Patent ID: 12194824

DETAILED DESCRIPTION

Referring toFIGS.1-9, a throwable two wheeled robot20that generally comprises an elongate body22, a pair of motorized wheels24,26, and a tail28centrally positioned between the wheels. The elongate body defining a chassis32for supporting componentry, such as a camera32.1, and having a forward side30.1, a rearward side30.2, a top side30.3, and a bottom side30.4. The chassis32, in embodiments, may be comprised of a pair of clam shell portions33,34. A seal ring35may provide sealing. One portion, a rear portion, having a deep recess38and the other a shallow recess40. The chassis defining an interior40that contains a pair of motors44, batteries,48and a circuit board50. The robot may be actuated by withdrawing a key53from a key slot54. The robot having an axis a extending through the rotational axis of the wheels and through the elongate body22. The robot is remotely controlled by radio from a user interface57.FIGS.1-4illustrate a backpack accessory mounted on the rearward side30.2with the tail28mounted on the backpack accessory55.

Referring toFIGS.1,2, and4-7, details of an exterior surface58of the chassis32are illustrated providing accessory mounting interfaces62,63, one on the top side of the body and one on the rear side of the body. The interface surfaces each comprising a projection65that has a landing66with a planar landing surface68, one or more threaded holes70extending from the planar landing surface68, and landing sidewall portions71with landing sidewall surfaces74. The landings may also have recesses78with chassis wall surfaces79defining the recesses. The holes defining a matrixical arrangement82of the holes having a length L1that more than half (most of) the length L2of the elongate body portion and more than half (most of) the distance between the wheels L3. In embodiments, there will be a line of threaded holes spaced about 1.0 inches apart in the direction of an axis of the elongate body. Additionally, holes will be spaced 1.0 inches from each other in a direction perpendicular to the line of holes parallel to the elongate body axis. In embodiments, particularly where the backpack accessory55is in the zone of protection provided by the maximum deflection of the wheels and/or the deflection resistance of the tail, as illustrated byFIGS.1-5, the interface of the backpack accessory may be essentially planar, as best shown inFIG.3without the cooperating projection and recess structure described.FIG.67illustrates the planar seating surface83and the seating region84for the backpack accessory55as illustrated inFIGS.1-5.

Referring toFIG.5, the elongate body22of the robot may provide a power supply port85, such as a USB port, for providing power to the backpack accessory. In embodiment, the housing may also have a pogo connector pad86for providing power to the backpack accessory. In embodiments, the power supply port may also be a charging port for the robot20.

Referring toFIGS.7-9, illustrates a backpack accessory attached to the topside30.3of the elongate body. As illustrated, in embodiments, the tail may be attached to the rearward side30.2by selected ones of one of the matrixical arrangements of the threaded holes at a landing77by way of threaded fasteners such as screws90and may be rotated 180 degrees to put the tail at a different position indicated by the dashed lines labeled93. Another embodiment of a backpack accessory100may be attached to the chassis by a robot mounting interface102that includes surfaces104that abut the outwardly facing planar surfaces of the landing66. Projections110may fit into one of the recesses78. The accessory may wrap around and engage the rearward facing surface114of the rearward side of the chassis. The abutment of the accessory along surfaces that extend in the same direction as the axis120of the screws90allow the accessory to chassis interfaces to absorb shock that occurs upon impact after throwing the robot, rather than the screws. The arrangement ofFIG.7provides, when the screws90are not connected, a one degree of freedom of movement, essentially moving the accessory in the direction D1.

The robot mounting interface of the accessory configured to cooperate with the accessory mounting interface of the robot chassis for providing the single degree of freedom of movement when the accessory is placed on the robot chassis for attachment thereto. The one degree of freedom may be provided by a C-shaped portion123as indicated by the dotted lines ofFIG.7. The portions of the C-shape portion corresponding to the upper and lower legs of a C may extend on opposite sides of a landing, or more generally a projection, providing protection from the screw shearing off or coming out of the threaded hole. AlthoughFIG.7is in two dimensions, as can be seen from the perspective figures the mounting structure of the chassis is in three dimensions.

