Abstract:
Systems are described herein for remotely aligning and placing disruptive devices at or near suspicious targets such as suspected improvised explosive devices (IEDs). In particular, tools connected to remotely controllable robots include disruptor guns for firing disruptive materials at the targets and disruptive devices filled with explosive materials, e.g., water, for controllably detonating or disrupting the detonation of the targets when placed in close proximity thereto.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a divisional of U.S. patent application Ser. No. 12/081,610 filed Apr. 17, 2008 now U.S.Pat. No. 7,836,811, entitled “TOOLS FOR USE WITH ROBOTIC SYSTEMS,” the disclosure of which is specifically incorporated herein by reference. 
    
    
     GOVERNMENT RIGHTS IN INVENTION 
     This invention was made with Government support under contract no. N66001-06-D-5021, DO 0010 awarded by the Department of the Navy. The Government has certain rights in this invention. 
    
    
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present invention relates generally to the field of explosive ordinance disposal (EOD) and more particularly to EOD using robotic devices with various disposal attachments thereon. 
     2. Description of the Related Art 
     There are many situations in which police, military personnel or others require the ability to dispose of or render safe an explosive device, e.g., landmines, improvised explosive devices (IEDs), CBRN (chemical/biological/radiological/nuclear) devices, etc. while minimizing risk to themselves and others. Remotely operated robots have been developed to investigate potential explosive devices and in some cases are used to disable the devices or to detonate in a controlled manner. Examples of such robots include the PackBot series available from iRobot and the Talon series available from Foster Miller. 
     The iRobot PackBot and the Foster Miller Talon may be used to disrupt IEDs, military ordnance, land mines, etc. Both the PackBot and the Talon utilize an extendible arm and may include a gripper for picking up and placing different sized objects, including disruptors. Disruptors are devices that contain, e.g., gunpowder, water or other disruptive material. The disruptors may be in the shape of a plastic water bottle, briefcase or the like. The disruptors are placed close to, for example, an IED, in order to detonate or disable the IED. There are numerous accessories available for the PackBot in order to facilitate disruption including, for example, a flipper tool bar kit and a main ordnance lift kit which attach to the PackBot and uses flippers to move implements up and down. 
     The PackBot and Talon robots may also work with disruptor guns which fire projectiles, e.g., water, clay, rubber bullets, and the like at IEDs in order to disrupt the trigger mechanism and or facilitate controlled detonation. Additional accessories have been developed by other companies, e.g., Proparms Ltd. and Ideal Products, to work with the PackBot, Talon and other robots. Ideal Products offers a trade named PAN Disruptor™ wherein PAN stands for Percussion Actuated Non-electric. The PAN Disruptor™ is a tool that is connected to the arm of a robot to safely dismember and disarm explosive packages with unknown content by firing water, clay or lead shot to take apart packages with unknown content. 
     SUMMARY OF THE INVENTION 
     Summary of the Problem 
     A major obstacle to successfully disabling explosives is the risk posed to EOD personnel. The ability to remotely disable is desired. Further, current configurations for placing disruptors are unreliable as the arms on the PackBot and Talon robots are unable to carry the weight of and sustain the loading required by the disruptors. 
     Summary of the Solution 
     The embodiments of the present invention facilitate disabling explosives while minimizing risk to EOD personnel. In a first exemplary embodiment, a system for placing a gun barrel within firing distance of a target is described. The system comprises: a remote controlled vehicle including a remotely controllable arm; a first component attached to the vehicle, the first component including parallel vertical tracks; and a second component including first and second sets of rollers for rolling the second component along the parallel vertical tracks, the second component further including a gun barrel positioned approximately perpendicular to the parallel vertical tracks. 
     In a second exemplary embodiment, an alternative system for placing a gun barrel within firing distance of a target is described. The system comprises a remote controlled vehicle including a remotely controllable arm and a component attached to the vehicle including a clamp for holding the gun barrel, support means connected to the clamp and including at least one shock absorber, and attachment means for attaching the component to the vehicle. 
     In a third exemplary embodiment, a system for placing a disruptive device near a target is described. The system comprises: a remote controlled vehicle including a remotely controllable arm; a first subsystem; and a second subsystem including a holder for holding the disruptive device and a release mechanism for releasing the disruptive device near the target. The first subsystem includes a movable arm, a hook, a retaining pin, and a lowering mechanism. The release mechanism releases the disruptive device from the holder when the remotely controllable arm causes the movable arm to unhook the hook from the retaining pin which causes the lowering mechanism to drop the second subsystem which triggers the release mechanism. 
