Abstract:
A portable robotic vehicle having modular components that can be interchanged to customize the vehicle for a particular mission or terrain so as to deliver a payload to a desired target. The payload attachment section can be interchanged with different payloads including shaped charges for safely detonating or disabling improvised explosive devices. The payload may be elevated or directed in a specific direction for positioning the shaped charge or otherwise directing an emission from the payload.

Description:
PRIORITY CLAIM 
       [0001]    This application claims priority to U.S. Provisional Application No. 61/418,257 filed Nov. 30, 2010, and entitled “EQUIPMENT FOR ROBOTIZING A PAYLOAD”, and U.S. Provisional Application No. 61/418,261 filed Nov. 30, 2010, and entitled “EQUIPMENT FOR ROBOTIZING A PAYLOAD”, which are hereby incorporated by reference in their entirety. 
     
    
     FIELD OF THE INVENTION 
       [0002]    The present invention related to surveillance robots. More particularly, the present invention relates to accessories and drive configurations for surveillance robots. 
       BACKGROUND OF THE INVENTION 
       [0003]    Recently, the use of remotely operated drones in combat, police actions and other dangerous situations has increased. In particular, unmanned ground vehicles can be used to remotely deliver a payload such as a surveillance packages or munitions to targets without risk of injury or death to the operator. The ground vehicles are often have lightweight and compact designs such that the vehicle can be carried into the combat theater. Similarly, the vehicles are often sized to be thrown a short distance by the operator before being driven to the final destination on its own power. 
         [0004]    Although the compact size of the drones provides significant advantages, the small size of the vehicle can make navigating the vehicle over or around obstacles more challenging. 
         [0005]    Similarly, different terrains can present unique challenges requiring specific vehicles or modifications for specific terrains. However, as the vehicles are typically carried to operational theatre, carrying multiple vehicles suited for different terrains or equipment for modifying the vehicle in theatre can be impractical. 
         [0006]    Often times payloads need to be delivered in an operational theatre at a particular place of usage, for example explosives to disable or destroy an improvised explosive device (“IED”). It is obviously advantageous to deliver such payloads by means other than personnel walking up to and placing such explosives at the IED and thus robotic delivery options are desirable. Shaped water charges are known to accomplish such disabling and destruction of IEDs. Such charges are available in a standardized size of approximately 13 inches long×3 inches wide×2.5 inches high and upon detonation shoot a narrow, high velocity, low volume shaped water jet out the top and a lower velocity, higher volume, spread out water blast downward. See Prior Art  FIG. 29 . Such charge has a water jet emission direction f and will have two water reservoirs, one for the high velocity water jet and one for the lower velocity water blast. Obviously, the orientation can be changed, but such an orientation as described has been successfully used for the disabling and destroying of IEDs on the battle field. Strategic positioning both elevation wise and proximity horizontally are desirable for optimal effectiveness. Particularly IEDs buried in the ground or within trunks of vehicles, the lower velocity water blast triggering the ground based IED&#39;s typically by a pressure plate, and the higher velocity jet cutting through and disabling an IED in a trunk of a vehicle. 
         [0007]    As such, there is a need for a means of delivering to an operational theatre an easily transportable robotic ground vehicle capable of addressing different terrains and obstacles. 
       SUMMARY OF THE INVENTION 
       [0008]    The present invention is directed to a portable robotic vehicle having modular components that can be interchanged to customize the vehicle for a particular mission or terrain. The robotic vehicle can generally comprise one or more payload attachment sections and at least two removable side drive assemblies positioned on either side of the payload attachment section. The payload attachment section can be readily attached and interchanged with different payloads including, but not limited to sensor packages, battery packages, weapons, and explosives. In an embodiment, the payload can comprise shaped charges for safely detonating or disabling improvised explosive devices (IEDs), particularly as described in the Background. Similarly, the side assemblies can comprise different types of drive systems for transporting and elevating the payload. The drive systems can be selected based on the particular payload to be transported, the type of terrain to be covered and the means by which the payload is to be delivered. 
