US 12,240,440 B2
Mobility device
Susan D. Dastous, Litchfield, NH (US); Daniel F. Pawlowski, Raymond, NH (US); Alexander D. Streeter, Concord, NH (US); Elizabeth Rousseau, Epsom, NH (US); David J. Meehan, Londonderry, NH (US); and Tania M. F. Zirn, Chester, NH (US)
Assigned to DEKA Products Limited Partnership, Manchester, NH (US)
Filed by DEKA Products Limited Partnership, Manchester, NH (US)
Filed on Sep. 12, 2023, as Appl. No. 18/465,210.
Application 18/465,210 is a division of application No. 17/149,849, filed on Jan. 15, 2021, granted, now 11,794,722.
Application 17/149,849 is a continuation of application No. 15/787,613, filed on Oct. 18, 2017, granted, now 10,926,756.
Application 15/787,613 is a continuation in part of application No. 15/600,703, filed on May 20, 2017, granted, now 10,908,045, issued on Feb. 2, 2021.
Application 15/600,703 is a continuation in part of application No. 15/441,190, filed on Feb. 23, 2017, granted, now 10,220,843, issued on Mar. 5, 2019.
Application 15/787,613 is a continuation in part of application No. 15/486,980, filed on Apr. 13, 2017, granted, now 10,802,495, issued on Oct. 13, 2020.
Claims priority of provisional application 62/403,030, filed on Sep. 30, 2016.
Claims priority of provisional application 62/339,723, filed on May 20, 2016.
Claims priority of provisional application 62/322,522, filed on Apr. 14, 2016.
Claims priority of provisional application 62/298,721, filed on Feb. 23, 2016.
Prior Publication US 2023/0415727 A1, Dec. 28, 2023
Int. Cl. B60W 30/04 (2006.01); A61G 5/04 (2013.01); A61G 5/06 (2006.01); A61G 5/10 (2006.01); B60K 1/04 (2019.01); B60K 7/00 (2006.01); B60K 17/04 (2006.01); B60L 7/26 (2006.01); B60L 7/28 (2006.01); B60L 15/20 (2006.01); B60L 50/52 (2019.01); B60L 50/60 (2019.01); B60L 58/21 (2019.01); B60T 7/10 (2006.01); B60W 10/08 (2006.01); B60W 10/20 (2006.01); B60W 30/09 (2012.01); B60W 30/14 (2006.01); B62K 5/007 (2013.01); B62K 11/00 (2006.01); G01M 1/12 (2006.01); G05B 13/04 (2006.01); G05D 1/00 (2006.01); B60K 17/356 (2006.01)
CPC B60W 30/04 (2013.01) [A61G 5/04 (2013.01); A61G 5/061 (2013.01); A61G 5/1089 (2016.11); B60K 1/04 (2013.01); B60K 7/0007 (2013.01); B60K 17/043 (2013.01); B60L 7/26 (2013.01); B60L 7/28 (2013.01); B60L 15/20 (2013.01); B60L 50/52 (2019.02); B60L 50/66 (2019.02); B60L 58/21 (2019.02); B60T 7/102 (2013.01); B60W 10/08 (2013.01); B60W 10/20 (2013.01); B60W 30/09 (2013.01); B60W 30/146 (2013.01); B62K 5/007 (2013.01); B62K 11/007 (2016.11); G01M 1/122 (2013.01); G05B 13/048 (2013.01); G05D 1/0274 (2013.01); A61G 2203/36 (2013.01); B60K 2007/0046 (2013.01); B60K 2007/0092 (2013.01); B60K 17/356 (2013.01); B60L 2200/34 (2013.01); B60L 2210/30 (2013.01); B60L 2220/16 (2013.01); B60L 2240/12 (2013.01); B60L 2240/16 (2013.01); B60L 2240/42 (2013.01); B60L 2240/423 (2013.01); B60L 2240/461 (2013.01); B60L 2240/463 (2013.01); B60L 2240/54 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2520/14 (2013.01); B60W 2520/16 (2013.01); B60W 2520/18 (2013.01); B60W 2520/28 (2013.01); B60W 2530/10 (2013.01); B60W 2554/00 (2020.02); B60W 2720/106 (2013.01); B60W 2720/24 (2013.01); B60W 2720/30 (2013.01); B60Y 2200/84 (2013.01); Y02T 10/64 (2013.01); Y02T 10/70 (2013.01); Y02T 10/72 (2013.01)] 24 Claims
OG exemplary drawing
 
1. Mobility device comprising a plurality of redundant processors, each being configured for:
processing a movement command configured for controlling a movement of the mobility device;
receiving sensor data and defining received sensor data; and
executing a voting processor configured for determining whether the received sensor data are valid data based on one or more of:
whether the received sensor data are within a range;
whether said voting processor has received invalid sensor data; and
whether communications exist among said plurality of redundant processors;
wherein:
the movement command is based on the valid data; and
the voting processor is configured for:
defining as candidate processors each of the plurality of redundant processors having received data determined to be the valid data;
determining an average value of the valid data of the candidate processors;
ordering the candidate processors based on comparing the valid data and the average value of the valid data of the candidate processors;
if three candidate processors exist, then:
performing a three-way vote of the valid data; and
indicating which of the candidate processors is associated with voted out sensor data;
if two candidate processors exist, then:
performing a two-way vote of the valid data; and
if the valid data of the candidate processors do not agree, then:
 indicating that the two candidate processors are associated with the voted out sensor data;
if only one of the candidate processors is associated with valid data, then:
indicating that the one of the candidate processors is associated with the voted out sensor data; and
averaging the valid data not voted out.