     In a fourth exemplary embodiment, an alternative system for placing a disruptive device near a target is described. The system comprises a remote controlled vehicle including a remotely controllable lowering mechanism and a subsystem including a holder for holding the disruptive device and a release mechanism for releasing the disruptive device near the target. The release mechanism includes a cam, at least one buckle, at least one strap, and a foot actuator. The release mechanism releases the disruptive device from the holder when the lowering mechanism causes the subsystem to drop and the foot actuator hits the ground causing the cam to release the buckle which holds the strap, thus releasing the disruptive device from the holder. 
     In a fifth exemplary embodiment, an alternative system for placing a disruptive device near a target is described. The system comprises a remote controlled vehicle including a remotely controllable arm and a subsystem that includes a movable arm, a hook, a retaining pin, a lowering mechanism, a pivot component; and a holder for holding the disruptive device. The disruptive device slides off of the holder when the remotely controllable arm causes the movable arm to unhook the hook from the retaining pin which causes the lowering mechanism to cause the holder to pivot around the pivot component, thus lowering an edge of the holder and causing the disruptive device to slide off of the holder. 
    
    
     
       BRIEF DESCRIPTION OF THE FIGURES 
       The preferred embodiments of the present invention are illustrated by way of example and not limited to the following figures: 
         FIGS. 1(   a ) to  1 ( c ) illustrate an embodiment of the present invention including a disruptor assembly for use with a first prior art robot; 
         FIGS. 2(   a ) to  2 ( c ) illustrate an embodiment of the present invention including a disruptor assembly with trailer for use with a first prior art robot; 
         FIGS. 3(   a ) to  3 ( c ) illustrate an embodiment of the present invention including a disruptor assembly for use with a second prior art robot; 
         FIGS. 4(   a ) to  4 ( d ) illustrate an embodiment of the present invention including a container placement assembly for use with a first prior art robot; 
         FIGS. 5(   a ) to  5 ( c ) illustrate an embodiment of the present invention including a container placement assembly for use with a second prior art robot; 
         FIGS. 6(   a ) to  6 ( e ) illustrate an embodiment of the present invention including a second container placement assembly for use with a first prior art robot; and 
         FIG. 7  illustrates an embodiment of the present invention including a second container placement assembly for use with a second prior art robot. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       FIGS. 1(   a ) and  1 ( b ) illustrate a tool for attaching a pan disruptor to Foster Miller&#39;s Talon robot. A pan disruptor is essentially a gun that can fire several different types of projectiles, e.g., water, bullets, clay, etc. depending on the need. The Foster Miller Talon may be fitted with the pan disruptor described in the preferred embodiment either directly or via a trailer skid assembly as described herein with respect to  FIGS. 2(   a ) through  2 ( c ). 
     Referring to  FIG. 1(   a ), a first component  10  of the pan disruptor assembly includes rails  12  attached directly to a top shock support  14  and front support block  16 . Top shock support  14  is attached to a first end of upper recoil supports  18  which include shock absorbers  20 . The second end of the upper recoil supports  18  are attached to rear axle braces  22  including rear axle support pins  23  (four pins shown). Rear axle support pins  23  are used to attach component  10  to the Talon robot (see  FIG. 1(   c )). The front support block  16  is attached to a horizontal recoil support  24  and a first end of front support slides  26 . Front support slides  26  attach to a pan mount outer tool clip  28  which is attached to bottom tool clamp  30 . Horizontal recoil support  24  includes a shock absorber  32 . The first component  10  further includes upper and lower pulleys  34 ,  36  (two of each). As will be discussed later, these pulleys are used in conjunction with the robot arm  80  to move first component  10  in order to align the disruptor. 
     Referring to  FIG. 1(   b ), a second component  50  includes the actual gun or pan disruptor barrel  52  which is secured within a roller system including clamps  54  which are attached to a mount  56  having four large rollers  58  (one hidden from view) and two small rollers  60  (one hidden from view). As will be described below, the rollers allow for vertical adjustment of the pan disruptor barrel along the rails  12  via eyelet hooks  59 . 
