Wheeled platforms

• US 20010047895A1
• Filed: 04/04/2001
• Published: 12/06/2001
• Est. Priority Date: 04/04/2000
• Status: Active Grant

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: iRobot Corporation
• Inventors: Barrett, David S., Won, Chikyung, Slipichevich, Selma, De Fazio, Thomas L.
• Granted Patent: US 6,662,889 B2
• Time in Patent Office: Days
• US Class Current: 180/22
• CPC Class Codes: B60G 2300/45 Rolling frame vehicles
• CPC Class Codes: B62D 57/02 with ground-engaging propulsion means, e.g. walking members
• CPC Class Codes: B62D 57/024 specially adapted for moving on inclined or vertical surfaces endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02
• CPC Class Codes: B62D 61/10 with more than four wheels tractors of the low ground pressure type B62D49/002
• CPC Class Codes: B62D 61/12 with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels for manoeuvring purposes only B60S

Abstract

A wheeled platform (100) is disclosed, which is characterized by high mobility and reliability, and which can be used in a wide range of applications including transport and robotic devices. The platform has fore and aft body portions (130, 132), each body portion with first and second side portions (103, 104). Overlapping wheels (112, 114, 116, 118) are rotatably attached to the port-side portion (106) and overlapping wheels (120, 122, 124, 126) are rotatably attached to the starboard-side portions. The fore body portion (130) can be connected to the aft body portion (132) via an articulation element (133).

Claims

1. A wheeled structure, comprising:

a body having at least first and second side portions,

first and second sets of wheel elements rotatably attached to the first and second side portions, respectively,

wherein a portion of at least one wheel element on a first axis overlaps a portion of at least one other wheel element on a second axis in the same set of wheel elements.

2. The wheeled structure of

claim 1

wherein each wheel element has a defined radius, and a portion of at least one wheel element in a set of wheel elements overlaps another wheel element by a predetermined fraction of the radius of the other wheel element.

3. The wheeled structure of

claim 1

wherein each set of wheel elements is comprised of at least a first end wheel element, an intermediate wheel element and a second end wheel element.

4. The wheeled structure of

claim 3

wherein each wheel element in a set of wheel elements has a respective transverse displacement from a longitudinal centerline of the body, and the transverse displacement of the intermediate wheel element is greater than that of the first end wheel element.

5. The wheeled structure of

claim 4

wherein the transverse displacement of the intermediate wheel element is greater than that of the second end wheel element.

6. The wheeled structure of

claim 3

wherein the intermediate wheel element in each set of wheel elements is always in contact with the ground plane, and the first end wheel element and the second end wheel element are selectively in contact with the ground plane.

7. The wheeled structure of

claim 1

further comprising an axle, rotatably coupled to at least one wheel element, wherein the wheel element is rotatably coupled to the body at a greater transverse displacement from a longitudinal centerline of the body than at least one other wheel element in the set of wheel elements.

8. The wheeled structure of

claim 7

wherein each set of wheel elements is comprised of at least a first end wheel element, an intermediate wheel element and a second end wheel element, and wherein the intermediate wheel element is rotatably coupled to the body at a greater transverse displacement from a longitudinal centerline of the body than at least one other wheel element in the set of wheel elements.

9. The wheeled structure of

claim 1

, wherein the body comprises first and second body portions, the first body portion being connected to the second body portion via an articulation joint.

10. The wheeled structure of

claim 9

wherein the articulation joint is a hinge.

11. The wheeled structure of

claim 9

wherein the articulation joint is a pivot.

12. The wheeled structure of

claim 9

wherein the articulation joint is a flexible body portion.

13. The wheeled structure of

claim 9

wherein at least one wheel element from each set of wheel elements is rotatably coupled to each of the first and second body portions.

14. The wheeled structure of

claim 1

, wherein each set of wheel elements is arrayed with a selected degree of rocker of the wheel elements coupled to the body, to enable the wheeled structure to turn-in-place.

15. The wheeled structure of

claim 1

, further comprising:

an independent drive element arranged to drive at least one respective wheel element; and

control elements for controlling rotation of the respective wheel elements to enable longitudinal movement, turns or turns-in-place.

16. The wheeled structure of

claim 1

, wherein at least one wheel element is comprised of raised blocks spaced apart circumferentially.

17. The wheeled structure of

claim 1

wherein at least one wheel element is scalloped.

18. The wheeled structure of

claim 1

wherein at least one wheel element is studded.

19. The wheeled structure of

claim 16

wherein the portion of at least one wheel element that is capable of contact with the ground is substantially smooth.

20. The wheeled structure of

claim 3

wherein at least a portion of the intermediate wheel element in each set of wheel elements is substantially smooth, and at least the first and second end wheel elements in each set of wheel elements is comprised of raised blocks spaced apart circumferentially.

