings;
[00204] FIG. 9K is a perspective diagram of the manual brake lever hard travel
of the
present teachings;
[00205] FIG. 9L is an exploded perspective diagram of the manual brake lever
travel stop
of the present teachings;
[00206] FIG. 9M is an exploded perspective diagram of the manual brake lever
travel stop
of the present teachings;
[00207] FIG. 9N is an exploded plan view of the manual brake lever travel stop
of the
present teachings;
[00208] FIG. 10A is a perspective diagram of the cable ports of the present
teachings;
[00209] FIG. 10B is an exploded perspective diagram of the harnesses of the
present
teachings;
[00210] FIG. 10C is a perspective diagram of the UC port harness of the
present
teachings;
[00211] FIG. 10D is a perspective diagram of the charge input port harness of
the present
teachings;
[00212] FIG. 10E is a perspective diagram of the accessory port harness of the
present
teachings;
[00213] FIGs. 11A-11D are schematic block diagrams of various wiring
configurations of
the present teachings;
[00214] FIG. 11E is a perspective diagram of the power off request switch of
the present
teachings;
[00215] FIGs. 12A and 12B are perspective diagrams of the first configuration
of the UC
of the present teachings;
[00216] FIGs. 12C and 12D are perspective diagrams of the second configuration
of the
UC of the present teachings;
[00217] FIGs. 12E and 12F are perspective diagrams of the third configuration
of the UC
of the present teachings;
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[00218] FIG. 12G is a perspective diagram of the forward-facing components of
the
second configuration of the UC of the present teachings;
[00219] FIG. 12H is a perspective diagram of the joystick of the UC of the
present
teachings;
[00220] FIGs. 121, 12J, and 12K are exploded perspective diagrams of the first
configuration of the UC of the present teachings;
[00221] FIGs. 12L and 12M are perspective diagrams of the upper and lower
housings of
the first configuration of the UC of the present teachings;
[00222] FIG. 12N is an exploded perspective diagram of the thumbwheel
components of
the lower housing of the third configuration of the UC of the present
teachings;
[00223] FIG. 120 is a cross section diagram of the thumbwheel sensor
environmental
isolation of the lower housing of the third configuration of the UC of the
present teachings;
[00224] FIG. 12P is a perspective diagram of the display coverglass of the UC
of the
present teachings;
[00225] FIG. 12Q is a perspective diagram of the joystick backer ring of the
UC of the
present teachings;
[00226] FIG. 12R is a perspective diagram of the toggle housing of the UC of
the present
teachings;
[00227] FIGs. 12S and 12T are perspective diagrams of the toggle housing of
the UC of
the present teachings;
[00228] FIGs. 12U and 12V are perspective diagrams of the undercap of the UC
of the
present teachings;
[00229] FIGs. 12W and 12X are cross section and exploded perspective diagrams
of the
EMI suppression ferrite of the UC of the present teachings;
[00230] FIG. 12Y is a perspective diagram of the UC mounting device of the
present
teachings;
[00231] FIG. 12Y-1 is a perspective diagram of the cleated mounting mechanism
of the
present teachings;
[00232] FIG. 12Y-2 is a perspective diagram of the power charging receiver
bracket
mounting mechanism of the present teachings;
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[00233] FIG. 12Z is a perspective diagram of the mounting cleat of the UC of
the present
teachings;
[00234] FIG. 12AA is a perspective diagram of the grommet of the UC of the
present
teachings;
[00235] FIGs. 12BB and 12CC are perspective diagrams of the button assembly of
the UC
of the present teachings;
[00236] FIGs. 12DD and 12EE are perspective diagrams of the toggle module of
the UC
of the present teachings;
[00237] FIGs. 12FF through 12FF-3 are perspective diagrams of the toggles
optional
configuration of the present teachings;
[00238] FIGs. 12GG and 12GG-1 are perspective diagrams of the toggles with an
integral
UC connection of the present teachings;
[00239] FIGs. 12HH through 12HH-2 are perspective diagrams of the cap back
clamp
configuration of the present teachings;
[00240] FIGs. 1211 through 1211-2 are perspective diagrams of the tooless
screw mounting
configuration of the present teachings;
[00241] FIGs. 12JJ and 12JJ-1 are perspective diagrams of the UC/clamp post
configuration of the present teachings;
[00242] FIGs. 12KK through 12KK-6 are perspective diagrams of the cap latch
configuration of the present teachings;
[00243] FIGs. 12LL through 12LL-5 are perspective diagrams of the UC top plate
configuration of the present teachings;
[00244] FIGs. 12MM through 12MM-3 are perspective diagrams of the
undercapconfiguration of the present teachings;
[00245] FIGs. 12NN through 12NN-9 are perspective diagrams of a second toggles
optional configuration of the present teachings;
[00246] FIGs. 13A and 13B are perspective diagrams of the fourth configuration
the UC
of the present teachings;
[00247] FIG. 13C is a perspective diagram of the UC assist holder of the UC of
the
present teachings;
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[00248] FIG. 13D is a perspective diagram of the tabbed binding mechanism of
the UC of
the present teachings;
[00249] FIG. 13E is a perspective diagram of the tab lock mounting mechanism
of the UC
of the present teachings;
[00250] FIG. 13F is a perspective diagram of the shaped mounting base of the
UC of the
present teachings;
[00251] FIG. 13G is a perspective diagram of the second configuration of the
tabbed
mounting mechanism of the UC of the present teachings;
[00252] FIG. 13H is a perspective diagram of the flanged mounting mechanism of
the UC
of the present teachings;
[00253] FIG. 131 is a perspective diagram of the retention cam mounting
mechanism of
the UC of the present teachings;
[00254] FIG. 13J is a perspective diagram of the flange/faceted mounting
mechanism of
the UC of the present teachings;
[00255] FIG. 13K is a perspective diagram of the receiving bracket/tubing
clamp
mounting mechanism of the UC of the present teachings;
[00256] FIGs. 13K-1 and 13K-2 are cross-section diagrams of the ring/lock
mounting
mechanism of the UC of the present teachings;
[00257] FIG. 13L is a perspective diagram of the grooved flange mounting
mechanism of
the UC of the present teachings;
[00258] FIG. 14A is a perspective diagram of the UC circuit board of the UC of
the
present teachings;
[00259] FIGs. 14B and 14C are schematic block diagrams of the layout of the UC
circuit
board of the UC of the present teachings;
[00260] FIGs. 14D-14E are flowcharts of the method for thumbwheel processing
of the
present teachings;
[00261] FIG. 14F is a schematic block diagram of the system for thumbwheel
processing
of the present teachings;
[00262] FIG. 15A is a perspective diagram of the electronics component boards
of the
present teachings;
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[00263] FIG. 15B is an exploded perspective diagram of the circuit boards of
the present
teachings;
[00264] FIGs. 15C-15D are perspective diagrams of the IMU assembly of the
present
teachings;
[00265] FIG. 15E is a perspective diagram of a first view of the IMU board and
the EMF
shield of the present teachings;
[00266] FIG. 15F is a perspective diagram of a second view of the IMU board
and the
EMF shield of the present teachings;
[00267] FIG. 15G is a perspective diagram of the first configuration of the
power source
controller board of the present teachings;
[00268] FIG. 15H is a perspective diagram of the second configuration of the
power
source controller board of the present teachings;
[00269] FIGs. 15I-15J are schematic block diagrams of the power source
controller board
of the present teachings;
[00270] FIG. 15K is a state diagram of the states of the user controller of
the present
teachings;
[00271] FIG. 16A is a schematic block diagram of an overview of the system of
the
present teachings;
[00272] FIG. 16B is a schematic block diagram of the electronic components of
the
mobility device of the present teachings;
[00273] FIG. 17A is a schematic block diagram of a powerbase controller of the
present
teachings;
[00274] FIGs. 17B-17C are message flow diagrams of the powerbase controller of
the
present teachings;
[00275] FIGs. 18A-18D are schematic block diagrams of the processors of the
present
teachings;
[00276] FIG. 19A is a schematic block diagram of the inertial measurement unit
filter of
the present teachings;
[00277] FIG. 19B is a flowchart of the method of the present teachings for
filtering gyro
and acceleration data;
[00278] FIG. 20 is a flowchart of the method of the present teachings for
field weakening;
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[00279] FIG. 20-1 is a graphical representation of the locus of allowed
limits referenced
during the field weakening calculation of the present teachings.
[00280] FIG. 21A is a schematic block diagram of the voting processor of the
present
teachings;
[00281] FIGs. 21B and 21C are flowcharts of the method of the present
teachings for 4-
way voting;
[00282] FIGs. 21D and 21G are tabular representations of voting examples of
the present
teachings;
[00283] FIGs. 21H-1 and 21H-2 are flowcharts of the second configuration of
the voting
process of the present teachings;
[00284] FIG. 22A is a schematic block diagram of allowed mode transitions in
one
configuration of the present teachings;
[00285] FIG. 22A-1 is a pictorial representation of the center of gravity with
respect to the
wheelchair of the present teachings;
[00286] FIGs. 22B-22D are schematic block diagrams of the control structure
with respect
to modes of the system of the present teachings;
[00287] FIGs. 23A-23K are flow diagrams of the operational use of the mobility
device of
the present teachings;
[00288] FIGs. 23L-23X are flow diagrams of a second configuration of the
operational
use of the mobility device of the present teachings;
[00289] FIGs. 23Y-23KK are flow diagrams of a third configuration of the
operational
use of the mobility device of the present teachings;
[00290] FIGs. 23LL-23VV are flow diagrams of a fourth configuration of the
operational
use of the mobility device of the present teachings;
[00291] FIGs. 24A and 24B are representations of the graphical user interface
of the home
screen display of the present teachings;
[00292] FIGs. 24C and 24D are representations of the graphical user interface
of the main
menu display of the present teachings;
[00293] FIGs. 24E-24H are representations of the graphical user interface of
the selection
screen display of the present teachings;
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[00294] FIGs. 241 and 24J are representations of the graphical user interface
of the
transition screen display of the present teachings;
[00295] FIGs. 24K and 24L are representations of the graphical user interface
of the
forced power off display of the present teachings;
[00296] FIGs. 24M and 24N are representations of the CG fit screen of the
present
teachings;
[00297] FIG. 25A is a schematic block diagram of the components of the speed
processor
of the present teachings;
[00298] FIG. 25B is a flowchart of the method of speed processing of the
present
teachings;
[00299] FIG. 25C is a graph of the manual interface response template of the
present
teachings;
[00300] FIGs. 25D, 25D-1, 25D-2, and 25D-3 are graphs of interface responses
of the
present teachings based on speed categories;
[00301] FIGs. 25E and 25F are graphical representations of joystick control
profiles of the
present teachings;
[00302] FIG. 25G is a schematic block diagram of the components of the
adaptive speed
control processor of the present teachings;
[00303] FIG. 25H is a flowchart of the method of adaptive speed processing of
the present
teachings;
[00304] FIGs. 25I-25K are pictorial descriptions of exemplary uses of the
adaptive speed
control of the present teachings;
[00305] FIG. 26A is a schematic block diagram of the components of the
traction control
processor of the present teachings;
[00306] FIG. 26B is a flowchart of the method of traction control processing
of the
present teachings;
[00307] FIG. 27A is a pictorial representation of a comparison of a mobility
device of the
present teachings tipping versus a mobility device of the present teachings
traversing an
incline;
[00308] FIG. 27B is a flowchart of the method of anti-tipping processing of
the present
teachings;
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[00309] FIG. 27C is a schematic block diagram of an anti-tipping controller of
the present
teachings;
[00310] FIG. 27D is a schematic block diagram of the CG fit processor of the
present
teachings;
[00311] FIG. 27E is a flowchart of the method of CG fit processing of the
present
teachings;
[00312] FIG. 28A is a schematic block diagram of the weight processor of the
present
teachings;
[00313] FIG. 28B is a flowchart of the method of weight processing of the
present
teachings;
[00314] FIG. 28C is a schematic block diagram of the weight-current processor
of the
present teachings;
[00315] FIG. 28D is a flowchart of the method of weight-current processing of
the present
teachings;
[00316] FIG. 29A is a schematic block diagram of the components of the UC
assist of the
present teachings;
[00317] FIGs. 29B-29C are flowcharts of the method of obstacle detection of
the present
teachings;
[00318] FIG. 29D is a schematic block diagram of the components of the
obstacle
detection of the present teachings;
[00319] FIGs. 29E-29H are computer-generated representations of the mobility
device
configured with a sensor;
[00320] FIG. 291 is a flowchart of the method of enhanced stair climbing of
the present
teachings;
[00321] FIG. 29J is a schematic block diagram of the components of the
enhanced stair
climbing of the present teachings;
[00322] FIGs. 29K-29L are flowcharts of the method of door traversal of the
present
teachings;
[00323] FIG. 29M is a schematic block diagram of the components of the door
traversal
of the present teachings;
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[00324] FIG. 29N is a flowchart of the method of rest room navigation of the
present
teachings;
[00325] FIG. 290 is a schematic block diagram of the components of the rest
room
navigation of the present teachings;
[00326] FIGs. 29P-29Q are flowcharts of the method of mobile storage of the
present
teachings;
[00327] FIG. 29R is a schematic block diagram of the components of the mobile
storage
of the present teachings;
[00328] FIG. 29S is a flowchart of the method of storage/charging of the
present
teachings;
[00329] FIG. 29T is a schematic block diagram of the components of the
storage/charging
of the present teachings;
[00330] FIG. 29U is a flowchart of the method of elevator navigation of the
present
teachings;
[00331] FIG. 29V is a schematic block diagram of the components of the
elevator
navigation of the present teachings.
[00332] FIG. 30A is a table of communications packets exchanged in the MD of
the
present teachings;
[00333] FIGs. 30B-30E are tables of communication packet contents of the
present
teachings;
[00334] FIG. 31A is a schematic block diagram of remote communications
interfaces of
the present teachings;
[00335] FIGs. 3 1B and 31C are packet formats for exemplary protocols of the
present
teachings;
[00336] FIG. 3 1D is a schematic block diagram of the wireless communications
system of
the present teachings;
[00337] FIGs. 3 lE and 31F are bubble format diagrams for wireless
communications state
transitions of the present teachings;
[00338] FIGs. 31G and 31H are message communications diagrams for wireless
communications of the present teachings;
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[00339] FIG. 32A is a threat/solution block diagram of possible threats to the
MD of the
present teachings;
[00340] FIG. 32B is a flowchart of the method for obfuscating plain text of
the present
teachings;
[00341] FIG. 32C is a flowchart of the method for de-obfuscating plain text of
the present
teachings;
[00342] FIG. 32D is a transmitter/receiver communications block diagram of the
method
for challenge/response of the present teachings; and
[00343] FIG. 33 is a schematic block diagram of event processing of the
present
teachings.
[00344] FIG. 34A is a schematic perspective diagram of the first configuration
of the seat
assembly of the present teachings;
[00345] FIG. 34B is a schematic perspective diagram of the attachment bracket,
seat back,
and attendant handle of the first configuration of the seat assembly of the
present teachings;
[00346] FIG. 34C is a schematic perspective front view diagram of the second
configuration of the seat assembly of the present teachings;
[00347] FIG. 34D is a schematic perspective exploded diagram of the second
configuration of the armrest and user controller of the present teachings;
[00348] FIG. 34E is a schematic perspective exploded diagram of the second
configuration of the seat assembly and user controller of the present
teachings;
[00349] FIG. 34F is a schematic perspective rear view diagram of the second
configuration of the seat assembly of the present teachings;
[00350] FIG. 34G is a schematic perspective undercarriage view diagram of the
second
configuration of the seat assembly of the present teachings;
[00351] FIGs. 34H-34I are schematic perspective diagrams of the second
configuration of
the seat assembly of the present teachings with a rotated armrest;
[00352] FIG. 35A is a schematic perspective exploded first view diagram of the
connection features of the second configuration of the seat assembly of the
present
teachings;
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[00353] FIG. 35B is a schematic perspective exploded second view diagram of
the
connection features of the second configuration of the seat assembly of the
present
teachings;
[00354] FIGs. 35C-35E are cross section diagrams of the second configuration
of the
armrest mount bracket operably coupled with the armrest and vertical back
frame cane of
the present teachings;
[00355] FIG. 35F is a schematic perspective diagram of the second
configuration armrest
of the present teachings;
[00356] FIG. 35G is a schematic perspective exploded diagram of the second
configuration armrest of the present teachings;
[00357] FIG. 36A is a schematic perspective undercarriage diagram of the seat
bracket,
footrest, and rear bracket of the second configuration of the seat assembly of
the present
teachings;
[00358] FIG. 36B is a schematic perspective exploded diagram of the seat
bracket, bracket
fold hinge, and rear bracket of the second configuration of the seat assembly
of the present
teachings;
[00359] FIG. 37A is a schematic perspective diagram of the seatpan mounting
bracket of
the present teachings;
[00360] FIG. 37B is a schematic perspective detailed diagram of the seat
bracket, bracket
fold hinge, and rear bracket of the second configuration of the seat assembly
of the present
teachings;
[00361] FIG. 37C is a schematic perspective detailed exploded diagram of the
seat
bracket, bracket fold hinge, and rear bracket of the second configuration of
the seat
assembly of the present teachings;
[00362] FIG. 37D is a schematic perspective exploded diagram of the connecting
bracket,
rear bracket, and release handle of the second configuration of the seat
assembly of the
present teachings;
[00363] FIG. 37E is a cross section diagram of a first view of the release
handle of the
present teachings;
[00364] FIG. 37F is a cross section diagram of a second view of the release
handle of the
present teachings;
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[00365] FIG. 37G is a schematic perspective diagram of the rear bracket of the
second
configuration of the seat assembly of the present teachings;
[00366] FIG. 37H is a schematic perspective detailed diagram of the seat
shell, bracket
fold hinge, and rear bracket of the second configuration of the seat assembly
of the present
teachings;
[00367] FIG. 371 is a schematic perspective diagram of the seat shell of the
present
teachings;
[00368] FIG. 37J is a schematic perspective exploded diagram of the seat shell
of the
present teachings;
[00369] FIG. 37K is a schematic perspective exploded first view diagram of the
seat shell,
seat cushion, rear bracket, and footrest of the second configuration of the
seat assembly of
the present teachings;
[00370] FIG. 37L is a schematic perspective exploded second view diagram of
the seat
shell, seat cushion, rear bracket, and footrest of the second configuration of
the seat
assembly of the present teachings;
[00371] FIG. 37M is a schematic perspective exploded third view diagram of the
seat
shell, seat cushion, rear bracket, and footrest of the second configuration of
the seat
assembly of the present teachings;
[00372] FIG. 37N is a schematic perspective diagram of the seat cushion of the
present
teachings;
[00373] FIG. 38 is a schematic perspective diagram of the attendant handle of
the first
configuration of the seat assembly of the present teachings;
[00374] FIG. 39A is a schematic perspective exploded diagram of the attendant
handle,
backrest shell, backrest cushion, brackets, and armrest of the first
configuration of the seat
assembly of the present teachings;
[00375] FIG. 39B is a schematic perspective diagram of the backrest shell of
the present
teachings;
[00376] FIG. 39C is a schematic perspective exploded diagram of the second
configuration of the top back frame bracket, backrest shell, and backrest
cushion of the seat
assembly of the present teachings;
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[00377] FIG. 39D is a schematic perspective exploded diagram of the second
configuration of the backrest shell, backrest cushion, and armrests of the
seat assembly of
the present teachings;
[00378] FIG. 39E is a schematic perspective exploded diagram of the rear tube
holder
bracket, backrest cushion, armrests, and backrest shell of the seat assembly
of the present
teachings;
[00379] FIG. 39F is a schematic perspective exploded diagram of the cushion
and
backrest shell of the seat assembly of the present teachings;
[00380] FIG. 39G is a schematic perspective diagram of the first configuration
of the top
back frame bracket of the seat assembly of the present teachings;
[00381] FIG. 39H is a schematic perspective exploded first view diagram of the
first
configuration of the top back frame bracket of the seat assembly of the
present teachings;
[00382] FIG. 391 is a schematic perspective exploded second view diagram of
the first
configuration of the top back frame bracket of the seat assembly of the
present teachings;
[00383] FIG. 39J is a schematic perspective exploded first view diagram of the
second
configuration of the top back frame bracket of the seat assembly of the
present teachings;
[00384] FIG. 39K is a schematic perspective exploded second view diagram of
the second
configuration of the top back frame bracket of the seat assembly of the
present teachings;
[00385] FIG. 39L is a schematic perspective exploded diagram of the second
configuration of the top back frame bracket and backrest shell of the seat
assembly of the
present teachings;
[00386] FIG. 40A is a schematic perspective diagram of the first configuration
of the
armrest mount bracket of the present teachings;
[00387] FIG. 40B is a schematic perspective detailed diagram of the first
configuration of
the armrest mount bracket, armrest, and vertical back frame cane of the
present teachings;
[00388] FIG. 40C is a schematic perspective detailed first view diagram of the
second
configuration of the armrest mount bracket, armrest, and vertical back frame
cane of the
present teachings;
[00389] FIG. 40D is a schematic perspective detailed second view diagram of
the second
configuration of the armrest mount bracket, armrest, and vertical back frame
cane of the
present teachings;
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[00390] FIGs. 40E-40G are various views of schematic perspective diagrams of
the
second configuration of the armrest mount bracket of the present teachings;
[00391] FIG. 40H is a cross section diagram of the second configuration of the
armrest
mount bracket of the present teachings;
[00392] FIG. 401 is a perspective diagram of the button slide of the present
teachings;
[00393] FIG. 40J is a perspective diagram of the vertical back frame cane of
the present
teachings;
[00394] FIG. 40K is a perspective diagram of the vertical back frame cane
operably
coupled with the top back frame bracket and the rear tube holder bracket of
the present
teachings;
[00395] FIG. 40L is a cross section diagram of the female and male lock pins
engaged
with the vertical back frame cane of the present teachings;
[00396] FIGs. 41A-41B are cross section diagrams of the footrest assembly
operably
coupled with the seat bracket of the present teachings;
[00397] FIG. 41C is a perspective diagram of the first configuration of the
footrest
assembly and seat cushion of the present teachings;
[00398] FIG. 41D is a perspective diagram of the first configuration of the
footrest
assembly of the present teachings;
[00399] FIG. 41E is a perspective exploded diagram of the first configuration
of the
footrest assembly of the present teachings;
[00400] FIG. 41F is a perspective diagram of the second configuration of the
footrest
assembly of the present teachings;
[00401] FIGs. 41G-41H are perspective exploded diagrams of the second
configuration of
the footrest assembly of the present teachings;
[00402] FIG. 411 is a detailed diagram of the footrest mounting rods of the
present
teachings;
[00403] FIGs. 42A-42C are perspective diagrams of another configuration of the
seat
assembly of the present teachings including a user control mounting means;
[00404] FIGs. 43A-43B are perspective diagrams of the coupling assembly for
the user
control mounting means of FIGs. 42A-42C;
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[00405] FIGs. 44A-44D are perspective diagrams of details of the user control
mounting
means of the present teachings;
[00406] FIGs. 44E and 44F are perspective diagrams of another configuration of
the user
control mounting means of FIGs. 44A-44D;
[00407] FIGs. 45A-45C are perspective diagrams of the attendant handle and
headrest of
another configuration of the seat assembly of the present teachings;
[00408] FIGs. 46A-46D are perspective diagrams of the backrest of another
configuration
of the seat assembly of the present teachings; and
[00409] FIGs. 47A-47D are perspective diagrams of the attendant handle
attachment of
another configuration of the seat assembly of the present teachings.
DETAILED DESCRIPTION
[00410] The mobility device (MD) of the present teachings can include a small,
lightweight, powered vehicle which can provide the user the ability to
navigate
environments of daily living including the ability to maneuver in confined
spaces and to
climb curbs, stairs, and other obstacles. The MD can improve the quality of
life for
individuals who have mobility impairments by allowing for traversing
aggressive and
difficult terrain and by operating at elevated seat heights. The elevated seat
heights can offer
benefits in activities of daily living (e.g., accessing higher shelves) and
interaction with
other people at "eye level" - while either stationary or moving.
[00411] Referring now primarily to FIGs. 1A and 1B, the mobility device (MD)
of the
present teachings can include a powerbase assembly that can include central
gearbox 21514,
power mechanisms, and wheel cluster assembly 21100/21201 (FIG. 6A). Central
gearbox
21514 can control the rotation of assembly 21100/21201 (FIG. 6A), can limit
backlash, and
can provide structural integrity to the MD. In some configurations, central
gearbox 21514
can be constructed of highly durable materials that can be lightweight,
thereby increasing
the possible payload that the MD can accommodate, and improving the
operational range of
the MD. Central gearbox 21514 can include the drive transmissions for the
cluster drive
and seat height transmissions, and can provide structural mounting interfaces
for the
electronics, two caster assemblies, two wheel cluster assemblies, two sets of
seat height
arms, and motors and brakes for two wheel drives. Other components and the
seat can be
attached to the powerbase assembly, for example, by use of rail 30081. Moving
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transmission parts can be contained internal to the powerbase assembly and
sealed to
protect from contamination. Central gearbox 21514 can include gear trains that
can
provide power to rotate the wheel clusters and drive the seat height actuator.
The
powerbase assembly can provide the structure and mounting points for the
elements of the
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 brackets 24001. The
powerbase
assembly can provide the electrical and mechanical power to the drive the
wheels and
clusters, and provide seat height actuation. Central gearbox 21514 can house
the cluster
transmission, the seat height actuator transmissions, and the electronics. Two
wheel cluster
assemblies 21100 (FIG. 6A) can be attached to central gearbox 21514. The seat
support
structure, casters, batteries, and optional docking bracket can also attach to
central gearbox
21514. Central gearbox 21514 can be constructed to provide EM shielding to the
parts
housed within central gearbox 21514. Central gearbox 21514 can be constructed
to block
electromagnetic energy transmission, and can be sealed at its joints by a
material that can
provide EM shielding, such as, for example, but not limited to, NUSIL room
temperature
vulcanizing (RTV) silicone.
[00412] Continuing to refer to FIGs. 1A and 1B, the MD can accommodate seating
through connection of a seating option to lifting and stabilizing arms. The MD
can provide
power, communication and structural interface for optional features, such as
lights and
seating control options such as, for example, but not limited to, power
seating. Materials
that can be used to construct the MD can include, but are not limited to
including,
aluminum, polyoxymethylene, magnesium, plywood, medium carbon steel, and
stainless
steel. Active stabilization of the MD can be accomplished by incorporating,
into the MD,
sensors that can detect the orientation and rate of change in orientation of
the MD, motors
that can produce high power and high-speed servo operation, and controllers
that can
assimilate information from the sensors and motors, and can compute
appropriate motor
commands to achieve active stability and implement the user's commands. The
left and
right wheel motors can drive the main wheels on the either side of the device.
The front and
back 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 rates. The cluster motor can rotate the wheel
base in the
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fore/aft direction. This can allow the MD to remain level while the front
wheels become
higher or lower than the rear wheels. The cluster motor can be used to keep
the device level
when climbing up and down curbs, and it can be used to rotate the wheel base
repeatedly to
climb up and down stairs. The seat can be automatically raised and lowered.
[00413] Referring now to FIGs. 1C and 1D, battery packs 70001 can generate
heat when
charging and discharging. Positioning battery packs 70001 atop the central
housing 21514,
and including air gaps 70001-1 between battery packs 70001 can allow air flow
that can
assist with heat dissipation. Battery packs 70001 can operably couple with
gearbox lid
21524 at fastener port 70001-4. The MD can include multiple slots for
batteries 70001
(FIG. 1E) to operably couple with connectors 21524-1 (FIG. 1F). When four of
batteries
70001 (FIG. 1E) are used, there can be two of connectors 21524-1 (FIG. 1F)
that are free.
In cold weather, during recharging of batteries 70001 (FIG. 1E), either while
the MD is
operating or while the MD is idle and being recharged, to protect against
overcharge of
batteries 70001 (FIG. 1E) below a certain pre-selected temperature or range of
temperatures, the charge can be diverted to at least one shunt circuit that
can be operably
coupled with at least one connector 215244 (FIG. 1F). The shunt circuit can
include at
least one resistor, and optionally at least one fuse.
[00414] Referring now to FIG. 1E, batteries 70001 can serve as the main energy
source
for the MD. Multiple separate, identical batteries 70001 can provide a
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
sensors,
controllers, and motors, through switching power converters. Batteries 70001
can also
accept regeneration power from the motors. Batteries 70001 can be changeable
and can be
removable with or without tools. Each battery 70001 can connect to the MD via,
for
example, but not limited to, a blind-mate connector. During battery
installation, the power
terminals of the connector can mate before the battery signal terminals to
prevent damage to
the battery circuit. The connector can enable correct connection, and can
discourage and/or
prevent incorrect connection. Each battery 70001 can include relatively high
energy density
and relatively low weight cells 29, such as, for example, but not limited to,
rechargeable
lithium ion (Li-ION) cells, for example, but not limited to, cylindrical 18650
cells in a
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16s2p arrangement, providing a nominal voltage of about 58V and about 5Ah
capacity.
Each battery can operate within the range about 50-100V.
[00415] Continuing to refer 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 fail-operative configurations, there can be two independent battery banks
("Bank A"
and "Bank B"). In some configurations, there can be an optional third battery
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 one
time. In some
configurations, a minimum of four battery packs is needed for operation. An
additional two
batteries can be added for extended range. In some configurations, the energy
storage level
for these battery packs can be the same as standard computer batteries,
enabling transport
by commercial aircraft possible. Placement of empty of battery packs 70001 can
protect the
unused battery connection port on the MD and can provide a uniform and
complete
appearance for the MD. In some configurations, empty battery packs slots can
be replaced
with a storage compartment (not shown) that can store, for example, a battery
charger or
other items. The storage container can seal off the empty battery openings to
the electronics
to prevent environmental contamination of the central housing. The battery
packs can be
protected from damage by walls 21524A.
[00416] Continuing to refer to FIG. 1E, information from a fuel gauge such as,
for
example, but not limited to, TI bq34z100-G1 wide range fuel gauge, can be
provided to
PSC board 50002 (FIG. 15G) over an I2C bus connection. Battery pack 70001 can
communicate with PSC board 50002 (FIG. 15G) and therefore with power base (PB)
controller (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
processors
A 1/A2 43A/43B (FIG. 18C) and one can be connected to processors B1/B2 43C/43D
(FIG.
18D). Therefore, if one of the pair of battery packs 70001 fails to function,
the other of the
pair can remain operational. Further, if both of battery packs 70001 in a pair
fail to
function, one or more other pairs of battery packs 70001 can remain
operational.
[00417] Continuing to refer to FIG. 1E, a battery controller that can execute
on processor
401 (FIG. 15J) can include, but is not limited to including, commands to
initialize each
battery, run each battery task if the battery is connected, average the
results of the tasks
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from each battery, obtain the bus battery voltage that will be seen by
processors A/B 39/41
(FIGs. 18C/18D), obtain the voltage from an ADC channel for the battery that
is currently
in use, obtain the battery voltage from fuel gauge data, compare the voltage
from the fuel
gauge data to the voltage from the ADC channel, obtain the number of connected
batteries,
connect batteries 70001 to a bus to power the MD, monitor the batteries, and
check the
battery temperature. The temperature thresholds that can be reported can
include, but are
not limited to including, cold, warm, and hot battery states. The battery
controller can
check the charge of batteries 70001, compare the charge to thresholds, and
issue warning
levels under low charge conditions. In some configurations, there can be four
thresholds ¨
low charge, low charge alert, low charge with restrictions, and minimum
charge. The
battery controller can check to make sure that batteries 70001 can be charged.
In some
configurations, batteries 70001 must be a least a certain voltage, for
example, but not
limited to, about 30V, and must be communicating with PSC 50002 (FIG. 15G) in
order to
be charged. The battery controller can recover batteries 70001 by, for
example, pre-
charging batteries 70001 if, for example, batteries 70001 have been discharged
to the point
at which a battery protection circuit has been enabled. DC power for charging
batteries
70001 can be supplied by an external AC/DC power supply. A user can be
isolated from
potential shock hazards by isolating the user from batteries 70001.
[00418] Referring now primarily to FIG. 1F, central gearbox 21514 can include
e-box lid
21524 (FIG. 1G), brake lever 30070 (FIG. 1A), power off request switch 60006
(FIG. 1A),
fastening port 257, lift arm control port 255, caster arm port 225, cluster
port 261, and
bumper housing 263. Power off request switch 60006 (FIG. 11E) can be mounted
on the
front of gearbox 21514 (FIG. 1A) and can be wired to PBC board 50001 (FIG.
11A). At
least one battery pack 70001 (FIG. 1C) can be mounted upon e-box lid 21524.
Cleats
21534 can enable positioning and securing of battery packs 70001 (FIG. 1C) at
battery pack
lip 70001-2 (FIG. 1E). Connector cavities 21524-1 can include a snout that can
protrude
from lid 21524. Connector cavities 21524-1 can include a gasket (not shown),
for example,
but not limited to, an elastomeric gasket, around the base of the snout.
Battery connectors
50010 (FIG. 1E) can operably couple batteries 70001 (FIG. 1C) to the
electronics of the
MD though connector cavities 21524-1, and the pressure of batteries 70001
(FIG. 1C)
enabled by fasteners mounted in fastening cavity 70001-4 (FIG. 1D) can seal
against the
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gaskets in connector cavities 21524-1, protecting the gears and electronics of
the MD from
environmental contamination.
[00419] Referring now to FIG. 1G, an electronics enclosure can house the
primary
stabilization sensors and decision-making systems for the MD. The electronics
enclosure
can protect the contents from electro-magnetic interference while containing
emissions.
The electronics enclosure can inhibit foreign matter ingress while dissipating
the excess
heat generated within the enclosure. The enclosure can be sealed with a cover
and
environmental gaskets. Components within the enclosure that can generate
significant
amounts of heat can be physically connected to the enclosure frame via heat
conductive
materials. E-box lid 21524 can include battery connector openings 201, a form-
in-place
gasket (not shown), and mounting cleat attachment points 205 to accommodate
mounting of
battery packs 70001 (FIG. 1E) on e-box lid 21524. Battery connector openings
201 can
include slim rectangles that can include planar gaskets. Batteries can
compress against the
planar gaskets during assembly, and these gaskets can form an environmental
seal between
the batteries and chassis of the MD. A form-in-place gasket (not shown) can
seal the part of
central gearbox 21514 that can include gears, motors, and electronics from
intrusion of
foreign substances including fluids. In some configurations, harnesses 60007
(FIG. 10C),
60008 (FIG. 10D), and 60009 (FIG. 10E) can connect to sealed, panel-mounted
connectors
to maintain environmental and EMC protection. Harnesses 60007 (FIG. 10C),
60008 (FIG.
10D), and 60009 (FIG. 10E) can be surrounded by glands and/or panel-mounted
connectors
that incorporate planar gaskets or o-rings that can be impervious to foreign
substances.
[00420] Referring now to FIGs. 1H and 1H-1, surfaces within central gearbox
21514 can
be sloped such that environmental contamination, if present, can be channeled
away from
sensitive parts of the MD. Between the powerbase and the underside of the seat
is flexible
cable carrier 1149 (FIGs. 11A-I ID) that can contain and protect the cables.
Central
gearbox top cap housing 30025 (FIG. 1H) can include hinge 30025-1 (FIG. 1H)
and cable
routing guide 30025-2 (FIG. 1H). Cables can be routed between UC 130 (FIG.
12A) and
central gearbox 21514 through routing guide 30025-2, for example, that can
avoid
entanglement of the cables with a seat, especially as the seat moves up and
down. The
lower end of cable carrier 1149 (FIGs. 11A-I ID) can be removably coupled with
hinged
feature 30028 (FIG. 1H-1) along the top edge of the powerbase on top cap
30025. A hinged
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cable housing (not shown) can be operably attached to hinge 30025-1 (FIG. 1H).
The
hinged cable housing (not shown) can further restrain cables to avoid
entanglement. In
some configurations, top cap 30025-5 (FIG. 1H-1) can include notches 30025-6
(FIG. 1H-
1) that can accept hinged feature 30028 (FIG. 1H-1) at various locations
across top cap
30025-8 (FIG. 1H-1). In some configurations, hinged feature 30028 (FIG. 1H-1)
can be
mounted near a first edge of top cap 30025-5 (FIG. 1H-1) at notch 30025-6
(FIG. 1H-1), or
at an approximate mid-location 30025-7 (FIG. 1H-1), or near a second edge
30025-8 (FIG.
1H-1) of top cap 30025-5 (FIG. 1H-1). In some configurations, multiple hinged
features
30028 (FIG. 1H-1) can be mounted in multiple notches 30025-6 (FIG. 1H-1) in
top cap
30025-5 (FIG. 1H-1), thus accommodating multiple cable carriers 1149 (FIGs.
11A-11D).
[00421] Referring now to FIGs. II and 1J, central gearbox 21514 can include of
first
section enclosure 30020, second section enclosure 30021, third section
enclosure 30022,
and fourth section enclosure 30023 that can be bonded together to form an
enclosure for the
seat and cluster gear trains and an enclosure for the electronics of the MD.
The sections can
be bound together by, for example, but not limited to, an elastomeric bonding
material. The
bonding material can be applied to the edge of each of the sections, and the
sections can be
fastened together with edges meeting to form the enclosures.
[00422] 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 first section enclosure 30020, second section enclosure
30021, third
section enclosure 30022, and fourth section enclosure 30023. Redundant shaft
support can
efficiently share the load among first section enclosure 30020, second section
enclosure
30021, third section enclosure 30022, and fourth section enclosure 30023, and
can reduce
the load on any single of first section enclosure 30020, second section
enclosure 30021,
third section enclosure 30022, and fourth section enclosure 30023, enabling
the housing
structures to be lighter.
[00423] Referring now to FIG. 1L, prior to mating one of sections 30020-30023
with each
other, a sealant bead having such characteristics as high temperature
resistance, acid and
alkali resistance, and aging resistance, such as, for example, but not limited
to, a room
temperature vulcanization silicon bead, can be applied to perimeter 30023-1,
for example.
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[00424] 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
housings can be
surrounded by an elastomeric lip and/or o-ring seals. Electrical cable harness
housings that
exit the central housing do so through leak proof connectors that can seal to
the housings
with o-rings. The electronics enclosure is closed off by lid 21524 (FIG. 1F)
that can include
a seal around the perimeter that is clamped to the central housings. The
electronics
enclosure can provide shielding from the transmission of electromagnetic
energy into or out
of the enclosure. In some configurations, the sealing material that can bond
the housings
together and the gaskets coupling e-box lid 21524 (FIG. 1G) and the central
housing can be
manufactured from electrically conductive materials, improving the ability of
the enclosure
to shield against electromagnetic energy transmission. Electrical connectors
that exit the
central housing can include printed circuit boards having electromagnetic
energy shielding
circuits, stopping the transmission of electromagnetic energy along the cables
that can be
held in place by cable clamps 30116. Each of central housings
30020/30021/30022/30023
(FIGs. II and 1J) can be aligned to adjacent housings by spring pins 40008
(FIG. 1J-1)
pressed into the adjacent housing.
[00425] Referring now to FIGs. 1N-1R, skid plate 30026 (FIG. 1R) can protect
the
underside of the housings from impacts and scrapes. Skid plate 30026 (FIG. 1R)
can
accommodate optional drive lock kingpin 30070-4 (FIGs. 1N and 1P) when
installed. In
some configurations, skid plate 30026 (FIG. 1R) can be manufactured of a
fracture resistant
plastic that can be tinted to limit the visibility of scrapes and scratches.
Skid plate 30026
(FIG. 1R) can provide a barrier to oil if the oil drips from central gearbox
21514. When
equipped with optional docking attachments, the MD can be secured for
transport in
conjunction with a vehicle-mounted user-actuated restraint system that can,
for example, be
commercially available. The docking attachments can include, but are not
limited to
including, docking weldment 30700 (FIG. 1P) and rear stabilizer loop 20700
(FIG. 10).
Docking weldment 30700 (FIG. 1P) can be mounted to the main chassis of the MD.
Docking weldment 30700 (FIG. 1P) can engage with a vehicle mounted restraint
system,
can provide anchorage for the MD, and can limit its movement in the event of
an accident.
The restraint system of the MD can enable a user to remain seated in the MD
for transport
in a vehicle. Docking weldment 30700 (FIG. 1P) can include, but is not limited
to
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including, 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). Docking weldment
30700 (FIG.
1P) can be optionally included with the MD and can be attached to central
gearbox 21514
(FIG. 1N) at drive lock plate front 30700-3 (FIG. 1P). Drive lock base 30700-2
(FIG. 1P)
can include drive lock base first side 297 (FIG. 1P) that can include drive
lock kingpin
30700-4 (FIG. 1P), and drive lock base second side 299 (FIG. 1Q) that can
oppose drive
lock base first side 297 (FIG. 1Q) and can be mounted flush with central
gearbox 21514
(FIG. 1N). Drive lock plate base 30700-2 (FIG. 1P) can optionally include at
least one
cavity 295 (FIG. 1Q) that can, for example, enable weight management of the
MD, and
reduce weight and materials costs. Drive lock kingpin 30700-4 can protrude
from drive
lock base first side 297, and can interlock with a female connector (not
shown) in, for
example, a vehicle. Drive lock kingpin 30700-4 can protrude from the underside
of the MD
to provide enough clearance to interlock with the female connector (not
shown), and also to
provide enough clearance from the ground to avoid any operational
interruptions. In some
configurations, drive lock kingpin 30700-4 can clear the ground by, for
example, 1.5 inches.
In some configurations, the rear securement loop 20700 (FIG. 10) can engage a
hook (not
shown) in, for example, a vehicle, at the same time or before or after drive
lock kingpin
30700-4 (FIG. 1R) interlocks with a female connector. The hook that engages
with rear
securement loop 20700 (FIG. 10) can include a sensor that can report, for
example, to the
vehicle if rear securement loop 20700 (FIG. 10) is engaged. If rear securement
loop 20700
(FIG. 10) is not engaged, the vehicle can 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) can include a removable punch-out 30026-1 (FIG. 1R)
that can be
used to insert and remove drive lock kingpin 30700-4 at any time. For example,
the MD
could be equipped with drive lock base plate 30700-2 (FIG. 1P) with the
removable punch-
out 30026-1 (FIG. 1R). Various types of drive lock kingpins 30700-4 can be
accommodated to enable mounting flexibility.
[00426] Referring now to FIG. 2A, central gearbox wet section can include, but
is not
limited to including, central gearbox housing left outer 30020 (FIG. 2A),
central gearbox
housing left inner 30021 (FIG. 2A), and right inner housing 30022 (FIG. 2A)
that can
include seat and cluster gears and shafts, and position sensors.
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[00427] Referring now to FIGs. 2B-2E, gear trains for cluster and seat are
shown. The
cluster drive gear train can include four stages with two outputs. The shaft
on the third stage
gear can span the powerbase. The final stage gear on each side can provide the
mounting
surface for the wheel cluster assembly. Central gearbox wet section can
include the cluster
drive gear set that can include shaft pinion stage one cluster rotate 21518
(FIG. 2M), that
itself can drive pinion-gear cluster rotate stage 2 pinion 21535 (FIGs. 20,
2P, 2B), that can
drive cluster rotate pinion-gear stage 3 pinion 21536 (FIGs. 2Q, 2B), that
itself can drive
cluster rotate gear-pinion cross-shaft stage 3 21537 (FIG. 2R, 2B) that is
connected to the
left and right cluster cross shafts 30888 and 30888-1 (FIGs. 6D, 2D, and 2E),
that can drive
the cluster rotate stage 4 ring gears 30891 (FIG. 6D). The left and right
cluster ring gears
30891 (FIG. 6D) can be operably coupled with wheel cluster housings 21100
(FIG. 6A).
The cluster drive gear train can include pinion shaft stage 1 30617 (FIG. 2D),
that can drive
gear cluster stage 1 30629 (FIG. 2D) and pinion shaft stage 2 30628 (FIG. 2D),
that can in
turn drive gear cluster stage 2 30627 (FIG. 2D) and pinion shaft 30626 (FIG.
2D), that can
drive gear cluster rotate stage 3 30766 (FIG. 2D) and cross shaft cluster
rotate 30765 (FIG.
2D). The input shaft of the wheel cluster assembly can engage two gear trains,
placed
symmetrically with respect to the input shaft. There are two stages of gear
reduction to
transmit power from the input shaft to the output shafts, on which wheel
assemblies 21203
(FIG. 1A) can be mounted. The two wheel cluster assemblies can be identical.
[00428] Referring now to FIGs. 2F-2V, the seat drive transmission gear train
can include
four stages with two outputs. The shaft on the final stage gear can span the
powerbase and
can provide interfaces to the drive arms. Central gearbox wet section can also
include the
seat drive gear train that can include the pinion height actuator shaft stage
1 30618 (FIG.
2G, 2N) that can drive pinion-gear height actuator stage 2 21500 (FIG. 2H),
that can drive
gear height actuator stage 2 30633 (FIG. 2T), that can drive gear height
actuator stage 3
30625 (FIG. 2U) and pinion height actuator shaft stage 4 30877 (FIG. 2U). Gear
height
actuator stage 3 30625 (FIG. 2U) can drive pinion height actuator shaft stage
3 30632 (FIG.
2T). Stage four pinion-gear height actuator 21502 (FIG. 2U) can drive the
cross shaft sector
gear stage four height actuator 30922 (FIG. 2S) that is mounted upon cross
shaft sector gear
height actuator stage 4 30909 (FIG. 2S), that is operably coupled at 255 to
the left and right
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lifting arms 30065 (FIG. 5A). Seat absolute position sensor 21578 (FIG. 3L)
can be
associated with cross shaft sector gear height actuator 30909 (FIG. 2S).
[00429] Referring now to FIGs. 3A and 3B, seat motors assemblies 21582 (FIG.
3A) and
cluster motor assemblies 21583 can be securely positioned within housings
30020, 30021,
and 30022. Seat height absolute position sensor 21578 (FIG. 3B) can be
operably coupled
with gear teeth rear clamp 30135 (FIG. 3J) operably coupled with rear half
gear clamp
30135 (FIG. 3J) and mounted upon sector gear cross shaft 30909 (FIG. 3B).
[00430] Referring now primarily to FIG. 3C, central gearbox housings 21515 can
include
mounting areas for seat/cluster brakes, motors, and sensors. Each drive
transmission can
include a motor, brake, and gear transmission. The brake can be disengaged
when electrical
power is applied, and can be engaged when electrical power is removed. A
seat/cluster
motor mounting area can house motor mount bottom 30126 (FIGs. 3D and 3E) and
motor
mount top 30127 (FIGs. 3D and 3E), seat/cluster motor assembly 21582 (FIGs. 3D
and 3E),
DC motor 70707 (FIG. 3D) and brake without manual release 70708-2 (FIG. 3H). A
wheel
motor mounting area can house wheel motor assembly 21583 (FIGs. 3F and 3G),
motor
mount top 30125, and brake without manual release 70708-2 (FIG. 3H). In some
configurations, seat and cluster cross shafts, motors, brakes, and motor
couplings can
include the same or similar parts. Motors can provide the primary types of
motion on the
MD: wheel, cluster and seat. Wheel motors 21583 (FIG. 3F) can drive each wheel
transmission. Cluster motor 21582 (FIG. 3D) can drive the cluster
transmission. Device
safety and reliability requirements can suggest a dual redundant, load sharing
motor
configuration. Each motor can have two sets of stator windings, mounted in a
common
housing. Two separate motor drives can be used to power the two sets of stator
windings.
The power supply for each drive can be a separate battery. This configuration
can minimize
the effects of any single point failure in the path from battery 70001 (FIG.
1E) to motor
output. Each set of stator windings, together with its corresponding segment
of the rotor
(referred to as a motor half) can contribute approximately equal torque during
normal
operation. One motor half can be capable of providing the required torque for
device
operation. Each motor half can include a set of rotor position feedback
sensors for
commutation. Seat/cluster motors 21582 (FIG. 3D) and wheel motors 21583 (FIG.
3F) can
include, but are not limited to including, a single shaft and a dual
(redundant) stator
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brushless DC electric (BLDC) motor operating at up to 66 VDC with a sine drive
(voltage
range 50 ¨ 66 VDC). The motors can include two 12-V relays mounted on an
interface
board. One relay can govern the activity of the motor. In some configurations,
there can
be three sensor outputs per motor half, each sensor being 60 offset from the
next. Sensors
can include, for example, but not limited to, Hall sensors. The sensors can be
used for
commutation and can provide position information for further feedback. The
motors can
include a dual motor winding, drive, and brake coil configuration. That is,
two separate sets
of motor windings and two separate motor drives can be utilized in driving one
shaft.
Similarly, the brake drives can be used to drive two coils to disengage the
brake for one
shaft. This configuration can 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 drive
train input
shafts by the motor couplings as the motors are installed. The motor shafts
are secured in
this correct alignment by motor mount fasteners.
[00431] Continuing to refer to FIG. 3C, the mechanical package of each seat
sensor 21578
(FIG. 3M) and cluster sensor 21579 (FIG. 30) can house two independent
electronic
sensors that can relay information to PBC board 50001 (FIG. 15B). Seat
position sensor
processor A (FIG. 18C) and cluster position sensor processor A (FIG. 18C) can
receive
position information into A-side electronics, and seat position sensor
processor B (FIG.
18D) and cluster position sensor processor B (FIG. 18D) receive position
information into
the B-side electronics, providing redundant electronics that can enable full
system operation
even if one side of the electronics has issues. Seat sensors and cluster
sensors that feed A-
and B-side electronics can be co-located to enable measurement of similar
mechanical
movement. Co-location can enable results comparison and fault detection. The
absolute
seat and cluster position sensors can report the position of the seat and
cluster, and can be
referenced each time the MD is powered up, and as a backup position reference
when the
MD is powered. While the MD is powered, position sensors built into seat and
cluster
motors can be used to determine seat and cluster position. Seat position
sensor upper/lower
housings 30138/30137 (FIG. 3M) can house the electronic sensors, shaft, and
gear of the
single stage gear train that connects the sensors to sector gear cross shaft
assembly 21504
(FIG. 3J) and the cluster cross shaft 30765 (FIG. 6D) respectively. The shaft
and gear can
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be molded as a single part, for example, from a plastic such as, for example,
a lubricous
plastic that can enable molding with no additional bearing material or
lubricant.
[00432] Referring now to FiGs. 3D-3G, seat/cluster motor 21583 (FIG. 3F) and
wheel
motors 21582 (FIG. 3D) can each include at least one thermistor 70025 that can
be
thermally connected to the motors. At least one thermistor 70025 can report
temperature
data to the A-side and B-side electronics. The temperature data can be used,
for example,
but not limited to, for reducing power usage when the motors reach a pre-
selected threshold
temperature to avoid damage to the motors. In some configurations, each motor
can include
two thermistors 70025 ¨ one for each redundant half of the motor. Thermistor
70025 can be
affixed to a sleeve that can be operably coupled with the laminations that
make up the motor
body. Thermistor 70025 can enable an indirect estimate of the motor winding
temperature. The temperature data for a particular motor can be routed to the
processor
associated with the motor. In some configurations, the temperature data can be
quantized
by the analog/digital converter on the processor, if necessary, and the
quantized values can
be fed into a temperature estimator algorithm. The algorithm can include a
model of the
heat transfer path, empirically derived for each motor, that can account for
the electrical
power delivered to the windings, the heat flux through the windings and
housing (where
thermistor 70025 makes its measurement), and from the housing to the chassis
the motor is
mounted to. A thermal estimator algorithm can use the electrical current going
to the motor
as well as the motor housing (thermistor) temperature to provide an estimate
of motor
winding temperature and other variables such as, but not limited to, motor
speed. If the
motor is spinning quickly, there can be greater heating due to, for example,
eddy current
losses. If the motor is stalled, the current can be concentrated in one phase
and can increase
the rate of heating in that winding. The thermistor signal can be transmitted
along the cable
between the motor and PBC 50001 (FIG. 15B). At PBC 50001 (FIG. 15B), each
motor
cable can break into two connectors: (1) first connector 50001-1A (FIG. 15B)
including
pins for three motor phase wires, and second connector 50001-1B (FIG. 15B) for
Hall
sensors, phase relay, brake, and thermistors 70025. In some configurations,
first connector
50001-1A (FIG. 15B) can include, but is not limited to including, a 4-pin
Molex Mega-Fit
connector. In some configurations, second connector 50001-1B (FIG. 15B) can
include, but
is not limited to including, a 10-pin Molex Micro-Fit connector. The motors of
the MD can
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be thermally pressed into the housings of the MD that are fastened to the
central housing.
The thermal pressing can provide a thermal conduction path from the motors to
the central
housing.
[00433] Referring now to FIGs. 3H and 31, separate electromagnetic holding
brakes can
be coupled to each motor. The electromagnetic holding brakes can include two
electrically
isolated coils, and each can be energized by a brake drive in each of the
motor drives. The
brake can disengage 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 automatically
engage when the
unit is off or in the case of a total power loss, therefore holding position
and/or failing safe.
The electromagnetic brakes can be used to hold the MD in place when the wheels
are not in
motion and similar brakes can hold the cluster and seat in place when not in
motion. The
brakes can be controlled by commands from the powerbase processors. When the
MD is
powered down, the brakes can automatically engage to prevent the MD from
rolling. If the
automatic brakes are manually disengaged at power on, the motor drives can
activate to
hold the MD in position and the system can report to the user that the wheel
brakes have
been disengaged. If a brake lever is disengaged after power is on, power off
requests can be
blocked, under some circumstances, to avoid unintentional rolling of the MD
after it has
powered down. Disengaging the automatic brakes can be used to manually push
the MD
when it is powered off. Each of the four motors that drive the right wheels,
left wheels,
cluster and seat can be coupled to a holding brake. Each brake can be a spring-
applied,
electromagnetically released brake, with dual redundant coils. In some
configurations, the
motor brakes can include a manual release lever. Brake without brake lever
70708-2 (FIG.
3H) can include, but is not limited to including, motor interface 590 and
mounting interface
591. In some configurations, motor interface 590 can include a hexagonal
profile that can
mate with a hexagonal motor shaft. Brake with brake lever 70708-1 (FIG. 31)
can include
mounting interface 591A that can include hexagonal profile 590A. Brake with
brake lever
70708-1 can include manual brake release lever 592A that can operably couple
with brake
release spring arms 30000 (FIG. 9G) that can operably couple with spring 40037
(FIG. 9J).
[00434]
Referring to FIGs. 31-1 and 31-2, noise encountered during operation of the
MD can be reduced. In some configurations, a coating of, for example, but not
limited to, a
rubber-like substance can be applied to either the exterior of motor coupling
70808-1 (FIG.
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31-1) or 70808-2 (FIG. 31-2), or the interior of disk 590A (FIG. 31-2) to
cushion low speed
impacts and reduce sound.
[00435] Referring now to FIGs. 31-3 through 31-5, brake assembly 70808-3
of the
present teachings, that can reduce vibration, and therefore reduce noise
during operation of
the MD can include, but is not limited to including, plates 1001/1011, spacers
1003 (FIG.
31-4), disk 1005 (FIG. 31-4), motor coupling 1009, and insert 1007. Motor
coupling 1009
can be encompassed by insert 1007. Motor coupling 1009 can include any shape,
for
example, but not limited to, hexagonal, and insert 1007 can be constructed to
accommodate
any shape. Insert 1007 can remove rotational freedom between motor coupling
1009 and
disk 1005. Disk 1005 and insert 1007 can together be positioned anywhere along
the length
motor coupling 1009. Insert 1007 can effectively expand motor coupling 1009
towards disk
1005. Under low load, insert 1007 can prevent relative motion between motor
coupling
1009 and disk 1005. Under higher loads, motor coupling 1009 and disk 1005 can
come into
contact to transmit the operating torque.
[00436] Referring now to FIGs. 31-6 and 31-7, insert 1007 can include,
but is not
limited to including, at least one protrusion 1007-2 that can enable flush
mounting between
motor coupling 1009 and insert 1007. Insert 1007 can include any number and
size of
protrusions 1007-2 along the interface surface between insert 1007 and motor
coupling
1009. The number of protrusions 1007-2 can affect the size of the gap between
motor
coupling 1009 and insert 1007, and can affect the ability of insert 1007 to
slide along motor
coupling 1009. Insert 1007 can include chamfered edges 1007-3 that can enable
smooth
assembling of motor coupling 1009 with insert 1007. In some configurations,
the interface
surface between motor coupling 1009 and insert 1007 can include any number of
interior
faces 1007-1. In some configurations, protrusions 1007-2 can be positioned on
some or all
of interior faces 1007-1. In some configurations, protrusions 1007-2 can be
placed on
alternate of interior faces 1007-1. Insert 1007 can include any number of
exterior faces
1007-5 along the interface surface between insert 1007 and disk 1005. The
number of
interior faces 1007-1 and the number of exterior faces 1007-5 can be the same
or different.
Insert 1007 can include clips 1007-6 that can accommodate assembly with disk
1005. Clips
1007-6 can include grip 1007-4 that can flexibly retain motor coupling 1009
while enabling
axial movement along motor coupling 1009. Grip 1007-4 can be positioned to
allow for
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ease of part moldability. The flexibility of insert 1007 can enable the metal
parts of brake
assembly 70808-3 to accommodate torque under a relatively high load.
[00437] Referring now to FIG. 31-8, second configuration brake insert
30708 can
include, but is not limited to including, geometrically similar interior edge
30708-C and
exterior edge 30708-B. Reinforcement material 30708-A can strengthen the
intersection
between clips 1007-6 and interior edge 30708-C. Clips 1007-6 can include
retention
geometry 30708-D.
[00438] Referring now to FIGs. 31-9 through 31-12, brake assembly 70808-
4 of the
present teachings can allow for some relative motion between motor coupling
2009 and disk
2005, and can cushion the interface to reduce impact sounds. Motor coupling
2009 can
include at least one groove machined into motor coupling 2009 to fit a
recessed 0-ring 2008
(FIG. 31-11). 0-ring 2008 (FIG. 31-11) can prevent metal-to-metal contact
during low
loads. Under high brake loads, 0-ring 2008 (FIG. 31-11) can be compressed into
groove
2007, and the metal can contact each other to transmit the necessary torque.
Brake
assembly 70808-4 can allow brake disk 2005 to function properly while
tolerating error in
axial position. Brake assembly 70808-4, that can reduce vibration, and
therefore reduce
noise during operation of the MD can include, but is not limited to including,
plates
2001/2011, spacers 2003, disk 2005 (FIG. 31-10), motor coupling 2009, and at
least one o-
ring 2008 (FIG. 31-11). Motor coupling 1009 can be encircled by at least one
groove
2007. Motor coupling 2009 can include any shape, for example, but not limited
to,
hexagonal, and at least one groove 2007 can include any depth that can
accommodate the
placement and protrusion of at least one o-ring 2008. To determine a desired
depth of at
least one groove 2007 and the desired size of at least one o-ring 2008, a
target amount of o-
ring protrusion 2010 (FIG. 31-12) can be selected, for example, but not
limited to, 0.4 mm
to 0.5 mm. Selecting o-ring protrusion 2010 (FIG. 31-12) can be based on
balancing the
amount of clearance desired between disk 2005 and motor coupling 2009, and the
amount
of vibration damping desired. For example, if o-ring protrusion 2010 (FIG. 31-
12) is too
high, there can be too much clearance between disk 2005 and motor coupling
2009. If o-
ring protrusion 2010 (FIG. 31-12) is too low, there can be a deficit of
vibration damping and
allowance for tolerancing. In some configurations, the diameter of o-ring 2008
can be
selected to achieve a maximum compression of ¨30% before metal-to-metal
contact occurs
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between motor coupling 2009 and disk 2005. The depth of groove 2007 can be
chosen to
accommodate o-ring 2008 (FIG. 31-11), and achieve the desired height of
protrusions 2010
to properly position o-ring 2008 (FIG. 31-11). Brake assembly 70808-4 (FIG. 31-
9) can
tolerate a relatively large range of axial positions, possibly reducing
assembly constraints.
[00439] Referring now to FIG. 31-13, motor coupling 2009 along with at
least one
properly-selected o-ring 2008 can remove rotational freedom between motor
coupling 2009
and disk 2005. Motor coupling 2009 can include any number of grooves 2007 and
accompanying o-rings 2008, the number being based at least on how much axial
movement
of disk 2005 along motor coupling 2009 is desired. Disk 2005 can be positioned
against o-
ring 2008 at disk cavity edge 2013. Disk 2005 and o-ring 2008/groove 2007 can
together
be positioned anywhere along the length motor coupling 2009. Under low load, o-
ring
2008/groove 2007 can prevent relative motion between motor coupling 2009 and
disk 2005.
Under higher loads, motor coupling 2009 and disk 2005 can come into contact to
transmit
the operating torque.
[00440] Referring now to FIGs. 3J-3L, central gearbox housings 21515 can
include at
least one absolute seat position sensor 21578 (FIG. 3M) that can be operably
coupled with
seat position sensor gear teeth clamp 30135 (FIG. 3K). Seat position sensor
gear teeth
clamp 30135 (FIG. 3K) can include embossing 273 (FIG. 3K) to assist in
aligning and
orientation of seat position sensor gear teeth clamp 30135 (FIG. 3K) around
cross shaft
stage 4 sector gear 21504, and fastened to rear half gear clamp 30136. Seat
position sensor
tooth gear 30134 (FIG. 3M) of absolute seat position sensor 21578 (FIG. 3M)
can interlock
seat position sensor tooth gears 30134 (FIG. 3M) with position sensor gear
teeth clamp
30135 (FIG. 3K) as cross shaft sector gear height actuator 30909 (FIG. 21A-3)
moves.
Sector cross shaft 30909 (FIG. 3L) can include a hollow shaft that can
operably couple the
seat drive train to the seat lifting arms on the left and right side of the
central housing. The
fourth stage seat height sector gear is clamped onto the shaft and restrained
from rotating
about the shaft by a key connection between the shaft and gear. The left and
right lifting
arms are needed to be aligned with each other to assure the seat will be
lifted symmetrically.
The left and right lifting arms are connected by pins and bolts in an
asymmetric pattern that
can only be assembled in the correct orientation. This forces the lifting arms
to always be
aligned. Seat absolute position sensor 21578 (FIG. 3M) can measure the
rotation of sector
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gear cross shaft 30909 (FIG. 3L) that connects to and lifts the seat lifting
drive arms 21301
(FIG. 5D) on the left and right side of central gearbox 21514 (FIG. 1A).
Sector gear cross
shaft 30909 (FIG. 3J) can rotate through less than 90 of rotation, and can be
coupled to seat
position sensor 21578 (FIG. 3M) through a one-stage gear train that can cause
seat position
sensor 21578 (FIG. 3M) to rotate more than 180 , thereby doubling the
sensitivity of the
position measurement of the seat. Seat position sensor gear clamp 30136 (FIG.
3J) can
matingly interlock with seat position sensor gear teeth clamp 30135 (FIG. 3K)
around sector
gear cross shaft 30909 (FIG. 3J). The interlocked combination can provide
geared
interaction with seat absolute position sensor 21578 (FIG. 3M). Seat absolute
position
sensor 21578 (FIG. 3M) can include, but is not limited to including, seat
position sensor
tooth gear 30134 (FIG. 3M), Hall sensor 70020 (FIG. 3M), magnet 70019 (FIG.
