Mobile robot systems and methods

• US 8,616,308 B2
• Filed: 01/17/2012
• Issued: 12/31/2013
• Est. Priority Date: 12/09/2008
• Status: Active Grant

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: iRobot Corporation
• Inventors: Morey, Christopher Lynn, Gossage, Garran M., Rudakevych, Pavio
• Primary Examiner(s): ADAMS, TASHIANA R
• Application Number:
  US13/351,382
• Publication Number:
  US 20120199407A1
• Time in Patent Office: 714 Days
• Field of Search: 180/9.1, 180/9.32, 180/9.28, 180/8.2, 180/8.1, 180/8.7, 180/8.5
• US Class Current: 180/9.3
• CPC Class Codes: B62D 55/06 with tracks without ground wheels
• 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: Y10S 901/01 Mobile robot

Abstract

Mobile robot systems and methods are provided. At least one tracked mobile robot has a first end comprising a first pair of wheels, a second end comprising a second pair of wheels, an articulated arm coaxial with the first pair of wheels, and a driven support surface surrounding the first pair of wheels and the second pair of wheels. The at least one mobile robot surmounts obstacles and performs additional maneuvers alone and in combination with at least one other mobile robot.

Claims

1. An obstacle surmounting method for a tracked mobile robot having a first end comprising a first pair of wheels, a second end comprising a second pair of wheels, a center of gravity between the first end and the second end, at least one articulated arm coaxial with the first pair of wheels such that the first pair of wheels and the articulated arm can rotate freely relative to each other, and a driven support surface surrounding the first pair of wheels and the second pair of wheels, the method comprising:

driving the support surface to propel the robot along a ground surface until the first end contacts of an obstacle;

rotating the at least one articulated arm in a first direction to contact the ground surface to lift the second end over the center of gravity to contact an upper portion of the obstacle;

driving the support surface to propel the second end of the robot up and over the obstacle until the center of gravity of the robot surmounts the obstacle; and

rotating the at least one articulated arm in a second direction to trail the robot;

wherein the robot substantially fits within a bounding volume approximately 7 inches long by 5 inches wide by 2 inches tall.

2. The method of claim 1, wherein rotating the at least one articulated arm in a second direction comprises rotating the at least one articulated arm in a second direction to clear the surmounted obstacle.

12. The method of claim 1, wherein the obstacle is a stair riser.

13. The method of claim 1, wherein the support surface is a cleated track and the at least one articulated arm is a pair of rotatable flippers mounted to a rear axle of the tracked mobile robot.

14. The method of claim 2, wherein the at least one articulated arm rotates until it reaches a stowed position.

15. The method of claim 1, wherein the tracked mobile robot weighs less than about eight pounds.

16. The method of claim 1, wherein the tracked mobile robot weighs between about 0.5 Kg and about 1.0 Kg.

17. The method of claim 1, wherein the support surface is driven while the at least one articulated arm is rotated to facilitate surmounting the obstacle.

18. The method of claim 1, wherein the first direction of rotation is a counter-clockwise direction.

3. A method for balancing a tracked mobile robot having a first end comprising a first pair of wheels surrounded by a track, an articulated arm coaxial with the first pair of wheels such that the first pair of wheels and the articulated arm can rotate freely relative to each other, a second end comprising a second pair of wheels surrounded by the track, a center of gravity between the first end and the second end, and a sensor to determine the relative orientation of the first end and the second end, the method comprising:

rotating the articulated arm in a first direction to contact the ground to raise the second end substantially above the center of gravity;

balancing the robot with only a portion of the track surrounding the first pair of wheels in contact with the ground while maintaining the second end substantially above the center of gravity according to data from the sensor;

rotating the articulated arm in a second direction to disengage the arm from the ground; and

driving the track to move the robot using only the portion of the track surrounding the first pair of wheels in contact with the ground while maintaining the second end substantially above the center of gravity according to data received from the sensor.

4. The method of claim 3, wherein rotating the articulated arm further comprises:

rotating the articulated arm in a second direction to disengage the arm from the ground and to move the articulated arm to a stowed position.

5. The robot of claim 3, wherein when the second end is maintained substantially above the center of gravity, the robot is rotatable about an axial line extending from the first end to the second end.

6. The robot of claim 5, wherein the robot is rotatable about the axial line within a sweep volume defined by the track.

7. A mobile robot system, comprising:

a plurality of robotic vehicles comprising a first end having a first pair of wheels, a second end having a second pair of wheels, and a driven support surface movably connected to each robotic vehicle and surrounding the first and second pairs of wheels of a robotic vehicle to propel the robotic vehicle in the direction of the first and second ends; and

a plurality of connecting members rotatably connected to the first end of each robotic vehicle coaxial with the first pair of wheels and to the second end of another of the robotic vehicles coaxial with the second pair of wheels of the another of the robotic vehicles to connect the first end of each of the plurality of vehicles to the second end of an adjacent one of the plurality of vehicles, and which is rotatable about the axis of the first pair of wheels and the axis of the second pair of wheels by the robotic vehicle to which it is connected such that the connecting member and each pair of wheels can rotate freely relative to each other.

8. The robot system of claim 7, wherein the plurality of robots define an upper group and a lower group, and the plurality of connecting members are rotatable to raise and lower the upper group relative to the lower group.

9. The robot system of claim 8, wherein the driven support surfaces are driven to propel the vehicles toward the forward ends of the lower group to surmount an obstacle.

10. The robot system of claim 9, wherein the driven support surfaces propel the vehicles toward the forward ends of the lower group to surmount an obstacle by rolling the robot system over an obstacle when the robot system contacts the obstacle.

11. A remote vehicle weighing less than about 2 pounds and facilitating research and development applications such as software development, the remote vehicle comprising:

a chassis comprising a forward end, a rearward end, and a driven support surface movably connected to the chassis and configured to propel the chassis forward and rearward;

a research and development platform disposed on the chassis, configured to support a processor, and comprising;

at least one payload bay configured to support at least one payload,

at least one power/data connector configured provide a data connection and a power supply to the at least one payload and the processor, and

a plurality of heat dissipation elements disposed on the research and development platform and configured to dissipate heat from the at least one payload and the processor, the plurality of heat dissipating elements comprising aluminum heat dissipation fins;

wherein the remote vehicle fits within a bounding volume approximately 7 inches long by 5 inches wide by 2 inches tall.