# US 11,304,862 B2 · Power assist wheelchair, power assist unit for wheelchair, control device for power assist wheelchair, control method for power assist wheelchair, program, and terminal > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,304,862 B2 - Document ID: US11304862B2 - Status: Granted - Kind: B2 - Application number: 16/647,034 - Filed: 2017-09-14 - Published: 2020-08-13 - Granted: 2022-04-19 - Earliest claimed: 2017-09-14 - Assignees: Yamaha Hatsudoki Kabushiki Kaisha - Applicants: Yamaha Hatsudoki Kabushiki Kaisha - Inventors: Masamitsu Mizuno; Masanori Yonemitsu - Web page: https://patentgrep.com/patent/US11304862B2 ## CPC - A61G 5/04: motor-driven (A61G5/06 takes precedence; motor-operated rests A61G5/12; for vehicles with handlebars, equipped with three or more wheels B62K5/003, B62K5/023) - A61G 5/048: {Power-assistance activated by pushing on hand rim or on handlebar} - A61G 5/1051: {Arrangements for steering} - A61G 2203/10: characterised by specific control means, e.g. for adjustment or steering - A61G 2203/38: for torque - A61G 2203/44: for weight - A61G: TRANSPORT, PERSONAL CONVEYANCES OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS (appliances for aiding patients or disabled persons to walk A61H3/00); OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES (embalming corpses A01N1/00) ## Abstract A control device for a power assist wheelchair which includes a compensation turning torque calculation unit that calculates a compensation turning torque value for compensating for at least a part of the shortage or excess of the actual turning torque value with respect to the predicted turning torque value, in which the compensation turning torque value is smaller when the vehicle speed is a first speed than when the vehicle speed is a second speed faster than the first speed; a first target current determination unit that determines a target current of the first electric motor based upon the first manual torque value and the compensation turning torque value; and a second target current determination unit that determines a target current of the second electric motor based upon the second manual torque value and the compensation turning torque value. ## Claims ### Claim 1 A power assist wheelchair, comprising: first and second wheels separated from each other in a vehicle width direction; a first electric motor that drives the first wheel; a first encoder that detects rotation of the first wheel; a second electric motor that drives the second wheel; a second encoder that detects rotation of the second wheel; and a control device that controls the first and second electric motors, wherein the control device includes: a vehicle speed calculation unit configured to calculate a vehicle speed; a predicted turning torque calculation unit configured to calculate a predicted turning torque value based upon a first manual torque value acting on the first wheel, a first motor torque value outputted by the first electric motor, a second manual torque value acting on the second wheel, and a second motor torque value outputted by the second electric motor; an actual turning torque calculation unit configured to calculate an actual turning torque value based upon a detection signal of the first encoder and a detection signal of the second encoder; a compensation turning torque calculation unit configured to calculate a compensation turning torque value for compensating for at least a part of a shortage or excess of the actual turning torque value with respect to the predicted turning torque value, wherein the compensation turning torque value is smaller when the vehicle speed is a first speed than when the vehicle speed is a second speed faster than the first speed; a first target current determination unit configured to determine a target current of the first electric motor based upon the first manual torque value and the compensation turning torque value; and a second target current determination unit configured to determine a target current of the second electric motor based upon the second manual torque value and the compensation turning torque value. ### Claim 2 (depends on 1) The power assist wheelchair according to claim 1, wherein the compensation turning torque value is 0 when the vehicle speed is the first speed. ### Claim 3 (depends on 1) The power assist wheelchair according to claim 1, wherein the compensation turning torque value is greater than 0 when the vehicle speed is the first speed. ### Claim 4 (depends on 1) The power assist wheelchair according to claim 1, further comprising: a sensor that detects an inclination of a vehicle body in the vehicle width direction, wherein the compensation turning torque value is greater when the inclination detected by the sensor is a first inclination angle than when the inclination detected by the sensor is a second inclination angle smaller than the first inclination angle. ### Claim 5 (depends on 1) The power assist wheelchair according to claim 1, wherein the vehicle speed calculation unit calculates the vehicle speed based upon the detection signal of the first encoder and the detection signal of the second encoder. ### Claim 6 (depends on 1) The power assist wheelchair according to claim 1, further comprising: a first torque sensor that detects the