Disaster relief robot and operation controller therefor

• US 5,337,846 A
• Filed: 02/04/1993
• Issued: 08/16/1994
• Est. Priority Date: 08/08/1990
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Komatsu Seisakusho
• Original Assignee: Kabushiki Kaisha Komatsu Seisakusho
• Inventors: Ogaki, Koji, Takagi, Kimihiko, Sakamoto, Takuya, Matsuda, Tomoo
• Primary Examiner(s): HILL, MITCHELL
• Application Number:
  US07/983,583
• Time in Patent Office: 558 Days
• Field of Search: 180/7.1, 180/8.1, 180/8.2, 180/6.2, 180/6.7, 180/9.32, 180/9.46, 180/9.5, 180/10, 180/8.7
• US Class Current: 180/8.2
• CPC Class Codes: B62D 55/065 Multi-track vehicles, i.e. more than two tracks soil-shifting machines E02F; mining machines E21C

Abstract

A disaster relief robot can be prevented from falling over a precipice or the like while safety for the operator can be ensured during outdoor field transportation of relief supplies such as rescue apparatus and materials, medicines or food stuffs in the case of a wide-area disaster caused by an earthquake, a heavy rainfall, a landslide or the like. Accordingly, track frames (16) for crawlers (12) are pivotably attached to a robot body (10), respectively, at its front and rear ends, the distance L between the pivot shafts of the front and rear crawlers (12F, 12R) is set so that maximum pivoting loci (CF, CR) of the crawlers do not interfere with each other, and further, the gravitational center (G) of the robot body is set at a position intermediate of the distance (L) between the pivot shafts of the front and rear crawlers. Several kinds of operation controllers are also provided.

Claims

1. A robot vehicle comprising:

a robot body having a front end portion and a rear end portion, each of said front end portion and said rear end portion having a left side and a right side;

a pair of front crawlers;

a pair of rear crawlers;

pair of front pivot shafts;

a pair of rear pivot shafts;

each of said front crawlers and each of said rear crawlers having a track frame and a track wherein the track frame has a drive end and a distal end, with the drive end of each front crawler being pivotally mounted by a respective one of the front pivot shafts to a respective of the left and right sides of said front end portion of said robot body such that the distal end of the track frame of the respective front crawler can be pivoted in a circle about the respective one of front pivot shafts to provide a maximum pivoting locus of the respective front crawler, with the drive end of each rear crawler being pivotally mounted by a respective one of the rear pivot shafts to a respective one of the left and right sides of said rear end portion of said robot body such that the distal end of the track frame of the respective rear crawler can be pivoted in a circle about the respective one of the rear pivot shafts to provide a maximum pivoting locus of the respective rear crawler;

the drive end of each of said front crawlers and said rear crawlers having a drive sprocket for driving the track of the respective crawler;

drive means for driving each drive sprocket independently of the other drive sprockets;

the distance between the front pivot shaft of the front crawler and the rear pivot shaft of the rear crawler on each respective side of said robot body being greater than a sum of a radius of the maximum pivoting locus of the respective front crawler and a radius of the maximum pivoting locus of the respective rear crawler so that the maximum pivoting locus of the front crawler located on the right side does not overlap the maximum pivoting locus of the rear crawler located on the right side, and the maximum pivoting locus the front crawler located on the left side does not overlap the maximum pivoting locus of the rear crawler located on the left side;

said robot body having a gravitational center which located at a position between (a) the maximum pivoting loci of the front crawlers and (b) the maximum pivoting loci of the rear crawlers so that the ground contact positions of the front crawlers and the ground contact positions of the rear crawlers are always. outside of the gravitational center of said robot body.

2. A robot vehicle in accordance with claim 1, wherein each pivot shaft is independently rotated by a respective pivoting power transmission system which includes a torque limiter.

3. A robot vehicle in accordance with claim 2, wherein each said pivoting power transmission system further comprises a pivoting angle sensor for detecting a pivoting angle of the respective pivot shaft and providing a pivoting angle signal representative thereof.

4. A robot vehicle in accordance with claim 1, wherein each said track frame has a pivoting power transmission system containing a pivoting motor and a torque limiter, with a respective torque limiter being arranged intermediate of a respective pivoting motor and a respective track frame so that transmission of torque through a pivoting power transmission system is cut off by the respective torque limiter when a pivot reaction force transmitted by the respective track frame exceeds a predetermined value.

5. A robot vehicle in accordance with claim 4, wherein each pivoting power transmission system also contains a sensor for detecting a pivoting angle, the respective sensor being provided in a respective pivoting power transmission system between a respective torque limiter and a respective track frame so that a pivoting angle of the respective track frame can be detected by the sensor even though the pivoting power transmission system is cut by the respective torque limiter.

