EP1105789A1 - Robot mobile en forme de serpent - Google Patents

Robot mobile en forme de serpent

Info

Publication number
EP1105789A1
EP1105789A1 EP99945067A EP99945067A EP1105789A1 EP 1105789 A1 EP1105789 A1 EP 1105789A1 EP 99945067 A EP99945067 A EP 99945067A EP 99945067 A EP99945067 A EP 99945067A EP 1105789 A1 EP1105789 A1 EP 1105789A1
Authority
EP
European Patent Office
Prior art keywords
personal computer
mobile robot
wearable personal
combination mobile
combination
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP99945067A
Other languages
German (de)
English (en)
Inventor
David W. Via Inc. CARROLL
Robert D. Via Inc. PALMQUIST
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
VIA Inc
Original Assignee
VIA Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by VIA Inc filed Critical VIA Inc
Publication of EP1105789A1 publication Critical patent/EP1105789A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/043—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes
    • B08B9/045—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes the cleaning devices being rotated while moved, e.g. flexible rotating shaft or "snake"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/16—Constructional details or arrangements
    • G06F1/1613—Constructional details or arrangements for portable computers
    • G06F1/163—Wearable computers, e.g. on a belt
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34279—Pc, personal computer as controller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40234—Snake arm, flexi-digit robotic manipulator, a hand at each end

Definitions

  • Embodiments of the invention relate to computing devices of two types: wearable computing devices, such as those available from ViA, Inc., Northfield, Minnesota USA, and mobile robotic devices. For the first time, embodiments of the invention combine important features of these two types of computing devices, achieving advantages believed unprecedented in the art.
  • Embodiments of the invention have particular application to wearable computing devices available from ViA, Inc., Northfield, MN USA. Attention is directed to ViA's various domestic and international patents, e.g. U.S. Patents Nos. 5,285,398, 5,492,651, 5,555,490, 5,572,401, 5,581,492, and 5,798,907, all of which are incorporated herein by reference and which disclose wearable computing platforms having wide application in a variety of industries.
  • One type of computing platform 10 according to ViA's designs, having flexibly interconnected modules or segments 12, is shown in Figure 1.
  • ViA, Inc. has a proven track record of developing and deploying innovative and high-quality systems to a diverse set of customers with equally diverse needs and applications. ViA's products can be successfully used in numerous and diverse applications, ranging from automobile assembly lines to the medical industry to the financial markets. As a leading commercial supplier of wearable computers, ViA is committed to continually update its products as new PC technologies become available. Thus, using ViA's products ensures that users will continually have the best capabilities the PC community offers.
  • Crab-like devices have the same difficulty with the added issue of not being able to achieve adequate speed, e.g. > 100 cm/s. Hoppers are an attractive approach to achieving both climbing and speed requirements. However, compared to the other design options, the design complexity, computation and power requirements are significantly increased while at the same time the payload ratio and robustness significantly decrease. For example, if a hopping device tips over, a "re-righting" mechanism is needed, which adds significant design complexity. Hoppers are also very easy to detect visually; thus stealth issues become extremely difficult.
  • serpentine motion illustrated e.g. at 20 in Figure 2A
  • the snake forms a series of "S" shapes or waves in its body and pushes from the back of each wave to move forward.
  • Serpentine motion is used to achieve fast speeds and is the only type of motion a snake uses for swimming.
  • rectilinear or caterpillar movement illustrated e.g. at 30 in Figure 2B
  • a snake lifts portions of its body to produce a forward-moving wave where first the tail slides forward, and this wave propagates through the body until the head gets pushed outward.
  • a snake uses this type of motion for moving through narrow regions such as burrows.
  • the least common type of locomotion is called sidewinding, illustrated at e.g. 50 in Figure 2D. This motion involves lifting a loop of the body clear of the ground as the snake moves sideways. Sidewinding is used for movement on loose surfaces such as sand.
  • an innovative lightweight mobility platform has "snake-like" motion capabilities.
  • the base for this platform is e.g. a wearable computing system developed by ViA, Inc., Northfield, MN, USA, and/or described or covered by one of ViA's U.S. patents referenced above.
  • the mobile robot preferably includes a
  • Pentium class or better processor with ample memory and I/O capabilities including a digital wireless RF interface.
  • next-generation processing capabilities arise, far greater processing power is contemplated.
  • Embodiments of the invention result in a system with substantially the best combination of speed, climbing ability, payload ratio, and robustness, with minimum weight and size, and the ability to adapt to unknown operational environments and changing mission or other requirements.
  • a device combining the characteristics of a mobile robot and wearable personal computer is provided, according to an embodiment of the invention.
