Robotic mobile low-profile transport vehicle

• US 9,919,753 B2
• Filed: 03/04/2016
• Issued: 03/20/2018
• 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): Winner, Tony H
• Assistant Examiner(s): ARCE, MARLON ALEXANDER
• Application Number:
  US15/061,914
• Publication Number:
  US 20170021881A1
• Time in Patent Office: 746 Days
• 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 transport module operable within a mobile low-profile transport vehicle, said transport module comprising:

a frame assembly;

a mobility system supported about said frame assembly, and configured to facilitate movement of said transport module;

a platform configured to receive a load, said platform being supported by and moveable in at least a lateral direction about said frame assembly;

a translation system configured to facilitate active, actuated translation of said platform in at least one degree of freedom about said frame assembly;

one or more sensors configured to detect a center of mass of said transport module,

wherein said translation system operates to automatically alter the center of mass of said transport module, in response to information obtained by the one or more sensors, to enhance stability of said transport module during operation.

2. The transport module of claim 1, wherein said translation system comprises one of a chain drive system or a rack and pinion gearing system.

3. The transport module of claim 1, wherein said translation system is configured to operate to dynamically alter the center of mass of said transport module during operation of said transport module moving over irregular terrain.

4. 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 propulsion system

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

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

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; 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.

5. The robotic mobile low-profile transport vehicle of claim 4, further comprising a first platform supported about said frame assembly of said first transport module, and a second platform supported about said frame assembly of said second transport module, each of said platforms being configured to receive a load for transport.

6. The robotic mobile low-profile transport vehicle of claim 5, wherein said platform is moveable in a lateral direction about the frame assembly and configured to receive a load for transport.

7. The robotic mobile low-profile transport vehicle of claim 6, further comprising a translation system configured to facilitate active, actuated translation or shifting of said platform about the frame assembly, 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.

8. The robotic mobile low-profile transport vehicle of claim 4, 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.

9. The robotic mobile low-profile transport vehicle of claim 4, 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.

10. The robotic mobile low-profile transport vehicle of claim 4, further comprising third and fourth transport modules joined together with the first and second transport modules via a plurality of multi-degree of freedom coupling assemblages, wherein the transport modules are removably coupleable to one another, and operate to decouple and operate in fully functional groups of at least two transport modules.

11. The robotic mobile low-profile transport vehicle of claim 10, wherein, in the division mode, the control scheme facilitates independent operation of each of the fully functional groups.

12. The robotic mobile low-profile transport vehicle of claim 11, wherein, in the division mode, the control scheme facilitates independent operation of each transport module within each of the fully functional groups.

13. The robotic mobile low-profile transport vehicle of claim 4, wherein, switching between the unitary mode and the division mode is automatic upon decoupling the first and second transport modules.

14. The robotic mobile low-profile transport vehicle of claim 4, wherein the control system comprises an on-board communication system coupled to each of the first and second transport modules, wherein switching between the unitary mode and the division mode is manually performed by an operator operating an operator control station (OCS) in communication with the on-board communication system.

15. The robotic mobile low-profile transport vehicle of claim 14, further comprising a camera sensor mounted to at least one of the first and second transport modules, wherein the camera sensor is configured to be controlled by the OCS.

16. The robotic mobile low-profile transport vehicle of claim 14, wherein the on-board communication system of each of the first and second transport modules is configured to be controlled by the OCS in at least one of a teleautonomy mode, a supervised autonomy mode, or a follow-the-leader mode.

17. The robotic mobile low-profile transport vehicle of claim 14, wherein each on-board communication system comprises a processor configured to receive and process signals from the OCS.

18. The robotic mobile low-profile transport vehicle of claim 4, wherein at least two additional transport modules are joined together with the first and second transport modules with a plurality of multi-degree of freedom coupling assemblages, and wherein, when in a follow-the-leader mode, one or more groups of transport modules are configured to follow different operators controlling a respective group of transport modules.

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

operating 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 propulsion system

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

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

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; and

switching between a unitary mode and a division mode with a control scheme, wherein, in the unitary mode, the control schemed 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.

20. The method of claim 19, wherein switching between the unitary mode and the division mode is automatic upon decoupling the first and second transport modules.

21. The method of claim 19, wherein switching between the unitary mode and the division mode is manually performed by an operator operating an operator control station (OCS) in communication with at least one of the first and second transport modules.

22. The method of claim 19, further comprising coupling third and fourth transport modules to the first and second transport modules with a plurality of multi-degree of freedom coupling assemblages, the method further comprising independently operating fully functional groups of at least two transport modules of the at least four transport modules.

23. The method of claim 22, further comprising individually operating each group of the fully functional groups of at least two transport modules.