         [0009]    According to an embodiment, a robotic vehicle can generally comprise a payload attachment section and two side assemblies, wherein each side assembly can further comprise a single wheel assembly. Each wheel assembly can comprise a motor, an axle and a removable wheel. The wheel assemblies can be independently operated to drive and turn the robotic vehicle. The two wheel design allows the robotic vehicle to be compactly stowed for transport. According to an embodiment, each side assembly can further comprise a foldable tail assembly having a deployable tail foldable between a retracted position in which the deployable tail is positioned against payload attachment section and a deployed position in which the tail extends outwardly to stabilize the robotic vehicle. According to an embodiment, the payload attachment section can be attached to each side assembly across an elevating joint. The joint can be actuated to elevate the payload attachment section relative to the side assembly. In this configuration, the foldable tail assemblies can be used to stabilize the robotic vehicle to maintain the vehicle in an upright position as the payload attachment section is elevated. 
         [0010]    According to an embodiment, a robotic vehicle can generally comprise a payload attachment section and two removable side assemblies, wherein each side assembly can further comprise two wheel assemblies mounted on rotatable arms. As with the two wheel configuration, each wheel assembly can comprise a motor, an axle and a removable wheel. Each wheel assemblies can also be operated individually or in various combinations to propel or rotate the robotic vehicle. The rotatable arms can be rotated independently or in various combinations to change the orientation and elevation of the payload attachment section. 
         [0011]    According to an embodiment, each wheel can comprise a multi-spoke configuration having a hook portion extending from each spoke past the rim. The hook portion is adapted to engage obstacles, such as stair steps, to pull the robotic vehicle up and over obstacles as well as generally improving the traction of each wheel. The hook portion can comprise multiple hooks oriented to engage obstacles regardless of the direction the wheel are rotated. 
         [0012]    According to an embodiment, each motor can be oriented parallel to the axle. Alternatively, each wheel assembly can further comprise a right-angle gear box for positioning the motor perpendicular to the axle while still rotating the axle. In this orientation, the motors of the robotic vehicle can be oriented to improve the ground clearance of the robotic vehicle. 
         [0013]    A method of safely detonating an IED, according to an embodiment, comprises providing a robotic vehicle having a payload attachment section containing a shape charge, a first and second wheels, a first and second motor, and a first and second means of elevating each wheel. The method further comprises propelling the vehicle in first direction by rotating the first wheel with the first motor and the second wheel with the second motor, wherein the first and second motors can operated independently. The method further comprising navigating the robotic vehicle proximate to the IED. The method also comprises elevating the payload attachment section to position the shape charge proximite to the IED at a desired location. Finally, the method comprises detonating the shape charge to destroy or disable the IED. In embodiments of the invention, the shaped charge is also utilized to destroy all or portions of the robotic vehicle, particularly portions associated with the electronics and control circuitry so that there is no salvageable components that may be utilized by others. 
         [0014]    In particular embodiments, the shaped charge need not be placed to actively destroy critical portions of the robotic vehicle and may be placed to preserver components or portions of the robotic vehicle. 
         [0015]    In embodiments of the invention, a pair of drive mechanisms are attached to each end of a shaped charge, the drive mechanisms having conforming shape to attach to the shaped charge. The shaped charge having a standardized size of 10 to 16 inches in length. 
         [0016]    In embodiments of the invention a pair of drive mechanisms including a motor, gears and a wheel, are separated a distance to receive a standardized size of a shaped charge, namely about 12.75 inches. A spanning member configured as a chassis may extend between the drive mechanisms whereby the chassis and the two drive mechanisms define a shaped charge receiving region. The drive mechanisms may include height adjustment mechanisms. 
         [0017]    In an embodiment, each of a pair of drive mechanisms are positioned at the end of a shaped charge, the shaped charge having water jet and water blast capability on detonation. Each drive mechanism may have height adjustment capability to raise and lower the shaped charge. At least one of the drive mechanisms may have an extending portion therefrom for providing rotational stability about an axis extending through two wheels of the two drive mechanisms. The extending portion may be a tail to drag on the ground or a wheel that engages the ground. 
         [0018]    The above summary of the various representative embodiments of the invention is not intended to describe each illustrated embodiment or every implementation of the invention. Rather, the embodiments are chosen and described so that others skilled in the art can appreciate and understand the principles and practices of the invention. The figures in the detailed description that follow more particularly exemplify these embodiments. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0019]    The invention can be completely understood in consideration of the following detailed description of various embodiments of the invention in connection with the accompanying drawings, in which: 
           [0020]      FIG. 1  is a perspective view of a robotic vehicle according to an embodiment of the present invention. 
