Robotic platform

• US 9,573,638 B2
• Filed: 08/06/2007
• Issued: 02/21/2017
• Est. Priority Date: 03/27/1998
• Status: Expired due to Fees

• Current Assignee: Flir Detection, Inc. (Teledyne Technologies Incorporated)
• Original Assignee: iRobot Defense Holdings, Inc. (Teledyne Technologies Incorporated)
• Inventors: Won, Chikyung
• Primary Examiner(s): BOEHLER, ANNE MARIE M
• Application Number:
  US11/834,290
• Publication Number:
  US 20080143063A1
• Time in Patent Office: 3,487 Days
• Field of Search: 180/8.2, 180/9.1, 180/9.32, 180/9.4, 180/9.52, 180/901, 280/5.2, 280/5.22, 280/5.28, 305/127, 305/199, 305/120, 305/126, 305/165, 305/195, 305/6, 305/124, 305/139, 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 tracked vehicle that has a main section, which includes a main frame, and a forward section. The main frame has two sides and a front end, and includes a pair of parallel main tracks. Each main track includes a flexible continuous belt coupled to a corresponding side of the main frame. The forward section includes an elongated arm. One end of the arm is pivotally coupled to the main frame near the forward end of the main frame about a transverse axis that is generally perpendicular to the sides of the main frame. The arm has a length sufficiently long to allow the forward section to extend below the main section in at least some degrees of rotation of the arm, and a length shorter than the length of the main section. The center of mass of the main section is located forward of the rearmost point reached by the end of the arm in its pivoting about the transverse axis. The main section is contained within the volume defined by the main tracks and is symmetrical about a horizontal plane, thereby allowing inverted operation of the robot.

Claims

1. An articulated tracked vehicle comprising:

a frame having right and left sides and a front portion;

right and left tracks, each track configured to be coupled to a corresponding side of the frame in parallel with the other track;

a drive pulley coupled to a forward portion of the frame on each side of the vehicle, each drive pulley rotatable about a transverse axis defined generally perpendicular to the sides of the frame, and each drive pulley configured to support and drive one of the corresponding tracks;

a first idler pulley coupled to a rearward portion of the frame on each side of the vehicle, the first idler pulley being the same size as the drive pulley;

right and left elongated, wedge-shaped arms each having a proximal portion tapering to a distal portion, the proximal portion of each arm configured for coupling to a corresponding side of the frame near the front end of the frame;

a second idler pulley coupled to the distal portion of each elongated, wedge-shaped arm, the second idler pulley being smaller than the first idler pulley and the drive pulley;

a right sensor on the right side of the frame between the drive pulley on the right side of the vehicle and the first idler pulley on the right side of the vehicle, the right sensor exposed to and oriented to an environment outside the vehicle by facing a right outside direction extending away from the right track and away from the frame, the right sensor shielded within a right track volume of the right track; and

a left sensor on the left side of the frame between the drive pulley on the left side of the vehicle and the first idler pulley on the left side of the vehicle, the left sensor exposed to and oriented to the environment outside the vehicle by facing a left outside direction extending away from the left track and away from the frame, wherein each of the right and left sensors is shielded from above and below the sensors by the articulated tracked vehicle, the left sensor shielded within a left track volume of the left track;

wherein the right and left tracks are each trained about a respective one of the drive pulleys and a respective one of the second idler pulleys, each track extending on top and bottom sides along respective straight lines extending from a tangent point of the respective drive pulley to a tangent point of the respective second idler pulley, and

wherein each wedge-shaped arm has a first side portion substantially opposite a second side portion of the arm, and each track is slidably supported along the first and second side portions of the corresponding wedge-shaped arm.

2. The articulated tracked vehicle of claim 1, wherein the proximal portion of each arm is configured for coupling to the frame adjacent to a respective one of the drive pulleys.

3. The articulated tracked vehicle of claim 1, wherein each arm is configured for coupling to the frame in parallel with the other arm.

4. The articulated tracked vehicle of claim 1, wherein the distal portion of each arm extends forward of the front portion of the frame when the proximal portion of the corresponding arm is coupled to the frame.

5. The articulated tracked vehicle of claim 1, further comprising right and left drive motors disposed on the frame and coupled to the corresponding drive pulleys on each side of the vehicle.

6. The articulated tracked vehicle of claim 5, further comprising an operator control unit in wireless communication with a controller carried by the frame and in communication with the drive motors.

7. The articulated tracked vehicle of claim 1, wherein each drive pulley includes a central hub, a plurality of radial spokes extending from the central hub, and an outer ring section supported by the plurality of radial spokes.

