ROBOTIC VEHICLE

• US 20100263948A1
• Filed: 10/02/2007
• Published: 10/21/2010
• Est. Priority Date: 10/06/2006
• Status: Active Grant

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: iRobot Corporation
• Inventors: Page, Richard, Couture, Adam P., O'Brien, John P., Shein, Andrew, Filippov, Mikhail
• Granted Patent: US 8,327,960 B2
• Time in Patent Office: Days
• US Class Current: 180/8.200
• CPC Class Codes: B25J 11/0025 handling explosives, bombs or hazardous objects
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B62D 55/065 Multi-track vehicles, i.e. more than two tracks soil-shifting machines E02F; mining machines E21C
• CPC Class Codes: B62D 55/075 Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfacesmagnetic or pneumatic ground-engaging parts B62D55/265; chairs or multi-track cycles specially adapted for invalids A61G5/00
• 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: Y10S 901/01 Mobile robot

Abstract

A robotic vehicle (10,100,150A,150B150C,160,1000,1000A, includes a chassis (20,106,152,162) having front and rear ends (20A,152A,20B,152B) and supported on right and left driven tracks (34,44,108,165). Right and left elongated flippers (50,60,102,154,164) are disposed on corresponding sides of the chassis and operable to pivot. A linkage (70,156,166) connects a payload deck assembly (D1,D2,D3,80,158,168,806), configured to support a removable functional payload, to the chassis. The linkage has a first end (70A) rotatably connected to the chassis at a first pivot (71), and a second end (70B) rotatably connected to the deck at a second pivot (73). Both of the first and second pivots include independently controllable pivot drivers (72,74) operable to rotatably position their corresponding pivots (71,73) to control both fore-aft position and pitch orientation of the payload deck (D1,D2,D3,80,158,168,806) with respect to the chassis (20,106,152,162).

Claims

1-53. -53. (canceled)

54. A mobile robot comprising:

a chassis defining at least one chassis volume;

first and second sets of right and left driven flippers associated with the chassis, each flipper having a drive wheel and defining a flipper volume adjacent to the drive wheel, the first set of flippers disposed between the second set of flippers and the chassis; and

motive power elements distributed among the chassis volume and the flipper volumes, the motive power elements comprising a battery assembly, a main drive motor assembly, and a load shifting motor assembly.

55. The mobile robot of claim 54, wherein each flipper is independently rotatable about a pivot axis with respect to the chassis, allowing the chassis to tilt about the pivot axis with respect to the first and second sets of flippers.

56. The mobile robot of claim 55, wherein the chassis has first and second ends, the pivot axis of the flippers being located near the first end of the chassis.

57. The mobile robot of claim 54, wherein each flipper comprises a driven track, each track trained about the corresponding drive wheel and defining the flipper volume within an envelope defined by the track.

58. The mobile robot of claim 54, further comprising a load shifting assembly pivotally attached to the chassis and comprising a load tilting motor and a load shifting motor, the load shifting assembly defining a load shifting volume adjacent the load tilting motor, the motive power elements being distributed among the chassis volume, the load shifting volume, and the flipper volumes.

59. The mobile robot of claim 58, wherein the main drive motor assembly comprises a main drive motor and a main drive motor amplifier, and the load shifting motor assembly comprises the load shifting motor and a load shifting motor amplifier.

60. The mobile robot of claim 59, wherein the main drive motor amplifier and the load shifting motor amplifier are disposed in at least one of the flipper volumes, the main drive motor and the load shifting motor are disposed in the chassis volume, and the battery assembly is disposed in the load shifting volume.

61. The mobile robot of claim 59, wherein the main drive motor amplifier is disposed in at least one of the flipper volumes, the main drive motor is disposed in the chassis volume, and the battery assembly and the load tilting motor are disposed in the load shifting volume so that the battery assembly tilts together with the load shifting assembly.

62. The mobile robot of claim 59, wherein the chassis extends into the flipper volumes defined by the first set of flippers, at least one of the flipper volumes defined by the first set of flippers housing the main drive motor amplifier, the chassis volume housing the main drive motor, and the load shifting volume housing the battery assembly and the load tilting motor assembly.

63. The mobile robot of claim 59, wherein the shifting motor amplifier is housed in at least one of the flipper volumes.

64. The mobile robot of claim 59, wherein the chassis comprises a cast unitary chassis, wherein the chassis defines first and second chassis volumes each adjacent a flipper volume defined by the first set of flippers with a connecting passageway defined between the first and second chassis volumes, the load shifting assembly comprises a cast unitary linkage defining a passageway therethrough that connects the chassis volumes to the load shifting volume, and wherein the main drive motor amplifier is sealed in at least one flipper volume and at least one chassis volume and delivers power to the main drive motor disposed in at least one chassis volume, wherein the battery assembly and the load tilting motor are sealed in load shifting volume, the battery assembly tilts together with the load shifting assembly, and the battery delivers power through the linkage passageway to the main drive motor amplifier.

