Mobility device control system

• US 10,220,843 B2
• Filed: 02/23/2017
• Issued: 03/05/2019
• Est. Priority Date: 02/23/2016
• Status: Active Grant

• Current Assignee: Deka Products Limited Partnership
• Original Assignee: Deka Products Limited Partnership
• Inventors: Coulter, Stewart M., Gray, Brian G., van der Merwe, Dirk A., Dastous, Susan D., Pawlowski, Daniel F.
• Primary Examiner(s): Dunn, Alex C
• Application Number:
  US15/441,190
• Publication Number:
  US 20170240169A1
• Time in Patent Office: 740 Days
• CPC Class Codes: 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
• CPC Class Codes: A61G 5/041 having a specific drive-type
• CPC Class Codes: 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
• CPC Class Codes: B60L 15/2045 for optimising the use of energy
• CPC Class Codes: B60L 2200/34 Wheel chairs
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/26 Vehicle weight
• CPC Class Codes: B60L 2240/423 Torque
• CPC Class Codes: B60L 2240/461 Speed
• CPC Class Codes: B60L 2240/465 Slip
• CPC Class Codes: B60L 2250/10 by alarm
• CPC Class Codes: B60L 2250/24 by lever actuation
• CPC Class Codes: B60L 2260/34 Stabilising upright position of vehicles, e.g. of single axle vehicles
• CPC Class Codes: B60L 2260/44 by parameter estimation
• CPC Class Codes: B60L 3/0015 Prevention of collisions
• CPC Class Codes: B60L 3/0092 with use of redundant elements for safety purposes
• CPC Class Codes: B60L 50/50 using propulsion power supplied by batteries or fuel cells
• CPC Class Codes: B60L 50/60 using power supplied by batteries in combination with fuel cells B60L50/75
• CPC Class Codes: B60W 10/08 including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 : including control of steering systems
• CPC Class Codes: B60W 2420/403 : Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 : Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2520/16 : Pitch
• CPC Class Codes: B60W 2520/18 : Roll
• CPC Class Codes: B60W 2530/10 : Weight
• CPC Class Codes: B60W 2554/00 : Input parameters relating to objects
• CPC Class Codes: B60W 2710/083 : Torque
• CPC Class Codes: B60W 2720/106 : Longitudinal acceleration
• CPC Class Codes: B60W 2720/24 : Direction of travel
• CPC Class Codes: B60W 30/02 : Control of vehicle driving stability
• CPC Class Codes: B60W 30/09 : Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/143 : Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 50/10 : Interpretation of driver requests or demands
• CPC Class Codes: B60Y 2400/112 : Batteries
• CPC Class Codes: B62K 5/003 : Cycles with four or more wheels, specially adapted for disabled riders, e.g. personal mobility type vehicles with four wheels wheelchairs A61G5/00
• CPC Class Codes: G01P 15/02 : by making use of inertia forces using solid seismic massesG01P15/14 takes precedence
• CPC Class Codes: G05B 13/048 : using a predictor
• CPC Class Codes: G05D 1/0077 : using redundant signals or controls
• CPC Class Codes: G05D 1/0238 : using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility

Abstract

A mobility device that can accommodate speed sensitive steering, adaptive speed control, a wide weight range of users, an abrupt change in weight, traction control, active stabilization that can affect the acceleration range of the mobility device and minimize back falls, and enhanced redundancy that can affect the reliability and safety of the mobility device.

Claims

1. A mobility device control system comprising:

at least one user control device receiving desired actions for the mobility device;

at least one power base controller operably coupled with the at least one user control device, the at least one power base controller receiving the desired actions from the at least one user control device, the at least one power base controller including at least two processors, the at least two processors each including at least one controller processing task, the at least one controller processing task receiving sensor data and motor data associated with sensors, wheels, and motors operably coupled with the mobility device; and

at least one inertial measurement unit (IMU) operably coupled with the at least one power base controller, the at least one IMU producing an inertial estimate, the inertial estimate based at least on filtering data from the at least one IMU, the at least one IMU including a rate sensor and an accelerometer, the filtering including

(a) receiving and filtering a gravity vector of the mobility device from the accelerometer, the filtering based at least on a gravity rate,

(b) receiving and filtering a body rate vector of the mobility device from the rate sensor, the filtering based at least on a gravity rate error and a projected body rate error,

(c) receiving a differential wheel speed representing the difference in speed of each of the at least two wheels;

(d) estimating a projected gravity rate based at least on the filtered gravity vector and the filtered body rate vector;

(e) computing the projected body rate error based at least on the projected gravity rate and the differential wheel speed;

(f) computing a pitch and a roll based at least on the filtered measured body rate and the filtered gravity vector; and

(g) repeating steps (a)-(f) using the computed projected body rate error;

the inertial estimate used to compute a pitch and a roll of the mobility device,

wherein the at least two processors compute values based at least on the desired actions, the sensor data, the motor data, the pitch and the roll of the mobility device, the values being provided to the wheels to control the motion of the mobility device.

2. The mobility device as in claim 1 wherein the controller processing task comprises:

at least one voting/commit processor resolving which of the at least one value to use to compute a wheel command.

3. The mobility device as in claim 2 wherein the controller processing task comprises:

at least one adaptive speed control processor computing at least one wheel command based at least on sensor data, the at least one wheel command being automatically modified depending on obstacles encountered in the path of the mobility device.

4. The mobility device as in claim 2 wherein the controller processing task comprises:

at least one speed processor computing at least one wheel command based at least on parameters adjusted according to at least one user preference.