  • This combination device includes a backbone section, at least one actuator operably connected to the backbone section for moving the backbone section, a processing section operably coupled with the at least one actuator for operating the at least one actuator, and structure especially constructed for supporting at least the backbone section on a human body as a wearable personal computer.
  • the backbone section preferably includes a plurality of flexibly connected modules, the modules being connected with e.g. flexible circuitry or other signal-relaying devices or systems, e.g. hardwired or wireless transmission.
  • the at least one actuator preferably is constructed and arranged to move at least one of the flexibly connected modules with respect to another of the flexibly connected modules, and /or is constructed and arranged to move at least one of the modules with respect to an underlying surface.
  • the processing section and the plurality of actuators preferably interact to impart rectilinear, serpentine, concertina, whipping, chimney and /or other types of locomotion to the combination.
  • the combination device also preferably includes cooperating connectors on opposite ends of the backbone section, the cooperating connectors being engageable with each other such that the backbone section is wrapped around a portion of the human body, for example around the waist portion of a human body as a belt.
  • At least one connector can be constructed to connect the backbone section to a remote object, for example to at least one other combination mobile robot and wearable personal computer.
  • the backbone section also preferably supports at least one sensor for sensing a surrounding environment, and/or is constructed to support a payload.
  • a method embodiment uses a combination mobile robot and wearable personal computer including a backbone section, at least one actuator operably connected to the backbone section for moving the backbone section, a processing section operably coupled with the at least one actuator for operating the at least one actuator, and structure especially constructed for supporting at least the backbone section on a human body as a wearable personal computer.
  • the method includes securing the combination mobile robot and wearable personal computer around a portion of a user's body, removing the combination mobile robot and wearable personal computer from the user's body, and causing the combination mobile robot and wearable personal computer to move independently of the user's body to a location remote from the user.
  • Removing the combination mobile robot and wearable personal computer from the user's body can include throwing the combination mobile robot and wearable personal computer through the air, causing it to land on an underlying object and move independently.
  • the combination mobile robot and wearable personal computer can move to an electrical outlet and plug itself in, shine a light at the remote location, execute a security patrol routine, stand on end to gain a height advantage, connect with at least one other combination mobile robot and wearable personal computer, and /or ride on another object as a parasite, according to other method embodiments of the invention.
  • a computing device embodiment includes means for actuating the computing device for independent movement, and optional means for using the computing device as a personal computer, e.g. a wearable personal computer.
  • Figure 1 shows a wearable computing device according to the designs of ViA, Inc., Northfield, MN USA;
  • Figures 2A-2D shows methods of snake locomotion known in nature
  • Figure 3 shows rectilinear motion with a simplified wave pattern, according to an embodiment of the invention
  • Figure 4 shows serpentine and concertina locomotion, according to an embodiment of the invention
  • FIG. 5 shows whipping locomotion, according to an embodiment of the invention
  • Figure 6 shows chimney locomotion, according to an embodiment of the invention
  • Figure 7 shows self-righting motion, according to an embodiment of the invention.
  • Figure 8 is a schematic illustration of a mobile robotic snake device according to an embodiment of the invention
  • Figure 9 is a schematic, cross-section view of a snake device according to an embodiment of the invention.
  • Figure 10 is shows a snake device according to an embodiment of the invention.
  • the backbone and nerve center of the device preferably is a ViA PC.
  • actuators e.g. crawling-type actuation mechanisms, which enable the system to traverse terrain in substantially the same manner as a snake.
  • This includes a variety of motion types such as a pulsing mode for precise and quiet motions and a whipping action for added speed.
  • multiple snakes can be coupled together to form longer chains. This is particularly useful if a mission or commercial objective requires the snake to perform tasks such as looking on top of a counter or crawling into ceiling-mounted ductwork.
  • One baseline design which according to one embodiment of the invention weighs approximately ten pounds or less, preferably has seventeen modules: seven for a standard flexible PC design, four for additional sensors and six for extra batteries. However, fewer or additional modules may be used without departing from the spirit or the scope of the invention. Assuming 50% motion and 100% sensor duty cycles (i.e., the robot is moving half of the time with the sensors always turned on), this system is expected to have a range of at least about 800 meters and a mission duration of at least about three hours. By adding or deleting batteries, the snake can be tailored to meet specific mission or commercial requirements regarding weight, range and duration. For example, the preferred system configuration for a one-hour mission has a range of approximately 300 meters and weighs only about four pounds.
  • the system also preferably includes unique hands-free operator interfaces, e.g. those that ViA deploys with its wearable systems.
  • the snake which preferably has both teleoperation and semiautonomous capabilities, is remotely controlled by an operator wearing e.g. a ViA computer.
  • a pocket-sized touchscreen display and speech-recognition software preferably are included in the system to provide a compact, low-power, unobtrusive interface.
