# US 2021/0276540 A1 · Mobility Device

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- Number: US 2021/0276540 A1
- Document ID: US20210276540A1
- Status: Published application
- Kind: A1
- Application number: 17/149,849
- Filed: 2021-01-15
- Published: 2021-09-09
- Earliest claimed: 2016-02-23
- Assignees: DEKA Products Limited Partnership
- Applicants: DEKA Products Limited Partnership
- Inventors: Susan D. Dastous; Daniel F. Pawlowski; Alexander D. Streeter; Elizabeth Rousseau; David J. Meehan; Tania M. F. Zirn
- Web page: https://patentgrep.com/patent/US20210276540A1

## CPC

- B60W 30/04: related to roll-over prevention
- G05D 1/0077: {using redundant signals or controls}
- 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 5/061: {for climbing stairs}
- A61G 5/1089: {Anti-tip devices}
- B60K 1/04: of the electric storage means for propulsion
- B60K 7/0007: {the motor being electric}
- B60K 17/043: {Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel}
- B60L 7/26: Controlling the braking effect
- B60L 7/28: Eddy-current braking
- B60L 15/20: for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L 50/52: characterised by DC-motors
- B60L 50/66: {Arrangements of batteries}
- B60L 58/21: having the same nominal voltage
- B60T 7/102: {by means of a tilting lever}
- B60W 10/08: including control of electric propulsion units, e.g. motors or generators
- B60W 10/20: including control of steering systems
- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B60W 30/146: {Speed limiting}
- B62K 5/007: power-driven
- B62K 11/007: {Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider}
- G01M 1/122: {Determining position of centre of gravity}
- G05B 13/048: {using a predictor}
- G05D 1/0214: {in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13)}
- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- G05D 1/246: using environment maps, e.g. simultaneous localisation and mapping [SLAM]
- A61G 2203/36: for motion
- B60K 17/356: having fluid or electric motor, for driving one or more wheels
- B60K 2007/0046: {the motor moving together with the vehicle body, i.e. moving independently from the wheel axle}
- B60K 2007/0092: {the motor axle being coaxial to the wheel axle}
- B60L 2200/34: Wheel chairs
- B60L 2210/30: AC to DC converters
- B60L 2220/16: DC brushless machines
- B60L 2240/12: Speed
- B60L 2240/16: longitudinal
- B60L 2240/42: related to electric machines
- B60L 2240/423: Torque
- B60L 2240/461: Speed
- B60L 2240/463: Torque
- B60L 2240/54: related to batteries
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2520/14: Yaw
- B60W 2520/16: Pitch
- B60W 2520/18: Roll
- B60W 2520/28: Wheel speed
- B60W 2530/10: Weight
- B60W 2554/00: Input parameters relating to objects
- B60W 2720/106: Longitudinal acceleration
- B60W 2720/24: Direction of travel
- B60W 2720/30: Wheel torque
- B60Y 2200/84: Wheelchairs
- Y02T 10/64: Electric machine technologies in electromobility
- Y02T 10/70: Energy storage systems for electromobility, e.g. batteries
- Y02T 10/72: Electric energy management in electromobility
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- 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)
- B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B62K: CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDECARS, FORECARS, OR THE LIKE
- G01M: TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

A powered balancing mobility device that can provide the user the ability to safely navigate expected environments of daily living including the ability to maneuver in confined spaces and to climb curbs, stairs, and other obstacles, and to travel safely and comfortably in vehicles. The mobility device can provide elevated, balanced travel.

## Claims

### Claim 1

A powered balancing mobility device comprising:
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 receiving the sensor data from each of the plurality of redundant processors, the voting processor determining valid data of the sensor data based at least on whether the sensor data are within a pre-selected range, whether the voting processor has received invalid of the sensor data from an associated one of a plurality of sensors, and whether there are communications among the plurality of redundant processors;
wherein the plurality of redundant processors computes the movement commands based at least on the valid data.

### Claim 2 (depends on 1)

The powered balancing mobility device as in claim 1 wherein the voting processor comprises:
creating a list of candidate processors from the plurality of redundant processors, the candidate processors each being associated with the valid data;
determining an average value of the valid data for the candidate processors;
ordering the list of the candidate processors based at least on a comparison between the valid data for each of the candidate processors and the average value;
performing a three-way vote of the valid data if there are at least three of the candidate processors;
indicating which of the candidate processors is associated with voted out sensor data;
performing a two-way vote of the valid data if there are two of the candidate processors;
indicating that the two candidate processors are associated with the voted out sensor data if the valid data from each of the two candidate processors do not agree;
indicating that one of the candidate processors is associated with the voted out sensor data if there is only a single candidate processor associated with valid data; and
averaging any of the valid data that is not voted out.

### Claim 3 (depends on 1)

The powered balancing mobility device as in claim 1 wherein the plurality of redundant processors comprises:
at least four processors.

### Claim 4

A powered balancing mobility device comprising:
a plurality of redundant processors processing movement commands for the mobility device;
at least four batteries;
a power source controller including connections for the at least four batteries, the power source controller receiving power from the at least four batteries, the power source controller managing power to the plurality of redundant processors, the power source controller including at least one sensor collecting current data and voltage data for the at least four batteries; and
a plurality of modes governing the movement commands,
wherein the plurality of redundant processors determine which of the plurality of modes the mobility device can enter based at least in part on the current data and voltage data.

### Claim 5 (depends on 4)

The powered balancing mobility device as in claim 4 comprising:
six batteries.

