Spherical integrated remote-control locomotive excursor

• US 9,152,148 B1
• Filed: 04/28/2014
• Issued: 10/06/2015
• Est. Priority Date: 04/10/2009
• Status: Active Grant

• Current Assignee: The Government Of The United States As Represented By The Secretary Of The Navy
• Original Assignee: the united states of america as represented by the secretary of the navy
• Inventors: Thielman, Gerhard W.
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): PIPALA, EDWARD J
• Application Number:
  US14/263,529
• Time in Patent Office: 526 Days
• US Class Current: 1/1
• CPC Class Codes: B62D 5/04 electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
• CPC Class Codes: B62D 57/00 Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track sledges B62B; motor sledges B62M
• CPC Class Codes: F41H 7/005 Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors F41H11/16 takes precedence
• CPC Class Codes: F41H 7/02 Land vehicles with enclosing armour, e.g. tanks endless-track vehicles, steering thereof B62D ; vehicles for placing portable or sectional bridges E01D15/127; vehicles carrying floating bridges E01D15/22
• CPC Class Codes: F41H 7/03 Air-pressurised compartments for crew; Means for preventing admission of noxious substances, e.g. combustion gas from gun barrels, in crew compartments; Sealing arrangements
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement

Abstract

A spherical integrated remote-control locomotive excursor (SIRCLE) is provided for remote reconnaissance. The SIRCLE includes a spherical shell, a chassis within the shell and a set of wheels between the shell and chassis. The spherical shell has inner and outer surfaces. The chassis contains a platform, an electric motor and a power supply. The set of wheels are driven by the motor and supported by the chassis. The wheels engage the inner surface and turn in response to the motor. The shell rolls by turning the wheels to propel the SIRCLE.

Claims

1. A spherical integrated remote control locomotive excursor (SIRCLE) for remote-control locomotion, said SIRCLE comprising:

a spherical shell having inner and outer surfaces and comprises one of aluminum oxide (alumina), magnesium fluoride, calcium fluoride, barium fluoride and silicon;

a chassis containing a platform, an electric motor, and a power supply; and

a set of wheels driven by said motor and supported by said chassis, wherein said wheels engage said inner surface and turn in response to said motor.

2. The SIRCLE according to claim 1, further comprising:

a communication-and-control unit for providing drive commands to said motor.

3. The SIRCLE according to claim 2, wherein said unit includes at least one of a radio control receiver, a global positioning receiver, a communications transmitter, and a signal recorder.

4. The SIRCLE according to claim 1, wherein said shell comprises alumina.

5. The SIRCLE according to claim 1, wherein said shell includes compressively elastic buttons disposed around said outer surface.

6. The SIRCLE according to claim 1, further comprising:

a translatable trim ballast for shifting center of mass.

7. The SIRCLE according to claim 1, wherein said power supply includes a plurality of NiCad batteries connected in series.

8. A spherical integrated remote control locomotive excursor (SIRCLE) for remote-control locomotion, said SIRCLE comprising:

a spherical shell having inner and outer surfaces and comprises one of aluminum oxide (alumina), magnesium fluoride, calcium fluoride, barium fluoride and silicon;

a chassis containing a platform, an electric motor, and a power supply;

a set of wheels driven by said motor and supported by said chassis; and

a steering system for controllably turning said shell, wherein

said wheels engage said inner surface and turn in response to said motor,

said set of wheels further include aft lower wheels, fore lower wheels, aft upper wheels and fore upper wheels, and

said steering system engages said fore lower wheels and said aft upper wheels.

9. The SIRCLE according to claim 8, wherein said motor engages said aft lower wheels.

10. The SIRCLE according to claim 8, wherein

said aft lower wheels further include port and starboard aft lower wheels,

said fore lower wheels further include port and starboard fore lower wheels,

said aft upper wheels further include port and starboard aft upper wheels, and

said fore upper wheels further include port and starboard fore upper wheels.

11. The SIRCLE according to claim 8, further comprising:

a communication-and-control unit for providing drive commands to said motor and steer commands to said steering system.

12. The SIRCLE according to claim 11, wherein said unit includes at least one of a radio control receiver, a global positioning receiver, and a communications transmitter.

13. The SIRCLE according to claim 8, wherein said steering system includes a rack-and-pinion device for turning said forward lower wheels and said aft upper wheels.

14. The SIRCLE according to claim 8, wherein said steering system includes a scotch yoke device for turning said forward lower wheels and said aft upper wheels.