21. A wheeled structure, comprising:

a body having at least first and second side portions;

first and second sets of wheel elements rotatably attached to the first and second side portions, respectively, wherein a portion of at least one wheel element partly overlaps a portion of at least one other wheel element in the set of wheel elements; and

a flipper element pivotally coupled to a portion of the body, such that the flipper element can make selective contact with a ground plane.

22. The wheeled structure of

claim 21

, further comprising at least one wheel element rotatably coupled to the flipper element.

23. The wheeled structure of

claim 22

, further comprising a motion control element or controlling an angle of the flipper element with respect to the body.

24. The wheeled structure of

claim 23

wherein each wheel element has a defined radius, and a portion of at least one wheel element in a set of wheel elements overlaps another wheel element in the set by a predetermined fraction of the radius of the other wheel element.

25. The wheeled structure of

claim 24

wherein each set of wheel elements is comprised of at least a first end wheel element, an intermediate wheel element and a second end wheel element.

26. The wheeled structure of

claim 21

further comprising an axle, rotatably coupled to at least one wheel element in a set of wheel elements, wherein the wheel element is rotatably coupled to the body at a greater transverse displacement from a longitudinal centerline of the body than at least one other wheel element in the corresponding set of wheel elements.

27. The wheeled structure of

claim 26

wherein each set of wheel elements is comprised of at least a first end wheel element, an intermediate wheel element and a second end wheel element, and wherein the intermediate wheel element is rotatably coupled at a greater transverse displacement from a longitudinal centerline of the body than at least one other wheel element in the set of wheel elements.

28. The wheeled structure of

claim 25

wherein the intermediate wheel element in each set of wheel elements is always in contact with the ground plane, and the first end wheel element and the second end wheel element are selectively in contact with the ground plane.

29. The wheeled structure of

claim 21

further comprising an axle, rotatably coupled to at least one wheel element in a set of wheel elements, wherein the wheel element is rotatably coupled to the body at a greater transverse displacement from a longitudinal centerline of the body than at least one other wheel element in the set of wheel elements.

30. The wheeled structure of

claim 29

wherein each set of wheel elements is comprised of at least a first end wheel element, an intermediate wheel element and a second end wheel element, and wherein the intermediate wheel element is rotatably coupled at a greater transverse displacement from a longitudinal centerline of the body than at least one other wheel element in the set of wheel elements.

31. The wheeled structure of

claim 21

, wherein the body comprises first and second body portions, the first body portion being connected to the second body portion via an articulation joint.

32. The wheeled structure of

claim 31

wherein the articulation joint is a hinge.

33. The wheeled structure of

claim 31

wherein the articulation joint is a pivot.

34. The wheeled structure of

claim 31

wherein the articulation joint is a flexible body portion.

35. The wheeled structure of

claim 31

wherein the first and second body portions each include at least one wheel of each set of wheel elements rotatably coupled to the respective body portion.

36. The wheeled structure of

claim 21

, wherein each set of wheel elements is arrayed with a selected degree of rocker of the wheel elements coupled to the body, to enable the wheeled structure to turn-in-place.

37. The wheeled structure of

claim 21

further comprising:

an independent drive element arranged to drive at least one respective wheel element; and

control elements for controlling rotation of the respective wheel elements to enable longitudinal movement, turns or turns-in-place.

38. The wheeled structure of

claim 21

wherein at least one wheel element is comprised of raised blocks spaced apart circumferentially.

39. The wheeled structure of

claim 21

wherein at least one wheel element is scalloped.

40. The wheeled structure of

claim 21

wherein at least one wheel element is studded.

41. The wheeled structure of

claim 21

wherein at least one wheel element is substantially smooth.

42. The wheeled structure of

claim 25

wherein at least the intermediate wheel element in each set of wheel elements is substantially smooth, and at least the first and second end wheel elements in each set of wheel elements are comprised of raised blocks spaced apart circumferentially.

43. The wheeled structure of

claim 22

, wherein the flipper element is pivotally coupled to the body to provide support to the body when the wheeled structure traverses inclined terrain.

44. The wheeled structure of

claim 22

, wherein the flipper element is pivotally coupled to the body to provide support to the body when the wheeled structure ascends stairs.

45. The wheeled structure of

claim 22

, wherein the flipper element is pivotally coupled to the body to provide support to the body when the wheeled structure descends stairs.

46. The wheeled structure of

claim 22

wherein the wheel element coupled to the flipper element can make selective contact with a ground plane.

47. A wheeled structure, comprising:

a body, and

a plurality of wheel elements, each wheel element having a peripheral portion, the wheel elements being rotatably coupled to the body such that the respective peripheral portions of adjacent wheel elements overlap in an elevation view of the structure.

48. The wheeled structure of

claim 47

, wherein the wheel elements are arrayed such that there is a selected rocker of the wheel elements coupled to the body, to permit any of enhanced turn-in-place or enhanced propulsion on level surfaces.

