Abstract:
A system for remote object handling including a vehicle having a front portion. An articulated arm has a first end and a second end distinct from the first end, the arm being coupled to the front portion at the first end, and has at least one pivot disposed between the first end and the second end. A gripping element is removably coupled to the second end, wherein the gripping element is one of a pincer device, a hand device having at least three fingers or a shovel. A video camera is also coupled to the second end. An arm control is disposed within the vehicle and is operable to control the operation of the arm, the manipulator and the video camera, and a video interface is coupled to the video camera which is operable to display output from the video camera.

Description:
RELATED APPLICATIONS 
       [0001]    This application is a Continuation-In-Part application of U.S. Non-Provisional application Ser. No. 11/943,570, which was filed on Nov. 20, 2007, and claims priority to and the benefit of U.S. provisional application 60/952,511 filed Jul. 27, 2007, entitled “Method and System for Assisted Object Handling in Dangerous Environments” which is incorporated herein by reference in full for all purposes. 
     
    
     TECHNICAL FIELD 
       [0002]    The invention relates generally to mechanical systems and, more particularly, the invention relates to remote controlled mechanical manipulators. 
       DESCRIPTION OF THE RELATED ART 
       [0003]    As computers have grown increasingly important in today&#39;s society, humans have used computers to automate and enhance various activities that have traditionally been performed manually. Roads are increasingly used on a daily basis to move people and goods among various locations. The large number of vehicles on the roads, along with natural events such as wind and rain, has resulted in an increasing amount of debris and objects being found on the roads. Police officers and others responsible for maintaining traffic flow and safety are often responsible for the removal of these objects and debris items to prevent accidents from occurring due to the objects and debris. In many cases the roads are still in use while the debris and objects are being removed and the individuals removing the items are often placed at significant personal risk from being hit by vehicles traveling on the roads. Indeed, each year numerous private individuals, and local, state and federal employees are injured or killed while removing items from roads. 
       SUMMARY 
       [0004]    A system for remote object removal involving a vehicle is presented. An arm is coupled to the vehicle and a manipulator is coupled to the arm. A remote control is disposed within the vehicle and is operable to control the arm and the manipulator. 
         [0005]    Further, a system for remote object handling including a public safety vehicle has a front portion. An articulated arm has a first end and a second end distinct from the first end, the arm being coupled to the front portion at the first end, and has at least one pivot disposed between the first end and the second end. A gripping element is removably coupled to the second end, wherein the gripping element is one of a pincer device, a hand device having at least three fingers or a shovel. A video camera is also coupled to the second end and/or elsewhere on the arm. Alternatively or additionally, a video camera is mounted elsewhere on the vehicle. An arm control is disposed within the vehicle and is operable to control the operation of the arm, the manipulator and the video camera. Alternatively or additionally, the arm control can be used to control the operations of the arm remotely from the vehicle. A video interface is coupled to the video camera which is operable to display output from the video camera. Alternatively or additionally, the video display may be incorporated with the remote arm control so that a user can view the operations of the arm and control its operations while being remotely located from the vehicle. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0006]      FIG. 1  is a block diagram of a remote controlled object removal system; 
           [0007]      FIGS. 2, 3   a , and  3   b  illustrate various embodiments of gripping elements usable with the remote controlled object removal system of  FIG. 1 ; and 
           [0008]      FIGS. 4 and 5  illustrate various embodiments of vehicles and vehicle mounting techniques for the remote controlled object removal system of  FIG. 1 . 
       
    
    
     DESCRIPTION 
       [0009]    Each year, more and more vehicles make use of roads to move people and goods among various locations. Often, these vehicles will drop objects on the road, such as ladders and furniture, which are improperly secured to the vehicles. Also, dead or injured animals are commonly found on roads. These objects and animals often cause accidents and vehicle damage due to other vehicles attempting to dodge the objects or impacting the objects. For increased safety of drivers, the objects are removed from the road, sometimes by the person that dropped the object, and sometimes by others. Groups that are asked to remove the objects may include police, game wardens or other local, state or federal employees. Private employees may also be required to remove items from a roadway as part of their job or on a contract basis. Such private groups may include wrecker drivers and employees of private road contractor companies or private companies involved in sporting events such as car racing. Unfortunately, these individuals are placed in significant danger from motorists who are using the road while the individuals are removing the objects. Each year, numerous individuals are injured or killed while attempting to remove objects from the road. 