65. The mobile robot of claim 58, wherein the load shifting assembly comprises a linkage connecting a payload assembly to the chassis, the linkage having a first end rotatably connected to the chassis at a first pivot, and a second end rotatably connected to the payload assembly at a second pivot, both of the first and second pivots including independently controllable pivot drivers operable to rotatably position their corresponding pivots to control both fore-aft position and pitch orientation of the payload assembly with respect to the chassis.

66. The mobile robot of claim 65, wherein the independently controllable pivot drivers provide both fore-aft position and pitch orientation of the payload assembly with respect to the chassis to selectively displace a center of gravity of the payload assembly both forward and rearward of a center of gravity of the chassis.

67. The mobile robot of claim 65, wherein the first end of the linkage is rotatably connected near the front of the chassis, such that the payload assembly is displaceable to an aftmost position in which the payload assembly is located within a footprint of the chassis.

68. The mobile robot of claim 65, wherein the payload assembly comprises a sensor unit.

69. The mobile robot of claim 65, wherein the payload assembly comprises a modular deck assembly configured to support a removable payload.

70. The mobile robot of claim 65, wherein the linkage comprises an extendable mast.

71. The mobile robot of claim 54, wherein the first set of flippers are rigidly coupled to the chassis, and the second set of flippers are rotatable 360 degrees about a pivot axis near a forward end of the chassis, the first and second of flippers having a drive axis of the drive wheels common with the pivot axis.

72. The mobile robot of claim 54, wherein a center of gravity of the robot remains within an envelope of rotation of the second set of flippers.

73. A skid steer drive comprising:

a chassis;

a drive wheel rotatably mounted to the chassis;

a load shifting assembly coupled to the chassis and including a tilt motor; and

at least three sets of motive power elements comprising a battery assembly, main drive motor assembly, and load shifting motor assembly;

wherein the skid steer drive defines a first volume adjacent the drive wheel, the load shifting assembly defines a second volume adjacent the tilt motor, and the chassis defines a third volume adjacent the drive wheel; and

wherein the at least three sets of motive power elements are distributed among the first, second, and third volumes.

74. A mobile robot comprising:

a chassis;

a skid steer drive disposed on the chassis and comprising a drive wheel; and

a load shifting assembly rotatably coupled to the chassis and comprising a load tilting motor and a load shifting motor, the chassis defining a through space configured to receive the load shifting assembly;

wherein the skid steer drive defines a first volume adjacent the drive wheel, the load shifting assembly defines a second volume adjacent the load tilting motor, and the chassis defines a third volume adjacent the drive wheel; and

wherein a main drive motor amplifier and a load shifting motor amplifier are disposed in the first volume, a battery assembly is disposed in the second volume, and a main drive motor and the load shifting motor are disposed in the third volume.

75. A mobile robot comprising:

a chassis;

a skid steer drive disposed on the chassis and comprising a drive wheel; and

a load shifting assembly rotatably coupled to the chassis and comprising a load tilting motor, the chassis defining a through space configured to receive the load shifting assembly;

wherein the skid steer drive defines a first volume adjacent the drive wheel, the load shifting assembly defines a second volume, and the chassis defines a third volume adjacent the drive wheel; and

wherein a main drive motor amplifier is disposed in the first volume, a battery assembly and the load tilting motor are disposed in the second volume so that the battery assembly tilts together with the load shifting assembly, and a main drive motor is disposed in the third volume.

76. An environmentally sealed mobile robot comprising:

a skid steer drive defining a first volume;

a cast unitary load shifting assembly defining a second;

a cast unitary chassis defining a third volume adjacent the skid steer, a fourth volume adjacent the first volume, and a passageway internally connecting the third volume and the fourth volume;

a sealed hollow linkage connecting the second volume and the third volume;

a main drive motor amplifier sealed in the first volume and fourth volume; and

a battery assembly and the load tilting motor sealed in second volume;

wherein the main drive motor amplifier delivers power through the passageway to a main drive motor disposed in the third volume; and

wherein the battery assembly and the load tilting motor tilt together with the load shifting assembly, the battery assembly delivering power through the sealed hollow linkage to the main drive motor amplifier and main drive motor.

77. A mobile robot comprising:

a tracked drive having a drive wheel and defining a first volume within an envelope of the tracked drive;

a load shifting assembly defining a second volume;

a chassis and defining a third volume adjacent the drive wheel, the first volume extending into the chassis;

wherein the first volume houses a motor amplifier that sinks heat into the chassis, the second volume houses a battery assembly and load tilting motor assembly that sink heat into the load shifting assembly, and the third volume houses drive motors that sink heat into the chassis.

