Abstract:
An electromechanical soldier equipped with standard armament, reconnoiter and data gathering equipment replaces soldiers, police officers and the like in dangerous, and life-threatening situations. The soldier may be equipped with interchangeable weapon systems coupled to a chassis. The chassis rotates the weapons in a 360 degree manner while the altitude of the weaponry may be raised and lowered. A global positioning system may be included for location and control by a remote operator. The soldier may be equipped with omni and vertical direction view cameras for performing surveillance and target acquisition. It may be equipped with titanium armor for withstanding attacks. The chassis is equipped with wheels for maneuvering it across rough terrain and stairs. It may be programmed with facial, voice and other such recognition systems. Duplex communications is provided between the soldier and a remote operator for providing operating instructions and real-time data.

Description:
[0001]     This patent application relates to the subject matter of U.S. Provisional Patent Application Ser. No. 60/516,374 filed on Nov. 3, 2003 and U.S. Provisional Patent Application Ser. No. 60/624,673 filed on Nov. 3, 2004. 
     
    
       [0002]     This patent application did not receive any federal research and development funding.  
       BACKGROUND OF THE INVENTION  
       [0003]     The invention relates generally to robotic or electromechanical machines that may be utilized in combat, police or other such functions. More specifically, the invention relates to a machine that may be remotely controlled for use in dangerous situations and may include a targeting system for recognizing and handling multiple enemy combatants.  
         [0004]     Previously, robots have been used to perform various tasks such as manufacturing products, cleaning households, mowing lawns, delivering items, providing companionship and the like. Other robots have been tasked with specific duties such as detecting blockages in pipelines and the like. It is believed that no robots have been used to supplement police or military operations as that of the instant invention.  
       BRIEF SUMMARY OF THE INVENTION  
       [0005]     The invention is an electromechanical soldier equipped with standard armament, reconnoiter and data gathering equipment replaces soldiers, police officers and the like in dangerous and life-threatening situations. The soldier may be used to perform check point security, perform open terrain combat missions, conduct building-to-building search and destroy missions, operate as a combat interpreter, and conduct surveillance patrols and reconnoiter missions. It may include a targeting system for tracking and destroying enemy combatants.  
         [0006]     The soldier may also be used to perform police functions such as building to building searches for criminals, facial recognition and apprehension of criminals, street patrols, raids on drug labs and crack houses, and riot control operations.  
         [0007]     Other uses of the soldier may include performing building security functions, access control to sensitive areas through recognition systems, embassy security and protection services for dignitaries.  
         [0008]     The soldier may be equipped with a guided missile recognition radar system for traversing to avoid missile and artillery attacks. In one embodiment, the soldier is equipped with a laser sighted weapons system and camera. A grenade launcher includes a range and distance guidance system. Rechargable DC motors may allow the soldier to operate for extended periods of time without presenting a thermal target. Other weapons that may be included on the soldier are anti-aircraft weapons systems, anti-tank missiles, flame thrower, a mine sweeper/detector and a jet pack or water operational package. These weapons may be interchangeable. 
     
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       [0009]      FIG. 1A  is a perspective view of the robotic soldier.  FIG. 1B  is a perspective view of the robotic soldier mounted atop a mobile platform.  FIG. 1C  is a side view of the robotic solder shown in  FIG. 1B .  
         [0010]      FIG. 2  is an elevation view of the invention and showing the protective armor removed.  
         [0011]      FIG. 3  is a front elevation view of the torso assembly of the invention and shown with the protective armor removed.  
         [0012]      FIG. 4  is a side elevation view of the torso assembly of the invention and shown with the protective armor removed.  
         [0013]      FIG. 5  is a rear elevation view of an arm assembly of the invention and shown with the protective armor removed.  
         [0014]      FIG. 6  is a side elevation view of an arm assembly of the invention and shown with the protective armor removed.  
         [0015]      FIG. 7  is a rear elevation view of the leg assembly of the invention and shown with the protective armor removed.  
         [0016]      FIG. 8  is a side elevation view of the leg assembly of the invention and shown with the protective armor removed.  
         [0017]      FIG. 9  is a side elevation view of the weapons cradle of the invention.  
         [0018]      FIG. 10  is a plan view of the weapons cradle of the invention.  
         [0019]      FIG. 11  is a signal flow diagram of the invention.  
         [0020]      FIG. 12  is a perspective view of a remote controller for use in controlling the movements of the various systems of the invention.  
         [0021]      FIG. 13A  is a perspective view of the suspension system for use on the mobile platform.  FIG. 13B  is a perspective view of the suspension system and wheel. 
     
    
     DETAILED DESCRIPTION OF THE INVENTION  
       [0022]     The invention comprises a soldier equipped with interchangeable weapon systems coupled to a chassis. The weapons may include a rifle or machine gun firing a standard military round such as a 5.56 mm or 7.62 mm. Alternatively the soldier may include a grenade launcher or missile launcher. A laser sighting system assures accuracy of the weapons.  
         [0023]     The soldier rotates the weapons in a 360 degree manner while the altitude of the weaponry may be raised and lowered. A global positioning system may be included for location and control by a remote operator. The soldier may be equipped with omni and vertical direction view cameras for performing surveillance and target acquisition.  
