Wheeled Platforms

• US 20100001478A1
• Filed: 06/16/2008
• Published: 01/07/2010
• Est. Priority Date: 04/04/2000
• Status: Active Grant

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: iRobot Corporation
• Inventors: Slipichevich, Selma, De Fazio, Thomas L., Barrett, David S., Won, Chikyung
• Granted Patent: US 8,292,007 B2
• Time in Patent Office: Days
• US Class Current: 280/5.28
• CPC Class Codes: B60G 2300/45 Rolling frame vehicles
• CPC Class Codes: B62D 57/02 with ground-engaging propulsion means, e.g. walking members
• CPC Class Codes: B62D 57/024 specially adapted for moving on inclined or vertical surfaces endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02
• CPC Class Codes: B62D 61/10 with more than four wheels tractors of the low ground pressure type B62D49/002
• CPC Class Codes: B62D 61/12 with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels for manoeuvring purposes only B60S

Abstract

A wheeled platform 100 is disclosed, which is characterized by high mobility and reliability, and which can be used in a wide range of applications including transport and robotic devices. The wheeled platform 100 has fore and aft body portions 130, 132, each body portion 130, 132 having first and second sides 106, 108. Overlapping wheels 112, 114, 116, 118 are rotatably attached to the first side 106 and overlapping wheels 120, 122, 124, 126 are rotatably attached to the second side 108. The fore body portion 130 can be connected to the aft body portion 132 via an articulation element 133.

Claims

1-56. -56. (canceled)

57. A wheeled structure comprising:

a body;

right and left sets of forward and rearward wheels rotatably coupled to corresponding sides of the body, at least one wheel of each set of wheels driven to propel the wheeled structure;

a tail element pivotally coupled to the body by an articulation element; and

a drive module coupled to the tail element to control the movement of the tail element between a first, stowed position and a second, non-stowed position where the tail element can make selective contact with a plurality of steps of a stairway;

wherein the tail element is configured to contact a first step of the stairway and lift the first end wheel to attain the first step.

58. The wheeled structure of claim 57, wherein to make selective contact with a stairway, the tail element is pivotable through a continuous range of articulated positions about the articulation element.

59. The wheeled structure of claim 57, wherein the tail element can make selective contact with a trailing step of the stairway.

60. The wheeled structure of claim 57, wherein the articulation element is a hinge.

61. The wheeled structure of claim 57, wherein the articulation element is a pivot.

62. The wheeled structure of claim 57, wherein the articulation element is a flexible body portion.

63. The wheeled structure of claim 57, wherein the tail element is straight.

64. The wheeled structure of claim 57, wherein when the tail element is articulated furthest forward with respect to the body, the tail is long enough to contact a stairway step forward of the first end wheel.

78. The wheeled structure of claim 58, wherein the tail element is straight.

65. A wheeled structure comprising:

a body having first and second ends;

right and left sets of forward and rearward wheels rotatably coupled to corresponding sides of the body, at least one wheel of each set of wheels driven to propel the wheeled structure;

a tail element pivotally coupled to the body by an articulation element; and

a drive module coupled to the tail element to control the movement of the tail element between a first, stowed position and a second, non-stowed position where the tail element can make selective contact with a plurality of steps of a stairway;

wherein the tail element is configured to rotate between a first position extending below the first end of the body and a second position extending past the opposite, second end of the body.

66. The wheeled structure of claim 65, wherein to make selective contact with a stairway, the tail element is pivotable through a continuous range of articulated positions about the articulation element.

67. The wheeled structure of claim 65, wherein the tail element can make selective contact with a trailing step of the stairway.

68. The wheeled structure of claim 65, wherein the articulation element is a hinge.

69. The wheeled structure of claim 65, wherein the articulation element is a pivot.

70. The wheeled structure of claim 65, wherein the articulation element is a flexible body portion.

71. The wheeled structure of claim 65, wherein the tail element is straight.

72. A wheeled structure comprising:

an articulated body having first and second portions, each portion movable within relation to the other;

right and left sets of forward and rearward wheels rotatably coupled to corresponding sides of the body, at least one wheel of each set of wheels driven to propel the wheeled structure;

a tail element pivotally coupled to the body by an articulation element; and

a drive module coupled to the tail element to control the movement of the tail element between a first, stowed position and a second position where the tail element can make selective contact with a plurality of steps of a stairway;

wherein the tail element is configured to rotate between a first position extending below the first end of the body and a second position extending past the opposite, second end of the body.

73. The wheeled structure of claim 72, wherein to make selective contact with a stairway, the tail element is pivotable through a continuous range of articulated positions about the articulation element.

74. The wheeled structure of claim 72, wherein the tail element can make selective contact with a trailing step of the stairway.

75. The wheeled structure of claim 72, wherein the articulation element is a hinge.

76. The wheeled structure of claim 72, wherein the articulation element is a pivot.

77. The wheeled structure of claim 72, wherein the articulation element is a flexible body portion.