This subject invention relates to robots, remote controlled mobile robots in particular, and a mechanism which assists a mobile robot in climbing stairs.
Robotic engineers have long designed different robot configurations for climbing stairs with varying degrees of success. Often, the stair climbing components of the robot interfere with other operations carried out by the robot. See U.S. Pat. Nos. 4,993,912 and 7,011,171. Some stair climbing robots have side tracks and also specialized rotateable stair climbing tracks which assist the robot in climbing stairs. These stair climbing tracks, however, add to the cost and complexity of the robot and may interfere with or limit other robot operations in the field.
It is therefore an object of this invention to provide a new mobile robot able to climb stairs.
It is a further object of this invention to provide such a mobile robot which does not require the addition of specialized stair climbing tracks or other complex stair climbing components.
It is a further object of this invention to provide such a robot which, although, able to climb stairs, is still configured to carry out other operations in the field.
The subject invention results from the realization that when a mobile robot includes, as many do, a working robot arm (typically equipped with an end effector), a ski like structure added to the underside of the arm can be used to assist the robot in stair climbing operations. In one example, when the robot approaches a stair riser, the working robot arm is lowered until the ski contacts the second tread of the staircase. As the robot is maneuvered closer to the first stair riser, the ski raises the front end of the robot sufficiently so the side tracks can climb the first stair.
The subject invention, however, in other embodiments, need not achieve all these objectives and the claims hereof should not be limited to structures or methods capable of achieving these objectives.
The subject invention features a mobile robot comprising a chassis including one or more drive mechanisms, at least a first arm pivotably connected to the chassis and configured to pitch up and down, and a ski structure on an underside of the first arm for raising the chassis as the arm is pitched down so the drive mechanisms can traverse a riser in the path of the chassis.
In one particular example, the drive mechanisms include side tracks. There may be a second robot arm pivotably connected to the first arm. In one example, the second arm includes at least one camera and at least one end effector.
Typically, the ski structure is releasably connected to the first arm. There may be snap fit receptacles which receive therein structure of the first arm. Preferably, the ski structure includes a forward angled toe and a rearward angled heel. The preferred ski structure may also include an anti-slide feature thereon for preventing sliding of the ski structure with respect to the robot arm. In one example, the ski structure includes a snap fit receptacle which receives therein the first arm and the anti-slide feature includes a cut out in a side of the snap fit receptacle. The preferred ski structure may also include an anti-rotation feature thereon for preventing rotation of the ski structure with respect to the robot arm. In one example, the ski structure includes a snap fit receptacle which receives therein the first arm and the anti-rotation feature includes an orifice in the snap fit receptacle. The ski structure may also include a forward guard portion. Ties may be included for securing the ski structure to the first arm.
The subject invention also includes a method of climbing stairs with a mobile robot equipped with at least a first pivotable arm. The preferred method includes equipping the first pivotable arm with a ski structure, maneuvering the mobile robot to a position proximate a set of stairs, lowering the first pivotable arm until the ski structure contacts the tread of a stair, and maneuvering the mobile robot closer to the stairs whereupon the ski structure causes the mobile robot to raise and climb the first stair. The method may further include the step of raising the first pivotable arm after the mobile robot begins to climb the stairs.
The subject invention also features a stair assist mechanism for a mobile robot. The preferred mechanism comprises a ski structure including a receptacles (e.g., snap fit receptacles) which receive therein an arm of the mobile robot. A forward upwardly angled toe is on the ski structure, and a rearward upwardly angled heel is also on the ski structure. The ski structure may include an anti-slide feature thereon for preventing sliding of the ski structure with respect to the robot arm. One anti-slide feature includes a cut out in a side of a receptacle. The ski structure may also include an anti-rotation feature thereon for preventing rotation of the ski structure with respect to the robot arm. One anti-rotation feature includes an orifice in a receptacle. The ski structure may also include a forward guard portion. Ties may be provided for securing the ski structure to the robot arm.
Other objects, features and advantages will occur to those skilled in the art from the following description of a preferred embodiment and the accompanying drawings, in which:
Aside from the preferred embodiment or embodiments disclosed below, this invention is capable of other embodiments and of being practiced or being carried out in various ways. Thus, it is to be understood that the invention is not limited in its application to the details of construction and the arrangements of components set forth in the following description or illustrated in the drawings. If only one embodiment is described herein, the claims hereof are not to be limited to that embodiment. Moreover, the claims hereof are not to be read restrictively unless there is clear and convincing evidence manifesting a certain exclusion, restriction, or disclaimer.
In accordance with the subject invention, robot 10,
In one particular example, the robot is a Talon® brand remotely controlled mobile robot 50,
In
Note how, according to this method, robot 50 is able to climb even steep staircase 100 without the addition of specialized, motorized, or complex stair climbing tracks or other complex stair climbing equipment. Also, ski 80 does not interfere with the other operations carried out by robot 50 including the manipulation and maneuvering of arm portions 54 and 58.
Also, robot 50,
In another example, ski 80′,
Anodized aluminum ski 80′ in this example is 3″ wide but may be between 2″ and 4″ wide and is typically between 22″ to 23″ long. Side rails 144a and 144b may be included. Again, however, the configuration of the ski is expected to vary depending on the configuration of the robot arm it is attached to. It is preferred, although not necessary, that the ski structure includes upwardly angled forward toe 82′ and rearward upwardly angled tail 84′ to assist with the sliding action of the ski as the robot is maneuvered both forward and rearwardly up and down a staircase or obstacle.
Although specific features of the invention are shown in some drawings and not in others, this is for convenience only as each feature may be combined with any or all of the other features in accordance with the invention. The words “including”, “comprising”, “having”, and “with” as used herein are to be interpreted broadly and comprehensively and are not limited to any physical interconnection. Moreover, any embodiments disclosed in the subject application are not to be taken as the only possible embodiments. Other embodiments will occur to those skilled in the art and are within the following claims.
In addition, any amendment presented during the prosecution of the patent application for this patent is not a disclaimer of any claim element presented in the application as filed: those skilled in the art cannot reasonably be expected to draft a claim that would literally encompass all possible equivalents, many equivalents will be unforeseeable at the time of the amendment and are beyond a fair interpretation of what is to be surrendered (if anything), the rationale underlying the amendment may bear no more than a tangential relation to many equivalents, and/or there are many other reasons the applicant can not be expected to describe certain insubstantial substitutes for any claim element amended.