Ruggedized robotic vehicles

• US 7,559,385 B1
• Filed: 03/07/2005
• Issued: 07/14/2009
• Est. Priority Date: 03/10/2004
• Status: Active Grant

• Current Assignee: Regents of The University of Minnesota (University of Minnesota)
• Original Assignee: Regents of The University of Minnesota (University of Minnesota)
• Inventors: Burt, Ian T., Papanikolopoulos, Nikolaos P.
• Primary Examiner(s): Vanaman; Frank B
• Application Number:
  US11/073,790
• Time in Patent Office: 1,590 Days
• Field of Search: 180/167, 180/218, 180/368, 180/65.1, 180/65.6, 901/1, 301/5.308
• US Class Current: 180/65.1
• CPC Class Codes: B60K 17/043 Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
• CPC Class Codes: B60K 2007/0046 the motor moving together with the vehicle body, i.e. moving independently from the wheel axle
• CPC Class Codes: B60K 2007/0061 the motor axle being parallel to the wheel axle
• CPC Class Codes: B60K 7/0007 the motor being electric
• CPC Class Codes: B60L 2220/46 Wheel motors, i.e. motor connected to only one wheel
• CPC Class Codes: B62D 37/00 Stabilising vehicle bodies without controlling suspension arrangements
• CPC Class Codes: B62D 61/00 Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern

Abstract

A miniature, rugged robotic vehicle suitable for a variety of tasks including covert surveillance and reconnaissance. The vehicle may include a unitary single-piece chassis that provides structural rigidity to the vehicle and protection of onboard equipment. The vehicle may be configured to be thrown or dropped into an intended target site from a remote location. In one embodiment, the vehicle may include a wheel assembly having a tire with shock absorption capabilities in both radial and axial directions to cushion the vehicle from impact loads experienced during delivery. In some embodiments, the wheel assemblies may couple to a drive motor assembly of the vehicle via a clutch assembly that permits slippage between components to reduce potential damage to drive train components.

Claims

1. A robotic vehicle comprising:

an elongate body defining a body axis, the body comprising two ends;

a tire coupled and axially fixed to each end of the body, the tires configured to elastically deform and dissipate impact loads over substantially any angle of impact of the vehicle on a landing surface;

one or more motors for rotating the tires;

a flexible tail member coupled to the body and extending outwardly therefrom;

a video camera positioned within the body, the video camera configured to transmit data; and

a switch assembly including a switch enclosed within the body, the switch operable to selectively activate electrical circuits within the robotic vehicle, wherein the switch assembly comprises a user-removable pin comprising a cylindrical pin body and a head, the head defining an aperture for connecting the pin to foreign objects, and wherein the body of the vehicle defines an opening for receiving the pin body, the opening extending in a direction transverse to the body axis, whereby when the pin is inserted into the opening of the body, the head of the pin protrudes out of the body of the vehicle.

2. A robotic vehicle comprising:

an elongate body comprising a unitary chassis formed from a single piece of material and a shell covering the chassis, the shell presenting a cylindrical external surface, wherein the chassis defines pockets for receiving and securing components therein;

a wheel assembly coupled to each end of the body, wherein each wheel assembly comprises a tire, each tire configured to elastically deform in both radial and axial directions to dissipate impact loads resulting from substantially any angle of impact of the vehicle on a landing surface;

a pair of drive motor assemblies coupled to the body; and

first and second clutch assemblies, wherein the first clutch assembly connects a first drive motor assembly to the wheel assembly located at a first end of the body, and the second clutch assembly connects a second drive motor assembly to the wheel assembly located at a second end of the body, the clutch assemblies operable to permit slippage of the associated wheel assembly relative to the associated drive motor assembly when a predetermined torque is reached between the wheel assembly and the drive motor assembly, the drive motor assemblies and the clutch assemblies secured within the pockets of the chassis and covered by the shell.

3. The vehicle of claim 2, wherein each clutch assembly further comprises:

a driven gear;

a clutch bell proximal the driven gear; and

a biasing member operable to control frictional engagement of the clutch bell with the driven gear.

4. The vehicle of claim 3, wherein the biasing member comprises a spring washer.

5. The vehicle of claim 2, wherein each tire has an inboard portion and an outboard portion, the inboard portion comprising a first material, and the outboard portion comprising a second material.

6. The vehicle of claim 5, wherein the second material is co-molded with the first material and each wheel assembly further comprises a hub for coupling to its respective clutch assembly.

7. The vehicle of claim 2, wherein each tire has an inboard portion and an outboard portion, the outboard portion having a variable diameter that decreases towards an outboard direction.