6. A robot vehicle in accordance with claim 1, further comprising:

an inclination detecting means for detecting a forward inclination angle of said robot body, and

a driving and controlling means adapted for driving and controlling said pivot shafts and said drive sprockets so as to prevent said robot from falling down if said inclination detecting means detects that said robot body is inclined by an angle exceeding a predetermined angle.

7. A robot vehicle in accordance with claim 1, further comprising:

a load detecting means for detecting loads exerted respectively on each of the front crawlers, and

a driving and controlling means adapted for driving and controlling said pivot shafts and said drive sprockets so as to prevent said robot from falling down if said load detecting means detects that a load exerted on one of the front crawlers becomes lower than a predetermined value.

8. A robot vehicle in accordance with claim 7, wherein said driving and controlling means controls the drive means for driving the sprockets in the front crawlers in accordance with a deviation between a desired speed and a present speed, and wherein said load detecting means detects a load exerted on each of said front crawlers in accordance with the value of the deviation between the desired speed and the present speed.

9. A robot vehicle in accordance with claim 7, further comprising:

an inclination detecting means for detecting a forward inclination angle of said robot body, and

wherein said driving and controlling means is also adapted for driving and controlling said pivot shafts and said drive sprockets so as to prevent said robot from falling down if said inclination detecting means detects that said robot body is inclined by an angle exceeding a predetermined angle.

10. A robot vehicle in accordance with claim 9, wherein said driving and controlling means advances said robot in a pivoting posture in which the distal ends of the track frames of said front crawlers are extended in front of said robot body, and then upon the occurrence of at least one of (a) said inclination detecting means detecting that said robot body is inclined by an angle exceeding said predetermined angle, and (b) said load detecting means detecting that a load exerted on one of said front crawlers becomes lower than a predetermined value, pivots the distal ends of the track frames of the front crawlers rearwardly from the front of the robot body by way of a position above the robot body while moving said robot backwardly.

11. A robot vehicle in accordance with claim 9, wherein said driving and controlling means advances at an initial speed said robot in a pivoting posture in which the distal ends of the track frames of the front crawlers are extended in front of said robot body, and then upon the occurrence of at least one of (a) said inclination detecting means detecting that said robot body is inclined by an angle exceeding said predetermined angle, and (b) said load detecting means detecting that a load exerted on one of said front crawlers becomes lower than a predetermined value, pivots the distal ends of the track frames of the front crawlers downwardly so as to take an upright pivoting posture in which the front crawlers stand upright and advances said robot for a predetermined distance at a slower speed in this upright pivoting posture and then retreats said robot rearwardly in this upright pivoting posture, determines during the advancement and the retreat in the upright posture whether a load exerted on the front crawlers exceeds a threshold value, and then, if the thus determined load exceeds said threshold value, advances the robot and, if the thus determined load is below the threshold value, pivots the distal ends of the track frames of the front crawlers rearwardly from the front of the robot body by way of a position above the robot body while moving the robot backwardly.

12. A robot vehicle system comprising a robot vehicle and an operation control system for remotely controlling said robot vehicle, said robot vehicle comprising:

a robot body having a front end portion and a rear end portion, each of said front end portion and said rear end portion having a left side and a right side;

a pair of front crawlers;

a pair of rear crawlers;

a pair of front pivot shafts;

a pair of rear pivot shafts;

each pivot shaft being independently rotated by a respective pivoting power transmission system which includes a pivoting motor, a torque limiter, and a pivoting angle sensor for detecting an actual pivoting angle of respective pivot shaft and providing a feed-back pivoting angle signal representative thereof, each of said pivoting motors being connected through a respective torque limiter and a respective pivot shaft to a respective track frame;

each of said front crawlers and each of said rear crawlers having a track frame and a track wherein the track frame has a drive end and a distal end, with the drive end of each front crawler being pivotally mounted by a respective one of the front pivot shafts to a respective one of the left and right sides of said front end portion of said robot body such that the distal end of the track frame of the respective front crawler can be pivoted in a circle about the respective one of the front pivot shafts to provide a maximum pivoting locus of the respective front crawler, with the drive end of each rear crawler being pivotally mounted by a respective one of the rear pivot shafts to a respective one of the left and right sides of said rear end portion of said robot body such that the distal end of the track frame of the respective rear crawler can be pivoted in a circle about the respective one of the rear pivot shafts to provide a maximum pivoting locus of the respective rear crawler;

the drive end of each of said front crawlers and said rear crawlers having a drive sprocket for driving the track of the respective crawler;

drive means for driving each drive sprocket independently of the other drive sprockets;

the distance between the front pivot shaft of the front crawler and the rear pivot shaft of the rear crawler on each respective side of said robot body being greater than a of a radius of the maximum pivoting locus of the respective front crawler and a radius of the maximum pivoting locus of the respective rear crawler so that the maximum pivoting locus of the front crawler located on the right side does not overlap the maximum pivoting locus of the rear crawler located on the right side, and the maximum pivoting locus of the front crawler located on the left side does not the maximum pivoting locus of the rear crawler located on the left side;