3M), seat
position sensor upper plate 30138 (FIG. 3M), and seat position sensor lower
plate 30137
(FIG. 3M). Magnet 70019 (FIG. 3M) can be mounted on upper plate 30138 (FIG.
3M).
Upper plate 30138 (FIG. 3M) can be securely mounted upon lower plate 30137
(FIG. 3M).
[00441] Referring now to FIG. 30, at least one absolute cluster position
sensor 21579
(FIG. 30) can include Hall sensor 70020 (FIG. 30), cluster position sensor
cluster cross-
shaft gear 30145 (FIG. 6E) and cluster position tooth gear 30147 (FIG. 30).
Cluster rotate
stage three cross shaft 21537 (FIG. 2R) can be geared to interface with
absolute cluster
position sensor 21579 (FIG. 30) through cluster position sensor tooth gear
30147 (FIG.
30). Seat absolute position sensor 21578 (FIG. 3M) can determine the location
of the seat
support bracket 24001 (FIG. 8B) relative to central gearbox 21514 (FIG. 9).
Cluster
position sensor 21579 (FIG. 30) can determine the position of wheel cluster
housing 21100
(FIG. 6A) relative to central gearbox 21514 (FIG. 9). Seat absolute position
sensor 21578
(FIG. 3M) and cluster position sensor 21579 (FIG. 30) can together determine
the position
of the seat with respect to the wheel cluster assembly 21100 (FIG. 6A). Seat
position sensor
21578 (FIG. 3M) and cluster position sensor 21579 (FIG. 30) can sense absolute
position.
Absolute seat position sensor 21578 (FIG. 3M) can sense that the seat has
moved since a
previous power off/on. If the MD is powered off and the seat or cluster drive
train move,
the seat and cluster sensors can sense the new location of the seat and
cluster relative to
central gearbox 21514 (FIG. 9) when the MD is powered back on. The fully
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sensor system of the MD can provide protection to the sensors with respect to
mechanical
impact, debris, and water damage.
[00442] Referring now primarily to FIG. 4, caster wheels 21001 can be attached
to central
gearbox 21514 for use when the seat height is at its lowest position,
supporting a portion of
the MD when the MD is in standard mode 100-1 (FIG. 22A). Caster wheels 21001
can
swivel about a vertical axis allowing changes in direction. Caster wheels
21001 can allow
maneuverability and obstacle traversal. Caster assembly 21000 can include
caster arm
21000-201 that can be operably connected, at a first end, to caster wheel
21001 (FIG. 27A).
Caster arm 21000-201 can include caster arm shaft 229 that can enable operable
connection
between caster arm 21000-201 and central gearbox 21514 at caster arm port 225.
Caster
arms 21000-201 can be secured in pockets 225 to prevent sliding out while
enabling
rotation. Pockets 225 can be lined with plastic bushings to enable caster arms
21000-201 to
rotate. Caster spring plate 30044 can be operably connected to central gearbox
21514.
Compression spring 40038 can enable shock absorption, stability, and continued
operation
when caster assembly 21000 encounters obstacles. Compression spring 40038 can
provide
suspension to the system when caster wheels 21001 (FIG. 27A) are in operation.
Caster
assembly 21000 can rest upon compression spring 40038 that can itself rest
upon 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. Compression spring 40038 can
restrict the
range of rotation of caster arms 21000-201 to maintain caster wheel 21001
(FIG. 27A) in an
acceptable location.
[00443] Referring now primarily to FIG. 5A, the vertical position of the user
can be
changed through the seat drive mechanism, consisting of a transmission and a
four-bar
linkage attaching the seat assembly to central gearbox 21514. The elements of
the four-bar
linkage can include, but are not limited to including, central gearbox 21514,
two drive arms
30065 (one on each side of the central gearbox), two stabilizer arms 30066
(one on each
side), and seat brackets 30068. The seat drive transmission can include a
significant
reduction to provide torque to both drive arm links for lifting the user and
seat assembly
relative to central gearbox 21514. Because central gearbox 21514 acts as an
element of the
four-bar linkage driving the seat, central gearbox 21514 can rotate relative
to the ground to
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maintain the seat angle during a seat transition. Thus, the cluster drive and
seat drive can act
in concert during a seat transition. The rotation of central gearbox 21514 can
move caster
assemblies 21000, the movement of which can avoid obstacles such as, for
example, but not
limited to, curbs. A seat of any kind can be used with the MD by attaching the
seat to seat
brackets 30068. Lift arm 21301 (FIGs. 5D/5E) can operably couple with seat
brackets
30068 at a lift arm first end. Lift arm 21301 (FIGs. 5D/5E) can be operably
coupled with
central gearbox 21514 at a lift arm second end. The movement of lift arm 21301
(FIGs.
5D/5E) can be controlled with signals transmitted from electronics housed in
central
gearbox 21514 through control port 255 (FIG. 1F) to lift arm 21301 (FIGs.
5D/5E). Lift
arm 21301 (FIGs. 5D/5E) can include a tie-down that can enable a secure
placement of the
MD in, for example, but not limited to, a vehicle. Stabilizer arm 21302 (FIG.
5C) can
operably couple with seat brackets 30068 at a link first end. Stabilizer arm
21302 (FIG. 5C)
can be operably coupled with central gearbox 21514 at a link second end. The
movement
of stabilizer arm 21302 (FIG. 5C) can be controlled by the movement of lift
arm 21301
(FIGs. 5D/5E). Stabilizer link rest bumper 30055 can smooth the ride for the
user of the
MD, and can reduce wear on gears within central gearbox with electronics
21514. In some
configurations, bumper 30055 can rest in bumper housing 263, and can be
secured in place
by stabilizer link rest end cap 30073. The linkage assembly that is formed by
lift arm 21301
and stabilizer arm 21302 (FIG. 5C) can rest on bumper 30055 when the MD is in
standard
mode. The absolute position of the motor, determined by an absolute position
sensor
associated with the motor, can determine when the linkage assembly should be
resting on
bumper 30055. The motor current required to move the linkage can be monitored
to
determine when the linkage assembly is resting on the bumper 30055. When the
linkage
assembly is resting on bumper 30055, the gear train may not be exposed to
impacts that can
result from, for example, obstacles encountered by the MD and/or obstacles and
vehicle
motion encountered by a vehicle transporting the MD.
[00444] Referring now to FIG. 5B, vehicle tie-downs 30069 can be operably
coupled with
seat brackets 30068 to allow the MD to be secured in a motor vehicle. The
restraint system
of the MD can be designed to allow a user to remain seated in the MD for
transport in a
vehicle. Seat brackets 30068 can include, but are not limited to including, a
seat support
bracket plate that can provide an interface between seat support bracket 30068
and central
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gearbox 21514 (FIG. 5A). Seat attachment rail 30081 can be sized according to
the seat
chosen for use. Seat brackets 30068 can be customized to attach each type of
seat to lifting
arms 21301 (FIG. 5D) and stabilizer arms 21302 (FIG. 5C). Seat brackets 30068
can enable
the seat to quickly and easily be removed for changing the seat and for
enabling transport
and storage, for example.
[00445] Referring now to FIGs. 5F-5H, assembly 51 depicts seat 67 that
can be
removably paired with a base 81 of the MD. Seat 63 can comprise seat rail 67
that can be
optionally combined with leg-supports (not shown) and footrest 65. Seat rail/s
67 can accept
cushioning or sitting surface for the user of the MD to rest upon. In some
configurations,
base 81 can include wheels 85. Pairing assembly 73 can be configured to engage
with seat
rail/s 67 on one end and optionally engage with base 81 on another end.
Pairing bracket 71
of pairing assembly 73 can conjointly function with first coupling features 75
oriented to
engage seat rail/s 67 and second coupling features 77 configured to engage
assembly 73
with base 81 of the MD. In some configurations, first coupling features 75 can
be rigidly
clamped with or molded to seat rail/s 67. In some configurations, first
coupling features 75
can be removably clamped with pairing bracket 71 in assembly 73.
[00446] Continuing to refer to FIGs. 5F-5H, in some configurations, one
of first
coupling features 75 can be engaged with pairing bracket 71 using a first
release
mechanism, and another of first coupling features 75 can be engaged with
pairing bracket
71 through a second release mechanism. The first and second release mechanisms
can
jointly operate to engage and/or release seat rail/s 67 with base 81 of the
MD.
[00447] Referring now primarily to FIG. 51, assembly 101 can include
user seat 120
engaged to a device such as, for example, but not limited to, the MD through
pairing
assembly 201. The device can be mobile or stationary. User seat 120 can
comprise at least
one rail 1130 co-jointly positioned with partnering rails to support a
platform or cushioning
on which the user can rest. Seat rails 1130 can be of any geometry configured
to engage one
or more clamping features 135 that can be engaged therewith. Configuration of
the present
teachings depicts a tube-like geometry of seat rails 1130. In some
configurations, the
geometry of clamping features 135 can vary with the geometry of seat rails
1130. Clamping
features 135 can be fastened with one or more mounts. Mounts, for example, but
not
limited to, first mount 1160 and second mount 170 can serve as intermediates
to engage seat
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rail/s 1130 with pairing brackets 1180. A plurality of pairing brackets 1180
can commit to
single seat rail 1130. In some configurations, pairing bracket 1180 can be
paired with seat
rail 1130. Pairing bracket 1180 can partly engage with seat rails 1130 on one
end and can
further engage with, for example, the MD or a sitting structure, on another
end.
[00448] Continuing to refer to FIG. 51, pairing brackets 1180 can
provide (1) first
receptacles 220 (FIG. 5L) that can align to engage with first and second
mounts 1160, 170
and (2) second receptacles (not shown) that can align with components (not
shown) to
engage the base of the MD therewith. An individual receptacle of first
receptacles 220 and
an individual receptacle of the second receptacles (not shown) can be of
varying dimensions
to engage fastening features such as, but not limited to, mounting pins 1190,
177 respective
to first and second mounts. Quick release engagement of pairing bracket 1180,
first and
second mounts 1160, 170 along with their respective pins 1190, 177 is
discussed herein.
[00449] Referring now to FIGs. 5J-5M, pairing assembly 201 can include,
but is not
limited to including, pairing bracket 1180 engaged with seat rail 1130 through
first mount/s
1160 and second mount/s170. First and second mounts 1160, 170 can operably
couple with
seat rail 1130 through clamping features 135. The number of clamping features
135 used
and the dimensions of clamping features 135 can be altered to suit the
geometry of seat rail
1130 and the dimensions of first and second mounts 1160, 170. At least one
first mounting
pin 1190 can allow a releasable engagement of first mount 1160 with pairing
bracket 1180.
Second mount 170 can engage with pairing bracket 1180 through at least one
rear pin 177
(FIG. 5M). First and second mounts 1160, 170 can further provide corresponding
pockets
(not shown) therewith that can operatively accommodate the at least one front
pin 1190 and
the at least one second pin 177 (FIG. 5M), respectively.
[00450] Continuing to refer to FIGs. 5J-5M, second mount 170 can further
optionally
operate in conjunction with first mount 1160 such that disengagement between
second
mount 170 and pairing bracket 1180 cannot be achieved without disengaging
first mount
1160 and pairing bracket 1180. This releasable engagement can be operated by
user of the
MD and/or any operator requiring to detach or replace seat of the MD through
operation of
first mounting pin 1190. First mounting pin 1190 can further comprise body 197
and
handle 195. Body 1190 can be operated upon by handle 195. First mount 1160 can
provide a pocket (not shown) to operatively accommodate first mounting pin
1190 such that
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body 197 of mounting pin 1190 can rest in the pocket thereof. Handle 195 can
serve as an
operating feature to transition first mounting pin 1190 from a first position
to a second
position and vice-versa. First position of first mount pin 1190 can be
confirmed by first
handle position 195A and second position of first mount pin 1190 can be
confirmed by
second handle position 195B. In first handle position 195A, first mounting pin
1190 can
occupy corresponding pocket (not shown) provided by first mount 1160 and
further extend
into a receptacle (not shown) on paring bracket 1180. The first position of
the at least first
mounting pin 1190 can engage first mount 1160 with pairing bracket 1180.
Handle 195
can be rotated in direction 175 to cause handle 195 to be in a second handle
position 195B
and thereby can cause first mounting pin 1190 to be in its second position or
release
position.
[00451] Continuing to refer to FIGs. 5J-5M, during second handle
position 195B,
handle 195 can be rested into groove 166 that can be provided on first mount
1160. Rotating
handle 195 to second handle position 195B can cause first mounting pin 1190 to
be in a
second position wherein, first mounting pin 1190 can withdraw from
corresponding
receptacle (not shown) provided by paring bracket 1180. First mount 1160 can
disengage
with pairing bracket 1180, and can cause seat rail 1130 to be partially
disengaged from
pairing bracket 1180. Second mount 170, that can be configured to jointly
function with
first mount 1160, and can include slot 176 (FIGs. 5N and 50) therein. Second
mount pin
177 can occupy slot 176 without descending out of slot 176 during engagement
of seat rail
1130 with pairing bracket 1180. Disengagement between pairing bracket 1180 and
seat rail
1130 can allow second mount pin 177 to descend out of slot 176, thereby
causing seat rail/s
1130 to disengage from pairing bracket 1180. As a result, user seat can be
expediently
released from base of the MD.
[00452] Referring now to FIGs. 5N and 50, first mount 1160 can further
provide a
supplementing catch feature 215 configured to capture pairing bracket 1180.
Pocket 210
on pairing bracket 1180 can receive catch feature 215 therein to secure first
mount 1160
with pairing bracket 1180. Above discussed engagement can work in conjunction
with
engagement between first mount 1160 and pairing bracket 1180 through first
mount pin
1190 that can be received in receptacle 220 of pairing bracket. This dual
engaging
mechanism can securely fasten at least a part of seat rail 1130 with pairing
bracket 1160.
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Second mount pin 177 can be securely fastened with pairing bracket 1180 and on
appropriate alignment can slide into slot 176 of second mount 170.
[00453] Referring now to FIGs. 5P-5S, comprehensive engagement of seat
rail 1130
with pairing bracket 1180 can be achieved by sliding in second mount pin 177
into slot 176
of second mount and securing pin 177 therein. This step can be followed by
aligning pairing
bracket 1180 with first mount 1160 such that first mount pin 1190 can be
received into
receptacle 220 of pairing bracket 1180 and catch features 215 can capture a
part of pairing
bracket 1180 by resting in pocket 210. During this arrangement pin handle 195
can be in a
first position 195A. As a result, switching position of pin handle 195 from
position 195A
to second position 195B can allow disengaging seat rail 1130 and paring
bracket 1180.
Discussed mechanism can allow a variety of user-preferred seat/s with
complementing seat
rails to engage and disengage with the MD through pairing assembly 201.
[00454] Referring now primarily to FIGs. 6A and 6B, cluster assembly can
include cluster
housing 30010/30011 (FIG. 6K), cluster interface pin 30160 (FIG. 6A), and o-
ring 40027-6
(FIG. 6A) that can environmentally isolate the interior of central gearbox
21514 at the
cluster connection. Each cluster assembly can include a two-stage gear train
replicated on
both left and right sides of central gearbox 21514 to drive each cluster
assembly
simultaneously. Each cluster assembly can independently operate the set of two
wheels
21203 (FIG. 6A) on wheel cluster 21100 (FIG. 6A), thereby providing forward,
reverse and
rotary motion of the MD, upon command. The cluster assembly can provide the
structural
support for wheel clusters 21100 (FIG. 6A) and the power transmission for the
wheels
21203 (FIG. 6A). The cluster assembly can include, but is not limited to
including, ring
gear nut 30016 (FIG. 6B), ring gear 21591 (6J), ring gear seal 30155 (FIG.
6B), cluster
interface cover 21510 (FIG. 6C), first configuration cluster plate interface
30014 (FIG. 61),
cluster interface gasket 40027-14 (FIG. 6B), cluster rotate stage four pinion
shaft 30888
(FIG. 31A4), brake with manual release 70708 (FIG. 31), brushless DC
servomotor 2-inch
stack 21583 (FIG. 3D), and motor adapter 30124 (FIG. 6B). Second configuration
cluster
interface plate 30014A (FIG. 6H) can alternatively provide the functionality
of first
configuration cluster interface plate 30014 (FIG. 61). The cluster interface
assembly can
drive cluster wheel drive assembly 21100 (FIG. 6A) under the control of
powerbase
processors on powerbase controller board 50001 (FIG. 15B). The cluster
interface
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assembly can provide the mechanical power to rotate wheel drive assemblies
21100 (FIG.
6A) together, allowing for functions dependent on cluster assembly rotation,
for example,
but not limited to, stair and curb climbing, uneven terrain, seat lean
adjustments, and
balance mode. Cluster motor 21583 (FIG. 6B) can supply input torque to the
cluster
interface assembly. The cluster interface assembly can provide a reduction to
deliver the
torque required to lift the user seated upon the MD when climbing stairs or
lifting up to
balance mode 100-3 (FIG. 22B). Power from cluster motor 21583 (FIG. 6B) can be
transmitted to the output shaft to provide the low speed, high torque
performance required
for stair and obstacle navigation. Cluster o-ring 40027-14 (FIG. 6B) can form
a three-way
seal between the cluster plate 30014 (FIG. 6A), cluster interface housing cap
30014 (FIG.
6B), and central housing 21514 (FIG. 6A).
[00455] Continuing to refer to FIG. 6B, cluster drive train damper 40027-21
can damp
oscillations when it is necessary to hold the cluster drive train steady. For
example, when
the cluster gear train is holding the cluster in a vertical position in
balance mode, the cluster
drive train may be difficult to hold steady with motor commands because of the
backlash in
the drive train. The motor commands can generate more correction than is
needed and can
require corrections in a direction that can lead to oscillation. The
oscillation can be damped
with added friction in the cluster drive train. An elastomeric material can be
clamped
between the cluster output bearing and cluster interface plate 30014 that can
cause friction.
In some configurations, a less efficient bearing with significant drag like a
bronze or plastic
bushing can be used.
[00456] Referring now to FIG. 6B-1, in some configurations, damper ring 40027-
21 can
be replaced with wear ring 30892 which can be affixed to rotating ring gear
30891. In some
configurations, wear ring 30892 can include polyoxymethylene such as, for
example, but
not limited to, DELRIN . Wear ring 30892 can be pressed against a stationary
metal
surface such as, for example, but not limited to, spring 30893. Spring 30893
can be
constrained to provide a consistent axial force against wear ring 30892. The
amount of
axial force applied can be proportional to the amount of damping desired, and
can be
controlled by the stiffness of spring 30893 and the amount of deflection
caused by the
installation of spring 30893. In some configurations, the deflection can be
controlled by
shim 30894, in addition to the thickness of wear ring 30892. The flange of
ring gear nut
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30019 can control the position of spring 30893 as spring 30893 is compressed
between ring
gear nut 30019 and shim 30894. Different amounts of damping can be
accommodated by
changing the stiffness of spring 30893 or the amount of deflection. In some
configurations,
the shape of wear ring 30892 can include an angled surface to allow the shape
the deflected
spring 30893 to contact wear ring 30892 with an even pressure over a larger
surface area.
The thickness of spring 30893 and the deflection distance can control the
amount of
friction, and either can be adjusted. In some configurations, the thickness of
spring 30893
can be around .02 inches. In some configurations, the difference between the
thickness of
wear ring 30892 and the thickness of shim 30894 can set the amount of
deflection distance.
[00457] Referring primarily to FIG. 6C, cluster cross shaft 30765 (FIG. 6D)
can operably
couple with ring gear 30891 that can rotate cluster housing 21100 (FIG. 6A).
Each of
cluster housings 21100 (FIG. 6A) can include two wheels 21203 (FIG. 6A) that
are
positioned symmetrically about the center of rotation of cluster housing 21100
(FIG. 6A).
In some configurations, the MD can function substantially the same regardless
of which of
wheels 21203 (FIG. 6A) on cluster housings 21100 (FIG. 6A) are nearest castor
wheels
21001 (FIG. 4). Cluster position sensor 21579 (FIG. 30) can include, based on
the
symmetry, coupling with cluster cross shaft 30765 (FIG. 6C) with a gear ratio
that can
cause cluster position sensor 21579 (FIG. 30) to rotate one full rotation for
each half
rotation of cluster housing 21100 (FIG. 6A), which doubles the resolution of
cluster
position sensor 21579 (FIG. 30). Cluster housing 21100 (FIG. 6A) is symmetric
so that,
for each half revolution, the cluster will function just as if a full rotation
has occurred.
[00458] Referring now primarily to FIGs. 6C and 6D, cluster cross shaft 30765
(FIG. 6F),
part of the cluster gear train, can operably couple centrally-located third
stage gear cluster
rotate 30766 (FIG. 6F) to fourth stages 30888 (FIG. 6D) of the gear train that
are mounted
on the left and right side of central housings 21514 (FIG. 6A) under cluster
interface caps
30014 (FIG. 6C). Cluster cross shaft 30765 (FIG. 6F) can include hollow shaft
30765-4
(FIG. 6G) that can include female spline 30765-3 (FIG. 6G). Fourth stages
30888 (FIG.
6D) can include male splines 30888-1 (FIG. 6C) on one end and pinion gears
30888-2 (FIG.
6C) that are aligned with the teeth of male splines 30888-1 on the other end.
In this
configuration, the teeth of pinion gears 30888-2 (FIG. 6C) on fourth stages
30888 (FIG. 6D)
are aligned when they are assembled. In some configurations, the splines and
gears can
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include fifteen teeth, but other numbers of teeth can be accommodated in the
present
teachings. The gear alignment can enable left and right cluster housings to be
assembled
onto the central housings so that wheels are aligned. This critical alignment
enables the MD
to rest on all four wheels when driving with the four main drive wheels.
[00459] Referring now to FIG. 6K, cluster wheel drive 21100 (FIG. 6A) can
include, but
is not limited to including, outer cluster housing 30011, input pinion plug
assembly 21105,
wheel drive output gear 30165, wheel drive output shaft 30102, wheel drive
intermediate
shaft and pinion spur 30163, wheel drive intermediate gear 30164, and inner
cluster housing
30010. At least one magnet 40064, captured between housings 30010/30011 at
magnet
housings 40064-1, can be positioned to be exposed to oil within cluster
housing 21100A,
and can attract and remove ferrous metal particulate from the oil, reducing
gear, bearing,
and seal wear caused by particulate in the oil. The teeth of input pinion plug
21105 can
engage with wheel drive intermediate stage spur 30163, and wheel drive
intermediate stage
spur 30163 can engage with the wheel drive output gear 30165. When drive
assembly
21532 (FIG. 6L) rotates, output stage spur 21533 rotates, the output stage
spur shaft rotates,
and wheel 21203 (FIG. 6A) can rotate. Wheel drive intermediate stage spur
30163 (FIG.
6L) can achieve and maintain correct positioning by coupling with gear key
30602 (FIG.
6L) that fits within the shaft cavity of wheel drive intermediate gear 30164
(FIG. 6L).
[00460] Referring now to FIG. 6M, clam shell housings 21101A can include seams
21100-1 around the perimeter to retain oil within housings 21101A, and prevent
environmental contamination to housings 21101A. Bonding material 21101-2, for
example,
but not limited to, an elastomeric bonding material, can be applied to mating
surfaces of
housings 21100A. Lips and/or o-ring seals can surround each shaft that passes
into and/or
through housings 21101A. Cluster housing 21100A can include oil port 21101-4
for adding
oil.
[00461] Referring now primarily to FIG. 7A, the main drive wheels can be large
enough
to allow the MD to climb over obstacles, but small enough to fit securely on
the tread of a
stair. The compliance of the tires can reduce vibrations transmitted to the
user and loads
transmitted to the MD. The main drive wheels can remain fixed to the MD unless
intentional action is taken by the user or a technician. The tires can be
designed to minimize
electrostatic build-up during surface traversal/contact. Split rim wheel
pneumatic tire
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assembly 21203 can be mounted onto cluster assembly 21100 (FIG. 6A) of the MD
to
afford wheeled movement to the MD.
[00462] Referring now to FIG. s, split rim wheel tire assembly 21203 can
include, but is
not limited to including, outer split rim 30111, tire 40060 (FIG. 7D), inner
tube 40061, rim
strip 40062, shield disk 30113, shield disk spacer 30123, and inner split rim
30091 (FIG.
7G). Shield disk spacer can inhibit shield disk from rattling. Pneumatic tire
can house
inner tube 40061 which can surround rim strip 40062, which can inhibit
pinching of inner
tube 40061. Shield disk 30113 can be captured between the inner and outer rim
of split rim
assembly 21203. Shield disk 30113 can be preloaded in a pre-selected shape,
for example,
to enable securing positioning. Shield disk 30113 can guard against foreign
object
protrusion through wheel tire assembly 21203. Shield disk 30113 can provide a
smooth
surface that can discourage foreign object jamming and wheel damage. Shield
disk 30113
can provide customization opportunities, for example, custom colors and
designs can be
selected and provided on shield disk 30113. In some configurations, tire
assembly 21203
can accommodate solid tires such as, for example, but not limited to, foam-
filled tires. Tire
selection can be based on the features that a user desires such as durability,
smooth ride, and
low failure rate.
[00463] Referring now to FIGs. 7B-1 and 7B-2, second configuration split rim
wheel tire
assembly 21206 can include second configuration outer split rim 30211, tire
40060, inner
tube 40061, second configuration shield disk 30213, and second configuration
inner split
rim 30212. Second configuration outer split rim 30211 and second configuration
inner
split rim 30212 can include retaining protrusions 30211-1 (FIG. 7B-2) and
30212-1 (FIG.
7B-1), respectively, that can enable secure retention of tire 40060. Retaining
protrusions
30211-1 (FIG. 7B-2) and 30212-1 (FIG. 7B-1) can be spaced in any pattern, and
can be any
size. Second configuration outer split rim 30211 can include alignment
protrusions 30211-2
(FIG. 7B-1) that can emerge from lug fittings and can rest within divots 30212-
2 (FIG. 7B-
2). Second configuration shield disk 30213 can include lug recesses 30213-1
(FIG. 7B-2).
Lug fasteners 30212-4 (not shown) can securely unite second configuration
outer split rim
30211, second configuration shield disk 30213, and second configuration inner
split rim
30212 through lug recesses 30213-1 (FIG. 7B-2), 30211-3 (FIG. 7B-1), and 30212-
3 (FIG.
7B-2).
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[00464] Referring now to FIGs. 7C through 7M, main drive wheels 21203 (FIG.
7B) can
be configured to accommodate traveling over varying types of terrain
including, but not
limited to, sand-like surfaces. In some configurations, each of drive wheels
21203 (FIG.
7B) such as first outer split rim 21201A (FIG. 7C), can accommodate detachable
second
drive wheel 21201B (FIG. 7C). Second drive wheel 21201B (FIG. 7C) can be
installed by
the user seated in the MD or by an assistant. Second drive wheel 21201B (FIG.
7C) can be
attached to first drive wheel 21201A (FIG. 7C) by depressing second drive
wheel 21201B
(FIG. 7C) onto first drive wheel 21201A (FIG. 7C), rotating second drive wheel
21201B
(FIG. 7C), and inserting locking pin 21201-A4 (FIG. 7K) until it becomes
engaged. The
attachment steps can be performed by the user seated in the MD as the user
expects to
encounter challenging terrain. The attachment steps can also be performed
while not seated
in the MD. First drive wheel 21201A (FIG. 7C) can include attachment base
40062-1
(FIG. 7F) that can provide a means for interlocking first drive wheel 21201A
(FIG. 7C)
with second drive wheel 21201B (FIG. 7C). Attachment base 40062-1 (FIG. 7F)
can
include locking pin receiver 40062-1B (FIG. 7F) and a retaining lip 30090-1A
(FIG. 7E) for
twist-lock wheel attachment of second drive wheel 21201B (FIG. 7C). Second
drive wheel
21201B (FIG. 7C) can include locking pin 21201-A4 (FIG. 7K) that can operably
mate with
locking pin receiver 40062-1B (FIG. 7F) of second drive wheel 21201B (FIG.
7C).
Locking pin 21201-A4 (FIG. 7K) can include spring 21201-A2 (FIG. 71) that can
enable
access to locking pin 21201-A4 (FIG. 7K) after locking pin 21201-A4 (FIG. 7K)
has been
disengaged, and can enable secure locking of locking pin 21201-A4 (FIG. 7K)
when
locking pin 21201-A4 (FIG. 7K) is engaged. Attachment base 40062-1 (FIG. 7F)
can
include retaining tangs 40062-1A (FIG. 7F) for twist-lock wheel attachment.
Retaining
tangs 40062-1A (FIG. 7F) can operably couple with retaining lip 30090-1B (FIG.
7E) of
first drive wheel 21201A (FIG. 7C). In some configurations, second drive wheel
21201B
(FIG. 7C) can accommodate hubcap 21201-Al (FIG. 7H) that can provide access
opening
21201-A 1 A (FIG. 7H) for locking pin removing ring 21201-A4A (FIG. 7K). In
some
configurations, first drive wheel 21201A (FIG. 7C) and second drive wheel
21201B (FIG.
7C) can be different or the same sizes and/or can have different or the same
treads on tires
40060.
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[00465] Continuing to refer to FIGs. 7C through 7M, in some configurations,
the
attachment means between first drive wheel 21201A (FIG. 7C) and second drive
wheel
21201B (FIG. 7C) can include a castellated push-in and rotate to lock means
(not shown)
having a plurality of radially extending tabs and a mounting structure having
a plurality of
retaining members. In some configurations, the attachment means can include an
undercut
or male lip (not shown). In some configurations, the attachment means can
include features
(not shown) on spokes 30090-1C (FIG. 7E). In some configurations, the
attachment means
can include fastener housing 21201-A3 (FIG. 7J) that can mount between hubs
21201-A2
(FIG. 7E) of second drive wheel 21201B (FIG. 7C) and first drive wheel 21201A
(FIG. 7C).
Fasteners such as, for example, but not limited to, screws or bolts can
operably engage first
drive wheel 21201A (FIG. 7C) with second drive wheel 21201B (FIG. 7C) through
the
cavities in fastener housing 21201-A3 (FIG. 7J).
[00466] Referring now primarily to FIG. 8, the MD can be fitted with any
number of
sensors 147 (FIG. 16B) in any configuration. In some configurations, some of
sensors 147
(FIG. 16B) can be mounted on MD rear 122 to accomplish specific goals, for
example,
backup safety. Stereo color cameras/illumination 122A, ultrasonic beam range
finder 122B,
time-of-flight cameras 122D/122E, and single point LIDAR sensors 122F can be
mounted,
for example, but not limited to, to cooperatively sense obstacles behind the
MD. The MD
can receive messages that can include information from the cameras and
sensors, and can
enable the MD to react to what might be happening out of the view of the user.
The MD
can include reflectors 122C that can be optionally fitted with further
sensors. Stereo color
cameras/illumination 122A can be used as taillights. Other types of cameras
and sensors
can be mounted on the MD. Information from the cameras and sensors can be used
to
enable a smooth transition to balance mode 100-3 (FIG. 3A) by providing
information to
the MD to enable the location of obstacles that might impede the transition to
balance mode
(described herein).
[00467] Referring now primarily to FIG. 9A, the service brake can be used to
hold the
MD in place by applying brake force to the wheel drive motor couplings,
stopping the
wheel from turning. The brakes can function as holding brakes whenever the
device is not
moving. The brakes can hold when the MD is powered on or off. A manual brake
release
lever can be provided so that the MD may be pushed manually with a reasonable
amount of
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effort when power is off. In some configurations, the lever can be located at
the front of the
powerbase and can be accessible by either the user or an attendant. In some
configurations,
the manual release lever can be sensed by limit switches that can indicate the
position of the
manual release lever. Central gearbox 21514 can include brake release
components
including, but not limited to, manual brake release bracket 30003 (FIG. 9E),
manual brake
release shaft arm 30001 (FIG. 9H), manual brake release spring arm 30000 (FIG.
9G), Hall
sensor 70020 (FIG. 9A), surface mount magnet 70022, manual brake release cam
30004
(FIG. 9F), and manual brake release shaft 30002 (FIG. 9D). Brake release lever
handle
30070 (FIG. 91) can activate manual brake release through manual brake release
shaft
30002 (FIG. 9D). Manual brake release shaft 30002 (FIG. 9D) can be held in
position by
manual brake release bracket 30003 (FIG. 9E). Manual brake release shaft 30002
(FIG.
9D) can include tapered end 30002-2A (FIG. 9D) that can engage manual brake
release
shaft arm 30001 (FIG. 9H), which can be operably connected to manual brake
release cam
30004 (FIG. 9F). Manual brake release cam 30004 (FIG. 9H) can be operably
connected
to two manual brake release spring arms 30000 (FIG. 9G). Spring arms 30000 can
operably
connect to brake release lever 592A (FIG. 31). Hall sensor 70020 (FIG. 9A) can
be
operably coupled with PBC board 50001 (FIG. 91).
[00468] Referring now to FIGs. 9A-1 and 9A-2, the manual brake release can
include
hook 30048 and hook interface 30045 operably coupled with spring 40037. Hook
30048
attaches through the hole in the brake lever of brake with manual release
70708 (FIG. 31).
The shape of hook 30048 can enable installation into the hole, and can inhibit
hook 30048
from sliding out of the hole. The coupling between hook 30048 and hook
interface 30045
can be threaded which can enable adjustment of the tension of spring 40037.
[00469] Referring now to FIG. 9B and 9C, brake release lever handle 30070
(FIG. 91) has
a return force, for example, a spring-loaded force, pulling on it when it is
in engaged
position. Rotational damper 40083 can enable snap back avoidance for lever
30070 (FIG.
91). Rotational damper 40083 can be operably coupled with brake shaft 30002
(FIG. 9D)
through connecting collar 30007 and damper actuator arm 30009. Rotational
damper 40083
can allow relatively unrestricted movement when lever 30070 (FIG. 91) is
turned clockwise
from a vertical position where the brakes are engaged to the horizontal
position where the
brakes are released. When lever 30070 (FIG. 91) is turned counter-clockwise to
reengage
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the brakes, rotational damper 40083 can provide resistance to the rotation of
brake shaft
30002 (FIG. 9D), slowing the speed at which lever 30070 (FIG. 91) returns to
the vertical
position, thus substantially preventing lever 30070 (FIG. 91) from snapping
back into the
vertical position. Rotational damper 40083 can be operably coupled with brake
assembly
stop housing 30003 (FIG. 9E). Damper actuator arm 30009 (FIG. 9B) can be
operably
coupled with brake shaft 30002 (FIG. 9D).
[00470] Referring now to FIG. 91, manual brake release lever 30070 can include
material
that can be damaged before other manual brake release parts are damaged when
excessive
force is applied. If manual brake release lever 30070 is damaged, manual brake
release
lever 30070 can be replaced without opening of the central housing.
[00471] Referring now primarily to FIGs. 9J-9N, the manual release brake
assembly can
include manual brake release bracket 30003 (FIG. 9E), manual brake release
shaft arm
30001 (FIG. 9H), manual brake release spring arm 30000 (FIG. 9G), Hall sensor
70020
(FIG. 9J), surface mount magnet 70022, manual brake release pivot interface
30004 (FIG.
9F), and manual brake release shaft 30002 (FIG. 9D). Brake release lever
handle 30070
(FIG. 91) can activate the manual brake release through manual brake release
shaft 30002
(FIG. 9D). Manual brake release shaft 30002 (FIG. 9D) can be held in position
by manual
brake release bracket 30003 (FIG. 9E). Manual brake release shaft 30002 (FIG.
9D) can
include tapered end 30002-2A (FIG. 9D) that can engage manual brake release
shaft arm
30001 (FIG. 9H), which can be operably connected to manual brake release pivot
interface
30004 (FIG. 9F). Manual brake release pivot interface 30004 (FIG. 9F) can be
operably
coupled with two manual brake release spring arms 30000 (FIG. 15) at fastening
cavities
30004A-I (FIG. 9F) and 30004A-2 (FIG. 9F). Spring arms 30000 (FIG. 9G) can
operably
couple with brake release lever 592A (FIG. 31).
[00472] Continuing to refer primarily to FIGs. 9J-9N, the service brake can
include, but is
not limited to including, travel stop 30005 (FIG. 9K) that can limit the
motion of lever
30070 to a clockwise direction as viewed from the front of the MD from a
vertical position
to a horizontal position. Travel stop 30005 (FIG. 9K) can prevent lever 30070
(FIG. 9J)
from rotating in a counterclockwise direction and can assist an operator in
releasing and
engaging the brakes. Travel stop 30005 (FIG. 9K) can be constructed of metal
and can
operably couple with second brake release shaft 30002 (FIG. 9D). Travel stop
30005 (FIG.
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9K) can interface with features of central housing 21515 (FIG. 9A) that can
limit the
rotation of shaft 30002-2 (FIG. 9L). Hall sensor 70020 can sense if the manual
brake
release is engaged or disengaged. Hall sensor 70020 can operably couple with
both A-side
and B-side electronics using cables/connector 70030 which can be mechanically
isolated
from the A-side and B-side electronics. Travel stop 30005 (FIG. 9M) can
operably couple
with shaft 30002-2 (FIG. 9L) through fastener 40000-1 (FIG. 9M). Travel stop
30005 can
encounter protrusion 40003-2 which can enable limitation of the rotation of
shaft 30002-2
(FIG. 9L).
[00473] Referring now to FIGs. 10A-10E and 11B, harnesses can be mounted to
straddle
the inside and outside of the sealed part of central gearbox 21514 at the
cable ports, and can
be surrounded by sealing features such as, for example, but not limited to, o-
rings or
gaskets. UC port harness 60007 (FIG. 10C) can channel wires emerging from UC
electromagnetic interference (EMI) filter 50007 (FIG. 10A) that can connect to
PSC board
50002 (FIG. 11B). UC port harness 60007 (FIG. 10C) can include a connector, to
which
cable 60016 (FIG. 10A) can mate, and thereby connect UC EMI filter 50007 to UC
130
(FIG. 12A). Charge input port harness 60008 (FIG. 10D) can channel wires
emerging from
charge input filter 50008 (FIG. 10A) that can connect PSC board 50002 (FIG.
91) to a
charging means, for example, but not limited to, charging power supply 70002
(FIGs. 11A-
11D) via charger port 1158 (FIGs. 10A, 11A-11D). Accessory port harness 60009
(FIG.
10E) can channel wires emerging from auxiliary connector filter 50009 that can
connect
accessory wires to PSC board 50002. The cable exit locations can be protected
from impact
and environmental contamination by being positioned between the front wall of
the MD and
batteries 70001 (FIG. 1E). Articulating cable carrier 1149 (FIGs. 11A-11D) can
protect the
cables and can route the cables from the central housings to the seat,
protecting the cables
from becoming entangled in the lifting and/or stabilizer arms.
[00474] Referring now to FIGs. 11A-11D, various wiring configurations can
connect PBC
board 50001. PSC board 50002, and battery packs 70001 (FIG. with UC 130,
charge
port 1158, and optional accessories 1150A. Emergency power off request switch
60006 can
interface with e-box 1146 through panel mount 1153. Optional accessory DC/DC
module
1155 can include, for example, but not limited to, a module that can plug in
to PSC board
50002. In some configurations, DC/DC supply 1155 for optional accessories can
be
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integrated into PSC board 50002 to eliminate a need for opening e-box 1146
outside of a
controlled environment. In some configurations, charge port 1158 can include a
solder
termination of cables to a port. If transmission means 1151 includes cables,
the cables can
be confined by use of cable carrier 1149 such as, for example, but not limited
to, IGUSO
energy chain Z06-10-018 or Z06-20-028. In some configurations, e-box 1146,
that can
include, but is not limited to including, PBC board 50001 and PSC board 50002,
can be
connected to UC 130, optional accessories 1150A, and charge port 1158 through
junctions
1157 (FIG. 11A) and transmission means 1151. In some configurations, strain
relief means
1156 (FIG. 11C) can provide the interface between e-box 1146 and -UC 130,
charge port
1.158, and optional accessories 1150A. In some configurations, a cable shield
can be
brought out to a forked connector and terminated to metal e-box 1146 with, for
example, a
screw (see HG. I ID). In some configurations, one or more printed circuit
boards 1148
(FIG. 1 IC) can operably couple with strain relief means 1156 L, J, and K
(FIG. 11C), which
can be mounted to e-box 1.146. Strain relief means 1156 L, .1, and K (FIG.
11C) can double
as environmental seals and can provide channels through which electrical
signals or power
can pass. Strain relief means 1156 L, J. and K (FIG. I IC) can include, for
example,
grommets or glands, or could be overmolded and inseparable from the cables.
One or more
printed circuit boards 1148 (FIG. 11C) can (1) provide a place to connect
internal harnesses
between printed circuit boards 1148 (FIG. 11C) and PSC board 50002, and (2)
provide a
place for electromagnetic compatibility (EMC) filtration and electrostatic
discharge (ESD)
protection. EMC filtration and ESD protection can be enabled by connecting
printed circuit
boards 1148 (FIG, 1 l_C) to metal e-box 1146, forming chassis ground 1147.
[00475] Continuing to refer to FIGs. 11A-11D, charger port 1158 is the
location where the
AC/DC power supply 70002 can be connected to the MD. The AC/DC power supply
can
be connected to mains power via line cord 60025. Line cord 60025 can be
changed to
accommodate various wall outlet styles. Charger port 1158 can be separate from
UC 130
(FIG. 12A), enabling charger port 1158 to be positioned in a location that is
most assessable
to each end user. End users have different levels of mobility and may need
charger port
1158 to be positioned in a personally-accessible location. The connector that
plugs into
charger port 1158 can be made without a latch to enable accessibility for
users with limited
hand function. Charger port 1158 can include a universal serial bus (USB) port
for charging
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external items, such as cellphones or tablets, with the power from the MD.
Charger port
1158 can be configured with male pins that operably couple with female pins on
the AC/DC
power supply. In some configurations, it may not be possible to operate the MD
when
charger port 1158 in engaged, regardless of whether the AC/DC power supply is
connected
to mains power.
[00476] Referring now to FIGs. 12A and 12B, user controller (UC) 130 can
include, but is
not limited to including, a control device (for example, but not limited to,
joystick 70007),
mode selection controls, seat height and tilt/lean controls, a display panel,
speed selection
control, a power on and off switch, an audible alert and mute capability, and
a horn button.
In some configurations, using the horn button while driving is allowed. UC 130
can include
a means to prevent unauthorized use of the MD. UC 130 can be mounted anywhere
on the
MD. In some configurations, UC 130 can be mounted on a left or right arm rest.
The
display panel of UC 130 can include a backlight. In some configurations, UC
130 can
include joystick 70007 (FIG. 12A), upper housing 30151, lower housing 30152,
toggle
housing 30157, undercap 30158, and button platform 50020 (FIG. 12A) that can
enable
selection of options through, for example, button depression. Touch screens,
toggle
devices, joystick, thumbwheels, and other user input devices can be
accommodated by UC
130.
[00477] Referring now to FIGs. 12C and 12D, second configuration UC 130-1 can
include
toggle platform 70036 (FIG. 12C) that can include, for example, but not
limited to, toggle
lever 70036-2 and toggle switch 70036-1 that can enable selection of options.
In some
configurations, toggle lever 70036-2 can enable 4-way toggling (up, down,
left, and right),
and toggle switch 70036-1 can enable 2-way toggling. Other option selection
means can
replace buttons and toggles, as needed to accommodate a particular disability.
UC 130
(FIG. 12A) and second configuration UC 130-1 can include cable 60026 and cable
connector 60026-1. Cable connector 60026-2 can operably couple with UC PCB
50004
(FIG. 14A) to provide data and power to each configuration of the UC.
Connector 60026-1
can operably couple UC 130 (FIG. 12A) with the powerbase through cable 60016
(FIG.
10A) that mates to a circuit board.
[00478] Referring now to FIGs. 12E and 12F, third configuration UC 130-1A can
include
thumbwheel knob 30173. Thumbwheel knob 30173 can be assembled into a blind
hole, thus
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eliminating the need for an environmental seal at the mounting point of the
thumbwheel
assembly, and can eliminate a potential place for water, dust, and/or other
contaminants to
enter the UC housing. Further, 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. The
Hall-effect sensor, being a non-contact sensor, can have an essentially
infinite lifetime. In
some configurations, the sensor could directly output a digital signal that
could, for
example, be communicated to UC main processor 24004-2 (FIG. 14C), for example,
via
I2C. In some configurations, the sensor can be dual redundant. The sensor can
provide a
voltage that corresponds to the rotational position of thumbwheel knob 30173.
In some
configurations, the signal can be processed by an analog-to-digital converter
(ADC) that
outputs a value in counts; for example, a 12-bit ADC provides an output value
between 0-
4095 counts.
[00479] Continuing to refer to FIGs. 12E and 12F, thumbwheel knob 30173 can be
used
to, for example, but not limited to, adjust a maximum speed of the MD. In some
configurations, thumbwheel knob 30173 can make a complete revolution with no
stops. By
omitting stops, the mapping of the position, the change of position, the
rotational velocity,
and the 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 thumbwheel knob 30173 "up" to request a higher maximum speed, and "down"
to
request a lower maximum speed. Change in the position of thumbwheel knob
30173, and
not the absolute position at any one given frame, can be correspondent to
change in the
requested maximum speed. Change in requested maximum speed can be used to
configure
characteristics of the MD. Continually dialing thumbwheel knob 30173 "up" or
"down"
after reaching the maximum or minimum values respectively can cause the speed
value to
discontinue changing. Further dialing in the same direction after reaching the
maximum or
minimum can be ignored. Dialing thumbwheel knob 30173 in the reverse direction
while at
the maximum or minimum can be detected and can cause the gain value to change
immediately, i.e. no "unwind" of ignored movement of thumbwheel knob 30173 may
be
necessary. Because the current absolute position of thumbwheel knob 30173 at a
given
frame is not the sole determinant in the gain value, changes to the position
of thumbwheel
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knob 30173 during times when the user is unable to adjust the incremental
speed can be
ignored without adversely effecting subsequent calculations. Examples of such
times when
the user may not be able to adjust the incremental speed include, but are not
limited to,
mode changes and power cycling.
[00480] Continuing to refer to FIGs. 12E and 12F, in some configurations, the
MD can
support multiple drive speed settings, for example, two drive settings. Drive
speed settings
can accommodate situations in which the MD might be placed, for example, but
not limited
to, indoors or outdoors. For example, drive setting one and drive setting two
can include
different maximum speed values that may limit how fast the user can go
regardless of how
the joystick is maneuvered. In some configurations, when drive setting one is
selected, the
default maximum speed, which can be modified, can be 3 mph. In some
configurations,
when drive setting two is selected, the default maximum speed, which can be
modified, is 6
mph. In some configurations, there can be limits on the default maximum speed.
Thumbwheel knob 30173 (FIG. 12E) can allow further adjustment of the speed
limits for
the drive settings of the MD within the minimum and maximum speed ranges for
each
respective drive setting. The new maximum speed can be used to qualify the
full range of
possible motion applied by the joystick. In some configurations, the MD can be
configured
to ignore joystick movement entirely. In some configurations, if drive setting
two is
selected, the incremental setting can fall just above the maximum speed for
drive setting
one up to the maximum speed for drive setting two.
[00481] Continuing to refer to FIGs. 12E and 12F, the sensitivity of
thumbwheel knob
30173 can be configurable. Depending on the sensitivity adjustment, uniform
rotation of
thumbwheel knob 30173 can adjust the speed gains from a relatively small
amount to a
relatively large amount. For example, a user with finger strength,
sensitivity, and dexterity
sufficient to roll and/or twist thumbwheel knob 30173 in small increments can
achieve fine
control of thumbwheel knob 30173 and its underlying functionality. Conversely,
a user
with compromised dexterity might adjust thumbwheel knob 30173 by bumping it
with a
knuckle or the edge of the hand. Thus, in some configurations, a relatively
higher
sensitivity setting can enable varying the speed gain from minimum to maximum
across, for
example, 180 of travel. In some configurations, a relatively lower
sensitivity setting, for
example, more than one rotation of thumbwheel knob 30173, can be required to
traverse the
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same gain range. In some configurations, the sensitivity factor can be
controlled by
maintaining a virtual thumbwheel position, such that, for example, zero counts
is equivalent
to the lowest possible requested max speed, such as 8%, and a maximum counts
value is
equivalent to the highest possible requested max speed, such as 100%. In some
configurations, the max number of counts can be configurable. In such a
configuration, the
degree of sensitivity may be adjusted by scaling the maximum counts value in
relation to
the virtual thumbwheel position. In some configurations, the default maximum
counts can
correspond to the number of counts for one full rotation of thumbwheel knob
30173, 4096
counts, such that one full rotation of the wheel will set the requested
maximum speed for
the current drive setting from 0-100%. In some configurations, the maximum
counts value
can be configurable such that larger values require more rotation of the wheel
to set the
requested maximum speed for the current drive setting from 0-100%. In some
configurations, thumbwheel knob 30173 can rotate between hard stops of less
than a
complete revolution. In some configurations, the change in wheel position can
indicate a
change in maximum speed.
[00482] Continuing to refer to FIGs. 12E and 12F, in some configurations, the
gain value
can revert to a default value after a power cycle. In some configurations, the
gain value can
be determined by a setting saved during power down, even if thumbwheel knob
30173
moves after power down. When the MD is powered on, the virtual wheel position
for the
current drive setting before the preceding power off can be recalled, and the
new maximum
speed, when thumbwheel knob 30173 is rotated, can be based on the recalled
virtual
thumbwheel position. The incremental setting for each drive setting can be
stored, for
example, in non-volatile memory so that if the incremental setting for drive
setting one is
set to 75%, and the incremental setting for drive setting two is 40%, when the
user returns
to drive setting one, the incremental setting will be 75%.
[00483] Referring now to FIG. 12G, third configuration upper housing 30151A
can
include, but is not limited to including, LCD display 70040, button keypad
70035, joystick
70007, antenna 50025, spacer 30181, joystick backer ring 30154, and display
coverglass
30153. In some configurations, buttons 70035 can include undermounted
snapdomes (not
shown) that can enable the user to sense when buttons 70035 have been
depressed. Antenna
50025 can be mounted within third configuration upper housing 30151A, and can
enable,
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for example, wireless communications between third configuration UC 130-1A
(FIG. 12F).
Spacer 30181 can separate LCD display 70040 from other electronics within
third
configuration UC 130-1A (FIG. 12F). LCD display 70040 can be protected from
environmental hazards by display coverglass 30153. Joystick 70007 can include
connector
70007-1 (FIG. 12H) that can provide power to joystick 70007, and can enable
signal
transmission from joystick 70007. In some configurations, the direction of
movement of
joystick 70007 can be measured by more than one independent means to enable
redundancy.
[00484] Referring now to FIGs. 12I-12K, UC 130 can include circuit board 50004
that
can be housed and protected by upper housing 30151 and lower housing 30152. UC
130
can include display coverglass 30153 that can provide visual access to screens
that can
present options to the user. A display can be connected to UC PCB 50004 by
flexible
connector 50004-2 (FIG. 14A). Optional EMC shield 50004-3 can guard against
incoming
and/or outgoing emissions of electromagnetic interference to/from UC PCB
50004. Button
assembly 50020-A and toggle switches 70036 can be optionally included. Buttons
and/or
toggles can be mounted on toggle housing 30157 which can be operably connected
with
lower housing 30152 and upper housing 30151 through undercap 30158. UC 130 can
be
mounted onto the MD in a variety of ways and locations through mounting cleat
30106.
Throughout UC 130 are environment isolation features such as, for example, but
not limited
to, o-rings such as toggle housing ring 130A, grommets such as cable grommet
40028 (FIG.
12K), and adhesives to isolate the components such as, for example, circuit
board 50004,
from water, dirt, and other possible contaminants. In some configurations,
joystick 70007
and speaker 60023 can be a commercially-available items. Joystick 70007, such
as, for
example, but not limited to, APEM HF series, can include a boot that can be
accommodated
by, for example, the pressure mount of boot mount cavity 30151-3 and joystick
backer ring
30154.
[00485] Referring now to FIG. 12L, upper housing 30151 can include ribs 30151-
5 that
can support circuit board 50004. Upper housing 30151 can include mounting
spacers
30151-4, space for secure mounting of joystick 70007 (FIG. 12A). Upper housing
30151
can include, but is not limited to including, display cavity 30151-2 that can
provide a
location for visual access means for display screens of UC 130. Upper housing
30151 can
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also include button cavities, for example, but not limited to, power button
cavity 30151-6
and menu button cavity 30151-7. Upper housing 30151 can include formed
perimeter
30151-1 that can provide a consistent look and feel with other aspects of the
MD. Upper
housing 30151 can be constructed of, for example, but not limited to,
polycarbonate, a
polycarbonate Acrylonitrile Butadiene Styrene blend, or other materials that
can meet
strength and weight requirements associated with the UC. Joystick 70007 (FIG.
12A) can
be installed in boot mount cavity 30151-3 using, for example, gaskets, backer
ring 30154
(FIG. 12Q), fastening means such as, for example, but not limited to, screws
and fastener
holes 30151-X, that can be used to attach joystick 70007 and backer ring 30154
(FIG. 12Q)
to upper housing 30151. Installing the joystick boot can isolate UC PCB 50004
(FIG. 14A)
and other sensitive components from the environment. Upper housing 30151 can
include
molding references 30151-X2 that can enable orientation of joystick 70007
during
assembly. In some configurations, cable reference 30151-X2 can indicate where
joystick
cable connector 70007-1 (FIG. 12H) can be positioned.
[00486] Referring now to FIG. 12M, lower housing 30152 can join upper housing
30151
(FIG. 12L) at perimeter geometry 30152-2. The combination of lower housing
30152 and
upper housing 30151 (FIG. 12L) can house UC PCB 50004 (FIG. 14A), speaker
60023
(FIG. 12K), display coverglass 30153 (FIG. 12P), and joystick backer ring
30154 (FIG.
12Q), among other parts. Environmental isolation features at the joint can
include, for
example, but are not limited to, gaskets, o-rings, and adhesives. Lower
housing 30152 can
include audio access holes 30152-1 that can be located adjacent to speaker
mount location
30152-6. A commercially-available speaker can be mounted in speaker mount
location
30152-6 and can be securely attached to lower housing 30152 using an
attachment means
such as, for example, but not limited to, an adhesive, screws, and hook-and-
eye fasteners.
Lower housing 30152 can include at least one post 30152-7 upon which can rest
UC PCB
50004 (FIG. 121). Lower housing 30152 can include connector reliefs 30152-3
that can
provide space within lower housing 30152 to accommodate, for example, but not
limited to,
joystick connector 50004-8 (FIG. 14A) and power and communications connector
50004-7
(FIG. 14A). Lower housing 30152 can be attached to the MD through fastening
means such
as, for example, screws, bolts, hook-and-eye fasteners, and adhesives. When
screws are
used, lower housing 30152 can include fastener receptors 30152-5 that can
receive fasteners
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that can attach toggle housing 30157 (FIG. 12R) to lower housing 30152. Lower
housing
30152 can also include pass-through guides 30152-4 that can position
fasteners, for
example, but not limited to, sealing fasteners, that can securely connect
lower housing
30152 with undercap 30158 (FIG. 12K). Sealing fasteners can provide
environmental
isolation. In some configurations, lower housing 30152 can be constructed of,
for example,
but not limited to, die cast aluminum that can provide strength to the
structure.
[00487] Referring now to FIG. 12N, third configuration lower housing 30152A
can
include thumbwheel geometry 30152-Al that can accommodate thumbwheel 30173.
Lower
housing 30152 can optionally include ribbing (not shown) molded into inner
back 30152-9.
The ribbing can increase the strength and resistance to damage of UC 130, and
can also
provide resting positions for UC PCB 50004 (FIG. 121). Lower housing 30152A
can also
provide raised posts 30173-XYZ that can provide chassis ground contact points
for UC
PCB 50004, which can be grounded to the powerbase. Chassis ground contact
30173-2 for
cable shield 60031 (FIG. 12V) can tie the metal from lower housing 30152A to
the metal of
the powerbase.
[00488] Referring now to FIG. 120, third configuration lower housing 30152A
can
include thumbwheel enabling hardware such as, for example, but not limited to,
a position
sensor that can include a magnetic rotary position sensor such as, for
example, the AMS
ASS 600 position sensor, that can sense the direction of the magnetic field
created by
magnet 40064 that rotates when thumbwheel knob 30173 rotates. The magnetic
sensor can
be mounted upon a flex circuit assembly that can provide power to and receive
information
from the magnetic sensor. In some configurations, to enable resistance to
mechanical
shock and vibration, the space around the thumbwheel position sensor chip can
be filled.
In some configurations, enabling hardware, including, but not limited to,
bushing 40023,
magnet 40064, magnet shaft 30171, o-ring 40027, retaining nut 30172, and screw
40003,
can operably couple thumbwheel knob 30173 with second configuration lower
housing
30152A, and can enable the movement of magnet 40064 to be reliably sensed by
the
magnetic sensor. Lower housing 30152A can include a cylindrical pocket in a
wall of lower
housing 30152A where bushing 40023 is positioned. Bushing 40023 can provide
radial and
axial bearing surfaces for shaft 30171. Shaft 30171 can include a flange onto
which o-ring
40027 is placed. Shaft 30171 is captured by retaining, threaded, nut 30172
that includes a
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thru-hole sized to fit shaft 30171, and smaller than flange/o-ring 40027. When
assembled,
o-ring 40027 is compressed which can eliminate axial play, and can create
viscous drag
when shaft 30171 is turned. Thumbwheel knob 30173 is assembled to shaft 30171
with a
fastening means such as, for example, but not limited to, a low-head fastener,
a simple
friction fit, and/or knurling. Shaft 30171 can include magnet 40064. The
magnetization
direction creates a vector normal to the axis of shaft 30171 which can be
measured by a
Hall-effect sensor. A measurement of the magnetization vector can be provided
by the
sensor to UC 130 (FIG. 12A). UC 130 (FIG. 12A) can compute, based on the
magnetization vector direction, a relative change in maximum speed. In some
configurations, at least some parts of the enabling hardware, for example, 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, detents can be added
to the
thumbwheel assembly to provide clicks as thumbwheel knob 30173 is manipulated.
Screw
40003 can pass through thumbwheel 30173 and can operably couple with magnet
shaft
30171. The geometries of the enabling hardware can interlock to retain
thumbwheel 30173
in second configuration lower housing 30152A, and can provide environmental
isolation to
the interior of UC 130 because there is no need in the shown configuration for
a shaft to
pierce second configuration lower housing 30152A. The geometry of the
thumbwheel
assembly enables in-field service and/or replacement without separating upper
housing
30151 (FIG. 12E) from lower housing 30152A. In particular, thumbwheel knob
30173 can
be replaced if damaged by impacts, or worn out from use. In some
configurations,
thumbwheel knob 30173 can be operably coupled with shaft 30171 by click-on or
press-in
fastening means.
[00489] Referring now to FIG. 12P, display coverglass 30153 can include clear
aperture
30153-1 that can expose menu and options displays for the user. The dimensions
of clear
aperture 30153-1 can be, for example, but not limited to, different from the
display active
area. Display coverglass 30153 can include frame 30153-4 that can be masked
black with a
pressure sensitive adhesive layer. In some configurations, display coverglass
30153 can be
masked with black paint, and double-sticky tape can be applied on top of the
black masking.
Clear, unmasked area 30153-3 can admit ambient light. UC 130 can vary the
brightness of
the display based on the ambient light. Display coverglass 30153 can include
button
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cavities 30153-5 and 30153-6 that can provide locations for button keypad
70035. Display
coverglass 30153 can include outward face 30153-2 that can, in some
configurations,
include coatings that can, for example, reduce glaring reflections and/or
improve scratch
resistance. In some configurations, a space can exist between the material of
coverglass
30153 and frame 30153-4. The space can include decorative elements such as,
for example,
but not limited to, product logos, and can be indelibly printed and/or etched.
[00490] Referring now to FIG. 12Q, joystick backer ring 30154 can include, but
is not
limited to including, receptor 30154-3 to house a joystick boot and body, and
holes/slots
30154-2 to fasten backer ring 30154 to upper housing 30151 (FIG. 12L).
Holes/slots
30154-2 can be sized to accommodate multiple sizes of joysticks 70007 (FIG.
12A). Holes
30154-1, for example, can accommodate connections among each component of UC
130
(FIG. 12A). In some configurations, backer ring 30154 can include a pattern of
notches
30154-X2 oriented circumferentially with respect to holes 30154-1 and slots
30154-2.
Notches 30154-X2 can interface with ribs 30151-4 (FIG. 12M) in upper housing
30151
(FIG. 12M), and can ensure the correct rotational position of the hole and
slot patterns in
backer ring 30154 during assembly of UC 130 (FIG. 12A).
[00491] Referring now to FIG. 12R, toggle housing 30157 can include pocket
30157-2
that can house a toggle module, for example, but not limited to, button
platform 50020-A
(FIG. 12BB). Toggle housing 30157 can include connector cavity 30157-3 to
accommodate
a flexible cable emanating from the toggle device. Toggle housing 30157 can
include
through holes 30157-4 to accommodate fastening means that can connect
components of
UC 130 (FIG. 12A) together. Toggle housing 30157 can include lower housing
connector
cavities 30157-5 that can provide opening for fastening means to engage.
Toggle housing
30157 can include sealing geometry 30157-6 that can enable mating/sealing
between toggle
housing 30157 can include and undercap 30158, that can be secured by undercap
fastening
means cavity 30157-8. Toggle housing 30157 can include toggle module fastener
cavities
30157-7 to enable attachment of the toggle module to toggle housing 30157.
Toggle
housing 30157 can include forked guide 30157-1 to provide a guide for
power/communications cable 60031 (FIG. 12X). 0-ring 130B can enable sealing
and
environmental isolation between toggle housing 30157 and lower housing 30152A
(FIG.
12N).
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[00492] Referring now to FIGs. 12S and 12T, toggle housing second
configuration
30157B can enable mounting of toggle platform 70036 (FIG. 12T). Toggle housing
second
configuration 30157B can include toggle lever support geometry 30157A-1 (FIG.
12S) and
toggle switch support geometry 30157B-1 (FIG. 12S) that can provide supporting
structure
for toggle lever 70036-2 (FIG. 12T) and toggle switch 70036-1 (FIG. 12T),
respectively.
Toggle housing second configuration 30157A can include connector cavity 30157A-
3 to
accommodate connections between toggle platform 70036 (FIG. 12T) and
electronic
components of UC 130 (FIG. 12A). Toggle housing 30157B can include pocket
30157-2
that can house a toggle module, for example, but not limited to, button
platform 50020-A
(FIG. 12BB). Toggle housing 30157B can include connector cavity 30157A-3 to
accommodate a flexible cable emanating from the toggle device. Toggle housing
30157B
can include through holes 30157A-4 to accommodate fastening means that can
connect
components of UC 130 (FIG. 12A) together. Toggle housing 30157B can include
lower
housing connector cavities 30157A-5 that can provide openings for fastening
means to
engage. Toggle housing 30157B can include sealing geometry 30157A-6 that can
enable
mating/sealing between toggle housing 30157B and undercap 30158 (FIG. 12U),
that can be
secured by undercap fastening means cavity 30157A-8. Toggle housing 30157B can
include toggle module fastener cavities 30157A-7 to enable attachment of the
toggle
module to toggle housing 30157B. Toggle housing 30157B can include forked
guide
30157A-1 to provide a guide for power/communications cable 60031 (FIG. 12X).