         [0010]    Police officers use various tools to perform their duties and increase their safety. For example, police officers use firearms to defend themselves, bullet resistant vests to decrease the chance of injury due to a bullet, and marked vehicles and uniforms to identify themselves as law enforcement officers. One embodiment of the present invention provides police officers and other public safety personnel with another tool to assist them with roadway object removal tasks. More specifically, a remotely controlled arm may be coupled to the front portion of a police car to allow the police officer to remove objects from the road from the increased safety of the police car instead of going out on the road itself. The remote controlled arm may be controlled by a joystick or other device, and a video camera mounted near the front of the arm may provide the officer the ability to see what is in front of the arm. However, non-police personnel in many different areas may also make use of such a remote controlled arm. 
         [0011]      FIG. 1  is a block diagram of a remote controlled object manipulation system  10 . System  10  comprises a manipulator arm  12  and a vehicle  14 . System  10  operates to allow a user  16  to control manipulator arm  12  from a vehicle to remove objects from a road (not shown) or other location without requiring user  16  to exit the vehicle. In one embodiment, user  16  is a police officer and vehicle  14  is a police vehicle. Manipulator arm  12  comprises a mounting element  20 , one more segments  22 , one or more pivots  24 , an end mount  26 , a video camera  28  and a manipulator mounting  30 . Vehicle  14  comprises an arm mount  40 , a retraction portion  42 , a video interface  44  and a control interface  46 . 
         [0012]    With respect to manipulator arm  12 , mounting element  20  comprises a mechanical mounting point for segment  22  and is fixedly or movably coupled to arm mount  40 . Mounting element  20  may contain or support wiring and other suitable electrical and/or electronic components to communicate digital and/or analog signals from control interface  46  to segments  22 . 
         [0013]    Segments  22  comprise rigid portions of arm  12  that are coupled between mounting element  20 , one or more pivots  24  and mount  26 . Arm  12  comprises at least one segment  22 . Segments  22  support communication of video, power, data and other suitable mechanical and electrical elements. Segments  22  may contain or support wiring and other suitable electrical and/or electronic components to communicate digital and/or analog signals from control interface  46  to mounting  30  via segments  22 . 
         [0014]    Pivots  24  comprise mechanical, pneumatic, hydraulic, electrical, electromechanical or other suitable devices or combinations of devices to couple two segments  22  such that at least one of the coupled segments  22  can move with respect to the other. In one embodiment, pivot  24  may allow a segment  22  to rotate about pivot  24  in one dimension. In another embodiment, pivot  24  may allow movement in a plurality of dimensions, such as via a ball-and-socket mount or other suitable multiple dimension joint system. Pivots  24  further allow the continuation of wiring and other suitable electrical and/or electronic components to communicate digital and/or analog signals between mounting element  20 , segments  22  and end mount  24 . 
         [0015]    End mount  26  comprises a mechanical, pneumatic, hydraulic, electrical, electromechanical or other suitable device, devices or combinations of devices to couple manipulator mounting  30  to segment  22 . End mount  26  may allow movement of mounting  30  on or about mount  26  with respect to segment  22 , or may fixedly couple mounting  30  to segment  22 . End mount  26  further allows the continuation of wiring and other suitable electrical and/or electronic components to communicate digital and/or analog signals from segments  22  to manipulator mount  30 . 
         [0016]    Video camera  28  is coupled to manipulator mounting  30  and comprises any suitable video system for transmitting video to video interface  44 . Video camera  28  may comprise any suitable image capture technology. In one embodiment, video camera  28  comprises a model designed for harsh environments, such as being outdoors at all times. In one embodiment, video camera  28  may further include a light source for illuminating the area in front of manipulator  50  to assist user  16  with controlling arm  12 . The light source may optionally be movable independent of manipulator  50 . Alternatively or in addition, the light source may comprise multiple light sources. Camera  28  may alternatively be coupled directly to mount  40  (as illustrated in  FIGS. 4 and 50 ). In addition, multiple cameras  28  may be used to provide increased viewing options for user  16 . 
         [0017]    Manipulator mounting  30  comprises a mounting point for removably coupling one or more manipulators  50 . Alternatively, manipulator mounting  30  may fixedly couple one or more manipulators  50 . Manipulators  50  are described in greater detail in association with  FIG. 2 . Manipulator mounting  30  allows the continuation of wiring and other suitable electrical and/or electronic components to communicate digital and/or analog signals between end mount  24  and manipulator  50 . 