49. The wheeled structure of

claim 48

wherein at least one wheel in a set of wheels is coupled to the body with a transverse displacement from a longitudinal centerline of the body greater than that of other wheels in the respective set of wheels.

50. The wheeled structure of

claim 49

wherein the wheel coupled to the body with a greater transverse displacement from a longitudinal centerline of the body is a center wheel in the respective set of wheels.

51. The wheeled structure of

claim 47

further comprising:

a first set of wheel elements coupled to a port side of the body,

a second set of wheel elements coupled to a starboard side of the body, and

independent port-side and starboard-side drive elements to permit forward and rearward movement, turns or turns-in-place.

52. The wheeled structure of

claim 51

, wherein the plurality of wheel elements includes, in plan view, port-side and starboard-side center wheels, and the port-side and starboard-side center wheels, in plan view, are displaced outwardly from the body, relative to other wheels in the respective first and second sets of wheel elements.

53. The wheeled structure of

claim 52

, wherein at the wheel elements include any of studded or scalloped wheel elements.

54. The wheeled structure of

claim 53

, wherein the body comprises first and second body portions coupled by an articulation element.

55. The wheeled structure of

claim 47

, further comprising a flipper element coupled to the body, for making selective contact with a ground plane.

56. The wheeled structure of

claim 55

, further comprising at least one wheel element, rotatably coupled to the flipper element, for making selective contact with the ground plane.

57. The wheeled structure of

claim 56

, further comprising a motion control element for controlling movement of the flipper element in an angular direction with respect to the body.

58. A wheeled structure comprising:

front and back body portions coupled by an articulation element;

a first set of wheel elements rotatably attached to a first side of the wheeled structure, wherein a forward wheel element in the first set of wheel elements is attached to the front body portion, and a rear wheel element in the first set of wheel elements is attached to the back body portion; and

a motion control element for controlling the relative position of each body portion around the articulation element;

wherein each wheel element has an axis, and the wheel element axes define a horizontal plane; and

the articulation element provides for pivoting movement between the front and back body portions on an axis substantially parallel to the horizontal plane of the body; and

wherein the distance between one wheel element on the front body portion and one wheel element on the back body portion is less than the radius of the smaller of the two wheel elements.

59. The wheeled structure of

claim 58

, further comprising a second set of wheel elements rotatably attached to the right side of the wheeled structure, wherein a forward wheel element in the second set of wheel elements is attached to the front body portion, and a rear wheel element in the second set of wheel elements is attached to the back body portion;

60. The wheeled structure of

claim 59

wherein the articulation element is a hinge.

61. The wheeled structure of

claim 59

wherein the articulation element is a pivot.

62. The wheeled structure of

claim 59

wherein the articulation element is a flexible body portion.

63. The wheeled structure of

claim 59

, further comprising a flipper element coupled to the back body portion, for making selective contact with a ground plane.

64. The wheeled structure of

claim 63

, further comprising at least one wheel element, rotatably coupled to the flipper element, for making selective contact with the ground plane.

65. The wheeled structure of

claim 64

, further comprising a motion control element for controlling movement of the flipper element in an angular direction with respect to the body.

66. The wheeled structure of

claim 59

wherein each wheel element in the set of wheel elements has a respective transverse displacement from a longitudinal centerline of the body, and the transverse displacement of the forward wheel element is smaller than that of another wheel element in the set of wheel elements.

67. The wheeled structure of

claim 59

wherein the transverse displacement of the rear wheel element is smaller than that of another wheel element in each set of wheel elements.

68. The wheeled structure of

claim 59

wherein the intermediate wheel element in each set of wheel elements is always in contact with the ground plane, and the first end wheel element and the second end wheel element are selectively in contact with the ground plane.

69. The wheeled structure of

claim 59

further comprising an axle, rotatably coupled to at least one wheel element in the first set of wheel elements, such that the wheel element is rotatably coupled to the body at a greater transverse displacement from a longitudinal centerline of the body than at least one other wheel element in the first set of wheel elements.

70. The wheeled structure of

claim 59

wherein the first set of wheel elements is further comprised of a center wheel element set, and wherein at least one wheel in the center wheel element set is rotatably coupled to the body at a greater transverse displacement from a longitudinal centerline of the body than at least one other wheel element in the first set of wheel elements.

71. The wheeled structure of

claim 59

, wherein the set of wheel elements is arrayed with a selected degree of rocker of the wheel elements coupled to the body to enable the wheeled structure to turn-in-place.

72. The wheeled structure of

claim 59

, further comprising an independent drive element arranged to drive at least one wheel element, and a control element for controlling rotation of the wheel elements to enable longitudinal movement, turns or turns-in-place.

73. The wheeled structure of

claim 59

wherein the wheel elements in the set of wheel elements are geared so that the wheels in a wheel set turn in unison.