An o-
ring (not shown) can enable sealing and environmental isolation between toggle
housing
30157B and lowering 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 having
various hand geometries. In particular, toggle lever 70036-2 (FIG. 12T) can be
spaced from
toggle switch 70036-1 (FIG. 12T) by about 25-50 mm. Toggle lever 70036-2 (FIG.
12T)
can have rounded edges, its top can be slightly convex and substantially
horizontal, and it
can measure 10-14 mm across its top, and can be about 19-23 mm in height.
Toggle switch
70036-1 (FIG. 12T) can be about 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 between 15 and 45 with respect to joystick 70007 (FIG. 12K).
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[00493] Referring now to FIG. 12U, undercap 30158 can include through
fastening holes
30158-1 that can accommodate fastening means to operably couple the components
of UC
130 (FIG. 12A). Undercap 30158 can include grommet cavity 30158-2 that can
house
grommet 40028 that can environmentally seal the cable entry point. Undercap
30158 can
include mounting cleat face 30158-5 that can provide connection points for
mounting cleat
30106 (FIG. 12Z). Undercap 30158 can include fastening accommodation 30158-4
that can
enable fastening of undercap 30158 to toggle housing 30157. Undercap 30158 can
include
relief cuts 30158-3 for toggle module fasteners. Undercap 30158 can
accommodate gasket
130A that can environmentally seal undercap 30158 to toggle housing 30157.
[00494] Referring now to FIGs. 12V-12X, second configuration undercap 30158-1
can
include, but is not limited to including, EMI suppression ferrite 70041, and
ferrite retainer
30174. Ferrite retainer 30174 can operably couple with second configuration
undercap
30158-1 through mounting features 30158-3 (FIG. 12X) and posts 30158-2 (FIG.
12X).
Retainer 30174 can be affixed to undercap 30158 by heat-staking posts 30158-2
(FIG.
12X). In some configurations, ferrite retainer 30174 can be affixed to
undercap 30158 by
means of threaded fasteners, adhesives, and/or snap features. In some
configurations, when
cable 60031 is threaded through ferrite retainer 30174, EMI suppression
ferrite 70041 can
protect UC 130 from EMI emissions emanating from cable 60031, which can house
power
and CANbus connections for UC 130. Shield 60031-4 can emerge from cable 60031
and
can connect to a feature of housing 30152 at connector 60031-3. Metal barrel
60031-1 can
enable the shield to continue to the powerbase.
[00495] Referring now to FIG. 12Y, UC mounting device 16074 can enable UC 130
(FIG.
12A) to be mounted securely to the MD by means of any device that can
accommodate stem
16160A, stem split mate 16164, and a conventional seat mounted upon the MD
through
operable coupling with seat brackets 24001 (FIG. 1A). Tightening orifice 162-
672 can
provide a means to secure mounting device 16074 to the MD. Mounting device
16074 can
include ribs 16177 that can be raised away from mounting body 16160 to
accommodate UC
mounting feature 30158 (FIG. 12B). UC 130 (FIG. 12A) can operably couple with
mounting device 16074 by sliding mounting cleat 30106 (FIG. 12Z) between ribs
16177
and mounting body 16160. Release lever 16161 can operate in conjunction with
spring-
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loaded release knob 16162 to enable secure fastening and easy release of UC
130 to/from
mounting device 16074.
[00496] Referring now to FIG. 12Y-1, standard connections can be used to
connect a UC
to the wheelchair. In some configurations, commercially-available armrests and
user
controller connections can provide the interface between the UC and the
mobility device.
The design of the UC of the present teachings can comply with accepted
commercial
standards in order to allow flexible use of various mobility device features.
A UC that
includes properly-positioned threaded mounting holes, and an option for
toggles, can be
mounted atop a mobility device armrest with an associated armrest bracket. The
joystick
and the optional toggles can be cabled separately or as one. The UC mount can
be, for
example, but not limited to, articulated, fixed, or swingaway. In some
configurations, the
orientation of the joystick can be maintained by use of an articulated mount.
In some
configurations, the fixed mount can be adjustable with tools. In some
configurations, the
armrest can be pivoted out of the way to move the UC. A UC mount can be
selected based
at least on ease of installation and removal of the UC from the mount, cost,
ease of
orientation adjustment of the UC, interchangeability between toggled and
toggle-less
varieties, inherent strength, ease of use, and toggle mounting and cabling.
[00497] Continuing to refer to FIG. 12Y-1, characteristics of the UC mounting
mechanisms of the present teachings can include, but are not limited to
including, tool-less
attachment of the UC, one-handed operation, and ambidextrous structure of the
UC. In
some configurations, the mechanical connection between the UC and the mounting
mechanism can be distinct from the electrical connection. In some
configurations, the
mechanical and electrical connections can be one and the same.
[00498] Continuing to refer to FIG. 12 Y-1, UC 130-2 of the present
teachings can
include cleat 130-2D that can engage with receiver bracket 130-2A at cleat
overhang 130-
2G. Receiver bracket 130-2A can provide an interface to a mounting platform
such as, for
example, but not limited to, an armrest or a platform adjunct such as, for
example, but not
limited to, a telescoping tube, and cable run. Receiver bracket 130-2A can
provide at least
one termination point 130-2C for power and communications cabling to the
powerbase,
where termination point 130-2C can operably couple with UC contacts 130-2B.
Receiver
bracket 130-2A can include release lever 130-2G and latch 130-2E that can
operably couple
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with latch recess 130-2F. Receiver bracket 130-2A can be advantageously
located for the
convenience of the user of the MD.
[00499] Referring now to FIG. 12Y-2, UC 130-3 can include receiver bracket 130-
3A that
can provide power charging interface mechanism 130-3B for the powered
components of
the MD, charge cable presence detection 130-3C, and can include charge power
protection
130-3D, for example, but not limited to, fusing.
[00500] Referring now to FIGs. 12Y-1 and 12Y-2, when UC 130-2/3 is not
installed,
receiver bracket 130-2A/3A can include accessible contacts 130-2C (FIG. 12Y-
1), and
receiver bracket 130-2A/3A can include a mechanism (not shown) for
enabling/disabling
power to the contacts. The mechanism can include, but is not limited to
including, (a) a
mechanical switch (not shown) that can be depressed when UC 130-2/3 is
installed, (b) a
non-contact switch (not shown) such as, for example, but not limited to, an
optical sensor or
digital Hall effect sensor that can detect the presence of a UC 130-2/3 in
receiver bracket
130-2A/3A, (c) a magnetic reed switch (not shown) that can be activated by the
presence of
a magnet in UC 130-2/3, (d) communications capability (not shown) in receiver
bracket
130-2A/3A that can manage enabling/disabling power to the contacts when
appropriate
communications messages have been exchanged between UC 130-2/3 and receiver
bracket
130-2A/3A, and/or (e) an additional electrical contact (not shown) that can
provide a circuit
closure indication that UC 130-2/3 is present in receiver bracket 130-2A/3A.
UC 130-2/3
and receiver bracket 130-2A/3A can include environmental sealing and
electrostatic
protection.
[00501] Referring now to FIG. 12Z, mounting cleat 30106 can enable mounting of
UC
130 (FIG. 12A) onto the MD, for example, on an armrest, for example, by
mounting device
16074 (FIG. 12Y). Mounting cleat 30106 can include engagement lip 30106-3 that
can
include a geometry that can enable sliding and locking engagement of mounting
cleat 30106
with a receiver, for example, by depressing a latch button until UC 130 (FIG.
12A) is
correctly positioned. At that position, the latch button could protrude into
button cavity
30106-1, thereby locking UC 130 (FIG. 12A) into place. Edges 30106-4 of
mounting cleat
30106 can fit within the receiver. Mounting cleat 30106 can include fastening
cavities for
fastening mounting cleat 30106 to mounting cleat face 30158-5 (FIG. 14A).
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[00502] Referring now to FIG. 12AA, grommet 40028-1 can provide an
environmental
seal surrounding cable 60031 (FIG. 12X). Grommet 40028-1 can rest in grommet
cavity
30158-2 (FIG. 12U), neck 40028-1B being 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). The strain relief can
prevent damage if
cable 60026 is bent or pulled. In some configurations, cable grommet 40028-1
can be an
overmolded feature integral to cable 60031 (FIG. 12X).
[00503] Referring now to FIGs. 12BB and 12CC, button assembly 50020-A can
enable
button option entry at UC 130 (FIG. 12A). Button assembly 50020-A can include
buttons
50020-Al, for example, but not limited to, momentary push buttons that can be
mounted on
button circuit board 50020-A9. Buttons 50020-Al can operably couple with
button circuit
board 50020-A9 that can include cable connector 50020-A2 that can accommodate,
for
example, but not limited to, a flexible cable. Button assembly 50020-A can
include spacer
plate 50020-S (FIG. 12CC) that can provide cavities 50020-S1 (FIG. 12CC) for
buttons
50020-Al. A coverlay (not shown) providing graphics and environmental sealing
can cover
buttons 50020-Al.
[00504] Referring now to FIGs. 12DD and 12EE, toggle platform 70036 can
include
toggle lever 70036-2 (FIG. 12T) and toggle switch 70036-1 (FIG. 12T), and
toggle mount
means 70036-3 to mount toggle platform 70036 onto toggle housing second
configuration
30157A. Toggle mount means 70036-3 can be adjacent to toggle lever support
geometry
30157A-2 (FIG. 12U). In some configurations, a low-profile toggle module
70036A (FIG.
12GG) including D-pad 70036A-2 (FIG. 12EE) in place of toggle lever 70036-2
(FIG.
12DD) and rocker switch 70036A-1 (FIG. 12EE) in place of toggle switch 70036-1
(FIG.
12DD) can be included. In some configurations, toggle lever 70036-2 (FIG.
12DD) can be
replaced by two 2-way toggles (not shown), which could be similar to the
controls for
powered seating tilt and recline. The resulting module can include three 2-way
toggles.
[00505] Referring now to FIGs. 12FF and 12FF-1 through 12FF-3, UC 22004 can
include
the features of UC 130-1A (FIG. 12E), but can include toggle cable 60031-B for
toggles
70036, making toggles 70036 optional, and UC cable 60031-A for UC 22004.
Toggle cap
22152-A can include fastener recesses 22152-B that can enable mounting plate
cuts 22158-
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C in toggles mount bracket 22158-A to accommodate the fore/aft position of UC
22004
with respect to toggles 70036 to be modified, tooled or toolessly. Toggle
mounting bracket
22158-A can couple toggles 70036 with UC 22004 by interface tab 22158-G (FIG.
12FF-
I). Commercially-available mounting bracket 22158-B can accommodate the
mounting of
both UC 22004 and toggles 70036 if present, through UC mounting recess 22158-D
and
toggles mounting recess 22158-F, respectively. Commercially-available mounting
bracket
22158-B can accommodate attachment to an armrest (not shown) or any other part
of the
MD through mounting recesses 22158-E.
[00506] Referring now to FIG. 12FF-3, in some configurations, UC 22004 can
include
electrical/data coupling 60031-E between toggles 70036 and the
joystick/display portion of
UC 22004. Toggle interface 30158-A can receive/transmit data through
electrical/data
coupling 60031-E and provide the data for processing to toggles 70036. The
joystick/display portion of UC 22004 can receive/transmit data through
electrical/data
coupling 60031-E and provide the data for processing to the joystick/display
portion of the
UC. In some configurations, toggles 70036 can receive/transmit data and be
powered
through cable 60031-B, while the joystick/display portion of UC 22004 can
receive/transmit
data and be powered through cable 60031-A. Junction box 60031-C can combine
the signal
from cables 60031-A and 60031-B to provide them to cable 60031-D.
[00507] Referring now to FIGs. 12GG and 12GG-1, in some configurations,
toggles
70036 can be manufactured with integral UC connection 22157. Integral UC
connection
22157 can include bracket mounting recesses 22157-A and can accommodate
data/power
cable 60031. In some configurations, UC 22004-1 can be toolessly connected to
armrest
mounting bracket 22158-A by, for example, wingnuts 22158-H, and can be
toolessly
connected to an armrest by, for example, but not limited to thumb screw 221584
and knob
screw 221584.
[00508] Referring now to FIGs. 12HH, 12HH-1, and 12HH-2 UC cap 482 can
integrally
or removably couple with cap back clamp 491. Cap back clamp 491 can trap
toggles
mount bracket 488, holding toggles 70036 in place with respect to UC 22004,
and can
provide cable recess 491B. Cable 60031-A can travel through cable recesses 491-
C and
491-B before exiting from UC 22004. Cap back clamp 491 can be situated in
mounting
ring back clamp recess 491-A, and can be tightened into place by mounting
claim
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490. Mounting clamp 490 can be tightened by compressing mount handle back
clamp 492,
which can provide a stable compression based on side posts 493. Uncompressed
mount
handle back clamp 492 can result in exemplary gap 495 (FIG. 12HH-2), and
compressed
mount handle back clamp 492 can result in exemplary gap 494 (FIG. 12HH-2).
[00509] Referring now to FIGs. 1211, 1211-1, and 1211-2, UC 22004-1 can be
toolessly
screw-mounted onto mounting bracket 653 through cap stud 655. Cap stud 655 can
be
integrated with UC connection 22157, or can be fastened to UC connection
22157. Clocking plate 654 can be positioned between cap stud 655 and mounting
bracket
653. Cap stud 655 can include external threads 655-A (FIG. 1211-1), and can
pass through
cavities 654-A (FIG. 1211-1), 653-C (FIG. 1211-1), and 656-A (FIG. 1211-1)
when cap stud
threads 655-A (FIG. 1211-1) are coupled with threaded nut threads 656-B (FIG.
1211-1),
tightening threaded nut 656 (FIG. 1211-1) with cap stud 655. Fasteners 657 can
be loosely
screwed into threaded recesses 654-B, through adjustment channels 653-A (FIG.
1211-
1). UC 22004-1 can be rotated as loosened fasteners 657 (FIG. 1211-1) move
freely in
channels 653-A (FIG. 1211-1) until a desired orientation is achieved. Then
fasteners 657
(FIG. 1211-1) can be tightened. Tab 653-B can be used to connect UC 22004-1 to
an
armrest.
[00510] Referring now to FIGs. 12JJ and 12JJ-1, UC connection 22157 can
provide an
interface between UC 22004-1 and clamp post 824, which can be removably or
fixed
mounted to UC connection 22157. Clamp-on shaft collar 819 can be attached to
mounting
bracket 815 using recesses 815-B and tooled or tooless fasteners. To achieve
mounting of
UC 22004-1, clamp post 824 can be inserted into cavities 819-E and 815-A, and
clamp-on
shaft collar can be tightened at tightening points 819-A (FIG. 12JJ-1) and 819-
B (FIG. 12JJ-
1) after UC 22004-1 is rotated to a desired orientation.
[00511] Referring now to FIGs. 12KK and 12KK-1 through 12KK-6, cap latch 849
can
provide an interface between UC 22004-1 and UC mount ring latch 840. Cap latch
849 can
include bayonet 849-B that can enter recess 840-F. As cap latch 849 is
twisted, bayonet
849-B can depress retractable spring 843 until retractable spring 843 becomes
entrapped in
recess 849-A, while simultaneously experiencing resistance from bumper 1011.
Bumper
1011 can rest in bumper holder 1010, and bumper holder 1010 can be held in
place by
protrusion 1010-A (FIG. 12KK-3) which can rest in cavity 840-G (FIG. 12KK-
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3). Retractable spring 843 can be released from recess 849-A by engaging
handle 843-A
(FIG. 12KK-2 ) and pulling handle 843-A (FIG. 12KK-2) away from spring stop
840-
A. Spring stop 840-A can include recess 840-D (FIG.12KK-1) into which
retractable
spring 843 can be positioned. Pulling handle 843- A (FIG. 12KK-2) away from
spring stop
840-A can result in compressing spring 843 while removing entrapped rod 843-C
from
recess 849-A, allowing bayonet 849-B to move. Threads 843-B can enable spring
plunger
843 to be engaged in recess 840-D. In some configurations, spring stop 840-A
can be
replaced by flange 829-A (FIG. 12KK-4) that can include a recess that can
accommodate
retractable spring 843. UC mount ring latch 840 can include ribs 840-B that
can increase the
strength of UC mount ring latch 840, which can be used to attach UC 22004-1 to
an
armrest.
[00512] Referring now to FIGs. 12LL and 12LL-1 through 12LL-5, UC 22004-1
(FIG.
12LL) can operably couple with cap latch 1018 (FIG. 12LL) to secure UC 22004-1
(FIG.
12LL) to the mounting mechanism of the present teachings that can interface
with an
armrest. Fasteners 1018-B (FIG. 12LL) can loosely engage with UC 22004-1 (FIG.
12LL)
through cap latch cavities 1018-A (FIG. 12LL), UC 22004-1 (FIG. 12LL) can be
rotated to
a desired orientation, and fasteners 1018-B (FIG. 12LL) can be tightened.
Mount plate
latch 1019 (FIG. 12LL-2) can operably couple with cap latch 1018 (FIG. 12LL).
Mount
plate latch 1019 (FIG. 12LL-2) can include a geometry that can complement the
geometry
of UC top plate 1013 (FIG. 12LL-1) so that mount plate latch 1019 (FIG. 12LL-
2) can fit
into top plate cavity 1013-A (FIG. 12LL-3). Mount plate latch 1019 (FIG. 12LL-
2),
coupled with UC 22004-1 through cap latch 1018 (FIG. 12LL), can be inserted
into top
plate cavity 1013-A (FIG. 12LL-3) and rotated to secure. As mount plate latch
1019 is
rotated, wings 1019-A (FIG. 12LL-2) can encounter ramp features 1016-A (FIG.
12LL-2)
and buttons 1016-B (FIG. 12LL-2) with which recesses 1019-B (FIG. 12LL-2) can
align
and surround. Pressure to maintain the position of UC 22004-1 (FIG. 12LL) can
be
achieved by compression spring 1015 (FIG. 12LL-1), or any other type of
spring, pressing
upon the base of 1016. Ramp shoes 1016-C (FIG. 12LL-1) can couple with base
recesses
1014-A (FIG. 12LL-1) to maintain alignment of 1016 and 1014. To release this
pressure to
allow UC 22004-1 (FIG. 12LL) to be removed, handle 1017 (FIG. 12LL-5),
operably
coupled with base 1014 (FIG. 12LL), can be pulled away from base 1014 (FIG.
12LL),
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drawing the buttons 1016-B away from the recesses 1019-B, thus releasing the
connection
between button 1016-B (FIG. 12LL-2) and recess 1019-B (FIG. 12LL-2) and
allowing
mount plate latch 1019 (FIG. 12LL-5) to rotate and release UC 22004-1 (FIG.
12LL).
[00513] Referring now to FIGs. 12MM and 12MM-1 through 12MM-3, UC 22004-1
(FIG. 12MM) can operably couple, either fixedly or removably, with undercap
1191 (FIG.
12MM-1) at toggle interface 22157 (FIG. 12MM). Cleat 1349 (FIG. 12MM-1) can
operably couple with undercap 1191 (FIG. 12MM-1) by fasteners mounted in
channels
1349-B (FIG. 12MM-1) and recesses 1191-A (FIG. 12MM-1). Before fasteners are
tightened, channels 1349-B (FIG. 12MM-2) can enable orientation adjustment of
UC
22004-1 (FIG. 12MM). Separately, top plate 1189 (FIG. 12MM-3) and lock plate
1353
(FIG. 12MM-3) can be coupled by fasteners in aligned recesses 1353-B (FIG.
12MM-3)
and 1189-A (FIG. 12MM-3). The combination of UC 22004-1 (FIG. 12MM), undercap
1191 (FIG. 12MM-1), and cleat 1349 (FIG. 12MM-1) can be aligned and inserted
into top
plate cavity 1189-A (FIG. 12MM-1) and then rotated to align button 1349-A
(FIG. 12MM-
3) with recess 1353-A (FIG. 12MM-3). During rotation, button 1349-A(FIG. 12MM-
3) can
travel towards recess 1353-A (FIG. 12MM-3) by riding over ramps 1353-C (FIG.
12MM-
3). When button 1349-A (FIG. 12MM-3) aligns with recess 1353-A (FIG. 12MM-3),
button
1349-A (FIG. 12MM-3) can engage with recess 1353-A (FIG. 12MM-3). Pressure to
maintain position is achieved by lock plate 1353 applying pressure to button
1349-A (FIG.
12MM-2). This securely attaches UC 22004-1 (FIG. 12MM) to top plate 1189 (FIG.
12MM-3), and top plate 1189 can be used to mount UC 22004-1 (FIG. 12MM) on an
armrest. To disengage UC 22004-1 (FIG. 12MM) from the connection to top plate
1189
(FIG. 12MM-3), lock plate 1353 (FIG. 12MM-3) can be depressed at lock plate
end 1353-D
(FIG. 12MM-3), button 1349-A (FIG. 12MM-3) can become free of recess 1353-A
(FIG.
12MM-3), and UC 22004-1 (FIG. 12MM) can be rotated to release cleat 1349 (FIG.
12MM-1) from top plate 1189 (FIG. 12MM-1).
[00514] Referring now to FIGs. 12NN, and 12NN-1 through 12NN-4, UC 22008 (FIG.
12NN-1) can include a toggleless controller, and UC 22009 (FIG. 12NN) can
include toggle
module 22057 (FIG. 12NN), that can be included with UC core 22007-1, or can be
replaced
by cap 30256 (FIG. 12NN-1), making toggle module 22057 (FIG. 12NN) a field-
replaceable unit. Cap 30256 (FIG. 12NN-1) or toggle module 22057 (FIG. 12NN)
or other
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modules can be attached and removed, making it possible to replace toggle
module 22057
(FIG. 12NN) when it is worn out and/or damaged. Toggle module 22057 (FIG.
12NN) can
include an inline electrical connection interface where toggle module 22057
(FIG. 12NN)
mates with UC core 22007-1. One side of inline electrical connection 50039-1
(FIG.
12NN-2) can include flex cable 50039 (FIG. 12NN-2), which can be mounted in
lower
housing 30252 (FIG. 12NN-2) and can be connected to UC board 50004 (FIG. 12NN-
3)
during assembly. The other side of electrical connection 50039-1 (FIG. 12NN-2)
can
include a commercially-available male pin header integrated into toggles flex
tail 70048-1
(FIG. 12NN-4). In some configurations, UC core 22007-1 (FIG. 12NN) can be
provided as
an assembled item, and can be tested as a complete unit.
[00515] Referring now to FIG. 12NN-5, cable 60037 can incorporate right angle
overmold 60036 where cable 60037 passes through lower housing 30252. Overmold
60036
can provide strain relief, retention in the housing, and can form an
environmental seal.
Overmold 60036 can incorporate flange 60036-1 that can protect cable 60037
from being
pulled through. UC 20008/20009 (FIGs. 12NN/12NN-1) can include ferrite 70041
to
reduce EMI within UC 20008/20009 (FIGs. 12NN/12NN-1). Lower housing 30252 can
include grounding location 30252-12. The cable shield can extend to ring
terminal 70042
which can be surrounded by star washers 40015 and connected to grounding
location
30252-12? ][give to Alex to review]]
[00516] Referring now to FIGs. 12NN-6 and 12NN-7, upper housing 30251 (FIG.
12NN-
6) can include bend-resistant wall 30251-1 (FIG. 12NN-6), including a wall
extension that
can extend behind the thumbwheel mechanism and sensor. UC 20008/20009 (FIGs.
12NN/12NN-1) can include molded gasket 30261 (FIG. 12NN-7) made of, for
example, but
not limited to, silicone. Molded gasket 30261 (FIG. 12NN-7) can fit into
groove 30251-3
(FIG. 12NN-6) in upper housing 30251 (FIG. 12NN-6). The geometry of the joint
between
upper housing 30251 (FIG. 12NN-6) and lower housing 30252 (FIG. 12NN-7) can
present
convoluted path 22008-1 (Section A-A, FIG. 12NN-7-1) that can shield gasket
30261 (FIG.
12NN-7) from environmental hazards such as, for example, but not limited to,
water spray.
Lower housing 30252 (FIG. 12NN-7) can include fastening means and compression
stops
30252-1 (FIG. 12NN-2) that can enable overtightening protection between upper
housing
30251 (FIG. 12NN-6) and lower housing 30252 (FIG. 12NN-7). Speaker wires 70032-
1
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(FIG. 12NN-7) can interface with pogo target strip 50036-2. For example,
speaker wires
70032-1 (FIG. 12NN-7) can be soldered to pogo target strip 50036-2. Speaker
wires 70032-
1 (FIG. 12NN-7) can be secured in place in lower housing 30252 (FIG. 12NN-7)
using, for
example, polyimide tape or liquid adhesives. Right angle bracket 30192 (FIG.
12NN-7) can
engage locating features on lower housing 30252 (FIG. 12NN-7) to position and
secure flex
circuit 50036 (FIG. 12NN-7). In some configurations, speaker 70032 (FIG. 12NN-
7) can
be rated for a 2W output, and lower housing 30252 (FIG. 12NN-7) can include,
for
example, but not limited to, hole pattern 30252-11 (FIG. 12NN-5) for speaker
70032 (FIG.
12NN-7) that can enable user-friendly speaker output.
[00517] Referring now to FIG. 12NN-8, UC board 50004 can include pogo pins
50004-A
(FIG. 12NN-3) that can enable speaker and thumbwheel signal transfer between
UC board
50004-1 (FIG. 12NN-3) and flex circuit 50046 (FIG. 12NN-7). Blind connections
can be
made as upper housing 30251 (FIG. 12NN-6) and lower housing 30252 (FIG. 12NN-
7) are
paired. Coupling with pogo pins 50004-A (FIG. 12NN-3) are pogo targets 50036-1
(FIG.
12NN-8) that can be integral with thumbwheel flex circuit 50036 (FIG. 12NN-7).
UC
20008/20009 (FIGs. 12NN/12NN-1) can include mounting holes 30252-10 (FIG. 12NN-
8)
that can accommodate commonly-used mounting patterns, for example, but not
limited to,
R-net style.
[00518] Referring now to FIG. 12NN-9, UC 20008/20009 (FIGs. 12NN/12NN-1) can
include integrated display 22053 that can include LCD 70040, masked coverglass
30253,
antenna 50025, and electrical insulation means 40032 such as, for example, but
not limited
to, electrically insulating tape, such as, for example, but not limited to,
KAPTON tape, to
insulate UC board 50004 from the metal in liquid crystal display (LCD) 70040.
[00519] Referring now primarily to FIG. 13A, UC holder 133A can house manual
and
visual interfaces such as, for example, a joystick, a display, and associated
electronics. In
some configurations, UC assist holder 145A can be attached to visual/manual
interface
holder 145C tool-lessly. UC assist holder 145A can include electronics that
can interface
with processors 100 (FIG. 16B) and that can process data from 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 including, an 0PT8241 time-of-
flight sensor from
TEXAS INSTRUMENTS , or any device that can provide a three-dimensional
location of
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the data sensed by the sensors. UC assist holder 145A can be located anywhere
on the MD
and may not be limited to being mounted on visual/manual interface holder
145C.
[00520] Referring now primarily to FIG. 13B, manual/visual interface holder
145C can
include, but is not limited to including, visual interface viewing window 137A
and manual
interface mounting cavity 133B available on first side 133E of manual/visual
interface
holder 145C. Connector 133C can be provided on second side 133D of
manual/visual
interface holder 145C to connect manual/visual interface holder 145C to UC
assist holder
145A (FIG. 13C). Any of viewing window 137A, manual interface mounting cavity
133B,
and connector 133C can be located on any part of manual/visual interface
holder 145C, or
can be absent altogether. 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 of any
material
suitable for mounting visual interface viewing window 137A, manual interface
mounting
cavity 133B, and connector 133C. Angle 145M can be associated with various
orientations
of UC holder 133A and thus can be various values. UC holder 133A can have a
fixed
orientation or can be hinged.
[00521] Referring now primarily to FIG. 13C, UC assist holder 145A can
include, but is
not limited to including, filter cavity 136G and lens cavity 136F providing
visibility to, for
example, but not limited to, a time-of-flight sensor optical filter and lens
such as, for
example, but not limited to, 0PT8241 3D time-of-flight sensor by TEXAS
INSTRUMENTS . UC assist holder 145A can be any shape and size and can be
constructed of any material, depending on the mounting position on the MD and
the
sensors, processors, and power supply, for example, provided within UC assist
holder
145A. Rounded edges on cavities 136G and 136F as well as holder 145A can be
replaced
by any shape of edge.
[00522] Referring now to FIG. 13D, UC 130-1A can optionally include a binding
mechanism to attach UC 130-1A to a mounting platform. Two tabs can extend fore
and aft
from the based of UC 130-1A, as toe and heel tabs. The toe tab can be inserted
into forward
"binding" 16135 where it can be prevented from lifting out. Spring-loaded
fingers to the
left and right sides of forward binding 16135 can press against the
cylindrical base of UC
130-1A. The heel tab can then be levered down onto the rear "binding", which
can include
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cam-over mechanism 16133 that can clamp down onto the heel tab. The rear
binding can
cup the cylindrical base of UC 130-1A. To release UC 130-1A, cam-over
mechanism
16133 of the rear binding can be manually opened, after which UC 130-1A can be
angled
out. The spring-loaded fingers of forward binding 16135 can deflect when there
is a lateral
impact to UC 130-1A greater than a pre-selected threshold, and UC 130-1A can
pop
free. In some configurations, toe and heel tabs can be reversed.
[00523] Referring now to FIG. 13E, UC 130-1A can optionally include a seat
belt-like
mechanism to engage UC 130-1A with mounting base 16141. Mounting base 16141
can be
attached to, for example, an armrest, and can include tab locks 16143 having
release
buttons. Mounting tabs 16145 can engage with tab locks 16143 to mount UC 130-
1A on,
for example, the armrest. Depressing release buttons can disengage UC 130-1A
from
mounting base 16141 toolessly. Mounting base 16141 can take any suitable shape
and is
not limited to accommodating the shape of an armrest. Tab locks 16143 can take
on any
shape and can perform the locking of mounting tabs 16145 in any suitable way.
Mounting
tabs 16145 can complement any structure that tab locks 16143 take.
[00524] Referring now to FIG. 13F, UC 130-1A can optionally include shaped
mount
16153. Shaped mounting base 16151 can include any geometric structure that can
complement the geometric structure of shaped mount 16153, for example, but not
limited
to, triangles, squares, rectangles, and ellipses. In some configurations,
shaped mount 16153
and shaped mounting base 16151 can include complementary splines. In some
configurations, when UC 130-1A is mounted in the desired orientation, shaped
mounting
base 16151 can be coupled with UC 130-1A by fastener 16155. Fastener 16155 can
include any suitable attaching mechanism include one or more screws, bolts,
wingnuts, and
thumb screws, and can accommodate tooled or tooless installation.
[00525] Referring now to FIG. 13G, UC 130-1A can optionally include tabbed
mount
16169 that can optionally include inclined edges that can cooperatively mate
with base
inclined edges 16163 of tabbed mounting base 16161. Tabbed mounting base 16161
can
include mount features 16171 that can complement the tab 16169 of the tabbed
mount. Tabs 16169 can be any distance apart from each other as long as they
align with
mount features 16171. Tabbed mounting base 16161 can optionally include cable
recess
16167 and a means for retaining UC 130-1A in place in tabbed mounting base
16161. The
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means for retaining can include any suitable tooled or tooless means
including, but not
limited to, at least one magnet, at least one set screw 16165, and/or thumb
screws. In some
configurations, pins (not shown) on the circumference of the tabbed mount can
be separated
by a pre-selected amount, such as, for example, but not limited to, about 180
. In some
configurations, the pins can be approximately perpendicular to the barrel
axis. Tabbed
mounting base 16161 can include slots on its circumference that can fit the
pins. The slots
can include axial and/or circumferential travel that can affix the tabbed
mount. In some
configurations, UC 130-1A can include at least one tab 16169A at its base and
substantially
cylindrical body 16169B. At least one tab 16169A and cylindrical body 16169B
can fit
into cavity 16167A in the receiver bracket and can provide locating and
clocking. C-clip
16162 can be inserted in slot 16166 and can slide first under first overhang
16166A at one
end of the receiver, then over tabs 16169, then under second overhang 16168 at
the other
end of the receiver bracket. C-clip 16162 can prevent UC 130-1A from lifting
up and
out. C-clip tab 16162A at the middle of the C-clip can include a through hole
for a
retention feature. C¨clip 16162 can be constructed of, for example, but not
limited to, a
metal plate, a steel wire, or molded plastic.
[00526] Referring now to FIG. 13H, UC 130-1A can optionally include flange
16189 and
orientation recesses 16187. Slide-in mounting base 16181 can include entry
cavity 16183 in
which flange 16189 can be positioned. UC 130-1A and flange 16189 can be slid
towards
orientation recess 16182 as retraction tab 16185 is pulled away from slide-in
mounting base
16181. Retraction tab 16185 can control the height of orientation pin 16191.
When UC
130-1A arrives in orientation recess 16182, UC 130-1A can be rotated to
achieve a desired
orientation with respect to slide-in mounting base 16181 (and the feature such
as an armrest
onto which slide-in mounting base 16181 can be attached). When the desired
orientation is
achieved, retraction tab 16185 can be released, and orientation pin 16191 can
enter one of
orientation recesses 16187, thus retaining UC 130-1A in the desired
orientation. Slide-in
mounting base 16181 can include a channel into which flange 16189 can slide.
The ridge
in slide-in mounting base 16181 that forms the channel can retain flange 16189
within slide-
in mounting base 16181.
[00527] Referring now to FIG. 131, UC 130-1A can optionally include flange
16209. Slide-in mounting base 16202 can include entry cavity 16201 in which
flange
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16209 can be positioned. UC 130-1A and flange 16189 can be slid towards
orientation
recess 16203. When UC 130-1A arrives in orientation recess 16203, UC 130-1A
can be
rotated to achieve a desired orientation with respect to slide-in mounting
base 16202 (and
the feature such as an armrest onto which slide-in mounting base 16202 can be
attached). When the desired orientation is achieved, retention cam 16207 can
be rotated
with handle 16205, thus retaining UC 130-1A in the desired orientation. Slide-
in mounting
base 16202 can include a channel into which flange 16209 can slide. The ridge
in slide-in
mounting base 16202 that forms the channel can retain flange 16209 within
slide-in
mounting base 16202.
[00528] Referring now to FIG. 13J, UC 130-1A can optionally include flange
16221 and
faceted side 16223. Slide-in mounting base 16202 can include entry cavity
16201 in which
flange 16209 can be positioned. UC 130-1A and flange 16189 can be slid towards
orientation recess 16203. When UC 130-1A arrives in orientation recess 16203,
UC 130-
1A can be rotated to achieve a desired orientation with respect to slide-in
mounting base
16202 (and the feature such as an armrest onto which slide-in mounting base
16202 can be
attached). When the desired orientation is achieved, retention cam 16207 can
be rotated
with handle 16205, thus retaining UC 130-1A in the desired orientation. Slide-
in mounting
base 16202 can include a channel into which flange 16209 can slide. The ridge
in slide-in
mounting base 16202 that forms the channel can retain flange 16209 within
slide-in
mounting base 16202.
[00529] Referring now to FIG. 13K, UC 130-1A can optionally include a
substantially
cylindrical base that can enable receiving bracket 16243 having a tubing clamp
design. In
some configurations, one or more ribs (not shown) can be arrayed around the
inside
diameter of receiving bracket 16243, and UC 130-1A can include groves (not
shown) to
provide guidance when mounting UC 130-1A in receiving bracket 16243, providing
an anti-
rotation feature. In some configurations, receiving bracket 16243A can include
hinge
16243B that can be easily opened and closed. The barrel of hinge 16243B can be
placed on
the inside of the clamp, and can engage a corresponding cutout in the base of
UC 130-1A
(not shown) as a clocking/anti-rotating feature. The clasp that holds the
clamp shut can take
any number of forms, depending on how much circumferential clamping is
required. In
some configurations, the clasp can include (a) thumbscrew 16243C (b) over-
center latch
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16243D (c) pin latch 16423E (d) cam on a lever 16243F, and/or (e) a groove
(not shown)
around at least part of the circumference of the cylindrical portion of UC 130-
1A, at a seam
where two housing elements come together. The clamp can include a tongue for
additional
retention.
[00530] Referring now to FIGs. 13K-1 and 13K-2, in some configurations,
receiving
bracket 16243 can include balls 2501 mounted inside receiving bracket 16243.
Balls 2501
can engage dimples 2503 (FIG. 13K-1). The size and location of dimples 2503
(FIG. 13K-
1) can be such that, in locked position 2505 (FIG. 13K-1), a radial
interference can be
created. Receiving bracket 16243 can include ring 2507 (FIG. 13K-1) that can
lock balls
2501 in place. Ring 2507 (FIG. 13K-1) can include configurations such as, for
example,
but not limited to, a first profile that either places solid 2513 behind balls
2501 in locked
position 2505 or cavity 2509 in unlocked position 2511. Ring 2507A (FIG. 13K-
2) can
include configurations such as, for example, but not limited to, flexture cut
2515 (FIG. 13K-
2) so that in unlocked position 2511, balls 2501 can be sprung radially
inward. Flexture cut
2515 (FIG. 13K-2) can be cut from material between unlock position 2511 and
lock
position 2505. Between dimple 2503 and cavity 2509 can include material build-
out 2514
in ring 2507. Build-out 2514 can be part of an over-center mechanism, since to
move ring
2507 into and out of the locked position 2505, build-out 2514 can cover ball
2501 because
of the flex in the components.
[00531]
Referring now to FIG. 13L, UC 130-1A can optionally include grooved flange
16247. As grooved flange 16247 is surrounded by mounting ring 16245, UC 130-1A
can
be rotated to a desired orientation, and fastener 16241 can be tightened to
catch in groove
16247. In some configurations, grooved flange 16247 can include multiple
grooves to
enable height adjustment of UC 130-1A.
[00532] Referring now to FIGs. 14A-14C, UC board 50004 can provide the
electronics
and connectors to control the activities of UC 130 (FIG. 12A). UC board 50004
can include
circuit board 50004-9 upon which connectors and ICs can be mounted. For
example,
joystick connector 50004-8, power and communications connector 50004-7,
toggles
connector 50004-5, thumbwheel connector 50004-4, speaker connector 50004-6,
and
display connector 50004-2 can be included on mounting board 50004-9. In some
configurations, UC board 50004 can include ambient light sensor 50004-X (FIG.
14A), the
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signal from which can be used to vary the display brightness and contrast for
viewing in
indoor and outdoor environments. EMC shield 50004-3 can provide EMC protection
to UC
board 50004. Connections 50004-1 to wireless antenna 50025 (FIG. 12H) can
include, for
example, but not limited to, spring contacts. Button snap domes 50004-10, for
example,
can accommodate button depression activation. In some configurations, button
snap domes
50004-10 can each be associated with back-lighting from, for example, but not
limited to,
light-emitting diode (LED)s. Toggle switches and toggle levers can be
accommodated
similarly. UC board 50004 can process data transmitted to and from the user,
PBC board
50001 (FIGs. 15A and 15B), PSC board 50002 (FIGs. 15G), and a wireless
antenna. UC
board 50004 can perform filtering of incoming data, and can enable the
transitions and
workflow described in FIGs. 23A-23KK. UC board 50004 can include, but is not
limited to
including, a wireless transceiver that can include a processor and transceiver
that can
support wireless communications using, for example, but not limited to, the
BLUETOOTH low energy protocol. The wireless transceiver can include, for
example,
but not limited to, a Nordic Semiconductor nRF51422 chip.
[00533] Referring now to FIG. 14D, processing on the change in thumbwheel
position can
include method 72000 that can determine how to adjust the speed of the MD
based on the
movement of thumbwheel knob 30173 (FIG. 12E). Method 72000 can include, but is
not
limited to including, sampling 72001 the ADC and, if 72003, the user has
changed from one
drive setting to another, saving 72005 the virtual wheel position for the
currently-selected
drive setting, recovering 72007 the previous virtual thumbwheel position for
the new drive
setting, and recording 72015 the last ADC reading. When the user changes drive
settings, a
current virtual thumbwheel position for the currently selected drive can be
stored for the
purpose of, for example, recalling it at a later time. For instance, if the
user changes from
drive setting one, at a virtual thumbwheel position of 2000 counts, to drive
setting two, the
previous virtual thumbwheel position for drive setting one can become 2000
counts. In this
example, the new virtual thumbwheel position can be whatever the setting was
for drive
setting two the last time the MD was in drive setting two. If 72003, the user
has not
changed from one drive setting to another, and if 72009 a change in the ADC is
not
detected, method 72000 can include recording 72015 the last ADC reading. If
72009 a
change in the ADC is detected, method 72000 can include computing an ADC delta
in
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counts, filtering 72011 the ADC delta, integrating 72013 the ADC delta into
the virtual
thumbwheel position, and recording 72015 the last ADC reading. Method 7200 can
include
calculating 72017 the speed percent based on the virtual thumbwheel position
and max
counts, and providing 72019 the speed percent for further processing.
[00534] Referring to FIG. 14E, filtering method 72011 for filtering the analog
signal can
include computing the ADC delta as, for example, the difference between the
current ADC
reading and the last ADC reading. If 72023 the ADC delta exceeds a wrap
threshold,
filtering method 72011 can include setting 72025 the ADC delta to zero and
adding 72031
the ADC delta to an historic buffer. When thumbwheel knob 30173 (FIG. 120) is
rotated
360 , the count values can wrap from, for example, 4095 to 0 counts. Because
of this, the
ADC delta on a wrap can be a very large or a very small number. The wrap
threshold can
specify the number of ADC delta counts that can be considered a wrap-around
value. A
weighted average can be computed on a pre-selected data set of some specified
size, such
as, for example, the computed deltas from the previous ten frames of ADC data.
The
historic buffer can hold this pre-selected number of frames of data. If 72023
the ADC delta
does not exceed the wrap threshold, and if 72029 the ADC delta exceeds a
maximum frame
delta, filtering method 72011 can include setting 72027 the ADC delta equal to
the
maximum frame delta and adding 72031 the ADC delta to the historic buffer. The
maximum frame delta can specify the largest non-wrapping ADC delta that can be
permitted. ADC deltas above this value that are below the wrap threshold can
be capped at
this value. Filtering method 72011 can include calculating 72031 a weighted
average of the
data stored in the historic buffer, and setting the ADC delta equal to the
weighted average.
If 72035 the ADC delta does not exceed, or is equal to, a deadband, filtering
method 72011
can include setting 72037 the ADC delta to zero, flagging the ADC delta as
noise, and
integrating 72013 the ADC delta into the virtual thumbwheel position. The
deadband can be
a threshold used to filter out potential noise signals that are unlikely to
constitute actual
movement of thumbwheel knob 30173. If 72035 the ADC delta exceeds the
deadband, and
if 72037 the last sample was noise, filtering method 72011 can include setting
72041 the
ADC delta to zero and integrating 72013 the ADC delta into the virtual
thumbwheel
position. If 72035 the ADC delta exceeds the deadband, and if 72037 the last
sample was
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not noise, filtering method 72011 can include integrating 72013 the ADC delta
into the
virtual thumbwheel position.
[00535] Referring now to FIG. 14F, system 72500 for processing on the change
in
thumbwheel position can determine how to adjust the speed of the MD based on
the
movement of thumbwheel knob 30173 (FIG. 12E). System 72500 can include, but is
not
limited to including, sampler 72501, drive setting processor 72503, filter
72600, recorder
72507, and transmitter 72511. Sampler 72501 can include, but is not limited to
including,
sampling the ADC and, if, the user has changed from one drive setting to
another, saving
the virtual wheel position for the currently-selected drive setting,
recovering the previous
virtual thumbwheel position for the new drive setting, and recording the last
ADC reading.
When the user changes drive settings, the current virtual thumbwheel position
for the
currently selected drive setting can be stored for the purpose of, for
example, recalling it at a
later time. Recorder 72507 can include, but is not limited to including, if,
the user has not
changed from one drive setting to another, and if a change in the ADC is not
detected,
recording the last ADC reading. Filter 72600 can, if a change in the ADC is
detected, filter
the analog signal to determine a filtered ADC delta. Absolute position
processor 72509 can
include, but is not limited to including, integrating the filtered ADC delta
into the virtual
thumbwheel position. Recorder 72507 can include recording the last ADC
reading. Speed
percent processor 72505 can include, but is not limited to including,
calculating the speed
percent based on the virtual thumbwheel position and max counts. Transmittor
72511 can
include, but is not limited to including, making the speed percent available
for further
processing.
[00536] Continuing to refer to FIG. 14F, filter 72600 for filtering the analog
signal can
include, but is not limited to including, ADC delta processor 72601, threshold
processor
72603, weighted average processor 72605, deadband processor 72611, and
historical buffer
processor 72607. ADC delta processor 72601 can include, but is not limited to
including,
computing the ADC delta as, for example, the difference between the current
ADC reading
and the last ADC reading. If the ADC delta exceeds a wrap threshold, threshold
processor
72603 can include, but is not limited to including, can include setting the
ADC delta to zero
and historical buffer processor 72607 can include adding the ADC delta to
historic buffer
72609. Weighted average processor 72605 can include, but is not limited to
including,
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computing a weighted average on a pre-selected data set of some specified
size, such as, for
example, the computed deltas from the previous ten frames of ADC data.
Historic buffer
72609 can hold this pre-selected number of frames of data. If the ADC delta
does not
exceed the wrap threshold, and if the ADC delta exceeds a maximum frame delta,
historical
buffer processor 72607 can include setting the ADC delta equal to a maximum
frame delta
and adding the ADC delta to historic buffer 72609. Weighted average processor
72605 can
include, but is not limited to including, calculating 72031 a weighted average
of the data
stored in historic buffer 72609, and setting the ADC delta equal to the
weighted average.
Deadband processor 72611 can include, but is not limited to including, if the
ADC delta
does not exceed, or is equal to, the deadband, setting the ADC delta to zero,
flagging the
ADC delta as noise, and integrating the ADC delta into the virtual thumbwheel
position.
The deadband can be a threshold used to filter out potential noise signals
that are unlikely to
constitute actual movement of thumbwheel knob 30173. Deadband processor 72611
can
include, if the ADC delta exceeds the deadband, and if the last sample was
noise, setting the
ADC delta to zero and integrating the ADC delta into the virtual thumbwheel
position. If
the ADC delta exceeds the deadband, and if the last sample was not noise,
deadband
processor 72611 can include integrating the ADC delta into the virtual
thumbwheel
position.
[00537] Referring now to FIGs. 15A and 15B, central gearbox 21514 can include
PSC
board 50002 and PBC stack. The electronics of PSC board 50002 can manage power
and
provide power to PBC board 50001, and PBC board 50001 in turn provides power
to the
motors of the MD. PBC board 50001 can include redundant computers and
electronics
whose responsibilities can include processing inertial sensor data and
computing the motor
commands used to control the MD. Electronics for PBC board 50001 can interface
with at
least one inertial measurement unit (IMU) 50003 (FIG. 15B) and UC 130 (FIG.
12A).
PBC board 50001 can include redundant processors that can be physically
separated from
each other and can have isolation barriers on their interconnections to
increase the
robustness of the redundant architecture. Active redundancy can enable
conflict resolution
during a fault condition through voting on actuator commands and other vital
data. In some
configurations, sensors, powerbase processors and power buses can be
physically replicated
in the MD. Sensor inputs, processor outputs, and motor commands from this
redundant
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architecture can be cross-monitored and compared to determine if all the
signals are within
an acceptable tolerance. During normal operation all signals "agree" (are
within an
acceptable tolerance) and the full functionality of the MD is available to the
user. If any
one set of these signals is not within a range of the other three, the MD can
ignore data from
the non-matching set and can continue to operate using data from the remaining
sensor/processor strings. Upon loss of redundancy, a fault condition can be
identified and
the user can be alerted, for example, via visual and audible signals. For
redundancy, each of
the PBC and the PSC can include an "A" side and a "B" side. The PBC "A" side
can be
divided into "Al" and "A2" quadrants that can be powered by the PSC "A" side.
The PBC
"B" side can be divided into "B 1" and "B2" quadrants that can be powered by
the PSC "B"
side. The IMU can include, for example, four inertial sensors that can each
map directly to
one of the PBC quadrants.
[00538] Continuing to refer to FIGs. 15A and 15B, load sharing redundancy can
be used
for the power amplifiers, high voltage power buses and primary actuators in
order to size
the motors and batteries for normal, no-fault conditions and yet allow higher
stress short
duration operation during a system fault. Load sharing redundancy can allow
for a lighter
weight, 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. The redundant load sharing components can be kept
separate
throughout the system to minimize the chance of a failure on one side causing
a cascading
failure on the other side. The power delivery components (battery packs 70001
(FIG. 1E),
wiring, motor drive circuitry, and motors) can be sized to deliver sufficient
power to keep
the user safe while meeting the system performance requirements.
[00539] Continuing to refer to FIGs. 15A and 15B, the MD electronics and
motors
generate heat that can be dissipated to prevent overheating of the MD. In some
configurations, components of PBC board 50001 can operate over a ¨25 C to +80
C
temperature range. Heat spreader 30050 can include heat spreader plate 30050
and at least
one standoff 30052 (FIG. 15B) that can penetrate holes in powerbase controller
board
50001 and support inertial measure unit (IMU) assembly 50003 (FIG. 15D). Heat
spreader
plate 30050 can, for example, be operably connected to the central housings
and the circuit
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boards of the MD through a thin electrically-isolating material that can
provide a thermal
conduction path for the heat from the electronics to the central housing. In
some
configurations, metal-to-metal contact between heat spreader 30050 and the
mounting
features on housings 30020-30023 can dissipate heat. Along with standoff
grommets 30187
(FIG. 15C), standoffs 30052 (FIG. 15B) can isolate the IMU assembly from
vibrations of
powerbase controller board 50001 and heat spreader 30050. The vibrations can
result from
vibrations throughout the powerbase. The heat management system of the present
teachings can include bars 30114 (FIG. 15B) mounted on heat spreader 30050 but
not
touching PBC board 50001, copper areas on PBC board 50001, and thermal gap
pads
providing heat conductivity between PBC board 50001 and heat spreader 30050.
[00540] Referring now to FIG. 15B, IMU mounting onto heat spreader 30050 can
include
soft-durometer grommets 30187 (FIG. 15C) that can dampen vibrations, and flex
cable
50028-9B (FIG. 15C) that can provide electrical connection to PBC board 50001.
IMU
sensors can be isolated from vibrations generated by the seat, cluster, and
wheel drive trains
of the MD by mechanically isolating the IMU PCB 50003 (FIG. 15E) that sensors
608
(FIG. 15E) are mounted to. The IMU assembly can be mounted on at least one
elastomeric
grommet 30187 (FIG. 15C) that can attach to at least one post 30052 fastened
to heat
spreader plate 30050. At least one grommet 30187 (FIG. 15C) can include a low
hardness
and damping ability that can limit the transmission of vibration from the MD
to the IMU.
Flex circuit cable 50028-9B can be compliant and may not transmit significant
vibration to
the IMU assembly.
[00541] Continuing to refer to FIG. 15B, flux shield 30008 can protect the
electronics on
PBC board 50001 from the magnetic signal from manual brake release position
sensor
70020 (FIG. 9J). Flux shield 30008 can include ferrous metal, and can operably
couple
with heat spreader assembly 30050 between manual brake release position sensor
70020
(FIG. 9J) and PBC board 50001. The ferrous metal can intercept and redirect
the magnetic
flux of manual brake release position sensor 70020 (FIG. 9J) to substantially
prevent
interference with the electronics of PBC board 50001. To possibly increase the
overall
reliability of the MD, cables can utilize connectors that have a latching
mechanism.
[00542] Referring now to FIGs. 15C-15D, IMU assembly 50003 can include, but is
not
limited to including, main board 50003B (FIG. 15D) that can include inertial
sensors 608
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(FIG. 15D) and memory 610 (FIG. 15D). IMU assembly 50003 can include at least
one
grommet 30187 (FIG. 15C) that can buffer vibrations and maintain stability of
inertial
sensors 608, and rigid-flex circuit 50028-9B that can connect IMU assembly
50003 to PBC
board 50001 (FIG. 15B) in a way that reduces vibration transmission. Rigid-
flex circuit
50028-9B can include stiffener 50028-24
[00543] that can facilitate a sturdy connection. Rigid-flex circuit 50028-
9B can include
a bend that can divide rigid-flex circuit cable 50028-9B into two portions
that can provide a
sensor interface and a connector interface. At least one grommet 30187 (FIG.
15C) can
extend through main board 50003 (FIG. 15B) at cavities 608A (FIG. 15D), and
through
similar cavities in optional IMU shield 70015 (FIG. 15C) and PBC board 50001
(FIG. 15B),
and can operably couple with stand-offs 30052 (FIG. 15B). Other geometries of
rigid-flex
circuit cable 50028-9B (FIG. 15C) are possible, as are other connector
patterns and
grommet placement.
[00544] Continuing to refer to FIGs. 15C-15D, at least one inertial sensor 608
can include,
for example, but not limited to, ST Microelectronics LSM330DLC IMU. IMU
assembly
50003 can include IMU PCB 50003B that can accommodate stand-offs 30052 (FIG.
15B) to
enable elevating and shock-mounting IMU PCB 50003B above PBC board 50001. IMU
assembly 50003 can include features to enable mounting IMU shield 70015 (FIG.
15C) onto
IMU PCB 50003B. Optional IMU shield 70015 can protect inertial sensors 608
(FIG. 15D)
from possible interference, including, but not limited to EM interference,
from PBC board
50001 (FIG. 15B) and/or PSC board 50002 (FIG. 15G). IMU PCB 50003B can include
connectors that can receive/transmit signals from/to inertial sensors 608
to/from PBC board
50001 (FIG. 15B). Inertial sensors 608 (FIG. 15D) can be mounted to IMU PCB
50003B,
that can allow IMU assembly 50003 to be calibrated separately from the rest of
the MD.
IMU PCB 50003B can provide mounting for memory 610 (FIG. 15D) that can hold,
for
example, calibration data. Non-volatile memory 610 (FIG. 15D) can include, for
example,
but not limited to, Microchip 25AA320AT-I/MNY. Storage of the calibration data
can
enable IMU assemblies 50003 from multiple systems to be calibrated in a single
batch and
installed without any additional calibration. As sensor technology changes,
inertial sensor
608 (FIG. 15D) can be updated with the latest available sensors in relative
electronics
design isolation because IMU assembly 50003 can be relatively isolated from
PBC board
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50001. Inertial sensors 608 can be positioned angularly with respect to each
other. The
angular positioning can improve the accuracy of data received from inertial
sensors 608.
Inertial information, such as pitch angle or yaw rate, that may lie entirely
upon one sense
axis of one inertial sensor 608 can be spread across two sense axes of an
angled inertial
sensor. In some configurations, two inertial sensors 608 can be positioned
angled 45 from
two other inertial sensors 608. In some configurations, the angled inertial
sensors 608 can
alternate in placement with non-angled inertial sensors 608.
[00545] Referring now to FIGs. 15E and 15F, second configuration IMU assembly
50003A can include at least one inertial sensor 608. Second configuration IMU
assembly
50003A can include second configuration IMU PCB 50003A-1 that can accommodate
stand-offs 30052 (FIG. 15B) to enable elevating and shock-mounting second
configuration
IMU PCB 50003A-1 above PBC board 50001. Second configuration IMU assembly
50003A can include features to enable mounting IMU shield 70015 onto second
configuration IMU PCB 50003A. Optional IMU shield 70015 can protect inertial
sensors
608 from possible interference, including, but not limited to EM interference,
from PBC
board 50001 and/or PSC board 50002 (FIG. 15G). Second configuration IMU PCB
50003A can include connectors 609B (FIG. 15F) that can receive/transmit
signals from/to
inertial sensors 608 to/from PBC board 50001 (FIG. 15B). Inertial sensors 608
(FIG. 15E)
can be mounted to second configuration IMU PCB 50003A. Second configuration
IMU
PCB 50003A can provide mounting for memory 610 (FIG. 15E) that can hold, for
example,
calibration data.
[00546] Referring now primarily to FIGS. 15G and 15H, PSC board 50002 can
include
connectors 277 (FIG. 15G) that can enable batteries 70001 (FIG. 1E) to supply
power to
PSC board 50002. Connectors 277 can include, for example, contacts, and
circuit board
mounting means, for example, but not limited to, MOLEX MLX 44068-0059. PSC
board
50002 can include at least one microcontroller 401, and can include at least
one bumper
30054/30054A to buffer the interface between PSC board 50002 and e-box lid
21524 (FIG.
1G), and at least one spacer 30053 to maintain the spacing between PSC board
50002 and
PBC board 50001 (FIG. 15B). In some configurations, spacer 30053, which can
include,
for example, metal, can be operably coupled with PSC board 50002. In some
configurations, spacer 30053 can be used as an electrical connection to the
chassis of the
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MD for EMC purposes. Spacer 30053 can provide durability and robustness to the
MD.
PSC board 50002 can include charge input connector 1181, UC connector 1179,
auxiliary
connector 1175A, at least one power interconnect to PBC connector 1173, and
CANbus-to-
PBC connector 1179A, connected as shown in FIGs. 151 and 15J. PSC board 50002
can
include at least one power switch 401C, at least one battery charge circuit
1171/1173A, and
at least one coin cell battery 1175ABC to power at least one real-time clock
1178A (FIG. 15
J). PSC board 50002 is not limited to the parts listed herein, but can include
any integrated
circuits and other parts that could enable operation of the MD.
[00547] Referring now to FIGs. 15I-15J, PSC board 50002 can communicate with
batteries 70001 (FIG. 1E) connected to battery connectors 70001A (FIG. 151)
that can
provide power to UC 130 (FIG. 12A) and auxiliary devices through for example,
but not
limited to, 15-V regulator 1175, UC connector 1179, 24-V regulator 1175XYZ,
and
auxiliary connector 1175A. PSC board 50002 can communicate with battery
management
system 50015 (FIG. 1E) from which can be determined, for example, but not
limited to,
battery capacity and temperature. PSC board 50002 can monitor the line
voltages from
battery packs 70001 (FIG. 1E), and can monitor whether, for example, charger
power
supply cord 70002 (FIGs. 11A-11D) is plugged in. Batteries 70001 (FIG. 1E) can
provide
power to at least one microcontroller 401 (FIG. 15J) through, for example, but
not limited
to, regulator 1176 (FIG. 15J) such as, for example, but not limited to, a 3.3V
regulator,
regulator 1176A (FIG. 15J) such as, for example, but not limited to, a 3V
regulator, and
regulator 1177 (FIG. 15J), for example, but not limited to, a 5V regulator.
PSC board
50002 provides power to the PBC board 50001 through board-to-board connectors
1173/1173A (FIG. 15J) such as, for example, but not limited to, SAMTEC PES-
02. At
least one microcontroller 401 (FIG. 15J), for example, but not limited to,
Renesas RX64M,
can control the opening and closing of power switch 401C (FIG. 15J) between
batteries
70001 (FIG. 151) and board-to-board connectors 1173/1173A (FIG. 15J) to PBC
board
50001. At least one microcontroller 401 (FIG. 15J) can include memory 1178
(FIG. 15J),
for example, but not limited to, ferroelectric non-volatile memory, that can
hold data after
being powered 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
batteries 70001 (FIG. 151) or, alternatively, by backup battery lithium coin
cell 1175ABC
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(FIG. 15J). Communications between at least one microcontroller 401 (FIG. 15J)
and
batteries 70001 (FIG. 151) can be enabled by an I2C bus and I2C accelerator
1174 (FIG.
15J). Communications between at least one microcontroller 401 (FIG. 15J) and
UC 130
(FIG. 12A) can be enabled by CANbus protocol through UC connector 1179 (FIGs.
151/15G). Communications between at least one microcontroller 401 (FIG. 15G)
and PBC
board 50001 (FIG. 15B) can be enabled by CANbus protocol through connector
1179A.
Sensors 410B (FIG. 15J) can be positioned throughout PSC board 50002 to
determine the
actual level of the voltage coming from batteries 70001 (FIG. 1E), versus the
level of
voltage reported by batteries 70001 (FIG. 1E) and sensed by sensors 410A (FIG.
151). At
least one sensor 410A (FIG. 151) can sense high acceleration events such as,
for example,
but not limited to, hard impacts, vehicle crashes, and mishandling in
shipment. The high
acceleration events can be logged, for example, and can be used as part of
service and
warranty claims, and can provide usage statistics that can, for example,
provide data for
quality improvement efforts. In some configurations, at least one sensor 410A
(FIG. 151)
can reside on PSC board 50002, and can communicate to a corresponding PSC
processor
401 (FIG. 15J) via a serial peripheral interface (SPI) bus, for example.
[00548] Continuing to refer to FIGs. 15I-15J, power can flow from each battery
pack
70001 (FIG. 151) through PSC board 50002, through PBC board 50001 (FIG. 15B),
and out
to the motors. Battery packs 70001 (FIG. 151) may discharge at different rates
for example,
because of internal impedance differences. Because they are ganged together
electrically,
the A-side batteries have approximately the same voltage, and the B-side
batteries have
approximately the same voltage, but there could be differences between the
voltage in the
A-side batteries and the voltage in the B-side batteries. Bus voltage can be
monitored, and
if necessary, the voltage of batteries 70001 on each side can be equalized by
sending a
slightly larger command to the motor on the side that has a higher voltage and
a smaller
command to the other side. Current limiting devices can be used throughout the
power
distribution to prevent an over-current condition on one subsystem from
affecting the power
delivery to another subsystem. Anomalies caused by marginal power supply
operation can
be mitigated by 1) supply monitoring for critical analog circuits and 2) power
supply
supervisory features for digital circuits.
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[00549] Referring now to FIG. 15J, hosts A/B 401 communicate via, for example,
CANbus to UC 130 (FIG. 12A) and processors A1/A2/B1/B2 (FIG. 18B). UC 130
(FIG.
12A) sends message to host A/B 401 to wake up when UC 130 (FIG. 12A) powers
on.
Hosts A/B 401 communicate via I2C to three individual battery gauge boards,
querying, for
example, but not limited to, status, voltage, and current. Hosts A/B 401
detect when
batteries 70001 (FIG. 1E) are present, and sense analog voltage levels of
three pre-switch
individual batteries and one post-switch high voltage bus. Hosts A/B 401
enable main
power to the PBC 50001 (FIG. 15B) and enables/controls charging of batteries
70001 (FIG.
1E) which can occur in the range of approximately 0-45 C. Hosts A/B 401 set a
charge rate
that can be one of pre-charge, fast, and slow. Pre-charge rate, for example,
.4A, can be used
when the voltage of battery 70001 (FIG. 1D) is < 3.0 V/cell, for example, when
topping off
the charge and when battery 70001 (FIG. 1E) is present with no voltage, for
example, the
battery output is off. Fast rate, for example, .9A, can be used when four of
batteries 70001
(FIG. 1D) are detected. Slow rate, for example, .7A, can be used when six of
batteries
70001 (FIG. 1D) are detected. Float charging can be used when batteries 70001
(FIG. 1E)
are left on the MD for long periods of time, for example, months, and the MD
is turned off.
