Abstract:
A system having a plurality of networked detectors for detecting chemical, biological, or radiological, nuclear, or explosive agents is disclosed. The system includes a plurality of remote units, wherein each remote unit includes a robotic base, a lift, a sensor module, transceiver, navigation system, and power source. The remote units communicate with a base station, which receives data from the remotes and determines, based on the data, if an alarm condition exists.

Description:
STATEMENT OF RELATED CASES 
       [0001]    This case claims priority of U.S. Provisional Patent Application Ser. No. 60/985,520 filed Nov. 5, 2007 and which is incorporated by reference herein. 
     
    
     FIELD OF THE INVENTION 
       [0002]    The present invention relates to homeland security, and more particularly to CBRNE detection systems. 
       BACKGROUND OF THE INVENTION 
       [0003]    The military has traditionally secured the United States by projecting power overseas. While missions abroad continue to play a vital role for the security of the United States, the terrorist attacks of Sep. 11, 2001 emphasized that the United States is confronting fundamentally different challenges from those faced during the Cold War. 
         [0004]    The defining characteristic of the security environment in the near future is the risk of substantial, diverse, and asymmetric challenges to the United States, its allies, and interests. In this context, the United States is faced with great uncertainty regarding the specific character, timing, and sources of potential attacks. 
         [0005]    Transnational terrorist groups view the world as an integrated, global battle space in which to exploit perceived U.S. vulnerabilities, wherever they may be. Terrorists seek to attack the United States and its centers of gravity at home and abroad and will use asymmetric means to achieve their ends, such as simultaneous, mass casualty attacks. 
         [0006]    To this end, it is foreseeable that adversaries will develop or otherwise obtain chemical, biological, radiological, nuclear, or high-yield explosives (CBRNE) capabilities, with the intent of causing mass panic or catastrophic loss of life. CBRNE detection systems are being developed to protect individuals, assets, and installations from these threats. 
         [0007]    In current CBRNE systems, detection equipment is manually deployed and installed by military or civilian personnel along the perimeter of, or within, the area to be protected. This operation exposes these individuals to possible harm by entering areas that may already be contaminated or are otherwise in the line of fire or under adversarial control. Furthermore, in order to obtain confirmation and identification of released biological- or chemical-warfare agents, first responders must wear protective gear to enter monitored zones in order to retrieve potentially hazardous samples. 
       SUMMARY OF THE INVENTION 
       [0008]    The present invention provides a detection/warning system wherein detectors (e.g., biological, chemical, etc.) are deployed/re-deployed and samples are retrieved without any significant risk of exposure to human operators. 
         [0009]    The illustrative embodiment of the present invention is a system of networked detectors on robotic platforms. In some embodiments, the detectors are auto-deployed, monitored, and controlled via wireless communication or fiber links from a central location. In some other embodiments, a remote control is used to individually deploy each robotic platform/detector. 
         [0010]    In accordance with the illustrative embodiment, the system includes a plurality of “remote” units and a base station. In some embodiments, each remote includes a robotic base, a transceiver, at least one type of detector (e.g., biological, chemical, etc.) for detecting harmful airborne agents, weather sensors (e.g., wind, humidity, etc.), a lift for elevating the detector to a suitable height, a navigation system, and a power source (e.g., a battery, etc.). The base station collects data from all of the remote units and determines, via a suitably programmed processor, whether an alarm condition exists. 
         [0011]    In some embodiments, the remote units include a removable filter (for obtaining an air sample, etc.) and a removable battery module or an otherwise serviceable power source. In such embodiments, the system further includes a “service” remote that is capable of retrieving the filter and/or battery module. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0012]      FIG. 1  depicts a detection system in accordance with the illustrative embodiment of the present invention. 
           [0013]      FIG. 2  depicts a remote detector unit for use in conjunction with the detection system of  FIG. 1 . 
           [0014]      FIG. 3  depicts a workstation for use in conjunction with the detection system of  FIG. 1 . 
           [0015]      FIG. 4  depicts an alternative embodiment of a remote detector unit for use in conjunction with the detection system of  FIG. 1 . 