           [0021]      FIG. 2  is a partially exploded perspective vehicle of the robotic vehicle depicted in  FIG. 1 . 
           [0022]      FIG. 3  is a cross-sectional side view of a wheel-axle-motor assembly according to an embodiment of the present invention. 
           [0023]      FIG. 4  is a cross-sectional side view of a gear box according to an embodiment of the present invention. 
           [0024]      FIG. 5  is a perspective view of the robotic vehicle depicted in  FIG. 1  having a payload attachment section positioned in the elevated position according to an embodiment of the present invention. 
           [0025]      FIG. 6  is a side view of the robotic vehicle depicted in  FIG. 1  wherein the payload attachment section is positioned in a lowered position according to an embodiment of the present invention. 
           [0026]      FIG. 7  is a side view of the robotic vehicle depicted in  FIG. 1  wherein the payload attachment section is positioned in an elevated position according to an embodiment of the present invention. 
           [0027]      FIG. 8  is a front view of the robotic vehicle depicted in  FIG. 1  wherein the payload attachment section is positioned in the lowered position according to an embodiment of the present invention. 
           [0028]      FIG. 9  is a front view of the robotic vehicle depicted in  FIG. 1  wherein the payload attachment section is positioned in the elevated position according to an embodiment of the present invention. 
           [0029]      FIG. 10  is a bottom view of the robotic vehicle depicted in  FIG. 1  with the wheels removed according to an embodiment of the present invention. 
           [0030]      FIG. 11  is a side view of the robotic vehicle depicted in  FIG. 1  having at least one deployable tails rotated into an extended position. 
           [0031]      FIG. 12  is a side view of the robotic vehicle depicted in  FIG. 11  in which the deployable tails are rotated and locked into place with a locking pin according to an embodiment of the present invention. 
           [0032]      FIG. 13  is a top view of the robotic vehicle depicted in  FIG. 1  in which the deployable tails are folded into the retracted position according to an embodiment of the present invention. 
           [0033]      FIG. 14  is a perspective view of the robotic vehicle depicted in  FIG. 13  according to an embodiment of the present invention. 
           [0034]      FIG. 15  is a partial side view of the robotic vehicle depicted in  FIG. 13  according to an embodiment of the present invention. 
           [0035]      FIG. 16  is a perspective view of a robotic vehicle according to an embodiment of the present invention. 
           [0036]      FIG. 17  is a side view of the robotic vehicle depicted in  FIG. 16 . 
           [0037]      FIG. 18  is a front view of the robotic vehicle depicted in  FIG. 16 . 
           [0038]      FIG. 19  is a bottom view of a side assembly according to an embodiment of the present invention. 
           [0039]      FIG. 20  is a cross-sectional side view of an arm actuator assembly according to an embodiment of the present invention. 
           [0040]      FIG. 21  is a perspective view of the robotic vehicle depicted in  FIG. 16  wherein the arm actuator assembly has be operated to rotate the actuator arms to elevate the payload attachment section. 
           [0041]      FIG. 22  is a side view of the robotic vehicle depicted in  FIG. 21 . 
           [0042]      FIG. 23  is a partially exploded perspective view of the robotic vehicle depicted in  FIG. 16 . 
           [0043]      FIG. 24  is a partial perspective view of rotatable shaft of the payload attachment section according to an embodiment of the present invention. 
           [0044]      FIG. 25  is a bottom view of the payload attachment section according to an embodiment of the present invention. 
           [0045]      FIG. 26  is a side view of the robotic vehicle depicted in  FIG. 16  with the payload attachment section rotated relative to the side assemblies according to an embodiment of the present invention. 
           [0046]      FIG. 27  is a side view of the arm actuator assembly according to an embodiment of the present invention. 
           [0047]      FIG. 28  is a perspective view of the robotic vehicle depicted in  FIG. 26 . 
           [0048]      FIG. 29  is a schematic view of a shaped charge that emits a water jet and a water blast. 
           [0049]      FIG. 30-31  are simplified elevational views of a robotic vehicle delivering a shaped charge to an IED in the ground. 
           [0050]      FIG. 32  is simplified elevational view of a robotic vehicle delivering a shaped charge to an IED in the trunk of a vehicle. 
           [0051]      FIG. 33  is a view of a robotic vehicle according to an embodiment of the invention. 
           [0052]      FIG. 34  is a view of a robotic vehicle according to an embodiment of the invention. 
