Patent Description:
Several existing ground robots are fairly maneuverable but are fairly heavy and too large to fit in a soldiers backpack. See, for example, <CIT>; <CIT> and <CIT>. Other robots are smaller in weight and can be placed in a backpack but are not maneuverable enough, for example, to climb stairs. See <CIT> and published <CIT>. Another example of such a robot is known from <CIT>.

Featured is a lightweight, compact, man packable robot which in one example is highly mobile, unmanned, and can include advanced sensors and mission modules for dismounted forces. In one example, the ground robot is particularly useful for clearing buildings, caves, and other restricted terrain where close quarters combat is likely.

Featured is a remotely controlled packable robot comprising a chassis with a top surface and a bottom surface. A pair of main tracks are for maneuvering the chassis. There is an open channel under the robot defined by the bottom surface of the chassis and the main tracks. A robot arm with a should, elbow, and wrist is foldable from a stored position in the open channel underneath the robot chassis to a deployed position extending upwards from the top surface of the chassis. A camera assembly is also foldable from a stowed position in the open channel underneath the robot chassis next to the robot arm to a deployed position extending upwards from the top surface of the chassis. A skid plate may be provided for each main track.

In one example, a foldable base member for the robot arm is located on one end of the chassis and a foldable base member for the camera assembly is located on an opposite end of the chassis.

Also featured is a remotely controlled packable robot comprising a chassis, right and left main tracks for maneuvering the chassis, and right and left rearward tracked rotatable flipper arms for maneuvering the chassis. An integrated concentric drive assembly for each main track and flipper pair rotates a flipper, drives a main track, and drives the flipper track. A motor in a housing rotates the flipper. The right and left flippers arms can be independently driven. A stator and rotor disposed about the housing drives the main track and the flipper track. The housing is coupled to the chassis.

In one example, a slip clutch is attached to the flipper arm and is driven by the motor via a gear train. The stator may be affixed about the housing and preferably includes teeth with windings thereabout. The rotor preferably rotates about the housing and includes magnets therein. The rotor may include exterior teeth driving the main track. A sprocket may be attached to the rotor to drive the flipper track.

The following is a description of a preferred embodiment and the accompanying drawings, in which:.

<FIG> shows an example of a remotely controlled packable robot <NUM> including a chassis <NUM>. Right 14a and left 14b main tracks maneuver the chassis as do optional right 16a and left 16b rearward rotatable tracked flipper arms. Robot arm <NUM> with end effector <NUM> and/or camera assembly <NUM> may also be included.

As shown in <FIG>, chassis <NUM> is thin and plate-like in construction and includes top surface <NUM> and bottom surface <NUM> disposed high (e.g., <NUM>) above the ground for clearance over obstacles.

In this way, an open channel <NUM> under the robot is defined by the bottom surface <NUM> of the chassis <NUM> and between the main tracks 14a and 14b. For transport in a backpack by a dismounted soldier or user, both the robot arm <NUM> and the camera assembly <NUM> are folded underneath the robot chassis and reside almost completely in channel <NUM> as shown in <FIG>.

In one preferred design, robot arm <NUM> is mounted onto the top of foldable base plate member <NUM>, <FIG> rotatably coupled to the rear end of the chassis. In <FIG>, the bottom of base plate member <NUM> is on the top of the chassis and the base plate member can be releasably secured to the top <NUM> of chassis <NUM> using, for example, a latch on chassis <NUM>. Arm <NUM> is now in the deployed position extending upwards from the top surface of the chassis. In <FIG> and <FIG>, the arm base member <NUM> is folded relative to the chassis to a position depending downward from the chassis and the arm is stowed in the open channel under the robot next to the camera assembly.

Foldable base member plate <NUM> for the camera assembly <NUM> is rotatably coupled to the forward end of the chassis. The camera assembly <NUM> is coupled onto the top of this base member <NUM> and thus can be stowed as shown in <FIG> and <FIG> in the open channel underneath the robot adjacent the robot arm and then deployed as shown in <FIG> and <FIG> so camera assembly <NUM> extends upward from the top surface of the chassis. In <FIG>, a latch can be used to releasably lock the bottom of camera assembly base member <NUM> into engagement with the top of the chassis. The robot arm and camera assembly can be manually stowed, deployed, and latched. Preferably, the base member plates <NUM>, <NUM> rotate from a position where they lie on the top surface of the chassis to a position where they depend downward from an edge of the chassis (e.g., at a right angle to the plane of the chassis).