           [0016]      FIG. 5  depicts a service remote for use in conjunction with the remote unit of  FIG. 4 . 
           [0017]      FIG. 6  depicts a fixture that couples to an arm of the service remote of  FIG. 5 . 
           [0018]      FIGS. 7A and 7B  depict a process whereby an arm on the service remote couples to a fixture that attaches to a removable power supply or sample cartridge. 
       
    
    
     DETAILED DESCRIPTION 
       [0019]      FIG. 1  depicts detection system  100  in accordance with the illustrative embodiment. In the illustrative embodiment, system  100  includes five remote detector units  102  and command and control workstation  104 . The detector units are deployed in a region of interest, henceforth, “monitored region  108 .” Command and control workstation  104  is typically situated at (mobile) command post  110 . 
         [0020]    Communications link  106  is established between detectors  102  and workstation  104 . In some embodiments of detection system  100 , communication between detectors  102  and workstation  104  is one-way, wherein the detector units transmit data to workstation  104 . In some other embodiments, communication is two-way, wherein detector units  102  transmit data to workstation  104  and the workstation transmits commands to the detector units. Communications can be either via a wireless link or fiber links. 
         [0021]      FIG. 2  depicts remote detector unit  102  in accordance with the illustrative embodiment of the present invention. As depicted in  FIG. 2 , remote unit  102  includes robotic base  212 , lift  222 , and sensing module  232 . 
         [0022]    Sensing module  232  is capable of obtaining a sample of air and of performing analytical techniques suitable for obtaining information (e.g., particle counts, fluorescing behavior, etc.) that can be used to determine whether elevated levels of harmful biological, chemical, or radiological agents are present in the sample. In some embodiments, sensing module  232  is further capable of analyzing the ambient environment for a signature indicative of the presence of radiation. 
         [0023]    Sensing module  232  further includes weather sensor(s) capable of determining or otherwise obtaining data indicative of one or more meteorological conditions, such as wind speed, wind direction, humidity, and the like. 
         [0024]    In some embodiments, sensing module  232  includes a filter or other means suitable for capturing and storing a sample for later analysis at command post  110  or elsewhere. 
         [0025]    Robotic base  212  is the means by which sensing module  232  is remotely deployed. In some embodiments, robotic base  212  deploys to an intended site by responding to commands being transmitted from workstation  104 . In other cases, the robotic base is pre-programmed to follow a specific route. 
         [0026]    Robotic base  212  includes left and right treads  214  for locomotion (only one of the treads is visible in  FIG. 2 . Treads  214  are individually controllable to facilitate steering. In some other embodiments, robotic base  212  includes a plurality of wheels/tires, rather than treads. In some of these embodiments, at least one wheel/tire on each side of robotic base  212  is at least partially rotatable for steering. In some other embodiments, robotic base  212  is “steered” by independently controlling the rotation speed of the wheels/tires on each side of the robotic base. 
         [0027]    Robotic base  212  is driven and controlled by a drive/control system, shown generally at  216 . The drive/control system includes a motor and gearing, etc., suitable for driving robotic base  212 . Drive/control system  216  also includes a controller for controlling the drive motor, responsive to commands from navigation system  220 . 
         [0028]    Navigation system  220  supports the deployment operation of remote unit  102 . In some embodiments, navigation system  220  comprises equipment suitable for directing drive/control system  216  to execute commands that are received from workstation  104 . In some of these embodiments, navigation system  220  also includes a camera (e.g., video, etc.), for obtaining images of the environs of remote  102 . The images are transmitted via communications link  106  to workstation  104 . A human operator uses the incoming video to assist in remotely steering remote unit  102 . 
         [0029]    In some other embodiments, navigation system  220  comprises a GPS receiver, which enables remote unit  102  to determine its location. Location information is transmitted to workstation  104  via communications link  106 . The location information is then used to guide remote detector unit  102  to its intended location. 
         [0030]    In some additional embodiments, navigation system  220  includes a GPS receiver and map data, etc., so that remote unit  102  can autonomously navigate to its intended site. In such embodiments, navigation system includes obstacle avoidance software. 