  • An additional feature of ViA's speech-recognition software is Voice Print Identification. This adds additional security and prevents non-approved individuals from operating the system.
  • Embodiments of the invention are constructed and designed to enable active sensing, command and control of geographic areas, by using single mobile robots or teams of mobile robots in potentially complex terrains, e.g. urban, indoor and rugged terrains.
  • a human-packable tactical mobile robotic platform substantially matches or exceeds the ability of a human to move undetected, in adverse conditions such as military environments and harsh commercial environments, both in large spaces and in small spaces that are inaccessible to humans, over indoor and outdoor terrain.
  • embodiments of the invention have utility in both military and nonmilitary situations, e.g. consumer/commercial applications. Specific systems according to embodiments of the invention now will be described.
  • Rectilinear Motion The simplest method, and the method of choice for a majority of operations, is rectilinear motion. One form of this motion type is illustrated in Figure 3. For rectilinear motion, the flexible
  • PC “ribbon” 100 including flexibly connected modules or segments 110, is lying flat on the surface with only one side of the system having actuators 120, according to one embodiment.
  • This type of motion preferably and advantageously provides low power consumption, a low profile, a good payload capability, the ability to crawl through tight spaces and excellent climbing ability.
  • One possible drawback to this type of motion in certain circumstances is reduced speed.
  • Serpentine and Concertina Motions A combination of serpentine and concertina locomotion preferably is used when faster speeds are required.
  • the flexible PC which is now placed on its edge versus lying flat as in rectilinear motion, will repeatedly bunch together and then lengthen its body in a spring-like manner. This is depicted in Figure 4.
  • snakes using this type of motion can achieve speeds of approximately 360 cm/sec (8 miles/hour). Because of the desire to simplify the design of the mechanism and conserve power, a snake device using this mode of locomotion reaches speeds up to about 35 cm/sec (1 mile/hour), according to one embodiment. Of course, faster speeds are contemplated as well.
  • Coil and Chimney Motions Two additional capabilities are coil and chimney modes of operation.
  • the tail of the snake device preferably forms a stable base which enables the snake device 100 to lift its "head", e.g. its sensor packages 130, over an obstacle to gain better information. This may be used for example to see what is on top of a counter or down inside of a sewer grate.
  • This motion type also enables the snake device to climb large obstacles such as the steps of a staircase.
  • the ability to link multiple snakes together to form chains is extremely useful for this mode of operation.
  • the chimney motion which is illustrated in Figure 6, preferably enables the snake device to climb inside objects such as rain gutter downspouts, sewers, ductwork for heating and ventilation systems, and, of course, chimneys.
  • a pipe of up to approximately 3 inches in diameter can be climbed.
  • the size of the pipe can be increased up to the limit of the actuators to lift the weight of the snake device itself.
  • Self-Righting There are various methods for self-righting.
  • One simple and robust approach is to have the snake device fold back on itself. This is illustrated in Figure 7.
  • Another alternative is to use the same approach that caterpillars in nature use to right themselves.
  • the snake device according to this embodiment preferably has a rounded back so if it flips over, it naturally rolls to one side.
  • the snake device preferably then coils into a circle to achieve a position where it is completely on one edge. It then slowly straightens itself out until a slight arc is achieved. Because this arc causes the center of gravity to be positioned slightly towards the "feet" side of the snake device, the snake device naturally rolls over to a "feet down" position.
  • the actuators preferably coupled to the computing backbone e.g. crawling-type actuation mechanisms, enable the system to traverse terrain in the same or similar manner as a snake, as referenced earlier.
  • This offers several advantages over conventional small truck-like robots with wheels or tracks.
  • a snake device according to embodiments of the invention has the ability to substantially maneuver through, underneath, inside and/or around objects (e.g., scrub brush, tall grass, urban debris, etc.), which larger wheeled devices must attempt to climb over.
  • objects e.g., scrub brush, tall grass, urban debris, etc.
  • the snake device is substantially able to crawl inside objects such as chimneys, sewer lines, rain gutter downspouts or ventilation ducts.
  • Each motion type requires a unique controls implementation which preferably is driven by the PC's embedded Pentium or higher class processor.
  • the controls implementation is substantially straightforward since the terrain variations (e.g., grass versus carpeting) have minimal impact on system performance.
  • the whipping motion presents difficult control issues requiring rapid updating from the snake device's navigational sensors.
  • an additional element of a motion planner is required.
  • the device can use e.g. the SANDROS path planner, developed by Wang. Other planner types are possible for use as well, of course.
  • Ultrasound has been used on many vehicles, both large and small, for proximity sensing.
  • the advantages of ultrasound include robustness in harsh environments, reliability for e.g. short-range measurements, reduced weight and size, and relatively low cost.
