Robotic Platform

• US 20100179691A1
• Filed: 05/01/2008
• Published: 07/15/2010
• Est. Priority Date: 05/06/2007
• Status: Abandoned Application

• Current Assignee: Mistral Detection Ltd.
• Original Assignee: O.D.F. Optronics Ltd., Wave Group Ltd.
• Inventors: Gal, Ehud, Berinsky, Gennadiy, Wolf, Yosi
• Application Number:
  US12/598,729
• Publication Number:
  US 20100179691A1
• Time in Patent Office: Days
• US Class Current: 700/259
• CPC Class Codes: F41H 11/16 Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
• CPC Class Codes: F41H 13/00 Means of attack or defence not otherwise provided for details of radar or sonar systems G01S7/00
• CPC Class Codes: F41H 7/005 Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors F41H11/16 takes precedence
• CPC Class Codes: F41H 7/03 Air-pressurised compartments for crew; Means for preventing admission of noxious substances, e.g. combustion gas from gun barrels, in crew compartments; Sealing arrangements
• CPC Class Codes: F42B 12/365 Projectiles transmitting information to a remote location using optical or electronic means F42B12/385 takes precedence
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: H04N 23/62 Control of parameters via user interfaces
• CPC Class Codes: H04N 7/185 from a mobile camera, e.g. for remote control

Abstract

The present invention is a robotic mobile platform vehicle that can be thrown into hostile or hazardous environments for gathering information and transmitting that information to a remotely located control station and a system comprising the robotic mobile platform. The system of the invention is adapted to provide it'"'"'s operator with significant information without being exposed directly to actual or potential danger. One of the key features of the invention is that at least four imaging assemblies are mounted on the robotic platform and that the system has the processing ability to stitch the views taken by the four imaging devices together into an Omni-directional image, allowing simultaneous viewing of a 360 degree field of view surrounding the mobile platform. Another feature is that the system comprises a touch screen GUI and the robotic mobile platform is equipped with processing means and appropriate software. This combination enables the user to steer the robotic platform simply by touching an object in one of the displayed images that he wants to investigate. The robotic platform can then either point its sensors towards that object or, if so instructed, compute the direction to the object and travel to it without any further input from the user.

Claims

1. A remote controlled robotic platform outfitted for gathering information from a hostile or dangerous environment and transmitting said information to a remote control station, said robotic platform comprising:

a) a body, comprising a hollow box;

b) at least four imaging assemblies at least one of which is located on each side of said body;

c) one or more additional sensors;

d) a communication assembly comprising a transmitter and a receiver;

e) onboard computing means comprising dedicated software and memory means;

f) a drive sub-system comprising four drive wheels, at least one reversible electric motor, and a gear train; and

g) a power supply for supplying DC electrical power to the components of said robotic platform;

h) wherein said robotic platform is designed and built to enable it to be thrown or dropped into said hostile or dangerous environment.

2. A robotic platform according to claim 1, wherein the drive sub-system comprises two tracks, each track fitted tightly over the pair of drive wheels on one side of said robotic platform.

3. A robotic platform according to claim 1, wherein the additional sensors are selected from the group comprising:

a) video cameras mounted on PTZ mechanisms;

b) sound sensors;

c) volume sensors;

d) vibration sensors;

e) temperature sensors;

f) smoke detectors;

g) NBC (nuclear, biological, chemical) sensors;

h) moisture detectors, and

i) carbon monoxide sensors.

4. A robotic platform according to claim 1, comprising one or more of the following components:

a) illumination means;

b) laser target marking system;

c) robotic arm;

d) elevating means that enable elevating sensors above the top surface of the body of said platform;

e) digital compass; and

f) GPS system.

5. A robotic platform according to claim 1, wherein the symmetry of said robotic platform, including the placement of imaging devices and sensors, enables said robotic platform to perform its mission with either side up.

6. A robotic platform according to claim 1, wherein said platform comprises a mechanism which enables the platform to be propelled forward, for the purpose of assisting the platform to overcome obstacles in its path.

7. A robotic platform according to claim 1, wherein the onboard computing means is configured to use multiplexing technology to handle the data received from the sensors and communication too and from said platform.

8. A system for gathering information from a hostile or dangerous environment, said system comprising:

a) one or more robotic platforms according to claim 1;

b) one carrying case for each of said robotic platforms; and

c) a remote control station.

9. A system according to claim 8, wherein the carrying case is adapted to:

a) make it easy to carry while traveling to the site of the mission;

b) to protect the robotic platform while traveling to the site of the mission;

c) to be easily thrown into the observation area; and

d) to protect said robotic platform from damage caused by impact with the ground or other objects when thrown into said observation area.

10. A system according to claim 8, wherein the carrying case comprises a communication unit, which acts as a relay station, relaying messages between the remote control station and the robotic platform.

11. A system according to claim 8, wherein the remote control station comprises:

a) a transmitter for transmitting commands;

b) a receiver for receiving data from the robotic platform;

c) a processing unit;

d) software that enables advanced image processing and information handling techniques;

e) memory means to allow storage of both raw and processed data and images; and

f) a display screen for displaying the images and other information gathered by the sensors on the robotic platform.

12. A system according to claim 8, wherein the processing unit of the control station and the on board processor of the robotic platform are configured to work in complete harmony.

13. A system according to claim 8, wherein the processing unit of the remote control station and the on board processor of the robotic platform are supplied with software that enables some or all of the following capabilities:

a) stitching together the views taken by the four imaging devices into an Omni-directional image;

b) processing images by the use of an automatic Video Motion Detection (VMD) program;

c) the ability to sort objects in the images into general categories;

d) the ability to identify specific objects by comparison of the objects in the images with an existing database;

e) the ability to combine the image processing software with Optical Character Recognition (OCR);

f) the ability to recognize the sky lines in the images taken by the imaging sensors to compare them with a prepared sky line database thus being able to calculate the location of the platform; and

g) the ability to control two or more robotic platforms using one remote control station.

14. A system according to claim 8, wherein the display screen is a graphic user interface (GUI) configured to enable the user to control and navigate the robotic platform by means of appropriate GUI buttons on a control bar and input means.

15. A system according to claim 14, wherein the interface is preferably a touch screen, configured to allow the user to:

a) choose the manner of displaying the information from various options, depending on the requirements of the mission and his personal preference, simply by touching the appropriate icon on the screen; and

b) to plan the mission and navigate the robotic platform simply by touching locations of interest in the images displayed on said interface.

16. A system according to claim 15, wherein the images displayed on the touch screen are one or more of the following:

a) real time images from the observation area;

b) real time images from the observation area integrated with images from previous missions in the same area;

c) aerial photographs of the observation area;

d) real time images integrated with aerial photographs of the observation area;

e) graphical maps; and

f) topographical maps.

17. A system according to claim 8, wherein the remote station is one of the following:

a) a dedicated unit;

b) a laptop PC;

or

c) hand-held personal digital assistant.

18. A method of using the system of claim 8 for gathering information from a hostile or dangerous environment, said method comprising the steps of:

a) placing a robotic platform according to claim 1 into a carrying case;

b) carrying said carrying case to the boundary of said environment;

c) throwing said carrying case into said environment;

d) activating the drive sub-system of said robotic platform to drive said robotic platform out of said carrying case;

e) activating the imaging sensors and other sensors on said robotic platform to gather said information while navigating said robotic platform along a chosen path within said environment.