Hosts A/B 401 can communicate via SPI bus to memory, for example, a 1 Mbit
ferroelectric
rapid access memory (FRAM). Hosts A/B 401 can store event/alarm logs and user
configuration data.
[00550] Referring now to FIG. 15K, PSC 50002 (FIGs. 15I-J) can operate in
various
states and can transition from state to state based on various stimuli. No
power state 51001
can be entered when batteries 70001 (FIG. 1E) are not installed or are fully
depleted. When
51003 batteries 70001 (FIG. 1E) are installed and/or the charger is plugged
in, and when
51005 a reset signal resulting from power being applied to the MD is received,
if 51007 the
charger is plugged in, PSC 50002 (FIGs. 15I-J) can enter charging state 51015.
If 51007
the charger isn't plugged in, PSC 50002 (FIGs. 15I-J) can enter sleep state
51009. If 51011
from sleep state 51009, an interrupt is received when the charger is plugged
in, PSC 50002
(FIGs. 15I-J) can enter charging state 51015. From charging state 51015, if
51013 the
charge is disconnected, PSC 50002 (FIGs. 15I-J) can enter sleep state 51009.
If 51021,
from sleep state 51009, PSC 50002 (FIGs. 15I-J) receives 51021 wake-up
information from
UC 130 (FIG. 12A), PSC 50002 (FIGs. 15I-J) can enter on state 51019. If 51017,
from
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charging state 51015, UC 130 (FIG. 12A) sends 51017 power on information, PSC
50002
(FIGs. 15I-J) can enter on state 51019. If 51025, from on state 51019, UC 130
(FIG. 12A)
sends 51025 power off information, and if the charger is plugged in, PSC 50002
(FIGs. 15I-
J) can inform 51016 UC 130 (FIG. 12A) that PSC 50002 (FIGs. 15I-J) is going
into
charging state PSC 50002 (FIGs. 15I-J), and PSC 50002 (FIGs. 15I-J) can enter
charging
state 51015. If 51025, from on state 51019, UC 130 (FIG. 12A) sends 51025
power off
information, and if the charger is not plugged in, PSC 50002 (FIGs. 15I-J) can
turn off
51029 the main power FETs and check that the switched bus voltage is off. If
51031 the
main power is off, PSC 50002 (FIGs. 15I-J) can enter sleep state 51009. If
51031 the main
power is not off, PSC 50002 (FIGs. 15I-J) can inform 51027 UC 130 (FIG. 12A)
that there
is a problem powering off, and PSC 50002 (FIGs. 15I-J) can enter on state
51019.
[00551] Continuing to refer to FIGs. 15I-15J, estimating the power
capability of batteries
70001 (FIG. 1E) in real time can provide an indication about whether or not to
switch from
one mode to another. Measuring the current using bus current sensors 1171C
(FIG. 15J)
coming from batteries 70001 (FIG. 1E) can provide an estimate of the power
capability.
The current measurement along with the measurement of voltage provided by
voltage
sensors 410B (FIG. 15J) can be used by processors 401 to indicate whether
batteries 70001
(FIG. 1E) can support a mode change. Hot swap control 1171A (FIG. 151), such
as, for
example, but not limited to, LTC 4380 current surge stopper from Linear
Technologies, can
protect loads from overvoltage/overcurrent when, for example, batteries 70001
(FIG. 1E)
are added to the system. During live insertion of batteries 70001 (FIG. 1E),
hot swap
controls 1171A (FIG. 151) can power PSC 50002 slowly and thus prevent, for
example,
sparking.
[00552] Referring now to FIG. 16A, the MD can include, but is not limited to
including,
powerbase 21514A, communications means 53, power means 54, UC 130, and remote
control device 140. Powerbase 21514A can communicate with UC 130 using
communications means 53 using a protocol such as, for example, but not limited
to, the
CANbus protocol. User controller 130 can communicate with remote control
device 140
through, for example, but not limited to, wireless technology 18 such as, for
example,
BLUETOOTH technology. In some configurations, powerbase 21514A can include
redundancy as discussed herein. In some configurations, communications means
53 and
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power means 54 can operate inside powerbase 21514A and can be redundant
therein. In
some configurations, communications means 53 can provide communications from
powerbase 21514A to components external to powerbase 21514A.
[00553] Referring now primarily to FIG. 16B, in some configurations, MD
control system
200A can include, but is not limited to including, at least one powerbase
processor 100 and
at least one power source controller 11 that can hi-directionally communicate
over serial
bus 143 using system serial bus messaging system 130F. System serial bus
messaging 130F
can enable hi-directional communications among external applications 140 and
I/O
interface 130G, and UC 130. The MD can access peripherals, processors, and
controllers
through interface modules that can include, but are not limited to including,
input/output
(I/0) interface 130G and external communications interface 130D. In some
configurations,
I/0 interface 130G can transmit/receive messages to/from, for example, but not
limited to,
at least one of audio interface 150A, electronic interface 149A, manual
interface 153A, and
visual interface 151A A. Audio interface 150A can provide information to audio
devices
such as, for example, speakers that can project, for example, alerts when the
MD requires
attention. Electronic interface 149A can transmit/receive messages to/from,
for example,
but not limited to, external sensors 147. External sensors 147 can include,
but are not
limited to including, time-of-flight cameras and other sensors. Manual
interface 153A can
transmit/receive messages to/from, for example, but not limited to, joystick
70007 (FIG.
12A) and/or switches 70036-1/2 (FIG. 12V) and buttons 70035 (FIG. 12H), and/or
information lighting such as LED lights, and/or UC 130 (FIG. 12A) having, for
example, a
touch screen. UC 130 and processors 100 can transmit/receive information
to/from I/O
interface 130G, external communications 130D, and each other.
[00554] Continuing to refer primarily to FIG. 16B, system serial bus interface
130F can
enable communications among UC 130, processors 100 (also shown, for example,
as
processor Al 43A (FIG. 18C), processor A2 43B (FIG. 18C), processor B1 43C
(FIG.
18D), and processor B2 43D (FIG. 18D)), and power source controllers 11 (also
shown, for
example, as power source controller A 98 (FIG. 18B) and power source
controller B 99
(FIG. 18B)). Messages described herein can be exchanged among UC 130 and
processors
100 using, for example, but not limited to, system serial bus 143. External
communications
interface 130D can enable communications among, for example, UC 130 and
external
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applications 140 using wireless communications 144 such as, for example, but
not limited
to, BLUETOOTH technology. UC 130 and processors 100 can transmit/receive
messages
to/from external sensors 147 that can be used to enable automatic and/or semi-
automatic
control of the MD.
[00555] Referring now primarily to FIG. 17A, powerbase controller 50001 (FIG.
15B) can
include powerbase processor 100 that can process incoming motor data 775 and
sensor data
767 upon which wheel commands 769, cluster commands 771, and seat commands 773
can
be at least in part based. To perform the data processing, powerbase processor
100 can
include, but is not limited to including, CANbus controller 311 managing
communications,
motor drive control processor 305 preparing motor commands, timer interrupt
service
request processor 301 managing timing, voting/commit processor 329 managing
the
redundant data, main loop processor 321 managing various data inputs and
outputs, and
controller processing task 325 receiving and processing incoming data.
Controller
processing task 325 can include, but is not limited to including, IMU filter
753 managing
IMU data preparation, speed-limiting processor 755 managing speed-related
features,
weight processor 757 managing weight-related features, adaptive speed control
processor
759 managing obstacle avoidance, traction control processor 762 managing
challenging
terrain, and active stabilization processor 763 managing stability features.
Inertial sensor
pack 1070/23/29/35 can provide IMU data 767 to IMU filter 753 which can
provide data
that can result in wheel commands 769 to right wheel motor drive 19/31 and
left wheel
motor drive 21/33. IMU filter 753 can include, but is not limited to
including, body rate to
gravity rate and projected rate processor 1102 (FIG. 19A), body rate and
gravity to Euler
angles and rates processor 1103 (FIG. 19A), and gravity rate error and
projected yaw rate
error to body rates processor 1103 (FIG. 19A). Seat motor 45/47 can provide
motor data
775 to weight processor 757. Voting processor 329 can include, but is not
limited to
including, initial vote processor 873, secondary vote processor 871, and
tertiary vote
processor 875.
[00556] Referring now primarily to FIGs. 17B and 17C, in some configurations,
powerbase processors 100 can share, through, for example, CANbus 53A/B (FIG.
18B), as
controlled by CANbus controller task 311 (FIG. 17B), accelerometer and gyro
data from
inertial sensor packs 1070/23/29/35 (FIG. 17A). Powerbase serial buses 53A/B
(FIG. 18B)
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can communicatively couple processors A1/A2/B1/B2 43A-43D (FIG. 18C/18D) with
other
components of the MD. CANbus controller 311 (FIG. 17B) can receive interrupts
when
CANbus messages arrive, and can maintain current frame buffer 307 (FIG. 17B)
and
previous frame buffer 309 (FIG. 17B). When accelerometer and gyro data (sensor
data 767
(FIG. 17A)) have arrived from processors A1/A2/B1/B2 43A-43D (FIG. 18C/18D),
CANbus controller 311 (FIG. 17B) can send a start commits processing message
319 (FIG.
17B) to voting/commit processor 329 (FIG. 17C). Voting/commit processor 329
(FIG.
17C) can send a commit message 331 (FIG. 17C) that can include the results of
the voting
process, for example, but not limited to, the voting processes of, for
example, method 150
(FIGs. 21B/21C), applied to motor data 775 (FIG. 17A) and IMU data 767 (FIG.
17A), and
can send start controller processing message 333 (FIG. 17C) to controller
processing task
325 (FIG. 17C). Controller processing task 325 (FIG. 17C) can compute
estimates based at
least on, for example, received IMU data 767 (FIG. 17A) and motor data 775
(FIG. 17A),
and can manage traction (traction control processor 762 (FIG. 17A)), speed
(speed
processor 755 (FIG. 17A), adaptive speed control processor 759 (FIG. 17A)),
and
stabilization (active stabilization processor 763 (FIG. 17A)) of the MD based
at least on the
estimates, and can send motor-related messages 335. If CANbus controller 311
(FIG. 17B)
has not received messages from processors A1/A2/B1/B2 43A-D (FIG. 18C/18D)
within a
timeout period, such as, for example, but not limited to, 5 ms, timer
interrupt service request
processor 301 (FIG. 17B) can start commit backup timer 317 (FIG. 17B) that
can, when the
timer expires, start commits processing by sending a starts commits processing
message 319
(FIG. 17B) to commits processing task 329 (FIG. 17C). Timer interrupt service
request
processor 301 (FIG. 17B) can also send start main loop message 315 (FIG. 17B)
to main
loop processor 321 (FIG. 17B) and update motors message 303 (FIG. 17B) to
motor drive
control 305 (FIG. 17B) when a timer has elapsed, for example, every 5ms, and
main loop
processor 321 (FIG. 17B) can capture sensor data and data from user controller
130 (FIG.
16A). Main loop processor 321 (FIG. 17B) can send a synchronization message
313 (FIG.
17B) over CANbus 53A/B (FIG. 18B), if main loop processor 321 (FIG. 17B) is
executing
on a master of processors Al/A2/B1/B2 43A-D (FIG. 18C/18D). Main loop
processor 321
(FIG. 17B) can track timed activities across powerbase processor 21514A (FIG.
16A), can
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start other processes, and can enable communications through powerbase output
packet 323
(FIG. 17B).
[00557] Referring now primarily to FIGs. 18A-18D, PBC board 50001 (FIG. 15G)
can
include, but is not limited to including, at least one processor 43A-43D
(FIGs. 18C/18D), at
least one motor drive processor 1050, 19, 21, 25, 27, 31, 33, 37 (FIGs.
18C/18D), and at
least one power source controller (PSC) processor 11A/B (FIG. 18B). PBC board
50001
(FIG. 15G) can be operably coupled with, for example, but not limited to, UC
130 (FIG.
18A) through, for example, but not limited to, electronic communications means
53C and a
protocol such as, for example, a CANbus protocol, and PBC board 50001 (FIG.
15G) can
be operably coupled with at least one IMU and inertial system processor 1070,
23, 29, 35
(FIGs. 18C/18D). UC 130 (FIG. 18A) can be optionally operatively coupled with
electronic devices such as, for example, but not limited to, computers such as
tablets and
personal computers, telephones, and lighting systems. UC 130 (FIG. 18A) can
include, but
is not limited to including, at least one joystick and at least one display.
UC 130 (FIG.
18A) can include push buttons and toggles. UC 130 (FIG. 18A) can optionally be
communicatively coupled with peripheral control module 1144 (FIG. 18A), sensor
aid
modules 1141 (FIG. 18A), and autonomous control modules 1142/1143 (FIG. 18A).
Communications can be enabled by, for example, but not limited to, a CANbus
protocol and
an Ethernet protocol 271 (FIG. 18A).
[00558] Continuing to refer primarily to FIGs. 18A-18D, processors 39/41
(FIGs.
18C/18D) can control the commands to wheel motor processors 85/87/91/93 (FIGs.
18C/18D), cluster motor processors 1050/27 (FIGs. 18C/18D) and seat motor
processors
45/47 (FIGs. 18C/18D). Processors 39/41 (FIGs. 18C/18D) can receive joystick,
seat height
and frame lean commands from UC 130 (FIG. 12A). Software that can enable UC
130
(FIG. 12A) can perform user interface processing including display processing,
and can
communicate with the external product interface. Software that can enable PSC
11A/B
(FIG. 18B) can retrieve information from batteries 70001 (FIG. 1E) over a bus
such as, for
example, but not limited to, an I2C bus or an SMBus, and can send that
information on
CANbus 53A/53B (FIG. 18B) for UC 130 (FIG. 12A) to interpret. Boot code
software
executing on processors 39/41 (FIGs. 18C/18D) can initialize the system and
can provide
the ability to update application software. External applications can execute
on a processor
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such as, for example, but not limited to, a personal computer, cell phone, and
mainframe
computer. External applications can communicate with the MD to support, for
example,
configuration and development. For example, a product interface is an external
application
that can be used by, for example, service, manufacturing, and clinicians, to
configure and
service the MD. An engineering interface is an external application that can
be used by, for
example, manufacturing, to communicate with UC 130 (FIG. 12A), processors
39/41 (FIGs.
18C/18D), and PSCs 11A/B (FIG. 18B) when commissioning the MD. A software
installer
is an external application that can be used by, for example, manufacturing and
service, to
install software onto UC 130 (FIG. 12A), processors 39/41 (FIGs. 18C/18D), and
PSCs
11A/B (FIG. 18B).
[00559] Continuing to refer primarily to FIGs. 18C-18D, in some
configurations, each at
least one processor 43A-43D (FIGs. 18C/18D) can include, but is not limited to
including,
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).
At least one processor 43A-43D can further include at least one cluster brake
processor
57/69 (FIGs. 18C/18D), at least one cluster motor processor 83/89 (FIGs.
18C/18D), 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), at least one left wheel motor processor 87/93 (FIGs. 18C/18D), at
least one seat
motor processor 45/47 (FIGs. 18C/18D), at least one seat brake processor 65/79
(FIGs.
18C/18D), at least 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 cluster assembly 21100 (FIG. 6A) of wheels forming a ground-
contacting
module. The ground-contacting module can be mounted on cluster assembly 21100
(FIG.
6A), and each wheel of the ground-contacting module can be driven by a wheel
motor drive
commanded by right wheel motor drive processor A 19 (FIG. 18C), or redundant
right
wheel motor drive processor B 31 (FIG. 18D). Cluster assembly 21100 (FIG. 6A)
can
rotate about a cluster axis, the rotation being governed by, for example,
cluster motor drive
processor A 1050 (FIG. 18C), or redundant cluster motor drive processor B 27
(FIG. 18D).
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At least one of the sensor processors such as, for example, but not limited
to, 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
processors (not
shown), and at least one inertial sensor pack processor 17, 23, 29, 35 (FIGs.
18C/18D) can
process data transmitted from sensors residing on the MD. Processors 43A-43D
(FIGs.
18C/18D) can be operably coupled to UC 130 (FIG. 18A) for receiving user
input.
Communications 53A-53C (FIG. 18B) among UC 130 (FIG. 18A), PSCs 11A/11B (FIG.
18B), and processors 43A-43D (FIGs. 18C/18D) can be according to any protocol
including, but not limited to, a CANbus protocol. At least one Vbus 95/97
(FIG. 18B) can
operably couple at least one PSC 11A/B (FIG. 18B) to processors 43A-43D (FIGs.
18C/18D) and components external to PBC board 50001 (FIG. 15G) through
external Vbus
107 (FIG. 18B). In some configurations, processor Al 43A (FIG. 18C) can be the
master
of CANbus A 53A (FIG. 18B). Slaves on CANbus A 53A (FIG. 18B) can be processor
A2
43B (FIG. 18C), processor B1 43C (FIG. 18D), and processor B2 43D (FIG. 18D).
In some
configurations, processor B1 43C (FIG. 18D) can be the master of CANbus B 53B
(FIG.
18B). Slaves on CANbus B 53B (FIG. 18B) can be processor B2 43C (FIG. 18D),
processor Al 43A (FIG. 18C), and processor A2 43B (FIG. 18C). In some
configurations,
UC 130 (FIG. 18A) can be the master of CANbus C 53C (FIG. 18B). Slaves on
CANbus C
53C (FIG. 18B) can be PSCs 11A/B (FIG. 18B), and processors Al/A2/B1/B2
43A/B/C/D
(FIGs. 18C/18D). The master node (any of processors 43A-43D (FIGs. 18C/18D) or
UC
130 (FIG. 18A)) can send data to or request data from the slaves.
[00560] Referring primarily to FIGs. 18C/18D, in some configurations,
powerbase
controller board 50001 (FIG. 15G) can include redundant processor sets A/B
39/41 that can
control cluster 21100 (FIG. 6A) and rotating drive wheels 21201 (FIG. 7B).
Right/left
wheel motor drive processors A/B 19/21, 31/33 can drive right/left wheel
motors A/B
85/87/91/93 that drive wheels 21201 (FIG. 7B) on the right and left sides of
the MD.
Wheels 21201 (FIG. 7B) can be coupled to drive together. Turning can be
accomplished by
driving left wheel motor processors A/B 87/93 and right wheel motor processors
A/B 85/91
at different rates. Cluster motor drive processor A/B 1050/27 can drive
cluster motor
processors A/B 83/89 that can rotate the wheel base in the fore/aft direction
which can
allow the MD to remain level while front wheels 21201 (FIG. 6A) are higher or
lower than
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rear wheels 21201 (FIG. 6A). Cluster motor processors A/B 83/89 can keep the
MD level
when climbing up and down curbs, and can rotate the wheel base repeatedly to
climb up and
down stairs. Seat motor drive processor A/B 25/37 can drive seat motor
processors A/B
45/47 that can raise and lower a seat (not shown).
[00561] Continuing to further refer to FIGs. 18C/18D, cluster position sensor
processors
A/B 55/71 can receive data from cluster position sensor that can indicate the
position of
cluster 21100 (FIG. 3). The data from the cluster position sensors and seat
position sensors
can be communicated among processors 43A-43D and can be used by processor set
A/B
39/41 to determine information to be sent to, for example, right wheel motor
drive processor
A/B 19/31, cluster motor drive processor A/B 15/27, and seat motor drive
processor A/B
25/37. The independent control of clusters 21100 (FIG. 3) and drive wheels
21201 (FIG.
7B) can allow the MD to operate in several modes, thereby allowing the user or
processors
43A-43D to switch between modes, for example, in response to the local
terrain.
[00562] Continuing to still further refer to FIGs. 18C/18D, inertial sensor
pack processors
1070, 23, 29, 35 can receive data that can indicate, for example, but not
limited to, the
orientation of the MD. Each inertial sensor pack processor 1070, 23, 29, 35,
can process
data from, for example, but not limited to, accelerometers and gyroscopes. In
some
configurations, each inertial sensor pack processor 1070, 23, 29, 35 can
process information
from four sets of three-axis accelerometers and three-axis gyros. The
accelerometer and
gyro data can be fused, and a gravity vector can be produced that can be used
to compute
the orientation and inertial rotation rates of the MD. The fused data can be
shared across
processors 43A-43D and can be subjected to threshold criteria. The threshold
criteria can
be used to improve the accuracy of device orientation and inertial rotation
rates. For
example, fused data from certain of processors 43A-43D that exceed certain
thresholds can
be discarded. The fused data from each of processors 43A-43D that are within
pre-selected
limits can be, for example, but not limited to, averaged or processed in any
other form.
Inertial sensor pack processors 1070, 23, 29, 35 can process data from sensors
such as, for
example, ST microelectronics LSM330DLC, or any sensor supplying a 3D digital
accelerometer and a 3D digital gyroscope, or further, any sensor that can
measure gravity
and body rates. Sensor data can be subject to processing, for example, but not
limited to,
filtering to improve control of the MD. Cluster position sensor processors
A/13, 55/71, seat
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position sensor processors A/B 67/81, and manual brake release sensor
processors A/B
61/75 can process, but are not limited to processing. Hall sensor data.
Processors 39/41 can
manage the storage of information specific to a user.
[00563] Referring now primarily to FIG. 19A, at least one inertial sensor pack
processor
17, 23, 29, 35 (FIGs. 18C/18D) can process sensor information from IMU 608
(FIG. 15D)
through to IMU filter 9753. A state estimator can estimate dynamic states of
the MD
relative to an inertial coordinate system from the sensor information measured
in a body
coordinate system, that is, relative to the coordinate system associated with
the MD. The
estimation process can include relating the acceleration and rate measurements
as taken by
IMU board 50003 (FIG. 15B) on the axis system in which they are mounted (body
coordinate systems) to the inertial coordinate system, to generate dynamic
state estimates.
The dynamic states relating the body coordinate frame to the inertial
coordinate frame can
be described with Euler angles and rates, which are computed from an estimate
of the
earth's gravitational field vector. The gyroscopes can supply rate
measurements relative to
their mounting reference frame. Pitch Euler angle 9147 and roll Euler angle
9149 can be
estimated as follows.
[00564] Mapping rates from the body coordinate frame of reference to the
inertial
coordinate frame of reference can include evaluating the kinematic equation of
the rotation
of a vector.
(= Zi*.f X f/f
where 6 is the gravity rate vector, of is the filtered gravity vector, and Di
is the body rate
vector.
[00565] Integrated over time, 6 provides a gravity vector estimate. The
projected
gravity rate estimate is as follows.
= GI: = fl.f
Where, j'r is the projected gravity rate.
[00566] Mapping inertial rates back to the body coordinate frame in order
to integrate
error to compensate for gyro bias can be accomplished as follows:
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Ge
where 6e is the gravity rate error and D., is the body rate error, which is
equivalent to:
- 0 6, -
.... .45-- s = ...y
GjeZ 0 ¨Gf 6-}e = er'es.
, x Y
¨G, G,,, 0
_ i>
where G f are components of filtered gravity vector 9125, coex_y_z are
components of
J x-y-z
filtered body rate error 9157, and 6ex-y-z are components of filtered gravity
rate error
9129. The projected gravity rate can be computed as follows.
,........
or
-I- (.4 0.),õ..õ -I- Gfz Wõ,z
Coupled with the matrix above, this yields a matrix that can be viewed in the
Ax=b format:
- 0 ¨G, Gfy
s=.= -O,,-
,,õ
St, 0 ¨Gf
A de
¨G
ix .,..
A., al Y Gfx 0 .e. = ¨
,Wez 6,,
-z,
_ GA, GA, Gf,
To solve for body rate error 9157, the pseudo-inverse for the 'A matrix can be
computed
as follows:
(e-17./1).- 1 AT Ax = (AT /1)- 1 Ar b
The transpose 'A' matrix multiplied with the 'A' matrix yields the following
matrix:
-GI; + GI,: -4- Gf,2 0 0
0 .
Gi= .> '. + G.,2 + Gfv 2 0
, x iv i:. .õ.
õ
0 0 64, . + 1.;,i= 4. + Ur -
- ix 13, ,z
[00567] Since filtered gravity vector 9125 is a unit vector, the above
matrix simplifies to
a 3x3 identity matrix, whose inverse is a 3x3 identity matrix. Therefore, the
pseudo-inverse
solution to the Ax=b problem reduces to
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-6, -
r- 6 ¨ ac 6 4-
riz -ey ,,y
ATAx -. AT b . a),-,), . --(,fz .___G( ¨(::::)-kr,Y
(;::,: 6e.: . ¨Gf, 6 ¨ + i
n.)
oz.. t, txx 0 r 6
O.< el.;
);J: , G 6 ¨ G
6 + 6- Ai,
= .1",, ex = 1-,.
ey
- Ye
where tPe is the difference between the projected gravity rate 9119 and the
wheel speed
derived from data received from the right/left wheel motors. The resulting
matrix can be
written as the following identity:
, i e
Filtered gravity vector 9125 can be translated into Euler pitch 9147 and Euler
roll 9149:
Euler angles:
0 (pitch) = -asin(Gfy)
co (roll) = -atan(Gfi/Gfz)
Filtered body rates can be translated into Euler pitch rate 9153 and Euler
roll rate 9155:
Pitch rate: 6 = cofx cos cp. + wfz sin go
Roll rate: cp = wfx tan 0 sin go + cofy ¨ (of, tan 6' cos cp
= ¨sing, cosy,
Yaw rate: 0 = coLc c o s ¨ (9 COifz¨cose
[00568]
Continuing to refer to FIG. 19A, IMU filter 9753 can filter gravity vector
9125
which can represent the inertial z-axis. IMU filter 9753 can provide a two-
dimensional
inertial reference in three-dimensional space. Measured body rates 9113
(measured, for
example, from gyros that can be part of the inertial sensor packs, filtered
gravity vector
9127 computed based on accelerometer data, and differential wheel speed 9139
(that can be
computed from data received from the right/left wheel motor drives of left and
right wheels
21201 (FIG. 1A) can be inputs to IMU filter 9753. IMU filter 9753 can compute
pitch
9147, roll 9149, yaw rate 9151, pitch rate 9153, and roll rate 9155, for
example, to be used
to compute wheel commands 769 (FIG. 21A). Filtered output (G) and measured
input
(Gmeas) are compared to produce an error, along with the comparison of gravity
projected
rate and differential wheel speed. There errors are fed back to the rate
measurements to
compensate for rate sensor bias. Filtered gravity vector 9125 and filtered
body rates 9115
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can be used to compute pitch 9147, roll 9149, yaw rate 9151, pitch rate 9153,
and roll rate
9155.
[00569]
Referring now to FIG. 19B, method 9250 for processing data using IMU filter
9753 (FIG. 19A) can include, but is not limited to including, subtracting 9251
gyro bias
from gyro readings to remove the offset. Method 9250 can further include
computing 9255
gravity rate vector 9143 (FIG. 19A) and projected gravity rate estimate 9119
(FIG. 19A)
based at least on filtered body rates 9115 (FIG. 19A) and filtered gravity
vector 9125 (FIG.
19A). Method 9250 can still further include subtracting 9257 the product of
gain K1 and
gravity vector error from gravity rate vector 9117 (FIG. 19A) and integrating
9259 filtered
gravity rate 9143 (FIG. 19A) over time to produce filtered 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 can
further
include computing 9261 pitch rate 9153 (FIG. 19A), roll rate 9155 (FIG. 19A),
yaw rate
9151 (FIG. 19A), pitch, and roll based on filtered gravity rate vector 9125
(FIG. 19A) and
filtered body rates 9115 (FIG. 19A). Gyro bias 9141 (FIG. 19A) can be computed
by
subtracting differential wheel speed 9139 (FIG. 19A) between wheels 21201
(FIG. 1A)
from projected gravity rate estimate 9119 (FIG. 19A) to produce projected rate
error 9137
(FIG. 19A). Further, the cross product of gravity vector error 9129 (FIG. 19A)
and filtered
gravity vector 9125 (FIG. 19A) can be computed and added to the dot product of
filtered
gravity vector 9125 (FIG. 19A) and projected gravity rate estimate error 9137
(FIG. 19A) to
produce body rate error 9157 (FIG. 19A). Method 9250 can include computing
gyro bias
9141 (FIG. 19A) based on applying gain K2 9133 (FIG. 19A) to the integration
9135 (FIG.
19A) over time of body rate error 9157 (FIG. 19A) to produce the gyro bias
that is
subtracted in step 9251. Equations describing method 9250 follow.
= x
where Om is the measured gravity rate vector, 4 is the filtered gravity
vector, and oi is the
filtered body rate vector.
= = to
where J., is the projected rate.
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= Vdif f
where 'ffe is the projected rate error and Vdif f is the differential wheel
speed.
6 = 6rn ¨ K1 * Gerror
where 6 is the filtered gravity rate, Om is the measured gravity rate vector,
K1 is a gain,
and Gerror is the gravity error vector.
Gerror = G- f ¨ Gm
where Gm is the measured gravity vector from the accelerometer readings.
We = Ge X Gf + Gf * 'ffe
where the is the body rate error vector and Oe is the gravity rate error
vector.
We = K2 * the/s
where We is the integrated body rate error vector and K2 9133 (FIG. 19A) is a
gain.
cof = win ¨ the
where con, is the measured body rate vector
Gf = O/s
[00570] Referring to FIG. 20, field weakening can increase motor speed of
mobility
device 21513-1 (FIG. 1). Field weakening can cause motor 70707 (FIG. 6) to
temporarily
run faster at times when needed, for example, when unexpected circumstances
arise. The
electrical system equations of motion for a motor in a rotating reference
frame are:
VdLN = ¨WeLLNId IdRLN (1)
VqLN = KeLNwm WeLLNId (2)
where VdLN is direct voltage line to neutral
We is the electrical speed
LLN is the winding inductance line to neutral
/q is the quadrature current
Id is the direct current
RLN is the line to neutral resistance
KILN is the quadrature voltage line to neutral
KeLN is the back electromagnetic field (EMF) line to neutral
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Wm is the mechanical speed
Under normal field-oriented control of a brushless motor drive, where Id is
regulated to
zero,
VdLN = ¨weLLNIq (3)
KILN = KeLNWm IdRLN (4)
To implement field weakening in a field-oriented control scheme, the term
weLLN/q may be
increased by giving the direct current controller a non-zero current command,
yielding a
higher motor velocity and a diminished torque capability.
[00571] Continuing to refer to FIG. 20, field weakening in the rotating frame
of reference
can be implemented as follows. In a conventional drive without field
weakening, the
maximum command voltage is Vbõ,,./a where Vbus is bus voltage. As the
quadrature
command voltage increases, the motor drive voltage controller increases the
duty cycle to
match the commanded input until the duty cycle reaches its maximum and the
back EMF
voltage equals the command voltage. When direct current is regulated to zero,
under
normal motor control conditions without field weakening,
Vcommand = KILN = KeLNWm IdRLN (5)
where V
command is the commanded voltage from the powerbase.
Under field weakening conditions, the last term in equation (2) is non-zero
yielding
Vcommand = KILN ¨ (üeLLNIc1= KeLNWm IdRLN (6)
When the quadrature voltage saturates at the bus, the direct axis current can
be commanded
to a non-zero value to increase the motor speed to emulate a higher voltage
command to the
motor as seen by the powerbase wheel speed controller. By isolating the direct
current
component of equation (6), a direct current command may be computed:
V command¨V ciLN
Id -- (7)
)eLLN
The velocity controllers can effectively command higher velocities to the
motors, and the
motors can behave as if they are receiving larger voltages.
[00572] Continuing to refer to FIG. 20, in some configurations, the
addition of ¨ 25 amps
of direct current can nearly double the maximum speed of certain motors,
allowing for
relatively short bursts of relatively high speed when unexpected stabilization
is required, for
example. Current and voltage command limits can be computed as follows:
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Voltage Limit = PWM_%_Limit xVbõ,/ = VqLN2 VdLN2 (8)
Current Limit = Maximum Allowable Current (or FET temperature limit) =
jqLN2 I dLN2 (9)
The direct current controller can have priority when regulating the direct
current, leaving
the leftover to the quadrature controller and reporting the subsequent limits
to processors
A/B 39/41 (FIGs. 18C/18D).
[00573] Continuing to refer to FIG. 20, method 10160 for computing command
voltage
limits and current limits can include, but is not limited to including,
computing 10161 the
overall current limit hm based on FET temperature, and computing the voltage
limit Vhm
based on the measured bus voltage, (Vbus/). Method 10160 can include setting
10163
the quad voltage controller current limit based on the overall current limit
and the
commanded direct current from a previous measurement. Method 10160 can further
include computing 10165 the direct current command, restricting the overall
current limit
Lim, and computing the commanded direct voltage VANcom,,anded . Method 10160
can include
setting 10167 the quad voltage controller current limit based on the overall
voltage limit and
the commanded direct voltage from the direct current controller.
[00574] Continuing to refer to FIG. 20, in a conventional motor drive, voltage
saturation
is reported when the voltage command from the current controller saturates at
the bus
voltage limit Vbus fa When field weakening is used, the motor drive injects
direct current
to increase motor speed when the quadrature voltage saturates. The direct
current controller
only computes a direct current command when the commanded voltage has
surpassed the
capability of the bus to command quadrature voltage. Otherwise, direct
currents are
regulated to zero to maintain efficiency. Therefore, voltage saturation can be
reported when
the direct current controller attempts to regulate the direct current command
to a maximum
value, not when the quadrature voltage saturates at the bus voltage limit like
a conventional
drive. In a conventional motor drive, current saturation is reported when the
current
command from the voltage controller saturates at the maximum current, for
example, but
not limited to, 35 amps, unless otherwise limited by heat. However, the
voltage controller's
current command saturates when the maximum quadrature voltage command reaches
the
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bus limit. If this remained the same for field weakening, the voltage
controller would report
a current saturation regardless of the actual quadrature current. Therefore,
if the quadrature
voltage controller is issuing a maximum current command and the quadrature
current
controller has not run out of voltage headroom, then maximum current has been
reached. If
the quadrature current controller has run out of voltage headroom, then the
quadrature
current controller is not capable of generating maximum current, and the
current limit has
not been reached.
[00575] Referring now to FIG. 20-1, a method for field weakening can
include, but is
not limited to including, (1) measuring system parameters -- phase currents,
phase voltage
and Hall sensors -- and calculating motor position and speed from the Hall
sensor
measurements, and (2) converting the phase current and phase voltage to
current in a
stationary frame. The phase current and phase voltage can be converted to a
stationary
frame using a Clark transform tied to the stator.
[ 2 _1 _1 I [ IA 1
[/x 3 7 7 1
I y] _ -
[00576] where Ix/Iy is the stationary frame current, and IA/IB/Ic is the
phase current.
The method can include (3) converting the stationary phase current and phase
voltage to a
synchronous rotary frame tied to the rotor using a Park transform.
['di = O rsin, ¨cos0,1 [Ix]
Ild kosO, sinO, ][13,]
[00577] where Id is the direct current and LI is the quadrature current.
The method
can include (4) calculating the minimum and maximum Id and LI commands from
the
measured motor parameters. The constraints for this calculation can include
(a) that the following relationships hold for the motor parameters in
quadrature space:
Vq = Ke*w, + R *LI + we*L*Id
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Vd = -we*L*Ig + R * Id
and
(b) that the following limits arr
i. the vector sum of Vd and Vci do not exceed the bus voltage
Vd_cmd2 + Vq_cmd2 < Vbus2
ii. the vector sum of Id and LI do not exceed the current limit
Id2 + Iq2 < 1.2
[00578] From Iq2 + Id2 < Idnvemax2, step (4) can include determining
where the
measured LI line 3005 intersects bus voltage limit circle 3001 and drive
current limit circle
3003 defining the allowed limits for bus voltage and drive current to
determine the allowed
Id, and determining where the measured Id line 3007 intersects bus voltage
limit circle 3001
and drive current limit circle 3003 defining allowed limits for bus voltage
and drive current
to determine the allowed LI. The locus of allowed limits can be found in the
intersection
3009 of circles 3001 and 3003. The method can include (5) calculating the
desired Id from
the calculated voltage, and limiting the desired Id according to the limits in
step (1). To
calculate the desired Id, for a device with a DC motor with a very large bus
voltage
V = Ke = we I = R
Vbus
we,max
¨j:
;¨
The device runs out of torque at maximum speed, / ¨> 0.
Thus
\IV2 _______________________________________ V2
Vq,max = ¨ bus .. d
If V
Vq,cmd = V
Id,cmd =
If V > Vq,max, Vq,cmd = Vq,max
To determine the desired Id, with /q = 0 and toe,max = Vcmd/Ke, (from DC motor
equivalent)
Vd = R = Id_des
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Vq = Ke = we,max we,max = L = Id_des
Solving for Id,
1Vb2us (R = Id_des)2 = we,max(Ke L = Id_des)
vb2us R2 Ies = C0e2,max(Ke2 2Ke = L = Id_des L2 =
(R2 we2,max = L2)I_des 2we2,max = Ke = L = Id_des VZus =
AweMax1des 2CweMaxid_des ¨1/Zus =
C 172
weMax bus
= 0 12 2 I
d_des AweMax d_des A
flweMax
2
17Zus )\
CweMax 1 weMax
Id_des = sqrt ¨ 4 ¨
AweMax 2 A
weMax AweMax
[00579] The method can include (6) closing the loop on the commanded
motor
voltage by closing the loop on measured quadrature voltage, calculating the
desired
quadrature current, and limiting the desired quadrature current according to
step (5). The
method can include (7) closing the loop on the commanded direct current by
closing the
loop on measured direct current, calculating the desired direct voltage,
limiting the desired
direct voltage to the bus voltage command, and feeding forward the effect of
wheel speed
and measured quadrature current: Id_FFcmd = -we*L*Ig
[00580] The method can include (8) closing the loop on the commanded
quadrature
current by closing the loop on measured quadrature current, calculating the
desired
quadrature voltage, limiting the desired quadrature voltage to the bus voltage
command, and
feeding forward the effect of wheel speed on measured direct current.
IeLF-Fedid = Ke*we + we*L*Id
[00581] The method can include (9) adjusting the measured motor angle
for the time
t required to perform the motor command calculations stated herein.
Measured Angle = Measured angle + At * measured motor speed
[00582] The method can include (10) converting the direct and quadrature
command
voltage to the stationary frame using an inverse Park transform.
[Vx1 = [ sinOe cos0e1 [Vd1
[1737] [¨COSOe SinOJK
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[00583] The method can include (11) converting stationary frame voltage
commands
to phase voltage commands using an inverse Clark transform.
1 0
[VA
VB1= ¨71 4 I [171
V
Vc
2 2
where
Vq : Quadrature Voltage
Vd : Direct Voltage
/ : Motor Voltage = \/(Vd2 Vq2)
Vbus: Vsupply '\/3 : Bus line to neutral voltage
Iq : Quadrature Current
Id : Direct Current
I : Motor Current = \i(L12-4q2)
L : Line to Neutral Inductance (Henry)
R : Line to Neutral Resistance (Ohm)
Ke : Line to Neutral Motor Constants (Volt / (radians/second) )
we : Electrical speed in (radians/second)
Vemd: User commanded voltage
[00584] The method can include (6) closing the loop on the commanded
motor
voltage by closing the loop on measured quadrature voltage, calculating the
desired
quadrature current, and limiting the desired quadrature current according to
step (5). The
method can include (7) closing the loop on the commanded direct current by
closing the
loop on measured direct current, calculating the desired direct voltage,
limiting the desired
direct voltage to the bus voltage command, and feeding forward the effect of
wheel speed
and measured quadrature current: Id_FFcmd = -we*L*Ig
[00585] The method can include (8) closing the loop on the commanded
quadrature
current by closing the loop on measured quadrature current, calculating the
desired
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quadrature voltage, limiting the desired quadrature voltage to the bus voltage
command, and
feeding forward the effect of wheel speed on measured direct current.
IeLF-Fedid = Ke*we + we*L*Id
[00586] The method can include (9) adjusting the measured motor angle
for the time
t required to perform the motor command calculations stated herein.
Measured Angle = Measured angle + At * measured motor speed
[00587] The method can include (10) converting the direct and quadrature
command
voltage to the stationary frame using an inverse Park transform.
[Vx1 = [ sinO, cos0e1 [17 di
[17y] c os Be sin0e][17q]
[00588] The method can include (11) converting stationary frame voltage
commands
to pl ;e voltage commands using an inverse Clark transform.
1 0
[VA 1 [
v
VBI = 7 I vx1
Vc A/7 Y
¨ 2
where
Vq : Quadrature Voltage
Vd : Direct Voltage
V : Motor Voltage = .\/(vd2 vq2)
Vbus: Vsupply '\/3 : Bus line to neutral voltage
Iq : Quadrature Current
Id : Direct Current
I : Motor Current = Od2 k2)
L : Line to Neutral Inductance (Henry)
R : Line to Neutral Resistance (Ohm)
Ke : Line to Neutral Motor Constants (Volt / (radians/second) )
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We : Electrical speed in (radians/second)
Vemd: User commanded voltage
[00589] Referring now primarily to FIG. 21A, to enable failsafe operation, the
MD can
include, but is not limited to including, redundant subsystems by which
failures can be
detected, for example, by comparison of data associated with each subsystem to
data
associated with the remaining subsystems. Failure detection in redundant
subsystems can
create fail-operative functionality, wherein the MD can continue to operate on
the basis of
the information provided by the remaining non-failing subsystems, if one
subsystem is
found to be defective, until the MD can be brought to a safe mode without
endangering the
user. If a failed subsystem is detected, the remaining subsystems can be
required to agree
to within prescribed limits in order for operation to continue, and operation
can be
terminated in case of disagreement between the remaining subsystems. Voting
processor
329 can include, but is not limited to including, at least one way to
determine which value
to use from redundant subsystems, and in some configurations, voting processor
329 can
manage different types of data in different ways, for example, but not limited
to, calculated
command data and inertial measurement unit data.
[00590] Continuing to refer primarily to FIG. 21A, voting processor 329 can
include, but
is not limited to including, initial vote processor 873, secondary vote
processor 871, and
tertiary vote processor 875. Initial vote processor 873 can include, but is
not limited to
including, computer instructions to average sensor data 767 or command data
767A, from
each processor A 1/A2/B1/B2 43A-43D (FIG. 18C/18D) (referred to herein as
processor
values). Initial vote processor 873 can further include computer instructions
to compute the
absolute value difference between each processor value and the average, and
discard the
highest absolute value difference leaving three remaining processor values.
Secondary vote
processor 871 can include, but is not limited to including, computer
instructions to compute
differences between the remaining processor values and each other, to compare
the
differences to a preselected threshold, to compare the processor values that
have the highest
difference between them to the remaining value, to vote out the processor
value with the
highest difference from the remaining value, to compare the voted out values
to the
remaining values, to vote out any difference above the pre-selected threshold,
if any, and to
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select a remaining processor values or an average of the processor values,
depending, for
example, on the type of data the processor values represent. Tertiary vote
processor 875
can include, but is not limited to including, computer instructions to, if
there are no
differences greater than the pre-selected threshold, compare the discarded
value to the
remaining values, vote out the discarded value if there are any differences
greater than the
pre-selected threshold, and select one of the remaining processor values or an
average of the
remaining processor values depending, for example, on the type of data the
processor values
represent. Tertiary vote processor 875 can also include computer instructions
to, if there are
no differences greater than the pre-selected threshold, select a remaining
processor value or
an average of the remaining processor values. It can be possible that the
discarded value is
not voted out and all processor values remain to be selected from or averaged.
Tertiary vote
processor 875 can still further include computer instructions to, if a
processor value is voted
out a pre-selected number of times, raise an alarm, and, if the voting scheme
fails to find a
processor value that satisfies the selection criteria, increment the frame
counter. Tertiary
vote processor 875 can also include computer instructions to, if the frame
counter has not
exceeded a pre-selected number of frames, discard the frame containing the
processor
values in which the voting scheme failed to find a processor value that
satisfies the selection
criteria, and to select the last frame with at least one processor value that
could be used.
Tertiary vote processor 875 can also include computer instructions, if the
frame counter is
greater than a pre-selected number of frames, to move the MD to a failsafe
mode.
[00591] Referring now to FIGs. 21B and 21C, method 150 for resolving which
value to
use from redundant processors, referred to herein as "voting", can include,
but is not limited
to including, initializing 149 a counter, averaging 151 values, for example,
but not limited
to, sensor or command values, from each processor 43A-43D (FIG. 21A) (referred
to herein
as processor values), computing 153 the absolute value difference between each
processor
value and the average, and discarding the highest difference. Method 150 can
further
include computing 155 differences between the remaining processor values and
each other.
If 157 there are any differences greater than a preselected threshold, method
150 can
include comparing 167 the values that have the highest difference between them
to the
remaining value, voting out 169 the value with the highest difference from the
remaining
value, comparing 171 the voted out values to the remaining values, and voting
out 173 any
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difference above the pre-selected threshold and selecting one of the remaining
processor
values or an average of the processor values. For example, if processor values
from
processors Al 43A (FIG. 21A), B1 43C (FIG. 21A), and B2 43D (FIG. 21A) remain,
the
processor value (or an average of the processor values) from any of the
remaining
processors can be chosen. If 157 there are no differences greater than the pre-
selected
threshold, method 150 can compare 159 the voted out value to the remaining
values. If 161
there are any differences greater than the pre-selected threshold, method 150
can include
voting out 163 the value voted out in the compare 159 step, and selecting one
of the
remaining processor values or an average of the remaining processor values. If
161 there
are no differences greater than the pre-selected threshold, method 150 can
include selecting
165 one of the remaining processor values or an average of the remaining
processor values.
If 185 a processor value is voted out a pre-selected number of times, method
150 can
include raising 187 an alarm. If 175 the voting scheme fails to find a
processor value that
satisfies the selection criteria, method 150 can include incrementing 177 the
counter. If 179
the counter has not exceeded a pre-selected number, method 150 can include
discarding the
frame having no remaining processor values and selecting 181 a previous frame
having at
least one processor value that meets the selection criteria. If 179 the frame
counter is
greater than the pre-selected number, method 150 can include moving 183 the MD
to a
failsafe mode.
[00592] Referring now primarily to FIG. 21D, examplel 519 of voting can
include first
computations 521 in which processor values for processors Al-B2 43A-43D (FIG.
21A)
can be averaged and can be compared to the computed average. The processor
having the
largest difference from the average, in examplel 519, processor Al 43A (FIG.
21A), can be
discarded. Processor values from processor B2 43D (FIG. 21A) could have
instead been
discarded. Second computations 523 can include comparisons between the
processor values
of the remaining three processors A2/B1/B2 43B-43D (FIG. 21A). Comparisons can
be
taken between the discarded processor value of processor Al 43A (FIG. 21A) and
the
processor values of the three remaining processors A2/B1/B2 43B-43D (FIG.
21A). In
examplel 519, none of the differences exceeds the exemplary threshold of
fifteen. The
voting result from examplel 519 is that any of the processor values from
processors
Al/A2/B1/B2 43A-43D (FIG. 21A) can be selected.
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[00593] Referring now primarily to FIG. 21E, examp1e2 501 of voting can
include first
computations 507 in which processor values for processors A1-B2 43A-43D (FIG.
21A)
can be averaged and can be compared to the computed average. The processor
having the
largest difference from the average, in examp1e2 501, processor Al 43A (FIG.
21A), is
discarded. Second computations 509 can include comparisons between processor
values of
the remaining three processors A2/B1/B2 43B-43D (FIG. 21A). In examp1e2 501,
none of
the differences exceeds the exemplary threshold of fifteen. Comparisons can be
taken
between the processor value of discarded processor Al 43A (FIG. 21A) and the
processor
values of the three of remaining processors A2/B1/B2 43B-43D (FIG. 21A). In
examp1e2
501, one of the differences, the difference between the processor values of
processor Al
43A (FIG. 21A) and processor B2 43D (FIG. 21A), exceeds the exemplary
threshold of
fifteen. Since one difference exceeds the exemplary threshold, the processor
value from
discarded processor Al 43A (FIG. 21A) can be voted out. The voting result from
examp1e2 501 is that any of processor values from processors A2/B1/B2 43A-43D
(FIG.
21A) can be selected because processor Al 43A (FIG. 21A) was voted out.
[00594] Referring now primarily to FIG. 21F, examp1e3 503 of voting can
include first
computations 511 in which processor values for processors Al-B2 43A-43D (FIG.
21A)
can be averaged and can be compared to the computed average. The processor
having the
largest difference from the average, in examp1e3 503, processor Al 43A (FIG.
21A), is
discarded. Second computations 513 can include comparisons between processor
values of
the remaining three processors A2/B1/B2 43B-43D (FIG. 21A). In examp1e3 511,
none of
the differences exceeds the exemplary threshold of fifteen. Comparisons can be
taken
between the processor value of discarded processor Al 43A (FIG. 21A) and the
processor
values of the three remaining processors A2/B1/B2 43B-43D (FIG. 21A). In
examp1e3 511,
two of the differences, the differences between processor Al 43A (FIG. 21A)
and
processors Bl/B2 43C/43D (FIG. 21A), exceed the exemplary threshold of
fifteen. Since at
least one difference exceeds the exemplary threshold, the processor value from
discarded
processor Al 43A (FIG. 21A) can be voted out. .
[00595] Referring now primarily to FIG. 21G, examp1e4 505 of voting can
include first
computations 515 in which processor values for processors Al-B2 43A-43D (FIG.
21A)
can be averaged and can be compared to the computed average. The processor
having the
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largest difference from the average, in examp1e4 515 processor B2 43D (FIG.
21A), is
discarded. Second computations 517 can include comparisons between processor
values of
the remaining three processors Al/A2/B1 43A-43C (FIG. 21A). In examp1e4 505,
the
difference between processor values of processors Al/B1 43A/C (FIG. 21A)
exceeds the
exemplary threshold of fifteen. Comparisons can be taken between the processor
values of
processors Al/B1 43A/C (FIG. 21A) with remaining processor A2 43B (FIG. 21A).
In
examp1e4 505, the difference between the processor values of processors Al/A2
43A/B
(FIG. 21A) equals the threshold value of fifteen, therefore, between the two
processors,
Al/B1 43A/C (FIG. 21A), processor Al 43A (FIG. 21A) can be discarded.
Comparisons
can be taken between the processor values of discarded processors Al/B2
43A/43D (FIG.
21A) and the processor values of the two remaining processors A2/B1 43B-43C
(FIG.
21A). In examp1e4 505, one of the differences, the difference between the
processor values
of processor Al 43A (FIG. 21A) and processor A2 43B (FIG. 21A), does not
exceed the
exemplary threshold of fifteen. Therefore, the processor value from processors
Al and B2
43A/D (FIG. 21A) can be voted out. The voting result from examp1e4 505 is that
the
processor value from either processor A2 43B (FIG. 21A) or B1 43C (FIG. 21A)
can be
selected and A2 43B (FIG. 21A) is selected in examp1e4 505.
[00596] Referring now to FIGs. 21H-1 and 21H-2, when communications have been
lost
among processors within the MD, the voting result can be affected. Alternate
method
53000 for resolving which value to use from redundant processors can take into
account a
loss of communications among processors. Alternate method 53000 can include
reading the
inertial estimates from all the processors, selecting the controller pitch and
roll values from
the IMU voting, determining which processor(s) to discard, voting for valid
processor
values, processing the voting results, and averaging the valid processor
values. Alternate
method 53000 can include reading 53001 sensor data from the processor that is
local to the
sensor and executing method 53000. If 53003 the sensor data are not valid,
method 53000
can include marking all sensor data as voted out and storing 53005 the data in
a data
structure. Valid sensor data include data that are within a pre-selected range
and data that
have arrived from a sensor that has not been permanently voted out. If 53003
the sensor
data are valid, method 53000 can include storing 53005 the data in a data
structure. Method
53000 can include reading sensor data from processors that are remote to the
processor
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executing method 53000, and adding 53004 data from the remote processors to
the data
structure under certain pre-selected conditions. The pre-selected conditions
can include, but
are not limited to including, adding data (1) when communications with the
remote
processors are in tact, (2) if the data are declared valid by the respective
remote processors,
and (3) if the sensor has not been previously permanently voted out. Method
53000 can
include creating 53011 a list of processors having valid sensor data, and, for
each sensor
value or natural combination of sensor values from the list of processors
having valid sensor
data, determining 53013 the average value of the sensor values. Method 53000
can include
ordering 53015 the list of processors with the highest ranking processor being
the processor
having the sensor values closest to the average value. If 53017 there are more
than three
valid data sets, method 53000 can include performing 53019 a three-way vote on
the sensor
values of the first three processors on the ordered list, updating the data
structure with voted
out indications for voted out data, updating the data structure with voted out
indications if
the fourth processor's sensor data is voted out after comparison with the
remaining
processors' sensor data. If 53021 there are three valid data sets, method
53000 can include
performing 53023 a three-way vote on the sensor values of the three
processors, and
updating the data structure with voted out indications if data are voted out.
If 53025 there
are two valid data sets, method 53000 can include performing 53027 a two-way
vote, and if
the two processors disagree, updating the data structure with voted out
indications for both
processors' data. Method 53000 can include incrementing 53029 a counter for
each sensor
when the data structure has been updated with voted out indications. If 53031
the counter
exceeds a pre-selected threshold, method 53000 can include permanently voting
out 53033
the sensor, and discontinuing 53035 use of the voted out sensor. If 53037 at
least two
processors' data are not permanently voted out, method 53000 can include
averaging 53039
the two processors' data, and adding 53041 the average to the inertial vector.
If 53037 at
least two processors' data are not available, method 53000 can include
declaring 53043 a
mismatch in which no sensor data is valid, and entering 53045 failsafe mode.
[00597] Referring now to FIG. 22A, the MD can operate 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,
level surfaces
(e.g., indoor environments, sidewalks, pavement). Seat tilt can be adjusted to
provide
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pressure relief, tilting the seat pan and back together. From standard mode
100-1, users can
transition to 4-Wheel 100-2, docking 100-5, stair 100-4, and remote 100-6
modes, and,
through other modes, into balance mode 100-3. Standard mode 100-1 can be used
where the
surfaces are smooth and ease of turning is important, for example, but not
limited to,
positioning a chair at a desk, maneuvering for user transfers to and from
other supports, and
driving around offices or homes. Entry into standard 100-1, remote 100-6, and
docking
mode 100-5 can be based upon in which operating mode the MD is currently, and
upon
cluster/wheel velocities. In enhanced mode, or 4-Wheel mode 100-2, the MD can
operate
on four drive wheels, can be actively stabilized through onboard sensors, and
can elevate
the main chassis, casters, and seating. 4-Wheel mode 100-2 can provide the
user with
mobility in a variety of environments, enabling users to travel up steep
inclines and over
soft, uneven terrain. In 4-Wheel mode 100-2, all four drive wheels can be
deployed and the
caster wheels can be retracted by rotating the MD. Driving four wheels and
equalizing
weight distribution on the wheels can enable the MD to drive up and down steep
slopes and
through many types of gravel, sand, snow, and mud. Cluster rotation can allow
operation
on uneven terrain, maintaining the center of gravity of the device over the
wheels. The
drive wheels can drive up and over curbs. This functionality can provide users
with mobility
in a wide variety of outdoor environments. The seat height can be adjusted by
the user to
provide necessary clearance over obstacles and along slopes. Users can be
trained to operate
in 4-Wheel mode directly up or down slopes of up to 10 , and stability can be
tested to 12
to demonstrate margin. The MD can operate on outdoor surfaces that are firm
and stable
but wet.
[00598] Continuing to refer to FIG. 22A, frost heaves 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 pre-selected conditions. 4-
Wheel mode
100-2 can be available for selection by users from standard 100-1, balance 100-
3, and stair
100-4 modes, for example. Users may transition from 4-Wheel mode 100-2 to each
of these
other modes. In the event of loss of stability in balance mode 100-3 due to a
loss of traction
or driving into obstacles, the MD can attempt to execute an automatic
transition to 4-Wheel
mode 100-2. Sensor data and user commands can be processed in a closed loop
control
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system, and the MD can react to changes in pitch caused by changes in terrain,
external
impacts, and other factors.
[00599] Referring now to FIG. 22A-1, 4-Wheel mode 100-2, as described in
detail in
United States Patent # 6,571,892, entitled Control System and Method, issued
on June 3,
2003 (`89s), incorporated herein by reference in its entirety, can provide
support for
traversal of uneven terrain by the MD. 4-Wheel mode 100-2 can use both wheel
and
cluster motors to maintain stability. Traversing obstacles can be a dynamic
activity, with
the user and the MD possibly pitching fore and aft as the wheels follow the
terrain and the
cluster motor compensates for the changing slope of the terrain. 4-Wheel mode
100-2 can
protect the user if necessary, and can coordinate the wheel and cluster motors
to keep the
MD underneath the user. 4-Wheel mode 100-2 can give the user the ability to
traverse
uneven terrain such as ramps, gravel, and curbs. 4-Wheel mode 100-2 can be
used to catch
automatic transitions from balance mode 100-3 if the two-wheel controller
fails (due to a
loss of traction, a collision, etc.), and normal transitions from stair mode
100-4 onto a top
landing. In 4-Wheel mode 100-2, the wheel and cluster servos can dynamically
stabilize the
MD when the MD encounters difficult terrain, when center of gravity 704 is
outside the
wheelbase or only one set of wheels in on the ground, and situations between
those
extremes. The cluster servo can react to pitch errors 74003 and rate errors.
Pitch error
74003 is the amount by which center of gravity 704 is offset from vertical
axis 74005
passing though cluster 716. Center of gravity 704 represents the center of
gravity of the
MD, the user, and any payload which the user may be carrying. In some
configurations, in
4-Wheel mode 100-2, center of gravity 704 can be located over center point 718
of
cluster 716. In some configurations, vertical axis 74005 can pass through
center
point 718 of cluster 716. In some configurations, vertical axis 74005 can pass
through any
portion of cluster 716 disposed between transverse axes passing through the
center of either
wheel 714 or wheel 712 (e.g., the footprint). IT the axis passes through a
portion of
cluster 716 that does not pass through center point 718, the distance, where
the vertical axis
passes through the cluster 716, from center point 718 of cluster 716 can be
factored into
calcula Lions requiting the parameters described herein. When controlling the
MD based
upon linear displacement, die pitch error in 4-Wheel mod.e 100-2 can be based
upon radius
L 74001 and frame pitch 0 74003, The pitch error is calculated by differencing
the desired
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and measured pitch: g = LsinOdes ¨ LsinO. The desired pitch is centered around
the
pitch that would put center of gravity 704 directly over center point 718 or
through a portion
of cluster 716 that does not pass through center point 718 when the distance
from center
point 718 is factored in. Further computations based on the pitch error can
complete the
control loop for 4-Wheel mode 100-2 as described in '892. In some
configurations, to
accommodate heavier and lighter users, control of the MD can be based at least
on the
length of the line between seat 704-1 and the head of the user, and the cosine
of the angle
between the position of the user and vertical.
[00600] Continuing to refer to FIG. 22A, in balance 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 an elevated seat height.
In balance
mode 100-3, the MD can mimic human balance, i.e. the MD can operate on two
wheels.
Additional height comes in part from rotating the clusters to put a single
pair of wheels
directly under 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 if the
wheel and cluster motors are substantially at rest and the MD is level.
Calibration mode can
be used to determine a user's center of gravity for a specific MD. In
calibration mode the
user can achieve balance at specified calibration points while the controller
averages the
pitch of the MD. The averaged value can be stored, along with seat height and
cluster
position, for use in calculating the user center of gravity (CG) fit
parameters. The CG fit
parameters can be used to determine the MD/user's center of gravity. In stair
mode 100-4,
the MD can use wheel clusters to climb stairs and can be actively stabilized.
The MD can
climb stairs by rotating the cluster while the machine is balanced¨at least
partially¨by the
user or an attendant. The user can control the motion of the cluster by
offsetting the MD
from the balance point. If the MD is pitched forward, the cluster can rotate
in the
downward climbing direction (stairs can be climbed with the user facing away
from the
stairs). Conversely, if the MD is pitched backwards, the cluster can rotate in
the upward
climbing direction. The user can balance the MD by applying moderate forces to
the
handrail, or alternately an assistant can balance the MD using an attendant
handle on the
MD. Stair mode 100-4 can enable users to ascend and descend stairs. If the MD
begins to
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lose stability in stair mode 100-4, the MD can be made to fall on its back
instead of falling
forward to provide a safety feature for the user.
[00601] Continuing to refer to FIG. 22A, in remote mode 100-6, the MD can
operate on
four drive wheels, unoccupied. Remote mode 100-6 can provide the user with a
way to
operate the device when not seated in it. This mode can be useful for
maneuvering the
device for transfers, parking the device after a transfer (e.g., after
transferring to bed the
user can move the device out of the way), and other purposes. Remote mode 100-
6 can be
used in any environment where standard mode 100-1 may be used, as well as on
steep
ramps. In remote mode 100-6, the MD can be operated with the four drive wheels
on the
ground and the frame lean reclined such that the casters can be raised.
Joystick 70007 (FIG.
12A) can be inactive unless the frame lean is at a rear detent. The rear
detent can be
selected to provide ample caster clearance for climbing forward up relatively
steep inclines
such as, for example, a 20 incline. UC 130 (FIG. 12A) can be in remote
communications,
for example, through a wireless interface, with a device that can control the
MD in remote
mode 100-6. In some configurations, the speed of the MD can be limited when a
UC is
managed remotely. In optional docking mode 100-5, the MD can operate on four
drive
wheels and two caster wheels, therefore lowering the main chassis. Docking
mode 100-5
can allow the user to maneuver the MD for engagement with a docking base.
Docking
mode 100-5 can operate in a configuration that can lower the docking
attachments to engage
the MD with a vehicle docking base. Docking mode 100-5 can be used within a
motor
vehicle that is configured with a docking base, for example. Utility mode can
be used to
access various device features to configure the MD, or diagnose issues with
the MD. Utility
mode can be activated when the device is stationary, and in standard mode 100-
1.
[00602] Continuing to refer to FIG. 22A, the MD can enter standard mode 100-1
when
caster wheels 21001 (FIG. 7) are deployed, when on four drive wheels 21201
(FIG. 1A)
with the frame lean reclined, or when the seat is being adjusted during a
transition. In
standard mode 100-1, the MD can use inertial data to set lean limits, seat
height limits,
speeds and accelerations to improve the stability of the MD. If inertial data
are unavailable,
speeds, accelerations, seat height and lean limits can take on default values
that can be, but
are not limited to being, conservative estimates. In standard mode 100-1,
active control
may not be needed to maintain the MD in an upright position. The MD can
continue to be
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in standard mode 100-1 after failure of one of the redundant systems. In some
configurations, entry into standard mode 100-1 can be dependent upon the
current mode of
the MD. In some configurations, entry into standard mode 100-1 can depend at
least upon
cluster and wheel velocities. When the MD is in remote mode 100-6, entry into
standard
mode 100-1 can be based upon the movement of the MD, and the position of
caster wheels
21001 (FIG. 7). In some configurations, entry into standard mode 100-1 can be
based on
the movement of the MD. In some configurations, entry into standard mode 100-1
can
activate a seat controller and can set the MD in a submode based on the
current mode of the
MD. Lean and seat limits of the MD, joystick status, and cluster velocity can
be based on
the submode. While in standard mode 100-1, the MD can receive and filter
desired fore/aft
and yaw velocities, calculate cluster velocity, wheel and yaw positions, and
velocity errors,
and can limit velocities if required. While in standard mode 100-1, the MD can
apply wheel
and cluster brakes to, for example, conserve power when the MD is not moving,
can
monitor wheel speed, and can disable joystick 70007 (FIG. 12A). In some
configurations, if
data originating at IMU 50003 (FIG. 15C) are inaccurate, the MD can
automatically adjust
back lean limits and accelerations. In some configurations, when the joystick
command is
the reverse of the current velocity, braking can be adjusted to minimize any
abrupt change
from a reverse command to a forward command that might occur and that might
cause
problems in stability on inclines.