           [0053]      FIG. 35  is a view of a robotic vehicle according to an embodiment of the invention. 
       
    
    
       [0054]    While the invention is amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail. It should be understood, however, that the intention is not to limit the invention to the particular embodiments described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims. 
       DETAILED DESCRIPTION 
       [0055]    As shown in  FIGS. 1 to 2 , a robotic vehicle  40 , according to an embodiment, can comprise a chassis or payload attachment section  42  and two side assemblies  44  with a payload receiving region  45  therebetween. The payload attachment section  42  can comprise electronics and control circuitry  46  that may define a designated critical portion  47  and other components for operating the robotic vehicle  40 . According to an embodiment, the payload attachment section  42  can attach to a shaped charge  48  for disabling or destroying IEDs. The attachable may be by a variety of fastening means including bolts, screws, rivets, tab-and-slot, straps snaps, hook and loop material or other conventional mechanical connection means. The side assemblies  44  can each further comprise a motor  50 , an axle  52 , a removable wheel  54  and a mount assembly  56  for connecting each side assembly  44  to the payload attachment section  42 . In an embodiment the side assemblies and chassis  42  are sized and spaced to accommodate a standardized sized charge of approximately 12 to 14 inches in length, 3 to 4 inches in depth, and 2 to 3 inches in height. An additional payload receiving region  57  may be defined in the chassis. Such payload contained therein may be a remote control detonation control unit  59  including components for detonating the shaped charge  48 . 
         [0056]    As shown in  FIGS. 2 to 3 , each axle  52  can further comprise a bolt head  58  at the end of the axle  52 . As depicted in  FIGS. 2 to 3 , the bolt head  58  comprises a T-shape, but can comprise a hex-shape or other conventional bolt head shapes. In this configuration, the removable wheel  54  can further comprise a hub  60  defining a socket  62  corresponding to the bolt head  58 . In operation, the bolt head  58  is inserted into the socket  62  to affix the wheel  54  to the axle  52 . According to an embodiment, the hub  60  can further comprise at least two claws  61  that can be closed to grip the bolt head  58  to retain the bolt head  58  within the hub  60 . A spring  63  to bias the claws  61  closed to engage the bolt head  58 . 
         [0057]    As shown in  FIGS. 1 to 4 , each motor  50  is operably engaged to the corresponding axle  52  to rotate the axle  52  and any attached wheel  54 . As shown in  FIGS. 2 and 4 , according to an embodiment, each side assembly  44  can further comprise a gear box  58  permitting the motor  50  to be positioned at an angle transverse to the rotational axis of the corresponding axle  52 . As shown in  FIGS. 4 , according to an embodiment, the motor  50  can be oriented at an angle perpendicular to the axle  52 . 
         [0058]    As shown in  FIGS. 5 to 9 , side assemblies  44 , configured as drive mechanisms, can be mounted to the payload attachment section  42  via the mount assembly  56  such that the payload attachment section  42  is suspended above the ground when the wheels  54  are positioned on the corresponding axles  52 . According to an embodiment, the wheels  54  can sized such that the payload attachment section  42  may be suspended at least six inches above the ground. Each mount assembly  56  further comprises a worm gear  64  and a payload bracket  65  having a threaded portion for engaging the worm gear  64 . As shown in  FIGS. 5 to 9 , rotating of the worm gear  64  moves the payload bracket  65  along the length of the worm gear  64 . The payload bracket  65  is mounted to payload attachment section  42  such that the rotation of the worm gear  64  elevates or lowers the payload attachment section  42 . As shown in  FIGS. 14 to 15 , according to an embodiment, the mount assembly  56  can further comprise a rotatable joint  67  for rotating the payload attachment section  42  relative to the side assemblies  44  allowing for more efficient transport of the robotic vehicle  40 . 
