Maneuvering robotic vehicles having a positionable sensor head

• US 9,193,066 B2
• Filed: 02/14/2014
• Issued: 11/24/2015
• Est. Priority Date: 10/06/2006
• Status: Active Grant

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: iRobot Corporation
• Inventors: Ohm, Timothy R., Bassett, Michael
• Primary Examiner(s): Rocca, Joseph
• Assistant Examiner(s): ARCE, MARLON ALEXANDER
• Application Number:
  US14/180,508
• Publication Number:
  US 20140305718A1
• Time in Patent Office: 648 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B62D 37/04 by means of movable masses
• CPC Class Codes: B62D 55/02 with tracks and additional ground wheels for multi-purpose tractors B62D49/0635
• CPC Class Codes: B62D 55/065 Multi-track vehicles, i.e. more than two tracks soil-shifting machines E02F; mining machines E21C
• CPC Class Codes: B62D 55/075 Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfacesmagnetic or pneumatic ground-engaging parts B62D55/265; chairs or multi-track cycles specially adapted for invalids A61G5/00
• 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: Y10S 180/907 Motorized wheelchairs
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.

Claims

1. A robot, comprising:

a chassis having a front, a rear, a left side, and a right side;

a steerable drive supporting the chassis, including;

left and right front flippers coupled to the left and right sides of the chassis near the front of the chassis; and

left and right rear flippers coupled to the left and right sides of the chassis near the rear of the chassis;

a first extension moveably coupled to the chassis;

a second extension having proximal and distal ends and being coupled to the first extension at the proximal end with a first tilt axis actuator; and

a sensor head coupled to the distal end of the second extension;

wherein each of the left and right front flippers and the left and right rear flippers comprises;

a pivot end coupled to the chassis and about which the flipper is rotatable, and

a distal end having a wheel about which a ground-contacting track is trained.

2. The robot of claim 1, the second extension having a one-axis actuator along a length thereof, the second extension having at least one angled bend.

3. The robot of claim 2, wherein the sensor head is coupled to the distal end of the second extension with a second tilt axis actuator.

4. The robot of claim 3, wherein the second tilt axis actuator is rotatable 360 degrees.

5. The robot of claim 3, wherein the first and second tilt actuators and the one-axis actuator each comprise an actuator motor, a motor driver, digital logic circuitry for controlling the motor driver, and transceiver circuitry for communicating with an actuator control bus.

6. The robot of claim 5, further comprising a shoulder tilt actuator coupling the first extension to the chassis, the shoulder tilt actuator comprising an actuator motor, a motor driver, and digital logic circuitry for controlling the motor driver.

7. The robot of claim 6 further comprising transceiver circuitry for communicating with an actuator control bus and with the shoulder tilt actuator and the one-axis actuator.

8. The robot of claim 1, wherein the first extension comprises one or more conductive slip rings coupling signals to one or more of the actuators.

9. The robot of claim 1, wherein the chassis comprises a central open volume comprising a stowage cavity.

10. The robot of claim 1, wherein the first extension comprises at least a first piece and a second offset piece, the second offset piece being approximately parallel to the first piece and connected to the first piece such that when the sensor head is in a first stowed position, the offset piece is offset below the first piece.

11. A robot, comprising:

a chassis having a central open volume;

a steerable drive supporting the chassis, including;

left and right front flippers coupled to the left and right sides of the chassis near the front of the chassis; and

left and right rear flippers coupled to the left and right sides of the chassis near the rear of the chassis;

a neck extension coupled to the chassis with a shoulder tilt axis actuator comprising a motor, motor driver circuitry, digital logic circuitry for motor control, and transceiver circuitry for communicating actuator control commands; and

a sensor head connected to a distal end of the neck extension, the sensor head including a controller operable to receive operator commands through at least one of wired communications circuitry and wireless communications circuitry, the controller further operable to transmit actuator control signals responsive to at least one of the received operator commands on a wired actuator control link;

wherein each of the left and right front flippers and the left and right rear flippers comprises;

a pivot end coupled to the chassis and about which the flipper is rotatable, and

a distal end having a wheel about which a ground-contacting track is trained.

12. The robot of claim 11, wherein the neck extension comprises one or more passthrough regions therein through which one or more power cables are disposed, the one or more power cables providing power from batteries in the chassis or steerable drive to the controller and other circuitry in the sensor head.

13. The robot of claim 12, further comprising a controller disposed in the chassis and operably coupled to circuitry in the sensor head through a power management bus at least partially disposed in the passthrough regions.

14. The robot of claim 12, further comprising one or more additional actuator control wires disposed within passthrough regions inside the neck extension.

15. The robot of claim 11, further comprising at least first and second tilt axis actuators along a length of the neck extension, and a one-axis actuator along the length of the neck extension.

16. The robot of claim 15, wherein the sensor head is movable using the actuators.

17. The robot of claim 15, further comprising a network switch disposed in the chassis, the network switch operably coupled to at least one network cable connecting to the sensor head from the chassis through the one or more passthrough regions and operably coupling the network switch to the controller.

18. The robot of claim 17, wherein the first tilt axis actuator transceiver circuitry includes first and second transceivers communicating with the shoulder tilt axis actuator and the one-axis actuator, respectively.

19. The robot of claim 18, wherein the transceiver circuitry of each actuator includes first and second transceivers, the actuators configured with additional actuator control links to form an actuator control network in which each actuator acts as a node to receive commands through at least the first transceiver and transmit selected commands to an adjacent node through at least the second transceiver.

20. A robot, comprising:

a chassis having a central open volume;

a steerable drive supporting the chassis, including;

left and right front flippers coupled to the left and right sides of the chassis near the front of the chassis; and

left and right rear flippers coupled to the left and right sides of the chassis near the rear of the chassis;

a neck extension coupled to the chassis with a shoulder tilt axis actuator comprising a motor, motor driver circuitry, digital logic circuitry for motor control, and transceiver circuitry for communicating actuator control commands;

a sensor head connected to a distal end of the neck extension, the sensor head including a controller operable to receive operator commands through at least one of wired communications circuitry and wireless communications circuitry, the controller further operable to transmit actuator control signals responsive to at least one of the received operator commands on a wired actuator control link;

at least first and second tilt axis actuators along a length of the neck extension; and

a one-axis actuator along the length of the neck extension.