5. The mobility device as in claim 1 wherein the controller processing task comprises:

at least one traction control processor automatically adjusting the at least one wheel command based at least on a comparison between inertial and linear accelerations of the mobility device.

6. The mobility device as in claim 1 wherein the controller processing task comprises:

at least one weight processor automatically estimating the load on the mobile device, determining the center of gravity for the mobile device and the load, computing gains based at least on the load and the center of gravity, and computing the at least one wheel command based at least on the gains.

7. The mobility device as in claim 1 wherein the controller processing task comprises:

an active stabilization processor automatically computing at least one wheel command to decelerate forward motion and accelerate backward motion when the mobility device encounters an obstacle, the active stabilization processor controlling a rearwards pitch rate of the mobility device.

8. The mobility device as in claim 1 wherein the controller processing task comprises:

a center of gravity fit generating calibration coefficients establishing the center of gravity of the mobility device based on a pitch angle of the mobility device required to maintain balance, the pitch angle measured when the mobility device is in pre-selected positions.

9. A method for controlling a mobility device, the mobility device including at least one user control device, at least one a power base controller having at least two processors, the at least two processors each having at least one controller processing task, at least one sensor, at least two wheels controlled by at least two motors, and at least one inertial measurement unity (IMU) having an IMU accelerometer and an IMU rate sensor, the method comprising:

receiving desired actions for the mobility device;

receiving, by the at least one controller processing task, sensor data from the at least one sensor, and motor data from the at least one motor;

filtering data from the at least one IMU, the at least one IMU including a rate sensor and an accelerometer, the filtering including

(a) receiving and filtering a gravity vector of the mobility device from the accelerometer, the filtering based at least on a gravity rate,

(b) receiving and filtering a body rate vector of the mobility device from the rate sensor, the filtering based at least on a gravity rate error and a projected body rate error,

(c) receiving a differential wheel speed representing the difference in speed of each of the at least two wheels;

(d) estimating a projected gravity rate based at least on the filtered gravity vector and the filtered body rate vector;

(e) computing the projected body rate error based at least on the projected gravity rate and the differential wheel speed;

(f) computing a pitch and a roll based at least on the filtered measured body rate and the filtered gravity vector; and

(g) repeating steps (a)-(f) using the computed projected body rate error;

computing, by each of the at least one controller processing tasks, at least one value based at least on the desired actions, the sensor data, the motor data, the pitch, and the roll; and

applying the at least one value to at least one of the at least two wheels to control the mobility device.

10. The method as in claim 9 further comprising:

resolving which of the at least one value, from the at least one controller processing task, to use to control the mobility device.

11. The method as in claim 9 further comprising:

automatically modifying the at least one value depending on obstacles encountered in the path of the mobility device.

12. The method as in claim 9 further comprising:

computing the at least one value based at least on parameters adjusted according to at least one user preference.

13. The method as in claim 9 further comprising:

automatically adjusting the at least one value based at least on a comparison between inertial and linear accelerations of the mobility device.

14. The method as in claim 9 further comprising:

automatically estimating the weight of a load on the mobile device;

determining the center of gravity for the mobile device and the load;

computing gains based at least on the load and the center of gravity; and

computing the at least value based at least on the gains.

15. The method as in claim 9 further comprising:

automatically computing at least one value to decelerate forward motion of the mobility device and accelerate backward motion of the mobility device when the mobility device encounters an obstacle; and

controlling a rearwards pitch rate of the mobility device.

16. The method as in claim 9 further comprising:

(1) positioning a load on the mobility device;

(2) moving the mobility device/load into a balance mode, the balance mode characterized by elevating the mobility device/load above a standard seated position;

(3) measuring data including a pitch angle required to maintain the balance mode at a pre-selected position of at least one wheel cluster operably coupled with the mobility device and a pre-selected position of a seat operably coupled with the mobility device;

(4) moving the mobility device/load to a plurality of pre-selected points;

(5) repeating step (3) at each of the plurality of pre-selected points;

(6) verifying that the measured data fall within pre-selected limits; and

(7) generating a set of calibration coefficients to establish the center of gravity at a plurality of positions encountered during operation of the mobility device, the calibration coefficients based on the verified measured data.

17. The method as in claim 16 further comprising:

storing the verified measured data in non-volatile memory.

18. A method for controlling the rearwards pitch rate of a mobility device when the mobility device hits an obstacle while in motion, the mobility device including at least one user control device, at least one a power base controller having at least two processors, the at least two processors each having at least one controller processing task, at least one sensor, and at least two wheels controlled by at least two motors, the method comprising:

computing, by the at least one controller processing task, a stabilization parameter based at least on a measured pitch angle, a desired fore-aft velocity, a measured pitch rate and a desired pitch rate, the desired fore-aft velocity and the desired pitch rate being received by the at least one user control device, the measured pitch angle and the measured pitch rate being received by the at least one sensor;

computing, by the at least one controller processing task, a dynamic metric based at least on the measured pitch angle, the measured pitch rate, and a measured distance the mobility device moved since over a pre-selected time period, the measured distance being received by the at least one sensor;

computing, by the at least one controller processing task, a modified control signal by applying the stabilization parameter to a fore-aft control signal output from a PID controller having inputs of the desired fore-aft velocity and a measured fore-aft velocity if the dynamic metric meets pre-selected criteria, the measured fore-aft velocity being received by the at least one sensor;

computing, by the at least one controller processing task, a voltage command for the at least two wheels based at least on the modified control signal; and

providing, by the at least one controller processing task, the voltage command to the at least two motors to control the at least two wheels.