Power driven wheelchair

• US 8,127,875 B2
• Filed: 08/31/2006
• Issued: 03/06/2012
• Est. Priority Date: 08/31/2005
• Status: Active Grant

• Current Assignee: Invacare Corporation
• Original Assignee: Invacare Corporation
• Inventors: Mattes, John, Peters, Darryl, Jaenke, Bruce A., McCullar, Ricky J., Chopcinski, Gary E.
• Primary Examiner(s): Restifo, Jeffrey J
• Application Number:
  US11/513,802
• Publication Number:
  US 20070056781A1
• Time in Patent Office: 2,014 Days
• Field of Search: 180/65.1, 180/65.8, 297/330
• US Class Current: 180/65.8
• CPC Class Codes: A61G 2203/14 Joysticks
• CPC Class Codes: A61G 2203/20 Displays or monitors
• 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 5/10 Parts, details or accessories
• CPC Class Codes: A61G 5/1059 adjusting the height of the seat
• CPC Class Codes: A61G 5/1075 tilting the whole seat backwards tilting forwards for standing-up or sitting-down aids A61G5/14
• CPC Class Codes: A61G 5/1089 Anti-tip devices
• CPC Class Codes: A61G 5/12 Rests specially adapted therefor, e.g. for the head or the feet
• CPC Class Codes: A61G 5/128 for feet
• CPC Class Codes: A61G 7/05784 with ventilating means, e.g. mattress or cushion with ventilating holes or ventilators
• CPC Class Codes: B60Y 2200/84 Wheelchairs
• CPC Class Codes: G05B 19/106 for selecting a programme, variable or parameter
• CPC Class Codes: G05B 2219/23128 Switch from one kind of display to other when parameter is changed
• CPC Class Codes: G05B 2219/23129 Animated display, changes as function of parameters
• CPC Class Codes: G05B 2219/23159 Display plurality of parameters simultaneously
• CPC Class Codes: G05B 2219/23193 Memory stores lifetime, different settings, configurations of controlled device
• CPC Class Codes: G05B 2219/23332 Overide stored parameters
• CPC Class Codes: G05B 2219/23388 Mixture of different means, joystick, keys, pedals, fader, potentiometer
• CPC Class Codes: G05B 2219/2637 Vehicle, car, auto, wheelchair
• CPC Class Codes: H02P 21/18 Estimation of position or speed
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility

Abstract

A power driven wheelchair and a method for operating same are provided. In one embodiment, the power driven wheelchair includes a system controller with a main controller, a storage device, and at least one input device, a motor assembly, and a common bus. The motor assembly may include a drive motor, a local controller, and a sensor sensing a condition associated with the drive motor and in communication with the local controller. In another embodiment, the power driven wheelchair includes the system controller, an actuator assembly, and the common bus. The actuator assembly may include an actuator mechanism, a local controller, and a sensor sensing a condition associated with the actuator mechanism and in communication with the local controller. Multiple embodiments of the method are related to controlling various arrangements of motor assemblies or actuator assemblies.

Claims

1. A power driven wheelchair comprising:

a system controller associated with the wheelchair including a main controller, a storage device in operative communication with the main controller, and at least one input device in operative communication with the main controller; and

a first motor assembly associated with a first drive wheel of the wheelchair in operative communication with the system controller via a common bus, the first motor assembly including a first drive motor, a first local controller in operative communication with the first drive motor, and a first sensor sensing a condition associated with the first drive motor and in operative communication with the first local controller;

wherein the main controller is disposed in a first housing at a first location on the wheelchair and the first local controller is disposed in a second housing at a second location on the wheelchair.

2. The power driven wheelchair of claim 1 wherein the storage device stores a plurality of programmable operating parameters, the main controller selectively controls operation of the power driven wheelchair in response to operation of the at least one input device by selectively communicating one or more corresponding operating parameters to the first motor assembly.

3. The power driven wheelchair of claim 2 wherein the first local controller selectively controls operation of the first drive motor in response to at least one selected operating parameter received from the system controller and in relation to the condition sensed by the first sensor.

