STAIR-CLIMBING SURVEILLANCE VEHICLE
First Claim
1. A robotic, wheeled surveillance vehicle capable of stair-climbing and traversing level surfaces, comprising:
- a rigid frame supporting a rotatable axle;
an extension on which is mounted at least one surveillance device;
a pair of spider assemblies rotatably supported adjacent opposite ends of said axle, each of said pair of spider assemblies supporting a plurality of rotatable wheels coupled to rotate in synchronicity;
an inertial sensor supported on said frame in position to measure an angular position of at least one of said pair of spider assemblies relative to said frame; and
an electric motor supported on said frame and operatively connected to drive said pair of spider assemblies to rotate;
a power source supported on said frame and operatively connected to said electric motor; and
a controller supported on said frame and operatively connected to said angular position sensor and said power source to cause said electric motor to apply varying rotational torque to said pair of spider assemblies to cause said pair of spider assemblies to maintain a selected angular position of said spider assemblies relative to said frame as a function of input received from said angular position sensor.
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Accused Products
Abstract
A robotic, wheeled surveillance vehicle capable of stair-climbing and traversing level surfaces. The vehicle comprises a rigid frame supporting a rotatable axle; an extension on which is mounted at least one surveillance device; a pair of spider assemblies rotatably supported adjacent opposite ends of said axle, each of said pair of spider assemblies supporting a plurality of rotatable wheels coupled to rotate in synchronicity; an inertial sensor supported on said frame in position to measure an angular position of at least one of said pair of spider assemblies relative to said frame; and an electric motor supported on said frame and operatively connected to drive said pair of spider assemblies to rotate. A power source supported on said frame is operatively connected to said electric motor; and a controller supported on said frame and operatively connected to said angular position sensor and said power source causes said electric motor to apply varying rotational torque to said pair of spider assemblies to cause said pair of spider assemblies to maintain a selected angular position of said spider assemblies relative to said frame as a function of input received from said angular position sensor.
57 Citations
18 Claims
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1. A robotic, wheeled surveillance vehicle capable of stair-climbing and traversing level surfaces, comprising:
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a rigid frame supporting a rotatable axle; an extension on which is mounted at least one surveillance device; a pair of spider assemblies rotatably supported adjacent opposite ends of said axle, each of said pair of spider assemblies supporting a plurality of rotatable wheels coupled to rotate in synchronicity; an inertial sensor supported on said frame in position to measure an angular position of at least one of said pair of spider assemblies relative to said frame; and an electric motor supported on said frame and operatively connected to drive said pair of spider assemblies to rotate; a power source supported on said frame and operatively connected to said electric motor; and a controller supported on said frame and operatively connected to said angular position sensor and said power source to cause said electric motor to apply varying rotational torque to said pair of spider assemblies to cause said pair of spider assemblies to maintain a selected angular position of said spider assemblies relative to said frame as a function of input received from said angular position sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method of operation of a stair-climbing wheeled vehicle, comprising:
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supporting, by a rigid frame, a rotatable axle; supporting, by a pair of spider assemblies adjacent opposite ends of said axle, a plurality of rotatable wheels coupled to rotate in synchronicity; measuring, by at least one inertial sensor, an angular position of one of said pair of spider assemblies relative to said frame; and applying varying rotational torque to said pair of spider assemblies to cause said pair of spider assemblies to maintain a selected angular position of said spider assemblies relative to said frame as a function of input received from said angular position sensor; positioning at least one sensor to survey an environment; and sensing the environment with the positioned sensor. - View Dependent Claims (16, 17, 18)
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Specification