       FIG. 1(   c ) illustrates the combination of components  10  and  50  mounted on Talon robot  75 . 
     The first component  10  is attached directly to the Talon robot  75  at multiple connection points via the pan mount outer tool clip  28  and bottom tool clamp  30  and via rear axle braces  22  and support pins  23  as shown in  FIG. 1(   c ). During operation, the rails  12  are able to slide horizontally along the length of the front support slides  26  and shock absorbers  20  and  32  absorb recoil from the firing of the disruptor gun  52 . Additionally, the disruptor gun  52  can be positioned vertically (and to some extent horizontally) along the arc of the rails  12  in combination with the roller system, e.g., rollers  58  and  60  and eye hooks  59  described with respect to  FIG. 1(   b ), pulleys  34 ,  36  and a movable arm  80  of the Talon robot  75  which are connected via cables  65  (one of two shown). More particularly, the moveable arm  80  of the Talon robot is controlled electromechanically and wirelessly by a user. Movement of the arm  80  causes the cables  65  to pull against eyelet hooks  59  and move roller system and disruptor gun  52  along the rails  12  via pulleys  34 ,  36 . 
     Further to  FIG. 1(   c ), a camera  70  which is located on the robot  75  may be used to help a user to visually align the disruptor gun  52  with the intended target (not shown). Alternatively, a camera may be mounted on the roller system in order to provide more precise visual information for alignment purposes. 
     Referring to  FIGS. 2(   a ) through  2 ( c ), in a second exemplary embodiment  100 , the first and second components  10  and  50  are not directly attached to the Talon robot  75  as shown in  FIG. 1(   c ), but alternatively, reside on a trailer skid  102 . In  FIGS. 2(   a ) through  2 ( c ), the parts and reference numerals from  FIGS. 1(   a ) and  1 ( b ) are not repeated in all cases as many parts are identical. The trailer skid  102  includes a skid belly pan  104  and skid box  106 . The first component  10  is attached to the skid box  106  via outrigger blocks  105 . At the back of the skid box  106  there is a retainer  108  for male hitch pad  110  which receives female hitch block  112  for connecting the skid  102  to the Talon robot (see  FIG. 2(   c )). Further, connected to the female hitch block  112  are top tool pad  120  and bottom tool clamp  122  for directly attaching to the Talon robot. This configuration varies from that described with reference to  FIGS. 1(   a ) to  1 ( c ) in that the single connection point to the Talon robot is via top tool pad  120  and bottom tool clamp  122 . This embodiment does not include bottom tool clamp  30  since the pan mount outer tool clip  28  attaches directly to the skid box  106 . The female hitch block  112  is controllably connected to and released from the male hitch pad  110  via hitch pad actuator arm  116 , front pivot clevis  114  and pad locking pin  118 . 
     With respect to this second exemplary embodiment, the location, e.g., elevation, of the disruptor gun  52  is controlled in the same manner as described above with respect to the first exemplary embodiment (cables, etc. not shown).  FIG. 2(   c ) illustrates system  150  which includes trailer skid with pan disruptor assembly  100  attached to Talon robot  75 . 
     One skilled in the art recognizes that the there are numerous nuts, bolts, screws and the like which are used to attach the components described herein. Accordingly, these nuts, bolts, screws, etc. are not discussed individually. While the pan disruptor configurations shown with respect to  FIGS. 1 and 2  are described as being useful with the Talon robot, these are meant to be exemplary. One skilled in the art understands that the tool configurations may be modified in order to attach to other robots having a component with a function similar to the movable arm  80  for positioning the disruptor gun via the pulley system. 
       FIGS. 3(   a ) to  3 ( c ) illustrate a third embodiment of the present invention that includes a pan disruptor configuration for use with the iRobot PackBot robots such as the EOD and MTRS versions. More particularly,  FIG. 3(   a ) is an exploded view of pan disruptor assembly  200 . Similar to the disruptor configurations described above, the pan disruptor assembly  200  includes disruptor gun  202  which is held in position by a series of components including pan clamp  204 , pivot supports  206 , and cross bars  208 . The pivot supports  206  are each connected to flanges  210  which are connected to front support block  218 . Attached to the outward facing side of each flange  210  are horizontal shock supports  212  which are in turn connected to vertical shock supports  214  and shock absorbers  216 . The front support block  218  is attached to support slides  220  and shock absorber  222 . Shock absorber  222  is attached to horizontal recoil support  224 , which is in turn connected to pan mount outer tool clip  228 . A cross bar shock support  226  is attached to pan mount outer tool clip  228  as is sled tool clip  234  and top tool pad disruptor  236 . A T-slide  230  with toolbar ballast  232  for affixing the pan disruptor  200  to the PackBot robot is attached to the bottom of the front support block  218 . 