4. The power driven wheelchair of claim 3 wherein the condition sensed by the first sensor is a voltage, current, speed, or acceleration of the first drive motor.

5. The power driven wheelchair of claim 1, further including:

an actuator assembly in operative communication with the system controller via the common bus, the actuator assembly including an actuator mechanism, a second local controller having circuitry to drive the actuator mechanism, and a second sensor sensing a condition associated with the actuator mechanism and in operative communication with the second local controller;

wherein the second local controller is disposed in a third housing at a third location on the wheelchair.

6. The power driven wheelchair of claim 1 wherein the system controller includes a storage medium interface in operative communication with the main controller, the storage medium interface adapted to receive a removable memory device.

7. The power driven wheelchair of claim 1 wherein the first drive motor includes a 2-pole motor, a 4-pole motor, a 4-pole motor with feedback, or a gearless brushless motor.

8. The power driven wheelchair of claim 1 wherein the first drive motor includes a permanent magnet motor, a brushless motor, a shunt-wound field motor, a series-wound field motor, or a compound-wound motor.

9. The power driven wheelchair of claim 1, further including:

a second motor assembly associated with a second drive wheel of the wheelchair in operative communication with the system controller via the common bus, the second motor assembly including a second drive motor, a second local controller in operative communication with the second drive motor, and a second sensor sensing a condition associated with the second drive motor and in operative communication with the second local controller;

wherein the second local controller is disposed in a third housing at a third location on the wheelchair.

10. The power driven wheelchair of claim 1 wherein the common bus includes a serial bus.

11. The power driven wheelchair of claim 10 wherein the serial bus includes a CAN bus.

12. A power driven wheelchair, including:

a system controller associated with the wheelchair including a main controller, a storage device in operative communication with the main controller, and at least one input device in operative communication with the main controller; and

a first actuator assembly in operative communication with the system controller via a common bus, the first actuator assembly including a first actuator mechanism, a first local controller having circuitry to drive the first actuator mechanism, and a first sensor sensing a condition associated with the first actuator mechanism and in operative communication with the first local controller;

wherein the main controller is disposed in a first housing at a first location on the wheelchair and the first local controller and the first actuator mechanism are disposed in a second housing at a second location on the wheelchair.

13. The power driven wheelchair of claim 12 wherein the storage device stores a plurality of programmable operating parameters and the main controller selectively controls operation of the power driven wheelchair in response to operation of the at least one input device by selectively communicating one or more corresponding operating parameters to the first actuator assembly.

14. The power driven wheelchair of claim 13 wherein the first local controller selectively controls operation of the actuator mechanism in response to at least one selected operating parameter received from the system controller and in relation to the condition sensed by the first sensor.

15. The power driven wheelchair of claim 14 wherein the condition sensed by the first sensor is a position, speed, or acceleration of the first actuator mechanism.

16. The power driven wheelchair of claim 12, further including:

a motor associated with a drive wheel of the wheelchair in operative communication with the system controller via the common bus, the motor including a drive motor, a second local controller in operative communication with the drive motor, and a second sensor sensing a condition associated with the drive motor and in operative communication with the second local controller;

wherein the second local controller is disposed in a third housing at a third location on the wheelchair.

17. The power driven wheelchair of claim 16, further including:

a powered seat, wherein the first actuator assembly controls, via the first actuator mechanism, a tilt position, a recline position, an elevate position, or a horizontal position of the powered seat.

18. The power driven wheelchair of claim 12, further including:

a powered front rigging, wherein the first actuator assembly controls, via the first actuator mechanism, a common leg rest position or a common foot rest position of the powered front rigging.

19. The power driven wheelchair of claim 12, further including:

three or more wheels, wherein the first actuator assembly controls, via the first actuator mechanism and relative to a vertical axis, an angular position of one wheel, an angular position of two wheels in tandem, an angular position of three wheels in tandem, or an angular position of all wheels in tandem.