         [0031]    Lift  222  is used to position sensing module  232  at an appropriate height for operations (i.e., sampling the ambient air, locomotion, etc.). Lift  222  includes upright frame  224 , vertically-movable platform  226 , lift drive/control system  228 , and chain/belt  230 . Sensing module  232  is disposed on vertically-movable platform  226 . During deployment, platform  226  and sensing module  232  are lowered for stability and to avoid undue stresses on lift  222 . Once remote unit  102  has reached its intended location, platform  226  raises sensing module  232  to facilitate sensing operations. In some embodiments, lift  222  is remotely controlled from workstation  104 . In some other embodiments, operation of lift  222  is pre-programmed. 
         [0032]    Remote unit  102  includes appropriate communications equipment (e.g., radio, transmitter, antenna, etc.), shown generally at  234 , for establishing communications link  106  with workstation  104 . 
         [0033]    Drive/control system  216  and lift  222  are powered by one or more power supplies  218 , typically a battery, batteries and solar panels, etc. Power supply  218  will advantageously provide enough power for one hour of driving and at least twenty-four hours of stationary operation (powering at least sensing module  232  and communications equipment  234 ). 
         [0034]    Referring now to  FIG. 3 , workstation  104  includes a suitably programmed processor (not depicted) for analyzing incoming data from remotes  102  to determine whether an alarm condition exists. Depending upon the nature of the processing required, some of the data can be forwarded to a headquarters location for more computationally-intensive analysis. The workstation includes display  340  for showing the location of remote units  102 . In embodiments in which workstation is used to control remotes  102 , the workstation includes control stick  342 . Workstation  104  also includes (or otherwise communicates with) appropriate communications equipment (e.g., radio, transmitter, antenna, etc.), shown generally at  344 , for establishing communications link  106  in conjunction with communications equipment on remotes  102 . 
         [0035]    Once remote units  102  are deployed, sensing module  232  obtains air samples and conducts appropriate tests. In some embodiments, data obtained by sensing module  232  is transmitted to workstation  104  for analysis. Data from each remote is analyzed and, based on the results of the analyses, a determination is made as to whether or not a harmful agent is present at abnormal levels. The determination is communicated to the workstation operator and appropriately disseminated. 
         [0036]    The communications link is also used to transmit, from remote unit  102  to workstation  104 , meteorological data and data concerning the health/status of the systems on the remote (e.g., battery power reserve, tire pressure, etc.). 
         [0037]    The concept of operations for remote units  102  is to deploy to an intended location and monitor the air for a period of time. After an appropriate period of monitoring (e.g., 24 hours, etc.), the remote units return to command post  110 . 
         [0038]      FIG. 4  depicts an alternative embodiment of a remote detector unit and  FIG. 5  depicts a service remote for use with the remote unit of  FIG. 4 . 
         [0039]    Referring now to  FIG. 4 , remote detector unit  402  includes robotic base  212 , sensing module  432 , sampling port  450 , removable power supply  454 , and removable sample cartridge  458 . 
         [0040]    Robotic base  212  is the same robotic base as used for remote detector unit  102 . It has the same capabilities and includes the same drive, control, and navigation elements (not shown in  FIG. 4 ). 
         [0041]    Sensing module  432  has the same sensing capabilities of sensing module  232 . Remote unit  402  does not include a lift. As a consequence, sensing module  432  include a sampling port  450  that extends vertically from the body of the sensing module to an appropriate height for air sampling (at least about six feet above the ground). In some embodiments, the height of the sampling port is vertically adjustable via extendable neck  452 . In some other embodiments, the neck is not height-adjustable. 
         [0042]    Remote detector unit  402  is intended to remain in the field for longer periods of time than remote unit  102 . As a consequence, provisions for replacing the power supply and retrieving samples are necessary. To that end, remote unit  402  includes removable power supply (e.g., battery, etc.)  454  and removable sample cartridge  458 . 