first manual torque value acting on the first wheel; and a second torque sensor that detects the second manual torque value acting on the second wheel. ### Claim 7 (depends on 1) The power assist wheelchair according to claim 1, wherein a coefficient included in a conversion equation for calculating the actual turning torque value is configured to be changeable. ### Claim 8 (depends on 7) The power assist wheelchair according to claim 7, wherein the control device is configured to change the coefficient in response to a command from a terminal capable of communicating with the control device. ### Claim 9 (depends on 1) The power assist wheelchair according to claim 1, further comprising: a weight sensor that detects a weight of a user sitting on a seat, wherein the actual turning torque calculation unit is configured to calculate the actual turning torque value based upon the detection signal of the first encoder, and the detection signal of the second encoder, and the detected weight. ### Claim 10 (depends on 1) The power assist wheelchair according to claim 1, wherein the control device further includes: a determination unit configured to determine whether or not an action mode of the manual torque acting on the first and second wheels satisfies a predetermined condition; and a change unit configured to change the compensation turning torque value to a predetermined magnitude when the action mode of the manual torque satisfies the predetermined condition. ### Claim 11 (depends on 1) The power assist wheelchair according to claim 1, wherein the control device further includes: a determination unit configured to determine a type of a traveling environment; and a change unit configured to change the compensation turning torque value to a predetermined magnitude based upon the determined type of the traveling environment. ### Claim 12 A power assist unit for a wheelchair, comprising: first and second wheels separated from each other in a vehicle width direction; a first electric motor that drives the first wheel; a first encoder that detects rotation of the first wheel; a second electric motor that drives the second wheel; a second encoder that detects rotation of the second wheel; and a control device that controls the first and second electric motors, wherein the control device includes: a vehicle speed calculation unit configured to calculate a vehicle speed; a predicted turning torque calculation unit configured to calculate a predicted turning torque value based upon a first manual torque value acting on the first wheel, a first motor torque value outputted by the first electric motor, a second manual torque value acting on the second wheel, and a second motor torque value outputted by the second electric motor; an actual turning torque calculation unit configured to calculate an actual turning torque value based upon a detection signal of the first encoder and a detection signal of the second encoder; a compensation turning torque calculation unit configured to calculate a compensation turning torque value for compensating for at least a part of a shortage or excess of the actual turning torque value with respect to the predicted turning torque value, wherein the compensation turning torque value is smaller when the vehicle speed is a first speed than when the vehicle speed is a second speed faster than the first speed; a first target current determination unit configured to determine a target current of the first electric motor based upon the first manual torque value and the compensation turning torque value; and a second target current determination unit configured to determine a target current of the second electric motor based upon the second manual torque value and the compensation turning torque value. ### Claim 13 A control method for a power assist wheelchair including first and second wheels separated from each other in a vehicle width direction, a first electric motor that drives the first wheel, a first encoder that detects rotation of the first wheel, a second electric motor that drives the second wheel, and a second encoder that detects rotation of the second wheel, the control method comprising: calculating a vehicle speed; calculating a predicted turning torque value based upon a first manual torque value acting on the first wheel, a first motor torque value outputted by the first electric motor, a second manual torque value acting on the second wheel, and a second motor torque value outputted by the second electric motor; calculating an actual turning torque value based upon a detection signal of the first encoder and a detection signal of the second encoder; calculating a compensation turning torque value for compensating for at least a part of a shortage or excess of the actual turning torque value with respect to the predicted turning torque value, wherein the compensation turning torque value is smaller when the vehicle speed is a first speed than when the vehicle speed is a second speed faster than the first speed; determining a target current of the first electric motor based upon the first manual torque value and the compensation turning torque value; and determining a target current of the second electric motor based upon the second manual torque value and the compensation turning torque value.