U.S. patent application number 13/560692 was filed with the patent office on 2014-01-30 for modular mobile robot.
This patent application is currently assigned to ENGINEERING SERVICES INC.. The applicant listed for this patent is Andrew A. GOLDENBERG, Jun LIN. Invention is credited to Andrew A. GOLDENBERG, Jun LIN.
Application Number | 20140031977 13/560692 |
Document ID | / |
Family ID | 49995617 |
Filed Date | 2014-01-30 |
United States Patent
Application |
20140031977 |
Kind Code |
A1 |
GOLDENBERG; Andrew A. ; et
al. |
January 30, 2014 |
MODULAR MOBILE ROBOT
Abstract
A mobile robot has a predetermined size of large, medium, small
or back-packable. The mobile robot includes a chassis, drive system
components, power components, a main processor, a communication
system and a power and data distribution system. The chassis has a
predetermined size of large, medium, small or back-packable. Drive
system components are operably attached to the chassis and power
components are operably connected to the drive system components
and the power and data distribution system. Each drive system
component has a predetermined size that is compatible with the
chassis. The main processor, the communication system and the power
and data distribution system are all operably connected together
and operably connected to the traction components and the power
components. The main processor, the communication system, and the
power and data distribution system are all compatible with the
predetermined size of the chassis and at least one other size.
Inventors: |
GOLDENBERG; Andrew A.;
(Toronto, CA) ; LIN; Jun; (Toronto, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
GOLDENBERG; Andrew A.
LIN; Jun |
Toronto
Toronto |
|
CA
CA |
|
|
Assignee: |
ENGINEERING SERVICES INC.
Toronto
CA
|
Family ID: |
49995617 |
Appl. No.: |
13/560692 |
Filed: |
July 27, 2012 |
Current U.S.
Class: |
700/245 ;
180/9.1; 180/9.32; 414/726; 901/1; 901/39 |
Current CPC
Class: |
B25J 5/005 20130101;
B62D 55/075 20130101; B25J 9/08 20130101; Y10S 901/01 20130101;
B25J 11/002 20130101; B62D 55/244 20130101; B62D 55/26 20130101;
Y10S 901/31 20130101 |
Class at
Publication: |
700/245 ;
180/9.32; 414/726; 180/9.1; 901/1; 901/39 |
International
Class: |
G06F 19/00 20110101
G06F019/00; E02F 3/40 20060101 E02F003/40; B62D 55/00 20060101
B62D055/00; B62D 55/075 20060101 B62D055/075 |
Claims
1. A mobile robot having a predetermined size that is one of large,
medium, small and back-packable and the robot for use with a
control unit comprising: a chassis having a predetermined size that
is one of large, medium small and back-packable; drive system
components operably attached to the chassis and having a
predetermined size that is compatible with the predetermined size
of the chassis; a power and data distribution system operably
connected to the drive system components; power components operably
connected to the power and data distribution system and operably
connected to the drive system components, the power components
having a predetermined size that is compatible with the drive
system components; a main processor operably connected to the drive
system components, the power and data distribution system and the
power components; a communication system operably connected to the
drive system components, the power components and the main
processor, the communication system is for communicating with the
control unit; and the main processor, the communication system, and
the power and data distribution system are all compatible with the
predetermined size of the chassis and at least one other size.
2. The mobile robot as claimed in claim 1 wherein the main
processor, the communication system and the power and data
distribution system are interchangeably useable in the large,
medium, small and back-packable mobile robots.
3. The mobile robot as claimed in claim 2 wherein the drive system
components include drive traction modules operably connected to
drive transmission modules.
4. The mobile robot as claimed in claim 3 wherein the drive system
components further include flipper modules operably connected to
flipper transmission modules.
5. The mobile robot as claimed in claim 3 wherein the traction
modules are one of long track traction modules, short track
traction modules, or wheel traction modules.
6. The mobile robot as claimed in claim 1 further including a core
module and the main processor and communication system are part of
the core module.
7. The mobile robot as claimed in claim 6 further including a head
module and the power and data distribution system is part of the
head module.
8. The mobile robot as claimed in claim 7 wherein the core module
and the head module are each interchangeably useable in the large,
medium, small and the back-packable mobile robots.
9. The mobile robot as claimed in claim 7 further includes one of a
large gripper arm module, a small gripper arm module and a tooling
arm.
10. The mobile robot as claimed in claim 8 further includes a PTZ
arm module.
11. The mobile robot as claimed in claim 10 further including a
camera and the camera is interchangeably attachable to the PTZ arm
module, the large gripper arm module and the small gripper arm
module.
12. The mobile robot as claimed in claim 9 further including a
turret attachable to one of the large gripper arm and the small
gripper arm.
13. The mobile robot as claimed in claim 10 further including a
turret attachable to the PTZ arm module.
14. The mobile robot as claimed in claim 1 further including
weaponry that is interchangeably useable in the large, medium,
small and back-packable mobile robots.
15. The mobile robot as claimed in claim 2 wherein the control unit
is interchangeably useable in the large, medium, small and
back-packable mobile robots.
16. The mobile robot as claimed in claim 2 wherein the power
component is interchangeable useable with predetermined sized
chassis smaller than the predetermined size chassis of the
compatible power component.
17. The mobile robot as claimed in claim 2 wherein the control unit
is one of an operator controlled unit and an autonomously
controlled unit.
18. A modular mobile robot for use in association with a control
unit comprising: a chassis; drive traction module operably attached
to the chassis; drive transmission modules operably connected to
the drive traction module; a self-contained head module including a
power and data distribution system, the self-contained head module
operably connected to the drive transmission module a
self-contained power module operably connected to the head module;
and a self-contained core module including a main processor and
communication system, the self-contained core module operably
connected to the self-contained head module and self-contained
power module whereby the core module manages the communication with
the control unit.
19. The modular mobile robot as claimed in claim 18 further
including flipper module operably connected to flipper transmission
modules.
20. The modular mobile robot as claimed in claim 18 wherein the
drive traction modules are one of long track traction modules,
short track traction modules, or wheel traction modules.
21. The modular mobile robot as claimed in claim 18 further
includes one of a large gripper arm module, a small gripper arm
module and tooling arm.
22. The modular mobile robot as claimed in claim 21 further
includes a PTZ arm module.
23. The mobile robot as claimed in claim 18 wherein the control
unit is one of an operator controlled unit and an autonomously
controlled unit.
24. A tooling arm comprising: a housing; a drive system; a lead
screw and a nut assembly, the lead screw operably connected to the
drive system such that rotation of the nut drives the lead screw
upwardly and downwardly relative to the housing; the lead screw is
rotatably connected to the nut which is driven by a motor via a
pair of meshing spur gears. The rotation of the nut drives the lead
screw upwardly and downwardly relative to the housing; and a scoop
assembly connected to the lead screw, the scoop assembly having an
open position and a closed position and movement of the lead screw
downwardly responsively moves the scoop assembly from the open
position to the closed position.
