Unmanned ground vehicle track systems

• US 10,486,757 B2
• Filed: 08/28/2017
• Issued: 11/26/2019
• Est. Priority Date: 08/26/2016
• Status: Active Grant

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Inventors: Ohm, Timothy R., Vonnegut, Carl H.
• Primary Examiner(s): Rocca, Joseph M
• Assistant Examiner(s): Stabley, Michael R
• Application Number:
  US15/688,287
• Publication Number:
  US 20180093723A1
• Time in Patent Office: 820 Days
• CPC Class Codes: B62D 55/065 Multi-track vehicles, i.e. more than two tracks soil-shifting machines E02F; mining machines E21C
• CPC Class Codes: B62D 55/075 Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfacesmagnetic or pneumatic ground-engaging parts B62D55/265; chairs or multi-track cycles specially adapted for invalids A61G5/00
• CPC Class Codes: B62D 55/12 Arrangement, location, or adaptation of driving sprockets
• CPC Class Codes: B62D 55/24 of continuously flexible type, e.g. rubber belts
• CPC Class Codes: B62D 55/244 Moulded in one piece, with either smooth surfaces or surfaces having projections, e.g. incorporating reinforcing elements
• CPC Class Codes: B62D 55/26 Ground engaging parts or elements tracks specially adapted for amphibious vehicles B60F3/0015

Abstract

This specification describes unmanned ground vehicle track systems. In some examples, an unmanned ground vehicle includes a frame having right and left sides and right and left track assemblies, each track assembly being coupled to a corresponding side of the frame in parallel with the other track assembly. Each track assembly includes a drive pulley coupled to the corresponding side of the frame and a track including a continuous flexible belt supported by the drive pulley. The track includes an interior surface engaged with the drive pulley and an exterior surface opposite the interior surface, and the exterior surface of the track includes a plurality of flexible bristles. The unmanned ground vehicle includes one or more drive motors configured to drive the drive pulleys of the right and left track assemblies.

Claims

1. An unmanned ground vehicle comprising:

a frame having right and left sides;

right and left track assemblies, each track assembly being coupled to a corresponding side of the frame in parallel with the other track assembly, each track assembly comprising;

a drive pulley coupled to the corresponding side of the frame; and

a track comprising a continuous flexible belt supported by the drive pulley, wherein the track comprises an interior surface engaged with the drive pulley and an exterior surface opposite the interior surface, and wherein the exterior surface of the track comprises a plurality of flexible bristles; and

one or more drive motors configured to drive the drive pulleys of the right and left track assemblies;

wherein each track has a track width in a lateral direction extending between the right and left sides, and wherein, for each track, the exterior surface of the track comprises a plurality of rows of flexible bristles each extending across the track width in the lateral direction, and wherein, for each row of flexible bristles, a height of the flexible bristles tapers from a center of the row to left and right edges of the row.

2. The unmanned ground vehicle of claim 1, wherein each flexible bristle has a bristle width in the lateral direction, and wherein the bristle width is less than half the track width.

3. The unmanned ground vehicle of claim 1, wherein the plurality of rows are spaced apart around the exterior surface of the track in a longitudinal direction perpendicular to the lateral direction, forming an array of flexible bristles around the continuous flexible belt of the track.

4. The unmanned ground vehicle of claim 3, wherein the flexible bristles of each row are spaced apart evenly within the row, and wherein each row is evenly spaced apart from adjacent rows.

5. The unmanned ground vehicle of claim 3, wherein the flexible bristles are spaced apart densely so that the array of flexible bristles covers, in aggregate, more than 50% of the area of the exterior surface of the track.

6. The unmanned ground vehicle of claim 1, wherein each flexible bristle comprises a molded thermoplastic or thermoset elastomer material.

7. The unmanned ground vehicle of claim 1, wherein, for each track, each flexible bristle comprises a protrusion extending away from the exterior surface of the track.

8. The unmanned ground vehicle of claim 7, wherein the protrusion of each flexible bristle is rectangular or cylindrical.

9. The unmanned ground vehicle of claim 7, wherein the protrusion of each flexible bristle has a height extending away from the exterior surface of the track and a length and a width over the exterior surface of the track, and wherein the height is greater than the length or the width or both.

10. The unmanned ground vehicle of claim 1, wherein each track has a track width in a lateral direction extending between the right and left sides, wherein each drive pulley has a pulley width in the lateral direction shorter than the track width, and wherein, for each track assembly, the track assembly comprises a row of bogie rollers engaged with the interior surface of the track and coupled to the corresponding side of the frame and recessed, from an outer edge of the track and in the lateral direction, to be flush with the drive pulley.

11. The unmanned ground vehicle of claim 1, comprising right and left flippers extending beyond a front end of the frame, each of the right and left flippers comprising a driven flipper track trained about a flipper drive pulley, the driven flipper tracks each comprising a flipper belt and an additional plurality of flexible bristles.

12. The unmanned ground vehicle of claim 11, wherein each of the right and left flippers are pivotally coupled to the unmanned ground vehicle, and wherein the unmanned ground vehicle comprises one or more flipper drive motors to drive the flipper drive pulleys and pivot the right and left flippers about a drive axis of the drive pulleys.

13. The unmanned ground vehicle of claim 12, comprising a controller programmed to execute an obstacle surmounting routine and control the one or more drive motors and the one or more flipper drive motors to cause the unmanned ground vehicle to surmount an obstacle using friction between a subset of the plurality of flexible bristles and the obstacle.

14. The unmanned ground vehicle of claim 13, wherein the obstacle surmounting routine is a stair climbing routine and the controller, in executing the stair climbing routine, causes the unmanned ground vehicle to approach, using the one or more drive motors, a stair;

contact, using the one or more drive motors and the one or more flipper drive motors, the stair; and

surmount the stair by driving the one or more drive motors or the one or more flipper drive motors or both to generate traction between the subset of the plurality of flexible bristles and the stair.

