Robotic mobile low-profile transport vehicle

• US 9,403,566 B2
• Filed: 02/24/2014
• Issued: 08/02/2016
• Est. Priority Date: 03/17/2011
• Status: Active Grant

• Current Assignee: SARCOS LC (Sarcos Technology & Robotics Corp.)
• Original Assignee: SARCOS LC (Sarcos Technology & Robotics Corp.)
• Inventors: Jacobsen, Stephen C., Olivier, Marc X., McCullough, John, Smith, Fraser M.
• Primary Examiner(s): Boehler, Anne Marie
• Assistant Examiner(s): ARCE, MARLON ALEXANDER
• Application Number:
  US14/188,628
• Publication Number:
  US 20140246257A1
• Time in Patent Office: 890 Days
• Field of Search: 180/9.42, 180/9.34, 180/9.4, 180/24.07, 180/69.6, 180/14.1, 180/14.2, 180/197, 180/9.32, 280/5.22, 414/522
• US Class Current: 1/1
• CPC Class Codes: B62D 37/04 by means of movable masses
• CPC Class Codes: B62D 55/0655 Articulated endless track vehicles steering specially adapted for trailers B62D13/00; articulated buses B62D47/025; tractor-trailer combinations or road trains comprising a uni-axle unit and a uni-axle trailer B62D53/02
• CPC Class Codes: B62D 59/04 driven from propulsion unit on trailer
• 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

Abstract

A robotic mobile low-profile transport vehicle is disclosed. The vehicle can comprise a first transport module having a frame assembly, a mobility system, and a propulsion system and a second transport module having a frame assembly and a mobility system. A multi-degree of freedom coupling assemblage can join the first and second transport modules together. The vehicle can include a first platform supported about the frame assembly of the first transport module, and a second platform supported about the frame assembly of the second transport module. Each of the platforms can be configured to receive a load for transport. Additionally, the vehicle can include a control system that can operate to facilitate intra-module communication and coordination to provide a coordinated operating mode of the first and second transport modules and the coupling assemblage about a given terrain.

Claims

1. A robotic mobile low-profile transport vehicle, comprising:

a first transport module having a frame assembly, a mobility system, and a propulsion system;

a second transport module having a frame assembly and a mobility system;

a multi-degree of freedom coupling assemblage joining said first and second transport modules together;

a platform supported about one of said first and second frame assemblies of said first and second transport modules, said platform moveable in a lateral direction about the frame assembly and configured to receive a load for transport; and

a control system that operates to facilitate intra-module communication and coordination to provide a coordinated operating mode of said first and second transport modules and said coupling assemblage about a given terrain.

2. The robotic mobile low-profile transport vehicle of claim 1, further comprising:

an interconnect system operable with the coupling assemblage to selectively couple and decouple the first transport module from the second transport module; and

a control scheme operable to control operation of the robotic low-profile transport vehicle, and that is switchable between a unitary mode and a division mode,

wherein, in the unitary mode, the control scheme facilitates coordinated control across the first and second transport modules and the coupling assemblage when coupled, and

wherein, in the division mode, the control scheme facilitates independent operation of the first and second transport modules when decoupled.

3. The robotic mobile low-profile transport vehicle of claim 1, further comprising a translation system configured to facilitate active, actuated translation or shifting of said platform about the frame assembly.

4. The robotic mobile low-profile transport vehicle of claim 1, wherein said translation system operates to adjust a center of mass of the transport module and an associated load to enhance stability of said transport module.

5. The robotic mobile low-profile transport vehicle of claim 1, wherein at least one of said mobility systems comprises at least two endless tracks.

6. The robotic mobile low-profile transport vehicle of claim 1, wherein said coupling assemblage comprises at least one actuated joint.

7. The robotic mobile low-profile transport vehicle of claim 6, wherein said coupling assemblage provides a torque capacity capable of lifting at least said first transport module.

8. The robotic mobile low-profile transport vehicle of claim 1, wherein the second transport module further comprises a propulsion system operable with the mobility system to provide powered locomotion to the second transport module.

9. The robotic mobile low-profile transport vehicle of claim 1, further comprising an interchangeable payload system, comprising:

a payload module; and

an interchange interface that operates to facilitate removable coupling of the payload module with the transport module.

10. The robotic mobile low-profile transport vehicle of claim 1, wherein at least one of the first and second transport modules comprise a payload module, the payload module comprising a lift payload module, an armored payload module, a platform payload module, a missile launch payload module, a missile launch support module, a medical evacuation payload module, a medical support payload module, a robotic arm payload module, a power payload module, a battery recharge payload module, a stabilizing payload module, an operator payload module, a communications payload module, a firearm support payload module, a camera payload module, a sensor payload module, a storage payload module, or combinations thereof.

11. The robotic mobile low-profile transport vehicle of claim 10, wherein the platform payload module comprises a translating platform, one or more extension members, one or more handles, or any combinations of these.

12. The robotic mobile low-profile transport vehicle of claim 1, further comprising a force-moment sensor to receive input used to determine a direction of travel for the low-profile transport vehicle, wherein the force-moment sensor is actuated via a human interface device.

13. The robotic mobile low-profile transport vehicle of claim 2, wherein the control scheme is executed by modular control network architecture.

14. The robotic mobile low-profile transport vehicle of claim 1, wherein said first and second transport modules each comprise at least one sensor, and wherein information obtained from said sensor is conveyed back and forth between said first and second transport modules by said control system.

15. The robotic mobile transport vehicle of claim 1, wherein said first and second transport modules are removably coupleable to one another.

16. A method for facilitating operation of a robotic low-profile mobile transport vehicle, comprising:

providing a robotic low-profile mobile transport vehicle, comprising

a first transport module having a frame assembly, a mobility system, and a propulsion system,

a second transport module having a frame assembly and a mobility system,

a multi-degree of freedom coupling assemblage joining said first and second transport modules together, and

a platform supported about one of said frame assemblies of said first and second transport modules, said platform moveable in at least a lateral direction about the frame assembly, and configured to receive a load for transport; and

facilitating intra-module communication and coordination with a control system to provide an optimal configuration and operating mode of said first and second transport modules and said coupling assemblage about a given terrain.