25. An endless track, comprising: a belt having an inner surface
and an outer surface; a plurality of chamfered cleats each having a
contact surface, the chamfered cleats being attached to the outer
surface defining an attachment area, and the contact surface shaped
such that when the track is laid on a flat solid surface, each
chamfered cleat contacts the flat solid surface with less area than
the attachment area; a plurality of holes in the track, disposed
between the chamfered cleats and shaped to allow teeth of a drive
sprocket to pass through and to engage the belt for transmitting
force from the sprocket to the belt; and a dual v-guide comprising
two elongate, parallel protrusions which are spaced laterally from
each other, and are attached to the inner surface.
26. A mobile robot comprising a deployment mechanism; and a
flexible tail attached to the deployment mechanism and extending
outwardly from the mobile robot in a deployment direction; wherein
actuation of the deployment mechanism moves the flexible tail and
changes the deployment direction of the flexible tail.
27. The mobile robot as claimed in claim 26 further comprising an
endless track, comprising: a belt having an inner surface and an
outer surface; and a plurality of chamfered cleats each having a
contact surface, the chamfered cleats being attached to the outer
surface defining an attachment area, and the contact surface shaped
such that when the track is laid on a flat solid surface, each
chamfered cleat contacts the flat solid surface with less area than
the attachment area.
Description
FIELD OF THE DISCLOSURE
[0001] This disclosure relates to mobile robots and in particular
modular mobile robots that have modules that may be easily removed
and replaced, may be interchanged for different modules or may be
interchanged between different sized mobile robots. As well, the
disclosure relates to an endless track, a flexible tail and a
single scoop arm.
BACKGROUND OF THE DISCLOSURE
[0002] Mobile robots are well known and used routinely by military,
law enforcement and security forces. As such they are often used in
hazardous situations and in stand-off (remote) locations.
Accordingly it would be very useful to provide a mobile robot that
can be easily adapted for different uses. As well, it would be
useful to provide a mobile robot that is easily serviced.
Accordingly a modular mobile robot would be advantageous. As well,
it would be advantageous if at least some of the modules were
interchangeable between different sized mobile robots to suit
particular or unique missions.
[0003] Some modular robots have been suggested. For example a U.S.
patent application Ser. No. 12/316,311 that was published on Jan.
13, 2011. This application shows a mobile robot with right and left
track modules. However, the rest of the robot does not appear to be
modular and therefore if other than the track modules needed repair
or replacement the robot would likely be out of the field until
such work could be done.
[0004] Mobile robots are often used for specific tasks and have
specific weight and operational requirements for those tasks. For
example mobile robots are used in space exploration wherein the
weight of the robot may be critical to the mission. In stand-off
operations having an arm that can pick up hazardous objects may be
useful for such missions.
[0005] Mobile robots often include endless tracks, particularly
mobile robots for use in unknown terrains or for use in climbing
stairs and slopes, or navigating obstacles. Endless tracks, which
are usually formed of a belt with a number of cleats disposed
transversely to the belt's longitudinal direction, are the
ground-contacting portion of some common drive systems for mobile
robots. Due to their high traction compared to wheels, endless
tracks have found application in many fields, such as mobile
robotics, farming, and construction. Further, drive systems
employing endless tracks can provide a more versatile set of
capabilities than wheeled systems, for tasks such as navigation
over rough terrains and obstacle climbing.
[0006] However, current tracks have a number of drawbacks. For
instance, they can experience more friction than wheels and thus
require more power to drive, and may cause vibrations when moving
and turning. Further, they may slip off the wheel or sprocket
pulley which drives them, possibly damaging the track or the drive
mechanism. If this happens in a hazardous situation where the robot
is being operated remotely, it may be rendered inoperable. The
wheel driving them may also occasionally rotationally slip within
the track, causing a loss of locomotive force.
[0007] In addition, mobile robots are often deployed in
environments whose surface characteristics are unknown a priori,
and may be very uneven, irregular or bumpy. In such situations, the
probability of the robot falling over after losing its balance can
be quite high. For situations where the robot is being operated
remotely in a hazardous situation, falling over can render the
robot inoperable. Furthermore, it may be required that the mobile
robot has the capability to climb obstacles, which is generally a
risky task as it can quite easily lead to the robot tipping
over.
[0008] Therefore, it would be advantageous to provide a device that
overcomes the aforementioned difficulties.
SUMMARY
[0009] A mobile robot has a predetermined size that is one of
large, medium, small and back-packable. The mobile robot is for use
with a control unit. The mobile robot includes a chassis, drive
system components, power components, a main processor, a
communication system, a power and data distribution system. The
chassis has a predetermined size that is one of large, medium,
small and back-packable. Drive system components are operably
attached to the chassis and have a predetermined size that is
compatible with the predetermined size of the chassis. Power
components are operably connected to the power and data
distribution system and operably connected to the drive system
components and the power components have a predetermined size that
is compatible with the drive system components. The main processor
is operably connected to the drive system components, the power and
data distribution system, and the power components. The
communication system is operably connected to the drive system
components, the power components and the main processor. The
communication system is for communicating with the operator control
unit. The power and data distribution system is operably connected
to the drive system components, the power components, the main
processor and the communication system. The main processor, the
communication system, and the power and data distribution system
are all compatible with the predetermined size of the chassis and
at least one other size.
[0010] The main processor, communication system and the power and
data distribution system may be interchangeably useable in the
large, medium, small and back-packable mobile robots.
[0011] The drive system components may include drive traction
modules operably connected to drive transmission modules.
[0012] The drive system components may further include a flipper
module operably connected to flipper transmission modules. The
drive transmission modules may be one of long track traction
modules, short track traction modules, or wheel traction
modules.
[0013] The mobile robot may further include a core module and the
main processor and communication system may be part of the core
module.
[0014] The mobile robot may include a head module and the power and
data distribution may be part of the head module.
[0015] The core module and the head module may be interchangeably
useable in the large, medium, small and the back-packable mobile
robots.
[0016] The mobile robot may include one of a large gripper arm
module, a small gripper arm module and a a tooling arm. The mobile
robot may further include a PTZ arm module. The mobile robot may
further include a camera and the camera may be interchangeably
attachable to the PTZ arm module, the large gripper arm module and
the small gripper arm module.
[0017] The mobile robot may include a turret attachable to one of
the large gripper arm and the small gripper arm. Further, a turret
may attachable to the PTZ arm module.
[0018] The mobile robot may include weaponry that is
interchangeably useable in the large, medium, small and
back-packable mobile robots.
[0019] The control unit may be interchangeably useable in the
large, medium, small and back-packable mobile robots.
[0020] The control unit may be one of an operator controlled unit
and an autonomously controlled unit.
[0021] The power component may be interchangeable useable with
predetermined sized chassis smaller than the predetermined size
chassis of the compatible power component.