[00603] Continuing to refer to FIG. 22A, in some configurations, there can be
multiple
machine statuses ¨ e.g., but not limited to, driving, reclining, and
transitioning ¨ in standard
mode 100-1. In driving status, caster wheels 21001 (FIG. 7) can touch the
ground and
forward drive wheels 21203 (FIG. 1A) can be held off the ground. In reclining
status,
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 transitioning status, the MD can be
transitioning
to 4-Wheel mode 100-2. In some configurations, transitioning can include
phases such as
leaning the frame back and raising/lowering the seat to access/exit 4-Wheel
mode 100-2. In
some configurations, a reclining angle limit for reclining status can be based
on a forward
lean limit that can be set to a cluster angle that can correspond to a seat
pan angle of, for
example, but not limited to, approximately 6 reclined from horizontal. In
some
configurations, the back frame lean limit for standard mode 100-1 can be based
on
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parameters related to the center of gravity and the cluster angle. Rearward
static stability
can be based on the center of gravity with respect to rear drive wheel 21201
(FIG. 1A). In
some configurations, a rear lean limit can be set to, for example, 13 less
than rearward
static stability to provide a stability margin, and there can be an absolute
limit on the rear
lean limit. In some configurations, additional rearward frame lean may not be
allowed if
the center of gravity location is outside of the wheel drive wheel base, the
incline is
excessive for operation in standard mode 100-1, or for other reasons.
[00604] Continuing to refer to FIG. 22A, in some configurations, joystick
70007 (FIG.
12A) can be disabled in standard mode 100-1 if caster wheels 21001 (FIG. 7)
have moved
off the ground due to, for example, but not limited to, a frame lean or seat
height
adjustment. In some configurations, joystick 70007 (FIG. 12A) can be disabled
whenever
the wheel motors are hot and the desired wheel velocity is in the same
direction as the
wheel command or the desired yaw velocity is in the same direction as the yaw
command,
but enabled otherwise. Desired velocity commands can be obtained from UC 130
(FIG.
12A). Desired velocity commands can be shaped to provide acceptable
accelerations and
braking rates for fore/aft velocity control in standard mode 100-1. Filters
can be used to
shape the commands to acceptable trajectories. The corner frequency of the
filters can vary
depending upon 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 can be scaled when the wheel velocity is less than, for
example, but not
limited to, a pre-selected value such as, for example, but not limited to, 1.5
m/s. In some
configurations, a filter coefficient can be scaled linearly as the wheel
velocity decreases,
and the decrease can be limited to a pre-selected value for example, but not
limited to, 25%
of the original value. In some configurations and under certain conditions, if
the MD is
accelerating on level ground, the filter corner frequency can be set to a pre-
selected value
such as, for example, but not limited to, 0.29 Hz. Under other conditions, for
example, if
the MD is on a slope of, for example, up to a pre-selected value such as, for
example, but
not limited to, 5 , acceleration can be reduced as a linear function of pitch,
a maximum
corner frequency can be set to a pre-selected value such as, for example, but
not limited to,
0.29Hz, and a minimal corner frequency can be set to a pre-selected value such
as, for
example, but not limited to, 0.15 Hz. In some configurations, if the MD is on
a slope of, for
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example, greater than a pre-selected value such as, for example, but not
limited to, 50, and
other conditions are met, a minimal corner frequency of a pre-selected value
such as, for
example, but not limited to, 0.15Hz can be used to reduce accelerations. The
rearward
speed can be limited to a pre-selected value such as, for example, but not
limited to, 0.35
m/s if the MD is on an incline greater than a pre-selected value, for example,
but not limited
to, 50 and other conditions are met. In some configurations, and in some modes
and/or
when the MD is braking, the filter corner frequency can be set to a constant.
[00605] Referring now primarily to FIG. 22B, in some configurations, the MD
can
support at least one operating mode that can include, but is not limited to
including,
standard mode 100-1, enhanced mode 100-2, balance mode 100-3, stair mode 100-
4,
docking mode 100-5, and remote mode 100-6. Service modes can include, but are
not
limited to including, recovery mode 100-7, failsafe mode 100-9 (FIG. 22C),
update mode
100-10 (FIG. 22C), self-test mode 100-13 (FIG. 22C), calibrate mode 100-8,
power on
mode 100-12 (FIG. 22C), and power off mode 100-11 (FIG. 22C). Mode
descriptions and
screen flows that accompany the modes are described herein. With respect to
recovery
mode 100-7, if a power off occurs when the MD is not in one of a pre-selected
set of modes,
such as for example, but not limited to, standard mode 100-1, docking mode 100-
5, or
remote mode 100-6, the MD can enter recovery mode 100-7 to safely reposition
the MD
into the driving position of standard mode 100-1, for example. During recovery
mode 100-
7, powerbase controller 100 (FIG. 22D) can select certain components to
activate such as,
for example, seat motor drive A/B 25/37 (FIG. 18C/18D) and cluster motor drive
A/B
1050/27 (FIG. 18C/18D). Functionality can be limited to, for example,
controlling the
position of the seat and cluster 21100 (FIG. 6A). In calibrate mode 100-8,
powerbase
controller 100 (FIG. 22D) can receive data related to the center of gravity of
the MD from,
for example, user controller 130 (FIG. 12A) and use those data to update the
center of
gravity data. Mode information can be supplied to active controller 64A which
can supply
the mode information to a mode controller.
[00606] Referring now primarily to FIGs. 22C and 22D, powerbase controller 100
(FIG.
22D) can transition the MD into failsafe mode 100-9 when powerbase controller
100 (FIG.
22D) determines that the MD can no longer effectively operate. In failsafe
mode 100-9
(FIG. 22C), powerbase controller 100 (FIG. 22D) can halt at least some active
operations to
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protect against potentially erroneous or uncontrolled motion. Powerbase
controller 100
(FIG. 22D) can transition from standard mode 100-1 (FIG. 22B) to update mode
100-10
(FIG. 22C) to, for example, but not limited to, enable communications with
applications
that can be executing external to the MD. Powerbase controller 100 (FIG. 22D)
can
transition to self-test mode 100-13 (FIG. 22C) when the MD is first powered.
In self-test
mode 100-13 (FIG. 22C), electronics in powerbase controller 100 (FIG. 22D) can
perform
self diagnostics and can synchronize with one another. In some configurations,
powerbase
controller 100 (FIG. 22D) can perform system self-tests to check the integrity
of systems
that are not readily testable during normal operation, for example, memory
integrity
verification tests and disable circuitry tests. While in self-test mode 100-13
(FIG. 22C),
operational functions can be disabled. The mode controller can determine a
requested
mode and can set the mode into which the MD can transition. In some
configurations,
powerbase controller 100 (FIG. 22D) can calibrate the center of gravity of the
MD. Powerbase controller 100 (FIG. 22D) can control task creation, for
example, through
controller task 325, and can control user notifications through, for example
user notify task
165.
[00607] Referring now to FIGs. 23A-23K, a first configuration of the process
by which
the user interfaces with the MD can include a workflow that can be user-
friendly
specifically for disabled users. When the power button on UC 130 (FIG. 12A) is
selected,
UC 130 (FIG. 12A) can display startup screen 1000 (FIG. 23A), for example, but
not
limited to, a splash screen. If 10001 (FIG. 23A) the MD is in recovery mode,
and if
10001A (FIG. 23F) the recovery happens under certain circumstances, UC 130
(FIG. 12A)
can display specific graphic user interface (GUI) information for the
particular kind of
recovery. If 10001 (FIG. 23A) the MD is not in recovery mode, UC 130 (FIG.
12A) can
display home screen 1020 (FIG. 24A) that can include, for example, various
icons, a
notification banner that can display notification icons, current time, current
mode, current
speed, and battery status. If the user selects changing the seat height, and
if 10001C (FIG.
23B) the user can change the seat height in the current mode, UC 130 (FIG.
12A) can send
10005A (FIG. 23B) a seat height change command to processors A/B 39/41 (FIGs.
18C/18D). If 10001C (FIG. 23B) the user cannot change the seat height in the
current
mode, UC 130 (FIG. 12A) can ignore 10005B (FIG. 23B) the seat height change
request.
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The user can also choose to lean/tilt the seat. If 10001D (FIG. 23B) the user
can lean the
seat in the current mode, UC 130 (FIG. 12A) can display 10005D (FIG. 23B) a
seat lean
icon. If 10001D (FIG. 23B) the user cannot lean the seat in the current mode,
UC 130 (FIG.
12A) can ignore 10005C (FIG. 23B) the seat lean request. The user can move a
UC input
device, for example, joystick 70007 (FIG. 12A). If 10001E (FIG. 23C) 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. 241). In some configurations, the user is moving
from/to
balance mode 100-3 (FIG. 22B) to/from standard mode 100-1 (FIG. 22B) and UC
130 (FIG.
12A) can display icons associated with balance mode 100-3 (FIG. 22B) and
standard mode
100-1 (FIG. 22B), for example. If 10001E (FIG. 23C) the movement is not a
double tap
forward or backward, and if 10001F (FIG. 23C) the movement is a single hold
motion
forward or backward, UC 130 (FIG. 12A) can display transition screen 1040
(FIG. 241). If
10001F (FIG. 23C) the movement is not a single hold motion forward or
backward, UC 130
(FIG. 12A) can display home screen 1020 (FIG. 24A). The user can depress the
power
button while home screen 1020 (FIG. 24A) is displayed. If 10006 (FIG. 23A) UC
130
(FIG. 12A) is in standard mode 100-1 (FIG. 22B) or docking mode 100-5 (FIG.
22A), UC
130 (FIG. 12A) can transition to off state 10006B (FIG. 23A). If 10006 (FIG.
23A) UC 130
(FIG. 12A) is any mode, and if the power button is pushed quickly, UC 130
(FIG. 12A) can
change 10006A (FIG. 23A) the current speed to zero, or emergency/quick stop,
on home
screen 1020 (FIG. 24A).
[00608] Continuing to refer to FIGs. 23A-23K, if the menu button is depressed
from the
home driving screen, UC 130 (FIG. 12A) can display main menu screen 1010 (FIG.
24C).
If the menu button is depressed from a screen other than the home driving
screen except the
transition screen, the user can be brought to the home driving screen. Using
main menu
screen 1010 (FIG. 24C), the user can, for example, but not limited to, select
a mode, adjust
the seat, adjust the speed, and configure the device. Configuring the device
can include, but
is not limited to including, adjusting brightness, silencing non-critical
cautions and alerts,
clearing the service wrench, and forced power off. If the user chooses to
change the mode
(FIG. 23D), UC 130 (FIG. 12A) can display selection screen 1050 (FIG. 24E)
where the
user can select among, for example, but not limited to, standard, 4-wheel,
balance, stair,
docking, and remote. If the user confirms 10007A (FIG. 23E) a new mode
selection, UC
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130 (FIG. 12A) can display transition screen 1040 (FIG. 241), transition the
MD to the
selected mode, and display home screen 1020 (FIG. 24A). If the user confirms a
mode that
the MD is already in, home screen 1020 (FIG. 24A) is displayed. If the user
chooses to
adjust the seat (FIG. 23D), UC 130 (FIG. 12A) can display selection screen
1050 (FIG.
24E) where the user can select among, for example, but not limited to, various
seat
adjustments including, but not limited to, seat height adjustment and seat
lean/tilt, and the
display home screen 1020 (FIG. 24A) can be displayed. If the user chooses to
adjust the
speed (FIG. 23D), UC 130 (FIG. 12A) can display selection screen 1050 (FIG.
24E) where
the user can select among, for example, but not limited to, various speed
options such as, for
example, but not limited to, speed 0 (joystick off), speed 1 (indoor), or
speed 2 (outdoor). If
the user confirms 10010 (FIG. 23D) the selected speed option (FIG. 23D), UC
130 (FIG.
12A) can inform processors A/B 39/41 (FIGs. 18C/18D) of the selected speed
option, and
can display home screen 1020 (FIG. 24A). If the clinician chooses to adjust
the settings
(FIG. 23D, FIG. 29-7), UC 130 (FIG. 12A) can display selection screen 1050
(FIG. 24E)
where the user and/or clinician can select among, for example, but not limited
to, clearing a
service wrench, viewing the service code, logging a service call, setting the
brightness/contrast of UC 130 (FIG. 12A), silencing non-critical cautions and
alerts,
entering a service update (clinicians and service/technicians), and forcing a
power off. In
some configurations, UC 130 (FIG. 12A) can display settings selection screen
1050 (FIG.
24E) under pre-selected conditions, for example, but not limited to, when UC
130 (FIG.
12A) detects that a clinician is attempting to adjust the settings. If the
clinician chooses to
perform a CG fit (FIG. 23G), UC 130 (FIG. 12A) can display CG fit selection
screen 1050
(FIG. 24E). If the clinician chooses 10005G to continue with the CG fit, UC
130 (FIG.
12A) can display transition screen 1040 (FIG. 241) having, for example, a
calibration icon,
or a CG fit screen 1070 (FIGs. 24M/24N). UC 130 (FIG. 12A) can display 10009-1
(FIG.
23H) a seat height icon that can guide the user in the first step necessary to
perform a CG
fit. When the user completes the step, the MD can perform 10009-2 (FIG. 23H)
CG fit-
related calibrations. If 10009-3 (FIG. 23H) the calibrations are successful,
UC 130 (FIG.
12A) can display 10009-4 (FIG. 23H) seat lean and/or seat height icons that
can guide the
user in the second through sixth steps (FIGs. 23H-23J) necessary to perform a
CG fit. If
10009-3 (FIG. 23H) the calibrations are not successful, UC 130 (FIG. 12A) can
transition
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10009-6 (FIG. 23H) the MD to standard mode 100-1 (FIG. 22B), and can identify
10009-7
(FIG. 23H) a caution before returning to CG fit selection screen 1070 (FIGs.
24M/24N) to
begin CG fit again. In some configurations, a backward joystick movement at
transition
screen 1040 (FIG. 241) can exit all transitions. When the user successfully
completes all
six steps, UC 130 (FIG. 12A) can instruct processors A/B 39/41 (FIGs. 18C/18D)
to
transition 10012-2 (FIG. 23J) the MD to standard mode 100-1 (FIG. 22B), can
display
10012-1 (FIG. 23J) a status of the CG fit, and can display menu screen 1010
(FIG. 24C) and
select home screen 1020 (FIG. 24A) depending on user input. If the user
selects (FIG. 23G)
to view a service code and/or to adjust the brightness/contrast of UC 130
(FIG. 12A), UC
130 (FIG. 12A) can display appropriate selection screens 1050 (FIG. 24E), can
accept user
input based on the displayed screen, and can display (FIG. 23D) menu screen
1010 (FIG.
24C) depending on user input. If the user selects (FIG. 29-11) forced power
off of the MD,
UC 130 (FIG. 12A) can display 10013-1 (FIG. 23K) a settings screen (FIG. 23G)
that can
invite power off user sequence 10013-2 (FIG. 23K) to be performed through a
forward
joystick hold.
[00609] Continuing to refer to FIGs. 23A-23K, left/right joystick movement on
menu
screen 1010 (FIG. 24C) on a particular icon 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 the options to the user. The icons can loop around, for
example, for the
mode selection screen, movement of the joystick could cause icons for 4-Wheel,
standard,
balance, stair, docking, remote modes to appear, then to cycle back to the 4-
Wheel icon.
Up/down joystick movement on menu screen 1010 (FIG. 27), indicated by, for
example, but
not limited to, an arrow of a first pre-selected color, can change the
selected icon. Up/down
joystick movement on any other screen indicated by, for example, but not
limited to, an
arrow of a second pre-selected color, can be used as a confirmation of
selection. Upon
entering menu screen 1010 (FIG. 24C), an icon can be highlighted, for example,
the mode
icon can be highlighted. In some configurations, while driving the MD, if the
user
accidently hits the menu button, menu screen 1010 (FIG. 24C) may be disabled
unless
joystick 70007 (FIG. 12A) is in a neutral position. If the transition screen
1040 (FIG. 241) is
displayed, the user can, for example, use the joystick or the toggle (if
available) to complete
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the transition. The menu button may be disabled while transition screen 1040
(FIG. 241) is
displayed. Transition screen 1040 (FIG. 241) can remain displayed until the
transition has
ended or there was an issue with the transition. If there is an issue with the
transition, UC
130 (FIG. 12A) can provide an indication to the user that the transition was
not completed
properly. During a caution state, the user can drive unless the level of
caution prevents the
user from driving, for example, when battery 70001 (FIG. 1E) is depleted. If
the user can
drive, the display can include the mode and speed. If the user cannot drive,
the speed icon
can be replaced with a prompt that indicates what the user needs to do to be
able to drive
again. When the user has tilted the seat in standard mode 100-1 (FIG. 22B), UC
130 (FIG.
12A) can display, for example, a seat adjustment icon. The caution sound can
continue
until the user takes some action such as, for example, pressing a button. The
alarm icon
may remain illuminated until the alarm condition has been resolved. If the
user is
transitioning to standard mode 100-1 (FIG. 22B) from balance mode 100-3 (FIG.
22B), UC
130 (FIG. 12A) can indicate that the MD is transitioning to standard mode 100-
1 (FIG.
22B). However, if the MD is on uneven terrain, the MD may automatically stop
and
proceed to 4-Wheel mode 100-2 (FIG. 22B), and UC 130 (FIG. 12A) may inform the
user.
In some configurations, if the load on the MD is below a pre-selected
threshold, a selection
of balance mode 100-3 (FIG. 22B) can be rejected. A default mode selection
screen 1050
(FIG. 24E) can include 4-Wheel mode 100-2 (FIG. 22B), standard mode 100-1
(FIG. 22B),
and balance mode 100-3 (FIG. 22B) options, one of which can be highlighted and
positioned in, for example, a center circle, for example, standard mode 100-1
(FIG. 22B).
Moving the joystick right or left can move another mode into center circle and
can highlight
that mode. If the user is in a mode that can prevent the user from
transitioning to other
modes, UC 130 (FIG. 12A) can notify the user, for example, but not limited to,
by graying
out the modes that cannot be accessed.
[00610] Referring now to FIGs. 23L-23X, a second configuration workflow can
include
screens that can enable the user and/or clinician to control the MD. When the
power button
is depressed by the user or clinician when the MD is in an off state, and the
MD is not in
recovery mode, the user can be presented with home screen 1020 (FIGs. 23L,
24A). When
a screen other than home screen 1020 (FIG. 23L) is displayed, and the power
button is
depressed for 3+ seconds, if in standard, remote, or docking mode, the MD can
shut down.
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In any other mode, the user can remain on the current screen, and the MD can
experience an
emergency stop. If there is a short depression of the power button, the speed
of the MD can
be modified. From home screen 1020 (FIG. 23L), the user can view the MD status
and can
select options based upon the MD status. Options can include, but are not
limited to
including, seat height and lean adjustments, and proceeding to main menu
screen 1010
(FIGs. 230, 24C). Main menu screen 1010 (FIG. 230) can provide options such
as, for
example, but not limited to, mode selection (FIG. 23P), seat adjustment (FIG.
230), speed
control (FIG. 230), and settings control (FIG. 23R). If the MD is in recovery
mode when
the power button is depressed (see FIG. 23V), options for recovery can
include, but are not
limited to including, standard recovery. Each type of recovery provides a
different
workflow, and possibly different instructions to the user, for example, UC 130
can instruct
the user to transition from 4-wheel mode 100-2 (FIG. 22B) to standard mode 100-
1 (FIG.
22B).
[00611] Continuing to refer to FIGs. 23L-23X, in some configurations,
transition screen
1040 (FIGs. 23N, 241) can be displayed to guide the user through a transition
from a current
mode to a selected mode of the MD. In some configurations, standard mode 100-1
(FIG.
22B) can be shown automatically as the selected option when the user opens
mode selection
screen 1060 (FIG. 23P). In some configurations, the MD can display information
about the
availability of driving within drive speed area 1020-2 (FIG. 24A) on home
screen 1020
(FIG. 23L). In some configurations, when main menu screen 1010 (FIG. 230) is
selected
during a transition (FIG. 23Q), setting selection can be automatically shown
as the selected
option. In some configurations, when settings selections screen 1110 (FIG.
23R) is
displayed, icons can be shown with options such as, for example, but not
limited to, the CG
fit, MD service, brightness/contrast edit, connect to wireless, and forced
power off. The
user can scroll to select the desired setting, and can scroll to confirm the
selection. In some
configurations, if CG fit is selected (see FIG. 23R), CG fit screens (FIGs.
24M and 24N)
can be displayed when the clinician connects to UC 130. In some
configurations, when
wireless screen 1120 (FIG. 23R) is selected, a connected icon or a status icon
can be
displayed. If the clinician selects the back (menu) button, and the wireless
screen is exited,
the wireless connection can also be terminated. During the CG fit workflow
(see FIGs.
23S-23U), UC 130 can display which way to move the joystick. The menu button
can be
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used to move into the CG fit workflow, and out of the CG fit workflow to drive
the MD. If
the service screen (see FIG. 23X) is selected, there could be a service code
displayed. In
some configurations, a grayed service icon with 'X' can be displayed if there
is no service
code. An 8-digit code can be displayed if no wrench clearing is necessary. If
wrench
clearing is necessary, after the user enters commands given by service (for
example, but not
limited to, N, S, E/R, W/L), numbers 1-4 can be displayed that can correspond
to the
movement of the joystick. After the user has entered 6 digits, the green up
arrow can be
displayed for the user to then hold forward on the joystick. If the user is in
a position where
a forced power off is necessary (see FIG. 23W), for example if the user is
stuck in the midst
of a transition, and the user holds the menu button for a pre-selected amount
of time, for
example, 6+ seconds, home screen 1020 (FIG. 23L) can be displayed having icons
that are
relevant to the condition of the MD. If the user passes through pre-selected
steps and
confirms power off, the MD can power down.
[00612] Referring now to FIGs. 23Y-23WW, third and fourth configuration
workflows
can include screens that can enable the user and/or clinician to control the
MD. When the
power button is depressed by the user or clinician when the MD is in an off
state, and the
MD is not in recovery mode, the user can be presented with home screen 1020
(FIGs. 23Y,
24A). If the power button is depressed from home screen 1020 (FIGs. 23Y, 24A),
and if
10005 the user is in certain modes, for example, but not limited to, standard,
docking, or
remote mode, the user can be presented with a power off screen. If the power
button is
depressed and held for a pre-selected amount of time, for example, but not
limited to,
approximately two seconds, the MD can be transitioned to an off state. If the
power button
is not held for the pre-selected time, the user can be presented again with
the power off
screen. In some configurations, no confirmation is needed for the shut down.
In a mode
other than one of the certain pre-selected modes, if 10006 the power button
has experienced
a short depression for the first time, the speed of the MD can be modified,
for example,
emergency stop 10006B can be instituted and home screen 1020 (FIGs. 23Y, 24A)
can once
again be presented to the user. If 10006 the power button has not experienced
a short
depression for the first time, the MD can revert to the previous value of the
speed before the
power button was depressed and home screen 1020 (FIGs. 23Y, 24A) can be
presented to
the user. From home screen 1020 (FIGs. 23Y, 24A), the user can view the MD
status and
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can select options based upon the MD status. Options can include, but are not
limited to
including, seat height and lean adjustments, audio activation such as, for
example, but not
limited to, a horn, settings, and proceeding to main menu screen 1010 (FIGs.
23BB, 24C).
Main menu screen 1010 (FIG. 230) can provide options such as, for example, but
not
limited to, mode selection (FIG. 23CC), seat adjustment (FIG. 23BB), speed
control FIG.
23BB), and settings control (FIG. 23EE). If the MD is in recovery mode when
the power
button is depressed (see FIG. 2311), options for recovery can include, but are
not limited to
including, standard recovery. Each type of recovery can provide a different
workflow, and
possibly different instructions to the user, for example, UC 130 can instruct
the user to
transition from 4-wheel mode 100-12 (FIG. 22B) to standard mode 100-1 (FIG.
22B). The
user can be instructed in how to move from one mode to another before a
transition occurs.
[00613] Continuing to refer to FIGs. 23Y-23WW, in some configurations,
transition
screen 1040 (FIGs. 23DD, 241) can be displayed to guide the user through a
transition from
a current mode to a selected mode of the MD. In some configurations, standard
mode 100-1
(FIG. 22B) can be shown automatically as the selected option when the user
opens mode
selection screen 1060 (FIG. 23CC). In some configurations, if driving is not
allowed during
a transition (FIG. 23Q), the MD can display information about the availability
of driving
within drive speed area 1020-2 (FIG. 24A) on home screen 1020 (FIG. 23L). In
some
configurations, when main menu screen 1010 (FIG. 23DD) is selected during a
transition
(FIG. 23DD), mode selection can be automatically shown as the selected option.
In some
configurations, when settings selections screen 1110 (FIG. 23EE) is displayed,
icons can be
shown with options such as, for example, but not limited to, the CG fit, MD
service,
brightness/contrast edit, connect to wireless, and forced power off. The user
can scroll to
select the desired setting, and can scroll to confirm the selection. In some
configurations, if
CG fit is selected (see FIG. 23EE), CG fit screens (see FIGs. 23FF-23HH) can
be displayed
when the clinician sets up a connection between a wireless display and UC 130.
In some
configurations, the user cannot see the display. In some configurations, when
connection to
wireless screen 1120 (FIG. 23EE) is selected, a connected wireless icon or a
status icon can
be displayed. If the clinician selects the back (menu) button, and the
wireless screen is
exited, the wireless connection can also be terminated. During the CG fit
workflow (see
FIGs. 23FF-23HH), when UC 130 displays which way to move the joystick, in some
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configurations, if the user moves the joystick, the user can be sent to a step
in the CG
workflow depending on the orientation of the joystick. The menu button can be
used to
move into the CG fit workflow, and out of the CG fit workflow to drive the MD.
If the
service screen (see FIG. 23KK) is selected, there could be a service code
displayed. In
some configurations, a service icon with 'X' can be displayed if there is no
service code and
there are no existing conditions. If there are existing conditions, a service
icon with "X"
can be displayed with a code. If the user is in a position where a forced
power off is
necessary (see FIG. 23JJ), and if the user holds the menu button for a pre-
selected amount
of time, for example, 6+ seconds, settings (see FIG. 23EE) can be presented to
the user. If
the user passes through pre-selected steps and confirms power off, the MD can
power down.
[00614] Continuing to refer to FIGs. 23Y-23WW, in some configurations, the
user and/or
clinician may, while driving, use the horn (see FIG. 23Y) and force an
emergency stop by
depressing the power button (see FIG. 23Y). In some configurations, depressing
the menu
button while driving will not cause a display of the menu button, which can be
displayed
with the joystick is in a neutral position. In some configurations, the horn
can be enabled
while the user is driving. In some configurations, depressing the power button
while the
MD is moving can initiate an emergency stop. In some configurations, 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, toggle 70036-2
(FIG.
12D) can be disabled when transitioning using the menu screen. In some
configurations,
the joystick can be disabled with transition using the shortcut method (see
FIG. 23UU). In
some configurations, when transitioning from standard mode 100-1 (FIG. 22B) to
balance
mode 100-3 (FIG. 22B) and the terrain is uneven, the MD can stop and end the
transition in
4-wheel mode 100-2 (FIG. 22B). In some configurations, if UC 130 (FIG. 12A)
becomes
disconnected from the MD during a transition, when UC 130 (FIG. 12A) is
reconnected, the
transition status can be recalled. In some configurations, if UC 130 (FIG.
12A) becomes
disconnected from the MD during a transition, when UC 130 (FIG. 12A) is
reconnected,
and the MD has completed its startup sequence, the MD can move to recovery
mode.
[00615] Continuing to refer to FIGs. 23Y-23WW, in some configurations, if the
Menu
button is depressed and held for a pre-selected amount of time while the
transition screen is
displayed, the settings screen can be displayed. In some configurations, the
user can select
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FPO to end the transition and shut down the MD, or the user can depress the
menu button to
return to the transition screen. In some configurations, if the user selects
mode selection
from the menu, the default screen can include 4-wheel, standard, and balance
(modes) with
standard highlighted in the middle, for example. In some configurations,
moving the
joystick right or left can change which mode is highlighted, and moving the
joystick
up/down when the MD is currently in the selected mode can automatically
display
home/driving screen 1020. In some configurations, depressing the menu button
from
home/driving screen 1020 can open the main menu screen. In some
configurations,
depressing the menu button from another screen (not home/driving screen 1020)
can open
home/driving screen 1020.
[00616] Continuing to refer to FIGs. 23Y-23WW, in some configurations, during
an alarm
state, the MD can be driven, and the alarm sound can continue until the user
has pressed the
horn button. Left/right movement of joystick 70007 (FIG. 12A) on some screens
can open
a selection, while on other screens, the movement can cycle options to the
user. Up/down
movement of joystick 70007 (FIG. 12A) can change the selected icon on some
screens,
while on other screens, the movement can be used as a confirmation of the
selection. In
some configurations, an alarm notification can remain displayed until the
alarm conditions
has been resolved and/or cleared. In some configurations, the MD can retain
information
about the desired speed of the MD across power cycles. In some configurations,
displayed
screens can include an indication about which options are not enabled based on
the current
mode selection. In some configurations, when the MD is in standard mode and
the seat is
tilted, an indication of the tilt can be displayed, for example, on
home/driving screen 1020.
[00617] Continuing to refer to FIGs. 23Y-23WW, in some configurations, if the
joystick
is in a non-neutral position, and if the power button is depressed, the MD can
be stopped.
In some configurations, when any screen is displayed except the transition
screen and the
power button is depressed, home/driving screen 1020 can be displayed and the
MD can be
stopped. In some configurations, when any screen is displayed except
home/driving screen
1020, and the power button is depressed for a pre-selected amount of time, and
the MD is in
one of a set of pre-selected modes, the MD can be shut down without
confirmation. When
the MD is not in one of the pre-selected modes, and the power button is
depressed, the MD
can be stopped. In some configurations, if and emergency stop has been
initiated, further
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depressing of the power button can bring the MD from a stopped state back to
the speed the
MD was traveling at when the emergency stop was initiated, or a pre-selected
default speed
if the MD were stopped. In some configurations, if the MD is not responding,
the menu
button can be depressed for a pre-selected amount of time to open the setting
screen, upon
which FPO can be highlighted. In some configurations, depressing the power
button for
pre-selected amounts of time can override certain features such as, for
example, but not
limited to, the parking brake during pre-selected activities.
[00618] Continuing to refer to FIGs. 23Y-23WW, in some configurations,
left/right
joystick movement on the menu screen can open the selection. In some
configurations,
left/right joystick under pre-selected conditions can cycle options to the
user. In some
configurations, up/down joystick movement on the menu screen can change the
selected
icon in the menu. In some configurations, up Joystick movement can be used as
a
confirmation of selection. When the menu screen is displayed, a pre-selected
default icon
can be highlighted. In some configurations, the joystick can drive the MD when
home/driving screen 1020 is displayed, and the joystick can be used for
navigation when
other pre-selected screens are displayed.
[00619] Referring now to FIGs. 23LL-23WW, a fourth configuration workflow can
include screens that can enable the user and/or clinician to control the MD.
The workflow
can be divided into subflows that can include, but are not limited to
including, normal
workflow 1070 (FIG. 23LL), power button workflow 1072 (FIG. 23MM), stair mode
workflow1074 (FIG. 23NN), forced power off workflow 1076 (FIG. 2300), CG fit
workflow 1078 (FIGs. 23PP-1, 23PP-2), recovery mode workflow 1080 (FIG. 23QQ),
wireless workflow 1082 (FIG. 23RR), brightness workflow 1084 (FIG. 23SS),
alarm mute
workflow 1086 (FIG. 23TT), shortcut toggle workflow 1088 (FIG. 23UU), and
battery
charging workflow 1090 (FIG. 23VV). Normal workflow 1070 (FIG. 23LL) can
include
the display of startup screen 1000 and, if the MD is not in recovery mode,
home/driving
screen 1020 can be displayed. Otherwise, the display can transition to
recovery mode
workflow 1080 (FIG. 23QQ). If the menu button is depressed when home/driving
screen
1020 is displayed, main menu screen 1010 can be displayed, and manipulation of
the
joystick to select an option can cause any of setting screen 1043, speed
selection screen
1041, seat adjustment selection screen 1042, or mode selection screen 1060 to
display. If
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the menu button is depressed, home/driving screen 1020 can be displayed. If
settings screen
1043 is displayed, any of alarm mute workflow 1086 (FIG. 23TT), brightness
workflow
1084 (Fl. 23SS), CG fit workflow 1078 (FIGs. 23PP, 23PP-1), forced power off
(FPO)
workflow 1076 (FIG. 2300), and wireless workflow 1082 (FIG. 23RR) can be
entered. If
settings screen 1043 is displayed and the menu button is depressed,
home/driving screen
1020 can be displayed. If speed selection screen 1041 is displayed, the user
can either
select a speed with the joystick or return to home/driving screen 1020 by
depressing the
menu button. If seat adjustment selection screen is depressed, the user can
adjust the seat
and return to home/driving screen 1020 by depressing the menu button. If mode
selection
screen 1060 is displayed, the user can choose a mode and confirm it through
joystick
manipulation, or return to home/driving screen 1020 by depressing the menu
button. If the
user chooses stair mode, the MD can enter stair mode workflow 1074 (FIG.
23NN). If the
user does not choose stair mode, transition screen 1040 can be displayed, and
when the
transition is complete, home/driving screen 1020 can be displayed. If the user
is in a
position where a forced power off is necessary (see FIG. 23W), for example if
the user is
stuck in the midst of a transition, and the user holds the menu button for a
pre-selected
amount of time, for example, 6+ seconds, home screen 1020 (FIG. 23L) can be
displayed
having icons that are relevant to the condition of the MD. If the user passes
through pre-
selected steps and confirms power off, the MD can power down.
[00620] Referring now to FIG. 23LL, in some configurations, from the startup
screen, if
the MD has just experienced forced power off, recovery mode workflow 1080
(FIG. 23QQ)
can be executed. If not, and if device security is enabled, a power on
password workflow
can be executed. If device security is not enabled, home screen 1020 can be
displayed. The
power on password workflow can include receiving either a depression of the
menu button
or a joystick signal. If the menu button is depressed before a password page
has been
displayed, in some configurations, the menu can include an abbreviated number
of possible
selections, for example, but not limited to, forced power off, brightness,
service, alert mute,
and/or wireless access. If the joystick is activated before the menu button is
depressed, a
password entry screen can be displayed, and the user can enter a password.
When the entry
is complete, either the password is recognized in which case normal workflow
1070 can be
executed, or the password is not recognized in which case the user is provided
an indication
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such as, for example, but not limited to, a red X. The user can push the
toggle forward to go
back to the password entry screen if desired. In some configurations, settings
screen 1043
can include options such as, for example, but not limited to, service screen
workflow,
create/enable/disable password workflow, and hill charge workflow.
[00621] Continuing to refer to FIG. 23LL, from settings screen 1043, if the
user selects
the service screen workflow (not shown), an 8-digit code can be displayed if
wrench
clearing is necessary. If no wrench clearing is necessary, but there are
existing conditions, a
screen can be displayed with the code of the existing condition. The user can
indicate by
joystick movement to proceed to the next screen which can include spaces to
enter a code.
After the user enters commands given by service (for example, but not limited
to, N, S, E/R,
W/L), numbers 1-4 can be displayed that can correspond to the movement of the
joystick.
After the user has entered 6 digits, the green up arrow can be displayed to
direct the user to
hold forward on the joystick. The code will be checked. If the code is
correct, and if there
are existing conditions that could not be cleared, a screen can be displayed
that can indicate
the code of the condition that could not be cleared, and the wrench can be
cleared. If there
are no existing conditions that could not be cleared, the wrench can be
cleared. If the code
is not correct, and if this represents the third failed attempt, a new code
can be generated
and the user can try again. If the code is incorrect, but this is not the
third entry attempt, the
user gets another one or two chances to enter the correct code.
[00622] Continuing to refer to FIG. 23LL, from settings screen 1043, if the
user selects
the create password workflow (not shown), a screen can be display in which the
user can
enter a new password. A pre-selected type of joystick entry, such as, for
example, but not
limited to, a long hold forward on the joystick, can indicate that the new
password entry is
complete. The user can be prompted for a confirmation entry of the password,
and the user
can provide a pre-selected type of joystick entry to signal that the
confirmation password is
complete. If the new password and the confirmation are different, a display
indicating a
problem, such as, for example, but not limited to, a display including a red
X, can be
provided. The user can toggle forward to retry creating a new password. If the
new
password and the confirmation are the same, a screen can be displayed that can
indicate by,
for example, but not limited to, a pre-selected icon on the screen, that a
password has been
created.
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[00623] Continuing to refer to FIG. 23LL, from settings screen 1043, if the
user selects
the enable/disable password workflow (not shown), a pre-selected joystick
movement can
turn off password protection, while another pre-selected joystick movement can
turn on
password protection, prompting the screen in which the user can enter a
password. A pre-
selected joystick movement can indicate that the user has completed entering
the password.
If the entry is correct, a screen indicating that the password has been
accepted can appear.
If the entry is incorrect, the user can be informed by an icon such as, for
example, a red X,
and can be allowed to retry password entry.
[00624] Continuing to still further refer to FIG. 23LL, from settings screen
1043, if the
user selects the hill charge workflow (not shown), a hill charge screen can be
displayed.
The user can elect to turn hill charge on or off, depending on pre-selected
joystick
movements. Further joystick movements can save the hill charge setting and
return to home
screen 1020.
[00625] Referring now to FIG. 23MM, in some configurations, if the power
button is
depressed, home/driving screen 1020 (FIG. 23LL) can be displayed unless the
power button
is depressed while transition screen 1040 is displayed. If the MD is in
standard mode 100-1
(FIG. 22A), docking mode 100-5 (FIG. 22A), or remote mode 100-6 (FIG. 22A) and
the
user depresses the power button for a pre-selected amount of time, the MD can
power
down. If the user does not depress the power button for a pre-selected amount
of time, an
emergency stop can be enabled in which the speed is set to 0. If the MD is not
in standard
mode 100-1 (FIG. 22A), docking mode 100-5 (FIG. 22A), or remote mode 100-6
(FIG.
22A) and the user depresses the power button, an emergency stop can be
enabled. The user
can depress the power button again to enable the MD to return to the speed it
was traveling
before the power button was depressed and to return to home/driving screen
1020 (FIG.
23LL). In some configurations, when the power button is depressed, and the MD
is not on,
and there is sufficient battery power, startup as described in reference to
the description of
FIG. 23LL and elsewhere can occur. If there is not sufficient battery power,
the power on
request can be ignored by the system. If the MD is already powered on, and if
the user is
performing a transition from one mode to another or a CG fit operation, the
power on
request can be ignored by the system. If the user is not transitioning or not
performing a
CG fit operation, and if the MD is not stopped, and if the user depresses the
power button
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for a pre-selected amount of time, and if the user is in standard, docking, or
remote mode,
the MD can be automatically powered down. If the MD is not moving, the MD can
be
automatically set in motion up to the speed at which it was traveling before
the power
button was depressed, and home screen 1020 (FIG. 23LL) can be displayed. If
the user
does not depress the power button for a pre-selected amount of time, or if the
user is not in
standard, docking, or remote mode, the MD can automatically be stopped.
[00626] Referring now to FIG. 23NN, if the user selects stair mode, stair mode
workflow
1074 can be entered. If solo mode is selected, transition screen 1040 can be
displayed
followed by grab handrail confirmation screen 1092. If the user confirms that
the handrail
is to be used, home/driving screen 1020 (FIG. 23LL) can be displayed. If the
menu button
is depressed, no further input is accepted. If the user declines to use the
handrail, the MD
can automatically transition to 4-wheel mode 100-2 (FIG. 22A) and home/driving
screen
1020 (FIG. 23LL) can be displayed. If assisted mode is selected, stair
attendant
confirmation screen 1094 can be displayed. If the user declines to use a stair
attendant,
mode selection screen 1060 can be displayed. If the user depresses the menu
button, no
input is accepted. If the user confirms the use of a stair attendant,
transition screen 1040
can be displayed until the transition is complete, and home/driving screen
1020 (FIG. 23LL)
can be displayed.
[00627] Referring now to FIG. 2300, if the user depresses and holds the menu
button for
a pre-selected amount of time, for example, but not limited to, 6+ seconds,
forced power off
workflow 1076 can be entered and settings screen 1043 can be displayed. If the
joystick is
manipulated, forced power off confirmation screen 1096 can be displayed, and
if the menu
button is depressed, home/driving screen 1020 (FIG. 23LL) can be displayed. If
forced
power off is confirmed, the MD is powered down. If forced power off is not
confirmed, the
user can be given another chance to accomplish forced power off after a pre-
selected
amount of time. The user can depress the menu button to display home/driving
screen 1020
(FIG. 23LL). If the user does not hold the menu button for the pre-selected
amount of time,
home/driving screen 1020 can be displayed and main menu screen 1010 can be
displayed if
the menu button is depressed. The user can enable forced power off by opening
setting
screen 1043 and manipulating the joystick to enable display of forced power
off
confirmation screen 1096 as described herein.
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[00628] Referring now to FIGs. 23PP-1 and 23PP-2, if CG fit is selected from
settings
screen 1043 (FIG. 23LL), CG fit workflow 1078 can be entered. Depending on how
CG fit
is entered, a CG fit icon can either appear on settings screen 1043 (FIG.
23LL) or not. If the
CG fit icon appears, joystick manipulation can enable a transition from
standard mode 100-
1 (FIG. 22A) to balance mode 100-3 (FIG. 22A). If the joystick is moved
backwards, CF fit
workflow 1078 can be exited. Otherwise, steps in the CG fit process can be
displayed. The
sub-steps for each step can include, but are not limited to including,
displaying an indication
that the MD is in a CG fit step, receiving a selection of a horn/ack button
depression,
calibrating the MD, and checking for success of the step. When all steps have
executed, the
MD can transition to standard mode 100-1 (FIG. 22A) and settings screen 1043
(FIG.
23LL) can be displayed with an indication that the calibration has completed.
If the MD
power cycles, the CG fit calibration can be removed from the MD. If all the
steps did not
complete successfully, the MD can transition to standard mode 100-1 (FIG.
22A), a CG fit
fail icon can be displayed, and a visual and/or audible alert can be
generated. Either the
process can be repeated, or the menu button can be depressed, and home/driving
screen
1020 (FIG. 23LL) can be displayed.
[00629] Referring now to FIG. 23QQ, following power on and the display of
startup
screen 1000, if the MD is in recovery mode, recovery mode workflow 1080 can
executed.
In particular, prompts can appear in a status area of the display to indicate
how the user can
return to standard mode 100-1 (FIG. 22A). In some configurations, the user can
be
instructed to depress the menu button. Left/right joystick input can enable
mode selection
screen. Further left/right joystick movement can prompt the user for
stair/standard
recovery, and joystick forward movement can indicate that recovery mode has
been
selected. In some configurations, when joystick input is complete, a password
may be
required. When the transition to standard mode 100-1 (FIG. 23LL) is complete,
or if the
MD is not in recovery mode at startup, home/driving screen 1020 (FIG. 23LL)
can be
displayed. In some configurations, joystick movement on home/driving screen
1020 (FIG.
23LL) can move the seat while in recovery mode.
[00630] Referring now to FIG. 23RR, when wireless connectivity is selected,
wireless
workflow 1082 can be executed. In particular, service update screen 1083 can
be displayed,
and the user can enter a passcode or provide another form of authentication.
The user can
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be a clinician, and wireless connectivity can be used to remotely control the
MD. If the user
authenticates, service update screen 1083 can be displayed with an indication
that the user is
allowed to connect wirelessly. The user can be given up to a pre-selected
number of times
to authenticate.
[00631] Referring now to FIG. 23SS, when brightness adjustment is selected
from settings
screen 1043 (FIG. 23LL), brightness workflow 1084 can be executed. Brightness
screen
1085 can be displayed, and joystick manipulation can change the brightness of
the display.
If the menu button is depressed, brightness settings can be saved and
home/driving screen
1020 (FIG. 23LL) can be displayed.
[00632] Referring now to FIG. 23TT, when alarm mute is selected from settings
screen
1043 (FIG. 23LL), alarm mute workflow 1086 can be executed. In some
configurations,
alarm mute screen 1087 can be displayed, and joystick manipulation can enable
or disable
volume. Further joystick manipulation can save the volume settings and return
to
home/driving screen 1020 (FIG. 23LL), while depressing the menu button can
return to
home/driving screen 1020 (FIG. 23LL) without saving volume settings. In some
configurations, the user can depress the menu button and can manipulate the
joystick to
achieve an alarm screen. Further joystick manipulation can select an alarm
mute option. In
some configurations, non-critical alert/caution tones can be muted.
[00633] Referring now to FIG. 23UU, when shortcuts are taken from home/driving
screen
1020, shortcut toggle workflow 1088 can be executed. Possible shortcuts can
include, but
are not limited to including, seat height shortcut, seat lean shortcut, and
shortcut toggle.
Because the seat height and seat lean can only be changed in certain modes,
any attempts to
change the seat height and/or the seat lean, including through the seat height
and seat lean
shortcuts, can be ignored. If the MD is in a mode in which the seat height
and/or the seat
lean can be changed, the seat height shortcut and/or the seat lean shortcut
can be used to
change the seat height and/or the seat lean. During the seat height change,
the user can
continue to drive. After the seat height and/or the seat lean are changed,
home/driving
screen 1020 (FIG. 23LL) can be displayed. In some configurations, to use the
shortcut
toggle, the joystick can be manipulated in a pre-selected way, for example,
but not limited
to, a short tap and hold. When this happens, transition screen 1040 can be
displayed, and
the mode of the MD can change, for example, the MD can transition from
standard mode
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100-1 (FIG. 22A) to balance mode 100-3 (FIG. 23LL) and vice versa. Otherwise,
home/driving screen 1020 (FIG. 23LL) can be displayed. If the joystick is
manipulated in a
different pre-selected way, for example, a single hold or a forwards/backwards
toggle,
transition screen 1040 can be displayed.
[00634] Referring now to FIG. 23VV, to charge the batteries of the MD, battery
charging
workflow 1090 can be executed. If the MD is powered down, and if the A/C
adapter is
connected to the MD, a battery charging icon can be displayed until the
battery is charged
or until there is a battery fault. If the battery is charged, the full battery
icon can be
displayed. If there is a battery fault, a battery fault icon can be displayed.
When the user
disconnects the A/C adapter from the MD, the MD can power down. If the MD is
not
powered down and the A/C adapter is not connected to the MD, an indication
that the
battery is not charging can be displayed on home/driving 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, for example, but not limited to, an audible alert,
can be sounded
until, for example, the alert is muted.
[00635] Referring now to FIGs. 23WW-1 through 23WW-3, when a user enables
training
mode, a series of manual steps that can be followed by automatic reactions can
enable a
user to practice various situations that the user of the MD can encounter. For
example, the
user can operate the MD at a speed or in a speed-limited situation and also in
a desired
mode. In some configurations, a clinician can trigger a fault, training the
user to respond to
the fault. The clinician can follow up by clearing the fault to prepare the MD
for further
training and/or use. In some configurations, the desired mode can include
standard mode,
4-wheel mode, balance mode, and remote mode. In some configurations, the
clinician can
trigger/clear a fault by holding the horn/mute button for pre-selected time
periods. In some
configurations, power-cycling the MD can take the MD out of training mode.
[00636] Referring now to FIGs. 24A and 24B, UC home screen 1020/1020A can
include,
but is not limited to including, base banner 1020-1 that can include, but is
not limited to
including, time, and indication of the status of the parking brake, an alert
status, a service
required status, and a temperature status. UC home screen 1020/1020A can
include first
screen area 1020-2 that can present, for example, but not limited to, the
speed of the MD,
and can also provide a shortcut for seat adjustment. A prompt can inform the
user that the
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seat is in a position that prevents driving. Second screen area 1020-3 can
display, for
example, but not limited to, the current mode of the MD, for example, but not
limited to, in
iconic form. UC home screen 1020A (FIG. 24B) can include battery status strip
1020-4 that
can provide, for example, but not limited to, battery status that can be, for
example, visually
highlighted in, for example, red, yellow, and green colors.
[00637] Referring now to FIGs. 24C and 24D, UC main menu screen 1010/1010A can
include, but is not limited to including, base banner 1020-1 and, optionally,
battery status
strip 1020-4 (FIG. 24D) as described herein. UC main menu screen 1010/1010A
can
accommodate selection of modes, seat adjustment, speed, and setting. A
selection can be
indicated by the presence of a highlighted icon, for example, within selected
area 1010-2,
which can be surrounded by further selection option arrows 1010-1. Each of
selection area
1010-3 can include, but is not limited to including, an icon indicative of a
possible selection
option.
[00638] Referring now to FIGs. 24E-24H, UC selection screen
1050/1050A/1050B/1050C can include, but is not limited to including, base
banner 1020-1
and, optionally, battery status strip 1020-4 (FIG. 24F) as described herein.
UC selection
screen 1050/1050A/1050B/1050C can accommodate an indication of mode selected
in
mode selected area 1050-1. Optionally, selected mode can also be displayed in
selected
transition area 1050-3 that can be surrounded by unselected, but possible
modes in
unselected areas 1050-2 and 1050-4. UC selection screen can include breadcrumb
1050B-1
(FIG. 24G) that can provide a navigational path of the modes navigated.
[00639] Referring now to FIGs. 241 and 24J, UC transition screen 1040/1040A
can
include, but is not limited to including, base banner 1020-1 and, optionally,
battery status
strip 1020-4 (FIG. 24D) as described herein. UC transition screen 1040/1040A
can include
target mode area 1040-1 in which an icon, for example, indicating the mode to
which the
transition is occurring, can be displayed. 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 the transition from one mode to another.
[00640] Referring now to FIG. 24K, UC power off screen 1060A can include, but
is not
limited to including, base banner 1020-1, power off first screen area 1060A-1,
power off
second screen area 1060A-2, and optional battery status area 1020-4. When a
user indicates
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a desire to power down the MD under normal conditions, for example, but not
limited to,
when the user depresses and holds the power button on UC 130, power off first
screen area
1060A-1 can indicate the speed at which the MD is traveling, and power off
second screen
area 1060A-2 can indicate power off progress. In some configurations, power
off progress
can be indicated by the progressive changing of color of the area inside the
shape in power
off second screen area 1060A-2. Base banner 1020-1 and optional battery status
area 1020-4
are described elsewhere herein.
[00641] Referring now to FIG. 24L, UC forced power off screen 1060B can
include, but
is not limited to including, base banner 1020-1, forced power off first screen
area 1060B-1,
power off second screen area 1060A-2, and optional battery status area 1020-4.
When a
user indicates a desire to power down the MD under other than normal
conditions, for
example, but not limited to, if the MD is experiencing mechanical problems,
the forced
power off screen 1060A can display the progress of the power down sequence. In
particular, forced power off first screen area 1060B-1 can indicate that a
forced power off
sequence is in progress, and power off first screen area 1060A-1 can indicate
forced power
off progress. In some configurations, forced power off progress can be
indicated by the
progressive changing of color of the area inside the shape in power off second
screen area
1060A-2. In some configurations, the user can begin the forced power off
sequence by
navigating to a menu and selecting forced power off.
[00642] Referring now to FIGs. 24M and 24N, CG fit screen 1070 can include,
but is not
limited to including, base banner 1020-1, CG fit breadcrumb 1070-1, menu
button indicator
1070-2, and optional battery status area 1020-4. When a user indicates a
desire to perform a
CG fit, the CG fit screen 1070 can display prompts for actions that can be
needed to
perform CG fit. In particular, CG fit breadcrumb 1070-1 can indicate that a CG
fit is in
progress in which prompts can be displayed that can indicate the joystick
action required to
move from one step in the CG fit process to the next. Steps can include
raising, lowering,
and tilting the MD when input is received by the MD such as laid out in FIGs.
23FF-23HH,
for example. Menu button 1070-2 can be depressed when it is desired to drive
the MD
while a CG fit is in progress. In some configurations, completion, either
successful or
unsuccessful, of the CG fit process can indicate that exit of the CG fit
process is possible.
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[00643] Referring now to FIG. 25A, speed processor 755 can accommodate a
continuously adjustable scaled factor to control the MD. A user and/or
clinician can set at
least one parameter bound 765 that can be adjusted according to the driving
needs of the
user and/or clinician. Wheel commands 769 can be calculated as a function of
joystick
input 629 and profile constants 768 that can include, but are not limited to
including, lc,
601/607 (FIG. 25E), ka 603/609 (FIG. 25E), kd 605/611 (FIG. 25E), and km 625
(FIG. 25E),
where lc, 601/607 (FIG. 25E) is a maximum speed range, ka 603/609 (FIG. 25E)
is an
acceleration range, kd 605/611 (FIG. 25E) is a deadband range, km 625 (FIG.
25E) is a
merge range, and kw is a conversion from wheel counts to speed. Ranges of
profile
constants lc, ka, 1Q, and km 625 (FIG. 25E) can vary, ranges provided herein
are exemplary.
Parameter bounds 765 and profile constants 768 can be supplied by, for
example, but not
limited to, the user, can be pre-set, and can be determined in any other way.
Speed
processor 755 can access parameter bounds 765 and profile constants 768.
Exemplary
ranges for profile constants 768 can include:
= Max Speed value, can scale from, for example, but not limited to, 1 ¨ 4 m/s
ka = Acceleration value, can scale from, for example, but not limited to, 0.5
¨ 1.5
kd = Deadband value, can scale from, for example, but not limited to, 0 ¨ 5.5
km = Merge value, can scale from, for example, but not limited to, 0 ¨ 1
ks,m = lcs,1(1 ¨ km) + kmks,2
ka,m = ka,i(1 ¨ km) + kmka,2
kam = kat (1 ¨ km) + kmkd,2
where kx,i is the minimum of the range of gain kx, and kx,2 is maximum of the
range of gain
kx, where x = s or a or m. Exemplary parameter bounds 765 can include:
Imax = Max joystick Cmd
C1 = First Order Coeff = kam
C3 = Third Order Coeff = ks,m
where kamis the gain kd of the merger of profile A 613 (FIG. 25E) and profile
B 615 (FIG.
25E), and where ks,mis the gain lc, of the merger of profile A 613 (FIG. 25E)
and profile B
615 (FIG. 25E).
kw = wheel counts per m/s
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Vmax = Max Command = C
-1,I max + C3Imax3
kwCs
kp = Proportional Gain =
v max
Exemplary computations for wheel command 769 can include:
Ji = Joystick Cmd
velocity
= kp,m(kamJi + C3Ji3), wheel __ yaw command
where Wi 769 is the velocity or yaw command that is sent to right/left wheel
motor drive
19/31, 21/33.
[00644] Continuing to refer primarily to FIG. 25A, adjusting C3 can adjust the
shape of
the curve of the profile and therefore the user experience when user commands,
for
example, but not limited to, joystick commands 629, are converted to wheel
commands 769.
In particular, adjusting C3 can adjust the size of deadband 605/611 (FIG. 25E)
and the
maxima and minima on either side of deadband 605-611 (FIG. 25E). Speed
processor 755
can include, but is not limited to including, joystick processor 756 including
computer
instructions to receive joystick commands 629, and profile constants processor
754
including computer instructions to access profile constants 768 and merge
value 625 (FIG.
25E), and to scale profile constants 768 based at least on merge value 625
(FIG. 25E), for
example, but not limited to, as shown in equations set out herein. Speed
processor 755 can
also include bounds processor 760 including computer instructions to compute a
maximum
velocity based at least on profile constants 768 and a maximum joystick
command, and to
compute a proportional gain based at least on profile constants 768 and the
maximum
velocity, as shown, for example, but not limited to, in equations set out
herein. Speed
processor 755 can also include wheel command processor 761 including computer
instructions to compute wheel command 769 based at least on profile constants
768 and
joystick commands 629, as shown, for example, but not limited to, in equations
set out
herein, and provide wheel commands 769 to wheel motor drives 19/31/21/33.
[00645] Referring now primarily to FIG. 25B, method 550 for accommodating a
continuously adjustable scale factor can include, but is not limited to
including, receiving
551 joystick commands 629 (FIG. 25A), accessing 553 profile constants 768
(FIG. 25A)
and a merge value (shown exemplarily as merge value 625 (FIG. 25E) which
portrays the
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merger of profile A 613 (FIG. 25E) and profile B 615 (FIG. 25E)), scaling 555
profile
constants 768 (FIG. 25A) based at least on the merge value, computing 557 a
maximum
velocity based at least on profile constants 768 (FIG. 25A) and a maximum
joystick
command (shown exemplarily as the maximum of speed 601 (FIG. 25E),
acceleration 603
(FIG. 25E), and deadband 605 (FIG. 25E)), computing 559 a proportional gain
based at
least on profile constants 768 (FIG. 25A) and the maximum velocity, computing
561 wheel
command 769 (FIG. 25A) based at least on profile constants 768 (FIG. 25A) and
joystick
commands 629 (FIG. 25A), and providing 563 wheel commands 769 (FIG. 25A) to
wheel
motor drives 19/31/21/33 (FIG. 25A). In some configurations, powerbase
controller 100
can modify joystick command 629 provided by user controller 130 before
joystick
commands 629 are provided to joystick processor 756. In some configurations,
user
controller 130 could be receiving joystick commands 629 from a joystick,
whereas in some
configurations, user controller 130 can include the joystick.
[00646] Referring now primarily to FIG. 25C, joystick 130 (FIG. 12A) can be
configured
to have different transfer functions to be used under different conditions
according to, for
example, the abilities of the user. Speed 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 joystick 70007 (FIG. 12A) can
be
interpreted as forward longitudinal requests and reverse longitudinal
requests, respectively,
as viewed from a user in the seat of the MD, and can be equivalent to
commanded
velocity. Left and right travel of joystick 70007 (FIG. 12A) can be
interpreted as left turn
requests and right turn requests, respectively, as viewed from a user in the
seat, and can be
equivalent to a commanded turn rate. Joystick output 703 can be modified
during certain
conditions such as, for example, but not limited to, battery voltage
conditions, height of the
seat, mode, failed conditions of joystick 70007 (FIG. 12A), and when speed
modification is
requested by powerbase controller 100 (FIG. 25A). Joystick output 703 can be
ignored and
joystick 70007 (FIG. 12A) can be considered as centered, for example, but not
limited to,
when a mode change occurs, while in update mode, when the battery charger is
connected,
when in stair mode, when joystick 70007 (FIG. 12A) is disabled, or under
certain other
conditions.
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[00647] 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 user
abilities, for
example, by setting speed templates and mode restrictions. In some
configurations, the MD
can receive commands from external applications 140 (FIG. 16B) executing on
devices
such as, for example, but not limited to, a cell phone, a computer tablet, and
a personal
computer. The commands can provide, for example, default and/or dynamically-
determinable settings for configuration parameters. In some configurations, a
user and/or
an attendant can configure the MD.
[00648] Referring now primarily to FIG. 25D, in some configurations, speed
settings can
control the system response to joystick movement. In some configurations, a
speed setting
such as speed 0 can be used to disable a response to joystick movement, a
speed setting
such as speed 1 can be used to set a maximum speed that may be appropriate for
indoor
travel, and 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 functions. For example, a parabolic relationship could
provide finer
control at low speeds. In some configurations, a thumbwheel assembly as in
FIG. 12P can
be used to apply a gain on top of the described speed settings. In some
configurations, the
gain can vary from 0 to 1, and a gain of 1 can be used when no speed
variations are desired
over configured speeds. When the thumbwheel assembly is used to change the
gain by
dialing thumbwheel knob 30173 (FIG. 12N) "down", the maximum speed and every
speed
along the configured speed trajectory can be reduced proportionally to the
amount of the
dialing "down". Any maxima for speeds 1 and 2, for example, can be configured,
and
minima can be configured as well. In some configurations, speed 2 can include
a minimum
speed that is greater than the maximum speed of speed 1 (see FIG. 25D-3), the
speed 2
minimum speed and the speed 1 maximum speed can overlap (see FIG. 25D-1), and
the
speed 2 minimum can approximately equal the speed 1 maximum (see FIG. 25D-2).
In
some configurations, the speed 1 and speed 2 minima and maxima can be adjusted
so that
speed 1 and speed 2 don't overlap, and thus skipping from speed 1 to speed 2
or vice versa
can be disabled. In some configurations, when the current speed setting is
already at its
maximum, for instance, further dialing "up" of the thumbwheel 30173 (FIG. 12N)
can be
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ignored and can result in no change in speed. However, any dialing "down" of
the
thumbwheel can immediately cause the speed gain to decrease proportionally to
the
"downward" movement of the thumbwheel. Similarly, when the current speed
setting is at
its minimum, dialing the thumbwheel "down" can result in no change, but
dialing "up" can
immediately cause an increase in speed gain.
[00649] Continuing to refer to FIG. 25D, in some configurations, manipulation
of
thumbwheel knob 30173 (FIG. 12N) can be interpreted as a desired for a speed
setting
change. In some configurations, continuing to dial the thumbwheel "up" when
the gain is
already saturated at that speed's maximum can indicate a request to increase
the speed
setting. Similarly, continuing to dial down when the gain is at its minimum
can indicate a
request for a lower speed setting. In some configurations, dialing thumbwheel
knob 30173
(FIG. 12N), pausing any thumbwheel assembly manipulation, and resuming dialing
of
thumbwheel knob 30173 (FIG. 12N) can indicate a request for a change in speed
settings.
In some configurations, multiple manipulations surrounding one or more pauses
can
indicate a request for a change in speed settings. In some configurations, the
rate of
manipulation of thumbwheel knob 30173 (FIG. 12N) can indicate, rather than a
change in
the gain itself, instead a request to change the speed setting.
[00650] Referring now primarily to FIG. 25E, a user and/or clinician can use a
graphical
user interface display that could be, for example, but not limited to,
included in user
controller 130 (FIG. 12A), to enable configuration of drive options in the
form of joystick
command shaping that can allow the user and/or clinician to configure the MD
for driving
preferences. Templates can be provided for the user/clinician to set or pre-
set profile
constants 768 (FIG. 25A) that can place the MD in at least one situation, for
example, but
not limited to, sport situation, comfort situation, or economy situation. In
economy mode,
for example, speed and acceleration can be limited to reduce power
consumption. In sport
situation, the user could be allowed to drive aggressively by, for example,
but not limited to,
achieving maximum speeds. Comfort situation can represent an average between
economy
and sport situations. Other situations can be possible. Profile constants lc,
601/607, IQ
603/609, kd 605/611, and km 625 can be adjusted through, for example, but not
limited to,
variable display items, and wheel command velocity W, can be computed and
graphed
based at least on adjusted lc, 601/607, IQ 603/609, kd 605/611, and km 625.
