Nodding mechanism for a single-scan sensor

• US 8,909,375 B2
• Filed: 05/25/2012
• Issued: 12/09/2014
• Est. Priority Date: 05/25/2012
• Status: Expired due to Fees

• Current Assignee: the united states of america as represented by the secretary of the navy
• Original Assignee: the united states of america as represented by the secretary of the navy
• Inventors: Larson, Jacoby, Tran, Nghia Xuan, Bruch, Michael, Burmeister, Aaron, Halterman, Ryan, Tjersland, Mark, Lum, Jason
• Primary Examiner(s): Jen, Ian
• Application Number:
  US13/480,869
• Publication Number:
  US 20130317649A1
• Time in Patent Office: 928 Days
• Field of Search: 700/259
• US Class Current: 700/259
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G02B 26/10 Scanning systems

Abstract

A single-scanning system for a robot can include a base and a nodding mechanism that pivotably attached to the base. A single-scan sensor such as a lidar or laser sensor can be fixed to the nodding mechanism, and a controller can be connected to the single-scan sensor and motor via a gear arrangement. The controller can manipulate nodding characteristics such as nodding range and nodding angular velocity dynamically, during operation of the robot, either in response to a command from a remote user, robot autonomy system, or according to written instructions included in the controller. An encoder disk can interconnect the nodding mechanism to the controller. With this configuration, the encoder disk can receive sensor data from the single-scan sensor, for further transmission to said controller. A transceiver can route sensor data to the remote user, and can also receive commands from the remote user.

Claims

1. A single-scanning system sized and adapted for attachment to a robot, said system comprising:

a base mounted to said robot;

a nodding mechanism pivotably attached to said base;

a single-scan sensor fixed to said nodding mechanism; and

,

a controller for remotely changing nodding characteristics of said nodding mechanism during operation of the robot.

2. The system of claim 1 wherein said controller changes said nodding characteristics in response to a command from a user that is remotely located from said robot.

3. The system of claim 1 wherein said controller changes said nodding characteristics in response to non-transitory written instructions that are incorporated into said controller.

4. The system of claim 1 wherein said single-scan sensor is selected from a group consisting of laser sensors and lidar sensors.

5. The system of claim 1 wherein said controller further comprises:

a gear assembly attached to said nodding mechanism;

a motor attached to said gear assembly and to said controller; and

,

an encoder disk attached to said nodding mechanism and said controller, said encoder disk receiving data from said single-scan sensor for further transmission to said controller.

6. The device of claim 5 further comprising a transceiver attached to said controller, said transceiver routing said data from said controller to said remote user, said transceiver receiving commands from said remote user.

7. The device of claim 1 further wherein said nodding characteristics are selected from the group consisting of nodding range and nodding angular velocity.

8. A method for scanning an Area-Of-Interest (AOI) using a robot, said method comprising the steps of:

A) mounting a base to said robot;

B) pivotably attaching a nodding mechanism to said base;

C) fixing a single-scan sensor to said nodding mechanism; and

,

D) dynamically controlling the nodding characteristics of said nodding mechanism during operation of the robot.

9. The method of claim 8 wherein said step D) is accomplished in response to a command from a user that is located remotely from said robot.

10. The method of claim 8 wherein said step D) is accomplished in response to non-transitory written instructions that are incorporated into a controller that is in communication with said nodding mechanism.

11. The method of claim 8 wherein said step D) is accomplished by decreasing the vertical nodding range of said nodding mechanism.

12. The method of claim 8 wherein said step D) is accomplished by decreasing the angular nodding speed of said nodding mechanism.

13. The method of claim 8 wherein said sensor from said step C) is selected from a group consisting of laser sensors and lidar sensors.

14. The method of claim 8 wherein said step D) further comprises the steps of:

D1) attaching a gear assembly to said nodding mechanism;

D2) connecting a motor to said gear assembly and to said controller; and

,

D3) fixing an encoder disk to said nodding mechanism and said controller;

and,

D4) receiving data from said single-scan sensor, said receiving data step being accomplished by said encoder disk, for data further transmission to said controller.

15. A single-scanning robot comprising:

a base;

a nodding mechanism pivotably attached to said base;

a single-scan sensor fixed to said nodding mechanism; and

,

a controller for remotely changing nodding characteristics of said nodding mechanism during operation of said robot, in response to a command from a user that is remotely located from said robot.

16. The robot of claim 15 wherein said single-scan sensor is selected from a group consisting of laser sensors and lidar sensors.

17. The robot of claim 15 wherein said controller further comprises:

a gear assembly attached to said nodding mechanism;

a motor attached to said gear assembly and to said controller; and

,

an encoder disk attached to said nodding mechanism and said controller, said encoder disk receiving data from said single-scan sensor for further transmission to said controller.

18. The robot of claim 17 further comprising a transceiver attached to said controller said transceiver routing said data from said controller to said remote user, said transceiver receiving commands from said remote user.

19. The robot of claim 15 further wherein said nodding characteristics are selected from the group consisting of nodding range and nodding angular velocity.