Spherical pneumatic actuated robotic commuter

• US 9,817,406 B1
• Filed: 10/08/2015
• Issued: 11/14/2017
• Est. Priority Date: 10/08/2015
• Status: Active Grant

• Current Assignee: United States 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): Ingram, Thomas
• Application Number:
  US14/877,952
• Time in Patent Office: 768 Days
• 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: F03G 3/00 Other motors, e.g. gravity or inertia motors
• CPC Class Codes: F03G 3/08 using flywheels
• CPC Class Codes: F03G 3/083 deviating the flywheel axis, e.g. using gyroscopic effects like precession or nutation
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0891 specially adapted for land vehicles
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A spherical modular autonomous robotic traveler (SMART) is provided for rolling along a surface from a first position to a second position. The SMART includes an outer spherical shell; an inner spherical chamber disposed within the outer shell; a plurality of weight-shifters arranged within the inner chamber; and a controller therein. The chamber maintains its orientation relative to the surface by a gyroscopically homing stabilizer. Each weight-shifter includes a mass disposed in a default position, and movable to an active position in response to activation. The controller selectively activates a weight-shifter among the plurality to shift the mass from the default position to the active position. The outer shell rolls in a direction that corresponds to the weight-shifter activated by the controller. The weight-shifters for the SMART employ pneumatic actuation as a spherical pneumatic actuated robotic commuter (SPARC). Each weight-shifter in the SPARC includes a conduit containing a liquid armature and a pressure source with valves activated by the controller, with the conduits arranged in a cruciform configuration.

Claims

1. A spherical modular autonomous robotic traveler (SMART) for rolling along a surface from a first position to a second position, said SMART comprising:

an outer spherical shell for rolling along the surface;

an inner spherical chamber disposed within said outer shell, said chamber maintaining its orientation relative to the surface by a gyroscopically homing stabilizer (GHoSt);

a plurality of weight-shifters arranged within said inner chamber, each weight-shifter including a mass disposed in a default position, and locatable to an active position in response to activation; and

a controller within said inner chamber for selectively activating a weight-shifter among said plurality to shift said mass from said default position to said active position, wherein said outer shell rolls in a direction that corresponds to said weight-shifter activated by said controller.

2. The SMART according to claim 1, further comprising a lubrication layer interposed between said outer shell and said inner chamber.

3. The SMART according to claim 1, wherein said controller responds to an initiation signal from at least one of a receiver, an accelerometer and a timer.

4. The SMART according to claim 3, wherein said controller switches activation from a first weight-shifter to a second weight-shifter in response to said initiation signal.

5. The SMART according to claim 4, wherein said controller responds to an accelerometer within said chamber to shift from said first weight-shifter to said second weight-shifter.

6. The SMART according to claim 3, wherein said controller switches activation to several weight-shifters of said plurality in response to said initiation signal, such as upon reaching the second position.

7. The SMART according to claim 1, wherein said GHoSt includes counter-rotating flywheels to provide torque for counterbalancing tilt from activation of said weight-shifter.

8. The SMART according to claim 1, wherein said inner chamber comprises a lower dome that includes said plurality of weight-shifters and said controller, and an upper dome that includes a payload, said lower and upper domes being attachable together.

9. The SMART according to claim 8, wherein said lower and upper domes include honeycomb cells to structurally support said weight-shifters, controller and payload.

10. The SMART according to claim 1, as a spherical pneumatic actuated robotic commuter (SPARC), further comprising within said inner spherical chamber:

a pneumatic reservoir containing a pressurized gas;

a plurality of valves, each valve activated by said controller to open for releasing said gas, wherein

each said weight-shifter includes a channel containing an armature of liquid material, said channel extending from said default position at bottom periphery of said inner chamber to said active position at lateral radial periphery of said inner chamber,

said plurality of valves including a first access valve to said default position separately for each said channel in said plurality of weight-shifters, and a second access valve to said active position for all channels,

said armature travels from said default position within corresponding said channel to said active position upon activation of associated said first access valve, and

said armature returns from said active position to said default position upon activation of said second access valve.

11. The SPARC according to claim 10, wherein said pneumatic reservoir is carbon dioxide cartridge.

12. The SPARC according to claim 10, wherein said armature is mercury.

13. The SPARC according to claim 10, wherein said armature is eutectic galinstan alloy.

14. A spherical modular autonomous robotic traveler (SMART) for rolling along a surface from a first position to a second position as a spherical pneumatic actuated robotic commuter (SPARC), said SPARC comprising:

an outer spherical shell for rolling along the surface;

an inner spherical chamber disposed within said outer shell;

a pneumatic reservoir containing a pressurized gas within said inner spherical chamber;

a plurality of valves within said inner spherical chamber for controllably releasing said gas from said reservoir, said plurality of valves including a first access valve to said default position separately for each said channel in said plurality of weight-shifters, and a second access valve to said active position for all channels;

a plurality of weight-shifters arranged within said inner chamber, each weight-shifter including a mass disposed in a default position, and locatable to an active position in response to activation such that said mass constitutes a channel containing an armature of liquid material, said channel extending from said default position at bottom periphery of said inner chamber to said active position at lateral radial periphery of said inner chamber; and

a controller within said inner chamber for selectively activating a weight-shifter among said plurality to shift said mass from said default position to said active position by activating a select valve among said plurality of valves to open for releasing said gas, wherein

said armature travels from said default position within corresponding said channel to said active position upon activation of associated said first access valve,

said armature returns from said active position to said default position upon activation of said second access valve, and

said outer shell rolls in a direction that corresponds to said weight-shifter activated by said controller.

15. The SPARC according to claim 14, wherein said chamber maintains its orientation relative to the surface by a gyroscopically homing stabilizer (GHoSt).

16. The SPARC according to claim 15, wherein said GHoSt includes counter-rotating flywheels to provide torque for counterbalancing tilt from activation of said weight-shifter.

17. The SPARC according to claim 14, wherein said pneumatic reservoir is carbon dioxide cartridge.

18. The SPARC according to claim 14, wherein said plurality of weight-shifters is arranged as a cruciform.

19. The SPARC according to claim 14, wherein said armature is mercury.

20. The SPARC according to claim 14, wherein said armature is eutectic galinstan alloy.