This Application is a 371 national phase application of international application number PCT/GB2016/051426 filed on May 18, 2016, which claims priority to GB Patent Application No. 1509511.0 filed on Jun. 1, 2015, which is incorporated herein by reference.
This disclosure relates to a robotic vehicle. In particular, but without limitation, this disclosure relates to a robotic vehicle capable of walking, flying, and/or propelling itself in a fluid.
Robotic vehicles have useful applications in fields where human performance of a task is not possible, for example in dangerous environments, and in fields where human precision is not sufficiently high and/or human concentration for repetitive tasks is too low.
Aspects and features of the invention are set out in the appended claims.
Examples of the present disclosure will now be explained with reference to the accompanying drawings in which:
The robotic vehicle further has a plurality of additional legs 116 which, like the other legs 112 are moveable relative to the body 110 and are able to assist with walking. However, and unlike the other legs 112, the additional legs 166 do not have propellers coupled thereto.
The legs 112, 116 of
Each leg 112, 116 is moveably coupled to the body 110 by a joint having multiple degrees for freedom, for example a three degree of freedom joint being moveable so as to change pitch, roll, and yaw. When combined with a knee joint, the leg is moveable with four degrees of freedom.
In
In
The robotic vehicle 100 of
The robotic vehicle 100 of
The robotic vehicle of
It will be understood that known means are available for controlling the articulation of the various joints described herein. In particular, actuators for articulating the leg and arm joints, the wing portions, the manipulators, propellers, and filament dispenser include servo motors, solenoids, electrically activatable memory materials, and motors.
Although the example robotic vehicles shown in the Figures have six legs in total, as another possibility, the robotic vehicle may have more or fewer legs. When controlling a six legged robotic vehicle in a walking mode, the controller may control the legs so as to move them in a manner similar to the manner that an ant walks. Likewise, when the robotic vehicle has two, four, or eight legs, the controller may control the legs so as to move them in a similar manner to that by which respectively a biped, a quadruped, or an octoped walks. Where the robotic vehicle has yet more legs, the controller may control the legs so as to move them in a similar manner to that by which a centipede or millipede walks.
Although the legs shown in the figures have upper and lower leg portions joined by a knee joint, as another possibility, one or more of the legs may not have such a knee joint. Additionally or alternatively, one or more of the legs may have one or more additional joints, for example an ankle joint and further possible a toe joint.
Although the examples in the figures show legs coupled to the body by way of four degree of freedom joints, and upper legs portions coupled to lower leg portions by way of two degree of freedom joints, those joints may have more or fewer degrees of freedom.
Although the example robotic vehicles shown in the figures have four propellers and do not have any propeller on the body thereof, the robotic vehicle may have more or fewer propellers and may have one or more propellers on its body.
As one possibility, instead of each leg having first and second wing portions, one or more legs may have none, one, or more that two wing portions.
As one possibility, for situations where a two part curable substance, such as a glue is to be dispensed by the robotic vehicle, the robotic vehicle may have a reservoir for each part of the curable substance and have substance dispensers mounted on two arms so that each arm can dispense one of the two parts.
It will be understood that known means are available for controlling the articulation of the various joints described herein. In particular, actuators for articulating the leg and arm joints, the wing portions, the manipulators, propellers, and filament dispenser include servo motors, solenoids, electrically activatable memory materials, and motors.
There is described herein a robotic vehicle that has legs and propellers to enable it to walk, fly, and or swim.
There is described herein a robotic platform capable of multi-modal locomotion, comprising hover-based flight, aerodynamic flight, walking on solid terrain and propeller/hydrodynamic based locomotion in water. This is enabled by 6 independently controlled 4-degree-of-freedom legs (horizontal, vertical and axial rotational movement at the attachment point of the legs to the body of robot, and a further single actuated hinge partway down the leg span). Propellers are mounted partway along the length of each leg to provide propulsion, and are independently controlled from a centralised flight controller. By manipulating various combinations of these servomotors to adjust the leg positions, and flight motors to adjust propeller velocities, the robot may perform any of the range of motions described above, far beyond the capabilities of any single presently existing robotic platform. In addition, the robot carries a modular payload attached to the core body itself that may perform a variety of functions either independently in conjunction with leg motions, including thread extrusion, mechanical manipulation or substance (e.g. adhesive) deposition.
