Miniature robotic vehicles and methods of controlling same
First Claim
Patent Images
1. A ground-engaging robotic vehicle, comprising:
- a body;
two or more ground-engaging members coupled to the body, the ground-engaging members operable to propel the robotic vehicle across a surface; and
a spring member coupled to the body, the spring member movable between at least a first, stored position and a second, extended position.
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Abstract
A robotic vehicle having a body with two or more powered ground-engaging members, e.g., wheels, rotatably coupled thereto. The vehicle may further include a spring member which may be deflected to a first, stored position from a second, extended position. The robotic vehicle may form part of a distributed, multi-robot system. The robotic vehicles may communicate with each other and/or a remote workstation. In some embodiments, the robotic vehicles may mechanically couple to one another to perform certain tasks.
226 Citations
57 Claims
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1. A ground-engaging robotic vehicle, comprising:
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a body;
two or more ground-engaging members coupled to the body, the ground-engaging members operable to propel the robotic vehicle across a surface; and
a spring member coupled to the body, the spring member movable between at least a first, stored position and a second, extended position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for traversing one or more surfaces with a ground-engaging, robotic vehicle, the method comprising:
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providing a ground-engaging, robotic vehicle, comprising;
a body, at least a first and a second ground-engaging member operatively coupled to the body, and a spring member coupled to the body, the spring member movable between at least a first, stored position and a second, extended position; and
energizing one or both of the first and second ground-engaging members so that the ground-engaging robotic vehicle is propelled across a surface. - View Dependent Claims (10, 11, 12)
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13. A ground-engaging robotic vehicle, comprising:
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a body;
two or more rotatable, ground-engaging wheels coupled to the body, the ground-engaging wheels operable to propel the robotic vehicle across a surface; and
a spring member coupled to the body, the spring member movable between at least a first, deflected position and a second, undeflected position;
a retraction apparatus operable to position the spring member in the first, deflected position, the second, undeflected position, or anywhere in between. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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34. A method of traversing an obstacle with a ground-engaging robotic vehicle, the method comprising:
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providing a ground-engaging, robotic vehicle, comprising;
a body;
at least a first and a second ground-engaging wheel operatively coupled to the body; and
a spring member coupled to the body, the spring member movable between at least a first, deflected position and a second, undeflected position; and
locating the ground-engaging robotic vehicle upon a surface proximate an obstacle; and
positioning the spring member in the first, deflected position;
releasing the spring member from the first, deflected position, whereby the spring member strikes the surface with sufficient force to propel the ground-engaging vehicle over or onto the obstacle. - View Dependent Claims (35, 36, 37)
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38. A method of delivering one or more ground-engaging robotic vehicles to a desired location, the method comprising:
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providing at least one ground-engaging, robotic vehicle, comprising;
a body;
at least a first and a second ground-engaging wheel operatively coupled to the body; and
a spring member coupled to the body, the spring member movable between at least a first, deflected position and a second, undeflected position;
providing a delivery apparatus operable to hold the at least one ground-engaging robotic vehicle; and
delivering the at least one ground-engaging robotic vehicle to the desired location with the delivery apparatus. - View Dependent Claims (39, 40, 41)
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42. A robotic system, comprising:
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at least one ground-engaging, robotic vehicle, comprising;
a body, at least a first and a second ground-engaging wheel operatively coupled to the body, and a spring member coupled to the body, the resilient member movable between at least a first, deflected position and a second, undeflected position; and
a remote workstation adapted to wirelessly communicate with the at least one ground-engaging robotic vehicle. - View Dependent Claims (43, 44, 45)
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46. A method for guiding a ground-engaging robotic vehicle to the darkest portion of a predetermined area, the method comprising:
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providing a ground-engaging, robotic vehicle, comprising;
a body, two or more ground-engaging wheels operatively coupled to the body, and a camera coupled to the body;
capturing a first image with the camera;
rotating the camera by a discrete increment;
capturing a second image with the camera;
comparing one or more characteristics of the first image and the second image; and
moving the robotic vehicle in a direction based on the comparing of one or more characteristics. - View Dependent Claims (47, 48, 49, 50)
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51. A method of controlling miniature robotic vehicles, the method comprising:
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delivering a plurality of robotic vehicles to a preselected area, each of the plurality of robotic vehicles comprising;
a body, at least a first and a second ground-engaging member operatively coupled to the body, and a spring member coupled to the body, the spring member movable between at least a first, stored position and a second, extended position;
establishing a wireless communication link between each of the plurality of robotic vehicles and a remote workstation; and
issuing at least a first command to one or more of the plurality of robotic vehicles from the remote workstation. - View Dependent Claims (52, 53)
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54. A robotic system, comprising:
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a plurality of robotic vehicles, wherein each robotic vehicle of the plurality of robotic vehicles comprises;
a body, at least a first and a second ground-engaging member operatively coupled to the body, and a spring member coupled to the body, the spring member movable between at least a first, stored position and a second, extended position;
wherein the plurality of robotic vehicles are operable to mechanically couple to one another. - View Dependent Claims (55, 56)
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57. A robotic system, comprising:
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a first robotic vehicle and a second robotic vehicle, wherein each of the first robotic vehicle and the second robotic vehicle comprise;
a cylindrical body;
at least a first and a second ground-engaging wheel operatively coupled to opposite ends of the cylindrical body; and
a spring member coupled to the cylindrical body, the spring member movable between at least a first, stored position and a second, extended position;
wherein a distal portion of the spring member of the first robotic vehicle is selectively coupled to the second robotic vehicle.
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Specification