Referring toFIGS.8and9, in embodiments, the wheels have an undeformed or undeflected radius R1and a maximum deformed radius condition that occurs under shock, such as upon impact when the robot is thrown or dropped to take the wheel to a maximum deflected radius R2. The radius R2defining a cylindrical envelope E1. In operation, the wheels may slightly deform from the weight of the robot to an operational deflected radius R3, such as by tips127of the wheels slightly bending upon engagement with the floor or ground or other operational surface. The component protection envelope E1is reflective of the maximum deflection expected of the wheels under normal impact conditions. The space between the envelope E1and the body or chassis32defining the zone of protection or accessory mounting region130. The sizing of the accessory100may within the accessory mounting region130thereby protecting the accessory from impact when throwing the robot with attached accessory. As illustrated inFIGS.7-9, the accessory may have a projecting portion131that extends beyond the zone of protection. In such an instance, impact with the accessory when the robot is thrown, can damage the accessory and/or the robot. An elastomeric bumper132may be installed on the projecting end of the accessory or other convenient location such that impact when thrown will most likely be at the elastomeric bumper132rather than with a non-resilient accessory housing or component.

The accessory may be a sensor device, a munition, communication hardware, illumination device, gas dispensing device, or devices with other functionalities. The accessory may be powered by the robot or may have its own power source. The accessory may have its own communications module for communicating with a remote operator or may utilize communications provided by the robot. In embodiments, the accessory mounting region130.2below the chassis is not utilized thereby providing clearance for obstacles such as rocks during forward movement of the robot.

Referring toFIGS.10A-13, in embodiments, a combination throwable two wheeled robot and backpack unit includes a backpack unit120coupled to a robot chassis32. For purposes of clarity of illustration, the wheels are removed from the robot inFIGS.10A-11B. The robot20generally comprises an elongate body22and a pair of motorized wheels24,26. The backpack unit120may be mountable on the chassis32of the robot20using cooperating interfaces118,119. One interface118is configured as an elongate projection118.1with serpentine edges118.2and the other interface119has a recess119.1with serpentine edges119.2. The interfaces are conformingly shaped for providing a single freedom of movement for placement and removal of the backpack unit on the chassis. In embodiments, the backpack unit120has a backpack body120.2that defines a cavity121with backpack componentry121.2, such as circuitry, and control processors, radios, such as recievers or transceivers, and memory, and that is coverable by a cover122. The robot includes a tail124having a mounting portion configured as a flange124.2that is mountable to either a landing portion122.2of the cover122or a landing portion32.2of the robot chassis32. In embodiments, when the backpack unit is placed on the robot without threaded fasteners attaching the backpack unit to the robot, the backpack unit has one degree of freedom of motion relative to robot, the one degree of freedom allowing the backpack unit to be pulled outwardly away from the robot. In embodiments, the direction of removal is transverse to the axis of the elongate body. In embodiments, the direction of removal is perpendicular to the longest axis of the elongate body. In embodiments, the direction of removal is perpendicular to a rotational axis of the robot wheels.

Referring toFIGS.12-16, and as discussed with reference toFIG.9above, in embodiments, each of the wheels24,26have an undeflected radius R1, and each wheel is deformable upon impact when thrown to a maximum deformed radius R2. In embodiments, the maximum deformed radius defines a cylindrical component protection envelope E1extending between the wheels and the space between the elongate body and the cylindrical envelope defines an annular accessory mounting space130. In embodiments, the backpack unit120is entirely within the annular accessory mounting space when the robot interfacing portion of the backpack body is mated with the landing portion of the chassis and the tail interfacing portion of the backpack body is mated with mounting portion of the tail. The backpack body extends rearwardly from the robot chassis and the tail extends rearwardly from the cover of the backpack. In embodiments, the tail provides an additional component protection envelope E2continuous with the accessory mounting space as best illustrated inFIGS.16and17. The rigidity of the tail can be tailored to adjust the size of the additional component protection envelope E2.

Referring toFIGS.15-27, in embodiments, the backpack unit may be attached to an additional operational unit200for providing components/sensors for selected functionality, including but not limited to TDS (Distraction/Gas/Explosives), speakers, cameras (thermal, backup, etc), CBRNE sensors, flashlights/strobe lights, microphone arrays, motion sensors/range finders, various actuators (e.g., actuators that pick up objects and actuators that release a payload), various radios, and explosives such as Thermite. The operational unit200may be secured to both the top wall of the robot and to the backpack unit. Referring toFIG.15, the operational unit is illustrated as having a portion200.2that extends out of the cylindrical component protection envelope E1but is still contained within the tail extended component protection envelope E2.