  • the Migitron RPS-401 which is frequently used to automate car washes, is of relatively low cost.
  • Some of the difficulties with ultrasound can include handling the multi-path signals and interference caused by environmental effects (e.g., wind gusts). Nevertheless, ultrasonics can be very beneficial for short-range obstacle detection.
  • LADAR uses the same fundamental principles as radar except at wavelengths in the InfraRed (IR) spectrum. Since light travels approximately 30 cm in one nanosecond, the difficulty with implementing such systems has been measuring the sub-nanosecond reflection of the laser. Recent advances in electronics and laser systems have enabled such systems to be built at a very low cost, however. For example, the Bushnell "Yardage Pro", which is marketed towards golfers and hunters, costs around $300. The size of this current system is considered likely too large for the snake device, but by removing the binocular portion of the system and retaining just the IR emitter and receiver, such a system can be integrated. The advantages of an IR approach are that the systems are very robust, substantially lightweight, relatively inexpensive, inherently stealthy, and require low power.
  • IR InfraRed
  • GPS systems have been integrated and deployed in wearable computer systems, for example those available from ViA.
  • the selection, size and performance of these commercially available GPS units have continually improved, while at the same time cost has been reduced.
  • Handheld GPS units with ten meter resolution are currently available at relatively low cost. Additional improvements are contemplated, such as multichip GPS components which can be directly embedded onto a computer system and may be included in snake devices according to the invention.
  • a limitation with GPS systems is that they generally are perceived as not working well in an indoor environment.
  • a second type of navigation and positioning system is provided for indoor environments.
  • the difficulty with both the swarm and bread-crumb approaches is that they require line-of-sight, or, for RF, nearly line-of-sight, communication paths between the neighboring platforms. For a laboratory setting this is certainly not a 1
  • Dead reckoning is useful for rectilinear motion of snake device embodiments. However, for other modes of motion where slip is expected, the usefulness of such an approach may be limited.
  • inertial sensors are implemented for other types of motion. For example, the InterSense
  • 300 Series is a 1-cubic-inch, 2-ounce, 3-axis device with a 500 Hz update rate resulting in 0.02 degree RMS angular resolution, 3 degree RMS dynamic accuracy and a 1200 degree /second angular rate.
  • One potential downside is that these systems can be relatively expensive. However, for reliable autonomous indoor positioning capabilities in urban battleground environments, a combination of dead-reckoning and inertial sensors, coupled with GPS when it is available, may be advantageous.
  • Operator Interfaces are remotely controlled by an operator wearing a wearable computer system and /or operating a non-wearable computer system, according to embodiments of the invention.
  • RF or other modems for communicating with the snake device platform, at least about 8 GB of memory, a Pentium class or better processor, batteries for at least eight hours of continuous use, and unique interfaces which ViA and its partners have developed.
  • RF or other modems for communicating with the snake device platform, at least about 8 GB of memory, a Pentium class or better processor, batteries for at least eight hours of continuous use, and unique interfaces which ViA and its partners have developed.
  • Four types of operator interfaces will be described below: pocket-sized touchscreen displays, wireless wrist-mounted interfaces, heads-up displays, and speech-recognition input and speech output.
  • a pocket-sized touchscreen display and speech-recognition software preferably including Voice Print
  • Identification are included in the baseline system design to provide a secure, compact, low-power and preferably unobtrusive interface.
  • the system may include options for incorporating numerous other interfaces without departing from the spirit or scope of the invention.
  • Pocket-Sized Touchscreen Displays such as those developed at least in part by ViA, work very well for detailed images, e.g. diagrams and maps. For missions where stealth is a critical issue, reflective one-half and full VGA screens e.g. from Sharp are readable in bright sunlight, yet non-emitting at night. Both of these products have been successfully integrated with ViA PC's.
  • a wireless wrist-mounted interface can be extremely useful.
  • the wrist system preferably uses a low-power RF interface to communicate from the wrist to the "belt" or other wearable computer.
  • the screen of the interface is preferably readable in bright sunlight, yet non-emitting at night so stealth is not compromised.
  • Heads-up Displays Commercially available heads-up display units from e.g. Copin, Virtual Vision, Virtual IO and Display Tech that are substantially superior in both performance and power savings are preferred for use according to the invention.
  • ViA, Inc. is the leader in integrating voice-recognition software with wearable computer platforms. This includes systems which are operating in environments with significant background noise. For example, a ViA system has been used successfully from inside a helicopter to control drone aircraft.
  • One of the issues with many voice-recognition software packages is the inability to modify the system to meet changing demands. ViA's software allows this modification to happen "in-the-field" and "on-the-fly," without having to reboot the computing system.