### Claim 6 (depends on 4)

The powered balancing mobility device as in claim 4 wherein the connections comprise:
up to four of the connections for operably coupling up to four batteries with the power source controller, the power source controller including at least one battery recharge circuit; and
at least one of the connections for operably coupling at least one shunt circuit with the power source controller, the at least one shunt circuit preventing overcharge of the at least four batteries.

### Claim 7 (depends on 4)

The powered balancing mobility device as in claim 4 wherein the power source controller comprises:
a plurality of states, the plurality of states including
an on state;
a charging state;
a sleep state; and
an off state.

### Claim 8

A powered balancing mobility device comprising:
a control device;
a controlled device including
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;
a first protocol supporting communications between the control device and the controlled device, the controlled device being physically remote from the control device, the first protocol transparently tunneling messages formatted in the second protocol and encapsulated within messages formatted according to the first protocol for transmission and reception; and
a communication message manager identifying first protocol messages and extracting tunneled second protocol messages.

### Claim 9 (depends on 8)

The powered balancing mobility device as in claim 8 wherein the first protocol comprises a RIS protocol.

### Claim 10 (depends on 8)

The powered balancing mobility device as in claim 8 wherein the control device comprises a portable computer processor.

### Claim 11 (depends on 8)

The powered balancing mobility device as in claim 8 wherein the controlled device comprises a medical device.

### Claim 12 (depends on 8)

The powered balancing mobility device as in claim 8 wherein the control device comprises a virtual joystick.

### Claim 13 (depends on 8)

The powered balancing mobility device as in claim 8 wherein the second protocol comprises a SCA protocol.

### Claim 14 (depends on 1)

The powered balancing mobility device as in claim 1 further comprising:
a user controller including a thumbwheel, the thumbwheel being associated with a virtual thumbwheel position, the user controller receiving signals based on movement of the thumbwheel, a sensitivity of the thumbwheel being related to a distance the thumbwheel travels, the sensitivity of the thumbwheel at the virtual thumbwheel position controlling how the signals are processed to produce a value, the movement commands being based at least in part on the value.

### Claim 15 (depends on 14)

The powered balancing mobility device as in claim 14 comprising:
at least one drive speed setting, the at least one drive speed setting limiting the speed of the mobility device, the value being based at least in part on the at least one drive speed setting.

### Claim 16 (depends on 15)

The powered balancing mobility device as in claim 15 wherein the plurality of redundant processors comprises:
a sampler sampling the signals and saving the virtual thumbwheel position for the at least one drive speed setting, the sampler recovering a previous position of the virtual thumbwheel position for the at least one drive speed setting, the sampler recording the sampled signals, the sampler filtering the signals to determine filtered signals, a filter determining a change in the signals,
wherein the plurality of redundant processors integrating the change in signals into the virtual thumbwheel position, the plurality of redundant processors calculating a speed percent based at least on the virtual thumbwheel position, the plurality of redundant processors making the speed percent available for further processing.

### Claim 17 (depends on 16)

The powered balancing mobility device as in claim 16 wherein the plurality of redundant processors comprises:
storing the virtual thumbwheel position for a drive speed setting.

### Claim 18 (depends on 16)

The powered balancing mobility device as in claim 16 wherein the sampler comprises:
computing the change in signals;
setting the change in signals to zero if the change in signals exceeds a wrap threshold;
computing a weighted average on the computed change in signals between a first sample of the signals and a second sample of the signals;
calculating a weighted average of data stored in an historic buffer and setting the change in signals equal to the weighted average;
setting the change in signals to zero, flagging the change in signals as noise, and integrating the change in signals into the virtual thumbwheel position if the change in signals does not exceed, or is equal to, a deadband, setting the change in signals to zero and integrating the change in signals into the virtual thumbwheel position if the change in signals exceeds the deadband and if a previous one of the first samples or the second samples was noise, integrating the change in signals into the virtual thumbwheel position if the change in signals exceeds the deadband, and if the previous one of the first samples or the second samples was not noise; and
adding the change in signals to the historic buffer, setting the change in signals equal to a maximum of the previous one of the first samples or the second samples and adding the change in signals to the historic buffer if the change in signals does not exceed the wrap threshold, and if the change in signals exceeds the maximum of the previous one of the first samples or the second samples.

### Claim 19 (depends on 18)

The powered balancing mobility device as in claim 18 wherein the deadband comprises:
a threshold filtering noise signals, the filtered noise signals being substantially unable to constitute actual movement of the thumbwheel.

### Claim 20 (depends on 16)

The powered balancing mobility device as in claim 16 wherein the change in signals comprises:
a difference between a first sample of the signal and a second sample of the signal.

### Claim 21 (depends on 14)

The powered balancing mobility device as in claim 14 wherein the thumbwheel comprises:
a thumbwheel knob assembled into a blind hole on the user controller, the thumbwheel knob including a shaft, the shaft having an angle; and
a magnetic sensor measuring the angle of the shaft being, the magnetic sensor providing a position signal corresponding to a rotational position of the thumbwheel knob.

### Claim 22 (depends on 21)

The powered balancing mobility device as in claim 21 further comprising:
an analog to digital converter (ADC) processing the position signal, the ADC providing an output value in counts corresponding to the rotational position.

### Claim 23 (depends on 22)

The powered balancing mobility device as in claim 22 wherein the counts comprise a value between 0 and 4095.

### Claim 24 (depends on 21)

The powered balancing mobility device as in claim 21 wherein the thumbwheel knob comprises making a complete revolution with no stops.