15. An unmanned ground vehicle comprising:

a frame having right and left sides;

right and left track assemblies, each track assembly being coupled to a corresponding side of the frame in parallel with the other track assembly, each track assembly comprising;

a drive pulley coupled to the corresponding side of the frame; and

a track comprising a continuous flexible belt supported by the drive pulley, wherein the track comprises an interior surface engaged with the drive pulley and an exterior surface opposite the interior surface, and wherein the exterior surface of the track comprises a plurality of flexible vanes; and

one or more drive motors configured to drive the drive pulleys of the right and left track assemblies;

wherein each track has a track width in a lateral direction extending between the right and left sides, and wherein, for each track, the flexible vanes on the track extend away from the exterior surface of the track and each comprise an exterior edge opposite the exterior surface of the track;

wherein, for each track, each flexible vane extends from a left edge of the track to a right edge of the track in the lateral direction; and

wherein, for each flexible vane of each track, the exterior edge opposite the exterior surface of the track is undulated and follows a pattern that rises to right and left peaks from the right and left edges of the track.

16. The unmanned ground vehicle of claim 15, wherein, for each flexible vane of each track, the exterior edge opposite the exterior surface of the track is straight along the lateral direction.

17. The unmanned ground vehicle of claim 15, wherein each flexible vane comprises a molded thermoplastic or thermoset elastomer material.

18. The unmanned ground vehicle of claim 15, comprising a controller programmed to execute an obstacle surmounting routine and control the one or more drive motors to cause the unmanned ground vehicle to surmount an obstacle using friction between a subset of the flexible vanes and the obstacle.

19. The unmanned ground vehicle of claim 18, wherein the obstacle surmounting routine is a fiber optic cable navigation routine and the controller, in executing the fiber optic cable navigation routine, causes the unmanned ground vehicle to drive over at least one length of fiber optic cable laying along a lateral direction so that the at least one length of fiber optic cable fits within a gap between two neighboring flexible vanes as the unmanned ground vehicle drives over the at least one length of fiber optic cable.

20. The unmanned ground vehicle of claim 18, comprising:

right and left flippers extending beyond a front end of the frame, each of the right and left flippers comprising a driven flipper track trained about a flipper drive pulley, the driven flipper tracks each comprising a flipper belt and an additional plurality of flexible vanes, wherein each of the right and left flippers are pivotally coupled to the unmanned ground vehicle; and

one or more flipper drive motors to drive the flipper drive pulleys and pivot the right and left flippers about a drive axis of the drive pulleys;

wherein the obstacle surmounting routine is a stair climbing routine and the controller, in executing the stair climbing routine, causes the unmanned ground vehicle to approach, using the one or more drive motors, a stair;

contact, using the one or more drive motors and the one or more flipper drive motors, the stair; and

surmount the stair by driving the one or more drive motors or the one or more flipper drive motors or both to generate traction between the subset of the plurality of flexible vanes and the stair.

21. The unmanned ground vehicle of claim 15, wherein, for each track, the flexible vanes are spaced apart densely so that a distance between flexible vanes is less than a track width of the track in a lateral direction extending between the right and left sides.

22. An unmanned ground vehicle comprising:

a frame having right and left sides;

right and left track assemblies, each track assembly being coupled to a corresponding side of the frame in parallel with the other track assembly, each track assembly comprising;

a drive pulley coupled to the corresponding side of the frame; and

a track comprising a continuous flexible belt supported by the drive pulley, wherein the track comprises an interior surface engaged with the drive pulley and an exterior surface opposite the interior surface, and wherein the exterior surface of the track comprises a plurality of flexible vanes; and

one or more drive motors configured to drive the drive pulleys of the right and left track assemblies;

wherein each track has a track width in a lateral direction extending between the right and left sides, and wherein, for each track, the flexible vanes on the track extend away from the exterior surface of the track and each comprise an exterior edge opposite the exterior surface of the track, and wherein, for each track, each flexible vane extends from a left edge of the track to a right edge of the track in the lateral direction;

wherein, for each flexible vane of each track, the flexible vane tapers from a base of the flexible vane to a tip of the flexible vane on the exterior edge, and wherein a ratio between a height of the flexible vane to a thickness of the flexible vane in a longitudinal direction perpendicular to the lateral direction is between 20;

1 and 8;

1.

23. A method for controlling an unmanned ground vehicle to surmount an obstacle, the method comprising:

approaching, by a controller sending control signals to one or more drive motors, the obstacle, wherein the unmanned ground vehicle comprises right and left track assemblies, each track assembly comprising a drive pulley driven by one of the one or more drive motors and a track comprising a continuous flexible belt supported by the drive pulley, wherein the track comprises an interior surface engaged with the drive pulley and an exterior surface opposite the interior surface, and wherein the exterior surface of the track comprises a plurality of flexible bristles or vanes, wherein each track has a track width in a lateral direction extending between right and left sides of the unmanned ground vehicle, and wherein, for each track, the exterior surface of the track comprises a plurality of rows of flexible bristles each extending across the track width in the lateral direction, and wherein, for each row of flexible bristles, a height of the flexible bristles tapers from a center of the row to left and right edges of the row; and

contacting, by the controller sending the control signals to the one or more drive motors and one or more flipper drive motors, the obstacle, wherein the unmanned ground vehicle comprises right and left flippers, each of the right and left flippers comprising a driven flipper track trained about a flipper drive pulley driven by the one or more flipper drive motors; and

surmounting the obstacle by driving the one or more drive motors or the one or more flipper drive motors or both to generate traction between the obstacle and a subset of the plurality of flexible bristles or the plurality of flexible vanes.