Improvised explosive device defeat system

• US 9,638,497 B2
• Filed: 03/24/2015
• Issued: 05/02/2017
• Est. Priority Date: 10/06/2011
• Status: Active Grant

• Current Assignee: Harris Corporation (L3Harris Technologies, Inc.)
• Original Assignee: Harris Corporation (L3Harris Technologies, Inc.)
• Inventors: Summer, Matthew D., Bosscher, Paul M., Rust, John B.
• Primary Examiner(s): Alharbi, Adam
• Application Number:
  US14/667,048
• Publication Number:
  US 20150345914A1
• Time in Patent Office: 770 Days
• CPC Class Codes: B25J 3/00 Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
• CPC Class Codes: B25J 9/1633 compliant, force, torque control, e.g. combined with position control
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: F41H 11/16 Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
• CPC Class Codes: G05B 2219/40404 Separate master controls macro and microslave manipulator
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/15 Jointed arm

Abstract

A robot system (50) includes a control system (101) having a control interface grip (102). The robot system includes a macro robotic arm (54) and a micro robotic arm (60). The robot system is arranged such that the macro robotic arm will respond, in a first control system state, to movement of the control interface grip. In particular, the macro robotic arm will move in a plurality of directions responsive to corresponding movement of the interface grip. The micro robotic arm will respond, in a second control system state, to movement of the control interface grip. In particular, the micro robotic arm will move in a plurality of directions responsive to corresponding movement of the interface grip.

Claims

1. A method for controlling a robot system, comprising:

controlling a movement of a macro robotic arm to move a vehicle from a first position to a second different position within a space, the macro robotic arm having (a) a proximal end coupled to a structure for sheltering an operator, (b) a distal end coupled to the vehicle, and (c) a first set of articulating joints and a macro control unit in a first system state responsive to a user manipulation of a control interface grip in a plurality of directions; and

controlling a movement of a micro robotic arm of the vehicle, the micro robotic arm (a) distinct from the macro robotic arm and (b) having a second set of articulating joints and a micro control unit in a second system state responsive to a user manipulation of said control interface grip in said plurality of directions.

2. The method according to claim 1, further comprising transitioning between said first state and said second state responsive to at least one user input to said control system.

3. The method according to claim 1, further comprising automatically transitioning between said first and second state responsive to said user manipulation of said control interface grip.

4. The method according to claim 1, further comprising generating in said first state a first haptic force upon said control interface grip responsive to a detected force exerted upon said macro robotic arm, and generating in said second state a second haptic force upon said control interface grip responsive to a detected force exerted upon said micro robotic arm.

5. The method according to claim 1, further comprising selecting said macro robotic arm to have a macro range of movement which exceeds a micro range of movement of said micro robotic arm.

6. The method according to claim 5, further comprising selecting said macro robotic arm to have a macro precision of movement which is less precise than a micro precision of movement of said micro robotic arm.

7. The method according to claim 5, further comprising using said macro robotic arm to facilitate positioning said micro robotic arm at a location where an object to be manipulated is within said micro range of movement of said micro robotic arm.

8. The method according to claim 7, further comprising controlling a vehicle base to which said micro robotic arm is attached in a third system state to further facilitate positioning said micro robotic arm at said location.

9. The method according to claim 7, further comprising transitioning between said first or second state and said third state responsive to at least one user input to said control system.

10. The method according to claim 7, further comprising automatically transitioning from said first or second state to said third state responsive to said user manipulation of said control interface grip.

11. The method according to claim 8, wherein said control of said vehicle base is effected responsive to a user manipulation of said control interface grip.

12. The method according to claim 1, further comprising controlling a movement of a vehicle base to which said micro robotic arm is attached in a third system state responsive to a user manipulation of said control interface grip.

13. The method according to claim 12, further comprising deploying said vehicle base to a terrain location using said macro robotic arm.

14. The method according to claim 1, further comprising deploying and recovering a robot vehicle base to which said micro robotic arm is attached using said macro robotic arm.

15. A robot system, comprising:

a control system including a robot control interface having a control interface grip;

a macro robotic arm having (a) a proximal end coupled to a structure for sheltering an operator and (b) a first set of articulating joints responsive in a first control system state to movement of said control interface grip in a plurality of directions; and

a micro robotic arm (a) distinct from the macro robotic arm and (b) having a second set of articulating joints responsive in a second control system state to movement of said control interface grip in said plurality of directions;

wherein the macro robotic arm is used to relocate the micro robotic arm in a space.

16. The robot system according to claim 15, wherein said control system is configured to transition between said first control system state and said second control system state responsive to at least one user input to said control system.

17. The robot system according to claim 15, wherein said control system is configured to automatically transition between said first and second control system states responsive to movement of said control interface grip.

18. The robot system according to claim 15, wherein said control system generates in said first control system state a first haptic force upon said control interface grip responsive to a detected force exerted upon said macro robotic arm, and generates in said second control system state a second haptic force upon said control interface grip responsive to a detected force exerted upon said micro robotic arm.

19. The robot system according to claim 15, wherein said macro robotic arm has a macro range of movement which exceeds a micro range of movement of said micro robotic arm.

20. The robot system according to claim 19, wherein said macro robotic arm has a macro precision of movement which is less precise than a micro precision of movement of said micro robotic arm.

21. The robot system according to claim 19, wherein said micro robotic arm is configured to be supported at a distal end of said macro robotic arm to facilitate positioning said micro robotic arm.

22. The robot system according to claim 21, further comprising a vehicle base to which said micro robotic arm is mounted, said vehicle base releasable from said distal end and configured for movement independent of said macro robotic arm.

23. The robot system according to claim 22, wherein said control system is configured to control a motion of said vehicle base responsive to a user manipulation of said control interface grip in a third control system state.

24. The robot system according to claim 23, wherein said control system is configured to transition between said first or second state and said third state responsive to at least one user input to said control system.

25. The robot system according to claim 23, wherein said control system is configured to automatically transition from said first or second state to said third state responsive to said user manipulation of said control interface grip.

26. The robot system according to claim 15, wherein said control system is configured to control a motion of a vehicle base to which said micro robotic arm is attached in a third system state responsive to movement of said control interface grip.

27. The robot system according to claim 26, wherein said macro robotic arm includes a docking structure from which said vehicle base can be releasably deployed for movement of said vehicle base independent of said macro robotic arm.

28. The robot system according to claim 27, wherein said docking structure is configured to securely engage said robot vehicle base after said vehicle base has been recovered, following deployment.