         [0043]    To facilitate robotic removal of power supply  454  and sample cartridge  458 , both include a removal fixture. In particular, depending from the removable power supply and the removable sampling cartridge are respective fixtures  456  and  460 . Further detail of fixtures  456  and  460  is provided in conjunction with  FIGS. 6 ,  7 A, and  7 B. 
         [0044]      FIG. 5  depicts service remote  502  for use with remote unit  402 . The service remote is capable of being deployed to remote detector units  402  that are in the field to (1) remove power supply  454  and insert a replacement power supply and (2) remove sample cartridge  458  and insert a replacement sample cartridge. Removed sample cartridge  458  is then returned to the command post for additional analysis. 
         [0045]    In the embodiment that is depicted in  FIG. 5 , service remote  502  includes robotic base  212 , two arms  562  and two lifts  568 . 
         [0046]    Each arm includes telescoping portion  564  and capture tab  566 . The telescoping portion is retractable (such as for when unit  402  is moving) and extendable to for retrieval/replacement operations. Using lifts  568 , the height of arms  562  can be adjusted. For example, the arm is adjusted to a first height for coupling to fixture  456  or  460  of detector unit  402 . To remove the battery or sampling cartridge from remote unit  402 , the arm is raised to a second height. The arm might be adjusted to a third height (and retracted) for return to command center  110 . The arms and lifts are driven by motors, which are not depicted. 
         [0047]    Service remote  502  includes various controllers, etc., indicated generally at  570 , for controlling the motors that control arms  562  and lifts  568 . 
         [0048]      FIG. 6  depicts fixture  456  (or  460 ). As depicted, fixture  456  ( 460 ) includes horizontally-oriented member  672  and vertically-oriented member  676 . Horizontally-oriented member  672  includes opening  674 . Vertically-oriented member  676  includes opening  678 . In the present embodiment, openings  674  and  678  receive the end of one of the arms  562  during the process of removal/insertion of a power supply or sample cartridge. 
         [0049]      FIGS. 7A and 7B  depict the engagement process whereby arm  562  couples to fixture  456  ( 460 ).  FIG. 7A  depicts the distal end of one of arms  562  approaching opening  678  in vertically-oriented member  676 . Opening  678  is sufficiently large to permit capture tab  566 , which depends from the distal-most segment  564  of arm  562 , to pass. 
         [0050]      FIG. 7B  depicts arm  562  fully engaged to fixture  456  ( 460 ). After capture tab  566  clears opening  678  and is positioned under opening  674  in horizontally-oriented member  672 , arm  562  is raised slightly so that the segment  564  abuts uppermost opening-defining edge  780  of opening  678 . As a result, capture tab  566  extends through opening  674 . 
         [0051]    To complete the process of removing power supply  454  or sample cartridge  458 , lift  568  raises arm  562  further to withdraw the power supply or sample cartridge from its dock, etc. Capture tab  566  will prevent arm  562  from decoupling from fixture  456  ( 460 ) until the power supply or sample cartridge from which the fixture depends is lowered to a surface such that segment  564  drops away from edge  780  and that segment and capture tab  566 . 
         [0052]    As an alternative to the foregoing embodiment, in some embodiments, a grasping mechanism is disposed at the distal end of arm  562 . In such embodiments, fixtures  456  and  460  are suitable modified to facilitate capture via the grasping mechanism. In still further embodiments, an electromagnetic is disposed at the end of arm  562  for retrieving removable battery  454  or removable sample cartridge  458 . Again, fixtures  456  and  460  are suitably modified to accommodate the change to the retrieval means. 
         [0053]    The two arms  562  of service remote  502  can be utilized as follows. After receiving a transmission from one of remote detector units  402  that its battery is getting low on charge, a replacement battery can be coupled to one of the arms (e.g., as per  FIG. 7B ). Once the service remote reaches remote unit  402 , the unencumbered arm  562  is used to withdraw the power supply  454 . Once the power supply is removed, service remote  502  repositions itself to deliver the replacement power supply carried by the other arm  562 . 
         [0054]    It is to be understood that the disclosure teaches just one example of the illustrative embodiment and that many variations of the invention can easily be devised by those skilled in the art after reading this disclosure and that the scope of the present invention is to be determined by the following claims.