         [0059]    As shown in  FIGS. 11 to 15 , each side assemblies  44  can further comprise a foldable tail assembly  66  having a deployable tail  68  and a hinge bracket  70 . Each deployable tail  68  further comprises an elongated portion  72  and a ball joint socket  74 . The hinge bracket  70  further comprises a ball stud  78  insertable into the ball joint socket  74 . In operation, the elongated portion  72  of the deployable tail  68  is rotatable around the ball stud  78  around a first axis between a retracted position shown in  FIG. 13  in which the elongated portion  72  is positioned against the payload attachment section  42  and an extended portion shown in  FIG. 11  in which the elongated portion  72  extends outwardly from the payload attachment section  42 . According to an embodiment, the deployable tail  68  further define a first bore hole  80 . Similarly, the hinge bracket  70  can also define a second bore hole  82  corresponding to the first bore hole  80 . After the elongated portion  72  is rotated into the extended position, the elongated portion  72  can then be rotated around a second axis to align the first and second bore holes  80 ,  82 . According an embodiment, the first and second bore holes  80 ,  82  are positioned such that the tip of the elongated portion  72  is positioned to engage the ground and maintain the payload attachment section  42  in the upright portion during movement of the robotic vehicle  40 . A locking pin  84  can be inserted through the first and second bore holes  80 ,  82  to lock the elongated portion  72  in the extended position. As shown in  FIGS. 11 to 12 , the deployable tail  68  can further comprise an angled portion  85  for engaging the ground to stabilize the vehicle  40  when the deployable tail  68  is extended. 
         [0060]    In operation, the robotic vehicle  40  can be transported to the operational theatre with the wheels  54  removed allowing the robotic vehicle  40  to be more tightly packet. Upon arriving, the bolt head  58  of each side assembly  44  can be inserted into the corresponding socket  62  of the wheel  54 . According to an embodiment, the robotic vehicle  40  can be transported with the deployable tails  68  retracted against the payload attachment section  42  to minimize the space required for the robotic vehicle  40  during transport. After arriving at the theatre, the deployable tails  68  can be deployed to stabilize the robotic vehicle  40  during transport and elevating or lowering of the payload attachment section  42 . The robotic vehicle  40  can then be driven to the desired location by the operator. The wheels  54  are sized such that the payload attachment section  42  is suspended above the ground regardless of the orientation of the robotic vehicle  40 . Similarly, according to an embodiment, the robotic vehicle  40  can be transported to the place of deployment with the deployable tails  68  folded against the payload attachment section  42 . Once maneuvered to the desired location, the worm drive  64  of each side assembly  44  can be actuated to elevate the payload attachment section  42  and thus the shaped charge  48  attached thereto. 
         [0061]    As shown in  FIGS. 16 to 18 , the robotic vehicle  40 , according to an embodiment can alternatively comprise the payload attachment section  42  and two removable side assemblies  90 . Each removable side assembly  90  can further comprise two actuating arms  92  and an arm actuator assembly  94 . Each actuating arm  92  further comprises a wheel gear  108  at one end and a motor  50 , an axle  52  and a removable wheel  54  positioned at the opposite end. Each arm actuator assembly  94  further comprises a toothed engagement element  96  and a worm gear  98 . 
         [0062]    As shown in  FIGS. 19 to 20 , each axle  52  is positioned to extend through end of the corresponding actuating arm  92  such that the motor  50  and removable wheel  54  are positioned on opposite sides of the actuating arm  92  when the removable wheel  54  is mounted to the bolt head  58 . At the opposite end, the wheel gear  108  of each actuating arm  92  is engaged to the toothed engagement feature  96  of the actuator assembly  94 . The worm gear  98  of the actuator assembly  94  can be rotated to move the toothed engagement feature  96  axially, wherein the movement of the toothed engagement feature  96  rotates the wheel gear  98  to rotate the corresponding arm  92 . As shown in  FIGS. 21 to 22 , each arm  92  can be rotated between a first angle in which the arm  92  is substantially horizontal in which the payload attachment section  42  is lowered proximate to the ground and a second angle in which the payload attachment section  42  is substantially elevated above the ground. According to an embodiment, the worm gears  98  of the two arms  92  of each single side assembly  90  are engagable to the same toothed engagement feature  96  such that the arms  92  rotate simultaneously. 
         [0063]    As shown in  FIGS. 23 to 25 , according to an embodiment, each side assembly  90  can further comprise a mount assembly  100  defining a locking aperture  102  having at least one slot  103 . In this configuration, the payload attachment section  42  can comprise a corresponding rotatable shaft  104  defining an engagement tooth  106 . The rotatable shaft  104  is inserted into the locking aperture  102  with the engagement tooth  106  aligned with the slot  103 . The rotatable shaft  104  is then rotated until the tooth  106  is out of alignment with the slot  103  locking the payload attachment section  42  to the side assembly  90 . According to an embodiment, the rotatable shaft  104  can further comprise a handle  108  for tool-less rotation of the rotatable stud  104 . According to an embodiment, the payload attachment section  42  can further comprise at least one alignment shaft  109  corresponding to at least one alignment aperture  111  for preventing torquing of the side assembly  90  relative to the payload attachment section  42  after the side assembly  90  and payload attachment section  42  are connected. 