Preferably, the robot is approximately <NUM> tall and <NUM> wide and <NUM> long with the arm and camera assembly in the stowed position and with the flipper arms also stowed as shown in <FIG>. In the deployed position shown in <FIG>, the arm extends approximately <NUM> and the flippers when extended make the robot approximately <NUM> long enabling maneuverability over obstacles and, for example, up and down stairs.

Motors in the robot arm <NUM>, <FIG> rotate shoulder <NUM> and elbow <NUM>, rotate wrist <NUM> and open and close end effector <NUM> jaw <NUM>. See also <CIT>. Camera assembly <NUM> may include motors to rotate and tilt the camera head <NUM> relative to base member <NUM>. Camera head <NUM> may include a zoomable color camera as well as other imaging technology (e.g., infrared cameras, and the like).

Preferably, when the flippers are incorporated, so too is an integrated concentric drive assembly <NUM> for each main track and flipper pair as shown in <FIG>. One such assembly, for example, would be mounted to the chassis to drive right track 14a, rotate right rear flipper 16a, and drive its track 17a. Another such assembly would be mounted to the chassis and used to drive left track 14b, rotate left rear flipper 16b and drive its track 17b.

Preferably electric motor <NUM> is disposed inside motor housing <NUM> (coupled to the chassis) and rotates a flipper arm <NUM> via planetary gear box <NUM> and slip clutch <NUM> which is fixed to flipper arm <NUM>. Slip clutch <NUM> prevents damage to the flipper arm if the robot is dropped. Encoder <NUM> enables the absolute location of the flipper arm to be known. Stator <NUM> and rotor <NUM> are disposed about motor housing <NUM> for driving a main track <NUM> and the flipper track <NUM> via sprocket <NUM>. Stator <NUM> and rotor <NUM> are concentric with motor <NUM> housing <NUM>. In one design, stator ring <NUM> is a fixed about the housing <NUM> and includes teeth <NUM> each with a winding <NUM> thereabout. Rotor ring <NUM> can rotate about motor housing <NUM> via bearings 74a and 74b. Rotor <NUM> includes therein, inside the ring can, permanent magnets <NUM>. Battery power is used to energize motor <NUM> and windings <NUM>.

A main track <NUM> is disposed about rotor <NUM>. Sprocket <NUM> has a flipper track <NUM> disposed about it. Sprocket <NUM> is coupled to rotor <NUM>. In this way, rotation of the rotor rotates both a flipper track and a main track. Rotor <NUM> may include exterior teeth <NUM> for driving a main track.

<FIG> shows two batteries 100a and 100b in a side pod disposed within a main track <NUM>. Electronic speed controllers <NUM> can also be located in the side pod. This battery location provides a lower center of gravity for the robot and the batteries are hot swappable through a hinged door. Alternatively, a battery cage assembly slides into the sidepod. A track tensioning mechanism <NUM> is also shown.

<FIG> shows an example of a chassis component layout including a radio <NUM> for remotely communicating with the robot and for transmitting video signals back to an operator control unit from the camera assembly. Various other cameras <NUM>, printed circuit boards, and processor and controller boards 160a-160c are also shown. Pixhawk (real-time controller with integrated inertial measurement unit), Ethernet switch, and measurement unit), Ethernet switch, and Nitrogen (embedded Linux board) boards may be used. An example of an operator control unit is shown in <CIT>. In some embodiments, an operator control unit may include a hardened military style tablet device.

<FIG> show various configuration options for the robot. In <FIG>, the camera and arm are stowed underneath the robot chassis and the flippers 16a, 16b are rotated to be adjacent main tracks 14a, 14b for storage and transport of the robot. In <FIG>, the camera assembly <NUM> and robot arm <NUM> are deployed and the flippers 14a, 14b are rotated into position to lift the forward end of the robot to initiate stair climbing or to surmount a large obstacle. <FIG> shows the flippers 16a, 16b rotated straight behind the robot for stabilizing the robot during climbing stairs. <FIG> shows the position of the flipper arms for normal operation.