20. The power driven wheelchair of claim 12, the first actuator assembly further including:

a second actuator mechanism, wherein the first local controller has circuitry to drive the second actuator mechanism, and a second sensor sensing a condition associated with the second actuator mechanism and in operative communication with the first local controller.

21. The power driven wheelchair of claim 20, further including:

a powered seat, wherein the first actuator assembly, via the first and second actuator mechanisms, independently controls at least two of a tilt position of the powered seat, a recline position of the powered seat, an elevate position of the powered seat, a horizontal position of the powered seat, and an articulating position of a ventilator tray.

22. The power driven wheelchair of claim 20, further including:

a powered front rigging, wherein the first actuator assembly, via the first and second actuator mechanisms, independently controls i) a common leg rest position and a common foot rest position, ii) a right leg rest position and a left leg rest position, or iii) a right foot rest position and a left foot rest position of the powered front rigging.

23. The power driven wheelchair of claim 20, further including:

three or more wheels, wherein the first actuator assembly independently controls, via the first and second actuator mechanisms and relative to a vertical axis, an angular position of a first wheel and an angular position of a second wheel, an angular position of a first wheel and an angular position of second and third wheels in tandem, or an angular position of first and second wheels in tandem and an angular position of third and fourth wheels in tandem.

24. The power driven wheelchair of claim 20, further including:

a second actuator assembly in operative communication with the system controller via the common bus, the second actuator assembly including a third actuator mechanism, a second local controller having circuitry to drive the third actuator mechanism, and a third sensor sensing a condition associated with the third actuator mechanism and in operative communication with the second local controller;

wherein the second local controller is disposed in a third housing at a third location on the wheelchair.

25. The power driven wheelchair of claim 24, further including:

a powered seat, wherein the first and second actuator assemblies, via the first, second, and third actuator mechanisms, independently control at least three of a tilt position of the powered seat, a recline position of the powered seat, an elevate position of the powered seat, a horizontal position of the powered seat, and an articulating position of a ventilator tray.

26. The power driven wheelchair of claim 20, further including:

three or more wheels, wherein the first and second actuator assemblies independently controls, via the first, second, and third actuator mechanisms and relative to a vertical axis, an angular position of a first wheel, an angular position of a second wheel, and an angular position of a third wheel.

27. The power driven wheelchair of claim 24, the second actuator assembly further including:

a fourth actuator mechanism, wherein the second local controller has circuitry to drive the fourth actuator mechanism, and a fourth sensor sensing a condition associated with the fourth actuator mechanism and in operative communication with the second local controller.

28. The power driven wheelchair of claim 27, further including:

a powered seat, wherein the first and second actuator assemblies, via the first, second, third, and fourth actuator mechanisms, independently control at least four of a tilt position of the powered seat, a recline position of the powered seat, an elevate position of the powered seat, a horizontal position of the powered seat, and an articulating position of a ventilator tray.

29. The power driven wheelchair of claim 27, further including:

a powered front rigging, wherein the first and second actuator assemblies, via the first, second, third, and fourth actuator mechanisms, independently control a right leg rest position, a left leg rest position, a right foot rest position, and a left foot rest position of the powered front rigging.

30. The power driven wheelchair of claim 27, further including:

four or more wheels, wherein the first and second actuator assemblies independently control, via the first, second, third, and fourth actuator mechanisms and relative to a vertical axis, an angular position of a first wheel, an angular position of a second wheel, an angular position of a third wheel, and an angular position of a fourth wheel.

31. A method of operating a power driven wheelchair, including:

a) activating an input device associated with a system controller associated with the wheelchair;

b) selecting one or more operating parameters from a plurality of programmable operating parameters based at least in part on the input device activation;

c) transmitting at least one of the selected operating parameters from the system controller to a first motor assembly associated with a first drive wheel of the wheelchair in a first message via a bus, the first motor assembly including a first drive motor, a first local controller in operative communication with the first drive motor, and a first sensor sensing a condition associated with the first drive motor and in operative communication with the first local controller; and

d) controlling the first drive motor via the first local controller in response to operating parameters received by the first motor assembly and in relation to the condition sensed by the first sensor;

wherein the system controller is disposed in a first housing at a first location on the wheelchair and the first local controller is disposed in a second housing at a second location on the wheelchair.