       FIG. 3(   b ) illustrates an unexploded view of the pan disruptor configuration for use with the iRobot PackBot robot. 
       FIG. 3(   c ) illustrates the combined system  250  including pan disruptor assembly  200  attached to an iRobot PackBot robot  240 .  FIG. 3(   c ) also illustrates toolbar rod  402  which attaches to the pan disruptor assembly  200  at toolbar ballast  232 . Toolbar rod  402  is attached to the robot  240  via flanges  442  which are components of a flipper assembly  440 . In combination with the shock absorbers, the toolbar rod  402  transfers the load of the disruptor shot to the chassis of the robot. 
     A fourth embodiment of the present invention is directed to a system for remotely placing a container, e.g., containing water and/or explosives. Water is an effective tool for disrupting the circuitry and fuses for IEDs. Accordingly, the ability to place a container of water near an IED so that it can be exploded in order to disrupt circuitry, fuses and the like is needed. In particular, a system that allows for the remote placement of the water container in order to shield human operators is preferred. Referring to  FIGS. 4(   a ) through  4 ( d ), a container placement system  300  for use with the Talon robot is shown. The water container placement system  300  is attached to the Talon robot via the top tool pad  302  and bottom tool clamp  306  which clamp on to a bar located on the lower front end of the Talon robot (not shown in this view). The top tool pad  302  is connected to outer tool clip  304  which is in turn connected to pinion support block  310 . There is an anti-rotation bar  308  for stabilizing the entire tool attachment. Next, the system  300  includes a clevis pin mount  318  connected to spring pin actuating arm  320  which mechanically actuates top pinion arm  328  and bottom pinion arm  329  which form a parallelogram assembly  327  (see  FIGS. 4(   b ) and  4 ( c )) via a dual torsion spring comprised of top arm spring  322  and lower pinion spring  323 . The spring pin actuating arm  320  is actuated via top arm recoil spring  319 . When the parallelogram assembly  327  is actuated via the spring pin actuating arm  320 , this causes hook arm links  326  (and  324  shown in  FIG. 4(   b )) to effect unhooking of hook  312  from its retaining pin  314  (see  FIGS. 4(   b ) and ( c )). The actuating arm  320  is caused to actuate when the Talon robot arm  80  depresses on the actuating arm  320  during the stowing operation of the arm  80 . 
     When hook  312  comes off of retaining pin  314 , the parallelogram assembly  327  moves so as to lower holding block  332  which is attached to the parallelogram assembly  327  via front rack support  330 . When holding block  332  is dropped, foot actuator  342  hits the ground and threaded coupler  338  attached to the foot actuator  342  through threaded rod  340  is pushed up which causes a cam  334  to pull a cable (not shown) actuating top and bottom buckle actuators  350  and  352  to cause buckle  354  to release the strap  345  that is holding the water container from holding block  332 . The strap may be a Velcro strap. The holding block  332  may be a suitable material such as Delrin. The containers vary in size and weight, e.g., approximately 4 to 12 pounds. In a particular example, the container is a plastic bottle filled with water and a shaped charge of C-4 explosive is placed facing the target. The orientation of the bottle is critical in order to be effective. Differing sizes of plastic bottles can be used depending upon the size of the target. The threaded rod  340  allows for adjustment in height to accommodate varying sizes of plastic bottles. Once the water container is in place, a blasting cap sets off the explosive via a detonation cord from the bottle to a user. 
       FIG. 4(   b ) illustrates an opposite side view of water container placement system  300 . While  FIG. 4(   c ) illustrates a close-up view of the hook release components. Finally,  FIG. 4(   d ) shows a completed system  375  including container placement system  300  attached to Talon robot  75 . 
