Power driven wheelchair
View Patent ↗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.
1. A method of operating a power driven wheelchair, including:
activating an input device associated with a system controller associated with the wheelchair;
selecting one or more operating parameters from a plurality of programmable operating parameters based at least in part on the input device activation;
transmitting at least one of the selected operating parameters from the system controller to a first local controller assembly associated with a first controllable component of the wheelchair in a first message via a 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; and
controlling the first drive motor or actuator mechanism via the first local controller in response to operating parameters received by the first local controller 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.
2. The method of claim 1 , further including:
transmitting at least one of the selected operating parameters from the system controller to a second local controller assembly associated with a second controllable component of the wheelchair in a second message via a 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; and
controlling the second drive motor or actuator mechanism via the second local controller in response to operating parameters received by the second local controller 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.
3. The method of claim 2 , further including:
transmitting at least one of the selected operating parameters from the system controller to a third local controller assembly associated with a third controllable component of the wheelchair in a third message via a 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; and
controlling the third drive motor or actuator mechanism via the third local controller in response to operating parameters received by the third local controller assembly and in relation to the condition sensed by the third sensor;
wherein the third local controller is disposed in a fourth housing at a fourth location on the wheelchair.
4. The method of claim 3 , further including:
transmitting at least one of the selected operating parameters from the system controller to a fourth local controller assembly associated with a fourth controllable component of the wheelchair in a fourth message via a bus, the fourth local controller assembly including a fourth drive motor or actuator mechanism, a fourth local controller having circuitry to drive the fourth drive motor or actuator mechanism, and a fourth sensor sensing a condition associated with the fourth drive motor or actuator mechanism and in operative communication with the fourth local controller; and
controlling the fourth drive motor or actuator mechanism via the fourth local controller in response to operating parameters received by the fourth local controller assembly and in relation to the condition sensed by the fourth sensor;
wherein the fourth local controller is disposed in a fifth housing at a fifth location on the wheelchair.
5. A method of operating a power driven wheelchair, including:
activating an input device associated with a system controller associated with the wheelchair;
selecting one or more operating parameters from a plurality of programmable operating parameters based at least in part on the input device activation;
programming at least one of the selected operating parameters when the system controller is in a support mode; and
transmitting at least one of the selected operating parameters from the system controller to a first local controller assembly associated with a first controllable component of the wheelchair in a first message via a bus when the system controller is in a normal mode, 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; and
controlling the first drive motor or actuator mechanism via the first local controller in response to operating parameters received by the first local controller 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.
6. The method of claim 5 , further including:
transmitting at least one of the selected operating parameters from the system controller to a second local controller assembly associated with a second controllable component of the wheelchair in a second message via a bus when the system controller is in the normal mode, 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; and
controlling the second drive motor or actuator mechanism via the second local controller in response to operating parameters received by the second local controller 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.
7. The method of claim 6 , further including:
transmitting at least one of the selected operating parameters from the system controller to a third local controller assembly associated with a third controllable component of the wheelchair in a third message via a bus when the system controller is in the normal mode, 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; and
controlling the third drive motor or actuator mechanism via the third local controller in response to operating parameters received by the third local controller assembly and in relation to the condition sensed by the third sensor;
wherein the third local controller is disposed in a fourth housing at a fourth location on the wheelchair.
8. The method of claim 7 , further including:
transmitting at least one of the selected operating parameters from the system controller to a fourth local controller assembly associated with a fourth controllable component of the wheelchair in a fourth message via a bus when the system controller is in the normal mode, the fourth local controller assembly including a fourth drive motor or actuator mechanism, a fourth local controller having circuitry to drive the fourth drive motor or actuator mechanism, and a fourth sensor sensing a condition associated with the fourth drive motor or actuator mechanism and in operative communication with the fourth local controller; and
controlling the fourth drive motor or actuator mechanism via the fourth local controller in response to operating parameters received by the fourth local controller assembly and in relation to the condition sensed by the fourth sensor;
wherein the fourth local controller is disposed in a fifth housing at a fifth location on the wheelchair.
9. The method of claim 5 , wherein the normal mode is a powered driving mode and the first local controller assembly is a first motor assembly.
10. The method of claim 5 , wherein the normal mode is a powered seating mode and the first local controller assembly is a first actuator assembly.
11. The method of claim 5 , wherein the support mode is a programming mode and the first local controller assembly is a first motor assembly.
12. The method of claim 5 , wherein the support mode is a programming mode and the first local controller assembly is a first actuator assembly.