REMOTELY CONTROLLED ROBOT

• US 20180024556A1
• Filed: 06/09/2017
• Published: 01/25/2018
• Est. Priority Date: 07/25/2016
• Status: Active Grant

• Current Assignee: Foster-Miller Incorporated (Thermo Fisher Scientific Incorporated)
• Original Assignee: Foster-Miller Incorporated (Thermo Fisher Scientific Incorporated)
• Inventors: Meeker, David C., Mason, Timothy J., Wiesman, Richard
• Granted Patent: US 10,331,132 B2
• Time in Patent Office: Days
• CPC Class Codes: B60F 5/02 convertible into aircraft
• CPC Class Codes: B64C 37/00 Convertible aircraft
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 10/17 Helicopters flying platforms B64U10/13
• CPC Class Codes: B64U 20/87 Mounting of imaging devices, e.g. mounting of gimbals
• CPC Class Codes: B64U 2101/00 UAVs specially adapted for particular uses or applications
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 30/26 Ducted or shrouded rotors
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16

Abstract

A battery powered remotely controlled robot is equipped with a drive subsystem for ground travel, a flight subsystem for flight operations, and an obstacle detection subsystem. The robot is configured so that during a mission the drive subsystem is energized to maneuver the robot on the ground for a majority of the mission. The robot is further configured so that upon detection of an obstacle, the flight subsystem is energized to traverse the obstacle. The fight subsystem is energized only to traverse obstacles thus saving battery power and increasing the mission time.

Claims

1. A method comprising:

equipping a remotely controlled robot with a drive subsystem for ground travel, a flight subsystem for flight operations, and an obstacle detection subsystem;

configuring the robot so that during a mission, the drive subsystem is energized to maneuver the robot on the ground for a majority of the mission;

configuring the robot so that upon detection of an obstacle, the flight subsystem is energized to traverse the obstacle; and

configuring the robot so that the flight subsystem is energized only to traverse obstacles saving energy and increasing the mission time.

2. The method of claim 1 in which upon detection of an obstacle, the flight subsystem is automatically energized.

3. The method of claim 2 further including locking out flight operations if no obstacle is detected.

4. The method of claim 3 further including allowing an operator to override said lockout.

5. The method of claim 1 in which the flight subsystem includes ducted fans housed in a robot body.

6. The method of claim 1 in which the drive subsystem includes one or more motorized wheels.

7. The method of claim 6 including right and left motorized wheels and a non-motorized castering wheel.

8. The method of claim 1 further including a payload associated with the robot.

9. The method of claim 8 further including mounts on the robot body for said payload.

10. The method of claim 1 in which the obstacle detection subsystem includes a forward looking camera mounted to the robot body.

11. The method of claim 10 in which the camera is a stereo camera.

12. The method of claim 10 further including an infrared camera and/or a LIDAR subsystem.

13. The method of claim 10 further including a downward looking optical flow meter mounted underneath the robot body.

14. The method of claim 1 in which the robot body is configured to fit in a Molle assault pack.

15. The method of claim 14 in which the robot body is less than about 20 inches wide by about 20 inches long and less than about 6 inches tall.

16. The method of claim 1 in which the robot weighs less than about 25 pounds.

17. The method of claim 1 further including a communications subsystem for remotely controlling the robot.

18. The method of claim 17 in which the communications subsystem includes a Wi-Fi subsystem and a cellular subsystem.

19. The method of claim 18 further including a cell antenna and a Wi-Fi antenna upstanding the robot body.

20. A remotely controlled robot comprising:

robot body;

a drive subsystem for ground travel of the robot body;

a flight subsystem for flight operations of the robot body;

an obstacle detection subsystem;

a subsystem for powering the drive subsystem and the flight subsystem; and

a controller subsystem responsive to the obstacle detection subsystem and configured to;

upon detection of an obstacle, energize the flight subsystem to traverse the obstacle, and

in the absence of a detected obstacle, energize the drive subsystem for ground travel of the robot body to save energy and to increase mission time.

21. The remotely controlled robot of claim 20 in which the drive subsystem includes one or more motorized wheels.

22. The remotely controlled robot of claim 21 including right and left motorized wheels and a non-motorized castering wheel.

23. The remotely controlled robot of claim 20 further including a payload associated with the robot body.

24. The remotely controlled robot of claim 23 further including mounts on the robot body for said payload.

25. The remotely controlled robot of claim 20 in which the obstacle detection subsystem includes a forward looking camera mounted to the robot body.

26. The remotely controlled robot of claim 25 in which the camera is a stereo camera.

27. The remotely controlled robot of claim 25 further including an infrared camera and/or a LIDAR subsystem.

28. The remotely controlled robot of claim 25 further including a downward looking optical flow meter mounted underneath the robot body.

29. The remotely controlled robot of claim 20 in which the robot body is configured to fit in a Molle assault pack.

30. The remotely controlled robot of claim 29 in which the robot body is less than about 20 inches wide by about 20 inches long and less than about 6 inches tall.

31. The remotely controlled robot of claim 20 in which the robot weighs less than about 25 pounds.

32. The remotely controlled robot of claim 20 further including a communications subsystem for remotely controlling the robot.

33. The remotely controlled robot of claim 32 in which the communications subsystem includes a Wi-Fi subsystem and a cellular subsystem.

34. The remotely controlled robot of claim 33 further including a cell antenna and a Wi-Fi antenna upstanding the robot body.

35. The remotely controlled robot of claim 20 in which the flight subsystem includes a plurality of ducted fans housed in the robot body.

36. A method comprising:

equipping a battery powered remotely controlled robot with a drive subsystem for ground travel, a flight subsystem for flight operations, and an obstacle detection subsystem;

energizing the drive system during a mission to maneuver the robot on the ground for a majority of the mission;

upon detection of an obstacle, the energizing flight subsystem to traverse the obstacle; and

energizing the flight subsystems only to traverse obstacles saving battery power and increasing the mission time.