         [0024]     The outer skin of the soldier is equipped with a total body electrification system to protect it from unauthorized manipulation. This may also be used to stun an enemy and render them unconscious. The soldier may squat down during attacks and movements to lower its center of gravity for stability purposes. It may be equipped with titanium armor for withstanding attacks.  
         [0025]     It may also be programmed with facial, voice and other such recognition systems. It may include a gas deployment system and a nuclear, biological and chemical detection system. Duplex communications is provided between the soldier and a remote operator for providing operating instructions and real-time data.  
         [0026]      FIGS. 1A through 1C  show views of the robotic soldier  1 . The robotic soldier is anatomically correct and includes a head  5 , mounted atop a torso  10  via a mount  7 . The head  5  comprises an imaging and targeting system, preferably a TacFLIR III multi-sensor system  6  that provides stable imagery regardless of vehicle movement or vibration. The TacFLIR III multi-sensor system  6  includes a 450 mm thermal imaging zoom feature that allows the robotic soldier  1  to see targets at distant ranges and through a variety of conditions including smoke, fog and other battlefield obscurants. The TacFLIR III multi-sensor system  6  further includes a laser range finder and may include a laser pointer to pinpoint targets of interest. The TacFLIR III multi-sensor system  6  is sold by FLIR systems of Wilsonville Oreg. Moreover, TacFLIR III multi-sensor system  6  may include a multi-mode auto tracker that tracks and targets multiple targets simultaneously. In a preferred embodiment, the TacFLIR III multi-sensor system  6  is linked to a fire control system of the robotic soldier in series with the smart motors of the robot to control the targeting. The TacFLIR III multi-sensor system  6  includes a motor and gyro for 360 degree rotation and image stabilization.  
         [0027]     Two arms  15  attach to the torso  10 . Each arm  15  includes a weapons system. In  FIG. 1 , the right arm is equipped with a stunning weapon  16 , such as a TASER, that delivers a large electrical shock to render an enemy unconscious. The left arm is equipped with a weapons cradle  55  that supports a weapon  29 . A camera  30  sits atop the weapon  29 . Camera  30  includes an individual power source and wireless transmitter that transmits optical data to a user. The weapons cradle  55  is preferably attached to the arm  15  via a fastening means such as a pair of threaded studs  19  and nuts  18 .  
         [0028]     A pair of legs  35  attach to the torso  10  and comprise base plates  36  which include bolts  37  for coupling the base plate  36  to a moveable platform  65 . The movable platform  90  comprises an antenna  100  for receiving signals from the remote controller  79 . A speaker/microphone  101  is mounted on the front of the platform  90  for establishing communications between the user and another near the soldier  1 . The platform  90  is equipped with a plurality of tires  102 . The platform includes a speaker amplifier  103 . Batteries  104  are included in the base of the platform  90 . An additional gyro  105  is provided for stabilizing the platform. Motor controllers  106  and  107  provide control signals for controlling a plurality of motors that drive the tires  102 . Each motor operates independent of the others to allow single tires to be locked or move in a forward or rearward direction. Thus, the platform has a tank type steering and independent power to each wheel. The exterior of the robotic solder  1  is covered with body armor  8 . Preferably, the body armor  8  comprises titanium, a lightweight aluminum, Kevlar or the like which serves to protect the internal workings.  
         [0029]      FIG. 2  is an elevation side view of the robotic soldier  1  with the body armor  8  removed. A plurality of linear actuators  20  and motors  21  are arranged to operate arms  15  and legs  35 , as discussed hereinafter. Another actuator  50  and associated motor  21  connects between the base and the back of the upper leg assembly  47  to cause the robotic soldier  1  to move between a squatting or travel position and an upright position. The linear actuator  20  includes a  4  inch stroke and is sold by Ultra Motion of Mattituck NY under the part number 3-B.125-SM174-1NO-RBC4S/RBC4S. The actuator  20  has a maximum force of 500 lbs with a maximum speed of 6.1 inches/second. Actuator  50  has an 8-inch stroke and is also sold by Ultra Motion of Mattituck NY under the part number d3-B.1 25-SM17-8-1NO-RBC4S/RBC4S.  
         [0030]     Each arm  15  comprises upper arm assembly  26  and lower arm assembly  25  that connects to torso  10  via a shoulder bracket  23 . An azmith motor  11  comprising a brake rotates the torso up to 360 degrees and is sold by Animatics of Santa Clara, Calif. under model number SM3450D-BRK. Motor  11  comprises a brushless servo motor, amplifier and controller, along with a fail safe brake. Each leg  35  comprises an upper leg assembly  47  and a lower leg assembly  48  that connects to a leg base plate  36 . A base actuator clevis  51  is provided below the leg base plate  36  for connecting the robotic soldier  1  to the base.  