     In a fifth embodiment of the present invention shown in  FIGS. 5(   a ) through  5 ( c ), a container placement system (e.g., containing water and/or explosives)  400  is configured for attachment to the PackBot robot (see  FIG. 5(   c )) at toolbar rod  402  via front mount  403 . Front mount  403  is attached to holding block  404  which holds and releases a container  401 . In operation, tool bar rod  402  is moved by a lowering mechanism which includes flipper assembly  440  present on the PackBot robot  240 . When tool bar rod  402  is moved so as to lower the holding block  404 , foot actuator  418  touches the ground and pushes threaded coupler  414  attached to the foot actuator  418  through threaded rod  416  moving the cam  408  to pull a cable (not shown) actuating top and bottom buckle actuators  406  and  434  to cause buckle  430  to release the strap  435  that is holding the water container  401  from holding block  404 . 
     As discussed above, the strap may be a Velcro strap. The holding block  404  may be a suitable material such as Delrin. Once the water container is in place, a separate actuation mechanism is employed to explode the water container such as via a blasting cap and detonation cord to the container controlled by the user. These trigger actuator mechanisms are known to those skilled in the art. Also as described above, the containers vary in size and weight, e.g., approximately 4 to 12 pounds. In a particular example, the container is a plastic bottle filled with water and a shaped charge of C-4 explosive is placed facing the target. The orientation of the bottle is critical in order to be effective. Differing sizes of plastic bottles can be used depending upon the size of the target. The threaded rod  416  allows for adjustment in height to accommodate varying sizes of plastic bottles. 
       FIG. 5(   b ) illustrates an opposite side view of water container placement system  400 . While  FIG. 5(   c ) shows a completed system  450  including container placement system  400  attached to PackBot robot  240 . 
     Referring to  FIGS. 6(   a ) through  6 ( e ), a sixth embodiment of the present invention is directed to a placement system  600  for placing an explosive device for disrupting an IED or the like. The system is similar to the system described with reference to  FIGS. 4(   a ) and  4 ( b ) in components and operation. Top tool pad and bottom tool clamp  612  and  616  attach the placement mechanism to the Talon robot. There is an anti-rotation bar  614  for stabilizing the entire tool attachment. The top tool pad  612  is attached to pivot component  610  which includes clevis pin mount  620  attached to actuation arm  618  and springs (not shown). Also attached to pivot component  610  is tray support arm  608  and support bar  606 . The actuation arm  618  is further attached to hook linkage arms  624  and  626  which are in turn connected to hook  604 . The tray  602  and tray supports  622  hold an explosive device, e.g., a briefcase filled with explosives. In operation, when actuation arm  618  is actuated, hook  604  is lifted from retaining pin  603  causing tray  602  to drop which allows the explosive device to slide off of the tray  602 . Springs (not shown) are also used to lift the tray back up off the ground. The actuation arm  618  is caused to actuate when the Talon robot arm  80  depresses on the actuating arm  618  during the stowing operation of the arm  80 . 
       FIGS. 6(   c ) shows an example of hook  604  (also representative of hook  312 ).  FIG. 6(   d ) illustrates tray  602 , retaining pin  603 , support bar  606  and tray support arm  608 . Finally,  FIG. 6(   e ) shows a completed system  675  including Talon robot  75 , placement system  600  and representative explosive device  650 . 
     Referring to  FIG. 7 , a seventh embodiment of the present invention is directed to a placement system  700  for placing an explosive device for disrupting an IED or the like. The system includes support tray  702  (see  FIG. 6(   d )) which is attached to the PackBot robot (not shown) via a lift assembly (shown as  440  in  FIG. 5(   c )) comprised of toolbar rod  704 , flanges  706 , axle attachment pins  708 . More particularly, support tray  702  includes tray support arms  710  which are attached to flanges  706  via tray attachment pins  712 . In operation, when the toolbar rod  704  is caused to move down, the support tray  702  drops down which allows an explosive device to slide off of the tray and be placed next to, e.g., an IED. 
     The embodiments sets forth herein are intended to be exemplary. One skilled in the art recognizes the variations to the mechanical configurations, materials, and the like which are still considered to be within the scope of the invention. Further, though the embodiments are described and illustrated for use with particular robots, one skilled in the art recognizes that the tools may be used in conjunction with any robot having appropriate actuating components, e.g., arms, lowering mechanisms, etc.