[0022] A modular mobile robot for use in association with a control
unit includes a chassis, drive traction modules, drive transmission
modules, a self-contained head module, a self-contained power
module, and a self-contained core module. The drive traction module
is operably attached to the chassis. The drive transmission module
is operably connected to the drive traction module. The
self-contained head module includes a power and data distribution
system and the head module is operably connected to the drive
transmission module. The self-contained power module is operably
connected to the head module. The self-contained core module is
operably connected to the head module. The self-contained core
module includes a main processor and communication system. whereby
the core module manages the communication with the control
unit.
[0023] The modular mobile robot may further includes flipper
modules operably connected to flipper transmission modules.
[0024] The drive traction modules may be one of long track traction
modules, short track traction modules, and wheel traction modules.
The modular mobile robot may further include one of a large gripper
arm module and a small gripper arm module. The modular robot may
further include a tooling arm. The modular mobile robot may further
include a PTZ arm module.
[0025] A tooling arm includes a housing, a drive system, a lead
screw and a nut assembly, and a scoop assembly. The lead screw and
nut assembly is operably connected to the drive system such that
rotation of the nut drives the lead screw upwardly and downwardly
relative to the housing. The scoop assembly is operably connected
to the lead screw. The scoop assembly has an open position and a
closed position and movement of the lead screw downwardly
responsively moves the scoop assembly from the open position to the
closed position.
[0026] The scoop assembly may act as a four bar link mechanism.
[0027] The scoop assembly may include a pair of scoops, a pair of
links and a shuttle, each scoop pivotally may be attached to the
shuttle, each link may be pivotally attached at one end thereof to
a bracket and the other end thereof to one of the pair of
scoops.
[0028] The bracket may be attached to a lower end of the lead
screw. The shuttle may include a stopper which engages a block
connected to the housing.
[0029] The drive system may include a motor and gear head assembly.
The housing may include an upper mounting plate and the motor and
the gear head assembly may be attached thereto.
[0030] The lead screw and the nut assembly may include a guide tube
having a slot therein and the lead screw may include a screw pin
extending through the lead screw and its motioning is limited by
the slot.
[0031] The housing may include an upper mounting plate and the
motor and the gear head assembly may be attached thereto.
[0032] An endless track includes a belt, a plurality of chamfered
cleats, a plurality of holes and a dual v-guide. The belt has an
inner surface and an outer surface. The plurality of chamfered
cleats, each have a contact surface. The chamfered cleats are
attached to the outer surface defining an attachment area, and the
contact surface is shaped such that when the track is laid on a
flat solid surface, each chamfered cleat contacts the flat solid
surface with less area than the attachment area. The plurality of
holes in the belt are disposed between the chamfered cleats and are
shaped to allow teeth of a drive sprocket pulley to pass through
and to engage the belt for transmitting force from the sprocket
pulley to the belt. The dual v-guide includes two elongate,
parallel protrusions which are spaced laterally from each other and
are attached to the inner surface.
[0033] Each of the plurality of chamfered cleats may have a
substantially rectangular cross section in a plane perpendicular to
the lateral direction to the track.
[0034] Each of the plurality of chamfered cleats may attach to the
outer surface at a fillet. Each of the plurality of chamfered
cleats may be integrally formed with the belt.
[0035] Each of the plurality of chamfered cleats may have a rubber
cover. The holes may be substantially rectangular.
[0036] The two elongate parallel protrusions may extend around the
belt. The two elongate parallel protrusions of dual v-guide may be
first two elongate parallel protrusions, and further including at
least a second two elongate parallel protrusions. The first and
second two elongate parallel protrusions may have rounded edges.
The first and at least a second two elongate parallel protrusions
may be spaced longitudinally such that the drive sprocket pulley,
in operation, is always contacted by at least a portion of the
first and second two elongate parallel protrusions.
[0037] The belt may be made of nylon. The dual v-guide may be made
of polyurethane. The plurality of chamfered cleats may be made of
rubber or polyurethane.
[0038] A mobile robot includes a deployment mechanism and a
flexible tail. The flexible tail is attached to the deployment
mechanism and extends outwardly from the mobile robot in a
deployment direction. Actuation of the deployment mechanism moves
the flexible tail and changes the deployment direction of the
flexible tail.
[0039] The deployment mechanism may be a rotational deployment
mechanism, and actuation of the rotational deployment mechanism
rotates the flexible tail.
[0040] The flexible tail may rotate about an axis parallel to the
lateral direction to the robot. Alternatively, the flexible tail
may rotate about an axis parallel to the upward direction from the
robot.
[0041] Further features of the mobile robot will be described or
will become apparent in the course of the following detailed
description.
BRIEF DESCRIPTION OF THE DRAWINGS
[0042] The mobile robot will now be described by way of example
only, with reference to the accompanying drawings, in which:
[0043] FIG. 1 is a perspective view of a modular mobile robot;
[0044] FIG. 2 is a partially blown apart view of the modular mobile
robot of FIG. 1;
[0045] FIG. 3 is a perspective view of (a) large, (b) medium, (c)
small and (d) backpackable mobile robots;
[0046] FIG. 4 is a perspective view of the chassis portion of the
modular mobile robot of FIGS. 1 and 2;
[0047] FIG. 5 is a perspective view of the chassis portion of the
modular mobile robot similar to the view shown if FIG. 4 but shown
an alternate perspective;
[0048] FIG. 6 is a blown apart perspective view of the chassis
portion of the modular mobile robot of FIGS. 4 and 5;
[0049] FIG. 7 is a perspective view of the chassis portion of the
modular mobile robot but showing it configured with a short
track;
[0050] FIG. 8 is a perspective view of the chassis portion of the
modular mobile robot similar to that shown in FIG. 7 but showing it
configured with wheels;
[0051] FIG. 9 is a perspective view of a modular mobile robot
similar to that shown in FIG. 1 but showing a small arm with a
turret;
[0052] FIG. 10 is an enlarged view of a gripper arm showing a
disruptor module attached thereto;
[0053] FIG. 11 is an enlarged view of the gripper arm of FIG. 10
showing an X-ray module attached thereto;
[0054] FIG. 12 is an enlarged view of the gripper arm of FIG. 10
showing an extendable link attached thereto;
[0055] FIG. 13 is an enlarged view of the end of the gripper arm of
FIG. 10 showing a cutter on the gripper;
[0056] FIG. 14 is a perspective view of the chassis of a modular
mobile robot showing the head module and core module of FIGS. 4 and
5 in a larger robot than that shown in FIGS. 4 and 5;
[0057] FIG. 15 is a perspective view of a PTZ arm;
[0058] FIG. 16 is a perspective view of the PTZ arm of FIG. 15 but
showing the camera module detached therefrom;
[0059] FIG. 17 is showing the camera module that can be transferred
to another mobile robot;
[0060] FIG. 18 is a perspective view of a modular mobile robot
showing the inter-changeability of large and small arms;
[0061] FIG. 19 is a partially blow apart perspective view of a
modular mobile robot similar to that shown in FIG. 2 but further
including a turret;
[0062] FIG. 20 is a perspective view of a mobile robot in the long
track mode with a tooling arm attached to the chassis;
[0063] FIG. 21 is a perspective view similar to that shown in FIG.