         [0031]      FIGS. 3 and 4  are views of the torso  10  without the arms  15 . The torso  10  includes a pair of shoulder brackets  23  for fastening arms  15  onto torso  10 . Each bracket  23  fastens onto a tube frame  32  that supports motor  11 . A yoke  24  couples to an end actuator  20  via pivot pin  22 . An opposite end of actuator  20  connects to actuator base plate  27 . A planetary gearbox  12  is provided between upper torso mounting plate  13  and motor  11 . Planetary gearbox  12  is sold by Parker Bayside Model PS90-070-SU and is a gear reducer. Shaft coupling  43  connects between upper shaft  14  and lower shaft  44 . Lower shaft  44  connects through bearing  42 .  
         [0032]      FIGS. 5 and 6  are views of the arm assemblies. A bearing bushing  40  is mounted onto frame  32 . Shoulder bracket  23  is also mounted to tube frame  32 . An end of arm rod  33  passes through collar  39  and is fastened into bearing bushing  40 . Yoke  24  is fixed onto arm rod which also passes through shoulder bracket  23  and collar  39 . Upper arm assembly  26  is fastened onto an opposite end of arm rod  33  via bolt assembly  34 . The yoke  24  attaches to actuator  20  via rod clevis  28  and clevis retaining bolt  38 . Lower arm assembly  25  comprises power pin connectors  3  for operating a solenoid for weapons control, as discussed hereinafter. Threaded studs  19  are provided for securing a weapons cradle  55 .  
         [0033]      FIGS. 7 and 8  are views of the leg assemblies. Waist cross member  9  attaches to tube frame  32  via welds or the like. An upper end of each leg assembly  47  attaches at opposite ends of cross member  9  via hip pins  41 . Two actuators  20 , driven by accompanying motors  21 , connect to yokes  24  at one end. An opposite end of the actuator  20  connects to cross member support  49  via yokes  24 , as shown. Cross member  49  includes a third yoke  24  for accepting a clevis that couples actuator  50  thereto. As can be appreciated, the pair of actuators  20  cause the torso  10  to be tilted forward and backward by extending and retracting the actuators  20 . The actuator  50  causes the soldier  1  to squat or stand depending on whether the actuator is extended or retracted. As the actuator  50  extends, an angle between the back of the upper leg assembly  47  and lower leg assembly  48  becomes greater since the leg assemblies rotate relative to one another via pin  46 .  
         [0034]      FIGS. 9 and 10  are views of the weapons cradle  55 . The weapons cradle  55  comprises a pair of supports  57  for securing a weapon  56  to the robotic soldier. A camera  62  is mounted atop the weapon  56 . Camera  30  may include a power supply and transmitter for transmitting optical data including an aiming point for targets to the user. Nut assemblies  18  mate with studs  19  on arm  15  to secure the cradle  55  to the robotic soldier  1 . A solenoid  58  is mounted to the cradle  55  or trigger guard  59  and includes a moveable element  61  that engages trigger  60  causing weapon  56  to fire. Power is supplied to solenoid  58  via power pin connectors  3 .  
         [0035]      FIG. 11  is a signal flow diagram showing a preferred embodiment of the various control and feedback signals. A first transceiver  300  is electrically coupled to a remote control  301  and a display  302 . The first transceiver  300  receives a wireless signal from the weapon camera  30  as well as other optical data from a second transceiver  305 . Control signals are transmitted from the first transceiver  300  to the second transceiver  305 . The second transceiver  305  receives/sends duplex signals from the first and second FLIR cameras, left and right arm actuators, the lower actuators, the motors from the wheels as well as the torso motor.  
         [0036]      FIG. 12  is a perspective view of a remote control  79 . The remote control comprises a video monitor screen  80  for displaying optical data fed back from the cameras onboard the solder  1  and platform  90 . A speaker/microphone combination  88  provides audible input and output to communicate with others near the robot  1 . Switch  81  provides input for controlling a camera on the platform  90 . Fire control switch  82  provides control signals for firing the weapon mounted on the left arm. Joystick  83  provides control signals for the tank style mix steering. Joystick  84  controls upward and downward movements of the torso as well as the clockwise or counter-clockwise rotation of the torso. Joystick  85  controls the elevation of the weapons. Switch  86  controls the weapon fire control switch of the right arm. Knob  87  controls rotation of the camera on the head of the soldier.  
         [0037]      FIGS. 13A and 13B  shows a shock absorbing system for the platform. The shock absorbing systems include a shock absorber  118  that includes a clevis  119  that attaches to mounting bracket yoke  120 . An opposite end of the shock absorber  118  attaches to a lower shock bracket  117  via clevis pin  115 . Lower shock bracket  117  attaches to upper rocker arm assembly  116 . A chassis mount plate  114  attaches between upper rocker arm assembly  116  and lower rocker arm assembly  111  via bolts  112 . Motor  113  is coupled to tire  102  via gearbox  109 . Gear box  109  is secured between upper rocker arm assembly plate  125  and lower rocker arm assembly plate  124 . Tire  102  is mounted on rim  108  which attaches to hub  121  via lug studs  122  Wheel hub  121  is connected to an output shaft of gearbox  109  via wheel hub attachment bolts  123 .  
         [0038]     It is to be understood that the invention is not limited to the exact construction illustrated and described above, but that various changes and modifications may be made without departing from the spirit and the scope of the invention as defined in the following claims.