For example,
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profiles A/B 613/615 can result from adjusting speed and deadpan ranges such
that lc, 601
and lc, 607 differ, and kd 605 and kd 611 are similar. Wheel command velocity
W, can be
computed and graphed for a range of joystick command counts 629 for both the
minimum
values (profile A 613) of lc, 601/607, IQ 603/609, kd 605/611, and km 625 and
the maximum
values (profile B 615) of lc, 601/607, ka. 603/609, kd 605/611, and km 625.
Profile A 613 and
profile B 615 can be averaged for an easier comparison with other
configurations of profile
constants lc, 601/607, ka 603/609, kd 605/611, and km 625. For example, first
joystick control
graph 600 indicates that an average wheel command 617 of 1.5 m/s at 100
joystick
command counts results from a first configuration of lc, 601/607, ka 603/609,
kd 605/611,
and km 625.
[00651] Referring now to FIG. 25F, when lc, 601 and lc, 607 are similar, and
kd 605 and kd
611 differ, wheel command velocity W, can be computed and graphed for a range
of
joystick command counts 629 for both the minimum values (profile A 623) of lc,
601/607, IQ
603/609, kd 605/611, and km 625 and the maximum values (profile B 621) of lc,
601/607, IQ
603/609, kd 605/611, and km 625. Profile A 623 and profile B 621 can be
averaged and
compared to other configurations of profile constants lc, 601/607, ka.
603/609, kd 605/611,
and km 625. For example, second joystick control graph 700A indicates that an
average
wheel command 617 of 1.75 m/s at 100 joystick command counts results from a
second
configuration of profile constants lc, 601/607, ka. 603/609, kd 605/611, and
km 625. Changes
to IQ 603 and IQ 609 can scale filter constants under certain circumstances.
Further, joystick
command 629 can be filtered by a joystick filter to enable speed-sensitive
steering by
managing accelerations. For example, a relatively low corner frequency CF of
the joystick
filter can result in a relatively high damped response between joystick
commands 629 and
activity of the MD. For example, the corner frequency CF can be an adjustable
function of
speed which could result in, for example, but not limited to, a relatively
high relationship
between joystick commands 629 and wheel command velocity W, 769 when the MD is
traveling at a relatively high speed, and a relatively lower relationship
between joystick
commands 629 and wheel command velocity W, 769 when the MD is traveling at a
relatively low speed. For example, wheel command velocity W, 769 can be
compared to a
full speed threshold T and the corner frequency CF can be set according to the
result of the
comparison. In some configurations, if wheel command velocity W, 769 is less
than a value
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based at least on the threshold T, the corner frequency CF can be set to a
first value, or if
wheel command velocity W, 769 is less than the threshold T, the corner
frequency CF can
be set to another value, for example (W,*CF)/T. Deceleration rate and
acceleration rate can
be managed separately and can be independent of one another. For example,
deceleration
rate may not be allowed to be as aggressive as acceleration rate. The
deceleration rate can,
for example, depend on the acceleration rate or can dynamically vary in some
other way, or
can be a fixed value. The user can, for example, control the deceleration
rate.
[00652] Referring now to FIG. 25G, adaptive speed control processor 759 for
adaptive
speed control of the MD can include, but is not limited to including,
terrain/obstacle data
receiver 1107 including computer instructions to receive terrain and obstacle
data in the
vicinity of the MD. By using terrain and obstacle detection sensors for
example, but not
limited to, light detection and ranging (LIDAR), remote sensing technology can
measure
distance by illuminating a target with a laser and analyzing the reflected
light, stereo
cameras, and radar. Adaptive speed control processor 759 can also include
mapping
processor 1109 including computer instructions to map obstacles and
approaching terrain in
real time based at least on the terrain and obstacle data. Adaptive speed
control processor
759 can further include virtual valley processor 1111 including computer
instructions to
compute virtual valleys based at least on the mapped data. Virtual valley
processor 1111
can delineate a sub-area referred to herein as a virtual valley in the
vicinity of the MD. The
virtual valley can include at least one low point, gradual and/or dramatic
elevation increases
from the at least one low point, and at least one rim surrounding the at least
one low point in
which the gradual and/or dramatic elevation increases terminate at the rim. In
the virtual
valley, a relatively high wheel command 769 can be required to turn out of the
virtual
valley, possibly pre-disposing the MD to stay in the low point of the virtual
valley.
Adaptive speed control processor 759 can further include collision possible
processor 1113
including computer instructions to compute collision possible areas based at
least on the
mapped data. Collision possible areas can be sub-areas in which, when in the
vicinity of the
MD, adaptive speed control processor 759 can make it difficult to steer the MD
into the
obstacle. Collision possible areas can, for example, prevent the MD from
running into
objects. The position of the MD can be measured from, for example, any part or
parts of the
MD, for example, the center, the periphery, or anywhere in between. Adaptive
speed
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control processor 759 can further include slow-down processor 1115 including
computer
instructions to compute slow-down areas based at least on the mapped data and
the speed of
the MD. Adaptive speed control processor 759 can slow the MD in the slow-down
areas.
Adaptive speed control processor 759 can further make it difficult to turn
into slow-down
areas relative to turning into non-slow-down areas. Adaptive speed control
processor 759
can recognize any number of types of slow-down areas, each having a set of
characteristics.
For example, adaptive speed control processor 759 can adjust the processing of
fore-aft
commands to the MD in some types of slow-down areas differently than in
others. In some
configurations, the size of the different types of slow-down areas can change
as the speed of
the MD changes. Adaptive speed control processor 759 can still further include
preferences
processor 1117 including computer instructions to receive user preferences
with respect to
the slow-down areas. Adaptive speed control processor 759 can include wheel
command
processor 761 including computer instructions to compute wheel commands 769
based at
least on, for example, but not limited to, the virtual valleys, the collision
possible areas, the
slow-down areas, and the user preferences, and provide wheel commands 769 to
wheel
motor drives 19/31/21/33. When adaptive speed control processor 759 detects
that the MD
has entered, for example, a collision possible area, adaptive speed control
processor 759
can, for example, move the MD away from the collision possible area. Adaptive
speed
control processor 759 can move the MD in a direction to the direction opposite
the collision
possible area, a direction parallel to the collision possible area, or a
direction that moves the
MD into a collision free area.
[00653] Referring now primarily to FIG. 25H, method 1150 for adaptive speed
control of
the MD can include, but is not limited to including, receiving 1151 terrain
and obstacle
detection data, mapping 1153 terrain and obstacles, if any, in real time based
at least on the
terrain and obstacle detection data, optionally computing 1155 virtual
valleys, if any, based
at least on the mapped data, computing 1157 collision possible areas, if any,
based at least
on the mapped data, computing 1159 slow-down areas if any based at least on
the mapped
data and the speed of the MD, receiving 1161 user preferences, if any, with
respect to the
slow-down areas and desired direction and speed of motion, computing 1163
wheel
commands 769 (FIG. 25G) based at least on the collision possible areas, the
slow-down
areas, and the user preferences and optionally the virtual valleys, and
providing 1165 wheel
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commands 769 (FIG. 25G) to wheel motor drives 19/31/21/33 (FIG. 25G).
Collision
possible areas can include discreet obstacles that can include a buffer that
can follow the
contour of the discreet obstacle, or can follow a type of outline, for
example, but not limited
to, a polygon, enclosing the discreet obstacle. Collision possible areas can
also include a
number of discreet obstacles viewed as a single discreet obstacle. The
transition area
between one sub-area and another can be, for example, abrupt or gradual. The
shape of a
virtual valley can be dynamic based at least upon the position of the MD in
the virtual
valley.
[00654] Referring now to FIG. 251, gradient map 1120A can be used to indicate
to the
user at, for example, but not limited to, user controller 130 (FIG. 12A),
either periodically
or dynamically updated, the sub-areas in the vicinity of the MD. For example,
collision
possible areas 1121 can be places in which adaptive speed control processor
759 can make
it automatically impossible to steer into and the MD can be automatically
prevented from
running into objects and can be, for example, but not limited to, steered to a
different
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 edge of the MD can be
substantially
near to the physical objects in the vicinity of the MD. In some
configurations, first slow-
down areas 1125 can be places in which adaptive speed control processor 759
can
automatically slow down the MD slightly and can make turning into first slow-
down areas
1125 more difficult than turning into no-barriers sub-areas 1127. In some
configurations,
second slow-down areas 1123 can be places in which adaptive speed control
processor 759
can automatically slow down fore-aft commands to the MD more than in first
slow-down
sub-areas 1125, and adaptive speed control processor 759 can automatically
make turning
into second slow-down sub-areas 1123 harder than turning into first slow-down
sub-areas
1125.
[00655] Referring now to FIG. 25J, path map 1130 can indicate path 1133 that
the MD
can follow when adaptive speed control processor 759 (FIG. 25G) recognizes
special sub-
areas in the vicinity of the MD. As user controller 130 (FIG. 16A) receives
forward
velocity commands, the MD, under the control of adaptive speed control
processor 759
(FIG. 25G), can veer according to path 1133 towards no barriers sub-area 1127
and, for
example, turn to a less collision-likely direction of travel.
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[00656] Referring now to FIG. 25K, adaptive speed control processor 759 can
recognize
objects that are moving (referred to herein as dynamic objects).
Terrain/obstacle data
receiver 1107 can receive from sensors 1105 terrain/obstacle detection data
1101 that is
characteristic of non-stationary (dynamic) object 1134. Preferences processor
1117 can, for
example, receive joystick commands 629 that indicate that straight path 1132
is the user-
selected direction of travel, but when dynamic object 1134 is ahead of the MD
and straight
path 1132 would intersect with dynamic object 1134, dynamic object processor
1119 (FIG.
25G) can designate a set of sub-areas around dynamic object 1134 starting with
first slow
down area 1125, then transitioning to second slow-down sub-area 1123, and
finally
transitioning to collision possible sub-area 1121. When sensors 1105 recognize
the sub-
areas in the vicinity of dynamic object 1134, slow-down processor 1115 can
slow the MD
when entering first slow-down sub-area 1125 and dynamic object processor 1119
can match
the pace of dynamic object 1134 in second slow-down sub-area 1123. If
preferences
processor 1117 receives an aggressive forward command in first slow-down sub-
areas 1125
and/or second slow-down sub-area 1123, or an oblique command, dynamic object
processor
1119 can adjust path 1132 to veer as, for example, in path 1131, to follow the
safest closest
path past dynamic object 1134. Forward velocity commands, in the absence of
adaptive
speed control processor 759 (FIG. 25G), could have the MD follow path 1132
directly
through first slow-down sub-area 1125, second slow-down sub-area 1123, and
collision
possible subarea 1121.
[00657] Referring now primarily to FIG. 26A, traction control processor 762
can adjust
the torque applied to wheels 21201 (FIG. 6A) to minimize slipping. In
particular, adjusting
the torque can prevent wheels 21201 (FIG. 6A) from excessive slipping. When
the linear
acceleration measured by inertial sensor packs 1070/23/29/35 and linear
acceleration
measured from the wheel velocity disagree by a pre-selected threshold, cluster
21100 (FIG.
6A) can drop such that wheels 21201 (FIG. 6A) and caster assemblies 21000
(FIG. 7) are on
the ground. Having wheels 21201 (FIG. 6A) and caster assemblies 21000 (FIG. 7)
on the
ground at once can lengthen the wheelbase of the MD and can increase the
friction
coefficient between the MD and the ground. Linear acceleration processor 1351
can
include computer instructions to compute the acceleration of the MD based at
least on the
speed of wheels 21201 (FIG. 6A). IMU acceleration processor 1252 can include
computer
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instructions to compute the IMU acceleration based at least on sensor data 767
from inertial
sensor pack 1070/23/29/35. Traction loss processor 1254 can compute the
difference
between the MD acceleration and the IMU acceleration, and compare the
difference to a
pre-selected threshold. If the threshold is exceeded, wheel/cluster command
processor 761
can send cluster commands 771 (FIG. 17A) to cluster 21100 (FIG. 6A) to drop
such that
wheels 21201 (FIG. 6A) and caster assembly 21000 (FIG. 7) are on the ground.
Wheel/cluster command processor 761 can adjust the torque to wheel motor
drives
19/21/31/33 by dynamically adjusting drive current limits if traction loss is
detected. In
some configurations, wheel/cluster command processor 761 can compute torque
values for
wheels 21201 (FIG. 6A) that can be independent of each other and based at
least on the
speed of the MD and the speed of wheels 21201 (FIG. 6A). In some
configurations,
traction loss processor 1254 can include computer instructions to dynamically
adjust the
center of gravity of the MD, for example, but not limited to, backwards and
forwards to
manage traction for the MD.
[00658] Continuing to still further refer to FIG. 26A, in standard mode 100-1
(FIG. 22B),
cluster 21100 (FIG. 6A) can be rotated to affect traction so that wheels 21201
(FIG. 6A) can
come in contact with the ground when aggressive and/or quick braking is
requested.
Aggressive braking can occur when the MD is traveling forward and receives a
reverse
command from, for example, user controller 130 (FIG. 12A), that exceeds a pre-
selected
threshold. In enhanced mode 100-2 (FIG. 22B), traction control processor 762
can
accomplish traction control by (1) detecting the loss of traction by taking
the difference
between a gyro measured device yaw and differential wheel speed of predicted
device yaw,
and (2) reducing the torque to wheel motors drives A/B 19/21/31/33 by
dynamically
reducing the drive current limits when loss of traction is detected.
[00659] Referring now primarily to FIG. 26B, method 1250 for controlling
traction of the
MD can include, but is not limited to including, computing 1253 the linear
acceleration of
the MD, and receiving 1255 the IMU measured acceleration of the MD. If 1257
the
difference between an expected linear acceleration and a measured linear
acceleration of the
MD is greater than or equal to a preselected threshold, adjusting 1259 the
torque to
cluster/wheel motor drives 19/21/31/33 (FIG. 2C/D). If 1257 the difference
between an
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expected linear acceleration and a measured linear acceleration of the MD is
less than a
preselected threshold, method 1250 can continue testing for loss of traction
(step 1253).
[00660] Referring now to FIG. 27A, tipping of the MD can be controlled to
actively
stabilize the MD and to protect against, for example, a rearward fall. In some
configurations, standard mode 100-1 (FIG. 22A) may not be actively stabilized.
If caster
wheels 21001 are against an obstacle such that forward motion does not occur,
a continuous
forward command can build up. Excess command in this scenario could lead to a
rearward
fall. In some configurations, an overall command limit can be placed on the
wheel
command to prevent excessive wheel command from building up when the wheels
are
unable to move. In some configurations, anti-tipping can be enabled when the
rearward
pitch of the MD falls in a range such as, for example, but not limited to,
between about 50
and 30 . Tipping control can be disabled when caster wheels 21001 are raised
during frame
lean adjustments, or when the MD is transitioning to 4-Wheel mode 100-2, or
under certain
conditions in IMU 50003 (FIG. 15C).
[00661] Continuing to refer to FIG. 27A, when the MD is tipped backwards on
rear
wheels 21201, the MD can drive rear wheels 21201 backwards to attempt recovery
from a
potential rearwards fall. Tipping control can be implemented through the
interaction of
anti-tip and wheel controllers, with motor control authority of the two
controllers governed
by ramp functions that depend on rearward pitch angle. Wheel speed
proportional and
integral errors and pitch proportional and derivative errors can be multiplied
by the ramp
functions to change the behavior of the MD on a rearward pitch angle. Pitch
error can be
computed relative to a nominal pitch of, for example, but not limited to, -6.0
. Pitch rate
can be filtered to smooth erroneous measurements, and can be filtered, for
example, but not
limited to, with a .7Hz filter. A deadband can be applied to the pitch rate
values.
Controller gains can be applied as variable functions when multiplied by ramp
functions
that vary between 0 and 1 over the range of the pitched back error. The ramp
functions can
be used continuously in standard mode 100-1.
[00662] Continuing to refer to FIG. 27A, the wheel controller can compute
commands
based on desired wheel velocity from the joystick input while simultaneously
responding to
rearward pitch values in order to prevent the chair from falling over
backwards. A PI loop
can be used to compute a command based on the wheel velocity error. The
dynamic state of
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the MD, as characterized by the value of the pitched back error, can be used
to determine
which of the terms is used to compute the wheel fore/aft command. Ramp
functions can be
based on the pitch of the MD. The ramp functions are sliding gains that
operate on pitch,
pitch rate, and wheel errors. The ramp functions can allow the wheel
controller and the
anti-tipping controller to interact to maintain stability and controllability
of the MD.
Tipping control can be disabled if, for example, but not limited to, inertial
sensors on the
MD have not been initialized or if the inertial estimator has faulted, and if
the MD has
tipped over.
[00663] Referring now primarily to FIG. 27B, in standard mode wheel control,
method
8750 can include determining if 8267 stabilization is possible based on, for
example,
whether the MD has already tipped over, or if there has been an inertial
estimator fault, or if
the MD is transitioning. If 8267 stabilization is not possible, various
actions can be taken
depending on whether or not stabilization is not possible. If 8267
stabilization is possible,
method 8750 can include computing 8255 a stabilization metric based on, for
example, but
not limited to, the distance the MD has moved since active stabilization has
been engaged
and the measured pitch angle. Method 8750 can include computing 8257 a
stabilization
factor based on, for example, but not limited to, the measured pitch angle,
filtered to allow
only rearward angles and subjected to a proportional gain. The stabilization
factor can be
based on the measured pitch rate around which has been placed a hysteresis
band and to
which a derivative gain has been applied. Ramp functions can be applied to the
stabilization factor. Method 8750 can include computing 8259 wheel command
inputs
based on the derivative over time of the desired fore-aft velocity, the
desired fore-aft
velocity, the measured fore-aft velocity, the desired yaw velocity, and the
measured yaw
velocity. The derivative of the velocity can be used to compute a feed forward
component.
The desired and measured fore-aft velocities can be inputs to a PI controller,
and ramp
functions can be applied to the result. The desired and measured yaw
velocities can be
inputs to a proportional controller. If 8261 the metric indicates that
stabilization is needed,
method 8750 can include computing right/left wheel voltage commands based on
the wheel
command inputs and the stabilization factor. If 8261 the metric indicates that
stabilization
is not needed, method 8750 can include computing right/left wheel voltage
commands
based on the wheel command inputs.
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[00664] Referring now primarily to FIG. 27C, the controls to implement method
8750
(FIG. 27B) are shown. Filter 8843 can be applied to measured pitch angle 8841
to allow
pitch rates in the rearward tip direction, and hysteresis band 8849 can be
placed around
measured pitch rate 8847. The derivative of desired fore-aft velocity 8853 is
used as a feed
forward term in the wheel controller. Desired fore-aft velocity 8853 and
measured fore-aft
velocity 8855 can be fed to first proportional-integral (PI) controller 8857,
and ramp
functions 8859 can be applied to the output of first PI controller 8857.
Desired yaw
velocity 8861 and measured yaw velocity 8863 can be fed to proportional
controller 8865.
If active stabilization is engaged, the measured pitch angle 8841, filtered
and with
proportional gain 8845 applied, is combined with measured pitch rate 8847,
modified and
with derivative gain 8851 applied. Ramp functions 8867 can be applied to the
combination.
Right wheel voltage command 768A and left wheel voltage command 768B can be
based
upon the combination result, and the results of PI controller 8857 and
proportional
controller 8865.
[00665] Continuing to refer to FIG. 27C, the CG fit of the MD can estimate a
maximum
allowed acceleration that can help prevent backwards falls based at least on
pitch angle 0
705 (FIG. 27A) and a center of gravity determination for the MD. Active
stabilization
processor 763 can include a closed loop controller that can maintain the
stability of the MD
by automatically decelerating forward motion and accelerating backward motion
when the
MD begins tipping backwards. Dynamic metric 845, that can be based at least
on, for
example, but not limited to, measured pitch angle, and can control whether to
include the
pitch rate feedback in wheel voltage commands 768, thereby metering the
application of
active stabilization. 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
beyond a pre-
selected distance, the MD can enter fail-safe mode.
[00666]
Referring now to FIG. 27D, active stabilization processor 763 can include, but
is not limited to including, center of gravity estimator 1301 including
computer instructions
to estimate the center of gravity based at least on the mode, and inertial
estimator 1303 to
estimate the pitch angle required to maintain balance based at least on the
center of gravity
estimate. In some configurations, the location of center of gravity 181 (FIG.
27A) can be
used to set the frame lean limits. In some configurations, an estimate of the
location of
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center of gravity 181 (FIG. 27A) can be used to, for example, but not limited
to, actively
stabilize mobility device 120 (FIG. 27A) and regulate transitions between
modes. The
location of center of gravity 181 (FIG. 27A) can vary with each user and seat
setup
combination, and is a function of the height of seat 105 (FIG. 27A) and the
position of
cluster 21100 (FIG. 3). An estimate of center of gravity 181 (FIG. 27A) over a
range of
seat heights and cluster positions that can occur during normal operation of
mobility 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 center of
gravity 181 (FIG. 27A) to the balance point of the system. The calibration
parameters can
allow the reference angles to be calculated every control cycle as the seat
height and the
cluster position change. The estimation process can include balancing mobility
device 120
(FIG. 27A) and its load at various angles of cluster 21100 (FIG. 3) and
various heights of
seat 105 (FIG. 27A), and collecting data at each location including the pitch
angle of
mobility device 120 (FIG. 27A) with respect to gravity. These data can be used
to error
check the result of the estimation process. Powerbase controller 100 can
compute reference
variables based at least on the location of center of gravity 181 (FIG. 27A),
for example, but
not limited to, (1) the angle of mobility device 120 (FIG. 27A) that places
center of gravity
181 (FIG. 27A) over the axis of cluster 21100 (FIG. 3), a function of the
height of seat 105
(FIG. 27A), used in enhanced mode 100-2 (FIG. 22A), and stair mode 100-4 (FIG.
22A);
(2) the angle of the powerbase that can place center of gravity 181 (FIG. 27A)
over one set
of wheels 21201 (FIG. 27A), a function of the height of seat 105 (FIG. 27A)
and the
position of cluster 21100 (FIG. 3), used in balance mode 100-3 (FIG. 22A); and
(3) the
distance from a pivot point of cluster 21100 (FIG. 3) to an estimated center
of gravity, a
function of the height of seat 105 (FIG. 27A), used in standard mode 100-1
(FIG. 22A) and
stair mode 100-4 (FIG. 22A). These values can allow the controllers to
maintain active
balance.
[00667]
Referring now to FIG. 27E, method 11350 for computing center of gravity fit
(CG fit) can include, but is not limited to including, (1) entering 11351 the
balancing mode,
(2) measuring 11353 data including a pitch angle required to maintain the
balancing the
balance at a pre-selected position of the at least one wheel cluster and a pre-
selected
position of the seat, (3) moving 11355 the mobility device/user pair to a
plurality of pre-
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selected points and collecting calibration data at each of the plurality of
pre-selected points,
(4) repeating 11357 steps (2) and (3) at each of the plurality of pre-selected
points, (5)
verifying 11359 that the measured data fall within pre-selected limits, and
(6) generating
11361 a set of calibration coefficients to establishing the center of gravity
at any usable
cluster and seat position during machine operation based on the verified
measured data.
Method 11350 can optionally include storing the coefficients into, for
example, but not
limited to, non-volatile memory for use during operation of mobility device
120 (FIG. 27A).
A method for entering a vehicle while seated in the MD can include, but is not
limited to
including, receiving an indication that the MD is encountering a ramp between
the ground
and the vehicle, directing the clusters of wheels to maintain contact with the
ground,
changing the orientation of the cluster of wheels according to the indication
to maintain the
device center of gravity between the wheels, and dynamically adjusting the
distance
between the seat and the clusters of wheels to prevent contact between the
seat and wheels
while keeping the seat as low as possible. The MD and the user can clear the
doorj am of
the vehicle if the seat remains as low and as close to the clusters of wheels
as possible, and
if the MD is actively stabilized while the MD traverses the ramp into and out
of the vehicle.
A method for moving a balancing mobility device on relatively steep terrain
can include,
but is not limited to including, receiving an indication that the mobility
device is upon the
steep terrain, directing the clusters of wheels to maintain contact with the
ground, and
dynamically adjusting the distance between the seat and the clusters of wheels
based at least
on the indication and active stabilization of the mobility device. The method
can optionally
include setting a travel speed of the mobility device based on the indication.
[00668] Referring now primarily to FIG. 28A, controller gains, for certain
loads on the
MD, can be a function of the weight of the load, and stability of the MD is a
function of at
least the controller gains. Controller gains can include, but are not limited
to including,
gains applied during enhanced mode 100-2 (FIG. 22B) to stabilize the MD when,
for
example, the load is light, or when transitioning into balance mode 100-3
(FIG. 22B).
Powerbase controller 100 can include at least one default value for the center
of gravity for
the MD. The weight of the load on the MD can determine which default value for
the
center of gravity is used. The weight of the load, and/or the change of weight
of the load,
and the chosen default value of the center of gravity can be used to adjust
controller gains.
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Controller gains can include a range of discreet values or analog values. For
example, if the
load falls out of the seat, the MD can experience relatively large
accelerations resulting
from a relatively small input torque. In some configurations, the change in
load weight on
the seat can change the controller gain based at least on the load weight.
Weight processor
757 can adjust the stability of the MD based at least on the change in load
weight. Weight
processor 757 can determine the weight of the load based at least on, for
example, but not
limited to, motor current of seat motor 45/47 (FIG. 18C/18D). Weight processor
757 can
potentially detect unstable situations by, for example, but not limited to,
processing
collected pitch rate data using a rolling discrete fast Fourier transform,
recognizing values
of the resulting pitch rate frequency that could represent instability-
generating changes,
filtering the pitch rate frequencies based at least on the recognized values,
squaring the
filtered pitch rate frequencies, and analyzing the squared pitch rate
frequencies based at
least on known profiles of potential instability. Weight processor 757 for
stabilizing the
MD can include, but is not limited to including, weight estimation processor
956 including
computer instructions to estimate the weight of a load on the MD, controller
gains processor
947 including computer instructions to compute controller gains based at least
on the
weight, and wheel command processor 761 applying the controller gains to
control the MD.
[00669] Referring now primarily to FIG. 28B, method 800 for stabilizing the MD
can
include, but is not limited to including, estimating 851 the weight and/or
change in weight
of a load on the MD, choosing 853 a default value or values for the center of
gravity of the
MD, computing 855 controller gains based at least on the weight and/or change
in weight
and the center of gravity values, and applying 857 the controller gains to
control the MD.
[00670] Referring now primarily to FIG. 28C, weight-current processor can
measure the
weight of the load on the MD. Weight-current processor 758 can include, but is
not limited
to including, 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 to determine possible actions that can be taken with
respect to
the load. Motor current processor 1552 can process measured electrical current
to seat
motor drive 25/37 (FIG. 18C/18D) when, for example, but not limited to, the MD
is
transitioning to enhanced mode 100-2 (FIG. 22B). Since the motor current is
proportional
to torque, torque-weight processor 1553 can use the current readings to
provide an estimate
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of the torque required to lift the load in the seat. In some configurations,
for an exemplary
motor, MD geometry, and height of the seat, the weight of the load on the seat
can be
computed as follows, where SC = seat correction, SH = seat height, and MC =
motor
current:
SC = a*SH + b, where a and b are constants determined by the geometry of the
MD.
MC (corrected) = MC (measured) + SC
If MC (corrected) > T then weight = c*MC (corrected) *MC (corrected) + d*MC
(corrected) ¨ e, where c, d, and e are constants relating the motor current to
the user, seat,
and UC weight. The total system weight is the sum of the user/seat/UC weight
and the
weight of the powerbase and the wheels.
[00671] Continuing to refer primarily to FIG. 28C, when the seat reaches a
stable position
and when the seat brake is engaged, there is no current going through the
motor windings.
When the seat brake is released, the current that is required to hold the
position of the seat
can be measured. In some configurations, the weight of the load can be
estimated by
computing a continuous estimate of the weight based at least on continuous
monitoring of
the current signal from seat motor processors 45/47 (FIG. 18C/18D). Predicting
abrupt
changes in weight can be based at least on, for example, but not limited to,
accelerometer
data, current data from other than seat motor processors 45/47 (FIG. 18C/18D),
the current
required to slew cluster 21100 (FIG. 6A), and wheel acceleration. The specific
predictor can
be based at least on whether the MD is stationary or moving.
[00672] Referring now primarily to FIG. 28D, method 900 for computing the
weight on
the MD can include, but is not limited to including, receiving 951 the
position of a load on
the MD, receiving 953 the setting of the MD to standard mode 100-1 (FIG. 22B),
measuring
955 the motor current required to move the MD to enhanced mode 100-2 (FIG.
22B) at least
once, computing 957 a torque based at least on the motor current, computing
959 a weight
of the load based at least on the torque, and adjusting 961 controller gains
based at least on
the weight to stabilize the MD.
[00673] Referring now to FIG. 29A, the MD can provide enhanced functionality
145 to a
user, for example, but not limited to, assisting a user in avoiding obstacles,
traversing doors,
traversing stairs, traveling on elevators, and parking/transporting the MD. In
general, The
MD can receive user input (for example UI data 633) and/or input from the MD
through, for
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example, but not limited to, messages from user interface devices and sensors
147. The MD
can further receive sensor input through, for example, but not limited to
sensor processing
systems 661. UI data 633 and output from sensor processing systems 661, for
example, can
inform command processor 601A to invoke the mode that has been automatically
or
manually selected. Command processor 601A can pass UI data 633 and output from
sensor
processing systems 661 to a processor that can enable the invoked mode. The
processor can
generate movement commands 630 at least based on previous movement commands
630,
UI data 633, and output from sensor processing systems 661.
[00674] Continuing to refer to FIG. 29A, the MD can include, but is not
limited to
including, command processor 601A, movement processor 603A, simultaneous
location and
mapping (SLAM) processor 609A, point cloud library (PCL) processor 611A,
geometry
processor 613A, and obstacle processor 607A. Command processor 601A can
receive user
interface (UI) data 633 from the message bus. UI data 633 can include, but is
not limited to
including, signals from, for example, joystick 70007 (FIG. 12A) providing an
indication of
a desired movement direction and speed of the MD. UI data 633 can also include
selections
such as an alternate mode into which the MD could be transitioned. In some
configurations,
in addition to the modes described with respect to FIG. 22B, the MD can
process mode
selections such as, but not limited to, door mode 605A, rest room mode 605B,
enhanced
stair mode 605C, elevator mode 605D, mobile park mode 605E, and static
storage/charging
mode 605F. Any of these modes can include a move-to-position mode, or the user
can
direct the MD to move to a certain position. Message bus 54 can receive
control
information in the form of UI data 633 for the MD, and can receive a result of
the
processing done by the MD in the form of commands such as movement commands
630
that can include, but are not limited to including, speed and direction.
Movement
commands 630 can be provided, by message bus 54, to The MD which can transmit
this
information to wheel motor drives 19/21/31/33 (FIGs. 18C/18D) and cluster
motor drives
1050/27 (FIGs. 18C/18D). Movement commands 630 can be determined by movement
processor 603A based on information provided by the mode-specific processors.
Mode-
specific processors can determine mode-dependent data 657, among other things,
based on
information provided through sensor-handling processors 661.
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[00675] Continuing to refer primarily to FIG. 29A, sensor-handling processors
661 can
include, but are not limited to including, MD geometry processor 613A, PCL
processor
611A, SLAM processor 609A, and obstacle processor 607A. Movement processor
603A
can provide movement commands 630 to the sensor-handling processors 661 to
provide
information necessary to determine future movements of the MD. Sensors 147 can
provide environmental information 651 that can include, for example, but not
limited to,
obstacles 623 and geometric information about the MD. In some configurations,
sensors
147 can include at least one time-of-flight sensor that can be mounted
anywhere on the MD.
There can be multiple of sensors 147 mounted on the MD. PCL processor 611A can
gather
and process environmental information 651, and can produce PCL data 655. The
PCL, a
group of code libraries for processing 2D/3D image data, can, for example,
assist in
processing environmental information 651. Other processing techniques can be
used.
[00676] Continuing to refer primarily to FIG. 29A, MD geometry processor 613A
can
receive MD geometry information 649 from sensors 147, can perform any
processing
necessary to prepare MD geometry information 649 for use by the mode-dependent
processors, and can provide the processed of MD geometry information 649 to
the mode-
dependent processors. The geometry of the MD can be used for, but is not
limited to being
used for, automatically determining whether or not the MD can fit in and/or
through a space
such as, for example, a stairway and a door. SLAM processor 609A can determine
navigation information 653 based on, for example, but not limited to, UI data
633,
environmental information 651 and movement commands 630. The MD can travel in
a
path at least in part set out by navigation information 653. Obstacle
processor 607A can
locate obstacles 623 and distances 621 to obstacles 623. Obstacles 623 can
include, but are
not limited to including, doors, stairs, automobiles, and miscellaneous
features in the
vicinity of the path of the MD.
[00677] Referring now to FIGs. 29B and 29C, method 650 for processing at least
one
obstacle 623 (FIG. 29D) while navigating the MD can include, but is not
limited to
including, receiving at least one movement command, and receiving and
segmenting 1151
(FIG. 29B) PCL data 655 (FIG. 29D), 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) within the at least one plane. Method 650 can further
include
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determining 1157 (FIG. 29B) at least one situation identifier 624 (FIG. 29D)
based at least
on the at least one obstacle, UI data 633 (FIG. 29D), and movement commands
630 (FIG.
29D), and determining 1159 (FIG. 29B) distance 621 (FIG. 29D) between the MD
and at
least one obstacle 623 (FIG. 29D) based at least on at least one situation
identifier 624 (FIG.
29D). Method 650 can also include accessing 1161 (FIG. 29B) at least one
allowed
command related to distance 621 (FIG. 29D), at least one obstacle 623 (FIG.
29D), and at
least one situation identifier 624 (FIG. 29D). Method 650 can still further
include accessing
1163 (FIG. 29B) at least one automatic response to the at least one allowed
command,
mapping 1167 (FIG. 29C) at least one movement command 630 (FIG. 29D) with one
of the
at least one allowed commands, and providing 1169 (FIG. 29C) at least one
movement
command 630 (FIG. 29D) and the at least one automatic response associated with
the
mapped allowed command to the mode-dependent processors.
[00678] Continuing to refer to FIGs. 29B and 29C, at least one obstacle 623
(FIG. 29D)
can optionally include at least one stationary object and/or at least one
moving object.
Distance 621 (FIG. 29D) can optionally include a fixed amount and/or a
dynamically-
varying amount. At least one movement command 630 (FIG. 29D) can optionally
include a
follow command, at least one pass-the-at-least-one-obstacle command, a travel
beside-the-
at-least-one-obstacle command, and a do-not-follow-the-at-least-one obstacle
command.
Method 650 can optionally include storing obstacle data 623 (FIG. 29D), and
allowing
access to stored obstacle data, for example, stored in cloud storage 607G
(FIG. 29D) and/or
local storage 607H (FIG. 29D), by systems external to the MD. PCL data 655
(FIG. 29D)
can optionally include sensor data 147 (FIG. 29A). Method 650 can optionally
include
collecting sensor data 147 (FIG. 29A) from at least one time-of-flight sensor
mounted on
the MD, analyzing sensor data 147 (FIG. 29A) using a point cloud library
(PCL), tracking
the at least one moving object using simultaneous location and mapping (SLAM)
with
detection and tracking of moving objects (DATMO) based on the location of the
MD,
identifying the at least one plane within obstacle data 623 (FIG. 29D) using,
for example,
but not limited to, random sample consensus and a PCL library, and providing
the at least
one automatic response associated with the mapped allowed command to the mode-
dependent processors. Method 650 can also optionally include receiving a
resume
command, and providing, following the resume command, at least one movement
command
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630 (FIG. 29D) and the at least one automatic response associated with the
mapped allowed
command to the mode-dependent processors. The at least one automatic response
can
optionally include a speed control command.
[00679] Referring now to FIG. 29D, obstacle processor 607A for processing at
least one
obstacle 623 while navigating the MD can include, but is not limited to
including, nav/PCL
data processor 607F receiving and segmenting PCL data 655 from PCL processor
611A,
identifying at least one plane within the segmented PCL data 655, and
identifying at least
one obstacle 623 within the at least one plane. Obstacle processor 607A can
further include
distance processor 607E determining 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 determine distance 621 between the MD and at least one
obstacle 623
based at least on at least one situation identifier 624. Moving object
processor 607D and/or
stationary object processor 607C can access at least one allowed command
related to
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, from automatic response list 627, associated with the at
least one
allowed command. Moving object processor 607D and/or stationary object
processor 607C
can access at least one movement command 630 including, for example,
speed/signal
command and direction command/signal, and map at least one movement command
630
with one of the at least one allowed commands. Moving object processor 607D
and/or
stationary object processor 607C can provide at least one movement command 630
and the
at least one automatic response associated with the mapped allowed command to
the mode-
dependent processors.
[00680] Continuing to refer to FIG. 29D, stationary object processor 607C can
optionally
perform any special processing necessary when encountering at least one
stationary object,
and moving object processor 607D can optionally perform any special processing
necessary when encountering at least one moving object. Distance processor
607E can
optionally process distance 621 that can be a fixed and/or a dynamically-
varying amount.
At least one movement command 630 can optionally include a follow command, a
pass
command, a travel-beside command, a move-to-position command, and a do-not-
follow
command. Nav/PCL processor 607F can optionally store obstacles 623, for
example, but
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not limited to, in local storage 607H and/or on storage cloud 607G, and can
allow access to
the stored obstacles 623 by systems external to the MD such as, for example,
but not limited
to, external applications 140 (FIG. 16B). PCL processor 611A can optionally
collect sensor
data 147 (FIG. 29A) from at least one time-of-flight camera mounted on the MD,
and can
analyze sensor data 147 (FIG. 29A) using a point cloud library (PCL) to yield
PCL data
655. Moving object processor 607D can optionally track the at least one moving
object
using navigation information 653 collected by simultaneous location and
mapping (SLAM)
processor 609A based on the location of the MD, identify the at least one
plane using, for
example, but not limited to, random sample consensus and a PCL library, and
can provide at
least one movement command 630 based on the at least one automatic response
associated
with the mapped allowed command to the mode-dependent processors. Obstacle
processor
607A can optionally receive a resume command, and provide, following the
resume
command, at least one movement command 630 based on the at least one automatic
response associated with the mapped allowed command to the mode-dependent
processors.
The at least one automatic response can optionally include a speed control
command. For
example, if joystick 70007 (FIG. 12A) indicates a direction that could
position the MD in a
collision course with obstacle 623, such as, for example, a wall, the at least
one automatic
response can include speed control to protect the MD from a collision. The at
least one
automatic response could be overridden by a contrary user command, for
example, joystick
70007 (FIG. 12A) could be released and movement of the MD could be halted.
Joystick
70007 (FIG. 12A) could then be re-engaged to restart movement of the MD
towards
obstacle 623.
[00681] Referring now primarily to FIGs. 29E-29H, environmental information
651 (FIG.
29A) can be received from sensors 147 (FIG. 29A). The MD can process
environmental
information 651 (FIG. 29A). In some configurations, PCL processor 611A (FIG.
29A) can
process environmental information 651 (FIG. 29A) using, for example, and
depending upon
sensor 147 (FIG. 29A), point cloud library (PCL) functions. As the MD moves
along travel
path 2001B (FIG. 29H) around potential obstacles 2001A, sensors 147 (FIG. 29A)
can
detect a cloud of points from, for example, and depending upon sensor 147
(FIG. 29A), box
2005 (FIGs. 29G-29H) that can include data that could take the shape of
frustum 2003A
(FIGs. 29F-29H). A sample consensus method, for example, but not limited to,
the random
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sample consensus method, from, for example, but not limited to, the PCL, can
be used to
find a plane among the cloud of points. The MD can create a projected cloud
and can
determine point cloud inliers, and from these, determine a centroid of the
projected cloud.
Central reference point 148 can be used to determine the location of
environmental features
with respect to the MD. For example, whether the MD is moving towards or away
from an
obstacle, or where a door hinge is with respect to the MD can be determined
based on the
location of central reference point 148. Sensors 147 (FIG. 29A) can include,
for example,
time-of-flight sensor 147A.
[00682] Referring now primarily to FIG. 291, method 750 for enabling the MD to
navigate
stairs can include, but is not limited to including, receiving 1251 at least
one stair command,
and receiving 1253 environmental information 651 (FIG. 29A) from sensors 147
(FIG.
29A) mounted on the MD through obstacle processor 607A (FIG. 29A). Method 750
can
further include locating 1255, based on environmental information 651 (FIG.
29A), at least
one of staircases 643 (FIG. 29J) within environmental information 651 (FIG.
29A), and
receiving 1257 selection of selected staircase 643A (FIG. 29J) from the at
least one of
staircases 643 (FIG. 29J). Method 750 can still further include measuring 1259
at least one
characteristic 645 (FIG. 29J) of selected staircase 643A (FIG. 29J), and
locating 1261,
based on environmental information 651 (FIG. 29J), obstacles 623 (FIG. 29J),
if any, on
selected staircase 643A (FIG. 29J). Method 750 can also include locating 1263,
based on
environmental information 651 (FIG. 29J), a last stair of selected staircase
643A (FIG. 29J),
and providing 1265 movement commands 630 (FIG. 29J) to move the MD on selected
staircase 643A (FIG. 29J) based on the measured at least one characteristic
645 (FIG. 29J),
the last stair, and obstacles 623 (FIG. 29J), if any. If 1267 the last stair
has not been
reached, method 750 can continue providing movement commands 630 (FIG. 29J) to
move
the MD. Method 750 can optionally include locating at least one of staircases
643 (FIG.
29J) based on GPS data, and building and saving a map of selected staircase
643A (FIG.
29J) using, for example, but not limited to, SLAM. Method 750 can also
optionally include
accessing geometry 649 (FIG. 29J) of the MD, comparing geometry 649 (FIG. 29J)
to at
least one of characteristics 645 (FIG. 29J) of selected staircase 643A (FIG.
29J), and
modifying the step of navigating based on the step of comparing. At least one
of
characteristics 645 (FIG. 29J) can optionally include the height of at least
one riser of
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selected staircase 643A (FIG. 29J), the surface texture of the at least one
riser, and the
surface temperature of the at least one riser. Method 750 can optionally
include generating
an alert if the surface temperature falls outside of a threshold range and the
surface texture
falls outside of a traction set. The threshold range can optionally include
temperatures
below 33 F. The traction set can optionally include a carpet texture. Method
750 can
further include determining, based on environmental information 651 (FIG.
29J), the
topography of an area surrounding selected staircase 643A (FIG. 29J), and
generating an
alert if the topography is not flat. Method 750 can still further optionally
include accessing
a set of extreme circumstances.
[00683] Referring now primarily to FIG. 29J, automated navigation of stairs
can be
enabled by stair processor 605C for enabling the MD to navigate stairs.
Sensors 147 (FIG.
29A) on the MD can determine if any environmental information 651 (FIG. 29A)
includes
at least one staircase 643. In conjunction with any automatic determination of
a location of
at least one staircase 643, UI data 633 can include the selection of stair
mode 100-4 (FIG.
22B) which can invoke an automatic, semi-automatic, or semi-manual stair-
climbing
process. Either automatic location of at least one staircase 643 or reception
of UI data 633
can invoke stair processor 605C for enhanced stair navigation functions. Stair
processor
605C can receive data from obstacle processor 607A such as, for example, at
least one
obstacle 623, distance 621 to at least one obstacle 623, situation 624,
navigation information
653, and geometry information 649 for the MD. Navigation information can
include, but is
not limited to including, a possible path for the MD to traverse. At least one
obstacle 623
can include, among other obstacles, at least one staircase 643. Stair
processor 605C can
locate at least one staircase 643, and can either automatically or otherwise
determine
selected staircase 643A based on, for example, but not limited to, navigation
information
653 and/or UI data 633 and/or MD geometry information 649. Characteristics 645
of
selected staircase 643A, such as, for example, riser information, can be used
to determine a
first stair and distance to next stair 640. Stair processor 605C can determine
movement
commands 630 of the MD based on, for example, but not limited to,
characteristics 645,
distance 621, and navigation information 647. Movement processor 603A can move
the
MD based on movement commands 630, and distance to next stair 640, and can
transfer
control to sensor processing 661 after a stair from selected staircase 643A
has been
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traversed. Sensor processing 661 can either proceed with navigating selected
staircase
643A or can continue following the path set out by navigation information 653,
depending
upon whether the MD has completed traversing selected staircase 643A. While
the MD is
traversing selected staircase 643A, obstacle processor 607A can detect
obstacles 623 on
selected staircase 643A and stair processor 605C can provide movement commands
630 to
avoid obstacles 623. Locations of obstacles 623 can be stored for future use
locally to the
MD and/or external to the MD.
[00684] Continuing to refer primarily to FIG. 29J, stair processor 605C can
include, but is
not limited to including, staircase processor 641B receiving at least one
stair command
included in UI data 633, and staircase locator 641A receiving environmental
information
651 (FIG. 29A) from sensors 147 (FIG. 29A) mounted on the MD through obstacle
processor 607A (FIG. 29A). Staircase locator 641A can further locate, based on
environmental information 651 (FIG. 29A), at least one of staircases 643
within
environmental information 651 (FIG. 29A), and can receive the choice of
selected staircase
643A from at least one of staircases 643. Selected staircase 643A can be
stored in storage
643B for possible future use. Stair characteristics processor 641C can measure
at least one
of characteristics 645 of selected staircase 643A, and can locate, based on
environmental
information 651, at least one obstacle 623, if any, on selected staircase
643A. Stair
movement processor 641D can locate, based on environmental information 651, a
last stair
of selected staircase 643A, and provide to movement processor 603A movement
commands
630 for the MD to move on selected staircase 643A based on the measured at
least one of
characteristics 645, the last stair, and at least one obstacle 623, if any.
Staircase locator
641A can optionally locate at least one of staircases 643 based on global
positioning system
(GPS) data, and can build and save a map of selected staircase 643A using
SLAM. The
map can be saved for use locally to the MD, and/or for use by other devices.
Staircase
processor 641B can optionally access geometry 649 of the MD, compare geometry
649 to at
least one of characteristics 645 of selected staircase 643A, and can modify
the navigation of
the MD based on the comparison. Staircase processor 641B can optionally
generate an alert
if the surface temperature of the risers of selected staircase 643A falls
outside of a threshold
range and the surface texture of selected staircase 643A falls outside of a
traction set. Stair
movement processor 641D can optionally determine, based on environmental
information
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651 (FIG. 29A), the topography of an area surrounding selected staircase 643A,
and can
generate an alert if the topography is not flat. Stair movement processor 641D
can
optionally access a set of extreme circumstances.
[00685] Referring now primarily to FIGs. 29K-29L, method 850 for negotiating
door 675
(FIG. 29M) while maneuvering the MD, where door 675 (FIG. 29M) can include a
door
swing, a hinge location, and a doorway, can include, but is not limited to
including,
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)
can include geometry of the MD. Method 850 can include identifying 1353 (FIG.
29K) at
least one plane within the segmented sensor data, and identifying 1355 (FIG.
29K) door 675
(FIG. 29M) within the at least one plane. Method 850 can further include
measuring 1357
(FIG. 29K) door 675 (FIG. 29M) to provide door measurements. Method 850 can
also
include determining 1361 (FIG. 29K) the door swing. Method 850 can further
include
providing 1363 (FIG. 29L) at least one movement command 630 (FIG. 29M) to move
the
MD for access to a handle of door 675 (FIG. 29M), and providing 1365 (FIG.
29L) at least
one movement command 630 (FIG. 29M) to move the MD away from door 675 (FIG.
29M), as door 675 (FIG. 29M) opens, by a distance based on the door
measurements. If
door 675 (FIG. 29M) swings in, method 850 can include providing at least one
movement
command to move the MD against door 675 (FIG. 29M), thus positioning door 675
(FIG.
29M) for movement of the MD through the doorway. Method 850 can also include
providing 1367 (FIG. 29L) at least one movement command 630 (FIG. 29M) to move
the
MD forward through the doorway, the MD maintaining door 675 (FIG. 29M) in an
open
position, if the door swing is towards the MD.
[00686] Referring now to FIG. 29M, sensor processing 661 can determine,
through
information from sensors 147 (FIG. 29A), the hinge side of door 675, and the
direction,
angle, and distance of door. Movement processor 603A can generate commands to
the MD
such as start/stop turning left, start/stop turning right, start/stop moving
forward, start/stop
moving backwards, and can facilitate door mode 605A by stopping the MD,
cancelling the
goal that the MD can be aiming to complete, and centering joystick 70007 (FIG.
12A).
Door processor 671B can determine whether door 675 is, for example, push to
open, pull to
open, or a slider. Door processor 671B can determine the width of door 675 by
determining
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the current position and orientation of the MD, and determining the x/y/z
location of the
door pivot point. If door processor 671B determines that the number of valid
points in the
image of door 675 derived from obstacles 623 and/or PCL data 655 (FIG. 29A) is
greater
than a threshold, door processor 671B can determine the distance from the MD
to door 675.
Door processor 671B can determine if door 675 is moving based on successive
samples of
PCL data 655 (FIG. 29A) from sensor processor 661. In some configurations,
door
processor 671B can assume that a side of the MD is even with the handle side
of door 675,
and can use that assumption, along with the position of the door pivot point,
to determine
the width of door 675.
[00687] Continuing to refer primarily to FIG. 29M, if the movement of door 675
is
towards the MD, door movement processor 671D can generate and provide movement
commands 630 to movement processor 603A to move the MD backward by a pre-
determined or dynamically-determined percentage of the amount door 675 is
moving.
Movement processor 603A can provide movement commands 630 to the MD, and the
MC
can accept GUI data 633A and provide GUI data 633A to movement processor 603A.
If
door 675 is moving away from the MD, door movement processor 671D can generate
movement commands 630 to direct the MD to move forward by a pre-determined or
dynamically-determined percentage of the amount that door 675 moves. The
amount the
MD moves either forward or backward can be based on the width of door 675.
Door
processor 671B can locate the side of door 675 that provides the open/close
function 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 sensors 147 (FIG. 16B). 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 pre-selected amount of time for the
move of the
MD to complete, and door movement processor 671D can generate movement
commands
630 to adjust the location of the MD based on the position of door 675. Door
processor
671B can determine the door angle and the door pivot point. Door processor
671B can
determine if door 675 is stationary, can determine if door 675 is moving, and
can determine
the direction door 675 is moving. When door mode 605A is complete, door
movement
processor 671D can generate movement commands 630 that can direct the MD to
discontinue movement.
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[00688] Continuing to still further refer primarily to FIG. 29M, door mode
605A for
negotiating door 675 while maneuvering the MD, where door 675 can include a
door swing,
a hinge location, and a doorway, can include, but is not limited to including,
sensor
processing 661 receiving and segmenting environmental information 651 from
sensors 147
(FIG. 29A) mounted on the MD, where environmental information 651 can include
geometry 649 of the MD. Door mode 605A can also include door locator 671A
identifying
at least one plane within the segmented sensor data, and identifying door 675
within the at
least one plane. Door processor 671B can include measuring door 675 to provide
door
measurements 645A. Door movement processor 671D can provide at least one
movement
command 630 to move the MD away from door 675 if door measurements 645A are
smaller
than geometry 649 of the MD. Door processor 671B can also include determining
the door
swing, and door movement processor 671D can provide at least one movement
command
630 to move the MD forward through the doorway. The MD can open door 675 and
maintain door 675 in an open position if the door swing is away from the MD.
Door
movement processor 671D can provide at least one movement command 630 to move
the
MD for access to a handle of door 675, and can provide at least one movement
command
630 to move the MD away from door 675, as door 675 opens, by a distance based
on door
measurements 645A. Door movement processor 671D can provide at least one
movement
command 630 to move the MD forward through the doorway. The MD can maintain
door
675 in an open position if the door swing is towards the MD.
[00689] Referring now to FIG. 29N, the MD can automatically negotiate using
rest room
facilities. The MD can automatically locate a door to a rest room, and to a
rest room stall, if
there are multiple doors, can automatically generate movement commands 630
(FIG. 290)
to move the MD through the door(s), and can automatically position the MD
relative to rest
room fixtures. After use of the rest room fixtures is complete, the MD can
automatically
locate the door(s) and automatically generate movement commands 630 (FIG. 290)
to
move the MD through the door(s) to exit the rest room stall and/or rest room.
Method 950
for negotiating, in the MD, a rest room stall in a rest room, where the rest
room stall can
have door 675 (FIG. 290), and door 675 (FIG. 290) can have a door threshold
and a door
swing, can include, but is not limited to including, providing 1451 at least
one movement
command 630 (FIG. 290) to cause the MD to traverse the door threshold entering
the rest
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room. Method 950 can also include providing 1453 at least one movement command
630
(FIG. 290) to position the MD for accessing an egress handle of the door, and
providing
1455 at least one movement command 630 (FIG. 290) to move the MD away from
door
675 (FIG. 290), as door 675 (FIG. 290) closes, if the door swing is towards
the MD.
Method 950 can also include providing 1457 at least one movement command 630
(FIG.
290) to move the MD (FIG. 100) toward door 675 (FIG. 290), as door 675 (FIG.
290)
closes, if the door swing is away from the MD, and providing 1459 at least one
movement
command 630 (FIG. 290) to position the MD alongside a first rest room fixture.
Method
950 can include providing 1461 at least one movement command 630 (FIG. 290) to
stop
the MD, and can include providing 1463 at least one movement command 630 (FIG.
290)
to position the MD near a second rest room fixture. Method 950 can include
providing
1465 at least one movement command 630 (FIG. 290) to traverse the door
threshold to exit
the rest room stall.
[00690] Continuing to refer primarily to FIG. 29N, automatically traversing
the door
threshold can optionally include, but is not limited to including, receiving
and segmenting
1351 (FIG. 29K) environmental information 651 (FIG. 29A) from sensors 147
(FIG. 29A)
mounted on the MD. Environmental information 651 (FIG. 10) can include
geometry of the
MD. Automatically traversing the door threshold can also optionally include
identifying
1353 (FIG. 29K) at least one plane within the segmented sensor data, and
identifying 1355
(FIG. 29K) door 675 (FIG. 29M) within the at least one plane. Automatically
traversing the
door threshold can further optionally include measuring 1357 (FIG. 29K) door
675 (FIG.
29M) to provide door measurements, and providing 1359 (FIG. 29K) at least one
movement
command 630 (FIG. 290) to move the MD away from door 675 (FIG. 29M) if the
door
measurements are smaller than geometry 649 (FIG. 29M) of the MD. Automatically
traversing the door threshold can also optionally include determining 1361
(FIG. 29K) the
door swing, and providing 1363 (FIG. 29K) at least one movement command 630
(FIG.
290) to move the MD forward through the doorway, the MD opening door 675 (FIG.
29M)
and maintaining door 675 (FIG. 1A) in an open position, if the door swing is
away from the
MD. Automatically traversing the door threshold can further optionally include
providing
1365 (FIG. 29L) at least one movement command 630 (FIG. 290) to move the MD
for
access to a handle of the door, and providing 1367 (FIG. 29L) at least one
movement
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command 630 (FIG. 290) to move the MD away from door 675 (FIG. 29M), as door
675
(FIG. 29M) opens, by a distance based on the door measurements. Automatically
traversing
the door threshold can also optionally include providing 1369 (FIG. 29L) at
least one
movement command 630 (FIG. 290) to move the MD forward through the doorway,
the
MD maintaining door 675 (FIG. 29M) in an open position, if the door swing is
towards the
MD. Method 950 can optionally include automatically locating the rest room,
and
automatically driving the MD to the rest room. SLAM techniques can optionally
be used to
locate a destination, for example, a rest room. The MD can optionally access a
database of
frequently-visited locations, can receive a selection one of the frequently-
visited locations,
and can provide at least one movement command 630 (FIG. 290) to move the MD to
the
selected location which can include, for example, but not limited to, a rest
room.
[00691] Referring now to FIG. 290, rest room mode 605B for negotiating, in the
MD, a
rest room stall in a rest room, where the rest room stall can have a door, and
the door can
have a door threshold and a door swing, can include, but is not limited to
including, door
mode 605A providing at least one movement command 630 to cause the MD to
traverse the
door threshold entering the rest room. The rest room can also include fixtures
such as for
example, but not limited to, toilets, sinks, and changing tables. Entry/exit
processor 681C
can provide at least one movement command 630 to position the MD for accessing
an
egress handle of the door, and can providing at least one movement command 630
to move
the MD away from the door, as the door closes, if the door swing is towards
the MD.
Entry/exit processor 681C can provide at least one movement command 630 to
move the
MD toward door 675, as door 675 closes, if the swing of door 675 is away from
the MD.
Fixture processor 681B can provide at least one movement command 630 to
position the
MD alongside a first rest room fixture, and can provide at least one movement
command to
stop the MD. Fixture processor 681B can also provide at least one movement
command
630 to position the MD near a second rest room fixture. Entry/exit processor
681C can
provide at least one movement command 630 to traverse the door threshold to
exit the rest
room stall.
[00692] Referring now to FIGs. 29P and 29Q, method 1051 for automatically
storing the
MD in a vehicle, such as, for example, but not limited to, an accessible van,
can assist a user
in independent use of the vehicle. When the user exits the MD and enters the
vehicle,
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possibly as the vehicle's driver, the MD can remain parked outside of the
vehicle. If the
MD is to accompany the user in the vehicle for later use, mobile park mode
605E (FIG.
29R) can provide movement commands 630 (FIG. 29R) to the MD to cause the MD to
store
itself either automatically or upon command, and to be recalled to the door of
the vehicle as
well. The MD can be commanded to store itself through commands received from
external
applications 140 (FIG. 16B), for example. In some configurations, a computer-
driven
device such as a cell phone, laptop, and/or tablet can be used to execute
external application
140 (FIG. 16B) and generate information that could ultimately control the MD.
In some
configurations, the MD can automatically proceed to mobile park mode 605E
after the user
exits the MD when the MD has been placed in park mode by, for example, the
user.
Movement commands 630 (FIG. 29R) can include commands to locate the door of
the
vehicle at which the MD will enter to be stored, and to direct the MD to the
door. Mobile
park mode 605E (FIG. 29R) can determine error conditions such as, for example,
but not
limited to, if the door is too small for the MD to enter and can alert the
user of the error
condition through, for example, but not limited to, 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, mobile park mode 605E (FIG. 29R) can provide
vehicle
control commands to command the vehicle to open the door. Mobile park mode
605E (FIG.
29R) can determine when the vehicle door is open and whether or not there is
space for the
MD to be stored. Mobile park mode 605E (FIG. 29R) can invoke obstacle
processing 607A
(FIG. 29M) to assist in determining the status of the vehicle door and if
there is room in the
vehicle to store the MD. If mobile park mode 605E (FIG. 29R) determines that
there is
enough room for the MD, mobile park mode 605E (FIG. 29R) can provide movement
commands 630 (FIG. 29R) to move the MD into the storage space in the vehicle.
Mobile
park mode 605E (FIG. 29R) can provide vehicle control commands to command the
vehicle
to lock the MD into place, and to close the vehicle door. When the MD is again
needed,
external application 140 (FIG. 16B), for example, can be used to invoke mobile
park mode
605E. Mobile park mode 605E (FIG. 29R) can recall the status of the MD and can
begin
processing by providing vehicle control commands to command the vehicle to
unlock the
MD and open the door of the vehicle. Mobile park mode 605E (FIG. 29R) can once
again
locate the door of the vehicle, or can access the location of the door from,
for example, local
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storage 607H (FIG. 29M) and/or cloud storage 607G (FIG. 29M). Mobile park mode
605E
(FIG. 29R) can provide movement commands 630 (FIG. 29R) to move the MD through
the
vehicle door and to the passenger door to which it had been summoned by, for
example,
external application 140 (FIG. 16B). In some configurations, the vehicle can
be tagged in
places such as, for example, the entry door for storage of the MD. Mobile park
mode 605E
can recognize the tags, such as, for example, but not limited to, fiducials,
bar codes, and/or
QR CODES tags, and can execute the method described herein as a result of
recognizing
the tags. Other tags can be included, such as tags within the storage
compartment to
indicate the proper storage location and tags on vehicle passenger doors. The
tags can be
radio frequency identification (RFID) enabled, for example, and the MD can
include an
RFID reader.
[00693] Continuing to refer primarily to FIGs. 29P and 29Q, method 1051 for
automatically storing the MD in a vehicle can include, but is not limited to
including,
providing 1551 at least one movement command 630 (FIG. 29R) to locate the door
of the
vehicle at which the MD will enter to be stored in a storage space in the
vehicle, and
providing 1553 at least one movement command 630 (FIG. 29R) to direct the MD
to the
door. If 1555 the vehicle door is wide enough for the MD to enter, method 1051
can
include providing 1557 at least one vehicle control command to command the
vehicle to
open the door. If 1559 the door is open and if 1561 there is room in the
vehicle to store the
MD, method 1051 can include providing 1563 at least one movement command 630
(FIG.
29R) to move the MD into the storage space in the vehicle. Method 1051 can
include
providing 1565 at least one vehicle control command to command the vehicle to
lock the
MD into place, and to close the door of the vehicle. If 1555 the vehicle door
is not wide
enough, or if 1559 the vehicle door is not open, or if 1561 there is no space
for the MD,
method 1051 can include alerting 1567 the user, and providing 1569 at least
one movement
command 630 (FIG. 29R) to return the MD to the user.
[00694] Continuing to refer primarily to FIGs. 29P and 29Q, the at least one
movement
command 630 (FIG. 29R) to store the MD can be received from external
application 140
(FIG. 16B) and/or automatically generated. Method 1051 can optionally include
alerting
the user of error conditions through, for example, but not limited to, an
audio alert through
audio interface 150A (FIG. 16B) and/or a message to external application 140
(FIG. 16B).
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Method 1051 can optionally invoke obstacle processing 607A (FIG. 29M) to
assist in
locating the door of the vehicle, to determine if there is enough room in the
vehicle to store
the MD, and to locate any locking mechanism in the vehicle. When the MD is
again
needed, that is, when the user has arrived at a destination in the vehicle,
external application
140 (FIG. 1A), for example, can be used to invoke the MD. Method 1051 can
include
recalling the status of the MD and can include providing vehicle control
commands to
command the vehicle to unlock the MD and open the door of the vehicle. Method
1051 can
include locating the door of the vehicle, or can include accessing the
location of the vehicle
door from, for example, local storage 607H (FIG. 29M) and/or cloud storage
607G (FIG.
29M). Method 1051 can include providing movement commands 630 (FIG. 29R) to
move
the MD through the vehicle door and to the passenger door to which it had been
summoned
by, for example, but not limited to, external application 140 (FIG. 16B).
