Robotic omniwheel vehicle

• US 8,430,192 B2
• Filed: 01/04/2010
• Issued: 04/30/2013
• Est. Priority Date: 01/04/2010
• Status: Active Grant

• Current Assignee: Carla R. Gillett
• Original Assignee: Carla R. Gillett
• Inventors: Gillett, Carla R.
• Primary Examiner(s): Ebner, Katy M
• Assistant Examiner(s): Frick, Emma K
• Application Number:
  US12/655,569
• Publication Number:
  US 20110162896A1
• Time in Patent Office: 1,212 Days
• Field of Search: 180/2.2, 180/199, 180/21, 180/65.1, 180/65.51, 180/408, 180/315, 180/444
• US Class Current: 180/65.51
• CPC Class Codes: B60K 1/04 of the electric storage means for propulsion exchanging batteries for electric propulsion of vehicles B60L53/80; for auxiliary purposes only B60R16/04; supplying batteries to, or removing batteries from, vehicles B60S5/06
• CPC Class Codes: B60K 17/30 the ultimate propulsive elements, e.g. ground wheels, being steerable
• CPC Class Codes: B60K 17/356 having fluid or electric motor, for driving one or more wheels disposition of motor in, or adjacent to, traction wheel B60K7/00
• CPC Class Codes: B60K 2001/0416 Arrangement in the rear part of the vehicle
• CPC Class Codes: B60K 2001/0444 Arrangement on a trailer
• CPC Class Codes: B60K 2007/0038 the motor moving together with the wheel axle
• CPC Class Codes: B60K 2007/0092 the motor axle being coaxial to the wheel axle
• CPC Class Codes: B60K 2360/77 Instrument locations other than the dashboard
• CPC Class Codes: B60K 35/10 Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• CPC Class Codes: B60K 35/60 Instruments characterised by their location or relative disposition in or on vehicles arrangements of lighting devices on dashboards B60Q3/10
• CPC Class Codes: B60K 7/0007 the motor being electric
• CPC Class Codes: B60L 2200/12 Bikes
• CPC Class Codes: B60L 2200/26 Rail vehicles
• CPC Class Codes: B60L 2200/28 Trailers
• CPC Class Codes: B60L 2220/44 Wheel Hub motors, i.e. integrated in the wheel hub
• CPC Class Codes: B60L 2250/16 by display
• CPC Class Codes: B60L 50/66 Arrangements of batteries
• CPC Class Codes: B60L 8/00 Electric propulsion with power supply from forces of nature, e.g. sun or wind
• CPC Class Codes: B60L 8/003 Converting light into electric energy, e.g. by using photo-voltaic systems
• CPC Class Codes: B60L 8/006 Converting flow of air into electric energy, e.g. by using wind turbines
• CPC Class Codes: B60N 2/02246 : Electric motors therefor
• CPC Class Codes: B60N 2/02258 : characterised by the mounting of the electric motor for adjusting the seat
• CPC Class Codes: B60N 2/14 : rotatable, e.g. to permit easy access B60N2/10 , B60N2/2869 take precedence
• CPC Class Codes: B60W 2556/45 : External transmission of data to or from the vehicle
• CPC Class Codes: B60W 60/001 : Planning or execution of driving tasks
• CPC Class Codes: B60W 60/0051 : from occupants to vehicle
• CPC Class Codes: B60Y 2200/12 : Motorcycles, Trikes; Quads; Scooters
• CPC Class Codes: B60Y 2200/145 : Haulage vehicles, trailing trucks
• CPC Class Codes: B60Y 2200/148 : Semi-trailers, articulated vehicles
• CPC Class Codes: B60Y 2200/45 : Vehicles having steerable wheels mounted on a vertically moving column
• CPC Class Codes: B60Y 2200/81 : Toys
• CPC Class Codes: B60Y 2200/91 : Electric vehicles
• CPC Class Codes: F03D 9/25 : the apparatus being an electrical generator F03D9/22 takes precedence
• CPC Class Codes: H04M 1/72412 : using two-way short-range wireless interfaces
• CPC Class Codes: H04M 1/72415 : for remote control of appliances
• CPC Class Codes: Y02E 10/72 : Wind turbines with rotation axis in wind direction
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/90 : Energy harvesting concepts as power supply for auxiliaries' energy consumption, e.g. photovoltaic sun-roof

Abstract

A robotic omniwheel vehicle includes autonomous drive logic with laser Radar, GPS for vehicle self guidance, obstacle avoidance and range finding location and also to control the omniwheel assemblies having multi-directional steering, extension and lift actuation via a universal joint and a transmission rod that also supports the chassis while traveling at speeds ranging from low to high velocity on and off road, and on rails. The navigational system control methods use manual driving, a cell phone controller comprising satellite telecommunication with voice command, and a touch screen control panel, an omnichair which can rise up and swivel on point, and may also include electromagnetic coupling devices to connect omnivehicles together.

Claims

1. An omnivehicle for motion in forward, reverse, and sideways directions, and for fully circular pivotal motion, said omnivehicle comprising:

a chassis;

a vehicle body comprising a motorized door and a canopy;

a plurality of wheels, each of said wheels comprising;

a motor disposed within a wheel shell cavity, a hydraulic braking system, a tread surface, hollow motor axle rods which connect the motor to a hub axle bearing, a rotor wheel coupler which couples the motor to a rotor wheel, and a shell band coupler which engages the inner surface of the wheel shell cavity and a circumference of the rotor wheel;

an electromagnetic coupler device which selectively engages and disengages from another electromagnetic coupling device of another omnivehicle;

a plurality of yokes, each of said plurality of yokes supporting each of said plurality of wheels, said plurality of yokes comprising;

a yoke controller, a yoke gearbox, a yoke motor, a yoke suspension, a motorized universal joint, a hollow shaft, and a transmission rod frame expansion device which selectively raises and lowers the omnivehicle;

a vehicle control and navigation system, said vehicle and navigation control system comprising;

a CPU, having a Capability Statistics Indices system which defines the degree to which a process is or is not meeting a control method operation, a plurality of sensors which communicate data to the CPU, a retractable USB line, a navigational control joystick, a dash panel control device, a touch screen monitor, a remote controller having a remote port charger, a voice control system for integration with a cellular phone device, a brake pedal, a throttle pedal, a GPS system, a laser navigation system, a radar navigation system, a drive logic control system;

a revolving floorboard which rotates on a hidden bearing rail;

an elevating navigational omnichair is disposed on the revolving floorboard for providing an operator with a secured seating area and access to the vehicle control and navigation system;

an air bag;

a power system for providing power for vehicle operation, said power system comprising a power control system, a battery, a fuel tank, power cables, fuel lines, a grid connection, and a renewable energy system;

wherein at least one of said motors is an electric motor, and another of said motors is a fueled motor; and

wherein said fuel lines and power cables are disposed within the hollow shaft of the yoke.