20 but shown the mobile robot in wheels mode;
[0064] FIG. 22 is a perspective view of the tooling arm;
[0065] FIG. 23 is a blown apart perspective view of the tooling arm
of FIG. 22;
[0066] FIG. 24 is a sectional perspective view of the tooling arm
of FIG. 22;
[0067] FIG. 25 is an enlarged perspective view of the link
mechanism of the tooling arm of FIG. 22;
[0068] FIG. 26 is an enlarged perspective view of the lead screw
and motor of the tooling arm of FIG. 22;
[0069] FIG. 27 is a perspective view of the tooling arm of FIG. 22
but with a portion of the housing removed and showing the tooling
arm at the start or open position;
[0070] FIG. 28 is a perspective view similar to that shown in FIG.
27 but showing the scoops partially closed;
[0071] FIG. 29 is a perspective view similar to that shown in FIG.
27 but showing the scoops closed;
[0072] FIG. 30 is a perspective view of an embodiment of the belt
with rubber cover;
[0073] FIG. 31 is an enlarged perspective view of a portion of the
belt with rubber cover with cleats shown in FIG. 30;
[0074] FIG. 32 is a side view of the belt with rubber cover of FIG.
30;
[0075] FIG. 33 is a sectional view of the belt with rubber cover of
FIG. 30 taken through one of the cleats;
[0076] FIG. 34 is an enlarged side view of one of the cleats of the
belt with rubber cover of FIG. 30;
[0077] FIG. 35 is a side of another embodiment of the track;
[0078] FIG. 36 is a sectional view of the track of FIG. 35 taken
through one of the cleats;
[0079] FIG. 37 is a top view of the track of FIG. 35;
[0080] FIG. 38 is an enlarged top view of a portion of the track of
FIG. 35;
[0081] FIG. 39 is a blown apart perspective view of a portion of
the track of FIG. 35 with a sprocket pulley;
[0082] FIG. 40 is a perspective view of a the track and sprocket
pulley of FIG. 39;
[0083] FIG. 41 is perspective view of an alternate embodiment of
the track showing a plurality of elongate parallel protrusions;
[0084] FIG. 42 is a perspective view of an alternate embodiment of
the mobile robot including a flexible tail;
[0085] FIG. 43 is a perspective view of the mobile robot of FIG. 41
shown on a slope; and
[0086] FIG. 44 is a side view of the mobile robot of FIG. 41
showing the use of the flexible tail on stairs.
DETAILED DESCRIPTION
[0087] The systems described herein are directed, in general, to
modular mobile robots, to interchangeable features for use therein,
to a tooling arm for use therewith, to an endless track for use
therewith and to a flexible tail. Although embodiments of the
mobile robot are disclosed herein, the disclosed embodiments are
merely exemplary. Furthermore, the Figures are not drawn to scale
and some features may be exaggerated or minimized to show details
of particular features while related elements may have been
eliminated to prevent obscuring novel aspects. Therefore, specific
structural and functional details disclosed herein are not to be
interpreted as limiting but merely as a basis for the claims and as
a representative basis for enabling someone skilled in the art to a
mobile robot.
[0088] Referring to FIGS. 1 and 2 an embodiment of the modular
mobile robot is shown generally 10. Mobile robot 10 has a number of
features that are modular. As well, some of the modules or
components are interchangeable between mobile robots of different
sizes.
[0089] Mobile robots that have interchangeable components are
particularly useful for a user that has a big fleet of mobile
robots. By having modules that are useable in different sized
mobile robots it keeps in reserve a series of different components
that are useable in different robots, thus making it easier to keep
the fleet running. In many fleets there are multiple sizes of
mobile robots. By way of example as shown in FIG. 3 there may be a
large robot FIG. 3(a), a medium sized robot FIG. 3(b), a small
robot FIG. 3(c) and a robot that fits into a backpack FIG. 3(d). By
way of example only the large robot may be L.times.W.times.H
139.times.66.times.78 cm with a weight of 250 kg, the medium robot
98.times.50.times.82 cm with a weight without payload of 125 kg,
the small robot 71.times.54.times.50 cm with a weight of 60 kg and
the back-packable robot 60.times.35.times.23 cm with a weight of 15
kg. Typically the large and medium robots are used for
neutralization and handling of large payloads; the small robot can
be used for reconnaissance and handling of small payloads; the
back-packable can be used for surveillance and reconnaissance.
[0090] Components that may be interchangeable between robots of two
or more sizes are the control unit, communication components,
electronics components, power components, external sensors,
internal sensors, cameras and weaponry. The communication
components and a main processor may form part of a self-contained
core module which may be interchangeable between different sized
robots. Power and data distribution system may form part of a
self-contained head module which may be interchangeable between
different sized robots. A self-contained power module may be
downwardly compatible with different robots meaning that if it is
sized for a particular size of chassis it will work with that sized
chassis and smaller chassis. In contrast external components such
as a large gripper arm, small gripper arm and PTZ arm are upwardly
compatible meaning that if the arm is sized for a particular size
of chassis it will work with that sized chasses and larger chassis.
As well, software programs that control specific tasks may be
interchangeable between different sized robots. For example tasks
such as auto navigation and auto grasping of tools from a tool rack
would be interchangeable. As well, software that controls the
driving function and software that controls the PTZ could be
interchangeable. Software that controls the sensors, software for
relay control, software for power distributions, software that
controls weaponry where the weaponry is interchangeable and
software for video selection could each be interchangeable.
However, software that controls the flipper, software that controls
the gripper arm and software that controls the PTZ arm would be
specific to the particular size of those components.
[0091] It will be appreciated by those skilled in the art that not
all of the components or modules may be interchangeable between
different sized robots. Specifically the modules associated with
the chassis are not interchangeable between different sized robots.
More specifically the self-contained head, core, and power modules
(described in more detail below) would be interchangeable.
Accordingly, the components associated with the chassis, the
traction, the transmissions and the power would not be
interchangeable. Components such as the gripper arm, PTZ (pan, tilt
and zoom) arm and tools could be upwardly compatible in that the
components designed for a smaller robot could be used on a larger
robot; however it is unlikely that the smaller components would
provide the functionality of the larger robot.
[0092] The core module, the head module and the power module are
described as being self-contained since each is contained in a
housing such that it can be easily removed and replaced. The core
module, the head module and the power module are complete modules,
which are self-contained modules that can be easily removed and
replaced in a particular robot or used in other mobile robots. More
specifically in one embodiment the core module has processor,
communication interface card, wireless transceiver for two-way data
and audio, one-way video, DC-DC converter inside. The core module
is the "brain" of the robot. It accepts task commands from the
control unit and analyses and translates the task commands then
issue to different modules and receives feedbacks from these
modules via its multiple serial ports. It also provides Ethernet,
USB, RS232, RS485, RS422 and VGA interface to users so the users
can develop their own software to control the robot. The power
module integrates high capacity Li-Polymer battery, DC-DC
converter, and control relays. The output interface connector on
the power module includes the power switch pins, the power relay
coil pins, and the 12VDC, 24VDC, and 37VDC output pins. The power
outputs are isolated from the other modules by the power switch and
power relay contacts, which means only after the power switch and
power relay are on (manually or remotely), the 12VDC, 24VDC and
37VDC will be output to the external. The head module in the robot
accepts power input from the power module and control signal
input/output from the core module and distributes power to all the
different modules, including by way of example the drive
transmission module, flipper module, gripper arm module, PTZ arm
module, and upgrade module. The power and signal distribution is
realized by hard wire inside the head module to minimize any extra
processing delay. The head module also manages the cameras, lights
(visible and InfraRed), picture-in-picture display, the platform
disruptor and laser control, and the relay control.