[00695] Referring now to FIG. 29R, mobile park mode 605E can include, but is
not
limited to including, vehicle door processor 691D that can provide at least
one movement
command 630 to locate door 675 of the vehicle at which the MD will enter to be
stored in a
storage space in the vehicle. Vehicle door processor 691D can also provide at
least one
movement command 630 to direct the MD to door 675. If door 675 is wide enough
for the
MD to enter, vehicle command processor 691C can provide at least one vehicle
control
command to command the vehicle to open door 675. If door 675 is open and if
there is
room in the vehicle to store the MD, space processor 691B can provide at least
one
movement command 630 to move the MD into the storage space in the vehicle.
Vehicle
command processor 691C can provide at least one vehicle control command to
command
the vehicle to lock the MD into place, and to close door 675 of the vehicle.
If door 675 is
not wide enough, or if door 675 is not open, or if there is no space for the
MD, error
processor 691E can alert the user, and can provide at least one movement
command 630 to
return the MD to the user.
[00696] Continuing to refer to FIG. 29R, vehicle door processor 691D can
optionally
recall the status of the MD, and vehicle command processor 691C can provide
vehicle
control commands to command the vehicle to unlock the MD and open door 675 of
the
vehicle. Vehicle door processor 691D can once again locate door 675 of the
vehicle, or can
access the location of door 675 from, for example, local storage 607H (FIG.
29M) and/or
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cloud storage 607G (FIG. 29M), and/or door database 673B. Vehicle door
processor 691D
can provide movement commands 630 to move the MD through door 675 and to the
passenger door to which it had been summoned by, for example, external
application 140
(FIG. 16B).
[00697] Referring now primarily to FIG. 29S, method 1150 for
storing/recharging the MD
can assist the user in storing and possibly recharging the MD. For example,
the MD could
be recharged when the user sleeps. After the user exits the MD, commands can
be initiated
at, for example, external application 140 (FIG. 16B), to move perhaps
riderless the MD to a
storage/docking area. In some configurations, a mode selection by the user
while the user
occupies the MD can initiate automatic storage/docking functions after the
user has exited
the MD. When the MD is again needed, commands can be initiated by external
application
140 (FIG. 16B) to recall the MD to the user. Method 1150 can include, but is
not limited to
including, locating 1651 at least one storage/charging area, and providing
1655 at least one
movement command 630 (FIG. 29T) to move the MD from a first location to the
storage/charging area. Method 1150 can include locating 1657 a charging dock
in the
storage/charging area and providing 1663 at least one movement command 630
(FIG. 29T)
to couple the MD with the charging dock. Method 1150 can optionally include
providing at
least one movement command 630 (FIG. 29T) to move the MD to the first location
when
the MD receives an invocation command. If 1653 there is no storage/charging
area, or if
1659 there is no charging dock, or if 1666 the MD cannot couple with the
charging dock,
method 1150 can optionally include providing 1665 at least one alert to the
user, and
providing 1667 at least one movement command 630 (FIG. 29T) to move the MD to
the
first location.
[00698] Referring now to FIG. 29T, static storage/charging mode 605F can
include, but is
not limited to including, storage/charging area processor 702A that can locate
at least one
storage/charging area, and can provide at least one movement command 630 to
move the
MD from a first location to storage/charging area. Coupling processor 702D can
locate a
charging dock in storage/charging area, and can provide at least one movement
command
630 to couple the MD with the charging dock. Return processor 702B can
optionally
provide at least one movement command 630 to move the MD to the first location
when the
MD receives an invocation command. If there is no storage/charging area, or if
there is no
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charging dock, or if the MD cannot couple with the charging dock, error
processor 702E
can optionally provide at least one alert to the user, and can providing at
least one
movement command 630 to move the MD to the first location.
[00699] Referring now to FIG. 29U, method 1250 for negotiating an elevator
while
maneuvering the MD can assist a user in getting on and off elevator 685 (FIG.
29V) in the
MD. Sensor processing 661 can be used to locate elevator 685 (FIG. 29V), for
example, or
elevator location 685A (FIG. 29V) can be determined from local storage 607H
(FIG. 29M)
and/or storage cloud 607G (FIG. 29M). When elevator 685 (FIG. 29V) is located,
and
when the user selects the desired elevator direction, and when elevator 685
(FIG. 29V)
arrives and the door opens, elevator mode 605D (FIG. 29V) can provide movement
commands 630 (FIG. 29V) to move the MD into elevator 685 (FIG. 29V). The
geometry
of elevator 685 (FIG. 29V) can be determined and movement commands 630 (FIG.
29V)
can be provided to move the MD into a location that makes it possible for the
user to select
a desired activity from the elevator selection panel. The location of the MD
can also be
appropriate for exiting elevator 685 (FIG. 29V). When the elevator door opens,
movement
commands 630 (FIG. 29V) can be provided to move the MD to fully exit elevator
685 (FIG.
29V). Method 1250 can include, but is not limited to including, locating
elevator 685 (FIG.
29V), where elevator 685 (FIG. 29V) has an elevator door and an elevator
threshold
associated with the elevator door. Method 1250 can include providing at least
one
movement command 630 (FIG. 29V) to move the MD through the elevator door
beyond the
elevator threshold. Method 1250 can also include determining the geometry of
elevator
685 (FIG. 29V), and providing at least one movement command 630 (FIG. 29V) to
move
the MD into a floor selection/exit location relative to the elevator
threshold. Method 1250
can also include providing at least one movement command 630 (FIG. 29V) to
move the
MD across and beyond the elevator threshold to exit elevator 685 (FIG. 29V).
[00700] Referring now primarily to FIG. 29V, elevator mode 605D can include,
but is not
limited to including, elevator locator 711A that can locate elevator 685
having an elevator
door and an elevator threshold associated with the elevator door. Elevator
locator 711A can
save obstacles 623, elevators 685, and elevator locations 685A in elevator
database 683B,
for example. Elevator database 683B can be located locally or remotely from MD
120.
Entry/exit processor 711B can provide at least one movement command 630 to
move the
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MD through the elevator door beyond the elevator threshold to either enter or
exit elevator
685. Elevator geometry processor 711D can determine the geometry of elevator
685.
Entry/exit processor 711B can provide at least one movement command 630 to
move the
MD into a floor selection/exit location relative to the elevator threshold.
[00701] Referring now primarily to FIG. 30A, system serial bus (SSB) 143 (FIG.
16B)
can provide communications through use of, for example, a CANbus protocol.
Devices
connected to SSB 143 (FIG. 16B) can be programmed to respond/listen to
specific
messages received, processed, and transmitted by SSB messaging 130F (FIG.
16B).
Messages can include packets, which can include, but are not limited to
including, data and
a CANbus device identification that can identify the source of the packet.
Devices
receiving CANbus packets can ignore invalid CANbus packets. When an invalid
CANbus
packet is received, the received device can take alternative measures,
depending on, for
example, the current mode of the MD, the previous CANbus messages, and the
receiving
device. The alternate measures can, for example, maintain stability of the MD.
The bus
master of SSB 143 (FIG. 16B) can transmit master sync packet 901 to establish
a bus alive
sequence on a frame basis and synchronize the time base. (Powerbase processor)
PBP Al
43A (FIG. 18C), for example, can be designated the master of SSB 143 (FIG.
16B), and
PBP B1 43C (FIG. 18D), for example, can be designated as the secondary master
of SSB
143 (FIG. 16B) if PBP Al 43A (FIG. 18C) is no longer transmitting on the bus.
The
master of SSB 143 (FIG. 16B) can transmit master sync packet 901 at a periodic
rate, for
example, but not limited to, every 20 ms +/- 1%. Devices communicating using
SSB 143
(FIG. 16B) can synchronize the transmitting of messages to the beginning of
master sync
packet 901. PSC packets 905 can include data originated by PSC 11 (FIG. 16B),
and PBP
packets 907 can include data originated by PBP 100 (FIG. 16B).
[00702] Referring now primarily to FIG. 30B, user control packets 903 can
include
header, message ID, and data for messages traveling primarily to and from
external
applications 140 (FIG. 16B) wirelessly, for example, but not limited to, using
a
BLUETOOTH protocol. User control packets 903 (FIG. 30A) can include, for
example,
packet format 701. Packet format 701 can include, but is not limited to
including, status
701A, error device identification 701B, mode requested 701C, control out 701D,
commanded velocity 701E, commanded turn rate 701F, seat control 701G, and
system data
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701H. Status 701A can include, but is not limited to including, possibilities
such as, for
example, self test in progress, device okay, non-fatal device failure (data
OK), and fatal
device failure in which receiving devices can ignore the data in the packet.
If UC 130, for
example, receives a device failure status, UC 130 can post an error to, for
example, a
graphical user interface (GUI) on UC 130 (FIG. 12A). Error device ID 701B can
include
the logical ID of the device for which received communications has been
determined to be
erroneous. Error device ID 701B can be set to zero when no errors are
received.
[00703] Referring now primarily to FIG. 30C, mode requested code 701C (FIG.
30B) can
be defined such that a single bit error may not indicate another valid mode.
For example,
mode codes can include, but are not limited to including, self-test, standard,
enhanced or 4-
wheel, stair, balance, docking, remote, calibration, update, power off, power
on, fail safe,
recovery, flasher, door, mobile storage, static storage/charging, rest room,
elevator, and
enhanced stair, the meanings of which are discussed herein. Mode requested
code 701C can
indicate if the mode being requested should be processed to (1) either
maintain the current
mode or execute an allowed mode change or (2) enable situation-dependent
processing. In
some configurations, special situations can require automatic control of the
MD. For
example, the MD can transition from stair mode 100-4 (FIG. 22B) automatically
to
enhanced mode 100-2 (FIG. 22B) when the MD has reached a top landing of a
staircase. In
some configurations, the MD can, for example, but not limited to, modify the
response of
the MD to commands from joystick 70007 (FIG. 12A), for example, by setting the
MD to a
particular mode. In some configurations, the MD can automatically be set to a
slow driving
mode when the MD is transitioned out of stair mode 100-4 (FIG. 22B). In some
configurations, when the MD transitions from stair mode 100-4 (FIG. 22B)
automatically to
enhanced mode 100-2 (FIG. 22B), joystick 70007 (FIG. 12A) can be disabled.
When a
mode is selected through, for example, but not limited to, user entry, mode
availability can
be determined based at least in part on current operating conditions.
[00704] Continuing to refer primarily to FIG. 30C, in some configurations, if
a transition
is not allowed to a user-selected mode from the current mode, the user can be
alerted.
Certain modes and mode transitions can require user notification and possibly
user
assistance. For example, adjustments to the seat can be needed when
positioning the MD
for a determination of the center of gravity of the MD along with the load on
the MD. The
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user can be prompted to perform specific operations based on the current mode
and/or the
mode to which the transition can occur. In some configurations, the MD can be
configured
for, for example, but not limited to, fast, medium, medium dampened, or slow
speed
templates. The speed of the MD can be modified by using, for example, speed
template 700
(FIG. 25A) relating output 703 (FIG. 25A) (and wheel commands) to joystick
displacement
702 (FIG. 25A).
[00705] Referring now to FIG. 30D, control out 701D (FIG. 30B) can include,
but is not
limited to including, indications such as, for example, but not limited to, OK
to power down
801A, drive selection 801B, emergency power off request 801C, calibration
state 801D,
mode restriction 801E, user training 801F, and joystick centered 801G. In some
configurations, OK to power down 801A can be defined to be zero if power down
is not
currently allowed, and drive selection 801B can be defined to specify motor
drive 1 (bit 6 =
0) or motor drive 2 (bit 6 = 1). In some configurations, emergency power off
request 801C
can be defined to indicate if an emergency power off request is normal (bit 5
= 0), or an
emergency power off request sequence is in process (bit 5 = 1), and
calibration state 801D
can be defined to indicate a request for user calibration (bit 4 = 1). In some
configurations,
mode restriction 801E can be defined to indicate whether or not there are
restrictions for
entering a particular mode. If the mode can be entered without restriction,
bit 3 can be zero.
If there are restrictions to entering a mode, for example, but not limited to,
balance-critical
modes can require certain restrictions to maintain the safety of the passenger
of the MD, bit
3 can be one. User training 801F can be defined to indicate if user training
is possible (bit 2
= 1), or not (bit 2 = 0), and joystick centered 801G can be defined to
indicate if joystick
70007 (FIG. 12A) is centered (bits 0-1 = 2), or not (bits 0-1 = 1).
[00706] Referring again primarily to FIG. 30B, commanded velocity 701E can
include,
for example, a value representing forward or reverse speed. Forward velocity
can include a
positive value and reverse velocity can be a negative value, for example.
Commanded turn
rate 701F can include a value representing a left or right commanded turn
rate. A left turn
can include a positive value and a right turn can include a negative value.
The value can
represent the differential velocity between the left and right of wheels 21201
(FIG. 1A)
equivalently scaled to commanded velocity 701E.
[00707] Referring again primarily to FIG. 30D, joystick 70007 (FIG. 12A) can
include
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multiple redundant hardware inputs. Signals such as, for example, commanded
velocity
701E (FIG. 30B), commanded turn rate 701F (FIG. 30B), and joystick-centered
801G can
be received and processed. Commanded velocity 701E (FIG. 30B) and commanded
turn
rate 701F (FIG. 30B) can be determined from a first of the multiple hardware
inputs, and
joystick-centered 801G can be determined from a second of the hardware inputs.
Values of
joystick-centered 801G can indicate when a non-zero of commanded velocity 701E
(FIG.
30B) and a non-zero of commanded turn rate 701F (FIG. 30B) are valid. Fault
conditions
for joystick 70007 (FIG. 12A) in, for example, 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 (command turn
rate
701F (FIG. 30B)) can be associated with an independent A/D converter, each
with a voltage
reference channel check input. In some configurations, commanded velocity 701E
(FIG.
30B) and commanded turn rate 701F (FIG. 30B) can be held to zero by the
secondary input
to avoid mismatch. If joystick-centered 801G is within a minimum deadband, or
joystick
70007 (FIG. 12A) is faulted, joystick 70007 (FIG. 12A) can be indicated as
centered. A
deadband can indicate the amount of displacement of joystick 70007 (FIG. 12A)
that can
occur before a non-zero output from joystick 70007 (FIG. 12A) can appear. The
deadband
range can set the zero reference region to include an electrical center
position that can be,
for example, but not limited to, 45% to 55% of the defined signal range.
[00708] Referring now primarily to FIG. 30E, seat control 701G (FIG. 30B) can
convey
seat adjustment commands. Frame lean command 921 can include values such as,
for
example, invalid, lean forward, lean rearward, and idle. Seat height command
923 can
include values such as, for example, invalid, lower seat down, raise seat up,
and idle.
[00709] Referring now to FIG. 31A, remote control of the MD can be enabled by
secure
communications between control device 5107 and controlled device 5111, a
configuration
of which can include the MD (also referred to as mobility device 5111A (FIG.
31D).
Control device 5107 can include, but is not limited to including, a cell
phone, a personal
computer, and a tablet-based device, and is also referred to herein as an
external device, a
configuration of which can include external application 5107A (FIG. 31D). In
some
configurations, UC 130 (FIG. 12A) can include support for wireless
communications
to/from mobility device 5111A (FIG. 31D). Mobility device 5111A (FIG. 31D) and
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external application 5107A (FIG. 31D) can accommodate virtual joystick
software that can,
for example, override the commands generated by joystick 70007 (FIG. 121).
Control
device 5107 can include voice recognition that can be used to control
controlled device
5111. Control device 5107 and controlled device 5111 can communicate using a
first
protocol, a second protocol, and, for example, a wireless protocol such as,
for example, but
not limited to, the BLUETOOTH Low Energy (BLE) protocol. Control device 5107
can
execute external applications that can enable wireless control of controlled
device 5111.
Communications between control device 5107 and controlled device 5111 can
include, but
are not limited to including, securely pairing local and remote radios
associated with control
device 5107 and controlled device 5111, encrypting traffic across the local
and remote
radios, filtering pre-selected devices from the list of advertising peripheral
radios, and
whitelisting pre-selected paired radios for streamlining the scan/pair/connect
sequence.
Control device 5107 can enable user selection of one of a group of advertising
devices, and
can enable communications with network storage 5113. Data from controlled
device 5111,
such as, for example, but not limited to, event logs, can be requested by
control device 5107
and uploaded to network storage 5113. In some configurations, control device
5107 can
listen for the notification of new data and can determine if the new data are
to be uploaded
to network storage 5115. Any data that are to be uploaded can be queued for
transmission
to network storage 5113. In some configurations, if control device 5107 is
connected to a
WiFi network, control device can attempt to upload any data that is not
currently residing in
network storage 5113. In some configurations, if control device 5107 is
connected to a cell
network, or network storage 5113 is not reachable, control device 5107 can
queue the data
and attempt to send it when the network status changes. In some
configurations, the data
can be deleted from control device 5107 and controlled device 5111 when
network storage
5113 confirms that the data have been received and/or stored successfully. In
some
configurations, data can include event log data and raw data generated by
controlled device
5111. Controlled device interface 5103 can include, but is not limited to
including, data
structures that can represent the state of controlled device interface 5115.
In some
configurations, data can be maintained for a pre-selected amount of time. In
some
configurations, after the pre-selected amount of time, the data can be deleted
if, for
example, there is insufficient space on control device 5107. In some
configurations, the
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data can be purged in priority order with low priority events purged before
medium priority
events. Medium priority data can be purged before high priority data. In some
configurations, engineering events can be low priority and removed first,
device events can
be medium priority and removed if low events and/or other low priority data
have already
been removed, and therapy events can be high priority and removed if space is
needed.
Control device 5107 can provide view controllers that can support device
registration and
device association of network storage 5113. Control device 5107 can provide
the ability to
determine if a device is registered and associated with network storage 5113.
[00710] Continuing to refer primarily to FIG. 31A, external application
5107A (FIG.
31D) can simulate operation of controlled device interface 5103, and can
enable a workflow
that can assist the user in setting up and changing information about
controlled device
interface 5103. External application 5107A (FIG. 31D) can provide user
selection of
controlled device interface 5103 that can advertise an available wireless
connection.
External application 5107A (FIG. 31D) can include initial setup of controlled
device
interface 5103 that can include accessing and sending configuration parameters
to
controlled device interface 5103 including date and time, alert/alarm
notification settings,
and configuration options. Initial setup can include configuring a
communications interface
to communicate with network storage 5113. External application 5107A (FIG.
31D) can
provide visibility into events happening on controlled device 5111 including
providing the
ability to retrieve event data from controlled device interface 5103 and
providing a view of
data that are relevant to therapeutic decisions. External application 5107A
(FIG. 31D) can
retain data destined for network storage 5113 until wireless communications
link 5136 is
available.
[00711] Referring now to FIG. 31B, the first protocol can support
communications
between control device 5107 (FIG. 31A) that can be physically remote from
control device
interface 5115 (FIG. 31A). In some configurations, the first protocol can
include the RIS
protocol in which each message can include header 5511, payload 5517, and data
check
5519. Messaging systems executing on control device 5107 (FIG. 31A) and
control device
interface 5115 (FIG. 31A) can parse header 5511 and verify data check section
5519.
Header 5511 can include, but is not limited to including, length of payload
5501, command
5503, sub-command 5515, and sequence number 5505. Sequence number 5505 can be
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incremented for each new message sent. Data check section 5519 can include,
but is not
limited to including, a CRC of header 5511 and payload 5517. The first
protocol can
include, but is not limited to including, messages that can vary in length.
Messages can
include header 5511, payload 5517, and CRC 5519. Control device interface 5115
(FIG.
31A) can require that certain messages be available in the first protocol to
support remote
control of controlled device 5111 (FIG. 31A). The first protocol can
transparently tunnel
messages formatted in a second protocol and encapsulated within messages
formatted
according to the first protocol for transmission and reception over, for
example, wireless
link 5136 (FIG. 31A). Devices that communicate using the second protocol can
be
compatible with any updates that might happen in the wireless protocol and/or
first protocol
and can require no changes to operate seamlessly. Various types of medical
devices can be
controlled by using a generic shell protocol such as the RIS protocol that can
surround the
medical device-specific protocol and/or message set such as the service
component
architecture (SCA) protocol.
[00712] Continuing to refer primarily to FIG. 31B, communications device
drivers can
provide driver bytes 5513 before message header 5511 that can be used by, for
example, a
serial peripheral interface (SPI) and remote communications drivers. Messages
can be
identified by the combination of command 5503 and sub-command 5515. Each
command
5503 and sub-command 5515 pair specifies the specific format and intent of the
message.
Sub-command 5515 can include a response bit that can indicate that the message
is a
response to command 5503. When a packet is received which passes the CRC
validation, a
response will be sent. All response messages will have the response bit of sub-
command
5515 set. In some configurations, sequence number 5505 of the response message
must
match sequence number 5505 of the original message. If the message is not a
valid
command, or the command cannot currently be processed by the system, the
response will
be a negative acknowledgement with a code to indicate the reason the message
is
considered invalid or inoperable. Messages that fail CRC validation or
unexpected
message responses can be dropped and treated the same as any message lost
during
transport. The application code performing the send on the source node can be
responsible
for generating a timeout, performing retries and ultimately self-generating a
dropped
message negative acknowledgement response in the case of dropped messages.
Control
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device interface 5111 (FIG. 1) and controlled device interface 5103 can detect
and react to
communications issues such as, for example, but not limited to, CRC
inconsistencies,
timeouts, and therapy number inconsistencies. Sub-command 5515 can include a
response
bit that can indicate that the message is a response to command 5503.
[00713] Continuing to refer to FIG. 31B, in some configurations, a maximum
message
length can be imposed that may not include driver bytes 5513. If controlled
device 5111
(FIG. 31A) is a medical device, messages can include therapy commands that can
include
therapy number 5613 (FIG. 32A) in payload 5517. In some configurations, a next
therapy
number can be provided in either a status message or a response. Therapy
commands can
be rejected if controlled device 5111 (FIG. 31A) has not been configured for
therapy.
Therapy commands can be rejected by controlled device 5111 (FIG. 31A) if
therapy number
5613 (FIG. 32A) is not valid.
[00714] Continuing to still further refer to FIG. 31B, first protocol CRC 5519
can be
computed over header 5511 and payload 5517. When a message is received that
has passed
CRC validation, a response message can be sent. In some configurations, if the
message
does not include a valid command 5503, or command 5503 cannot currently be
processed
by the system, the response can include a negative acknowledgement that can
have a code
that can indicate the reason the message is considered invalid or inoperable.
Messages that
fail CRC validation or unexpected message responses can be dropped and treated
the same
as any message lost during transport. Controlled device interface 5103 (FIG.
31A) and
control device interface 5115 (FIG. 31A) can both perform source node
functions because
they can each be the originator of and/or conduit for source messages.
Whichever of
controlled device interface 5103 (FIG. 31A) or control device interface 5115
(FIG. 31A)
sends the message can generate a timeout if necessary, perform message send
retries, if
necessary, and self-generate a dropped message negative acknowledgement
response if a
dropped message is detected.
[00715] Referring now to FIG. 31C, controlled device interface 5103 (FIG. 1)
and control
device interface 5115 (FIG. 1) can manage the extraction from first protocol
messages of
messages formatted according to the second protocol and insertion of messages
formatted
according to the second protocol as payload 5517 (FIG. 4A) of messages
formatted
according to the first protocol. Communications message management can include
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identifying first protocol messages and extracting tunneled second protocol
messages as
needed. First protocol messages that include second protocol messages can be
processed
separately from other messages. First protocol messages can be prepared and
queued for
transmission separately depending on whether second protocol messages are
included.
Messages formatted according to the second protocol can include control byte
5521,
message ID 5523, data 5525, and CRC 5527 computed over control byte 5521,
message ID
5523, and data 5525. Control byte 5521 can be used for message addressing and
can
include a message sequence number that can be generated by controlled device
interface
5103 (FIG. 31A) and can be echoed back by control device interface 5115 (FIG.
31A). The
sequence number can be used by controlled device interface 5103 (FIG. 31A) to
match a
received response message to a sent request message. In some configurations,
sequence
numbers can begin at Oh, can be incremented after a message is sent, and roll
to Oh after Fh.
Control byte 5521 can indicate the identification from where a response to the
message can
be expected. Control byte 5521 can include a processor ID that can identify
the processor
for which the message is intended.
[00716] Continuing to refer to FIG. 31C, message ID 5523 can provide a command
and/or
an indication of the identity of message data 5525. In some configurations,
message ID
5523 can take on the exemplary values in Table I. In some configurations, the
sender of the
message having message ID 5523 can expect an exemplary response as shown in
Table I.
ID Paylind
00h No Message
Olh Initialize 02h Protocol version # and application ID
02h Confirm Initialize N/A Initialization results and version
numbers
03h Status N/A Status code and previous message ID
04h Resend Last Message All Msgs
05h Communication 03h
Complete
06h Get Application CRC 07h
07h Send Application CRC N/A CRC value
10h Controlled device-
specific messages
2Ah
2Bh Set Event Log Status 2Ch
2Ch Send Current Event N/A # event log entries
Log Status
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...............................................................................
...............................................................................
..........................................................................
2Dh Get Event Segment 33h Event index, segment #
2Eh Clear Events 03h
2Fh Set Alarm Log Status 30h
30h Send Current Alarm N/A # of alarm log entries
Log Status
31h Get Alarm Segment 33h Alarm index, segment #
32h Clear Alarms 03h
33h Send Log Segment N/A Alarm segment
34h Controlled device-
specific messages
41h
42h Get Real Time Clock 44h Clock type ID
44h Send Real Time Clock 03h Real time clock integer value and clock
type ID
¨Integer
45h Get Serial Number 46h Of controlled device
46h Send Serial Number 46h Serial number of controlled device
47h Get Service Flag 48h
48h Send Service Flag 48h Equipment service flag to indicate
issues with
controlled device
49h Controlled device-
specific messages
FFh
TABLE I
[00717] Continuing to refer to FIG. 31C, second protocol messages that can be
exchanged
can include, but are not limited to including, an initialization message that
can be sent from
control device 5107 (FIG. 31A) to controlled device 5111 (FIG. 31A), and an
initialization
response message that can be sent from controlled device 5111 (FIG. 31A) to
control device
5107 (FIG. 31A). The initialization message can include, but is not limited to
including, a
protocol map, an application ID, a communication timeout value, and padding.
Second
protocol messages can include a device control command that can be sent from
control
device 5107 (FIG. 31A) to controlled device 5111 (FIG. 31A), and that can
include the
device control information. Second protocol messages can include commands used
to
interface with a wireless protocol such as, for example, the BLUETOOTH
protocol, that
can enable communications between control device 5107 (FIG. 31A) and
controlled device
5111 (FIG. 31A). The commands can kick off actions such as, for example,
scanning for
peripherals, discontinuing the scan, retrieving names of peripherals,
connecting a peripheral
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such as, for example, controlled device 5111 (FIG. 31A) operating as a
peripheral with
control device 5107 (FIG. 31A), and canceling the peripheral connection. The
commands
can interrogate peripherals, for example, by discovering services and
characteristics of the
peripherals, reading and setting values of the characteristics. Responses to
the commands
can include, but are not limited to including, status updates with respect to
peripherals,
connections, services, and characteristics.
[00718] Referring now primarily to FIGs. 31B and 31C, first protocol commands
can
include disabling wireless communications in which control device interface
5115 (FIG.
31A) can continue operating without control device 5107 (FIG. 31A), and in
which control
device 5107 (FIG. 31A) can reactivate if an alarm is received from control
device interface
5115 (FIG. 31A). Second protocol commands can include commands such as, for
example,
but not limited to, echo, set/get system events, erase logs, get data, force
alarm, set log
record on control device 5111 (FIG. 31A), force reset of control device 5111
(FIG. 31A),
startup test for control device 5111 (FIG. 31A), integration test commands,
and radio
service commands. Second protocol commands can include commands such as, for
example, but not limited to, setting an identification of control device 5111
(FIG. 31A),
setting of calibration and measurement options, executing of manufacturing
tests, and
providing a list of events.
[00719] Referring now to FIG. 31D, wireless communications system 100P can
enable
control of controlled device 5111 (FIG. 31A), for example, but not limited to,
mobility
device 5111A, through, for example, but not limited to, external application
(EA) 5107A
executing on control device 5107 (FIG. 31A) (a cell phone, a PC, or a tablet,
for example).
In some configurations, a user interface means associated with mobility device
5111A can
include support for wireless communications to/from mobility device 5111A.
Mobility
device 5111A and external application 5107A can accommodate a user interface
executing
as part of external application 5107A that can, for example, override the
commands
generated by the user interface means associated with mobility device 5111A.
For example,
a virtual joystick executing as a part of external application 5107A can
override the
commands of the physical joystick associated with a wheelchair. Mobility
device 5111A
and external application 5107A can decode and use the messages moving between
them.
Wireless communications system 100P can include, but is not limited to
including, protocol
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conversion processes 5317, input queues 5311/5335, output queues 5309/5333,
state
machines 5305E and 5305M, and wireless processors 5325/5330. Protocol
conversion
processes 5317 can feed SCA output queues 53190/53360 and RIS output queues
53340/53030 with messages generated by external application 5107A and mobility
device
5111A. Protocol conversion processes 5317 can receive messages from SCA input
queues
53191/53361 and RIS input queues 53341/53031 that have received messages input
queues
5311/5335. Input queues 5311/5355 can feed SCA input queues 53191/53361 and
RIS input
queues 53341/53031 with messages received from external application BLE chip
5325 and
medical device BLE chip 5330 (through serial I/O processor 5339). Output
queues
5309/5333 can feed external application BLE chip 5325 and medical device BLE
chip 5330
(through serial I/O processor 5339). Medical device state machine 5305M can
manage the
process of communicating wirelessly from the perspective of medical device
5111A.
External application state machine 5305E can manage the process of
communicating
wirelessly from the perspective of external application 5107A. In particular,
both medical
device state machine 5305M and external application state machine 5305E can
manage the
entry and exit of states from which messages can be generated and sent and/or
received
according pre-selected protocols. The messages can, for example, direct
mobility device
5111A and/or external application 5107A to respond to a status of dradio 5349.
External
application wireless processor 5325 can execute on control device 5107 (FIG.
31A) and can
communicate with external application 5107A. Medical device wireless processor
5330 can
execute on mobility device 5111A and can communicate with components of
mobility
device 5111A.
[00720] Continuing to refer to FIG. 31D, both external application wireless
processor
5325 and medical device wireless processor 5330 can include a processor, for
example, but
not limited to, advanced RISC machine (ARM) processor 5329, that can execute
wireless
control code, termed herein, for convenience, dradio 5349. In some
configurations, the
processor can include, but is not limited to including, state machines that
can manage the
radio and can add functionality to a wireless communications transport layer.
In some
configurations, the processor can control a BLUETOOTH soft device such as,
for
example, but not limited to, a Nordic Semiconductor S 1 x0 SoftDevice. Dradio
5349
executing on control device 5107 (FIG. 31A) can include at least one external
application
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radio state machine 5305E, and dradio 5349 executing on mobility device 5111A
can
include at least one medical device radio state machine 5305M. At least one
radio state
machine can manage the states of I/0 to soft device 5347. Soft device 5347 can
include a
wireless protocol processor such as, for example, but not limited to, a
processor that
communicates using the BLE protocol.
[00721] Continuing to refer to FIG. 31D, the BLE protocol covers the four
lowest layers
and associated protocols defined by the BLUETOOTH specification
(Specification of the
BLUETOOTH System, December 2, 2014, https://www.bluetooth.org/en-
us/specification/adopted-specifications). BLE devices operate in the
unlicensed 2.4 GHz
Industrial Scientific Medical band. Radio frequency (RF) channels are defined
in the
2.4GHz industrial, scientific, and medical (ISM) band, and the RF channels are
allocated
into two BLE physical channels: advertising and data. The advertising physical
channel
uses three RF channels for discovering devices, initiating a connection and
broadcasting
data. The data physical channel uses up to 37 RF channels for communication
between
connected devices. The BLE includes a link layer that uses one physical
channel at a time.
The link layer has one packet format used for both advertising channel packets
and data
channel packets. All packets can include a cyclic redundancy check (CRC). Data
whitening
is used to avoid long sequences of zeros or ones, e.g. 0000000b or 1111111b,
in the data bit
stream and is performed after the CRC in the transmitter. De-whitening is
performed before
the CRC in the receiver. A linear feedback shift register (LFSR) can be used
to generate a
de-whitening value. Each byte in the input string is exclusively OR'd with the
de-whitening
value, and the result is saved in a counted output string. The link layer may
perform device
filtering based on the device address of the peer device. Link layer device
filtering is used
by the link layer to minimize the number of devices to which it responds. The
set of
devices that the link layer uses for device filtering is called the white
list.
[00722] Continuing to refer to FIG. 31D, to comply with the BLE protocol,
standby,
advertising, scanning, initiating, and connection states must be available.
Advertising state
includes transmitting advertising packets and listening for responses.
Scanning state
includes listening for packets from advertising devices. Initiating state
includes listening
for advertising from specific devices and initiating connections. A connection
is considered
to be established when a data channel packet has been received from the peer
device. When
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two devices are in a connection, one device acts as a master, the other as a
slave. If the
connection state is entered from the initiating state, the device entering the
connection state
becomes the master. If the connection state is entered from advertising state,
the device
entering the connection state becomes the slave. The master controls the
timing of a
connection event. A connection event is a point of synchronization between the
master and
the slave. The link layer can enable the encryption of packets after entering
the connection
state.
[00723] Continuing to refer to FIG. 31D, both external application radio state
machine
5305E and medical device radio state machine 5305M can manage the states of
radios 5331,
and can provide information about radios 5331 to external application 5107A
and mobility
device 5111A. Dradio 5349 can include general-purpose functionality and
customized
services to support mobility device 5111A, for example. Mobility device 5111A
can be
customized for users of varying abilities and physical characteristics, and a
training mode
can be configured for new users. Mobility device 5111A can be remotely
controlled for
stowage, and parametric and performance data can be downloaded to mobility
device
5111A. When mobility device 5111A enters a wireless-enabled mode, external
application
5107A can send commands to mobility device 5111A and can receive the
corresponding
responses. External application 5107A and mobility device 5111A can create,
for example,
but not limited to, first protocol messages 5135A (FIG. 31A) formatted
according to a first
protocol such as, for example, but not limited to, the remote interface
specification (RIS)
protocol (see FIG. 4A), to communicate information to processors of mobility
device
5111A, and vice versa. External application 5107A and mobility device 5111A
can create,
for example, but not limited to, messages formatted according to a second
protocol such as,
for example, but not limited to, the SCA protocol (see FIG. 4B), to
communicate control
commands and data to processors of mobility device 5111A. The second protocol
can be
extensible to accommodate various types of controlled devices 5111 (FIG. 1)
and various
functions available through external application 5107A. For example, a radio-
control
application executing on an IPOD device can exchange messages with mobility
device
5111A by using, for example, but not limited to, messages following the RIS
protocol (see
FIG. 4A), and can send virtual device commands to mobility device 5111A by
using, for
example, but not limited to, messages following the SCA protocol (see FIG.
31B).
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[00724] Continuing to refer to FIG. 31D, at the user's command, dradios 5349
can,
through state machines 5305E/M and soft device 5347, cooperate to scan for
peripheral
radios, choose one that is advertising its readiness to communicate, and
initiate a wireless
session with the desired peripheral radio, for example, but not limited to,
the peripheral
radio of mobility device 5111A. If BLUETOOTH@ communications are used, radio
5331
and soft device 5347 can provide BLUETOOTH@ central radio functionality
required to set
up and maintain communications between mobility device 5111A and control
device 5107
(FIG. 31A). In some configurations, external applications 5107A executing on
ANDROID devices and iOS devices can use a wireless mechanism internal to
ANDROID devices or iOS devices to communicate with mobility device 5111A.
External application state machine 5305E can set up, control, and monitor
wireless chip
5325 in a particular mode, such as, for example, central radio mode.
[00725] Continuing to refer to FIG. 31D, dradio 5349 can manage radio 5331
through
functionality such as, for example, but not limited to, sending messages and
responses to
command and interrogate radio 5331, sending data over wireless link 5136,
securely pairing
remote radios 5331, encrypting radio traffic, filtering pre-selected devices
from the list of
advertising peripheral radios, and whitelisting the last-paired remote radios
5331, which can
assist with the scan/pair/connect sequence. With respect to mobility device
5111A, state
machine 5305M can manage radio 5331, serial I/0 processor 5339 can provide low-
level,
thread-safe serial I/O support, and RIS-SCA process 5317 can extract/embed SCA
messages
from/in RIS protocol payloads. In some configurations, RIS-only messages that
are
transmitted/received by radio 5331 can be discarded by external application
wireless state
machine 5305E or controlled device interface 5103 (FIG. 31A). Encapsulated SCA
messages, for example, but not limited to, commands and status requests, can
be placed
upon SCA output queue 53190 for transfer to output queue 5309. To support
various types
of controlled devices 5111 (FIG. 1), RIS messages specific to a particular
type of controlled
devices 5111 (FIG. 31A) can augment a basic set of RIS messages. For incoming
data
packets, SCA messages can be extracted from incoming RIS messages, and the
messages
can be dispatched to thread-safe, circular queues for consumption by external
application
5107A or mobility device 5111A. Outgoing messages can be queued separately
depending
on whether they are RIS or SCA messages. RIS messages that originate with
external
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application 5107A can be placed on RIS output Q 53030 and moved to output
queue 5309
when a queue slot is available. RIS-SCA process 5317 can retrieve SCA messages
from
RIS messages and vice versa to maintain transparency to SCA-aware software in
system
100P.
[00726] Continuing to refer to FIG. 31D, in some configurations, the
encapsulation of
messages formatted in the second protocol within messages formatted in the
first protocol
can enable flexible communications between mobility device 5111A and external
application 5107A. External application 5107A can receive information from,
for example,
a user, and the information can be translated into second protocol messages
that can then be
encapsulated in first protocol messages and transmitted to mobility device
5111A.
Wireless state machines 5305E/M can include software constructs that can
manage the
states of wireless processors 5325/5330. State machines 5305E/M can maintain
the
synchronization of peripheral and central radio states of mobility device
5111A and external
application 5107A.
[00727] Referring now primarily to Fla 31E, external application state machine
5305E
(FIG. 31D) can recognize states such as, for example, but not limited to idle
state 3001 in
which radio 5331 experiences no activity, and start-up state 3003 in which
radio 5331 is
started up. In start-up state 3003, external application state machine 5305E
(FIG. 31D) is
set up to listen for a status message from radio 5331 (FIG. 31D) that tells
external
application state machine 5305E (FIG. 31D) that radio 5331 (FIG. 31D) is ready
to begin.
In check state 3005, external application state machine 5305E (FIG. 31D) can
await the
ready-to-begin status message. Other states can include send state 3007 in
which external
application state machine 5305E (FIG. 31D) can request information about
dradio 5349
(FIG. 31D), for example, but not limited to, its software version number, can
send a start
radio command to dradio 5349 (FIG. 31D), can send a command to dradio 5349
(FIG. 31D)
to open up pairing with mobility device 5111A (FIG. 31D), and can inform
dradio 5349
(FIG. 31D) about which of possible mobility devices 5111A (FIG. 31D) the user
has
selected. Wait for acknowledgement state 3009 can set external application
state machine
5305E (FIG. 31D) in a state awaiting a response from the last sent message,
for example,
but not limited to, acknowledgements concerning radio version number, radio
start, pairing,
start scan, and parse data. With respect to the parse data acknowledgement,
wait for
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acknowledgement state 3009 can inform dradio 5349 (FIG. 31D) that a response
was
received and loops back to the previous state until a pairing is selected or
until scanning is
stopped. Other responses that can be awaited can include responses to connect
messages
and connect status messages in which the state is awaiting the successful
connection of
mobility device 5111A (FIG. 31D) with the device's external application 5107A
(FIG.
31D). Wait to scan state 3011 awaits a command to begin the pairing process
and listens
for responses from available mobility devices 5111A (FIG. 31D). Start scan
state 3013
sends a command to dradio 5349 (FIG. 31D) to start scanning for available
mobility devices
5111A (FIG. 31D) and sets up a state machine to enable the connection in which
external
application state machine 5305E (FIG. 31D) enters connected state 3015. If
wireless link
5136 (FIG. 31D) is lost, or if message responses time out, or at an external
request, external
application state machine 5305E (FIG. 31D) can enter start reset state 3017
from which
radio reset state 3019 can be entered in which a reset command is sent to
dradio 5349 (FIG.
31D), followed by a wait for a response to the reset command. Stop state 3021
can set up
external application state machine 5305E (FIG. 31D) to clean up and return to
idle state
3001.
[00728] Referring now to FIG. 31F, mobility device state machine 5305M (FIG.
31D) can
include states such as, for example, but not limited to, idle state 3101 in
which there is no
radio activity, start-up state 3103 in which radio 5331 (FIG. 31D) is enabled,
advertise go-
ahead state 3105 in which mobility device 5111A (FIG. 32) receives the go-
ahead to
advertise the availability of mobility device 5111A (FIG. 31D) for radio
communication,
and advertise state 3107 in which mobility device 5111A (FIG. 31D) identifying
information is made available to listening radios such as, for example, radio
5331 (FIG.
31D) associated with external application 5107A (FIG. 31D). States can further
include
waiting for connect request state 3109, accepting a connect request state,
connected state
3111 in which mobility device 5111A (FIG. 31D) can communicate with the
desired central
radio, and waiting state 3113 in which mobility device 5111A (FIG. 31D) awaits
the end of
a wireless session, whether by user action, or loss of radio signal. States
can further include
reset request state 3117 from which radio 5331 (FIG. 31D) can be placed in
reset state 3119,
and auto-reconnect state 3115 in which radio 5331 (FIG. 31D) can attempt to
automatically
reconnect to the wireless session, depending on how the wireless session
ended.
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[00729] Referring now to FIG. 31G, external application 5107A (FIG. 31D) can
provide
the interface between user interface 5107B executing on an external device and
a wireless
communications means. In some configurations, the wireless communications
means can
be based upon the BLUETOOTH Low Energy protocol, and can include configuring
communications between mobility device 5111A and external application 5107A,
initiating
the sending of messages between mobility device 5111A and external application
5107A,
breaking up of large messages, and enabling virtual joystick commands that are
initiated by
a user of the external device and are transmitted to mobility device 5111A.
Messages that
can be exchanged can include, but are not limited to including, scan for
devices, stop scan,
and retrieve devices, where devices can include mobility device 5111A.
Mobility device
5111A and external application 5107A can communicate with wireless processors
5325/5330 that can manage the transmission and reception of messages from
between
external application 5107A and mobility device 5111A. External application
5107A can
generate create message 2001 using, for example, but not limited to, an
applications
program interface that can communicate with external application wireless
processor 5325,
which can receive create message 2001, and use the information from create
message 2001
to build and send advertising information 2003 to mobility device wireless
processor 5330.
Advertising information 2003 can include, but is not limited to including,
company
identification, project identification, and customer identification. Mobility
device wireless
processor 5330 can use advertising information 2003 to build and send
advertising data
2005A through external application wireless processor 5325 to external
application 5107A,
which can build and send device information to user interface 5107B to display
on the
external device. External application 5107A can send connect request 2007 to
external
application wireless processor 5325, which can build and send a connect
request to mobility
device wireless processor 5330. Mobility device wireless processor 5330 can
respond to the
connect request through external application wireless processor 5325 to
external application
5107A, which can react to the response by sending service request 2009 to
external
application wireless processor 5325, which can respond by sending services
2011 to
external application 5107A. Connect request 2007 can include commands to
connect
mobility device 5111A and/or cancel the connection to mobility device 5111A.
The
response to connect request 2007 can include success or failure notifications.
External
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application 5107A can receive services 2011 and notify external device user
interface
5107B that the device is connected. As communications start-up is in progress,
a central
manager within external application wireless processor 5325 can update the
state of external
application wireless processor 5325 and send the updated state information to
external
application 5107A. A disconnect request and response could be exchanged while
communications are in progress, and external application wireless processor
5325 can
provide the disconnect request to external application 5107A. As
communications start-up
is in progress, external application 5107A can query mobility device 5111A by
sending
messages such as, for example, but not limited to, discovering the services
and
characteristics of mobility device 5111A, and requesting reading and writing
values
from/to mobility device 5111A. The query can be answered by a response that
can provide
data and status of mobility device 5111A.
[00730] Referring now to Fla 311-1, following communications start-up,
external
application 5107A can initiate communications with mobility device 5107A by
commanding external application wireless processor 5325 to send initialization
message
2013, send device control enable message 2027, and send heartbeat message 2025
to
mobility device wireless processor 5330. Mobility device wireless processor
5330 can
receive joystick enable message 2027 and notify mobility device 5111A that the
device
control of external application 5107A is enabled. External application
wireless processor
5325 can request, through mobility device wireless processor 5330, a status of
mobility
device 5111A. Mobility device 5111A can receive the status request, access the
status, and
send status message 2119 through mobility device wireless processor 5330 and
external
application wireless processor 5325 to external application 5107A, which can
provide the
status to external device user interface 5107B. External application wireless
processor 5325
can request, through mobility device wireless processor 5330, a log from
mobility device
5111A. Mobility device 5111A can receive the log request, access the log, and
send log
message 2121 through mobility device wireless processor 5330 and external
application
wireless processor 5325 to external application 5107A, which can provide the
log to an
external storage device.
[00731] Referring to FIG. 32A, there can be several ways that the security of
controlled
device 5111 (FIG. 31A) can be compromised. External communications and
internal
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controls can be explicitly or accidently exploited causing minor to
catastrophic results.
Identifying specific ways that the exploitation, referred to herein as
threats, can occur and
be mitigated can be done by analyzing points where attacks can occur in
communications
and controls of controlled device 5111 (FIG. 31A). The sum of the points can
be referred to
as the attack surface. The objective of making controlled device 5111 (FIG.
31A) more
secure can be achieved by reducing the size of the attack surface as much as
possible, for
example, by reducing the number of points. Remaining points can be mitigated.
The
resulting risk to controlled device 5111 (FIG. 31A) can be quantified by
assigning severity
scores to the points where attacks can occur. This can be done by, for
example, but not
limited to, assessment tools such as Common Vulnerability Scoring System
(CVSS). With
respect to threat analysis, external communications can be put at risk
through, for example,
but not limited to, malicious modification threats 5603 of message traffic,
eavesdropping
and replay threats 5601, and co-opting control threats 5621 of control device
interface 5115
(FIG. 31A). Internal control compromises can include, but are not limited to
including,
malicious and/or erroneous applications 5617 that can cause intended and/or
unintended
results that can compromise security of controlled device 5111 (FIG. 31A). In-
flight
modification 5603 of message traffic can be detected by standard procedures
that can be
available in commercial wireless products 5607 such as, for example, but not
limited to,
products that adhere to the BLE standard in which a secure link can be
established using
Elliptic Curve Diffie-Hellman key exchange and AES-128 encryption. CRC
protection
5605 can also be used to detect in-flight threats.
[00732] Continuing to refer to FIG. 32A, with respect to man-in-the-middle
(MitM)
threats 5601, when wireless devices are first paired, an attacker can place
itself "in the
middle" of the connection. Two valid but separate wireless encrypted
connections can be
established with a bad actor placing itself in the middle and reading or
modifying
unencrypted clear text that can be available between the two encrypted
connections. MitM
attacks 5601 can include an attacker's monitoring messages, and altering
and/or injecting
messages into a communication channel. One example is active eavesdropping, in
which the
attacker makes independent connections with the victims and relays messages
between
them to make them believe they are talking directly to each other over a
private connection,
when in fact the entire conversation is controlled by the attacker. The
attacker can intercept
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messages passing between the two victims and inject new ones. The victim(s)
can also be
subject to a replay attack in which the MitM records traffic and inserts new
messages
containing the same text, and then continually plays the messages back.
Standard security
features of commercial wireless protocols 5607, such as, for example,
authentication,
confidentiality, and authorization, can thwart some types of MitM attacks
5601.
Authentication can include verifying the identity of communicating devices
based on their
device addresses. Confidentiality can include protecting information from
eavesdropping
by ensuring that only authorized devices can access and view transmitted data.
Authorization can include insuring that a device is authorized to use a
service. MitM threats
5601 can be thwarted by using a passkey entry pairing method, an out of band
pairing
method, or a numeric comparison method.
[00733] Continuing to refer to FIG. 32A, personal identification number (PIN)
protection
5609 from MitM threats 5601 can include the exchange of a code, for example a
six-digit
code, between control device interface 5115 (FIG. 31A) and control device 5107
(FIG.
31A) using a short-term key. The six-digit code can be exchanged one bit at a
time, and
both sides must agree on the bit setting before another bit can be exchanged.
At pairing
time, control device 5107 (FIG. 31A) can request entry of a six-digit code
that can be
physically located on control device interface 5115 (FIG. 31A), and control
device interface
5115 (FIG. 31A) can respond with the same six-digit code. MitM threats 5601
have no
access to the six-digit code physically located on control device interface
5115 (FIG. 31A)
and can therefore not assume control of control device interface 5115 (FIG.
31A) from
control device 5107 (FIG. 31A). The pairing mechanism is the process in which
control
device 5107 (FIG. 31A) and control device interface 5115 (FIG. 31A) exchange
identity
information that paves the way for setting up encryption keys for future data
exchange.
[00734] Continuing to refer to FIG. 32A, anyone who buys a complete system can
know
the controlled device PIN and can stage MitM attacks 5601. The MitM can
operate the
system and figure out the first protocol. Or the MitM could grab the message
traffic
between control device 5107 (FIG. 31A) and control device interface 5115 (FIG.
31A) and
learn first protocol. Or the MitM could examine internal electrical busses of
control device
interface 5115 (FIG. 31A) to capture the first protocol traffic and figure out
the first
protocol. Clear text obfuscation 5611 can thwart these types of threats. Clear
text
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obfuscation 5611 can include randomizing clear text so that even if the same
message is
sent repeatedly, the eavesdropped version varies randomly. Either of control
device 5107
(FIG. 31A) or control device interface 5115 (FIG. 31A) can obfuscate the clear
text in the
message before transmitting the message, and either of control device
interface 5115 (FIG.
31A) or control device 5107 (FIG. 31A) can deobfuscate the clear text. Once
obfuscated,
the messages appear to be random lengths and appear to contain random data and
the clear
text cannot be seen outside of the 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 a security feature such as, for example, Licel's
DexProtector tool.
The obfuscation algorithm can be kept secret on control device interface 5115
(FIG. 31A)
by setting the radio processor in control device interface 5115 (FIG. 31A) to
disallow
readback of the code and access to debugging features. In some configurations,
the
obfuscation algorithm can be "stateless" in that transmitted messages can be
recovered
independently of any previous message traffic, obviating the need to maintain
any shared
state between the sender and the receiver. In some configurations, even for
clear text that is
a series of messages of the same length, the length of the obfuscated messages
can vary
randomly. In some configurations, a first number of bytes of every message can
be random.
In some configurations, the algorithm can execute without read only memory
(ROM) for
data tables and with a relatively small amount of rapid access memory (RAM),
code, and
compute cycles.
[00735] Continuing to refer to FIG. 32A, in some configurations, trust
boundary 5619 can
be maintained between control device 5107 (FIG. 31A) and network storage 5113
(FIG.
31A). Trust boundaries 5619 are the places where the location of data
associated with a
system can create potential opportunities for trust violations, for example,
if the data are
outside the control of control device 5107 (FIG. 31A) and/or controlled device
5111 (FIG.
31A), or where the data leave the external application infrastructure. Trust
can be
maintained through the exchange of keys and encryption of messages between,
for example,
control device 5107 (FIG. 31A) and network storage 5113 (FIG. 31A). Trust
boundary
5619 can exist between control device 5107 (FIG. 31A) and controlled device
5115 (FIG.
31A). Trust can be maintained across this interface through the use of BLE
secure
communications and PIN bonding with controlled device 5111 (FIG. 31A). In some
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configurations, trust boundaries 5619 can occur within control device 5107
(FIG. 31A),
between, for example, external application 5107A (FIG. 31D) and system
services. Trust
can be established by the use of a key and sandboxing on control device 5107
(FIG. 31A) to
keep data safe from other applications. In some configurations, databases can
be protected
by file encryption, protecting the data files with file system encryption tied
to the
application keys. Trust can be maintained through the exchange of keys and
encryption of
messages between control device 5107 and network storage 5113.
[00736] Referring now to FIG. 32B, method 5150 for obfuscating plain text can
include,
but is not limited to including, generating 5151 a random byte and using the
random byte as
a random key, transforming 5153 the random key into a count of random bytes in
a known
range, generating 5155 the number of random bytes that equals the count, and
transforming
5157 several of the random bytes into a linear feedback shift register (LFSR)
seed value.
Method 5150 can include whitening 5159 an input counted string using the LFSR
seed
value.
[00737] Referring now to FIG. 32C, method 5160 for deobfuscating the clear
text can
include, but is not limited to including, transforming 5161 the random key
into the count of
random bytes in the known range, transforming 5163 several of the random bytes
into the
LFSR Seed value, dewhitening 5165 the original counted string byte count
value,
dewhitening 5167 the counted string using the byte count value.
[00738] Referring again to FIG. 32A, the MitM can record a message between
control
device 5107 (FIG. 31A) and control device interface 5115 (FIG. 31A) and can
replay it
incessantly. If control device 5111 (FIG. 31A) is a medical device, a random
therapy
message number transmitted by controlled device can thwart replay attacks
because control
device 5107 (FIG. 31A) must reiterate the random therapy message number with a
next
command message. If control device 5107 (FIG. 31A) does not include the random
therapy
message number, controlled device can reject the message, thereby preventing
replaying the
same message repeatedly.
[00739] Referring now to FIG. 32D, since anybody who has a wireless device
that can
communicate according to the wireless protocol used between control device
5107 (FIG.
31A) and control device interface 5115 (FIG. 31A) can hack in between control
device
interface 5115 (FIG. 31A) and control device 5107 (FIG. 31A),
challenge/response process
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5615 can be used to thwart malicious actors. For example, if a third party
application
becomes readily available, for example, for sale on mobile devices in
application stores,
control device interface 5115 (FIG. 31A) or control device 5107 (FIG. 31A),
either acting
as sender, can present a challenge to control device 5107 (FIG. 31A) or
control device
interface 5115 (FIG. 31A), either acting as receiver, and the receiver must
present the
correct response. The method, from the point of view of the sender, for
thwarting security
threats by challenge/response can include, but is not limited to including,
picking 7701 a
large random number, sending 7703 the large random number to a receiver, and
transforming 7705/7709, by the sender and the receiver, the large random
number in the
same secret way. The method can include hashing or encrypting 7707/7711, by
the sender
and the receiver, the transformed number in a cryptographically-secure way,
receiving
7713, from the receiver, the hashed or encrypted number, 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 sender and
receiver
using the same secret transform algorithm. At no time does the transformed
number travel
over the radio in an unencrypted fashion, protecting the secret transform. To
keep the
algorithm secret, a controller can use commercially-available tools such as,
for example, but
not limited to, Licel's DEXProtector, that can provide, for example, string,
class, and
resource encryption, integrity control, and hiding of application programming
interfaces.
[00740] Referring now to FIG. 33, event handing, including handling of error
and fault
conditions, can include dynamic, flexible, and integrated event management
among UC
130, PSCs 98/99, and processors 39/41. Event handling can include, but is not
limited to
including, event receiver 2101, event lookup processor 2103, and event
dispatch processor
2105. Event receiver 2101 can receive event 2117 from any parts of the MD
including, but
not limited to, UC 130, PSC 98/99, and PB 39/41. Event lookup processor 2103
can
receive event 2117 from event receiver 2101, and can transform event 2117 to
event index
2119. Event lookup process 2103 can use means such as, for example, but not
limited to,
table lookup and hashing algorithms to create a means to locate event
information. Event
lookup process 2103 can provide event index 2119 to event dispatch processor
2105. Event
dispatch processor 2105 can determine, based at least in part on event index
2119, event
entry 2121. Event entry 2121 can include information that can be relevant to
responding to
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event 2117. Events can be processed by UC 130, PSC 98/99, and PB 39/41, each
of which
can include, but is not limited to including, status level processor 2107,
filter processor
2109, action processor 2111, and indications processor 2115. Status level
processor 2107
can extract a status level, for example, but not limited to, a fault category,
from event entry
2121, and can provide indications based on the status level. In some
configurations, status
levels, for example, a range of values, can accommodate conditions ranging
from transient
to severe, and can provide indications ranging from possible audible tones to
flashing lights
and automatic power down. UC 130 can audibly and visually notify the user
when, for
example, but not limited to, a potential failure condition is detected, and
can allow the user
to disable alerts, such as, for example, audible alerts. UC 130 can request
user confirmation
for events such as, for example, but not limited to, powering off, and
powering off can be
disabled at certain times, for example, but not limited to, in 4-Wheel mode
100-2 (FIG.
22A), balance mode 100-3 (FIG. 22A), and stair mode 100-4 (FIG. 22A).
[00741] Continuing to refer to FIG. 33, filter processor 2109 can extract from
event entry
2121 an indication of when the event 2117 is to be handled. In some
configurations, event
2117 can be handled immediately, or can be handled after an elapsed number of
times event
2117 has been reported. In some configurations, the reports can be non-
consecutive. In
some configurations, events 2117 can be reported at a first rate and can be
processed at a
second rate. In some configurations, event 2117 can be handled when reported,
instead of
deferring the handling for batch processing, when event 2117 is detected at
pre-selected
times or for pre-selected types of errors. Each of UC 130, PSC 98/99, and PB
39/41 can
include a particular event count threshold. In some configurations, event
handling can be
latched if a pre-selected number of events 2117 has occurred. In some
configurations, the
latching can be maintained until a power cycle.
[00742] Continuing to still further refer to FIG. 33, action processor 2111
can extract from
event entry 2121 an indication of what action is associated with event 2117.
In some
configurations, actions can include commanding the MD to discontinue motion
and placing
data in an event log and/or alarm log. In some configurations, event and/or
alarm log data
from PB 39/41, UC 130, and PSC 98/99 can be managed by PSC 98/99. In some
configurations, an external application can retrieve event and/or alarm log
data from PSC 98
and PSC 99 and synchronize the data. The data can include a list of alarms and
reports that
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can be associated with particular events and status identifications such as,
for example, but
not limited to, controller failure and position sensor fault. Controller
failures can be
associated with an explicit reason for failure that can be logged. In some
configurations,
event 2117 can be escalated, where escalation can include reporting events
2117 that can be
associated with the reported event. In some configurations, event entry 2121
can specify an
accumulator to be incremented when event 2117 is detected. In some
configurations, the
accumulators in all of PB 39/41, UC 130, and PSC 98/99 can be managed by PSC
98/99
and accessed by an external application. In some configurations, event entry
2121 can
include a specification of a service-required indication associated with event
2117, which
can also be managed by PSC 98/99 and retrieved by an external application as
described
herein. In some configurations, event entry 2121 can include a black box
trigger name to be
used when event 2117 is detected. Restriction processor 2113 can extract from
event entry
2121 information about immediate and downstream effects of event 2117. In some
configurations, immediate effects can include user notifications, for example,
audible and
visible notifications can be made available when the battery needs to be
charged, when the
temperature of the MD exceeds a pre-selected threshold, and when the MD needs
service.
Immediate effects can also include notifying the user of the severity of event
2117. In some
configurations, downstream effects can include restricting operational modes
based on
events 2117. In some configurations, entry can be restricted into enhanced,
balance, stair,
and remote modes. In some configurations, downstream effects can include
effects on the
operation of the MD, for example limiting speed, disabling motion,
transitioning into
certain modes automatically, restricting MD lean, restricting power off, and
blocking
external application communication. In some configurations, a return to 4-
wheel mode can
be automatic under certain pre-selected conditions such as, for example, but
not limited to,
the transition to balancing on two wheels has failed, the pitch of the MD has
exceeded the
safe operating limit for balance mode, and/or the wheels have lost traction in
balance mode.
[00743] Continuing to refer to FIG. 33, indications processor 2115 can extract
from event
entry 2121 any indications that should be raised as a result of event 2117. In
some
configurations, indications can be raised when there is a loss of
communications between
components of the MD, for example, between PSC 98/99 and UC 130, and between
PB 39
and PB 41, and when battery voltage is below a pre-selected threshold. In some
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configurations, event entry 2121 can provide communications between processes,
for
example, status flags can provide the status of seat, cluster, yaw, pitch, and
IMU indicators.
[00744] Referring now to FIG. 34A, seat assembly 40000 can be removably
positioned upon a wheelchair base, for example, by use of the connecting
features located
on seatpan mounting bracket 30001. To provide comfort and security to the
user, seat
assembly 40000 can include first configuration footrest 40017, seat cushion
30002, backrest
cushion 30017, and armrest cushions 30046. First configuration footrest 40017
can be
mounted to height-adjustable first configuration bottom post 40021 and first
configuration
top post 40019. Seatpan mounting bracket 30001 can include tie down 30069 that
can be
used to secure the wheelchair and seat to, for example, an automobile seat
belt. Seatpan
mounting bracket 30001 can be coupled with rear tube holder bracket 30011 that
can be
coupled with first configuration top back frame bracket 40011. First
configuration top back
frame bracket 40011 can couple the seat back with attendant handle 50001.
[00745] In some configurations, running cables from the UC to the
powerbase can
include inserting fasteners such as, for example, but not limited to, button
head cap screws
(BHCS) through the seatpan, and threading the screws into an anchor link of
cable chain
1149 (FIGs. 11A-11D) and a plate that can include threaded holes. In some
configurations,
running cables from the UC to the powerbase can include an intermediate plate
to couple an
anchor plate of cable chain 1149 (FIGs. 11A-11D) with the seatpan. The
intermediate plate
can rest between the seatpan and the anchor plate. The intermediate plate can
accept
BHCSs through the seatpan to fasten the seatpan to the intermediate plate. The
intermediate
plate can accept fasteners such as, for example, but not limited to, flat head
cap screws
(FHCS), to fasten the anchor plate to the intermediate plan, and thus to the
seatpan. In
some configurations, an anchor link of cable chain 1149 (FIGs. 11A-11D) can
include
mounting holes outside of the central channel of cable chain 1149 (FIGs. 11A-
11D).
Fasteners can thread through the seatpan directly into the anchor link.
[00746] Referring now to FIG. 34B, seatpan mounting bracket 30001 can be
coupled
with rear tube holder bracket 30011 by fold hinge bracket 30010. The folding
of backrest
shell 30019 onto seat cushion 30002 can be enabled by applying pressure to
fold handle
30014 engaging springs on guide pins. In some configurations, the angle of
backrest shell
30019, and therefore backrest cushion 30017 (FIG. 34A), can be adjusted by
rotating
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backrest angle adjust knob 40049. In some configurations, the angle of
backrest shell
30019 can be fixed and backrest angle adjust knob 40049 can be omitted.
Adjustment of
the height of armrest structures 30043, and therefore armrest cushions 30046,
can be
enabled by a combination of vertical back frame canes 30013 (FIG. 2A) (one for
each
armrest structure 30043) and armrest mount brackets 30040 (one for each
armrest structure
30043).