32. The method of claim 31, further including:

e) transmitting at least one of the selected operating parameters from the system controller to a second motor assembly associated with a second drive wheel of the wheelchair in a second message via the bus, the second motor assembly including a second drive motor, a second local controller in operative communication with the second drive motor, and a second sensor sensing a condition associated with the second drive motor and in operative communication with the second local controller; and

f) controlling the second drive motor via the second local controller in response to operating parameters received by the second motor assembly and in relation to the condition sensed by the second sensor;

wherein the second local controller is disposed in a third housing at a third location on the wheelchair.

33. A method of operating a power driven wheelchair, including:

a) activating an input device associated with a system controller associated with the wheelchair;

b) selecting one or more operating parameters from a plurality of programmable operating parameters based at least in part on the input device activation;

c) transmitting at least one of the selected operating parameters from the system controller to a first actuator assembly in a first message via a bus, the first actuator assembly including a first actuator mechanism, a first local controller having circuitry to drive the first actuator mechanism, and a first sensor sensing a condition associated with the first actuator mechanism and in operative communication with the first local controller; and

d) controlling the first actuator mechanism via the first local controller in response to operating parameters received by the first actuator assembly and in relation to the condition sensed by the first sensor;

wherein the system controller is disposed in a first housing at a first location on the wheelchair and the first local controller and the first actuator mechanism are disposed in a second housing at a second location on the wheelchair.

34. The method of claim 33 wherein the first actuator assembly includes a second actuator mechanism in operative communication with the first local controller and a second sensor sensing a condition associated with the second actuator mechanism and in operative communication with the first local controller.

35. The method of claim 34, further including:

e) transmitting at least one of the selected operating parameters from the system controller to the first actuator assembly in a second message via the bus; and

f) controlling the second actuator mechanism via the first local controller in response to operating parameters received by the first actuator assembly and in relation to the condition sensed by the second sensor.

36. The method of claim 33, further including:

e) transmitting at least one of the selected operating parameters from the system controller to a second actuator assembly in a second message via the bus, the second actuator assembly including a second actuator mechanism, a second local controller having circuitry to drive the second actuator mechanism, and a second sensor sensing a condition associated with the second actuator mechanism and in operative communication with the second local controller; and

f) controlling the second actuator mechanism via the second local controller in response to operating parameters received by the second actuator assembly and in relation to the condition sensed by the second sensor;

wherein the second local controller is disposed in a third housing at a third location on the wheelchair.

37. The method of claim 36 wherein the second actuator assembly includes a third actuator mechanism in operative communication with the second local controller and a third sensor sensing a condition associated with the third actuator mechanism and in operative communication with the second local controller.

38. The method of claim 37, further including:

g) transmitting at least one of the selected operating parameters from the system controller to the second actuator assembly in a third message via the bus; and

h) controlling the third actuator mechanism via the second local controller in response to operating parameters received by the second actuator assembly and in relation to the condition sensed by the third sensor.

39. A power driven wheelchair comprising:

a system controller associated with the wheelchair including a main controller, a storage device in operative communication with the main controller, and at least one input device in operative communication with the main controller; and

a first local controller assembly associated with a first controllable component of the wheelchair in operative communication with the system controller via a common bus, the first local controller assembly including a first drive motor or actuator mechanism, a first local controller having circuitry to drive the first drive motor or actuator mechanism, and a first sensor sensing a condition associated with the first drive motor or actuator mechanism and in operative communication with the first local controller;

wherein the main controller is disposed in a first housing at a first location on the wheelchair and the first local controller is disposed in a second housing at a second location on the wheelchair.

40. The power driven wheelchair of claim 39, further including:

a second local controller assembly associated with a second controllable component of the wheelchair in operative communication with the system controller via a common bus, the second local controller assembly including a second drive motor or actuator mechanism, a second local controller having circuitry to drive the second drive motor or actuator mechanism, and a second sensor sensing a condition associated with the second drive motor or actuator mechanism and in operative communication with the second local controller;

wherein the second local controller is disposed in a third housing at a third location on the wheelchair.

