Robotic platform

• US 9,248,874 B2
• Filed: 12/31/2008
• Issued: 02/02/2016
• Est. Priority Date: 03/27/1998
• Status: Expired due to Fees

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: iRobot Corporation
• Inventors: Won, Chikyung
• Primary Examiner(s): BOEHLER, ANNE MARIE M
• Application Number:
  US12/347,406
• Publication Number:
  US 20090107738A1
• Time in Patent Office: 2,589 Days
• Field of Search: 180/8.2, 180/901, 180/9.1, 180/9.32, 180/9.4, 180/9.62, 280/5.22, 280/5.2, 280/5.28, 305/120, 305/127, 305/165, 305/199, 305/126, 305/195, 446/433, 901/1
• US Class Current: 1/1
• CPC Class Codes: B25J 11/0025 handling explosives, bombs or hazardous objects
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• 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 55/0655 Articulated endless track vehicles steering specially adapted for trailers B62D13/00; articulated buses B62D47/025; tractor-trailer combinations or road trains comprising a uni-axle unit and a uni-axle trailer B62D53/02
• 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 55/12 Arrangement, location, or adaptation of driving sprockets
• CPC Class Codes: B62D 55/14 Arrangement, location, or adaptation of rollers
• CPC Class Codes: B62D 55/244 Moulded in one piece, with either smooth surfaces or surfaces having projections, e.g. incorporating reinforcing elements
• CPC Class Codes: Y10S 180/901 Devices for traversing vertical surfaces
• CPC Class Codes: Y10S 280/901 Adaptation of nonspecialized vehicles to semitrailer tractors

Abstract

An articulated vehicle including a main frame, a drive system disposed on the main frame, and at least one arm having a proximal end and a distal end. The proximal end of the at least one arm being pivotally coupled to the main frame and the distal end being pivotable above the surface. The vehicle also including an articulator motor disposed on the main frame and coupled to the at least one arm for pivoting the at least one arm above the surface and about the transverse axis, and a slip clutch coupled between the articulator motor and the at least one front arm for enabling rotation of the at least one front arm without rotation of the articulator drive motor when a torque between the at least one front arm and the main frame exceeds a threshold torque.

Claims

1. A method performed by an articulated vehicle, the method comprising:

driving the articulated vehicle along a drive direction over a surface, the vehicle comprising;

a main frame having right and left sides;

a drive system disposed on the main frame and configured to maneuver the articulated vehicle over the surface, the drive system including a pair of parallel main tracks each coupled to a corresponding side of the main frame and each being driven by a corresponding drive pulley rotating about a transverse axis generally perpendicular to the sides of the main frame and between a top of the parallel main tracks and a bottom of the parallel main tracks;

at least one arm having a proximal end and a distal end, the proximal end of the at least one arm being pivotally coupled to the main frame about the transverse axis that the drive pulleys rotate about;

an articulator motor disposed on the main frame and coupled to the at least one arm for pivoting the at least one arm above the surface and about the transverse axis; and

a sensor system;

detecting, using the sensor system, that the articulated vehicle is in free fall; and

in response to detecting that the articulated vehicle is in free fall, automatically and without operator intervention assuming a stowed position by rotating the at least one arm, using the articulator motor, so that the at least one arm is next to the parallel main tracks.

2. The method of claim 1, wherein driving the articulated vehicle along a drive direction comprises negotiating a set of stairs.

3. The method of claim 1, wherein the robot comprises an additional arm pivotally coupled to the main frame about the transverse axis that the drive pulleys rotate about, and wherein assuming the stowed position comprises rotating the additional arm so that the additional arm is next to the parallel main tracks.

4. The method of claim 3, wherein each of the at least one arm and the additional arm comprises a compliant track including a compliant belt made of a flexible material and a plurality of elastomer cleats longitudinally spaced along an outer surface of the compliant belt, so that the tracks provide a layer of impact protection to an onboard control system of the articulated vehicle.

5. The method of claim 2, wherein negotiating a set of stairs comprises negotiating at least one stair of the set of stairs having a rise of at least 7 inches (17.8 cm) and a tread of at least 11 inches (27.9 cm).

6. The method of claim 1, wherein driving the articulated vehicle along a drive direction comprises traversing debris.

7. The method of claim 1, wherein the sensor system comprises one or more of:

inertial sensors, velocity and torque sensors, and inclinometers.

8. The method of claim 1, wherein each of the drive pulleys is a compliant pulley intervening between one of the parallel main tracks and the main frame to provide a layer of impact protection to an onboard control system on the main frame.

9. The method of claim 8, wherein the onboard control system is enclosed within a volume of the parallel main tracks, and wherein each compliant pulley is formed of a compliant polymer.

10. The method of claim 8, comprising, after landing from the free fall, inverting the articulated vehicle using the at least one arm.

11. The method of claim 10, wherein inverting the articulated vehicle comprises:

supporting the vehicle on the parallel main tracks on a supporting surface in a first vertical orientation;

supporting the vehicle on the at least one arm; and

pivoting the at least one arm to raise the main frame above the supporting surface.

12. The method of claim 11, wherein inverting the articulated vehicle comprises:

further pivoting the at least one arm past a stable point, resulting in the articulated vehicle being supported on the parallel main tracks in a second vertical orientation, the second vertical orientation being inverted with respect to the first vertical orientation.