[00747] Referring now to FIGs. 34C-34I, second configuration seat
assembly 40000-
1 can include, but is not limited to including, user controller attachment
bracket 30226 that
can securely attach user controller 22006 to armrest bracket 30043. User
controller 22006
can include any desired shape, size, and functionality, and can be
commercially available or
custom-built. A joystick and/or toggles can be included. User controller 22006
can be
operably coupled with a power base (not shown) by any desired means,
including, but not
limited to, by cable 22128, that can be routed so as not to interfere with the
movement of
seat assembly 40000-1. User controller attachment bracket 30226 can be
operably coupled
with either of armrest brackets 30043 or elsewhere as desired. Second
configuration seat
assembly 40000-1 can include footrest 30064 that can rotate towards second
configuration
lower footrest post 30062 when not in use. Second configuration lower footrest
post 30062
can be positionally adjusted with respect to seat bracket 30001 to raise or
lower second
configuration footrest 30064. Second configuration lower footrest post 30062
can be
attached, by any suitable means such as, for example, but not limited to,
screws, bolts,
hook-and-eye, and magnets, to second configuration upper footrest post 30061
according to
the desired position of footrest 30064. Armrest structure 30043 (FIGs. 34H and
341) can be
rotated towards the backrest for user convenience and for streamlined
transporting of the
seat.
[00748] Referring now primarily to FIGs. 35A-35E, the seat, backrest,
and arms of
second configuration seat assembly 40000-1 can by operably coupled by second
configuration top back frame bracket, rear tube holder bracket 30011, and
second
configuration armrest mount bracket 30040. Second configuration armrest mount
bracket
30040 can surround vertical back frame cane 30013 that can include a first end
and a second
end. The first end of vertical back frame cane 30013 can engage rear tube
holder bracket
30011, and the second end of vertical back frame cane 30013 can engage second
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configuration top back frame bracket 30012. Vertical back frame cane 30013 can
be
secured between top back frame bracket 30012 and rear tube holder bracket
30011 by bolt
40000-10. Bushings 40014-3 can surround second configuration armrest mount
bracket
30040 as it slides up and down along vertical back frame cane 30013. Second
configuration
armrest mount bracket 30040 can enable both adjustment of the height of the
armrest and
the rotation of the armrest towards the backrest. Height adjustment of armrest
structure
30043 can be accomplished by a push button action of armrest height adjustment
button
30045 by the user. Armrest narrow flanged bushing 40014-2, armrest wide
flanged bushing
40014-1, and armrest nut with hole 30044 can operably couple armrest structure
30043 with
armrest mount bracket 30040 and armrest height adjustment button 30045
through, for
example, but not limited to, a threaded coupling. Armrest mount bracket 30040
can
operably couple armrest structure 30043 with vertical back frame cane 30013
that can
operably couple armrest structure 30043 with rear tube holder bracket 30011
and second
configuration top back frame bracket 30012. Within armrest mount bracket 30040
are
components that can enable height adjustment of armrest structure 30043. The
components
can include, but are not limited to including, button transition rod 40011-1
that can operably
couple armrest height adjustment button 30045 with button slide 30042. Button
transition
rod 40011-1 can achieve aligned coupling with button slide 30042 through its
placement in
button slide cavity 40061-3 (FIG. 401). Button slide 30042 can control the
release of the
current position of armrest structure 30043 by positionally interacting with
male lock pin
30041-1. Male lock pin 30041-1 and female lock pin 30041-2 can cooperatively
engage
with vertical back frame cane 30013 to establish the height of the armrest.
Button slide
30042 can respond to a depression of button 30045 by disengaging male/female
lock pins
30041-1/2 from vertical back frame cane 30013 to allow second configuration
armrest
mount bracket 30040 to slide along vertical back frame cane 30013. When
armrest height
adjust button 30045 is depressed, button slide 30042 is depressed, moving
button slide lock
position 40061-1 (FIG. 401) and releasing the lock on armrest structure 30043
enabled by
the contact between button slide lock position 40061-1 (FIG. 401) and male
lock pin 30041-
1. As button slide 30042 is depressed, button slide open position 40061-3
(FIG. 401) can
become aligned with male lock pin 30041-1, and can enable male lock pin 30041-
1 and
female lock pin 30041-1 to retreat from back frame cane cavity 40025-2 (FIG.
40J),
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releasing the lock on the position of armrest structure 30043 and allowing
armrest mount
bracket 30040 to slide in channel 40025-1 (FIG. 40J). Armrest mount bracket
30040 can be
provide a low-friction sliding surface between vertical back frame cane 30013
and armrest
mount bracket 30040. Spring arm mechanism 40017 can enable the return of
button 30045
to engaged position with respect to button slide 30042, male lock pin 30041-1,
and female
lock pin 30041-1. In some configurations, adjustment screw 40025-3 (FIG. 40K)
can be
used to bolt armrest structure 30043 to vertical back frame cane 30013.
[00749] Referring now to FIGs. 35F-35G, second configuration armrest
30048 can be
operably coupled with armrest mount bracket 30040 (FIG. 35A) in the same way
as has
been described herein. Second configuration armrest 30048 can include second
configuration armrest structure 30043-1, armrest shell 30047, and second
configuration
armrest cushion 30046-1. Second configuration armrest structure 30043-1 can
include
curvature 30043-1C that can enable positional accommodation during use of
second
configuration armrest 30048. Second configuration armrest structure 30043-1
can include a
support structure that can taper with respect to curvature 30043-1C,
relatively smaller
support structure 30043-1D being associated with armrest shell interface 30043-
1E, and
relatively larger support structure 30043-1G being associated with area 30043-
1K between
armrest shell interface 30043-1E and armrest mount bracket interface 30043-1J.
The
support structure can provide stable resistance to pressure placed upon
armrest shell
interface 30043-1E. The support structure can be continuous or discontinuous,
and can be
constructed of the same or different material from armrest shell interface
30043-1E. Second
configuration armrest structure 30043-1 can include rotation stops 30043-1H
that can
maintain the rotation of second configuration armrest 30048 within a
preselected number of
degrees. Armrest shell 30047 can be situated between second configuration
armrest
structure 30043-1 and second configuration armrest cushion 30046-1. Armrest
shell 30047
can include structure interface 30047-1 that can be operably coupled to second
configuration armrest structure 30043-1 and second configuration armrest
cushion 30046-1,
and can include cushion interface 30047-2 that can be operably coupled to
second
configuration armrest cushion 30046-1. Armrest shell 30047 can decouple the
geometry of
second configuration armrest structure 30043-1 from the geometry of second
configuration
armrest cushion 30046-1 by providing a mounting platform for second
configuration
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armrest cushion 30046-1. Thus the geometry of second configuration armrest
structure
30043-1 can remain fixed while the geometry of second configuration armrest
cushion
30046-1 can vary based on user preference and need. Armrest cushion 30046-1
can
include, for example, relatively narrower edge 30043-1B that can
cooperatively, with
relatively wider edge 30043-1A, accommodate arm comfort while maintaining
space for the
torso in the seat assembly. Armrest cushion 30046-1 can thus be contoured to
accommodate the arm's geometry, and can be attached to armrest shell 30047 by
any
suitable fastening means such as, for example, but not limited to, glue,
magnets, screws,
bolts, and hook-and-eye fasteners. Armrest shell 30047 can be attached to
second
configuration armrest structure 30043-1 by any suitable means as well.
[00750] Referring now to FIGs. 36A, 36B, and 37A, seatpan bracket 30001
can
operably couple footrest 30064 with rear tube holder bracket 30011. Seatpan
bracket 30001
can include mounting points for at least one vehicle tie down 30069, fold
hinge bracket
30010, and footrest mount bracket 30060 (FIG. 36B). Fold hinge bracket 30010
can enable
secure mounting of rear tube holder bracket 30011 that can enable folding of
the backrest
towards seatpan bracket 30001 when fold handle 30014 is shifted. Seatpan
bracket 30001
can include seatpan alignment cavities 30001-2 (FIG. 37A) and 30001-1 (FIG.
37A) that
can matingly align seatpan bracket 30001 with seat shell 30000 (FIG. 371).
Seatpan wings
30001-3 (FIG. 37A) can enable operable coupling of seatpan bracket 30001 with
a seat
mounting device (not shown) such as, for example, but not limited to, a
powerbase for a
motorized wheelchair.
[00751] Referring now to FIGs. 37B-37F, the backrest can be locked in
place, and
also can be released and folded towards the seat cushion. When the backrest is
folded
forward, the armrests can be rotated towards the backrest to enable compact
storage. The
junction between armrest structure 30043 (FIG. 37B) and second configuration
armrest
mount bracket 30040 (FIG. 37B) can enable smooth rotation of armrest structure
30043
(FIG. 37B). Fold hinge bracket 30010 can include bottom hinge knuckles 30010A
(FIG.
37C) mounted to hinge leaf 30010B (FIG. 37C). Rear tube holder bracket 30011
can
include top hinge knuckles 30011A (FIG. 37C) that can operably couple with
bottom hinge
knuckles 30010A (FIG. 37C) and surround hinge pin 30020 (FIG. 37C). When fold
handle
30014 (FIG. 37C) is lifted, at least one spring pin 40010, engaged within
spring pin cylinder
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40017 (FIG. 37C), can release at least one retention hook 30015, protruding
from retention
hook cavity 30015B (FIG. 37C), and can enable at least one retention hook
30015 to
disengage from at least one retention hook rest 30015A (FIG. 37C). At least
one retention
hook 30015 can engage with cavity 30011B (FIG. 37C). It is then possible to
rotate rear
tube holder bracket 30011, operably coupled with the backrest, towards seat
bracket 30001.
The backrest can be lifted back into an operational position, rotating rear
tube holder
bracket 30011 away from seat bracket 30001. At a pre-selected point in the
rotation, at
least one retention hook 30015 (FIG. 37C) can engage with at least one
retention hook rest
30015A (FIG. 37C), locking the backrest in place.
[00752] Referring now to FIG. 37G, rear tube holder bracket 30011 can be
shaped to
accommodate a seat cushion, in particular, rear tube holder bracket 30011 can
include a
curvature angle 30011E that can be varied, during manufacture, depending upon
the shape
of the seat cushion. Rear tube holder bracket 30011 can include fastening
cavity 30011D
that can accommodate bolt 40000-10 (FIG. 35A), and cane cavity 30011C that can
accommodate vertical back frame cane 30013 (FIG. 35A).
[00753] Referring now to FIG. 37H-37M, seat shell 30000 can be mounted
atop seat
bracket 30001 (FIG. 37A). Seat shell 30000 can provide an interface between
seat cushion
30002 (FIG. 37K) and seatpan mounting bracket 30001 (FIG. 37A). Seat shell
30000 can
be contoured to retain seat cushion 30002 (FIG. 37K) while, at the same time,
providing
edges, such as chamfered or beveled edges, that can enable comfortable
seating. For
example, seat shell 30000 can include at least one seat shell side rest 40079-
1 (FIG. 371)
that can retard lateral motion of seat cushion 30002 (FIG. 37K). Seat shell
30000 can
include seat shell bottom 40079-2 (FIG. 371) that can include seat alignment
first feature
40079-10 (FIG. 37J) and seat alignment feature second feature 40079-11 (FIG.
37J)
described herein. Seat shell 30000 can include at least one seat magnet 40079-
3 (FIG. 371)
that can enable operable coupling between seat shell 30000 and seat cushion
30002 (FIG.
37K). Seat shell 30000 can be constructed of multiple parts or can be a single
piece. In
some configurations, seat shell 30000 can include seat shell front right 40079-
6 (FIG. 37J),
seat shell front left 40079-7 (FIG. 37J), seat shell rear right 40079-8 (FIG.
37J), and seat
shell rear left 40079-9 (FIG. 37J) that can be joined together by, for
example, at least one
seat shell bolt 40079-4 (FIG. 37J) and/or at least one seat shell pin 40079-5
(FIG. 37J).
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When the parts of seat shell 30000 are joined, at least one seat shell rib
40079-12 (FIG. 371)
can be formed.
[00754] Referring now to FIG. 37N, seat cushion 30002 can rest upon seat
shell
30000 (FIG. 371), and can be operably coupled with seat shell 30000 (FIG. 371)
through the
coupling of fastening means such as, for example, but not limited to, at least
one seat
magnet 40079-3 (FIG. 371) with at least one seat cushion magnet 40013-1 on
seat cushion
shell interface 40013-3. Seat shell ribs 40079-12 (FIG. 37J) can be
accommodated by seat
cushion troughs 40013-2. Seat cushion 30002 can include user seat surface
40013-4 that
can, in some configurations, include padding for comfort. Seat cushion 30002
can include
any type and amount of padding and any type of upholstery.
[00755] Referring now to FIG. 38, optional attendant handle 50001 can be
retracted
to reduce its height, and can be set to a specific height to accommodate the
attendant. In
particular, handle grasp 50001-2 can be depressed. The depression can reduce
the length of
handle post top 50001-1 by sliding it into handle post bottom 50001-3. Handle
interface
50001-6 can include pivot bolt cavity 50001-4 that can rest upon backrest
pivot shaft
40011-5 (FIG. 36B), the combination of which can enable snap placement of
attendant
handle 50001 with respect to backrest shell 30019. Attendant handle 50001 can
include
knob shaft accommodation 50001-5 that can provide space for threaded knob
shaft 40011-1
(FIG. 36A). Attendant handle 50001 can enable an attendant to assist a user
in, for
example, but not limited to, climbing stairs.
[00756] Referring now to FIGs. 39A-39F, backrest shell 30019 can include
knob
interface bracket 40023-1 (FIG. 39B) that can accommodate angle adjustment
knob 40049
(FIG. 39C), if it is present, through an operable coupling enabled by
connecting screw
cavity 40023-2 (FIG. 39B). Backrest shell 30019 can include multiple parts
or can be
manufactured as a single piece. In some configurations, backrest shell 30019
can include
mirrored image backrest shell right 40023-4 (FIG. 39B) and backrest shell left
40023-5
(FIG. 39B) that can be joined at backrest shell ribs 40023-6 (FIG. 39B).
Backrest shell
right 40023-4 (FIG. 39B) and backrest shell left 40023-5 (FIG. 39B) can
include at least
one backrest magnet 40023-3 (FIG. 39B) that can accommodate attachment of
backrest
cushion 30017 (FIG. 39F). Attachment means to couple backrest shell 30019 with
backrest
cushion 30017 (FIG. 39F) can include, but are not limited to including,
backrest magnets
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40023-3 (FIG. 39B) that can be attached to backrest shell 30019 by any kind of
fasteners
including, but not limited to screws, bolts, hook-and-eye fasteners, and glue.
Backrest shell
30019 can include at least one backrest spacer 40023-7 (FIG. 39B) that can
provide for
positioning of additional cushioning. At least one backrest spacer 40023-7
(FIG. 39B) can
include recess 30019C (FIG. 39C) that can accommodate means to attach various
pieces of
backrest shell 30019 together.
[00757]
Referring now to FIGs. 39G-39I, first configuration top back frame bracket
40011 (FIG. 39G) can provide recesses for mounting backrest angle adjust knob
40049
(FIG. 6H), if present. Angle adjust knob 40049 (FIG. 39H) can be operably
coupled with
threaded knob shaft 40011-1 (FIG. 39H) that can include a cavity to
accommodate bracket
knob connecting screw 40011-8 (FIG. 39G). Backrest angle adjust knob 40049
(FIG. 39H)
can cause the angle of backrest shell 30019 (FIG. 39E) (and therefore backrest
cushion
30017 (FIG. 39F)) to change during travel along threaded knob shaft 40011-1
(FIG. 39H)
by threaded footrest insert 40011-2 (FIG. 39H) and retaining ring 40011-4
(FIG. 39H).
Retaining ring 40011-4 (FIG. 39H) can include, but is not limited to
including, an axially or
radially assembled ring, an inverted ring, a beveled ring, and a spiral ring.
Bracket knob
connecting screw 40011-8 (FIG. 39G) can operably couple backrest shell 30019
(FIG. 39B)
with backrest angle adjust knob 40049 (FIG. 39H) through knob interface
bracket 40023-1
(FIG. 39B) to enable positional adjustment of backrest shell 30019 (FIG. 39B)
by rotating
backrest angle adjust knob 40049. Backrest angle adjust knob 40049 (FIG. 39H)
can be
operably coupled with connecting pin 40011-10 (FIG. 39G). When backrest angle
adjust
knob 40049 (FIG. 39H) is rotated, pressure is placed upon connecting pin 40011-
10 (FIG.
39G) which can cause rotation of backrest shell 30019 (FIG. 39B). First
configuration top
back frame bracket 40011 (FIG. 39G) can provide recesses for backrest pivot
shaft 40011-5
(FIG. 39C) that can be held in place by, for example, but not limited to,
pivot shaft bolts
40011-7 (FIG. 39H) and recessed bolthead washers 40011-6 (FIG. 39H).
[00758]
Referring now primarily to FIG. 39F, backrest cushion structure 30017 can
include contoured backrest cushion 40003-2 on a first side of backrest cushion
structure
30017. Contoured backrest cushion 40003-2 can be sized and padded to interface
with a
specific user. Backrest cushion structure 30017 can include backrest shell
interface 40003-
3 that can interface with backrest shell 30019. Backrest shell interface 40003-
3 can include
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recessed features that can include at least one backrest cushion magnet 40003-
1 that can
operably couple with at least one backrest shell magnet 40023-3 (FIG. 35B) to
enable
removable coupling between backrest shell 30019 (FIG. 39B) and backrest
cushion
structure 30017. The recessed features can accommodate backrest spacers 40023-
7 (FIG.
35B).
[00759] Referring now to FIGs. 39J-39L, second configuration top back
frame
bracket 30012 can include backrest rotation pin 30018 that can be held in
place by rotation
pin bolt 40002 (FIG. 39K) and rotation pin bushing 30085 (FIG. 39K). Second
configuration top back frame bracket 30012 can include at least one spacer
40020 that can
maintain the distance between backrest shell 30019 (FIG. 39F) and top back
frame bracket
30012. Top back frame bracket 30012 can include curvature angle 30012D (FIG.
39J) that
can be varied, during manufacture, according to the shape of the backrest. Any
shape of the
backrest can be accommodated by modifying curvature angle 30012D (FIG. 39J) of
top
back frame bracket 30012. Top back frame bracket 30012 can operably couple
with
vertical back frame cane 30013 (FIG. 35A) at cane cavity 30012C (FIG 39J).
Second
configuration top back frame bracket 30012 can operably couple with backrest
shell 30019
by means of backrest rotation pin 30018 that can simultaneously pass through
backrest pin
cavities 30019A/30019B (FIG. 39L) and top bracket pin cavities 30012A (FIG.
39L).
[00760] Referring now to FIG. 40A, first configuration armrest mount
bracket 40053
can include contoured rests 40053-4 that can surround and admit female lock
pin 30041-2
(FIG. 35A). Adjustment screw cavity 40053-5 can accommodate adjustment screw
40025-
3 (FIG. 40J). At least one armrest wing 40053-3 can enable alignment of first
configuration armrest mount bracket 40053 with armrest structure 30043 (FIG.
34A).
Recesses 40053-1 can operably couple armrest nut with hole 30044.
[00761] Referring now to FIGs. 40B-40D, armrest structure 30043 (FIG.
40B) can
operably couple with first configuration armrest mount bracket 40053 (FIG.
40B), that can
slide along vertical back frame cane 30013 (FIG. 40B). Armrest structure 30043
(FIG.
40C) can also operably couple with second configuration armrest mount bracket
30040
(FIG. 40C).
[00762] Referring now to FIGs. 40E-40L, second configuration armrest
mount
bracket 30040 (FIGs. 40F, 40G) can include rectangular alignment tabs 30040-4
that can
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surround and admit female lock pin 30041-2 (FIG. 35A) at recess 30040-5 (FIG.
40H) and
can rest in cane cavity 40025-1 (FIG. 40J-40L). Alignment tabs 30040-4 can
maintain the
position of vertical back frame cane 30013 (FIG. 40D) within second
configuration armrest
mount bracket 30040. At least one armrest wing 30040-2 can enable alignment of
second
configuration armrest mount bracket 30040 with armrest structure 30043 (FIG.
34A).
Adjustment screw cavity 30040-3 can accommodate adjustment screw 40025-3 (FIG.
40K).
Vertical back frame cane 30013 (FIG. 35A) can rest in holder 30041-1 (FIG.
40L) within
mount bracket cavity 30040-1 (FIG. 40H). Positional maintenance pins 30041-2
(FIG.
40K) can rest in pin cavities 40025-4 (FIG. 40J) to maintain the position of
second
configuration vertical back frame cane 30013 (FIG. 40D) between second
configuration top
back frame bracket 30012 (FIG. 35A) and rear tube holder bracket 30011 (FIG.
35A).
[00763]
Referring now to FIGs. 41A and 41B, second configuration footrest 30064,
second configuration lower footrest post 30062, and second configuration upper
footrest
post 30061 can combine to provide a footrest structure for seat assembly 40000-
1. The
height of footrest 30064 can be adjusted by raising and lowering second
configuration lower
footrest post 30062. The height can be secured by engaging a fastening means
such as, for
example, but not limited to, at least one screw 40054 coupling fastening
cavities of second
configuration upper footrest post 30061 and second configuration lower
footrest post 30062.
The angle of footrest 30064 can be adjusted by turning screw 30064D (FIG. 41B)
either
counterclockwise or clockwise, depending on the desired angle with respect to
second
configuration lower footrest post 30061.
[00764]
Referring now to FIG. 41C, in some configurations, the orientation of first
configuration upper footrest post 40019 and first configuration lower footrest
post 40021
can be adjusted forwards and backwards relative to the direction of motion and
seat cushion
30002. In some configurations, the position of first configuration footrest
40017 can be
adjusted forwards and backwards to accommodate the comfort needs of the user.
First
configuration lower footrest post 40021 can telescope into first configuration
upper footrest
post 40019 to enable adjustment of the length of the footrest structure. In
some
configurations, the relative positions of first configuration lower footrest
post 40021 and
first configuration upper footrest post 40019 can be maintained by fastening
means such as,
for example, but not limited to, screws, bolts, hook-and-eye fasteners, and
glue.
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[00765] Referring now to FIGs. 41D-41E, footrest mount bracket 40029 can
operably
couple the footrest structure with seat pan mounting bracket 30001 (FIG. 37A).
Upper
footrest spacer 40043 (FIG. 41E), legrest flanged bushing 40037 (FIG. 41E),
recessed
bolthead washer 40039 (FIG. 41E), legrest swing bolt 40226 (FIG. 41E), and
footrest o-ring
40045 (FIG. 41E) can, in combination, enable limited forward-backward movement
of
upper footrest post 40019. The forward position of the footrest structure can
be maintained
by spring plunger 40027. Lower footrest spacer 40033 (FIG. 41E), footrest
swing bolt
40237 (FIG. 41E), footrest washer 40031 (FIG. 41E), and footrest nut 40238
(FIG. 41E)
can, in combination, enable folding of first configuration footrest 40017
towards lower
footrest post 40021. First configuration footrest 40017 can accommodate both
feet, and can
be constructed as a single item or in parts. The foot-facing surface of first
configuration
footrest 40017 can include non-slip features 40017-1 and rear stop 40017-2.
[00766] Referring now to FIGs. 41F-41I, second configuration footrest
30064 can be
operably coupled with second configuration lower footrest post 30062, which
can
cooperatively engage with second configuration upper footrest post 30061 to
raise and
lower footrest 30064. Second configuration upper footrest post 30061 can be
operably
coupled with seat bracket 30001 (FIG. 34A), by means of footrest bracket
30060, and can
include limited backward rotation in response to pressure exerted upon
footrest 30064.
Bumper 30063, constructed of a compliant material, can buffer the effect of
the pressure.
Joints in the seat assembly can be reinforced by a combination of recessed
bushing 30085
(FIG. 41H), for example, and bolt 40002 (FIG. 41H). Bolt 40002 (FIG. 41H) can
be
inserted into the recess of recessed bushing 30085 (FIG. 41H) and engaged
therein. Any
subsequent stress on the joint can be met by both the strength of bolt 40002
(FIG. 41H)
itself in addition to the strength of recessed bushing 30085 (FIG. 41H).
Further, the head of
bolt 40002 (FIG. 41H) can reside within the recess of recessed bushing 30085
(FIG. 41H),
maintaining a flush appearance. Other joints in the seat assembly can be
constructed in a
similar manner.
[00767] Referring now to FIGs. 42A-42C, a seating assembly 110 can offer
a
plurality of automated or user-operable features to facilitate expedient
performance of
routine tasks by user of seating assembly 110, specifically when seating
assembly 110 is
provided on a wheelchair or any other mobility device. Seating assembly 110
can be further
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constructed to suit pre-determined requirements of individuals with physical
constraints.
These physical constraints can range from injuries or issues related to the
lower body
organs, spinal cord issues or neurological issues damaging communication of
brain with
other parts of the body. It should be noted that the use of the seating
assembly 110 cannot
be limited to individuals with above discussed apprehensions only and can be
used by any
individual irrespective of any physical constraints. Further, seating assembly
110 can be
used by individuals of varying ages and body types. Most features of the
seating assembly
110 can be adjustable and/or can be removably attached based on user
preferences.
[00768] Continuing to refer to FIGs. 42A-42C, seating assembly 110 can
be
employed with a mobility device such that seating assembly 110 can engage a
user
controller 120 that can operate features of a mobility device/ wheelchair and
seating
assembly 110. User controller (UC) 120 can also comprise structural features
such as but
not limited to, mounts, coupling junctions, etc., to engage with seating
assembly 110 and
subsequently with a mobility device (not shown). Structural features as
discussed above and
others, (not shown) can enable mounting of UC 120 with seating assembly 110
and/ or with
another component of mobility device / wheelchair. Positioning of UC 120, with
respect to
seat assembly 110, can be governed by degree of comfort with which user of
seating
assembly 110 can reach and operate UC 120. In some configurations, UC 120 can
be
mounted to seating assembly 110 through user control mount 125.
[00769] Continuing to refer to FIGs. 42A-42C, UC mount 125 can be
constructed to
have substantially ambidextrous parts, enabling cost-effective manufacture of
UC mount
125. UC mount 125 can be manufactured based on user preference. Armrests 133A
and
133B (FIG. 45A) can be engaged with the remainder of seating assembly 110
through
corresponding armrest supports 135A and 135B. Each armrest support 135A, 135B
can
comprise a first region that can attach respective armrest 135A and 135B to a
frame (not
shown) of seating assembly 110 and a second region configured to receive at
least one arm
cushion thereupon. Arm cushion 131A can be committed to armrest 133A and arm
cushion
131B can be dedicated to armrest 133B (FIG. 12A).
[00770] Referring to FIGs. 42B and 42C, second regions of arm supports
135A and
135B can further comprise corresponding base surfaces 137A (FIG. 42B) that can
face
away from arm cushions 131A and 131B. These base surfaces 137A (FIG. 42C) can
provide
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receiving platforms to engage UC mount 125, the UC tilt mechanism. A coupling
assembly 140 (FIG. 43A) can moveably attach UC mount 125 with the armrest base
surfaces 137A. In some configurations, a plurality of coupling assemblies 140
(FIG. 43A)
can be used to engage UC mount 125 with at least one of armrests 133A and/or
133B.
Coupling assemblies 140 (FIG. 43A) can operate jointly or discretely from one
another for
achieving engagement. Moveably coupling UC mount 125 with armrest base surface
137A
can allow UC 120 to be placed in more than one position, alternating towards
vertical
position 155A and towards horizontal position 155B. Each of the optional
positions can
allow the user to conveniently operate UC 120 and consequently operate the
mobility
device/wheelchair that can be operably coupled with seating assembly 110.
Provision of
optional positions for UC 120 can allow user to align with respect to a piece
of furniture
without being obstructed by a rigid position of UC 120. For example, the user
of a
mobility device such as a wheelchair with seating assembly 110 can sit against
a table or
desk maintaining or adjusting the distance between the wheelchair and the
table without any
obstruction from or damage to UC 120.
[00771] Referring now to FIGs. 42B-42C, locking apparatus 143 on UC
mount 125
can allow UC 120 to be held in first position 150 (FIG. 42B) when a locking
mechanism is
deployed. In unlocked condition, UC mount 125 can be transitioned and held
into second
position 153 (FIG. 42C). Seat assembly 110 can include first position 150
(FIG. 42B) in
which user control mount 125 is locked, and second position 153 (FIG. 42C) in
which user
control mount 125 is unlocked. In unlocked condition, the user of seating
assembly 110
can adjust UC 120 into a preferred position by shifting UC mount 125 away from
armrest
133A. Second position 153 (FIG. 42C) can be variable. In first position 150
(FIG. 42B) or
when user mount 125 is operably coupled with armrest support 135A, UC mount
125 can be
generally parallel to armrest 133A. While in second position 153 (FIG. 42C),
UC mount
125 can form an angle with respect to armrest 133A, causing displacement of UC
120.
[00772] Referring now to FIG. 43A, coupling assembly 140 can operate in
conjunction with locking mechanism 143 to engage UC mount 125 (FIG. 42B) with
armrest
133A, and can enable UC mount 125 (FIG. 42B) to reversibly displace from first
position
150 (FIG. 42B) to a second position 153 (FIG. 42C). Locking mechanism 143 can
optionally comprise receptacle 147 (FIG. 43B) and lever 145. Receptacle 147
(FIG. 43B)
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can engage with base surface 137A of armrest 133A, and can jointly operate
with lever 145
to engage shaft 121 (FIG. 42C) of UC mount 125 with base surface 137A. In a
locked
position, UC mount shaft 121 (FIG. 42C) can be operably coupled with base
surface 137A
such that a coupling segment of lever 145 can link with a complementing
coupling part in
receptacle 147 (FIG. 43B) and trap shaft 121 (FIG. 42C) there between.
Receptacle 147
(FIG. 43B) can comprise primary receptacle 147A (FIG. 43B) and secondary
receptacle
147B (FIG. 43B). Primary receptacle 147A (FIG. 43B), which can roughly match
the
cylindrical shape of telescoping tube 121A, can serve as a trench to receive,
and provide
lateral restraint for, shaft 121 (FIG. 42C) of UC mount 125 when it is in
first
position/locked position 150 (FIG. 42B). Lever 145 can be operably engaged
with shaft
121 (FIG. 42C) and can comprise bar segment 144 (FIG. 42B) that can serve as a
coupling
segment, and can be trapped into secondary receptacle 147B (FIG. 43B) when UC
mount
125 is in a locked position. The user can trap or release bar segment 144
(FIG. 42B) from
secondary receptacle 147B (FIG. 43B) by operating lever 145 (FIG. 43B) that
can include a
paddle configured to be operated by a user. While in first position 150 (FIG.
42B) or
locked position, lever 145 can be angled with respect to shaft 121 (FIG. 42C)
of mount 125,
such that bar segment 144 (FIG. 42B) is confined in secondary receptacle 147B
(FIG. 43B).
In second position 153 (FIG. 42C), lever 145 can form a renewed angle with
respect to shaft
121 (FIG. 42C), releasing bar segment 144 (FIG. 42B) from secondary receptacle
147B
(FIG. 42C). The coupling can allow a user to unlock and displace UC 120 (FIG.
42B) at a
desirable angle with respect to armrest 133A (FIG. 43A). In some
configurations, shaft
121 (FIG. 42C) can include a telescopic conduit such that a user can alter the
length of shaft
121 (FIG. 42C) as per the length of the user's arm. In some configurations,
telescoping
conduit can be secured without tools, for example, but not limited to,
securing with wing
nuts and/or thumb screws. In some configurations, shaft 121 (FIG. 42C) can
include a
multi-part component. In some configurations, shaft 121 (FIG. 42C) can include
a single,
continuous elongation. In some configurations, shaft 121 can include a filler
such as, for
example, a textured tape.
[00773] Referring now specifically to FIGs. 43A and 43B, coupling
assembly 140
can engage at least one end of UC mount 125 with armrest 133A. A pivoting
assembly 160
and bracket 161 can form coupling assembly 140 such that bracket 161 can
enable
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engagement between base 137A and pivoting assembly 160. Bracket 161 can be
rigidly
fastened with base surface 137A and pivoting assembly 160 engages therewith
such that
rotary portion (not shown) can pivot away and towards base surface 137A.
Bracket 161 can
further comprise cylindrical protrusion that can serve as roller 162 (FIG.
44D) around which
pivoting assembly 160 can be operatively housed. Pivoting assembly 160 can
engage with
bracket 161 by receiving roller 162 (FIG. 44D) into a roller space 163.
Coupling and
frictional interaction between roller 162 (FIG. 44D) and remaining components
of pivoting
assembly 160 have been discussed in greater detail in later part of this
specification. Bracket
161 can be affixed to base 137A through fastening agents such as, but not
limited to,
screws, bolts, pins, etc., fastening components such as those enlisted above
and others.
Similar fastening agents can be employed for receptacle 147 (FIG. 43B) and
lever 145 of
locking mechanism 143. A user control bed 123 can be a part of UC mount 125
such that
bed 123 can permanently couple with shaft 121. User control 125 can be held on
the UC
bed 123 through fastening components such as, but not limited to, screws and
bolts affixed
therewith. A base (not shown) of the user control 120 and/or UC bed 123 can
provide a
plurality of fastening junctions that can allow a user to orient UC 120 as
required.
Displacement of UC mount shaft 121 can cause subsequent displacement of UC bed
123
and hence UC 120.
[00774] Referring now to FIG. 44A, UC mount 125 can comprise a shaft 121
operably coupled with UC bed 123 on the distal end of shaft 121, and pivoting
assembly
140 on the proximal end of shaft 121. Fasteners 127 can operably couple UC 120
(FIG.
42A) with UC mount bed 123. Any kind and shape of user controller with
fastening points
the approximate locates of fasteners 127 can be attached to UC mount bed 123.
Shaft 121
can include a multi-part component. Shaft 121 of can include first tube 121A
and a second
tube 121B. Second tube 121B can at least partially nest inside first tube 121A
and can
cooperatively, with first tube 121A, provide a telescopic elongation to adjust
the combined
length of shaft 121. In some configurations, first tube 121A can possess a
diameter larger
than the diameter of second tube 121B to achieve nesting and telescopic length
adjustment.
Shaft segments 121A and 121B can provide a roll degree of freedom therewith,
providing
additional positioning options to user. Shaft segment 121A can comprise a
longitudinal
incision 122 to receive shaft segment 121B of varying diameters. Incision 122
can further
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allow first shaft segment 121A to acceptably deform when a second shaft
segment 121B is
received therein. In some configurations, shaft 121 can include rigid or
incompressible
spacer 121C to ensure compact fitting between first shaft segment 121A and
second shaft
segment 121B. In some configurations, shaft 121 can include no spacer or can
be a single-
piece, continuous device. When UC mount 125 is in position 150 (FIG. 42B),
bumpers (not
shown) formed by a cavity within receptacle 147, extending into the
cylindrical cutout of
second lever segment 147A can press against first shaft segment 121A, creating
a
compression that can inhibit possible unwanted mechanical movement.
[00775] Continuing to refer to FIG. 44A, shaft 121 and shaft segments
121A, 121B,
and 121C can jointly define track 124 in shaft 121. Track 124 can house cables
or power
and data cords (not shown) between UC 120 (FIG. 45A) and a mobility device.
First
aperture 124A, disposed on a distal end of shaft 121 can serve an entry gate
for receiving
cables or cords from UC 120 (FIG. 45A) that can be attached to UC mount bed
123. Cables
and cords can extend along track 124 and can exit from a second aperture 124B,
that can be
disposed on proximal end of shaft 121. Apertures 124A and 124B can further
facilitate
swapping of cable unions, as required. Exiting cables and cords can be engaged
with hanger
141 that can be optionally integrated with coupling assembly 140. The layout
for receiving
cables can enable cable management related to the mobility device.
[00776] Continuing to refer to FIG. 44A, incision 122 on first shaft
segment 121 can
be pinched by constricting blocks 146A and 146B. Blocks 146A and 146B can be
optionally disposed on either sides of incision 122 and can be constricted
together through
fastening features such as, but not limited to screws, pins, and bolts. In
some
configurations, blocks 146A, 146B can be welded onto shaft segment 121A as a
single
block. Shaft segment 121A can be slitted to provide incision 122 and uniformly
divided
blocks 146A and 146B on either sides of incision 122. At least one of divided
blocks 146A
and/or 146B can further comprise an attachment means to engage lever 145
therewith.
Divided blocks 146A, 146B and lever 145 can together, at least partly, form
locking
mechanism 143 (FIG. 45A). Lever 145 can serve as user operated portion of
locking
mechanism 143 (FIG. 45A) and receptacle 147 (FIG. 42C) can jointly achieve
locking and
releasing of shaft 121.
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[00777] Continuing to refer to FIG. 44A, lever 145 can comprise two
segments. First
lever segment 144A can jointly operate with receptacle 147 (FIG. 42C) to trap
and release
shaft 121. In some configurations, first lever segment 144A can include a bar
that can be
held in primary receptacle 147B (FIG. 42C). Second lever segment 147B (FIG.
42C) can
serve to attach lever 145 with at least one of divided blocks 146A and/or 146B
to primarily
engage lever 145 with shaft 121. In some configurations, the engagement can
optionally
include a hinge connection to allow desirable operation of lever 145. In some
configurations, swiveling motion of lever 145 can be achieved by force
application from a
user operation on lever 145, and can engage or release first lever segment
144A with
primary receptacle 147B (FIG. 42C), causing shaft 121 to be engaged or
disengaged from
secondary receptacle 147A (FIG. 42C) of receptacle 147 (FIG. 42C). The swivel
motion
can be spring-loaded.
[00778] Referring now to FIGs. 44B-44D, pivoting assembly 140 (FIG. 44B)
can be
optionally positioned at the proximal end of shaft 121, allowing operable
engagement
between UC mount 120 (FIG. 42A) and base 137A (FIG. 42C) belonging to one of
armrests
133A or 133B (FIG. 45A). Bracket 161 can rigidly engage with armrest base 137A
(FIG.
42C) and can further couple with a housing 165 therewith. Bracket 161 can be
integrated
with roller 162 (FIG. 44D) such that roller 162 (FIG. 44D) can receive other
components of
rotary structure 169. In some configurations, bracket 161 and roller 162 (FIG.
44D) can be
a single, continuous component. Rotary structure 169 can receive roller 162
(FIG. 44D) in
a roller space 163 (FIG. 44D). At least one bearing and/or bushing such as but
not limited
to, flanged bushing 168 (FIG. 44D) can be employed to provide a thrust bearing
between
bracket 161 and rotary structure 169. In some configurations, flanged bushing
168 (FIG.
44D) can be replaced by or supplemented with any other component/s that can
enable
avoidance of contact between similar materials of bracket 161 and rotary
structure 169.
Flanged bushing 168 (FIG. 44D) can serve as a radial bearing in rotary
structure 169 (FIG.
44D) for roller 162 (FIG. 44D). The radial compression between the surfaces of
roller
space 163 (FIG. 44D), flanged bushing 168 (FIG. 44D) and roller 162 (FIG. 44D)
can
largely govern required friction to allow pivoting motion of pivoting assembly
160 (FIG.
43A).
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[00779] Referring to FIG. 44D, in company with receiving roller 162,
rotary structure
169 can also operably engage with housing 165. Rotary structure 169 can be
composed of a
cylindrical portion disposed in between a radial projection 166 and an
elongated portion
170. Projection 166 can partially oscillate in pocket 164 (FIG. 44C) of
housing 165 such
that its oscillation can transition into a pivoting motion of rotary structure
169 and
consequently pivot elongation 170. At least a part of the periphery of housing
165 can serve
as hard-stops for regulating oscillatory motion of projection 166. In some
configurations,
hard stop elements can be provided in housing 165 and, in some configurations,
hard stop
elements can be distinct from the body of housing 165. In some configurations,
housing
165 can limit travel to 30 . In some configurations, housing 165 can be
manufactured by
machining or printing. In some configurations, pocket 164 (FIG. 44C) of
housing 165 can
comprise one or more shim structures that can be removably retained therein.
As a result, a
variable hard stop can be provided for oscillatory motion of projection 166.
Altering the
motion of projection 166 can impact the angular adjustment of UC mount 120
(FIG. 42A)
with respect to shaft 121 (FIG. 44A). Shaft 121 (FIG. 44A) can couple with
pivoting
assembly 140 (FIG. 44B) by at least partially retaining elongation 170 in
track 124 of
hollow shaft 121 (FIG. 44A).
[00780] Continuing to refer to FIG. 44D, a plurality of washers or like
components
such as but not limited to, compression springs, can be employed in rotary
structure 169 to
provide axial pre-load between rotary structure 169 and bracket 161 through
flanged
bushing 168. The pre-load can create additional friction. In some
configurations, bushing
173A, flat washer 173B and Belleville washer 173C, held together by, for
example,
shoulder bolt 173D can achieve the pre-load. The number and type of washers
and/or
bushings can be varied based on the extent of pre-load desired. End cap 167
can be affixed
to rotary structure 169 to enclose rotary components. Materials and dimensions
of the sub-
components of rotary structure 169 can be determined based on a desired
friction there
between such that UC mount 125 (FIG. 44A) can be pivoted with a desired force
application and can halt at a desirable second position 153 (FIG. 42C).
Additional fastening
elements can be employed to ensure a uniform pivoting of most sub-components
of rotary
structure 169. In some configurations, rotary structure 169 can be a solid
piece, without
roller pocket 163 and/or roller 162.
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[00781] Referring now to FIG. 45A, third configuration seating assembly
110 can
comprise headrest 113 that can be disposed on backrest 130. Headrest 113 can
be engaged
with backrest 130 through discrete attachments 114 that can be completely
dedicated to this
coupling. Attachment 114 can allow user to alter position of headrest 113 with
respect to
backrest 130. As a result, users of varying heights can adjust headrest 113 as
per personal
convenience. In some configurations, rails 109 (FIG. 42A) can serve as pairing
means for
accepting headrest 113 with backrest 130. In some configurations, headrest 113
can be
rigidly fastened to rails 109 (FIG. 42A) or can be adjustably fastened to
rails 109 (FIG.
42A). In case of an adjustable attachment between headrest 113 and rails 109
(FIG. 42A),
a user can alter the position of headrest 113 with respect to backrest 130 and
the desired
height of attendant handle 115. A plurality of attachment mechanisms can be
employed for
adjustably engaging headrest 113 with rails 109 (FIG. 42A). At least one
attachment
mechanism can cause headrest 113 to slide along length of rails 109 (FIG.
42A). Headrest
113 can further be composed of cushion 113A and base 113B. Attachments 114
and/or
rails 109 (FIG. 42A) can be partially or completely captured between cushion
113A and
base 113B to ensure the attachments and/or rails 109 (FIG. 42A) do not
interfere when a
user's head rests on headrest 113. In some configurations, headrest 113 can be
removably
attached with attachment 114 and/or rails 109 (FIG. 42A). As a result, user
can enjoy an
option of using seating assembly 110 without headrest 113, when desired.
[00782] Referring now to FIGs. 45B-45C, attendant handle 115 can be
housed in
backrest 130. Handle 115 can serve as an auxiliary feature to maneuver seating
assembly
110 (FIG. 45A) by an individual other than user of seat assembly 110 (FIG.
45A). Handle
115 is also referred to as an attendant handle since it can be used by an
attendant assisting a
user of seat assembly 110 (FIG. 45A) during occasions that demand additional
and/or
external support to supplement movement capability of a wheelchair or mobility
device
containing seating assembly 110 (FIG. 45A). In some configurations, an
attendant can use
handle 115 when a user of seat assembly 110 (FIG. 45A) is climbing stairs in a
wheelchair
or any mobility device that can contain seat assembly 110 (FIG. 45A). In some
configurations, when a user is operating a wheelchair or mobility device over
a terrain that
offers a higher friction against wheels of the wheelchair or mobility device,
handle 115 can
be used. Attendant handle, such as, but not limited to, attendant handle 115
can serve as a
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convenient gripping and force bearing component to maneuver a wheelchair or
mobility
device on which seat assembly 110 (FIG. 45A) may be affixed.
[00783] Continuing to refer to FIGs. 45B-45C, handle rails 109 can
moveably engage
attendant handle 115 with backrest 130. Handle 115 can travel away from and
towards
backrest 130 through handle rails 109. The travelling motion of handle rails
109 can occur
along the length of rail slots or pathways 109A and 109B that can nest in
backrest 130. An
attendant can adjust the length of attendant handle 115, as per preference
and/or required by
any circumstances. Backrest 130 can further comprise a front surface 130A
(FIG. 46A) and
an opposing back surface 130B. Front surface 130A (FIG. 46A) can provide a
mounting
surface for cushion surface 180 that can cover or partially cover front
surface 130A (FIG.
46A). A plurality of engagement methods can be employed to attach cushion
surface 180 to
front surface 130A (FIG. 46A). In some configurations, cushion surface 180 can
be
coupled with front surface 130A (FIG. 46A) through a fastener such as, but not
limited to, a
screw or a bolt. In some configurations, cushion surface 180 can be coupled
with front
surface 130A (FIG. 46A) through VELCRO strips provided on the opposing side
of
cushion surface 180 that can mate with corresponding VELCRO strips disposed
on front
surface 130A (FIG. 46A). The engagement methods can allow a user of seat
assembly 110
(FIG. 45A) to conveniently switch cushion surface 180 as per preference.
[00784] Referring to FIG. 45C, back surface 130B of backrest 130 can
comprise latch
200 to operate attendant handle 115. Latch 200 can further comprise flange 205
that can
participate in operating and locking the mechanism, optionally disposed in the
interior of
front surface 130A (FIG. 46A) of backrest 130 (FIG. 45A). Raised supports 202,
in
conjunction with frame portion 210, can retain latch 200 against back surface
130B of
backrest 130. Raised supports 202 can be integral with back surface 130B and
can provide
a first pair of apertures 212A (FIG. 46D). In some configurations, raised
supports 202 can
be molded with back surface 130B during manufacture. In some configurations,
raised
supports 202 can be welded to backrest 130 (FIG. 45A). Raised supports 202,
latch 200
and frame 210 can provide coupling features that can further mutually align to
engage latch
200 there between.
[00785] Referring now to FIG. 46A, front surface 130A can include a
plurality of
cover layers that can enclose an attendant handle operating assembly 190.
Casing 191 can
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be integrated with or attached to backrest 130 (FIG. 45A), and can house
attendant handle
operating assembly 190. In some configurations, backrest 130 (FIG. 45A) can be
molded
with casing 191 and a plurality of subframes 193 can be provided therein. The
plurality of
subframes 193 can receive corresponding components that can make up attendant
handle
operating assembly 190. Securing layers 181, 182 and 183 can be positioned
between
attendant handle operating assembly casing 191 and cushion surface 180. Layers
181, 182,
183 can ensure a reliable covering of attendant handle operating mechanism 190
such that
mechanism 190 can function without external intervention that can obstruct
operating of
assembly 190. A combination of cover layers 181, 182 and 183 can further serve
as an
upholstery or padding to receive cushion surface 180. A plurality of
combinations can be
used to cover operating assembly 190 and a plurality of permutations and
combinations of
these layers can serve as upholstery for cushioning surface. The combinations
can include,
but are not limited to, a varying number of cover layers, varying material/s
for cover layer
and similar alternations. Additionally, cover layers 181, 182, 183 can be
fastened using a
number of fasteners such as, but not limited to, screws, bolts, and pins.
Cover layers can be
positioned such that fasteners or engaging agents do not interfere with handle
operating
assembly 190. In some configurations, casing 191 can be embossed into inner
face 185,
allowing components of assembly 190 to be nested therein. Platforms or
surfaces 185A
and 185B can receive cover layers 181 can assist in further partially
providing upholstery
for layers 182 and 183 and cushion surface 180. A desirable spaced enclosure
can be
formed through casing 191 and cover layers 181, 182, 183, that can retain
operating
assembly 190, and can allow unobstructed functioning of components of
operating
assembly 190.
[00786] Continuing to refer to FIG. 46A, covering layers 181, 182 and
183 of present
teachings can be a single-part or a multi-part component. A first or immediate
covering
layer 181 that can face operating assembly 190, can optionally be a two or
more-piece
component such that each component piece engages with an area of inner face
185 of
backrest 130 (FIG. 45A). In some configurations, the engagement can occur at
an area
other than the area occupied by attendant handle operating assembly 190. In
some
configurations, inner surface 185 can be divided into two regions. First
region 185A can be
occupied by attendant handle operating mechanism assembly 190, and second
region 185B
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can partially or completely accept cover layers 181, 182 and 183 to engage
with surface
185. Region 185A can be centrally located on surface 185, and region 185B can
be
positioned peripherally and can engage layers 182 and 183 therewith. Each
piece of first
layer 181 can mate to entirely cover casing 191. Covering layers such as, but
not limited
to, cover layers 181 and 183, can affix thereupon to provide a secure cover
for casing 191.
A plurality of fastening agents such as, but not limited to, screws, bolts,
and pins, can be
used to combine covering layers 181, 182 and 183.
[00787] Referring now to FIG. 46B, inner face 185 of backrest 130 can
comprise an
optionally embossed or pressed case 191 that can house attendant handle
operating
mechanism 190. A plurality of subframes 193 can be provided in case 191. The
plurality
of subframes 193 can serve as receptacles for moving parts that can jointly
retain, lock,
release and allow rails 109 along substantially vertical pathways or slots
109A and 109B.
Subframes 193 can also serve as receptacles and/or fastening junctions for
moving
components housed therein. One purpose of these moving components can be to
trap and
release rails 109 by operation of latch 200 (FIG. 45B). Attendant handle
operating
assembly 190 can comprise at least one focal point 311 that can serve as an
engagement
junction for most moving components of assembly 190. Adjustable joint 312 can
optionally engage a second engagement point of moving components of assembly
190 such
that adjustable joint 312 can be restricted to travel at variable hard stop
330. In some
configurations, operating assembly 190 can comprise a plurality of beams or
bars that can
mate at focal point 311.
[00788] Continuing to refer to FIG. 46B, case 191 can comprise pathways
109A and
109B for rails 109 of attendant handle 115. Rails 109 can be inserted through
a plurality of
aligned apertures in backrest 130 (FIG. 45A) to receive and retain rails 109.
Subframes 193
can further define edges 250 and 251 along each pathway 109A and 109B. Edges
250 and
251 can be sized and shaped to at least partially rim received rails 109.
Edges 250 and 251
can serve at alignment junctions to ensure that rails 109 do not derail
pathways 109A and
109B. Attachment features in the form of cuffs 110A and 110B can be held by
edges 250
and/or 251. Cuffs 110A and 110B can be retained in edges 250 and/or 251 and
can
subsequently receive rails 109 therein. In some configurations, cuffs 110A and
110B can
serve as bushings to provide a smooth sliding surface for rails 109. Traps
331A and 331B
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can retain cuffs 110A and 110B to enable positioning of rails 109. Edges 250
and 251 can
be dimensioned to receive rails 109 along with retaining members 110A, 110B
and traps
331A, 331B and any other retaining members, such as, but not limited to,
bushings and
washers. Following alignment in pathways 109A and 109B, the disposition of
moving
components of operating assembly 190 can enable capturing and releasing rails
109 in
pathways 109A and 109B.
[00789] Referring now to FIG. 46C, stoppers 322, 324 can commit to each
of rails
109 (FIG. 46B). Stoppers 322, 324 can couple with displaceable components of
operating
assembly 190 (FIG. 46B) such that operation of these components can cause
stoppers 322,
324 to halt and maintain rails 109 at a desirable junction in corresponding
pathways 109A
and 109B (FIG. 46B). In some configurations, bumpers 323, 325 can couple with
stoppers
322, 324 and can compress against rails 109 to halt and maintain rails 109 in
their halted
position. It should be noted that bumpers 323, 325 (FIG. 46C) can be sized in
varying
geometries such that chosen geometry can suffice to engage with stopper 322 on
one end,
and compress against rails 109 (FIG. 46B) on another. A plurality of similar
or dissimilar
sized bumpers 323, 325 can be employed with stoppers 322 and 324. For
achieving a
locked position, displacing components of operating assembly 190 (FIG. 46B)
can thrust
stoppers 322 towards rails 109 (FIG. 46B) and for releasing or in an unlocked
position,
stoppers 322, 324 can be retracted away from rails 109 (FIG. 46B). In some
configurations,
a compression spring (not shown) can be held between stoppers 322 and 324 such
that on
being retracted from rails 109 (FIG. 46B), stoppers 322 and 324 can be
maintained at a
known distance there between. Variable hard stop 330 (FIG. 46B) can be
disposed at a
junction in case 191 (FIG. 46B) such that displaceable components of assembly
190 (FIG.
46B) can be refrained from travelling beyond hard stop 330 (FIG. 46B).
Geometry of hard
stop 330 (FIG. 46B) can be constructed to allow variable positioning of hard
stop 330 (FIG.
46B).
[00790] Continuing to refer primarily to FIG. 46C, displaceable
components of
operating assembly 190 (FIG. 46B) can comprise central beam 315 with at least
two
engagement points 315A and 315B. One of engagement points 315A or 315B can
engage
at focal point 311 (FIG. 46B) and another of engagement points can be affixed
at flexible
point 312. A plurality of side beams such as but not limited to a first set of
side beams 317
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and a second set of side beams 319 can engage with central beam 315. Each set
of side
beam/s 317 and 319 can comprise at least two sets of corresponding engagement
points
each, 317A, 317B, 319A, and 319B. At least one of engagement points belonging
to each
side beam 317 and 319 can couple with first engagement point 315A of central
beam 315
and can optionally unite at focal point 311. First set of side beams 317 can
extend
substantially perpendicular to central beam 315 and can further engage with at
least one of
stoppers 322 through engagement point 317B, for example. Second set of side
beams 319
can engage with central beam 315 at focal point 311 and can extend generally
perpendicular
to central beam 315. The engagement can be achieved through engagement point
319B or
engagement point 319A, for example, and can couple second set of side beam/s
319 with
second stopper 322.
[00791] Continuing to refer primarily to FIG. 46C, at least one stopper
322, 324 can
commit to one of rails 109A (FIG. 46B) and/or 109B (FIG. 46B). First set of
side beams
317 can engage with first stopper 322 through second engagement point 317B of
first set of
side beams 317. Second stopper 324 can engage with second set of side beams
319
through engagement points 319A. Each stopper 322, 324 can further comprise
coupling
surfaces 342 and 344, respectively. Coupling surfaces 342 and 344 can receive
and retain
engagement points 317B and 319A, respectively. Fastening of side beams 317,
319 with
respective stoppers 322, 324 can be achieved through fastening agents such as,
but not
limited to, screws, bolts, and pins. Stoppers 322 and 324 can engage with
casing and/or
enclosure 191 (FIG. 46B) through fasteners at coupling junctions 352 and 354
of stoppers
322 and 324. Fastening of stoppers 322 and 324 with casing or enclosure 191
(FIG. 46B)
can enable stoppers 322 and 324 to retain a desired degree of movement for
when handle
operating assembly 190 (FIG. 46B) transitions from a locked position to an
unlocked
position and vice versa. In some configurations, stopper 322 and/or 324 can
retain a
freedom of pivoting around coupling junctions 352 and 354.
[00792] Referring primarily to FIG. 46D, pre-determined disposition of
moving
components of operating assembly 190 (FIG. 46B) can contribute in achieving
locking and
unlocking of rails 109 (FIG. 46B) through operating assembly 190 (FIG. 46B).
Bridging
orifice 207 can allow flange 205 to pass there through and receive a fastening
agent such as,
but not limited to, shoulder screw 312 (FIG. 46C) which can further couple
with
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engagement points of central beam 315 (FIG. 46C) and side beams 317, 319.
Shoulder
screw 312 (FIG. 46C) can engage with flange 205 across bridging orifice 207
and can
receive second set of side beam 319 (FIG. 46C), central beam 315 (FIG. 46C)
and first set
of side beam 317 (FIG. 46C) such that raising and lowering of focal pin 313
(FIG. 46B) can
subsequently raise and lower engagement assembly of side beams 317, 319 (FIG.
46C) and
central beam 315. Above discussed engagement can further trap central beam 315
(FIG.
46B) between first set of side beam/s 317 and second set of side beam/s 319
(FIG. 46B).
[00793] Continuing to refer to FIG. 46D, back surface 130B of backrest
130 (FIG.
45A) can retain latch 200. Attachment of latch 200 can be achieved by engaging
bar 214
through first set of apertures 212A that can exist on raised features 202 on
backrest 130
(FIG. 45A), second set of apertures or latch apertures 212B, and third set of
apertures 212C.
The engagement can enable latch 200 to retain a rotary motion around bar 214.
User-
generated rotation of latch 200 can generate a linear force allowing flange
205 to travel
along the length of bridging orifice 207, and can enable linear motion of
flexible pin 313
(FIG. 46B) that can enable a user to actuate assembly 190 (FIG. 46B).
[00794] Referring now to FIG. 47A, latch 200 can be held in a locked
positon 300 or
unlocked position 310 (FIG. 47C). In locked position 300, latch 200 can enable
attendant
handle operating mechanism 190 (FIG. 47B) to trap attendant handle 115 such
that an
application of force for adjusting the length of handle 115 cannot displace
attendant handle
115 (FIG. 47A) from the position in which it is stationed. In unlocked
position 310 (FIG.
47C), attendant handle operating assembly 190 (FIG. 47B) can allow attendant
handle 115
to be adjusted in terms of its protruding height by applying a desired force
on handle 115.
Latch 200 in a locked position (FIGs. 47A and 14B) can be compared with latch
200 in an
unlocked position (FIGs. 47C and 47D). Flange 205 can serve as an interface or
force
transfer agent between latch 200 and handle operating assembly 190 (FIG. 47B).
[00795] Continuing to refer to FIG. 47A, a plurality of geometries and
designs can be
given to latch 200. In some configurations, latch 200 can include a gripping
or pushing
surface that the user can contact for operating latch 200. In some
configurations, latch 200
can include handle portion 200A and rotatable portion 200B. In locked
position, handle
portion 200A can be pushed away form backrest surface 130B (FIG. 47B) causing
a partial
rotation of rotatable portion 200B. Flange 205 can extend from rotatable
portion 200B
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such that rotational displacement of latch 200 can displace flange 205 through
bridging
orifice 207. Displacement of flange 205 towards frame portion 210, as seen on
back surface
130B of backrest 130 (FIG. 46B), can enable displacement of adjustable joint
312 such that
engaged central beam 315 (FIG. 47B) can also be displaced away from frame
portion 210
and can further cause focal point 311 (FIG. 47B) to shift.
[00796] Referring now to FIG. 47B, shifting of focal point 311, in
locking positon
300 (FIG. 47A) can cause side beams 317, 319 to extend substantially
perpendicular to
central beam 315. Side beams 317, 319 can exert a thrust on stoppers 322 and
324, causing
them to displace towards rails 109 (FIG. 47A) of handle 115 (FIG. 47A).
Bumpers 323,
325 can compress against corresponding rails 109 (FIG. 47A) and cease rails
109 (FIG.
47A) from travelling along pathways 109A, 109B (FIG. 45B).
[00797] Referring now to FIGs. 47C and 47D, to enable rails 109 (FIG.
47C) to
adjustably travel along respective pathways 109A, 109B (FIG. 45B), handle
operating
mechanism 190 (FIG. 47D) can release rails 109 (FIG. 47C) by rotatably
displacing latch
200 (FIG. 47C) into an unlocked position. In the unlocked position, handle
portion 200A
(FIG. 47C) of latch 200 (FIG. 47C) can appear to be lifted away from back
surface 130B
(FIG. 47D). As a result, flange 205 can be displaced toward frame portion 210
(FIG. 47C)
along the length of bridging orifice 207 (FIG. 47C), and can result in
displacement of
adjustable joint 312 (FIG. 47D). Variable hard stop 330 (FIG. 47D) can be
positioned in
casing 191 (FIG. 47D) of inner face 185A (FIG. 46A) of backrest 130 (FIG.
45A), can serve
as a hard stop for flexible point 312 (FIG. 47D), and can restrict rotation of
latch 200 (FIG.
47C). Central beam 315 (FIG. 47D) can operably couple adjustable joint 312
(FIG. 47D)
with focal point 311 (FIG. 47D), and can enable displacement of focal point
311 (FIG. 47D)
towards frame portion 210 (FIG. 47C). Shifting of focal point 311 (FIG. 47D)
can cause
side beams 317, 319 (FIG. 47D) to displace from their substantially
perpendicular position
with respect to central beam 315 (FIG. 47D). Displaced side beams 317, 319
(FIG. 47D)
can retract stoppers 324, 322 (FIG. 47D) from pathways 109A, 109B (FIG. 45B).
The
retraction can result in loosening contact between stopper bumpers 323, 325
(FIG. 47D) and
respective rails 109 (FIG. 47C). As a result, rails 109 (FIG. 47C) can freely
travel along
length of travel ways 109A, 109B (FIG. 45B). A user can choose an appropriate
length of
handle 115 (FIG. 47C) extending of out backrest 130 (FIG. 45A) and can retain
the chosen
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length when transitioning into locked position 300 (FIG. 47B) by operating
latch 200 (FIG.
47C).
[00798] Configurations of the present teachings are directed to computer
systems for
accomplishing the methods discussed in the description herein, and to computer
readable
media containing programs for accomplishing these methods. The raw data and
results can
be stored for future retrieval and processing, printed, displayed, transferred
to another
computer, and/or transferred elsewhere. Communications links can be wired or
wireless, for
example, using cellular communication systems, military communications
systems, and
satellite communications systems. Parts of the system can operate on a
computer having a
variable number of CPUs. Other alternative computer platforms can be used.
[00799] The present configuration is also directed to software for
accomplishing the
methods discussed herein, and computer readable media storing software for
accomplishing
these methods. The various modules described herein can be accomplished on the
same
CPU, or can be accomplished on a different computer. In compliance with the
statute, the
present configuration has been described in language more or less specific as
to structural
and methodical features. It is to be understood, however, that the present
configuration is
not limited to the specific features shown and described, since the means
herein disclosed
comprise preferred forms of putting the present configuration into effect.
[00800] Methods can be, in whole or in part, implemented electronically.
Signals
representing actions taken by elements of the system and other disclosed
configurations can
travel over at least one live communications network. Control and data
information can be
electronically executed and stored on at least one computer-readable medium.
The system
can be implemented to execute on at least one computer node in at least one
live
communications network. Common forms of at least one computer-readable medium
can
include, for example, but not be limited to, a floppy disk, a flexible disk, a
hard disk,
magnetic tape, or any other magnetic medium, a compact disk read only memory
or any
other optical medium, punched cards, paper tape, or any other physical medium
with
patterns of holes, a random access memory, a programmable read only memory,
and
erasable programmable read only memory (EPROM), a Flash EPROM, or any other
memory chip or cartridge, or any other medium from which a computer can read.
Further,
the at least one computer readable medium can contain graphs in any form,
subject to
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appropriate licenses where necessary, including, but not limited to, Graphic
Interchange
Format (GIF), Joint Photographic Experts Group (JPEG), Portable Network
Graphics
(PNG), Scalable Vector Graphics (SVG), and Tagged Image File Format (TIFF).
[00801] While the present teachings have been described above in terms of
specific
configurations, it is to be understood that they are not limited to these
disclosed
configurations. Many modifications and other configurations will come to mind
to those
skilled in the art to which this pertains, and which are intended to be and
are covered by
both this disclosure and the appended claims. It is intended that 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 those of skill in the art
relying upon the
disclosure in this specification and the attached drawings.
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