78. A mobile robot comprising:

a chassis;

a first set of right and left driven flippers rotatably coupled to the chassis;

a second set of right and left driven flippers rotatably coupled to the chassis; and

a head rotatably coupled to the chassis;

wherein each flipper is independently rotatable about a pivot axis with respect to the chassis, allowing the chassis to tilt about the pivot axis with respect to the first and second sets of flippers.

79. The mobile robot of claim 78, wherein the chassis has first and second ends, the pivot axis of each flippers is the located near the first end of the chassis.

80. The mobile robot of claim 78, wherein each flipper comprises a driven track, each track trained about a corresponding drive wheel.

81. The mobile robot of claim 78, wherein the first and second sets of flippers are rotatable 360 degrees about a pivot axis near a forward end of the chassis, the first and second of flippers having a drive axis common with the pivot axis.

82. The mobile robot of claim 78, wherein a center of gravity of the robot remains within an envelope of rotation of the second set of flippers.

83. The mobile robot of claim 78, further comprising a load shifting assembly pivotally attached to the chassis and comprising a load tilting motor and a load shifting motor.

84. The mobile robot of claim 83, wherein the load shifting assembly comprises a linkage connecting a payload assembly to the chassis, the linkage having a first end rotatably connected to the chassis at a first pivot, and a second end rotatably connected to the payload assembly at a second pivot, both of the first and second pivots including independently controllable pivot drivers operable to rotatably position their corresponding pivots to control both fore-aft position and pitch orientation of the payload assembly with respect to the chassis.

85. The mobile robot of claim 84, wherein the independently controllable pivot drivers provide both fore-aft position and pitch orientation of the payload assembly with respect to the chassis to selectively displace a center of gravity of the payload assembly both forward and rearward of a center of gravity of the chassis.

86. The mobile robot of claim 84, wherein the first end of the linkage is rotatably connected near the front of the chassis, such that the payload assembly is displaceable to an aftmost position in which the payload assembly is located within a footprint of the chassis.

87. The mobile robot of claim 84, wherein the payload assembly comprises a sensor unit.

88. The mobile robot of claim 84, wherein the payload assembly comprises a modular deck assembly configured to support a removable payload.

89. The mobile robot of claim 84, wherein the linkage comprises an extendable mast.

90. A method of maneuvering a robot to climb an obstacle, the method comprises:

raising a forward-facing pair of flippers;

approaching the obstacle by driving at least a rearward-facing set of flippers;

adjusting a chassis tilt angle between the rearward-facing set of flippers and a chassis to be less than 90 degrees;

partially mounting the obstacle with the forward-facing pair of flippers;

after partially mounting the obstacle, adjusting the chassis tilt angle to place a chassis center of gravity either above or above and forward of a crest of the obstacle; and

driving with both the forward-facing and rearward-facing sets of flippers up the obstacle.

91. The method of claim 90, wherein the chassis has first and second ends, the method further comprising rotating the flippers about a pivot axis located near the first end of the chassis.

92. The method of claim 90, wherein each flipper comprises a driven track, each track trained about a corresponding drive wheel.

93. The method of claim 90, wherein the first and second sets of flippers are rotatable 360 degrees about a pivot axis near a forward end of the chassis, the first and second of flippers having a drive axis common with the pivot axis.

94. The method of claim 90, further comprising maintaining a center of gravity of the robot within an envelope of rotation of the second set of flippers.

95. A method of maneuvering a robot to climb an obstacle, the method comprises:

raising a forward-facing pair of flippers;

approaching the obstacle by driving at least a rearward-facing set of flippers;

adjusting a chassis tilt angle between the rearward-facing set of flippers and a chassis to be less than 90 degrees;

partially mounting the obstacle with the forward-facing pair of flippers;

after partially mounting the obstacle, adjusting the chassis tilt angle to be greater than 90 degrees and adjusting an angle between the forward-facing pair of flippers and the rearward-facing pair of flippers to be substantially straight; and

driving with both the forward-facing and rearward-facing sets of flippers up the obstacle.

96. The method of claim 95, wherein the chassis has first and second ends, the method further comprising rotating the flippers about a pivot axis located near the first end of the chassis.

97. The method of claim 95, wherein each flipper comprises a driven track, each track trained about a corresponding drive wheel.

98. The method of claim 95, wherein the first and second sets of flippers are rotatable 360 degrees about a pivot axis near a forward end of the chassis, the first and second of flippers having a drive axis common with the pivot axis.

99. The method of claim 95, further comprising maintaining a center of gravity of the robot within an envelope of rotation of the second set of flippers.