said robot body having a gravitational center which is located at a position between (a) the maximum pivoting loci of the front crawlers and (b) the maximum pivoting loci of the rear crawlers so that the ground contact positions of the front crawlers and of the rear crawlers are always outside of the gravitational center of said robot body;

said operation control system comprising;

a remote operation controller having four rotating angle detectors, each of said rotating angle detectors having a shaft and an associated knob for manipulation by an operator for providing a rotation angle signal for controlling the pivoting posture of a respective one of the track frames, the knobs being arranged three-dimensionally in said remote operation controller similar to the track frames of the crawlers on said robot body so that an operator using the remote operation controller to manually control the robot can directly observe the postures of the four crawlers from the rotating angles of the four knobs; and

a plurality of control circuits for controlling the pivoting of the respective track frames,

wherein each control circuit receives a respective rotation angle signal from the corresponding rotating angle detector as a desired pivoting angle signal, and

wherein each control circuit produces a pivoting drive signal for controlling the pivoting motor of the respective crawler responsive to the difference between the respective desired pivoting angle signal and a feed-back pivoting angle signal from the pivoting angle sensor of the respective pivoting power transmission system.

13. A robot vehicle system in accordance with claim 12, wherein each rotating angle detector is driven by a rotating motor, each rotating motor being bilaterally controlled responsive to a comparison of the respective feed-back pivoting angle signal and the respective rotation angle signal so that an operator using the remote operation controller to manually control the robot vehicle can feel a load condition of the respective crawler in the form of the pivoting resistance of the respective knob effected by the respective rotating motor.

14. A robot vehicle system in accordance with claim 13, wherein said operation control system further comprises an inclination detecting means for detecting a forward inclination angle of said robot body, a load detecting means for detecting loads exerted on each of the front crawlers, and wherein said plurality of control circuits comprises means for controlling each of said drive means and each of said pivoting motors so as to prevent said robot vehicle from falling down upon the occurrence of one of (a) said inclination detecting means detecting that said robot body is inclined by an angle exceeding a predetermined angle and (b) said load detecting means detecting a load exerted on one of the front crawlers becoming less than a predetermined value.

15. A method for operating a robot vehicle comprising:

robot body having a front end portion and a rear end portion, each of said front end portion and said rear end portion having a left side and a right side;

a pair of front crawlers;

a pair of rear crawlers;

a pair of front pivot shafts;

a pair of rear pivot shafts;

each of said front crawlers and each of said rear crawlers having a track frame and a track wherein the track frame has a drive end and a distal end, with the drive end of each front crawler being pivotally mounted by a respective one of the front pivot shafts to a respective one of the left and right sides or said front end portion of said robot body such that the distal end of the track frame of the respective front crawler can be pivoted in a circle about the respective one or the front pivot shafts to provide a maximum pivoting locus of the respective front crawler, with the drive end of each rear crawler being pivotally mounted by a respective one of the rear pivot shafts to a respective one of the left and right sides of said rear end portion of said robot body such that the distal end of the track frame of the respective rear crawler can be pivoted in a circle about the respective one of the rear pivot shafts to provide a maximum pivoting locus of respective rear crawler;

the drive end of each of said front crawlers and said rear crawlers having a drive sprocket for driving the track of the respective crawler;

drive means for driving each drive sprocket independently of the other drive sprockets;

the distance between the front pivot shaft of the front crawler and the rear pivot shaft of the rear crawler on each respective side of said robot body being greater than a sum of a radius of the maximum pivoting locus of the respective front crawler and a radius of the maximum pivoting locus of the respective rear crawler so that the maximum pivoting locus of the front crawler located on the right side does not overlap the maximum pivoting locus of the rear crawler located on the right side, and the maximum pivoting locus of the front crawler located on the left side does not overlap the maximum pivoting locus of the rear crawler located on the left side; and

said robot body having a gravitational center which is located at a position between (a) the maximum pivoting loci of the front crawlers and (b) the maximum pivoting loci of the rear crawlers so that the ground contact positions of the front crawlers and of the rear crawlers are always outside of the gravitational center of said robot body;

said method comprising;

driving at least two of said drive sprockets to cause said robot vehicle to travel;

detecting a forward inclination angle of said robot body;

comparing the thus detected inclination angle with a predetermined angle and providing a first control signal when the thus detected inclination angle becomes greater than said predetermined angle;

detecting the load exerted on the front left crawler;

comparing the thus detected load on the front left crawler with a predetermined load value and providing a second control signal when the load on the front left crawler becomes less than said predetermined load value;

detecting the load exerted on the front right crawler;

comparing the thus detected load on the front right crawler with the predetermined load value and providing a third control signal when the load on the front right crawler becomes less than said predetermined load value;

controlling said drive sprockets and said pivot shafts responsive to said control signals.

