Semi-autonomous rescue apparatus

• US 9,910,414 B2
• Filed: 05/08/2012
• Issued: 03/06/2018
• Est. Priority Date: 05/09/2011
• Status: Active Grant

• Current Assignee: Drexel University
• Original Assignee: Drexel University
• Inventors: Awerbuch, Jonathan, Tan, Tein-Min, Carlson, Adam C., Goehringer, William Scott, Powers, Clayton, Shenk, Jordan H., Snyder, David M., Van Zyl, Marnus G.
• Primary Examiner(s): Alie, Ghassem
• Assistant Examiner(s): Do, Nhat Chieu
• Application Number:
  US14/116,008
• Publication Number:
  US 20150094859A1
• Time in Patent Office: 2,128 Days
• Field of Search: 144384, 144400, 144401, 144420, 144421, 144422, 144423, 144425, 901 46- 47, 83361-372, 83471-473
• CPC Class Codes: B23D 47/08 of devices for bringing the circular saw blade to the workpiece or removing same therefrom
• CPC Class Codes: B23D 47/126 Angle drives
• CPC Class Codes: B23D 57/0084 specially adapted for sawing under water or at places accessible with difficulty
• CPC Class Codes: B27B 5/10 Wheeled circular saws; Circular saws designed to be attached to tractors or other vehicles and driven by same saw assemblies designed to be mounted on or driven by tractors B27B11/12
• CPC Class Codes: B27B 5/208 the saw blade being mounted on a hanging arm or at the end of a set of bars, e.g. parallelograms
• CPC Class Codes: G05B 15/02 electric

Abstract

A cutting device is configured to attach to a boom arm and includes a saw assembly with a cutting portion configured to cut into a target surface. The cutting device also includes a motor assembly coupled to the saw assembly. The motor assembly has at least two motors configured to rotate the saw assembly about two different axes. The cutting device further comprises a control system operatively coupled to the motor assembly. The control system has at least two sensors coupled to the saw assembly and the control system is configured to position the saw assembly to cut a target surface based on feedback from the at least sensors.

Claims

1. A cutting device configured to attach to a boom arm, the cutting device comprising:

a saw assembly including a cutting portion configured to cut into a target surface, the saw assembly comprising a saw blade extending in a blade plane and mounted on a support arm;

a motor assembly coupled to the saw assembly, the motor assembly including a first motor configured to rotate the saw assembly about a first axis, a second motor configured to rotate the saw assembly about a second axis, and a third motor configured to rotate the saw assembly about a third axis; and

a control system operatively connected to the motor assembly, wherein the control system is configured to actuate the first, second, and third motors to thereby rotate the saw assembly about the first, second, and third axes; and

four distance measuring sensors mounted on the support arm such that the four distance measuring sensor pivot with the saw assembly, with two of the four sensors mounted on a first side of the blade plane in a first sensor plane parallel to the blade plane, and a remaining two of the four sensors mounted on a second side of the blade plane in a second sensor plane parallel to the blade plane, the four distance measuring sensors all configured to, in conjunction with the control assembly, determine a distance between the saw assembly and the target surface.

2. The cutting device of claim 1, wherein the control system is configured actuate the motor assembly such that the saw assembly cuts along a predetermined direction or along a predetermined path on the target surface.

3. The cutting device of claim 1, further comprising a hall effect sensor mounted on the saw assembly.

4. The cutting device of claim 1, wherein the control system is semiautonomous.

5. The cutting device of claim 4, wherein the control system is configured to record initial cut lengths performed manually by an operator and to cut an aperture by mirroring the recorded initial cut lengths.

6. The cutting device of claim 4, wherein the control system in conjunction with a hall effect sensor is configured to detect regions of varying thickness of the target surface and automatically adjusts the saw assembly.

7. The cutting device of claim 1, wherein the first axis extends along a longitudinal direction from a proximal end of the saw assembly to a proximal end of the saw assembly, the second axis extends vertically along a transverse direction that is perpendicular to the longitudinal direction, and the third axis extends laterally along a lateral direction that is perpendicular to the longitudinal direction and the transverse direction.

8. A cutting device configured to attach to a boom arm, the cutting device comprising:

a saw assembly including a cutting portion configured to cut into a target surface, the saw assembly comprising a saw blade mounted on a movable support arm extending in a plane;

a motor assembly coupled to the saw assembly, the motor assembly including at least three motors configured to rotate the saw assembly about three different axes; and

a control system operatively connected to the motor assembly;

a first structure connected to the support arm;

a second structure connected to the support arm and extending a parallel to the first structure;

a first distance measuring sensor mounted to the first structure on one side of the plane;

a second distance measuring sensor mounted the first structure of an opposing side of the plane; and

a third distance measuring sensor mounted on the second structure on the one side of the plane,

wherein the control system is configured to position the saw assembly to cut the target surface based on feedback from the sensors, and wherein the sensors move with the support arm.

9. The cutting device of claim 8, wherein the control system further comprises a hall effect sensor that is configured to maintain cutting depth of the saw assembly.

10. The cutting device of claim 8, wherein the control system is configured so that at least one of the three sensors is configured to maintain predetermined directionality of cutting relative to the target surface in conjunction with the control system.

11. The cutting device of claim 8, wherein the saw assembly is mounted to a mechanical arm that is operatively coupled to a sweep gearbox, and a rotating platform.

12. The cutting device of claim 11, wherein the control system is configured to use feedback from the three sensors to activate the mechanical arm, sweep gearbox, and rotating platform to thereby rotate the saw assembly.

13. A semi-autonomous rescue system comprising a cutting device mounted to a high reaching extendible turret, the cutting device comprising:

a saw assembly including a cutting portion configured to cut into a target surface, the saw assembly comprising a saw blade extending from a support arm in a blade plane;

a motor assembly coupled to the saw assembly;

a control system operatively connected to the motor assembly and the high reaching extendible turret and configured to manipulate movement of the saw assembly along at least seven axes through actuation of the high reaching extendible turret and the motor assembly; and

at least three distance measuring sensors mounted on the saw assembly, with two of the at least three sensors mounted on a first side of the blade plane and in a first sensor plane parallel to the blade plane, and a remaining sensor of the at least three sensors mounted on second side of the blade plane, wherein each of the at least three sensors points along its own sensor axis, wherein all of the sensor axes are parallel with each other, the at least three distance measuring sensors all configured to, in conjunction with the control assembly, determine a distance between the saw assembly and the target surface.

14. The cutting device of claim 13, wherein the control system receives user input from a remote location.

15. The cutting device of claim 13, wherein the control system further comprises at least two three-degree-of-freedom joysticks.

16. The cutting device of claim 13, wherein the control system further comprises at least one three-degree-of-freedom joystick and at least one touch screen interface.

17. The cutting device of claim 13, wherein the motor assembly includes at least three motors, each motor configured to rotate the saw assembly about a separate axis.