[0093] As well, it is useful to have a mobile robot wherein the
functionality of the robot can be changed by changing a component
or a module. For example arms of different sizes may be attachable
to the same robot or different end effectors may be attached to the
same or different arms.
[0094] One embodiment of the mobile robot described herein is
constructed of a series of modules. This makes it easy to change
from a track robot to a wheel robot or from a long track robot to a
short track robot. As well, when a robot is in need of repair, the
robot is designed such that a module can be removed and a
replacement module may be easily installed.
[0095] Mobile robot 10 as shown in FIGS. 1 and 2 is a modular
mobile robot. Robot 10 includes a chassis 12, drive system
components, power components, electronic components, arm components
and other components to preform specific tasks.
[0096] The drive system components are attachable to the chassis
12. The drive system components include drive traction modules and
drive transmission modules. Referring to FIG. 6, the drive module
shown herein is a long track traction module 14 and it also
includes a flipper module 16 and the transmission module is a drive
transmission module 18 and a flipper transmission module 19. Note
that mobile robot 10 will typically include the flipper
transmission module 19 whether the flipper module 16 is in use or
not. Thus the users can easily reconfigure the robot among a short
track, long track with flipper and wheel configuration. However if
the user knows that it will not be using the flipper module 16 the
flipper transmission module 19 need not be used.
[0097] The power module 20 includes battery and multiple voltage
DC-DC converters, and provides all the voltages and the power for
the entire robot. The core module 22 includes the main processor
and communication system, and manages the communication to the
control unit for all the modules. It is operably connected to the
other modules. The core module receives commands from the control
unit and then commands the other modules. The core module controls
the motion of the robot through the drive transmission module 18
and the flipper transmission module 19. The control unit (not
shown) is typically situated remote from the robot. The control
unit may be an operator control unit or an autonomously controlled
unit. The control unit might also include a hybrid communication
system that includes a relay unit.
[0098] The head module 24 is a power, data and communication
distribution module, and an interface module to external sensors.
The head module is operably connected to the power module 20 and to
the core module 22. As well, it is operably connected to the other
modules. The head module 24 distributes the power from the power
module 20 and it distributes the commands from the core module 22.
The head module 24 controls all aspects of the mobile robot. For
example, it passes the power and operating instructions to the
drive transmission module 18 and the flipper transmission module
19, as well, through another channel it transmits power and
operating instructions to other components such as the gripper arm,
the PTZ arm, fiber optical components. The head module 24 also
distributes power such as 12V and operating instructions to
internal and external sensors components and any weaponry. In the
embodiment shown herein the head module 24 is configured to
interface with up to two sensors with a serial communication
interface. In addition, the head module 24 controls the laser
pointer, disruptor and relay outputs 69 and 70 on the platform.
Mounted with the head module 24 are a camera 71 and two visible 72
and IR 73 lights. The head module 24 is provided with a plurality
of ports. For example there is provided a PTZ arm port 74, a
gripper arm port 75, a battery charger port 30, a Wi-Fi port 32.
PTZ arm port 74 and gripper arm port 75 provide the power supply,
the communication and the video signals to the respective arm. The
arm function is defined in its independent control box. The head
module 24 also may include specific internal sensors such as a
temperature sensor, a compass, an inclinometer and a battery power
sensor. As well, the head module may also have sensors which may
include gas sensor and environmental sensors such as chemical,
biological, nuclear and explosive (CBRNE) sensors. Alternatively
the CBRNE sensors may be in a separate module that is attachable to
the chassis or to one of the gripper arms as a payload. These
sensors may be either internal or external.
[0099] In addition, the head module includes software to control
the sensors, software for relay control, software for power
distribution, software for data distribution and software for video
selection.
[0100] The chassis 12 is generally a box 34 with a hinged lid 36. A
pair of rails 38 is attached to the outside of the chassis. The
rails 38 facilitate the attachment of the components such as the
gripper arm.
[0101] In the embodiment shown herein some of the modules are
mechatronics modules in that they have the electronics and
mechanical parts integrated. For example, the flipper transmission
module 19 has motor, gear head, encoder, angular position sensor,
brake, servo motor driver, transmission gear pairs, cam, mechanical
structure, etc. The large gripper arm module 28 has motors, gear
heads, encoders, angular position sensors, payload interface,
weapon control interface, and the mechanical structure, links, and
gripper fingers integrated. The PTZ arm 26 has a motor, motor
driver and power conditioning.
[0102] In the embodiment herein, the core module 22 has a plurality
of serial ports, and can be configured to multiple serial
communication protocol standards. Among them, serial ports in the
core module are connected to the head module 24, and from there
connected to different modules. In the embodiment herein the serial
ports from the head module are connected to: the drive transmission
and flipper transmission modules 18 and 19, the gripper arm 28, the
PTZ arm 26, the fiber optical module 44. In addition other modules
or components may also be connected to the serial ports. All the
communications are initiated by the core module 22. Only the core
module 22 can "talk" to different modules and the modules will not
"talk" to each other directly. However, the head module passes the
information or "talk" to the other components. The core module
routes the communication through the head module 24. It will be
appreciated by those skilled in the art that the number of ports in
the core module 22 and the head module 24 may vary depending on the
specific use and specifications for the mobile robot.
[0103] The upgrade module 46 includes fiber optic spool and cable
and additional sensors. The upgrade module is only for use in the
large and medium mobile robots. The fiber optic cable is connected
to the control unit and is to communicate with the core module
22.
[0104] It will be appreciated by those skilled in the art that
embodiment of the modular mobile robot shown and described herein
provides the user with a number of options in regard to the
configuration of the robot and the components attached thereto. For
example the robot has three basic traction configurations; namely
the long tack traction module 14 and flipper modules 16 attached to
the chassis, as shown in FIGS. 1, 2 and 4 to 6; a short track
traction module 52 attached to the chassis as shown in FIG. 7; and
wheel traction module 55 attached to the chassis as shown in FIG.
8.
[0105] As well the embodiment of the modular mobile robot shown
herein allows for the reconfiguring of the arm and payloads for
specific missions. For example, referring to FIG. 9, an alternate
gripper arm 54 which is smaller than gripper arm 28 may be attached
to the rails 38 and operably connected to the same ports as gripper
arm 28. Gripper arm 28 or gripper arm 54 may have a variety of
different components attached thereto. For example a disruptor 56
or a laser pointer 57 or a weapon 59 all as shown in FIG. 10 or an
X-ray 58 as shown in FIG. 11 may be attached to the gripper arm.