Flashbang type munitions that may be suitable to be used as part of the backpack, some requiring modified actuation mechanisms are, for example U.S. Patents and Pat. Pubs. U.S. Pat. Nos. 10,494,314; 10,139,203; 9,726,466; 8,172,966; 2020/0333119; and 2008/0006171. These patents and patent publications are incorporated herein by reference for all purposes.

Referring toFIGS.18-27, various operational units suitable for attachment to the chassis of the robot and the backpack unit120are illustrated.FIGS.18and19illustrate an LED unit210with a housing212defining a cavity213, backpack unit interface216, circuitry with LED's218. The LED unit210is secured to the backpack unit forming an integrated backpack assembly220. In profile, an end view, the assembly220has an L-shape. A cable, not shown, may extend from the LED unit to the backpack unit for powering the unit and otherwise integrating them.

Referring toFIGS.20-23, another LED unit230is illustrated with a LED orienting portion232directing the LED's more forwardly than the embodiment ofFIG.18. The LED unit attaches to the backpack unit120.8with screws233and extends over the top235of the robot and may be attached to the robot by screws237extending into select threaded holes of the matrixical arrangement of holes. In the example embodiment ofFIG.21, the backpack unit120.8has a plurality of tail mounting interfaces240, and two of the interfaces are utilized for attachment of two tails124.8,124.9. Referring toFIG.24, utilization of two tails may adjust the component protection envelope E3provided by the two tails enlarging the component protection envelope relative to the component protection envelope provided by one tail.FIG.23illustrates the LED unit230protected by elastomeric bumpers241,242that expand the zone of protection beyond that provided by the maximum wheel deflection diameter. The elastomeric bumpers may be attached by fasteners, such as screws, or rivets, or by way of adhesives or other methods known to those skilled in the art.

Referring toFIGS.25and26, a backpack accessory250has an inverted L-shape when viewed on end, has a rearward or backside portion254and a topside portion256. The backside portion having a forward facing robot interface surface257for mounting on the robot. The topside portion having a lower surface258that confronts and may seat or mount on the topside of the robot. In embodiments, the topside portion has components that provides environmental effects or environmental sensing and the back side has housing260containing, for example, control circuitry, communications componentry, battery power. The back side may be securely attached to the rearward side30.2of the elongate body and has complex interface structure264comprising landings266, recesses267, and projections268, that cooperate with corresponding structure on the backside of the elongate body of the robot. Additionally, an attachment region269with threaded holes269.5is provided for attachment of the tail28. The topside portion having a chassis270, configured as a housing that contains operative elements271,272for sensing or effecting the environment into which the robot is thrown. The operative elements may be for example, speakers, munition cartridges, including flashbang cartridges, or sensors. The backpack accessory may have a connector280, such as a USB connector, for plugging into a power port85on the robot, such as shown inFIG.5. In embodiments, the power port of the two wheeled throwable robot operates as a charging port as well as a power out port. The backpack accessory may have a USB port282that allows the robot to be charged when the backpack accessory is mounted on the robot and the power port is utilized by the backpack accessory. That is, the backpack accessory circuitry allows the charging power provided to the accessory port182to be provided to the robot charging port85, as shown inFIG.5.

Referring toFIG.27, in another embodiment, a thermal imaging camera unit240is integrated with the backpack unit and in profile has an L shape. The backpack unit120.9is illustrated with a pair of antennas244,245. The backpack unit may have a supplemental transmitting and receiving functionality separate from the transmitting and receiving functionality of the robot. In embodiments, the antennas of the backpack unit may replace the antennas of the robot such as the antennas shown inFIG.1.

In embodiments, the backpack may have mounting holes and an area to route cables for each of the capabilities to be configured in manufacturing. In embodiments, the backpack is attached to robot through four screws and is powered through a USBC cable connected to the charging port on the robot.