  • any dialect can be supported, in particular ViA has developed extensive voice-recognition capabilities for U.S. English, British English, and Spanish. To further improve the robustness of the speech-recognition systems, ViA has developed the capability to use remote servers for processing. Thus, if one particular
  • ViA should fail, another can be readily used to maintain the voice-input capability.
  • An additional feature of ViA's approach to voice recognition is Voice Print Identification. This adds additional security and prevents unauthorized users from accessing the system.
  • Two advantages to using voice-recognition software are that it provides hands-free input capability and additional system security.
  • One of the potential concerns for military applications is that using voice input can be difficult in stealth-type missions.
  • ViA has developed seamless integration between graphic touchpad screens and voice input. Thus, if a situation mandates that silence be maintained, then the pocket-sized touchpad can be used to enter commands instead of the voice system.
  • a snake device can be given a charging command, e.g. at the end of a work day or mission.
  • a charging command e.g. at the end of a work day or mission.
  • the device I o Upon receiving the command, after e.g. being removed from a user's waist or other area and thrown through the air to the ground or otherwise placed on the ground or other underlying surface, the device I o
  • a charging unit and/or data-transfer device and/or docking station plugs itself in or otherwise electrically "docks" with the unit, and returns to a desired location when charging is complete.
  • Other algorithms and programming can cause the device to enter a roving or stationary "security" mode, to secure e.g. a perimeter, a building, or other location.
  • Other tool packages carried by the device can include light/ video /photo projection mechanisms, laser or other projection mechanisms for e.g. target sighting, cameras, microphone /speaker arrangements, drills, ground, air or other environmental samplers, cord, grappling hook or other projectile/tool/payload launchers, payload dispensers for e.g. gas, explosives, medical supplies, or other payloads, to name a few examples.
  • Communication can be provided with e.g. a cellular-phone, RF, or other preferably wireless link. A human operator can also use such a communications interface directly.
  • Embodiments of the invention can incorporate existing and future sensor technologies. Because of the flat and flexible nature of the PC's available from ViA, Inc., additional sensor technologies and modules can be inserted anywhere along the length of the snake device.
  • the baseline design preferably includes the sensors previously mentioned in Sections 2.7 and 2.8 (GPS, inertial, ultrasound and LADAR), plus a video camera, a microphone /speaker and a chemical detection sensor.
  • GPS inertial, ultrasound and LADAR
  • a video camera a system similar to the Panasonic GP-KF462HM 1/4" color camera can be integrated. This video camera, which was developed for the dental industry, measures approximately 0.2" in diameter and 2" in length.
  • An RF modem is preferably included to transmit images back to a remote control station.
  • the microphone and speaker are preferably included to transmit audio between the snake platform and the operator.
  • the snake device embodiments ensures operating capability with a chip from e.g. Sandia National Laboratories Chemlab. Communications
  • the primary means of communication for the snake device preferably is RF.
  • One commercially available device is the Personal Messenger(r) 100C Wireless Modem Card. This shirt-pocket-sized, self-powered Cellular Digital Packet Data (CDPD) modem requires a single PC Card slot to operate. Because PC cards are wider than the baseline design body, the RF chip set preferably is mounted directly to the PC's circuitry rather than using the PCI slot.
  • CDPD Cellular Digital Packet Data
  • the actual operating range of the snake device is generally dependent on the type of RF modem used.
  • a 0.5 Watt Dell Star system can produce an effective range of 800 meters.
  • a similar modem can be integrated into the snake platform but may require design modifications to the modem. Using military-reserved bands, with higher power devices, may increase this range.
  • Snake devices according to the invention with their thin profile and quiet operation, already have a very low observable design.
  • stealth technologies from e.g. Sandia National Laboratories may be incorporated.
  • Sandia's stealth technologies can enhance the snake device to make it nearly invisible in both visual and infrared bands.
  • the visible and infrared treatments preferably include low-power semi-active surfaces which use electrically switched bistable polymers (power is applied only when switching between colors), reflection techniques, coatings, including thin film for signature control, and other techniques.
  • the snake device's dimensions are approximately 2" x 1" x 30", according to one embodiment, preferably with 16 flex points and a total weight of less than ten pounds. However, other dimensions, flex points, and weights may be used without departing from the spirit and scope of the invention. If desired, the snake device may be worn around the waist in the same manner as ViA's line of wearable computers as described and claimed in the above-referenced patents, for example, secured with a belt buckle or other type of fastener.
  • the snake device In addition to a soldier carrying the platform, the snake device also has the ability to conform to other objects so it can be easily deployed as a parasite, riding on a track- or wheel-style robot, friendly or enemy tank, jeep or other vehicle, also including those in nonmilitary environments, until the terrain requires the snake to move out on its own.