Alternatively the gripper arm may include an extendable link 60 as
shown in FIG. 12. The gripper may include a cutter 62 as shown in
FIG. 13.
[0106] A number of modules may be interchangeable between different
sized mobile robots. FIG. 14 shows a chassis 64 of a modular mobile
robot 65 which is similar to chassis 12 but larger. Chassis 64 has
the head module 24 and the core module 22 positioned therein.
[0107] Referring to FIGS. 15 and 16, as discussed above a number of
modules may be interchangeable between different mobile robots and
between mobile robots of different sizes. By way of example the PTZ
arm 42 has a camera 66 attached thereto. Camera 66 is attached with
a plurality of screws 68 and thus it can be detached by removing
the screws. It can then be moved from the PTZ arm 42 to a gripper
arm 28 as shown in FIG. 17. FIG. 18 shows an embodiment with (3)
three arms that could be attached to the platform 12. The arms are
the PTZ arm 26, the large gripper arm 28 and the smaller gripper
arm 54. FIG. 19 shows an embodiment that includes a turret 76
wherein the large gripper arm 28 is attachable to the turret 76 and
the PTZ arm 26 is attachable to a platform 77 that extends to one
side of the large gripper arm 28. The small gripper arm 54 shown
herein has a turret incorporated therewith, however, the turret
could be a separate module to which a small gripper arm is
attached. Any one of the arms 26, 28 and 54 could be attached to
turret 76 thereby allowing the arm to rotate 360 degrees.
[0108] The embodiments of the modular mobile robot may also include
modules that may control specific functions. For example an auto
navigation module which is operably connected to the core module
can control the motion of the robot. An auto navigation module
includes a processor and a plurality of sensors, such as IMU
(inertia measurement unit), inclinometer, gyro, and LIDAR (light
detection and ranging). This module will calculate the path based
on the sensor feedback and send the motion commands to the core
module. There may also be a module for automatically controlling
specific functions of the gripper arm such as an automatic stow
motion or an automatic deploy function, as well as automatically
grasping and changing tools from the tool box. This auto grasping
module includes a processor and a plurality of sensors such as
force and tactile sensors.
[0109] Referring to FIGS. 20 and 21, a tooling arm 80 is shown
attached to a mobile robot 10. It will be appreciated that this
tooling arm 80 may be attached to mobile robot 10 when it is a
number of different configurations. By way of example, as shown in
FIG. 20 it can be attached to a mobile robot in the long track mode
or as shown in FIG. 21 in the wheel mode. The tooling arm 80 is
particularly useful wherein the robot is a micro-robot and weight
is an important. The tooling arm 80 is particularly useful for
scooping and collecting small samples. The tooling arm 80 enables
sampling and digging to a predetermined depth and to capture and
stow a sand or soil sample. Thus the tooling arm is particularly
useful for robots that are used in lunar or Martian
explorations.
[0110] Referring to FIGS. 22 to 24, the tooling arm 80 includes a
drive system 82, a lead screw and nut assembly 84, a scooping
assembly 86 and a housing 88. The tooling arm 80 may be fixedly
mounted in the front of the mobile robot 10 as shown in FIGS. 19
and 20. Alternatively the tooling arm 80 may be releasably
attachable to rails 38 (shown in FIGS. 1 to 19).
[0111] Drive system 82 may be a motor and gear head assembly. The
drive system 82 is fixedly mounted on an upper mounting plate 94
which is fixedly attached to the housing 88. Lead screw and nut
assembly 84 includes a lead screw 100, a nut 102 (as best seen on
FIG. 24), a guide tube 96 with a vertical slot 98 therein (as best
seen in FIG. 26), and a lower mounting plate 104 which is fixedly
attached to the housing 88. Nut 102 is rotatably attached to lead
screw 100. A screw pin 105 extends through the lead screw 100.
Screw pin 105 extends through lead screw 106 and its motion is
limited within the slot 98 of guide tube 96. Guide tube 96 is
fixedly mounted on upper mounting plate 94. Drive system 82 is
operably connected to nut 102 by a pair of meshing spur gears 107
(best seen in FIG. 23). Meshing spur gears 107 are fixedly
connected to nut 102 and the drive system 82, respectively.
Thereby, the lead screw 100 moves upwardly and downwardly in a
generally vertical fashion relative to housing 88 and the chassis
of the mobile robot.
[0112] The scoop assembly 86 includes a pair of scoops 106, a pair
of links 110 and a shuttle 108. Each scoop 106 is pivotally
attached to a shuttle 108. Each link 110 is pivotally attached at
one end thereof to a scoop 106 and at the other end thereof to a
bracket 112. Bracket 112 is attached to the bottom end of the lead
screw 100. Thus as the lead screw moves up and down the bracket 112
moved up and down. Shuttle 108 has a pair of generally vertical
slots 114 formed therein. A post 116 extends outwardly from the
link 110 where the link is pivotally attached to the bracket 112.
Post 116 slidingly engages the slot 114 in shuttle 108. The
scooping assembly 86 acts as a four bar link mechanism wherein the
slider is the lead screw 100; the coupler link is link 110; the
slide link is the scoop 106; and the frame is the shuttle 108.
[0113] Housing 88 is provided with a block 118 which is adapted to
engage stopper 120 extending outwardly from shuttle 108 as best
seen in FIGS. 23 and 29.
[0114] FIGS. 27 to 29 show the tooling arm 80 in use. The scoop
assembly 86 has an open position as shown in FIG. 27 and a closed
position as shown in FIG. 29. The scoop assembly 86 moves from the
open position to the closed position responsive to the movement of
the lead screw 100 whereby as the lead screw 100 moves downwardly
the scoop assembly 86 moves from the open position to the closed
position. The scooping assembly 86 is controlled for opening and
closing using the downward force of the lead screw 100 acting on
links 110. The lead screw 100 moves generally vertically relative
to the chassis and does not rotate. Tooling arm 80 has two degrees
of freedom (DOF). More specifically tooling arm 80 uses one drive
system 82 to realize two motions such that lead screw 100 provides
linear motion which is translated into rotational motion by scoops
106 rotation such that they close and open. Lead screw 100 moves
upwardly or downwardly depending on the direction of rotation of
the motor 90. When lead screw 100 moves downwardly the scoop
assembly 83 moves downwardly with the shuttles 108, links 110 and
scoops 106 moving downwardly together as a unit. The motion of the
shuttle 108 will stop when the shuttle's stopper 120 is obstructed
by or engages a block 118 mounted on the housing 88. When the
shuttle stopper 120 engages the block 118 the shuttle stops moving
downwardly with the downward motion of the lead screw 100. Motor 90
continues to drive lead screw 100 downwardly which in turn causes
links 100 to move downwardly in slots 114 of shuttle 108. This in
turn causes scoops 106 to dig in and close and scoop up anything in
their path. Once the scoop is fully closed, the drive system 82
reverses to drive lead screw 100 upwardly, which in turn lifts the
shuttle 108 and scoops 106 upwardly and thus closes scoops 106. The
motor 90 is stopped when the scoops 106 are clear of the
surrounding sample. To open the scoops and deposit the sample the
motor 90 reverses to drive the lead screw 100 upwardly which causes
the shuttle 108 to move upwardly until contacting the lower
mounting plate 104. The motor 90 continues to drive the lead screw
100 upwardly which in turn cause the links 100 to move upwardly in
slots 114 of shuttle 108. This in turn causes the scoops 106 to
open and release the sample inside.
