The present invention relates to mobile robots and, in particular, to mobile security robots adaptable for different applications.
Mobile robots are increasingly being used and considered for applications where security personnel may be at high personal risk due to insufficient information. As a first step or part of a regular patrol, security robots can gather initial information for preliminary risk assessment before directly involving security personnel. Security type robots are now deployed for conventional or routine security applications including security patrols carried out in a host of facilities including shopping malls, resorts, amusement parks, homes, apartment complexes, warehouses and factories.
Security patrols are typically conducted at night or unattended times and act as a deterrent and early warning function to identify intruders in a restricted space. Even passive security applications may require the robot to include one or more defense mechanisms to avoid disablement. Security robots also have particular potential with respect to crowd control, crowd assessment and interaction.
Specifically, designed customized security robots are often considered, however, customized solutions are seldom cost effective. A security robot that is easily adapted and capable of being used in varying applications would be of assistance in expanding the applications. The mobile security robot, as disclosed in the present invention, addresses a number of disadvantages found in existing products.
A security robot according to the present invention comprises a mobile base module and a head module with the head module supported at a raised position above the mobile base module. The head module includes a base member having a wall portion that defines an upwardly opening cavity interior thereto. An inter-changeable payload bucket unit is received in the upwardly opening cavity and the inter-changeable payload bucket unit having a displaceable cap member movable between a closed position and an elevated position. The cap member in the closed position closes an upper surface of the upwardly opening cavity and conceals the inter-changeable payload bucket unit. The cap member in the elevated position is spaced above and allows top access to any payload located in the payload bucket unit.
In a preferred aspect of the invention the inter-changeable payload bucket unit includes an elevating drive arrangement connected to a platform supporting the displaceable cap member. The elevating drive arrangement when activated moves the platform and cap member upwardly providing clear access to the upwardly opening cavity and the platform.
According to an aspect of the invention the platform is at least partially received and protected in the payload bucket unit when the cap is in the closed position.
In a further aspect of the invention the platform includes a plurality of sensing devices secured thereon, some of which having different or advantageous output signal content at the elevated position.
In yet a further aspect of the invention the platform includes one or more of a plurality of defensive and offensive devices secured thereon.
In an aspect of the invention the elevating drive arrangement includes two screw drive members that pass through the payload bucket unit and connect with the platform and raise or lower the platform with rotation of the two drive members.
According to an aspect of the invention an electric drive motor is a dedicated part of said drive arrangement and is removed as part of said inter-changeable payload bucket unit.
In a preferred aspect of the invention the inter-changeable bucket unit is a series of inter-changeable bucket units allowing any one of the inter-changeable bucket units to be exchanged with one of the inter-changeable bucket units secured in the mobile security robot.
In a different aspect of the invention a plurality of outwardly projecting rings are provided and selectively driven for spinning about a vertical axis of the security robot.
Preferably the projecting rings, when driven, rotate in opposite directions and similar speeds to increase vertical stability of the security robot.
In an aspect of the invention the projecting rings include outwardly projecting light transmitting members with angled surfaces capable of damaging or cutting surfaces brought into contact with the projecting rings when driven.
In a preferred aspect of the invention said projecting rings, when driven, create at least one of a flashing light transmission or an audible warning signal.
In a particularly preferred aspect of the invention said mobile base is an omni wheel mobile base.
In a further aspect of the invention the mobile base provides holonomic movement.
In a different aspect of the invention the security robot includes a series of time-of-flight sensors used to assist movement of the mobile security robot in a restricted space.
According to an aspect of the invention the security robot includes directional sensors in combination with rotational movement of the security robot to increase a desired scan area.
Preferred embodiments of the invention are shown in the drawings, wherein:
The mobile robot 2, shown in
Column channels 11 reinforce the housing adjacent the axles and preferably support and protect various sensors adjacent the periphery of the base module robot. These sensors may assess the robot's immediate environment, possible drive paths, potential obstacles and/or carry out other specialized sensing functions, particularly adjacent ground level.
The security robot 2, shown
A unique feature of the security robot 2 is shown in
The elevated position of
The elevating platform 20 of
Stability and a lower center of gravity is particularly important when demands for rapid traversal of longer distances require higher speeds and in cases where the direction of travel must be quickly and fluidly changed to avoid dynamic obstacles, such as people or projectiles thrown into the path of the robot. The elevated platform includes a brushless DC motor which powers a very quick lower back into the bucket as soon as a motion command demanding high speed traversal of the base along a path executes, and then redeployed quickly upwards when the motion of the robot subsides. Likewise, crowd uprisings recognized by onboard AI algorithms can trigger a rapid descent of a payload to protect expensive equipment. Preferably, an additional height of up to about six feet or greater can be provided and supported during periods of stationary or slow base motion, however, an additional three feet is often sufficient with a robot height in a retracted state of about five feet.