         [0064]    As shown in  FIG. 23 , the robotic vehicle  40  can be provided with the removable side assemblies  90  and payload attachment section  42  separated. According to an embodiment, the wheels  54  can also be removed from the side assemblies  90 . Each rotatable shaft  104  is then inserted into the corresponding locking aperture  102  and rotated to lock the side assembly  90  to the payload attachment section  42 . Similarly, the bolt head  58  of each motor axle  52  can then be inserted into the corresponding socket  62  of each wheel  54  to attach the wheels  54  to the side assemblies  90 . During operation of the vehicle  40 , the motors  50  can be operated individually or in combination to propel the vehicle  40  to the desired location. The arm actuator assemblies  94  can be operated to rotate the actuating arms  92  so as to elevate or lower the payload attachment section  42 . 
         [0065]    As shown in  FIGS. 1 and 16 , each wheel  54  can further comprise a rim  110  and plurality of spokes  110  extend from the hub  60  to the rim  112 . According to an embodiment, each wheel  54  can further comprise at least one cleat  114  each having at least two hook protrusions  116 . The hook protrusions  116  are oriented such that at least one of the hook protrusions  116  can engage an obstacle regardless of the direction the wheel  54  is being rotated. 
         [0066]    As shown in  FIGS. 26 to 28 , each mount bracket  100  can operably connected to corresponding arm actuator assembly  94  via a rotating joint  118 . The rotating joint  118  can be operated to rotate the payload attachment section  42  relative to arm actuator assemblies  94  and arms  92 . 
         [0067]    According to an embodiment, the payload attachment section  42  can comprise a shaped charge  48  for destroying or disabling IED devices. The shape charge  48  can be fitted with a water container  122  for creating a water column or blade for disrupting the function of the IED device without detonating the IED device. The elevating mount assembly  56  or arm actuator assembly  94  can be used to elevate the payload attachment section  42  containing the shaped charge  120  proximate to the IED or a vehicle containing the IED before the shaped charge  48 . Similarly, according to an embodiment, the rotating joints  118  can be used rotate the payload attachment section  42  to point the shaped charge  48  at the IED. After the payload attachment section  42  is properly positioned, the shaped charge  48  can be detonated to destroy or disable the IED device. 
         [0068]    According to an embodiment, the payload attachment section  42  can contain the majority of the necessary electronics, including communications, power supply, and sensors. In addition, the side assemblies  44 ,  90  can contain peripheral electronics such as motor drivers, which may be connected to the central assembly by an electrical cable. The payload attachment section  42  can contain one or more cameras, which may face in various directions, including downward, which allows for fine positioning of the payload by, for instance, lining up a target object with a reticle or similar alignment marking on the operator&#39;s display unit. The operator can use the robot&#39;s motion controls to adjust the position until the target is lined up with the reticle. Some or all of the cameras may have a complementary light-bar which can illuminate the environment with a suitable spectrum of light, such as IR or visible. 
         [0069]    According to an embodiment, the robot  40  can be controlled and monitored remotely with a complementary handheld unit operated by a user with minimal training. The handheld unit can include transmitters and receivers complementary to the robot&#39;s transmitters and receivers, an interface such as a video screen to monitor the robot, and a control interface such as a joystick or set of buttons. The handheld until can also include specialized transmitters configured for use with an explosives payload that can be attached to the robot. In one embodiment the explosives package can be configured to destroy both a target IED and the robot simultaneously or portions of the robot. U.S. Pat. No. 7,559,385 B1 is incorporated by reference herein and includes disclosure relating to remote control robots with cameras. 
         [0070]    Referring to  FIGS. 30 to 32 , the operation of embodiments of the invention in an operational theatre are illustrated. In  FIG. 30 , a robotic vehicle with a shaped charge including water is remotely driven to a detonation  125  location adjacent an IED  126 . The robotic vehicle elevates the shaped charge to a desired elevation e and the charge is detonated destroying designated critical portions of the robotic vehicle, such as the remote control circuitry in the chassis and the detonation package for the shaped charge, and providing a downward water blast that detonates the IED. The detonation of the IED may itself not be enough to destroy the particular portions of the robotic vehicle that are destroyed by the shaped charge. 