[0115] A sampling sensor 148 may be mounted inside scoop 106 to
measure if sample is collected. A distance sensor may be fixedly
mounted on the shuttle 108 to detect the distance between scoop 106
and the ground.
[0116] Referring to FIGS. 1, 30 to 34, an endless track is
provided, comprising a belt 131 having an inner and outer surface
132, 134, and a plurality of cleats 136 attached to the outer
surface 134. The attached cleats 136 generally project outwardly
from the belt 131 and provide much of the traction and gripping
capabilities of the endless track.
[0117] In some embodiments, the cleats 136 are attached to the
outer surface 134 defining an attachment area, and a contact
surface 138 which has a smaller surface area than the attachment
area. In other words, the cleats 136 may be chamfered such that
when the track is laid on a flat solid surface, each chamfered
cleat 136 contacts the flat solid surface with less area than the
attachment area. This reduces the friction and vibration of the
track during turning and driving. In order to maintain the traction
provided by using an endless track, while still reducing friction
and vibration by using chamfered cleats 136, the cleats 136 may be
chamfered or rounded only on edges which are substantially parallel
to the longitudinal direction of motion of the track 130. For
example, for cleats 136 are substantially rectangular prism-shaped
before chamfering during manufacturing, each of the plurality of
chamfered cleats 136 remains substantially rectangular when viewed
in a lateral direction to the track. For example, as shown in FIG.
36, cleats 136 viewed along section A-A appear to have a
trapezoidal top, where the top corners in this view (which are
edges in 3 dimensions, parallel to the longitudinal direction of
track motion) have been chamfered to reduce the surface area of the
contact surface 138. However, when viewed in a lateral direction,
such as shown in FIG. 35, the cleats 136 appear substantially
rectangular. The cleats 136 may further have fillets 140 or other
reinforcement at the connection between them and the outer surface
134 of the endless track, as shown in FIGS. 31, 34 and 38. The
cleats 136 may be made of any material known to be suitable for the
application by those skilled in the art; for example, rubber or
polyurethane. In embodiments where the cleats 136 are made of
rubber, the cleats may have a rubber coating. The rubber may be
soft for reducing vibration and flexible for bending. The
properties of the cover rubber may be as follows: hardness--80
shore A, tensile strength--13800 psi, elongation--1380%. Further,
it will be appreciated that the cleats 136 may be integrally formed
with the belt.
[0118] In some embodiments of the endless track, a dual v-guide 142
is attached to or possibly integrally formed with the inner surface
132 of the belt 131. With reference to FIGS. 35 to 40, the dual
v-guide 142 comprises two elongate, parallel protrusions which are
spaced laterally from each other. This lateral spacing provides a
groove within which a wheel, sprocket pulley 146 or other track
driving mechanism may reside and provide driving power to the
endless track. The dual v-guide 142 serves to keep such a driving
mechanism in line with the track 130 and prevents slipping out of
the track 130 laterally. It is noted that the dual v-guide 142 may
be continuous and extend around the track 130, or the track 130 may
comprise a plurality of elongate parallel protrusions (equivalent
to a dual v-guide 142 broken into a plurality of protrusion
sections as shown in FIG. 41). In embodiments with a plurality of
protrusion sections, the shape of the protrusion sections may be
designed such that the driving mechanism doesn't snag on them when
the protrusion sections engage the sides of the driving mechanism,
for instance, by rounding or chamfering edges on the protrusion
sections. Further, in such embodiments, the protrusion sections may
be longitudinally spaced such that the driving mechanism, during
operation, always has at least a portion of a protrusion section on
either side of it. Furthermore, it will be appreciated that the
dual v-guide 142 may comprise a different material from or the same
material as the belt 131, and it may be integrally formed with or
attached to the belt 131. The material of the dual v-guide 142 with
C-section is a thermoplastic polyurethane molding compound. Its
physical and mechanical properties are: specific gravity--1.136,
tensile strength at break--6200 psi, tensile elongation at
break--600%, tear strength--434PLI, shore hardness--70.
[0119] In some embodiments, the track 130 may have holes 144 in
between the cleats 136, as shown in FIGS. 35 to 40. The holes 144
are shaped to allow the teeth 148 of a driving sprocket pulley 146
to pass through them and to engage them for transmitting force to
the track, as shown in FIG. 40. Such embodiments of the endless
track prevent rotational slippage of the driving mechanism within
the track, thus allowing much more force to be transmitted through
them than in the case of a simple pulley drive mechanism. Further,
embodiments of the endless track with holes 144 may be lighter than
endless tracks with added inner lugs for engaging sprocket teeth
148. It will be appreciated that embodiments with holes 144 need
not comprise a track 130 with material removed from it; for
example, the track may comprise two belt halves which are attached
to one another by the cleats 136 to form the track. Further, it
will be appreciated that the track 130 may be reinforced in key
locations, such as, for example, around the holes 144 or cleats
136. The track 130 may be made of any material known in the art to
be suitable for use in an endless track; in non-limiting examples,
it may comprise rubber, or urethane, or steel.
[0120] In this embodiment belt 131 is a TTA-1500 belt manufactured
from NITTA Corporation. Belt 131 has a 2.4 mm thickness. Its major
structure is composed of Nylon core and Nylon fabrics. Its
properties includes: tensile strength--450N/mm, elongation at
break--25%, standard tension--1.0%, working load at 1%-22.5N/mm,
temperature range---20 to +80.degree. C., coefficient of friction
(steel)--0.2 to 0.3.
[0121] In embodiments of the endless track with a continuous dual
v-guide 142, each protrusion may be shaped such that it increases
the second moment of area of the track to provide enhanced
stiffness with very little additional mass. In such embodiments, it
will be appreciated that tall and slender protrusions provide the
highest gain in stiffness per additional mass. In embodiments the
belt 131 comprises holes 144 to engaged sprocket teeth 148, the
dual v-guide 142 may reinforce the track to compensate for the
reduced stiffness due to the holes 144. Further, chamfered cleats
136 may be additionally included and positioned to reinforce the
areas of the track having holes 144. In such embodiments, in
addition to their primary functions, the dual v-guide 142 provides
longitudinal bending stiffness to the track and the cleats 136
provide lateral bending stiffness to the track.