  • the snake device which preferably has both teleoperation and semiautonomous capabilities, preferably is remotely controlled by an operator wearing a personal computer.
  • a pocket-sized touchscreen display and speech-recognition software preferably are included in the baseline system to provide a compact, low-power, unobtrusive interface.
  • An additional feature of speech-recognition software available from ViA, Inc. is voice print identification. This adds additional security and prevents non-approved individuals from operating the system.
  • obstacle-drilling capabilities are contemplated according to the invention, e.g. with an auger positioned on the base PC.
  • Tactical grappling-hook/ cord-launching devices for climbing and/or suspending are also contemplated, as are other tools/payloads as referenced above, for example.
  • Embodiments of the invention include e.g. a human-packable, tactical, mobile, robotic platform which substantially matches or exceeds the ability of a human to move undetected, in e.g. battle or other adverse conditions, both in large spaces and in spaces which are inaccessible to humans, over indoor and outdoor terrain.
  • a human-packable system is transported by a human to its place of use as part of his or her other equipment.
  • a human-portable system may require the exclusive effort of the person transporting to its place of use.
  • Snake devices according to the invention are preferably small, lightweight, completely self-contained (i.e., non-tethered) systems.
  • the backbone and nerve center of the device preferably is a flexible PC, available from ViA, Inc.
  • the overall size of one such computer which preferably consists of seven modules mounted on flexible circuitry, is a ribbon approximately 13 inches in length, 1.75 inches in width, and 0.5 inches thick.
  • ViA is committed to continually updating its product line to include the latest in PC technologies.
  • a clear path is ensured for continued acceptance of and compatibility with new technologies and commercial PC components (e.g., processors, memory storage, peripheral interfaces, etc.).
  • Robotic snake devices preferably have one or more of the following design features and capabilities, in addition to or instead of those described above: Computing Capabilities:
  • the snake device preferably is based on a
  • PC available from ViA, Inc.
  • This type of PC for this application generally includes, at a minimum, at least one or more of the following items: a Pentium class 200+ MHz processor with MMX capabilities including Zoom video capacity, 1 GB Hard Disk or Flash Memory, USB, PCI and optional Firewire (IEEE 1394), Custom 27-Pin full access docking, Dual smart battery ports, and a digital wireless RF interface providing remote communication capabilities.
  • the processor provides ample processing for many types of control, communications, and real-time sensor gathering and interpretation. If additional processing power is needed, e.g., for vision-interpretation algorithms, multiple snakes can be coupled together to provide additional processors. As mentioned previously, however, greater processing capabilities for complex, next-generation tasks are contemplated for use according to the invention.
  • a variety of memory configurations are also contemplated, including up to at least 8 or more GB Hard Disk and 1 or more GB of Standard Flash Memory storage.
  • Locomotion The following motion types are preferably implemented as the minimum set of motion types: a variety of rectilinear motions, one to minimize power consumption and maximize stealth characteristics, another to maximize speed, and another to maximize climbing abilities; a coil mode which enables the snake to stand on its tail to gain increased surveillance and obstacle climbing capabilities; and a self-righting capability.
  • the following motion types are generally perceived as more difficult to implement but may be included if desired: serpentine and concertina locomotion.
  • Hazard Detection Preferably included in the system design are an ultrasonic system and a LADAR system. These are preferably used to detect potential hazards.
  • the snake device's design preferably includes multiple buses and full access interfaces which provide straightforward compatibility.
  • Position Determination Preferably included in the system design are a GPS system and an inertial sensor system. These components are used to provide position information for outdoor and indoor environments, respectively.
  • the snake device's design preferably includes multiple buses and full access interfaces which provide straightforward compatibility.
  • Additional Sensor Systems Three additional sensor capabilities are preferably included in the baseline snake design: a color video camera, a microphone /speaker, and the ability to integrate e.g. the "Chemlab on a Chip" system being developed by Sandia National Laboratories.
  • the snake device's design preferably includes multiple buses and full access interfaces which provide straightforward compatibility.
  • the stealth characteristics of the snake device may be enhanced by using stealth technology developed by e.g. Sandia National Laboratories.
  • the Operator Interface has at least one and preferably all of the following design features and capabilities:
  • Computing capabilities are preferably based on a ViA PC. This platform preferably is worn by the operator. Preferably included in this PC are at least one, and preferably all, of the following items: a Pentium class 200+ MHz processor with MMX capabilities including Zoom video capacity, 8 GB Hard Disk or 1 GB of Standard Flash Memory storage, USB, PCI and optional Firewire (IEEE 1394), custom 27-Pin full access docking, dual smart Battery Ports, and a digital wireless RF interface providing remote communication capabilities.