         [0018]    In one embodiment, mounting  30  comprises a multi-use mounting point for coupling a plurality of manipulators  50  and comprises a control linkage and a mechanical linkage. The control linkage comprises a suitable digital communications interface to send and receive data and commands between manipulator  50  and interfaces  44  and  46 . Alternatively, the control linkage may comprise an analog, electromechanical, or a combination of one or more of analog, electromechanical and digital communications systems. The mechanical linkage comprises suitable physical and mechanical coupling for manipulator  50  to be coupled to mounting  30  and perform commands from control interface  46 . 
         [0019]    Manipulator  50  comprises a mechanical, electromechanical, magnetic, vacuum and/or other suitable devices for gripping, moving and otherwise manipulating objects, such as debris, bombs, animal carcasses and/or other items. Manipulator  50  is controlled via interfaces  44  and  46 , and may communicate with interfaces  44  and  46  in a wired form via mounting  30  and/or wirelessly. Manipulator  50  is described in more detail in association with  FIGS. 2, 3   a , and  3   b.    
         [0020]    Returning to vehicle  14 , arm mount  40  comprises a mechanical, pneumatic, hydraulic, electrical, magnetic, or other suitable systems for fixedly or moveably coupling mounting element  20  to vehicle  14 . Arm mount  40  further comprises wiring and other suitable electrical and/or electronic components to communicate digital and/or analog signals between mounting element  20  and interfaces  44  and  46 . In one embodiment, mounting element  20  is operable to move on arm mount  40  generally horizontally along arm mount  40 . For example, arm mount  40  may be mounted across the front of vehicle  14  and allow mounting element  20  and arm  12  to move across the front of vehicle  14  along arm mount  40 . Alternatively, arm mount  40  may fixedly couple mounting element  20  to vehicle  14 . Also alternatively, arm mount  40  may fixedly couple mounting element  20  in one dimension. In addition, mounting element  20  and arm  12  may be capable of retracting or otherwise moving into retraction portion  42 . In general, mount  40  may allow arm  12  to move along mount  40  in one or more directions and may optionally support the ability of arm  12  to retract into retraction portion  42 . In the embodiment of  FIG. 4 , mount  40  is illustrated on a police vehicle. In the embodiment of  FIG. 5 , mount  40  is the bumper or a portion of the undercarriage of a standard vehicle which mounting element  20  is coupled to. 
         [0021]    Retraction portion  42  comprises a portion of vehicle  14  operable to allow arm  12  to retract and be stored under or within vehicle  14 . For example, retraction portion  42  may comprise a space under vehicle  14  for storing arm  12  and a mechanical system for retracting and extending arm  12 . Alternatively, as illustrated in  FIG. 4 , retraction portion may comprise a portion or area of mount  40  and/or vehicle  14  with space for storing arm  12 . In addition, as illustrated in  FIG. 5 , retraction portion  42  may comprise an open area under vehicle  14  for storing arm  12 . 
         [0022]    Video interface  44  comprises software and hardware operable to assist user  16  with controlling arm  12 . For example, software may be provided to supplement or work in conjunction with control interface  46 , such as by providing zoom controls for video camera  28 , and/or software assisted control capabilities for arm  12 , such as automatic or assisted stabilization. Video interface  44  may also include touch screen capabilities. Control interface  46  comprises a suitable device or devices for allowing a human user  16  to control arm  12  and manipulator  50  from within vehicle  14 . Alternatively, control interface  46  may be removable from vehicle  14  or may be located on the outside of vehicle  14 . For example, interface  46  may have a wired or wireless communication system with arm  12 , one or more portions of arm  12 , and/or manipulator  50 . For another example, interface  46  may be a joystick and a plurality of other controls for controlling arm  12  and manipulator  50 . In one embodiment, interfaces  44  and  46  may be combined, such as in a laptop computer with a keyboard, mouse and display. For example, the laptop computer may further include a wireless interface for controlling arm  12  and manipulator  50  so that particularly hazardous situations may be handled from a distance. 
         [0023]    In operation, user  16  uses interfaces  44  and  46  to control arm  12 . For example, user  16  may use the view provided by video camera  28  to remove objects from a road or other area. For another example, an object to be removed from a puddle of toxic or corrosive liquid may involve use of arm  12 . A variety of manipulators  50  may be used to manipulate such objects. For yet another example, a police officer may use arm  12  to remove an animal carcass or debris from a road. More specifically, interfaces  44  and  46  allow user  16  to control the extension and positioning of arm  12 . Interfaces  44  and  46  may then be used to pickup, push and/or remove an object, such as from a road. Also, arm  12  may be used with video camera  28  to provide increased safety to user  16 , by allowing user  16  to look around corners, into trunks of vehicles or pickup beds using arm  12 . 