The approaches described herein may be embodied on a computer-readable medium, which may be a non-transitory computer-readable medium. The computer-readable medium carrying computer-readable instructions arranged for execution upon a processor so as to make the processor carry out any or all of the methods described herein.
Applications of the devices described herein include the transport of payloads, the building of intricate structures, manipulation (welding, adhesion, subtractive methods, polishing, cleaning etc.) as well as digging and injecting of material into the soil, such as plant seed, fertiliser, pesticide etc. Vehicles could also be used to remove weed in smart farming applications using its manipulators, chemical or laser/UV ablation. Further applications include amorphous construction, brick and mortar approach, adhesion of prefabricated panels) as well as servicing, repair and surface inspection.
The term “computer-readable medium” as used herein refers to any medium that stores data and/or instructions for causing a processor to operate in a specific manner. Such storage medium may comprise non-volatile media and/or volatile media. Non-volatile media may include, for example, optical or magnetic disks. Volatile media may include dynamic memory. Exemplary forms of storage medium include, a floppy disk, a flexible disk, a hard disk, a solid state drive, a magnetic tape, or any other magnetic data storage medium, a CD-ROM, any other optical data storage medium, any physical medium with one or more patterns of holes, a RAM, a PROM, an EPROM, a FLASH-EPROM, NVRAM, and any other memory chip or cartridge.
As will be appreciated by those skilled in the art, the components of the aerial device can be produced via additive manufacturing, for example via the use of a 3D printer. First, a computer-readable file containing data representative of an aerial device is produced. The data may be representative of the geometry of successive cross-sections of the component. This data is often called ‘slice’ or ‘layer’ data. The data can be produced from a Computer Aided Design (CAD) file, or via the use of a 3D scanner. A 3D printer can then successively lay down layers of material in accordance with the cross-section data to produce the aerial device components.
Number | Date | Country | Kind |
---|---|---|---|
1509511 | Jun 2015 | GB | national |
Filing Document | Filing Date | Country | Kind |
---|---|---|---|
PCT/GB2016/051426 | 5/18/2016 | WO | 00 |
Publishing Document | Publishing Date | Country | Kind |
---|---|---|---|
WO2016/193666 | 12/8/2016 | WO | A |
Number | Name | Date | Kind |
---|---|---|---|
2918738 | Barr | Dec 1959 | A |
4527650 | Bartholet | Jul 1985 | A |
6974356 | Hobson | Dec 2005 | B2 |
20130269585 | Kim et al. | Oct 2013 | A1 |
20140339355 | Olm et al. | Nov 2014 | A1 |
20150274294 | Dahlstrom | Oct 2015 | A1 |
20160130000 | Rimanelli | May 2016 | A1 |
Number | Date | Country |
---|---|---|
103522853 | Jan 2014 | CN |
104723814 | Jun 2015 | CN |
104773042 | Jul 2015 | CN |
105460099 | Apr 2016 | CN |
2525773 | Dec 2014 | ES |
20130098062 | Sep 2013 | KR |
WO2012087033 | Jun 2012 | WO |
WO2013089442 | Jun 2013 | WO |
Entry |
---|
https://hackaday.com/2012/12/18/the-hexapod-hexacopter/ (Year: 2012). |
https://www.youtube.com/watch?v=MZhtJOGGnOg (Year: 2015). |
https://www.bbc.com/news/technology-27311292 (Year: 2014). |
GB Search Report for corresponding GB Application No. GB 1509511.0 dated Oct. 21, 2015 7 pages. |
PCT Search Report for corresponding PCT International Application No. PCT/GB2016/051426 dated Dec. 12, 2016, 6 pages. |
Number | Date | Country | |
---|---|---|---|
20180312023 A1 | Nov 2018 | US |