Preferably, the weight of the combined system is less than <NUM>,<NUM> (<NUM> pounds) with the operator control unit weighting less than <NUM>,<NUM> (<NUM> pounds).

In the folded configuration, the robot fits in a tactical or assault backpack (MOLLE brand or others) which is approximately <NUM>,<NUM> (<NUM> inches) high, <NUM>,<NUM> (<NUM> inches) wide, and <NUM>,<NUM> (<NUM> inches) thick. In one example, the MOLLE Assault Pack II NSN number is: <NUM>-<NUM>-<NUM>-<NUM>. The robot can climb and stairs, is self righting, and has a very low center of gravity. At the same time, the robot has a fairly high ground clearance.

In one example, motor <NUM> is an EC <NUM> Flat (<NUM>) motor and <NUM>:<NUM> and gear box <NUM> is a <NUM>:<NUM>32C Planetary Gear Head available from Maxon Precision Motors, Inc. The chassis and side pods may be made of aluminum, the tracks can be made of polyurethane, and the flippers may be made of carbon fiber. The arm may be <NUM>,<NUM> (<NUM> pounds) total weight, have a maximum reach of <NUM>,<NUM> (<NUM> inches) and <NUM>,<NUM> (<NUM> pounds) lift capability at full extension. Preferably, non-back drivable gear boxes with slip clutches are used in the arm. The chassis may include cameras on the front, rear, and/or sides, for example, video and/or thermal cameras. The camera assembly may be equipped with a video camera, have a <NUM>° continuous pan range, clockwise and counter clockwise rotation and a tilt range of -<NUM>° to +<NUM>°. Illumination sources, thermal cameras, and the like can also be equipped with the camera assembly.

<FIG> show another embodiment of the robot where the base member <NUM> for the camera assembly includes a rotatable arm to which the camera assembly is attached. In this embodiment, the chassis also includes a U-shaped cut-out at the rear end thereof defining two spaced arms. The base member plate for the robot arm is located in the cut-out and is hinged between the two chassis arms and flips upside down relative to the chassis to store the arm underneath the robot. <FIG> also show various latch mechanisms for retaining the robot arm and the camera assembly in their deployed positions on the top of the chassis.

A spring loader slider <NUM>, <FIG> on member <NUM> can be used in connection with latch <NUM> on chassis <NUM> to releasably lock member <NUM> on top of chassis <NUM>. Member <NUM> pivots about hinge <NUM> when released.

<FIG> show member <NUM>' to which the robot arm is attached. Member <NUM>' resides in U-shape cut-out <NUM> in the end of chassis <NUM> and pivots about hinges 132a and 132b. Latch <NUM> may be used to secure folding base member <NUM>' into the deployed position shown in <FIG> when latch bar <NUM> under chassis <NUM> rotates or otherwise is driven into slot <NUM> in the sidewall of member <NUM>'. When the latch bar <NUM> is clear of slot <NUM> as shown in <FIG>, member <NUM>' can be rotated to store the robot arm under the chassis as shown in <FIG>. See also <FIG> which show spring loaded antennas 140a and 140b foldable relative to chassis <NUM> into sidewalls thereon.

Claim 1:
A remotely controlled packable robot comprising:
a chassis (<NUM>) with a top surface (<NUM>) and a bottom surface (<NUM>);
a pair of main tracks (14a, 14b) for maneuvering the chassis;
an open channel (<NUM>) under the robot defined by the bottom surface of the chassis and the main tracks;
a robot arm (<NUM>) including at least a shoulder (<NUM>), an elbow (<NUM>), and a wrist (<NUM>) all foldable from a stored position in said open channel underneath the robot chassis to a deployed position extending upwards from the top surface of the chassis; and
a camera assembly (<NUM>) foldable from a stowed position in said open channel underneath the robot chassis next to said robot arm to a deployed position extending upwards from the top surface of the chassis.