TWO WHEELED ROBOT WITH ENHANCED CLIMBING FEATURES

• US 20100152922A1
• Filed: 12/09/2009
• Published: 06/17/2010
• Est. Priority Date: 12/09/2008
• Status: Abandoned Application

• Current Assignee: ReconRobotics Inc.
• Original Assignee: ReconRobotics Inc.
• Inventors: Drenner, Andrew, Burt, Ian T., Carlson, Casey R., Kossett, Alex J.
• Application Number:
  US12/634,610
• Publication Number:
  US 20100152922A1
• Time in Patent Office: Days
• US Class Current: 701/2
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B60B 9/10 of rubber or the like
• CPC Class Codes: B62D 57/02 with ground-engaging propulsion means, e.g. walking members
• CPC Class Codes: B62D 61/00 Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A robot has an electronic surveillance system embedded within a chassis disposed between two wheels. The wheels include a main body and a plurality of treads. The treads are generally disposed radially around the main body and extend distally from outer portion of the main body. The main body generally defines a plurality of compression cells and may present a substantially frustoconical outer surface.

Claims

1. A surveillance robot comprising:

a pair of axially aligned drive wheels, the wheels having a maximum radius;

a housing extending between the wheels, the housing having a radius that is less than the maximum radius of the wheels and containing a transmitter, a receiver, a power supply, a drive system including at least one drive motor connecting to the wheels, and a video camera connected to the transmitter;

wherein each of the wheels have a elastomeric hub portion having a diameter and a plurality of elastomeric paddles extending from the hub portion, the radius of each of the hub portions being less than 65% the maximum radius of each of the wheels.

2. The surveillance robot of claim 1, wherein at least one of the paddles includes a distal section and proximal section, distal section disposed at an angle with respect to the proximal section.

3. The surveillance robot of claim 2, wherein the angle is between approximately forty-five and one-hundred fifteen degrees.

4. The surveillance robot of claim 3, wherein the angle is approximately ninety degrees.

5. The surveillance robot of claim 1, wherein the paddles are adapted are resiliently flexible so as to deflect upon engaging a surface.

6. The surveillance robot of claim 2, wherein the paddle further includes a transition section intermediate the proximal and distal sections, the transition section having a radius of curvature

7. The surveillance robot of claim 1, wherein the elastomeric hub portion defines a circumference, each of the paddles being disposed to an outer surface of the elastomeric hub portion at approximately forty-five degree interval along the circumference.

8. The surveillance robot of claim 1, further comprising a tail coupled to the housing intermediate the wheels, the tail being substantially rigid in a first direction and substantially flexible in a second direction transverse to the first direction.

9. The surveillance robot of claim 8, wherein the tail has a tail length and a tail weight and includes a main portion and a distal portion, the distal portion having a length less than fifteen percent of the tail length and a weight at least thirty percent of the tail weight.

19. The surveillance robot of claim 8, a distal portion of the tail defines an aperture configured to receive a tether.

10. A surveillance robot comprising:

a pair of axially aligned drive wheels, each wheel having a maximum radius;

a housing extending between the wheels, the housing having a radius that is less than the maximum radius of the wheels;

the housing containing a transmitter and receiver, a power supply, a drive system including at least one drive motor connecting to the wheels, and a video camera connected to the transmitter; and

a rigid rear tail extending from the housing, the tail including a floor engaging end portion formed of an elastomeric material;

wherein each of the wheels have a elastomeric hub portion having a diameter and a plurality of elastomeric paddles extending from the hub, the radius of each of the hubs being less than 65% the maximum radius of each of the wheels.

11. The surveillance robot of claim 10 further comprising a tether attachment portion positioned on the tail and having an aperture therethrough.

12. The surveillance robot of claim 10 wherein each of the wheels have a elastomeric hub portion having a diameter and a plurality of elastomeric paddles extending from the hub, the radius of each of the hubs being less than 65% the maximum radius of each of the wheels.

13. The surveillance robot of claim 10, wherein the rigid rear tail defines an aperture configured to receive a tether.

14. A surveillance robot comprising:

a pair of axially aligned drive wheels, each wheel having a maximum radius and a plurality of arcuate spikes extending radially outward therefrom,

a housing extending between the wheels, the housing having a radius that is less than the maximum radius of the wheels;

the housing containing a transmitter and receiver, a power supply, a drive system including at least one drive motor connecting to the wheels, and a video camera connected to the transmitter;

a rigid rear tail extending from the housing, the tail including a floor engaging end portion formed of an elastomeric material and an aperture with a tether attached thereto.

15. The surveillance robot of claim 14, wherein each of the wheels have a elastomeric hub portion having a diameter and a plurality of elastomeric paddles extending from the hub, the radius of each of the hubs being less than 65% the maximum radius of each of the wheels.

16. A tire for a two-wheeled surveillance robot having a housing disposed intermediate a pair of the tires, the tire comprising:

a hub presenting a outer circumferential surface, an inner axial surface and an outer axial surface and defining a hub radius, the outer surface having substantially frustoconical shape; and

a plurality of elastomeric paddles disposed to the outer circumferential surface of the hub, each of the elastomeric paddles extending radially from the outer circumferential surface a distance equal to at least forty percent of the hub radius.

17. The tire of claim 16, wherein the tire further comprises means for absorbing an impact force.

18. The tire of claim 16, wherein the two-wheeled surveillance robot includes a weighted tail, the weighted tail and shape of the outer axial surface substantially preventing the two-wheeled surveillance robot from statically resting on the outer axial surface of the tire.