         [0071]    Referring to  FIG. 32 , the robotic vehicle is transported in a pack  128  from the shaped charge pack  129  containing one or a plurality of such shaped charges to the location of usage  130 . The robotic vehicle is assembled and a shaped charge  48  is placed in the receiving region  45  and in embodiments, the detonation control unit  59  is placed in the robotic vehicle as well. The vehicle is maneuvered to the desired location, such as below an IED  140  in a trunk of a vehicle  142 . The shaped charge is elevated to its desired operating location, and is detonated. The detonation destroying the IED with a shaped water jet that cuts through the trunk and disseminates the IED, and in embodiments, designated critical portions of the robotic vehicle, such as remote control circuitry. 
         [0072]    In particular embodiments, the shaped charge need not be placed to actively destroy critical portions of the robotic vehicle. 
         [0073]    Referring to  FIG. 33 , in embodiments of the invention, a pair of drive mechanisms  150 , each including at least a motor and a wheel are attached to each end of a shaped charge  154 , the drive mechanisms having conforming shape to attach to the shaped charge such as by brackets  155  or other mechanical connectors. The drive mechanisms may have elevating capability. The shaped charge may have water jet and water blast capability on detonation. 
         [0074]    Referring to  FIG. 34 , in embodiments of the invention a pair of drive mechanisms  150  including a motor, gears and a wheel, are separated a distance d to receive a standardized size of a shaped charge, namely about 12.75 inches. Distance d may be 12.75 inches to 14 inches, for example. A spanning member configured as a chassis  156  may extend between the drive mechanisms setting said distance. The chassis and the two drive mechanisms define a shaped charge receiving region with a shaped charge  154  therein. The drive mechanisms may include height adjustment mechanisms. The chassis and shaped charge defining a body portion wherein most of the volume of the body portion between the two drive mechanisms is the shaped charge. The shaped charge may have water jet and water blast capability on detonation. 
         [0075]    Referring to  FIG. 34 , in an embodiment, each of a pair of drive mechanisms are positioned at the end of a shaped charge, the shaped charge having water jet and water blast capability on detonation. Each drive mechanism may have height adjustment capability to raise and lower the shaped charge. At least one of the drive mechanisms may have an extending portion  160  therefrom for providing rotational stability about an axis extending through two wheels of the two drive mechanisms. The extending portion may be a tail to drag on the ground or a wheel that engages the ground. 
         [0076]    Referring to  FIG. 35 , in an embodiment, each of a pair of drive mechanisms are positioned at the end of a shaped charge, the shaped charge having water jet and water blast capability on detonation. A body portion may extend between the wheels  161  and be positioned primarily at the lower halves of the wheels. The body portion may be, weight wise, mostly the shaped charge. The stability of the robotic vehicle, with respect to the driving capability, the wheels rotating rather than the body portion, may be from the weight of the shaped charge. An extending portion, such as a tail, may be optional for further stability. In an embodiment a robotic vehicle with a shaped charge comprises a body portion, a pair of drive mechanisms on each end of the body portion, and control circuitry, the body portion extending between the pair of drive mechanisms comprised at least substantially of the shaped charge. 
         [0077]    Referring again to  FIG. 16 , a payload may include a device  170  mounted to the chassis in the payload receiving region that has an emission  172  that has a direction  174  of emission. The direction of emission may be controlled by tilting of the chassis. The emitting device may be an illumination device, a laser, a gas or fluid emission device, or a device that emits solid projectiles. The direction  174  of emission may be controlled by the tilting of the chassis. The chassis may be tilted about the y axis by raising or lowering one side of the chassis with respect to one set of wheels. For example, the left side pair of wheels  180  may be scissored together by moving the arms  92  together thus raising the left side of the chassis. The chassis may be rotated with respect to the z axis by rotating the chassis with respect to the two side assemblies on the left and right sides as indicated by the arrow  183 . The chassis may be rotated about the x axis by operating the wheels to rotate the entire vehicle, generally the left side wheels in one direction, the right side wheels  186  in the opposite direction. 
         [0078]    While the invention is amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and described in detail. It is understood, however, that the intention is not to limit the invention to the particular embodiments described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.