  • a Pentium class 200+ MHz processor with MMX capabilities including Zoom video capacity, 8 GB Hard Disk or 1 GB of Standard Flash Memory storage, USB, PCI and optional Firewire (IEEE 1394), custom 27-Pin full access docking, dual smart Battery Ports, and a digital wireless RF interface providing remote communication capabilities.
  • a Pentium class 200+ MHz processor with MMX capabilities including Zoom video capacity, 8 GB Hard Disk or 1 GB of Standard Flash Memory storage, USB, PCI and optional Fire
  • the baseline design preferably includes a pocket-sized touchscreen display with speech-recognition input.
  • the speech-recognition software preferably include one or more of the following: noise reduction (e.g., ability to function in noisy environments), ability to modify vocabulary "on-the-fly" without rebooting the computer system, ability to use remote servers as platforms for the speech software, voice print identification software to prevent unauthorized users from gaining access to the platform, ability to seamlessly move between the pocket-sized touch screen and voice input.
  • Optional Items for Operator Interfaces At least two operator interface options may be utilized: a wrist-mounted interface and a heads-up display.
  • the semiautonomous capabilities preferably include one or more of the following commands: move forward/backwards/to-the-side (X) meters, move forward/backwards/to-the-side (X) seconds, move until an obstacle is detected, set motion type to be (X), lift sensor package. Additional commands may be added with departing from the spirit and scope of the invention.
  • Touchpad Display and Voice Recognition These commands may be input using either a pocket-sized touchpad or by voice-recognition software.
  • Substantially all system capabilities may be seen in the performance of the following tasks using both the above semiautonomous commands and in a teleoperation mode: as the system moves in an outdoor environment, the task of accurate GPS positioning (within 10 meters), the task of potential hazard detection with ultrasonic and LADAR sensors, the task of motion, including raising the snake's "head” to look over or around an object or through a window and climbing a 3" diameter pipe, the task of the system moving to a range of 800 meters over a period of 3 hours, as the system moves in an indoor environment, the task of providing positioning information (approximately less than 10% error with respect to total displacement) using the inertial system, coupled with dead reckoning, the task of motion, including having the platform climb a typical staircase and raise its head to look on top of a surface.
  • FIG. 8 schematically illustrates a mobile robotic snake device according to an embodiment of the invention.
  • Device 200 which can e.g. be a combination mobile robot and wearable personal computer, includes backbone section 205.
  • One or more of each module or segment 208 of device 200 preferably is flexibly connected to adjacent modules or segments 208.
  • Device 200 includes, or is operably connected with, sensor package or sensing section 210, processing section 220, memory section 230, communications section 240, microphone and /or speaker section 250, payload section 260, tool section 270 for accommodating e.g.
  • any of the sections can be located at any point along the length of device 200, and one or more of any type of section can be provided. Segments 208 can each o
  • Connectors 350 are provided for e.g. connecting ends of device 200 around a user's waist or other body portion, to a docking station or charging station or other fixed or mobile object, or to one or more other devices 200 to achieve greater length (e.g. for traversing higher objects or gaining greater surveillance height), processing power or other capabilities.
  • connectors 350 can include not only appropriate mechanical coupling, but also electrical, power and /or other signal connections as well.
  • Actuators such as illustrated at 370, 380 can also be provided at any desired position along backbone 205. For ease of illustration and description, only a few actuators are illustrated, at the righthand end of device 200 as viewed in Figure 8.
  • actuators 370 are intra-segment actuators for turning one segment with respect to another.
  • Actuator 380 is an actuator for moving one or more segments with respect to the ground or other underlying or surrounding object. Actuators 370, 380 and the other features of device 200 are not necessarily illustrated to scale in Figure 8. Further, actuators can be placed on one or more sides of each segment 208, depending on the type of movement desired for a particular environment or application. Particular actuators are shown and described in the U.S. patents described above, as well as with respect to Figures 9 and 10 herein.
  • actuator 380 on one or more segments 208 can be or can include one or more ribs with a flexible covering 390 over them.
  • the ribs can fold or recess to a flat configuration when actually worn as e.g. a belt, or otherwise when a substantially flat profile is desired. When an in-use configuration is desired, the ribs fold or pop out.
  • the ribs are driveable to produce a forward and /or backward motion, allowing locomotion as a snake.
  • the covering optionally is waterproof, and device 200 optionally includes air /gas tubes for flotation, allowing use of device 200 in an amphibious manner.
  • the covering also can have various amounts of scale structure, e.g. as on the bottom of a ⁇ u
  • waxless cross country ski to help propel device 200 forward or otherwise better grip the underlying or surrounding surface.
  • other friction-inducing or gripping surface types are also contemplated.