         [0024]      FIG. 2  is a block diagram illustrating one embodiment of manipulator  50 . In the embodiment of  FIG. 2 , manipulator  50  comprises a gripping element  100 . Gripping element  100  comprises a mechanical, pneumatic, hydraulic, electrical, electro-mechanical or other suitable device for gripping an object. For example, gripping element  100  may be a pair of pincers, devices that are modeled on the human hand, such as one or more fingers and a thumb, or other similar devices. In the illustrated embodiment, gripping element  100  comprises a pair of pincers that close toward each other in order to grip an object. Alternatively, gripping element  100  may comprise a three element gripping element which uses three elements to grip an object. In general, gripping element  100  may use a suitable number of elements to grip objects such that arm  12  may move the object. Hydraulic, pneumatic, mechanical, electromechanical, electronic and/or other suitable techniques may be used to power gripping element  100 . 
         [0025]      FIGS. 3 a  and 3 b    are block diagrams illustrating various embodiments of manipulator  50 . In the embodiment of  FIG. 3 a   , manipulator  50  may comprise a device  102  that may be slid underneath an object in order to lift and move the device, such as a shovel type device. Alternatively, device  102  may represent a launch system operable to dispense tear gas, pepper spray or other non-lethal munitions. Such devices  102  may be used in situations where exposing a public safety officer to the situation may be hazardous. For example, arm  12  may be used to dispense tear gas around a corner or into a structure or vehicle. In yet another embodiment, manipulator  50  may be a strong magnet, such as an electromagnet, for attracting metal objects magnetically. Alternatively, the manipulator may incorporate a vacuum device/mechanism so that it generates strong suction forces that can grip an object. In  FIG. 3 b    showing a side view, manipulator  50  may comprise a combination of gripping elements  100  and device  102 . The manipulator  50  may thus utilize the gripping elements  100  to grab or handle the object, while device  102  provides support below the object. Further, a surface  101  may be selectively magnetized to provide additional holding power to manipulator  50 . Alternatively or in addition to surface  101 , gripping elements  100  and/or device  102  may be selectively magnetized to better secure a metal object. 
         [0026]    In addition to removing items from roadways, arm  12  may be used for a variety of purposes. For example, arm  12  may be used for more safely dealing with potential bomb situations. At times, public safety officials stop vehicles that are believed to be carrying bombs, such as in the trunk of the vehicle. In urgent situations, or in situations occurring in remote areas, the official stopping the vehicle may not have time to wait for a bomb squad to arrive, or may not have access to a bomb squad. In such situations, arm  12  may be used to access the trunk potentially containing the bomb remotely from the public safety vehicle and reduce the risk of injury to the official. For example, arm  12  could be used to reach into the truck (or other cargo area) and remove the bomb. Gripping element  100  could be used in such a situation, or a different manipulator  50  optimized for bomb work may be used. The vehicle may be equipped with self-driving capabilities to enable the user to remotely operate the vehicle as well as the arm, gripping element, and video camera to ensure the user&#39;s safety. 
         [0027]    In general, arm  12  may be used in a variety of hazardous situations where the life of a person is at risk. One common situation is the removal of debris and other objects from roads that are in active use. By allowing a user to remotely control the arm to remove the debris, the safety of the user is increased by decreasing the chance that the user will be hit by a car on the road. 
         [0028]    As described above, a video camera is mounted on the arm and/or elsewhere on the vehicle. An arm control is disposed within the vehicle and is operable to control the operation of the arm, the manipulator and the video camera. Alternatively or additionally, the arm control can be used to control the operations of the arm remotely from the vehicle. A video interface is coupled to the video camera which is operable to display output from the video camera. Alternatively or additionally, the video display may be incorporated with the remote arm control so that a user can view the operations of the arm and control its operations while being remotely located from the vehicle. 
         [0029]    Thus, while the present invention has been described with reference to specific examples, which are intended to be illustrative only and not to be limiting of the invention, it will be apparent to those of ordinary skill in the art that changes, additions or deletions may be made to the disclosed embodiments without departing from the spirit and scope of the invention. For example, while police officers and police vehicles have been used as an illustrative example, other public safety, utility and/or private individuals and vehicles could be substituted.