In embodiments, the backpack is dimensioned and configured to fit between two wheels of the throwable robot. In embodiments, the backpack/accessory within the standard wheels may be rated to the same 30 foot drop rating as the throwable robot. In embodiments, the drop rating of the backpack/accessory is such that users may use the robot the same way every time whether or not the backpack/accessory is attached to the throwable robot. That is, particular accessory units may be contained within the component protection envelope. In embodiments, the backpack may be used with attachments that are too large to fit within an defined by the wheels and tail of the throwable robot. In such a case, the wheels may be replaced with larger wheels having a greater maximum deformation radius thereby increasing the size of the component protection envelope. Alternatively or additionally, a different or additional tail may be added to increase the envelope rearwardly. In embodiments, “maximal deformation” may be at the intended maximum drop distance. That is, the component protection envelope may be defined by the maximum deformation of the wheels and tail when the robot is dropped from 30 feet.

In embodiments, the backpack and/or accessory may be triggered though an operator control unit (OCU). In embodiments, the OCU has two buttons associated with backpack/accessory capabilities. In embodiments, a pushbutton may be used to trigger a desired action. In embodiments, a pushbutton may be pressed to enable a speaker, microphone, thermal camera, etc. In embodiments, a safety mechanism (e.g., a toggle switch and toggle guard in this case) is associated with a switch used to trigger a desired function. In embodiments, a switch with a safety mechanism is used to arm a TDS attachment.

FIGS.18and19depict a backpack assembly120with POGO pins260and mounting structure suitable for particular functional units such as TDS payloads (Distraction/Gas/Explosives), not shown except with respect to the generic unit ofFIGS.9and15. With reference toFIG.15, mounting holes are seen on the top surface and the hole on the top left is used to route cables if needed.

Referring toFIGS.1and2, an upward direction Z and a downward or lower direction −Z are illustrated using arrows labeled “Z” and “−Z,” respectively. A forward direction Y and a rearward direction −Y are illustrated using arrows labeled “Y” and “−Y,” respectively. A starboard direction X and a port direction −X are illustrated using arrows labeled “X” and “−X,” respectively. The directions illustrated using these arrows are applicable to the apparatus shown and discussed throughout this application. The port direction may also be referred to as the portward direction. In one or more embodiments, the upward direction is generally opposite the downward direction. In one or more embodiments, the upward direction and the downward direction are both generally orthogonal to an XY plane defined by the forward direction and the starboard direction. In one or more embodiments, the forward direction is generally opposite the rearward direction. In one or more embodiments, the forward direction and the rearward direction are both generally orthogonal to a ZY plane defined by the upward direction and the starboard direction. In one or more embodiments, the starboard direction is generally opposite the port direction. In one or more embodiments, starboard direction and the port direction are both generally orthogonal to a ZX plane defined by the upward direction and the forward direction. Various direction-indicating terms are used herein as a convenient way to discuss the objects shown in the figures. It will be appreciated that many direction indicating terms are related to the instant orientation of the object being described. It will also be appreciated that the objects described herein may assume various orientations without deviating from the spirit and scope of this detailed description. Accordingly, direction-indicating terms such as “upwardly,” “downwardly,” “forwardly,” “backwardly,” “portwardly,” and “starboardly,” should not be interpreted to limit the scope of the invention recited in the attached claims.

The following United States patents and publications are hereby incorporated by reference herein: U.S. Pat. Nos. 9,061,544, 6,548,982, 6,502,657, D637,217, and US D626,577, US 2012/0137862 and U.S. Pat. No. 10,046,819. Components illustrated in such patents may be utilized with embodiments herein. Incorporation by reference is discussed, for example, in MPEP section 2163.07(B).

The invention is not restricted to the details of the foregoing embodiment (s). The invention extends to any novel one, or any novel combination, of the features disclosed in this specification (including any incorporated by reference references, any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed The above references in all sections of this application are herein incorporated by references in their entirety for all purposes.

Although specific examples have been illustrated and described herein, it will be appreciated by those of ordinary skill in the art that any arrangement calculated to achieve the same purpose could be substituted for the specific examples shown. This application is intended to cover adaptations or variations of the present subject matter. Therefore, it is intended that the invention be defined by the attached claims and their legal equivalents, as well as the following illustrative aspects. The above described aspects embodiments of the invention are merely descriptive of its principles and are not to be considered limiting. Further modifications of the invention herein disclosed will occur to those skilled in the respective arts and all such modifications are deemed to be within the scope of the invention.