16. A method in accordance with claim 15, wherein said step of controlling comprises advancing said robot vehicle in a pivoting posture in which the distal ends of the track frames of the front crawlers are extended in front of said robot body;

and

then pivoting the distal ends of the track frames of the front crawlers rearwardly from the front of the robot body by way of a position above the robot body while causing the robot vehicle to move backwardly upon the occurrence of at least one of said control signals.

17. A method in accordance with claim 15, wherein said step of controlling comprises advancing said robot vehicle in a surveying posture in which the distal ends of the track frames of the front crawlers are extended in front of said robot body;

stopping the traveling of the robot vehicle and pivoting the distal ends of the track frames of the front crawlers downwardly toward their lowermost positions upon the occurrence of at least one of said second and third control signals while the thus detected inclination angle is less than said predetermined angle;

then causing said robot vehicle to advance a predetermined distance at a slow speed and then retreat a predetermined distance at a slow speed for a plurality of times;

determining during such advancing and retreating whether the load exerted on each of the front crawlers exceeds said predetermined load value;

then causing the robot vehicle to travel forwardly with the distal ends of the track frames of the front crawlers extending downwardly toward their lowermost positions upon a determination during such advancing and retreating that the load exerted on each of the front crawlers exceeds said predetermined load value; and

pivoting the distal ends of the track frames of the front crawlers rearwardly from the front of the robot body by way of a position above the robot body while causing the robot vehicle to move backwardly upon the occurrence of a determination during such advancing and retreating that the load exerted on at least one of the front crawlers is less than said predetermined load value.

18. A method in accordance with claim 15, wherein the sprockets in said front crawlers are controlled by a drive instruction in accordance with a deviation between a desired speed and a present speed, and wherein each of the step of detecting the load exerted on the front right crawler and the step of detecting the load exerted on the front left crawler comprises detecting a load exerted on the respective front crawler in accordance with the value of the deviation between the desired speed and the present speed.

19. A method in accordance with claim 15 further comprising:

establishing a remote control signal representative of the desired pivoting angle for one of the track frames;

establishing a feed-back signal representative of the present pivoting angle for said one of the track frames;

comparing said remote control signal with said feed-back signal; and

rotating the respective pivot shaft responsive to the comparison of said remote control signal with said feed-back signal.

20. A method in accordance with claim 19, wherein each remote control signal is established by a respective rotating angle detector which is driven by a rotating motor, further comprising:

controlling the respective rotating motor responsive to a comparison of the respective remote control signal with the respective feed-back signal.

21. A remote operation controller for a robot having a robot body with a front end portion and a rear end portion and a left side and a right side, a front pair of crawlers pivotally mounted to the left side and right side of the front end portion of the robot body, and a rear pair of crawlers pivotally mounted to the left side and right side of the rear end portion of the robot body, each crawler having a drive sprocket and a drive motor for driving a respective crawler independently from the other crawlers, each crawler having a pivoting motor for pivoting the respective crawler with respect to the robot body, each pivoting motor having a pivoting angle detector associated therewith for producing a feedback signal representing an actual pivoting position of the respective crawler;

said remote operation controller comprising;

four rotating angle detectors, each of said rotating angle detectors having a shaft, each of said rotating angle detectors being adapted to produce a rotating angle signal to control the posture of the track frame of a respective one of the crawlers,

four knobs for manipulation by an operator, each of said knobs being positioned on the shaft of a respective one of said rotating angle detectors, said four knobs being arranged three-dimensionally in said remote operation controller in a manner similar to the mounting of the crawlers on the robot body, and

a first control circuit which receives a rotating angle signal from a respective one of said rotating angle detectors as a desired pivoting angle signal for the respective crawler, and which receives a feedback signal representing an actual pivoting position of the respective crawler, and which produces a pivoting drive signal for controlling the pivoting motor of the respective crawler, the respective pivoting drive signal being responsive to a difference between the respective desired pivoting angle signal and the feed-back signal representing the actual pivoting position of the respective crawler.

22. A remote operation controller in accordance with claim 21, further comprising four controller motors incorporated in said controller, each of said controller motors being associated with and driving a respective one of said four rotating angle detectors, each of said controller motors being bilaterally controlled by a second control circuit in response to a difference between the respective desired pivoting angle signal and the feed-back signal representing the actual pivoting position of the respective crawler so that an operator using the remote operation controller to manually control the robot can directly observe the postures of the four crawlers from the rotating angles of the four knobs, and so that the operator can feel a load condition of the respective crawler in the form of the pivoting resistance of the respective knob effected by the respective controller motor.