Spherical modular autonomous robotic traveler

• US 9,272,743 B2
• Filed: 10/08/2014
• Issued: 03/01/2016
• Est. Priority Date: 04/10/2009
• Status: Active Grant

• Current Assignee: United States Secretary of the Navy
• Original Assignee: the united states of america as represented by the secretary of the navy
• Inventors: Thielman, Gerhard W.
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): PIPALA, EDWARD J
• Application Number:
  US14/509,350
• Publication Number:
  US 20150021107A1
• Time in Patent Office: 510 Days
• US Class Current: 1/1
• CPC Class Codes: B62D 57/00 Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track sledges B62B; motor sledges B62M
• CPC Class Codes: F03G 3/00 Other motors, e.g. gravity or inertia motors
• CPC Class Codes: G05D 1/0891 specially adapted for land vehicles
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A spherical modular autonomous robotic traveler (SMART) is provided for delivering a payload along a surface from a first position to a second position. The SMART includes an outer spherical shell for rolling along the surface, an inner spherical chamber within the outer shell to carry the payload, a plurality of weight-shifters arranged in the inner chamber, and a controller to activate a select weight-shifter among the plurality. The weight-shifters can be arranged symmetrically or asymmetrically. The outer shell rolls in a direction that corresponds to the activated weight-shifter by torque induced thereby. The inner chamber maintains its orientation relative to the surface, even while the outer shell rolls along the surface. Each weight-shifter includes a channel containing an armature and an electromagnet activated by the controller. For the symmetrical arrangement, the channel is oriented from bottom periphery to lateral radial periphery of the inner chamber. The electromagnet is disposed proximal to the channel at the lateral radial periphery. The armature travels from the bottom periphery within the channel to the lateral radial periphery upon activation of the electromagnet.

Claims

1. A spherical modular autonomous robotic traveler (SMART) for delivering a payload along a surface from a first position to a second position, said SMART comprising:

an outer spherical shell for rolling along the surface;

an inner spherical chamber disposed within said outer shell to carry the payload, said chamber maintaining its orientation relative to the surface;

a plurality of weight-shifters arranged within said inner chamber, each weight-shifter including a mass disposed in a default position, and locatable to an active position in response to activation; and

a controller within said inner chamber for selectively activating a weight-shifter among said plurality to shift said mass from said default position to said active position, wherein said outer shell rolls in a direction that corresponds to said weight-shifter activated by said controller.

2. The SMART according to claim 1, further comprising a lubrication layer interposed between said outer shell and said inner chamber.

3. The SMART according to claim 1, wherein said controller responds to an initiation signal from at least one of a receiver, an accelerometer and a timer.

4. The SMART according to claim 3, wherein said controller switches activation to several weight-shifters of said plurality in response to said initiation signal, such as upon reaching the second position.

5. The SMART according to claim 3, wherein said controller switches activation from a first weight-shifter to a second weight-shifter in response to said initiation signal.

6. The SMART according to claim 1, wherein said plurality of weight-shifters is symmetrical about a vertical centerline, and said default position for said each weight-shifter is adjacent radial periphery of said inner chamber.

7. The SMART according to claim 6, wherein said plurality of weight-shifters is arranged in a cruciform pattern.

8. The SMART according to claim 1, wherein said inner chamber comprises a lower dome that includes said plurality of weight-shifters and said controller, and an upper dome that includes the payload, said lower and upper domes being attachable together.

9. The SMART according to claim 1, wherein said plurality of weight-shifters is asymmetrical about a vertical centerline, and said default position for said each weight-shifter is adjacent a radial periphery of said inner chamber.

10. The SMART according to claim 1, wherein said controller responds to an accelerometer within said chamber.

11. A spherical modular autonomous robotic traveler (SMART) for delivering a payload along a surface from a first position to a second position, said SMART comprising:

an outer spherical shell for rolling along the surface;

an inner spherical chamber disposed within said outer shell to carry the payload, said chamber maintaining its orientation relative to the surface;

a plurality of weight-shifters arranged within said inner chamber; and

a controller within said inner chamber for selectively activating a weight-shifter among said plurality, wherein said outer shell rolls in a direction that corresponds to said weight-shifter activated by said controller, wherein said plurality of weight-shifters is symmetrical about a vertical centerline being arranged in a cruciform pattern, and each said weight-shifter includes;

a channel containing an armature, said channel being oriented from bottom periphery to lateral radial periphery of said inner chamber; and

an electromagnet activated by said controller, said electromagnet being disposed proximal to said channel at said lateral radial periphery, wherein

said armature travels from said bottom periphery within said channel to said lateral radial periphery upon activation of said electromagnet.

12. The SMART according to claim 11, wherein said armature is a tungsten carbide ball bearing coated with a ferromagnetic material.

13. The SMART according to claim 11, wherein said chamber further includes a power supply for energizing said electromagnet that is activated by said controller.

14. A spherical modular autonomous robotic traveler (SMART) for delivering a payload along a surface from a first position to a second position, said SMART comprising:

an outer spherical shell for rolling along the surface;

an inner spherical chamber disposed within said outer shell to carry the payload, said chamber maintaining its orientation relative to the surface;

a plurality of weight-shifters arranged within said inner chamber; and

a controller within said inner chamber for selectively activating a weight-shifter among said plurality, wherein said outer shell rolls in a direction that corresponds to said weight-shifter activated by said controller, and said lower and upper domes include honeycomb cells to structurally support said weight-shifters, controller and payload.

15. The SMART according to claim 14, wherein said controller responds to an accelerometer within said chamber.

16. A spherical modular autonomous robotic traveler (SMART) for delivering a payload along a surface from a first position to a second position, said SMART comprising:

an outer spherical shell for rolling along the surface;

an inner spherical chamber disposed within said outer shell to carry the payload, said chamber maintaining its orientation relative to the surface;

a plurality of weight-shifters arranged within said inner chamber; and

a controller within said inner chamber for selectively activating a weight-shifter among said plurality, wherein said outer shell rolls in a direction that corresponds to said weight-shifter activated by said controller, wherein said plurality of weight-shifters is asymmetrical about a vertical centerline and comprises;

a peripheral weight-shifter including a peripheral channel containing a first armature, said peripheral channel being oriented from a forward periphery of said inner chamber toward a circumferential periphery of said inner chamber along a peripheral incline;

a radial weight-shifter including a radial channel containing a second armature, said radial channel being oriented from said forward periphery toward an interior location of said inner chamber along a radial incline; and

first and second electromagnets activated by said controller, said first electromagnet being disposed adjacent said circumferential periphery, and said second electromagnet being disposed adjacent said interior location, wherein

said first armature travels from said forward periphery within said peripheral channel to said circumferential periphery upon activation of said first electromagnet and

said second armature travels from said forward periphery within said radial channel to said interior location upon activation of said second electromagnet.

17. The SMART according to claim 16, wherein said peripheral weight-shifter further includes port and starboard peripheral weight-shifters, with said circumferential channel corresponding to port and starboard leading channels, and said first electromagnet-respectively corresponding to port and starboard electromagnets.

18. The SMART according to claim 16, wherein said interior location includes a repository for at least one armature.

19. The SMART according to claim 16, wherein said armature is a tungsten carbide ball bearing coated with a ferromagnetic material.

20. The SMART according to claim 16, wherein said chamber further includes a power supply for energizing said electromagnet that is activated by said controller.