Further details of the security robot 2 are shown in the exploded assembly view of
The rain cover 32 is shown in detail in
The transition module 12 and the neck module 13 are preferably fabricated of resilient lightweight molded plastic exoskeleton components and have two primary purposes: 1) they raise the position of the head module 14 to an elevated position centrally above the base module, while adding relatively little weight, contributing to the robot's low center of gravity; and 2) they are also designed to afford space to house sensors, such as metal detectors, about their periphery (clear of any elongated bucket unit 30 described later (
The neck module 13 in
The base module 10 preferably includes separate drive motor arrangements for drive of the omni wheels 205 and the base module supports batteries located in the battery compartments 220 near the outer sides of the base for increased stability as shown in
Further details of the head module 14 are shown in
The ports 101, 102 and 109 are preferably provided in pairs to deliver seamless 360 degree 3D video streams when used with stereo vision imaging sensors and are symmetrically disposed about the main housing 250 at 120 degree intervals or more frequently, depending on their field of view. As previously mentioned, it is desirable for the security robot to be multi-directional, delivering true holonomic motion. By providing spaced sensors about the main housing, surrounding information centered in any intended direction is immediately available to vision processors and remote operators, should the security robot be required to move in a particular direction. For example, if the robot is considering movement in a direction 120° from its present directional path, there are sensors that are located to more accurately assess the environment in that particular direction. The drive direction can change without a required rotational movement of the robot about its central axis. Lugs 107 are for securing the cap ring 255.
For some applications, it is desired that in addition to transitional movement of the robot, the robot also employs a rotational movement and/or partial random type movement. With additional movements, the movement path of the robot is less evident or predictable. For example, if someone is trying to disable the robot, uncertainty with respect to its exact position or movement makes the task of ambush and disablement more difficult. Rotational movement of the robot can be used in combination with a directional sensor to increase the sensed area or a predetermined area to be scanned.
It can also be appreciated that the main housing 250 can be made of a suitable injection molded plastic and can be relatively strong while providing a suitable support ring for sensors which face outwardly. The interior of the main housing 250 can also be used for protecting the electrical connections of the sensors which are typically connected to a circuit board and processor provided in the head module connected to the base module 10 via USB-C providing power and data connectivity with the base. The larger sensor ports 100 are typically for mounting of speaker equipment or large sensors. Although plastic injection molded parts are suitable for most applications, higher strength, more durable materials can be used as required.
Additional details of the bucket unit 30, shown in
For other applications, different payloads can be provided. For example, it may be desirable to include an appropriate irritant payload that could be released. Tear gas could be a particular payload for anticipated or potential conflict applications to dissipate a crowd. For military applications, the payload may be much more aggressive and include a more sophisticated arrangement for releasing of the payload. The head module includes a bucket unit that can include a payload and it is preferably not possible to recognize what mobile security robots include payloads. Therefore, if there are multiple robots it is not possible to determine which robots include a payload or which mobile security robots should be targeted to be disabled. The payload has been described with respect to defensive type applications, however, it may be appropriate to deliver a payload to a particular location. This design allows for varied applications.
In addition to the ability to conceal a payload interior to the head module and separated from the sensors, the interchangeable bucket unit 30 allows for the cap 21 of the head module 14 and related equipment thereof to be raised. Such a raised position of the cap is shown in
With this arrangement, the bucket unit is interchangeable merely by appropriately connecting the USB-C power and data wire from the drive controller of the bucket unit to the processor card in the base module and inserting and securing the bucket unit with three security-head bolts 112 (
Tube extension 137 acts as a central drain and a flexible tube can be connected to tube connector 139. The tubes 170 can pass through the base module and drain.
Bucket units are shipped to field or service installation facilities in a lowered (capped) position and can only be raised, after installation when appropriately encrypted command data and power is delivered via the USB-C cable and thus, the contents of the bucket unit cannot be specifically known by such installation technicians. Different loaded bucket units can be available for loading in a security robot and thereby the particular adaption of the security robot for its particular environment can easily be varied. The bucket unit of
Software security preventing unauthorized deployment of hidden payloads within bucked units is specific to the type of payload. All payloads respond to a “query id” command from the robot delivered via encrypted communications over the USB-C cable which returns only the ‘unit id’; such communications are encrypted via the public encryption key associated with such ‘unit id’. This unique unit id is used to verify that a desired payload is installed within a given robot. Payloads such as pan-tilt-zoom camera systems will respond to a “query payload” command from the robot delivered via the USB-C cable after receipt of an authorization code uniquely set for its given unit id and similarly execute raise, lower, and operational commands. However, some payloads require additional authorization codes for specific operations and those payloads equipped with GPS are geofenced as to the accessibility of certain operations such as data dump and fire commands. These authorization codes, and even the public encryption keys associated with a given unit id are not usually stored in the robot, and are maintained by secure operations centers.
Some payloads contain their own supplemental battery systems to power internal payload “black boxes” and emergency systems which recharge when power is available via a USB-C connection. For example, some payloads may self-destruct if they lose a ‘heartbeat’ or other signal from their host robot, or if they discover that they have been taken outside of a predefined geofenced area.
