Hybrid mobile robot

• US 20110040427A1
• Filed: 10/14/2010
• Published: 02/17/2011
• Est. Priority Date: 10/31/2007
• Status: Abandoned Application

• Current Assignee: Pinhas Ben-Tzvi
• Original Assignee: Pinhas Ben-Tzvi
• Inventors: Ben-Tzvi, Pinhas
• Application Number:
  US12/925,145
• Publication Number:
  US 20110040427A1
• Time in Patent Office: Days
• US Class Current: 701/2
• 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 55/075 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 55/12 Arrangement, location, or adaptation of driving sprockets

Abstract

An autonomous hybrid mobile robot includes a base link and a second link. The base link has a drive system and is adapted to function as a traction device and a turret. The second link is attached to the base link at a first joint. The second link has a drive system and is adapted to function as a traction device and to be deployed for manipulation. One of the links houses a retractable navigational system. In another embodiment an invertible robot includes at least one base link and a second link. In another embodiment a mobile robot includes a chassis and a track drive pulley system including a tension and suspension mechanism. In another embodiment a mobile robot includes a wireless communication system.

Claims

1. An autonomous hybrid mobile robot comprising:

a base link having a drive system, wherein the base link includes a right base link and a left base link, wherein each of the right and left base links have a drive system, and the right base link and the left base link are spaced apart, the base link adapted to function as a traction device and a turret;

a second link attached to the base link at a first joint, the second link having a drive system and being adapted to function as a traction device and to be deployed for manipulation;

an end link attached to the second link at a second joint, the end link having a drive system and an end effector attached to the end link at a third joint and the end link being adapted to function as a traction device and to be deployed for manipulation; and

a navigational system housed inside one of the links to automate obstacle traversal, obstacle avoidance and object manipulation with minimal or no operator input.

2. An autonomous hybrid mobile robot as claimed in claim 1 wherein the second link has a stowed position where the second link is nested between the left base link and the right base links and the end link has a stowed position wherein the end link is nested in the second link and the end effector has a stowed position wherein the end effector is nested in the end link.

3. An autonomous hybrid mobile robot as claimed in claim 1 wherein the first joint is a revolute joint and the second link is pivotal around 360 degrees continuously and the second joint is a revolute joint and the end link is pivotal around 360 degrees continuously and the third joint is a revolute joint and the end effector is pivotal around 360 degrees continuously.

20. A hybrid mobile robot as claimed in claim 1 wherein the second link has a first end and a second end capable of continuous rotation relative to each other about the longitudinal axis of the second link, having the first end of the second link attached to the base link at a first joint, the second link being adapted to function as a traction device and to be deployed for manipulation, the end link attached to the second end of the second link at a second joint, the end link having a self contained drive system for the second joint and being adapted to function as a traction device and to be deployed for manipulation, the continuous rotation of the second end of the second link is driven by a drive mechanism located in the base link, and the navigation system is not present in the hybrid mobile robot.

21. An autonomous mobile robot as claimed in claim 1 further comprising at least one of a plurality of electronic subsystems such as, inertial measurement units, GPS sensors, sonar sensors, cameras, illuminations systems, and absolute encoders to monitor the angular rotation of base links, second link, end link, and end effector degrees of freedom, and provide situational data.

4. An internal wireless communication system on-board mobile robots comprising:

a plurality of data transmission systems having a plurality of sensors connected to a plurality of transceivers, the data transmission systems are located in at least one of the mechanical subsystems which interface with other mechanical subsystems such as drive systems, links, end effector, fingers platform, and fingers; and

a plurality of data processing systems having a plurality of processing units connected to transceivers, the data processing systems are located in some or all of the mechanical subsystems such as drive systems, links, end effector, fingers, and fingers platform;

wherein the wireless exchange of data between the data transmission systems and data processing systems enables the mechanical subsystems which interface with other mechanical subsystems to have unrestricted freedom of motion and help exchange the relative and absolute spatial positions and other relevant data.

5. An internal wireless communication system as claimed in claim 4 wherein at least one of the data transmission systems is used for communication with an operator control unit.

6. An end effector for mobile robots comprising:

a self contained module, the self contained module housing mechanical and electrical hardware;

a plurality of wireless communication modules housed in the self contained module for internal wireless communication with at least one of the robot'"'"'s data processing systems, and operator'"'"'s control unit;

wherein the self contained module is connected to the mobile robot end link via a plurality of rotational pivots.

7. An end effector as claimed in claim 6 wherein the mechanical hardware of the self contained module includes a fingers platform capable of endless rotation around a first axis perpendicular to the plane of attachment of the fingers platform to the end effector using a drive mechanism.

8. An end effector as claimed in claim 7 wherein the end effector is capable of endless rotation around a second axis along the joint between the end effector and the link on which the end effector is attached.

9. An end effector as claimed in claim 8 further comprising a fingers platform having a plurality of fingers for actuating the fingers on a third axis along any plane perpendicular to the plane of attachment of the fingers platform to the end effector.

10. An end effector as claimed in claim 9 further comprising absolute encoders to monitor rotational degrees of freedom of the fingers along at least one of the first axis, the second axis and the third axis.

11. An end effector as claimed in claim 9 further comprising internal wireless communication systems for transmitting spatial data.

12. An end effector as claimed in claim 11 wherein at least one additional internal wireless communication system is located on the fingers.

13. An end effector as claimed in claim 6 further comprising at least one power source.

14. An end effector as claimed in claim 9 wherein the plurality of fingers are detachable fingers capable of individual finger actuation.

15. An end effector as claimed in claim 9 further comprising a camera attached to the fingers platform.

16. A navigational system for mobile robots comprising:

a LIDAR scanning sensor;

a stereo camera assembly;

a plurality of internal wireless communication units connected to the LIDAR scanning sensor and the stereo camera assembly; and

a housing mechanism which houses the LIDAR scanning sensor and the stereo camera assembly inside at least one of the robot links wherein the stereo camera assembly provides depth perception and the LIDAR scanning sensor augments the visual perception.

17. A navigational system as claimed in claim 16 wherein the housing mechanism has a two degree of freedom mechanism operated by two servo motors, one located at a first end of the housing mechanism which lifts the whole housing mechanism outside the link housing the mechanism and the other located at a second end which rotates the LIDAR scanning sensor for the vertical scanning process.

18. A navigational system as claimed in claim 16 wherein the entire housing mechanism can be retracted without any protrusions into the link housing the navigational system and may be deployed from either side of the link housing the navigational system.

19. A navigational system as claimed in claim 16 wherein the stereo camera assembly may be separated from the LIDAR scanning sensor and housed in other links with additional internal wireless communication units to process the data provided by the LIDAR scanning sensor separately from the data provided by the stereo camera assembly.

22. A method of operating a hybrid mobile robot which comprises:

a) Locomoting the position of the hybrid mobile robot using at least one of base link, second link, end link, end effector, and a combination of links for traction while the other links are positioned for maneuverability or for support;

b) Manipulating an external object using at least one of base link, second link, end link, end effector, and a combination of links while the other links are used to maintain stability;

c) Combining the locomotion and manipulation of steps a and b concurrently or in succession in various combinations to achieve at least one of locomotion of position, manipulation, and both locomotion and manipulation.

23. A method of operating the hybrid mobile robot as claimed in claim 22 wherein the locomoting of position is augmented by using at least one of passive wheels, and active wheels, to provide stability and support for links when used for locomotion.

24. A method of operating the hybrid mobile robot as claimed in claim 22 wherein the manipulating of the external object is augmented by using at least one of passive wheels, and active wheels, to provide stability and support for links when used for manipulation.