41. The power driven wheelchair of claim 40, further including:

a third local controller assembly associated with a third controllable component of the wheelchair in operative communication with the system controller via a common bus, the third local controller assembly including a third drive motor or actuator mechanism, a third local controller having circuitry to drive the third drive motor or actuator mechanism, and a third sensor sensing a condition associated with the third drive motor or actuator mechanism and in operative communication with the third local controller;

wherein the third local controller is disposed in a fourth housing at a fourth location on the wheelchair.

42. The power driven wheelchair of claim 39 wherein the first local controller assembly is a motor assembly associated with a drive wheel of the wheelchair or an actuator assembly.

43. A power driven wheelchair comprising:

a system controller associated with the wheelchair including a main controller, a storage device in operative communication with the main controller, and at least one input device in operative communication with the main controller; and

a first motor assembly associated with a first drive wheel of the wheelchair in operative communication with the system controller via a common bus, the first motor assembly including a first drive motor, a first local controller in operative communication with the first drive motor, and a first sensor sensing a condition associated with the first drive motor and in operative communication with the first local controller;

wherein the main controller is disposed in a first housing at a first location on the wheelchair and the first local controller and the first drive motor are disposed in a second housing at a second location on the wheelchair.

44. A method of operating a power driven wheelchair, including:

a) activating an input device associated with a system controller associated with the wheelchair;

b) selecting one or more operating parameters from a plurality of programmable operating parameters based at least in part on the input device activation;

c) transmitting at least one of the selected operating parameters from the system controller to a first motor assembly associated with a first drive wheel of the wheelchair in a first message via a bus, the first motor assembly including a first drive motor, a first local controller in operative communication with the first drive motor, and a first sensor sensing a condition associated with the first drive motor and in operative communication with the first local controller; and

d) controlling the first drive motor via the first local controller in response to the operating parameters received by the first motor assembly and in relation to the condition sensed by the first sensor;

wherein the system controller is disposed in a first housing at a first location on the wheelchair and the first local controller and the first drive motor are disposed in a second housing at a second location on the wheelchair.

45. A power driven wheelchair comprising:

a system controller associated with the wheelchair including a main controller, a storage device in operative communication with the main controller, and at least one input device in operative communication with the main controller, the system controller comprising;

logic for controlling normal operations, wherein normal operations comprises a driving mode; and

logic for controlling support operations, wherein support operations comprises a programming mode; and

a first motor assembly associated with a first drive wheel of the wheelchair in operative communication with the system controller via a common bus, the first motor assembly including a first drive motor, a first local controller in operative communication with the first drive motor, and a first sensor sensing a condition associated with the first drive motor and in operative communication with the first local controller;

wherein the main controller is disposed in a first housing at a first location on the wheelchair and the first local controller is disposed in a second housing at a second location on the wheelchair; and

wherein the system controller programs selected operating parameters associated with driving in the programming mode and transmits selected operating parameters associated with driving to the first local controller in the driving mode.

46. A power driven wheelchair, including:

a system controller associated with the wheelchair including a main controller, a storage device in operative communication with the main controller, and at least one input device in operative communication with the main controller, the system controller comprising;

logic for controlling normal operations, wherein normal operations comprises a seating mode; and

logic for controlling support operations, wherein support operations comprises a programming mode; and

a first actuator assembly in operative communication with the system controller via a common bus, the first actuator assembly including a first actuator mechanism, a first local controller having circuitry to drive the first actuator mechanism, and a first sensor sensing a condition associated with the first actuator mechanism and in operative communication with the first local controller;

wherein the main controller is disposed in a first housing at a first location on the wheelchair and the first local controller and the first actuator mechanism are disposed in a second housing at a second location on the wheelchair; and

wherein the system controller programs selected operating parameters associated with seating in the programming mode and transmits selected operating parameters associated with seating to the first local controller in the seating mode.