  • Actuator(s) 380 can be operated by processing section 220 or by a remotely operated computing device, to effect sequential or other motion and various amounts of motion to move de ⁇ ce 200 in the most practical direction or speeds.
  • the actuators can cause device 200 to lay all the way flat for e.g. traversing stairs or other objects that require more "gripping" locomotion than "slithering" locomotion. Additionally, for climbing purposes, device 200 can go flat for at least a section thereof, grab onto a stair step or other elevated surface, and "flop" or pull itself over.
  • actuators 380 or other areas on device 200 can include magnetic devices for greater gripping or adhering capabilities, e.g. for adhering along the water line of a ship to place a charge, to be the charge, or to otherwise effectively deliver an explosive device or other payload.
  • Sensing section 210 is operably coupled with processing section 220, according to one embodiment, and can include location sensing (e.g. GPS) for e.g. location validation, air quality sensing, heat sensing, distance sensing, movement or motion detectors, color sensing, smell sensing, RF, IR, laser, sonar or other energy sensing, and /or video conferencing (in sensing section 210 or elsewhere in device 200) to enable device 200 to function as a remote scout or reconnaissance device.
  • location sensing e.g. GPS
  • Communications section 240 can include RF, IR, laser, sonar or other communication capabilities, for communication with one or more other mobile robotic snake devices 205 or remote computing devices, e.g. wearable computing devices.
  • Microphone /speaker section 250 which optionally can be included in communications section 240, can be used when device 200 is used to move to a remote person or other object and communicate therewith, as controlled, by e.g. a user operating device 200 from afar.
  • One or more payload sections 260 can be used to deliver a desired payload, e.g. medical supplies, oxygen, foodstuffs, water, replacement electronic or other parts, etc.
  • a desired payload e.g. medical supplies, oxygen, foodstuffs, water, replacement electronic or other parts, etc.
  • the payload can also be used for hostile purposes, as in the case of explosives or other enemy-reduction payload as reference above.
  • Certain areas of device 200 can be flexible and other can be stiffer, to protect e.g. certain processing, communications or storage devices.
  • Processing section 220 can control which areas are stiff and which are flexible, through e.g. intra-segment actuators 370, according to one embodiment.
  • Figure 9 schematically illustrates a cross-section of a segment 400 according to an embodiment of the invention.
  • Segment 400 includes e.g. slot/gear "pancake" arrangement 410 and/or other motor /actuator drive systems, optionally offset to each side of segment 400.
  • Flex/push band 420 provides actuation capabilities and control, optionally interfacing with an exterior section 430 via loop /pivots 440.
  • External section 430 optionally includes bands, ribs, and /or “skin” with directional "scales” or other gripping features described above.
  • Stand bands or cables 450 assist in drawing device 200 into e.g. an upright or other configuration.
  • snake devices are able to maneuver substantially undetected, through very tight spaces, over rough and unknown terrain.
  • real-time sensor information preferably is gathered, interpreted, and transmitted back to the control station. All of this is substantially contained in a human-packable/ wearable system capable of both indoor and outdoor operations.
  • a flexible, wearable PC with actuators, sensors and stealth technologies yield a mobile, invisible, rugged, versatile, lightweight and adaptable, tactical mobile robot with a host of commercial, military and other uses. . o
  • Embodiments of the invention also can be mounted on other parts of the body, including the leg, arm, chest or head. Multiple features from the various described embodiments can be combined in accordance with the invention. For example, the features of the various embodiments described throughout the application can be implemented in the embodiments of Figures 8-10. Various other modifications in and changes to the above-described devices and methods will be apparent to those of ordinary skill and can be made without departing from the spirit and scope of the invention.

Abstract

L'invention concerne, dans un mode de réalisation, un dispositif (200) combinant les caractéristiques d'un robot mobile et d'un ordinateur personnel portatif. Ce dispositif combiné comprend une section de squelette (205), au moins un organe d'actionnement (380) fonctionnellement connecté à la section de squelette (205) et destiné à déplacer la section de squelette (205), une section de traitement (220) fonctionnellement couplée à au moins un organe d'actionnement (380) pour faire fonctionner l'organe d'actionnement (380) et une structure (350) spécialement conçue pour supporter au moins la section de squelette sur un corps humain comme pour un ordinateur personnel portatif.
EP99945067A 1998-08-14 1999-08-14 Robot mobile en forme de serpent Withdrawn EP1105789A1 (fr)

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Application Number Priority Date Filing Date Title
US9648498P 1998-08-14 1998-08-14
US96484P 1998-08-14
PCT/US1999/018587 WO2000010073A1 (fr) 1998-08-14 1999-08-14 Robot mobile en forme de serpent

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WO (1) WO2000010073A1 (fr)

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