The head module with interchangeable bucket units each incorporating embedded motor drives, makes the exchange of the bucket units a simple and straightforward task. It can also be appreciated that the drive for the elevating mechanism for the individual bucket units could be part of the security robot itself and the rotational parts would form a releasable drive connection with the motor when inserted in the head module. The head module with the elevating platform with or without the bucket unit, also simplifies adaption of the robot for different applications.
One particular concern for a security robot is the possibility of crowds or individuals disabling the robot by tipping the robot over. As previously disclosed, the base module includes all of the heavy components, however, the possibility of toppling the security robot still exits. For some security robot applications, spinning disks (
For some crowd control applications, defensive mechanisms are not appropriate, however, somewhat passive defense mechanisms can be provided. For example, a siren, flashing lights or high power lights, paint ball type marking and/or video capture to record anyone seeking to damage the robots may be sufficient to act as a deterrent. For military applications, more sophisticated deterrents and aggressive capabilities can be provided as part of the concealed payload or visible defense mechanisms.
The mobile robot of
The mobile robot 2 of
Protection of the neck portion 13 and the head module 14 is important as the position of these modules above the base module acts as an effective lever.
In
One advantage of having the spinning disks rotating in opposite directions is to increase the stability of the robot with respect to tipping. The counter rotating disks adds stability and reduces the likelihood of it being pushed over due to a gyroscopic effect.
An example of structural details of the spinning disk is shown in
Both the lower housing 311 and the upper housing 310 include mating recesses 315 which receive the projecting prism members 312. The prism members include a mechanical bolt and nut type arrangement for securing of the prisms in the upper and lower housings. The prism members could be projecting steel cutting edges. The upper and lower housings are secured by bolt fasteners 317.
The lower casing 311 is shown with a ring 314 of permanent magnets that are used to spin the disk around the stationary ring 313 having electrical coil magnets 322. The ring 313 is fixed to either the neck or head module and the upper and lower housings rotate around this member when appropriately driven by the electric coil magnets 322. The interior flange 317 of the lower housing 311 can include a separate ring of material acting as a low friction surface separating the spinning disk from the stationary ring 313. A similar low friction ring member 315 is shown that separates the upper housing 310 from the stationary ring 313. This provides a simple arrangement for driving the spinning disks at different speeds as may be required depending upon the particular application.
The nature of the prism members 313 can also change depending upon the particular application. For example, generally rounded projections would still provide a deterrent, however, sharply angled surfaces would provide a much more aggressive deterrent. The fact that the prisms can easily be replaced allows for the defensive mechanism provided by the spinning disks to be varied for a particular purpose.
It is also possible to provide light sources in the spinning upper or lower housing where these light sources are powered by the magnet field of the electrical coils. Such an arrangement provides the advantages of the disks, including spinning light sources without a direct electrical connection of the light sources, to the non-spinning components.
It is apparent that other arrangements are possible to provide the functionality of spinning disks on the mobile security robot to act as a defense mechanism that can be tailored according to the particular application.
From a review of
A suitable arrangement for spinning of the disks has not been described, however, other arrangements can be used. Typically, the neck portion will include a bearing and drive arrangement to allow for the driving of the spinning of the disks and rotation of the spinning disks about the neck and/or head module.
Counter-rotating spinning rings provide a great self-defense for the robot and optionally can include LED messaging while they spin. The counter-rotating spinning disks have a vertical axis to take advantage of the gyroscope effect. Preferably, the system can suddenly adjust the speed of one or more rings to ‘balance’ against a sudden blow to one of more of the rings. This capability, together with the preferred holonomic base, compensates for impacts much like a spinning top. An onboard gyro and accelerator are used to reduce impact forces intended to destabilize. The time-of-flight distance sensors facing downwards (typically 3 sensors) just beyond each wheel provide real-time notice of any wheel (or wheels) lifting off the ground as a result of an impact.
The holonomic robot design without any front/back employing time-of-flight sensors allows fluid movement through crowds of people. It is also important to note that the robot can move in a straight line, yet be spinning slowly on its axis. In such a case, the crowd would not know which direction the hidden payload is facing until it is raised. The robot could also have a sensor, for example, a metal detector or Infrared camera, facing in only one direction, which can actually scan a 360 degree area by using the ability of the robot to spin on its vertical axis while moving in any direction. Thus, one or more sensors, which are directional in nature, could serve to scan in a 360 degree manner without additional mechanics. Furthermore, typical prior art 360 degree sensors must be mounted at the top of a robot so that they have 360 degree views.
In contrast with the present design, the sensors can be lower (lowering the center of mass) while still providing an effective scan. A holonomic robot without any apparent ‘front’ is able to give any directional sensor a 360 degree scanning ability while being mounted anywhere on the robot (preferably closer to the ground).
Although preferred embodiments of the present invention have been described herein in detail, it will be appreciated by those skilled in the art that variations may be made thereto without departing from the appended claims.
This application claims priority from U.S. provisional patent application No. 62/422,237, filed on Nov. 15, 2016 and is incorporated by reference.
Filing Document | Filing Date | Country | Kind |
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PCT/CA2017/000246 | 11/15/2017 | WO | 00 |
Number | Date | Country | |
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62422237 | Nov 2016 | US |