8. The articulated tracked vehicle of claim 7, wherein each drive pulley further comprises two or more teeth supported on the outer ring, each tooth configured to engage at least a portion of the tracks.

9. The articulated tracked vehicle of claim 1, wherein the drive pulleys and the frame are recessed within the volumes defined by the tracks when the tracks are coupled to the drive pulleys.

10. The articulated tracked vehicle of claim 1, wherein the frame defines a payload area.

11. The vehicle of claim 1, wherein:

the left sensor comprises an emitter-receiver sensor exposed to and oriented to the environment outside the vehicle by facing the left outside direction extending away from the left track and away from the frame, and

the right sensor comprises an emitter-receiver sensor exposed to and oriented to the environment outside the vehicle by facing the right outside direction extending away from the right track and away from the frame.

12. The vehicle of claim 11, wherein each of the emitter receiver sensor of the left sensor and the emitter-receiver sensor of the right sensor is a sonar sensor.

13. A vehicle comprising:

a frame having right and left sides and a front end;

right and left tracks, each track configured to be coupled to a corresponding side of the frame in parallel with the other track;

a drive pulley coupled to a forward portion of the frame on each side of the vehicle and being rotatable about a transverse axis defined generally perpendicular to the sides of the frame, each drive pulley configured to support and drive one of the corresponding tracks;

a first idler pulley coupled to a rearward portion of the frame on each side of the vehicle, the first idler pulley being the same size as the drive pulley;

a right sensor on the right side of the frame between the drive pulley on the right side of the vehicle and the first idler pulley on the right side of the vehicle, the right sensor exposed to and oriented to an environment outside the vehicle by facing a right outside direction extending laterally away from the right track and away from the frame, the right sensor shielded within a right track volume of the right track; and

a left sensor on the left side of the frame between the drive pulley on the left side of the vehicle and the first idler pulley on the left side of the vehicle, the left sensor exposed to and oriented to the environment outside the vehicle by facing a left outside direction extending laterally away from the left track and away from the frame, the left sensor shielded within a left track volume of the left track, wherein each of the right and left sensors are shielded from above and below the sensors by the vehicle.

14. The vehicle of claim 13, further comprising right and left elongated, wedge-shaped arms each having a proximal portion tapering to a distal portion, the proximal portion of each arm configured for coupling to a respective side of the frame near the front end of the frame.

15. The vehicle of claim 14, further comprising a second idler pulley coupled to the distal portion of each arm.

16. The vehicle of claim 15, wherein the right and left tracks further comprise right and left continuous flexible tracks trained about a respective one of the drive pulleys and a respective one of the second idler pulleys, each continuous flexible track extending on top and bottom sides along respective straight lines extending from a tangent point of the respective drive pulley to a tangent point of the respective second idler pulley.

17. The vehicle of claim 16, wherein each drive pulley supports and drives the corresponding track, each wedge-shaped arm has a first side portion substantially opposite a second side portion of the arm, and each continuous flexible track is slidably supported along the first and second side portions of the corresponding wedge-shaped arm.

18. The vehicle of claim 14, wherein the drive pulleys have a larger diameter than the second idler pulleys, each track being trained about its corresponding drive pulley and second idler pulleys.

19. The vehicle of claim 14, wherein the vehicle is dimensioned for climbing a set of stairs, including the length spanned by the combination of the frame and the arms being greater than the diagonal span of two stair steps of 7″

rise by 11″

tread stairs at all times, and the center of gravity of the vehicle being located in a position so that the vehicle remains statically stable as it climbs the stairs.

20. The vehicle of claim 14, wherein the distal portion of each arm extends forward of the front portion of the frame.

21. The vehicle of claim 13, further comprising a camera housed in the front portion of the of the frame and arranged to provide a forward field of view along a driving direction of the vehicle, the forward field of view being unobstructed by movement of the tracks.

22. The vehicle of claim 21, further comprising an operator control unit in wireless communication with the camera, wherein the camera is configured to transmit video to the operator control unit.

23. The vehicle of claim 13, wherein:

the left sensor comprises an emitter-receiver sensor exposed to and oriented to the environment outside the vehicle by facing the left outside direction extending away from the left track and away from the frame, and

the right sensor comprises an emitter-receiver sensor exposed to and oriented to the environment outside the vehicle by facing the right outside direction extending away from the right track and away from the frame.

24. The vehicle of claim 23, wherein each of the emitter receiver sensor of the left sensor and the emitter-receiver sensor of the right sensor is a sonar sensor.