[0122] Track 130 is composed of belt 131, rubber cover with cleats
136, and V-guide 142. FIGS. 31 to 34 show the belt 131 and the
rubber cover adhered together, this is the first step of the track
130 construction. The second step is punching holes 144 on the
combination of the belt 131 and the rubber cover. The last step is
to attach V-guide 144 on the belt 131 to make the track 130 as
shown in FIGS. 35 to 40.
[0123] As shown in FIGS. 42 to 44, a mobile robot is provided
comprising a flexible tail 150 which is deployable in various
directions extending outwardly from the mobile robot. In some
embodiments, the flexible tail 150 is deployable in front of and
behind the robot. The flexible tail 150 is attached to a deployment
mechanism. In such embodiments, the tail 150 may be mounted to the
robot in an actuatable rotatable manner such that upon actuation,
the tail 150 changes its deployment direction from in front of the
robot to behind the robot, or vice versa. The tail 150 may be
rotatable about an axis parallel to a lateral direction to a robot,
in which case the tail 150 flips over the robot when transitioning;
or the tail 150 may be rotatable about an axis parallel to an
upward direction from the robot, in which case the tail 150 may be
deployable in front, behind, to the sides of the robot, and
positions in between. The flexible tail 150 may be mounted to the
robot in any way known in the art, such as but not limited to, on a
disk, wheel, sprocket, gear, or shaft, and may be removable.
[0124] The flexible tail 150 may be made of any material, be of any
length, and be of any cross sectional shape such that it can
support itself as a cantilever beam. Usually, the determination of
the flexible tail length (L) depends on: (1) the structure
parameters of the platform such as the center distance (C) between
the front and rear pulleys/wheels and the pulley/wheel diameter
(D); (2) the obstacle height (H) to be surmounted, or stairs span
(L) to be climbed. For example, if the design is required to climb
the stairs with L' span, the flexible tail length L can be obtained
based on the following equitation,
L .gtoreq. ( 2 L ' - C 2 ) 2 + D 2 4 ( 1 ) ##EQU00001##
In non-limiting examples, the tail 150 may be made of any material
which has sufficient strength, stiffness, and flexibility. It could
be metal material such as alloy, spring steel, etc; or non-metal
material such as fiber glass or rubber, and it may have a
rectangular, circle, or elliptic cross section. For example, in the
embodiment shown in FIGS. 42 to 44, the flexible tail 150 has a
rectangular cross section and is made of spring steel The tail 150
is attached at the centre (longitudinally) of the robot. In this
embodiment, width of the tail 150 has been chosen to be much larger
than its thickness; this prevents the tail 150 from bending
laterally and keeps it in its preferred deployment direction
relative to the robot when experiencing side loads, such as while
the robot turns. It will be understood that the relative dimensions
noted herein are included for didactic purposes and are
non-limiting.
[0125] The flexible tail 150 provides a number of advantages for
mobile robots. For example, when it is deployed or its deployment
direction is changed by rotating it, it can be done in a rapid
manner because of its ability to absorb energy by deforming. Thus,
the flexible tail 150 will have a much lower chance of breaking
itself or the robot it is attached to when it impacts a solid
surface. In a similar scenario, if the flexible tail 150 is
deployed ahead of a robot while the robot is driving forward, if
the tail 150 contacts a solid object (e.g. a wall or a large rock),
it will not transfer the impact energy directly to the robot, and
will instead deform to absorb it. If the robot is dropped or it
falls, the flexible tail 150 may absorb some of the impact energy
thus cushioning the robot's fall. Further, the flexible tail 150
allows the centre of mass of a robot to change, and is compliant to
uneven terrain when resting upon it, thus granting the robot a more
stable stance on such uneven terrain.
[0126] It is noted that, when deployed in certain configurations
(such as that shown in FIGS. 42 to 44), the flexible tail 150 may
increase the friction experienced by the robot during turning. In
embodiments with a robot comprising a flexible tail 150 and endless
track as described in the foregoing, this friction can be reduced
by using chamfered cleats 136 on the endless track. In such
embodiments, the advantages of a flexible tail 150 can be achieved
without the loss in locomotive efficiency when maneuvering the
robot.
[0127] While the mobile robot shown in the figures is a robot, it
will be understood by one skilled in the art that the mobile robot
comprising the endless track and/or the flexible tail described
herein may be any number of robots. In non-limiting examples, the
mobile robot may be a robot; a construction robot such as a
backhoe, bulldozer, or crane; a farm robot such as a harvester or
tractor; a military robot such as a tank; or a robot for moving on
snow.
[0128] Generally speaking, the systems described herein are
directed to modular mobile robots, interchangeable features for use
therein, a tooling arm for use therewith and an endless track for
use therewith. The Figures are not to scale and some features may
be exaggerated or minimized to show details of particular elements
while related elements may have been eliminated to prevent
obscuring novel aspects. Therefore, specific structural and
functional details disclosed herein are not to be interpreted as
limiting but merely as a basis for the claims. For purposes of
teaching and not limitation, the illustrated embodiments are
directed to a modular mobile robots, interchangeable features for
use therein, a tooling arm for use therewith and an endless track
for use therewith.
[0129] As used herein, the terms "having", "comprises",
"comprising", "includes" and "including" are to be construed as
being inclusive and open ended, and not exclusive. Specifically,
when used in this specification including claims, the terms
"comprises", "comprising", "includes" and "including" and
variations thereof mean the specified features, steps or components
are included. These terms are not to be interpreted to exclude the
presence of other features, steps or components.
[0130] As used herein, the terms "substantially", "about" and
"approximately", when used in conjunction with ranges of
dimensions, compositions of mixtures or other physical properties
or characteristics, is meant to cover slight variations that may
exist in the upper and lower limits of the ranges of dimensions so
as to not exclude embodiments where on average most of the
dimensions are satisfied but where statistically dimensions may
exist outside this region.
[0131] As used herein, the coordinating conjunction "and/or" is
meant to be a selection between a logical disjunction and a logical
conjunction of the adjacent words, phrases, or clauses.
Specifically, the phrase "X and/or Y" is meant to be interpreted as
"one or both of X and Y" wherein X and Y are any word, phrase, or
clause.
[0132] As used herein the term "operably connected to" means that
the two elements may be directly connected or indirectly connected
that is they are connected through other elements.
[0133] As used herein, the word "longitudinal", when used in a
context relating to a direction of motion of a track, means the
direction or axis that a single track would travel along upon
outfitting the track with one or more wheels, sprockets, pulleys or
other rotational drive mechanisms, placing the track on a surface,
and actuating those driving mechanisms. As used herein, the word
"lateral", when used in a context relating to a direction of motion
of a track, means a direction or axis parallel to the axis of
rotation of a wheel, sprocket pulley or other rotational drive
mechanism when placed within the track and actuated to drive the
track. As used herein, the words "longitudinal" and "lateral", when
used in the context of a robot, refer to the direction or axis
along which a robot would travel without turning, and a direction
or axis along a surface of travel perpendicular to that axis,
respectively. As used herein, the term "chamfer" or variants refers
to a sloping surface at an edge or corner, and does not imply any
symmetry or particular angle which the sloped surface forms with
any other surface.
* * * * *