Hazardous materials emergency response mobile robot

• US 5,443,354 A
• Filed: 07/20/1992
• Issued: 08/22/1995
• Est. Priority Date: 07/20/1992
• Status: Expired due to Fees

• Current Assignee: The United States of America As Represented By The Secretary of Agriculture
• Original Assignee: United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration
• Inventors: Stone, Henry W., Alahuzos, George A., Lloyd, James W.
• Primary Examiner(s): Underwood, Donald W.
• Application Number:
  US07/917,554
• Time in Patent Office: 1,128 Days
• Field of Search: 414/2, 414/680, 414/729, 414/786, 901/45, 901/46, 901/47, 901/1, 901/39, 901/41, 901/9, 244/135 A, 73/863.12, 246/122 A, 294/907, 294/64.1, 294/100, 81/451, 81/177.6
• US Class Current: 414/729
• CPC Class Codes: B25J 11/0025 handling explosives, bombs or hazardous objects
• CPC Class Codes: B25J 17/0208 Compliance devices
• CPC Class Codes: B25J 19/02 Sensing devices
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts

Abstract

A simple or unsophisticated robot incapable of effecting straight-line motion at the end of its arm inserts a key held in its end effector or hand into a door lock with nearly straight-line motion by gently thrusting its back heels downwardly so that it pivots forwardly on its front toes while holding its arm stationary. The relatively slight arc traveled by the robot'"'"'s hand is compensated by a compliant tool with which the robot hand grips the door key. A visible beam is projected through the axis of the hand or gripper on the robot arm end at an angle to the general direction in which the robot thrusts the gripper forward. As the robot hand approaches a target surface, a video camera on the robot wrist watches the beam spot on the target surface fall from a height proportional to the distance between the robot hand and the target surface until the beam spot is nearly aligned with the top of the robot hand. Holes in the front face of the hand are connected through internal passages inside the arm to an on-board chemical sensor. Full rotation of the hand or gripper about the robot arm'"'"'s wrist is made possible by slip rings in the wrist which permit passage of the gases taken in through the nose holes in the front of the hand through the wrist regardless of the rotational orientation of the wrist.

Claims

1. A robot for inserting a key in a keyhole in a doorknob mounted on a door, said robot comprising a platform on which tracks for self-mobility and a first end of a robot arm are attached, and an end effector mounted to a second end of said robot arm, said robot further comprising:

a key;

tool means, grippable by said end effector, for holding said key while pressing said key against said keyhole, wherein the tool means includes,

means allowing rotation up to nearly 90 degrees about a vertical axis in relation to said end effector,

means for extending forwardly and adjacent the key for engaging plural points on a surface of the door adjacent the doorknob for centering the key with respect to the keyhole,

means for permitting bending of said tool means in at least one of two orthogonal axes; and

,

said tracks comprising articulated means for rotating said robot forward about an end of said tracks relative to a center part of said tracks whereby said key travels in an arc of a radius corresponding to a distance between said tracks and said key, wherein said tool means for holding said key deforms so as to allow said key to travel in at least a nearly straight path through said key hole.

2. The robot of claim 1 wherein said bending means comprises:

a pair of mutually orthogonal deformable leafs connected together, one of said leafs being coupled to said allowing means that is gripped by said end effector and the other of said leafs being coupled to said key.

3. The robot of claim 1 further comprising:

means for permitting manual control of said robot by an operator;

means for displaying an image to said operator;

image detector means for viewing a scene to be displayed on said means for displaying;

a boom means for holding said image detector means so that said image detector means has a perspective view of said key.

4. The robot of claim 3 wherein said boom means comprises means for holding said image detector means at a location offset to one side with respect to said straight path whereby said image detector provides a side view of said straight path.

5. The robot of claim 3 wherein said robot arm comprises a multi-joint robot arm with the first end attached to a rotatable joint rotatable in a horizontal plane, and wherein said boom means is attached to said rotatable joint so as to rotate therewith, whereby to avoid collisions between said image detector means and said robot arm.

6. The robot of claim 1 further including a means for sensing an environment behind a closed door, the means for sensing comprising:

the robot arm comprising a plurality of arm segments connected by joints providing said arm with plural degrees of freedom;

the end effector having an end surface;

at least one nose hole in said end surface of said end effector and at least one interior passage within said end effector coupled to said one nose hole;

an environment sensor on board said robot and coupled to said one interior passage.

7. The robot of claim 6 further comprising an air pump coupled to said interior passage for drawing air through said nose hole.

9. The robot of claim 6 further comprising:

a rotatable robot joint coupling said end effector to said robot arm, said robot joint having slip ring means for communicating gases in said interior passage across said joint.

10. The robot of claim 1 wherein said robot arm comprises a plurality of arm segments connected by joints providing said arm with plural degrees of freedom, and further including a control panel for manual control of the robot, comprising:

a panel surface having an image of said robot illustrating relative locations of all said joints;

a plurality of moveable hand controls on said panel surface, each of said hand controls being connected for controlling movement of a corresponding one of said joints, each of said hand controls being mounted proximal an image of a corresponding one of the joints in said image on said panel surface.

11. The control panel of claim 10 wherein said robot further comprises a side boom having a camera mounted thereon for transmitting images of said robot to a remote operator, said side boom comprising plural boom joints including a first boom joint for rotating said side boom about a vertical axis for positioning said camera in a horizontal plane and second and third boom joints for panning and tilting said camera respectively.

12. The robot of claim 1 wherein said robot is further capable of opening latched doors, said robot further comprising:

winch means;

a weighted hook and a cable connecting said weighted hook to said winch means.

13. The robot of claim 12 wherein said weighted hook comprises a hook having a partially arcuate shape such that said hook is engagable with a door handle while being held tautly by said cable, said weighted hook further comprising a weight coupled to said hook having sufficient mass such that said weight pulls said hook from engagement with said door handle upon said cable being released from tautness.

8. A remotely-controlled mobile robot comprising:

a robot arm having an end effector at a distal end of said robot arm having an end surface;

means for permitting manual control of said robot by an operator;

means for displaying an image to said operator;

image detector means coupled to said end effector for viewing a scene encompassing said end effector to be displayed on said means for displaying; and

means coupled to said end effector for radiating a beam of visible light at an acute angle with respect to a line of sight of said image detector means from a location rearward of said end surface and through a location near said end surface, whereby to illuminate a spot on an exterior target surface facing said end surface at a height relative to said end effector in said image proportional to a displacement between said end surface and said target surface, whereby a velocity of said end surface with respect to said target surface is displayed in said image as a velocity of said beam spot relative to said end effector in a vertical direction.

14. A method of opening a latched door with a robot having a weighted hook attached to a winch on said robot via a cable, said robot further comprising a movable arm having an end effector, said method comprising:

grasping and moving said hook with said end effector so as to engage said hook with a door handle of said door;

drawing said cable tightly with said winch so as to strain said hook against said door handle;

releasing said end effector from said hook and depressing a door latch of said door;

drawing said hook in a direction in which said door opens whereby to open said door;

withdrawing said end effector from said latch and grasping a weight with said end effector, moving said end effector so as to block said door with said weight and releasing said weight from said end effector; and

grasping said cable with said end effector while releasing said winch so as to release tension in said cable from said weighted hook, whereby said weighted hook falls from engagement with said door handle.

15. The method of claim 14 wherein said withdrawing comprises one of:

(a) backing said robot away from said door, and (b) drawing in said cable on said winch.