US20130277128A1 - Robotic Omniwheel - Google Patents

Robotic Omniwheel Download PDF

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Publication number
US20130277128A1
US20130277128A1 US13/858,109 US201313858109A US2013277128A1 US 20130277128 A1 US20130277128 A1 US 20130277128A1 US 201313858109 A US201313858109 A US 201313858109A US 2013277128 A1 US2013277128 A1 US 2013277128A1
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United States
Prior art keywords
omniwheel
chassis
navigation
controller
robotic
Prior art date
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Abandoned
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US13/858,109
Inventor
Carla R. Gillett
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Individual
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Priority to US13/858,109 priority Critical patent/US20130277128A1/en
Publication of US20130277128A1 publication Critical patent/US20130277128A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/30—Arrangement or mounting of transmissions in vehicles the ultimate propulsive elements, e.g. ground wheels, being steerable
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    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/356—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having fluid or electric motor, for driving one or more wheels
    • B60K35/10—
    • B60K35/60—
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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    • B60L8/006—Converting flow of air into electric energy, e.g. by using wind turbines
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    • B60N2/14—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles the seat or part thereof being movable, e.g. adjustable the whole seat being movable rotatable, e.g. to permit easy access
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    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
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    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0051—Handover processes from occupants to vehicle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
    • F03D9/20—Wind motors characterised by the driven apparatus
    • F03D9/25—Wind motors characterised by the driven apparatus the apparatus being an electrical generator
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
    • H04M1/724—User interfaces specially adapted for cordless or mobile telephones
    • H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
    • H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories
    • H04M1/72412—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories using two-way short-range wireless interfaces
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
    • H04M1/724—User interfaces specially adapted for cordless or mobile telephones
    • H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
    • H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories
    • H04M1/72415—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories for remote control of appliances
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B60K2001/0405—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion characterised by their position
    • B60K2001/0416—Arrangement in the rear part of the vehicle
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    • B60K2001/0444—Arrangement on a trailer
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    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
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    • B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
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    • Y02T10/90—Energy harvesting concepts as power supply for auxiliaries' energy consumption, e.g. photovoltaic sun-roof

Abstract

A robotic omniwheel for motion comprising in wheel motor assemblies, break, a motorized universal joint for rocking action, an active transmission rod to uniquely engage lift and expansion for chassis, power cable, a status control system sensors, a drive logic system comprising laser radar, GPS, and navigational control systems comprising hand held remote controller and a cellular phone for navigation, a dash computer with monitor, and steering controller devices to navigate chassis which houses an electrical system that maintains charge to battery bank and grid charge system with access plug, and also may include an omnichair control and a rotational floorboard with controller, motor and cog gear that supports a navigational clear having a joy stick control device to navigate steering, breaking and speed and to thus travel in a holonomic manner for fun and to transport a load or passenger(s).

Description

    CROSS REFERENCED TO RELATED APPLICATIONS
  • Application Ser. No.: 12/655,569, Publication number: US20110162896 A1 Gillett
    • STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH & DEVELOPMENT
  • Non Applicable
    • THE NAMES OF PARTIES TO A JOINT RESEARCH AGREEMENT
  • Non Applicable
    • FIELD OF THE INVENTION
  • 1. This disclosure relates generally to a robotic omniwheel having drive logic navigation for transport applications including a monitoring system for estimating omniwheel motion states and path planning, and also having electricity power and fuel power systems.
    • BACKGROUND OF THE INVENTION
  • 2. Related Art For Comparability
  • In particular, related art describes omniwheels having no similarities. The present a robotic omniwheel having drive logic navigation for transport applications can include a hub motor type mounted inside a wheel frame and protected from outside element damage by hub assemblies.
  • The present robotic omniwheel having drive logic navigation for transport applications comprises in wheel motor assemblies with break for motion that can couple with a motorized universal joint assemblies for rocking action, and can couple with as active transmission rod for expansion to raise and lower a chassis.
  • Prior art does not discuss a robotic omniwheel having drive logic navigation control applications including laser radar for obstacle avoidance, GPS for location, and a navigational control systems comprising hand held remote controller and a cellular phone for navigation, a dash computer with monitor, and a steering controller or a joy stick control device to steering, breaking and speed.
  • Prior art does not discuss robotic omniwheel having drive logic navigation control applications estimating omniwheel motion states and path planning, steering and speed range and also monitoring electricity power and fuel power systems fuel amount and battery charging system utilizing a grid charge and the electrical system with a solar panel device can maintain charge for at least one primary battery bank, power and USB cable, and includes plugs, power cable and fuel lines.
  • Prior art does not discuss robotic omniwheel having a monitoring system tor an omnichair with a rotational floorboard to support a load or passengers, a monitoring system for an electromagnet coupler device may engage or disengage from another omnivehicle having an electromagnet coupler device, a monitoring system tor estimating vehicle motion states and path planning which allows a child's toy, skates, scooters, wheelchair, carts, trucks, trailers, vans, buses and railcars which can travel in a holonomic manner and spin at zero degrees.
    • SUMMARY OF THE INVENTION
  • The present robotic omniwheel for transport applications comprises in wheel motor assemblies with break for motion that can couple with a motorized universal joint assemblies for rocking action, and can couple with an active transmission rod for expansion to raise and lower a chassis to thus travel in a holonomic manner which is to glide in forward and in reverse, and to spin at zero degrees. A chassis is to house a drive logic control system with microprocessor components for monitoring and laser radar for obstacle avoidance, GPS for locations awareness, USB cable and CSI sensor array to monitor status of operation. A power supply is to furnish electronic components and devices power, a fuel system with fuel tank and fuel lines and a grid charge system may include an optional solar panel device to subsequently maintain battery charge with access plugs to charge the battery bank. A navigation control system having a read out and touch screen, a cellular phone device for navigation with voice control, a wireless hand held remote controller tor navigational, a handle, throttle or toggle for manual navigation, a rotational floorboard mechanism with controller, motor and gear box for load, an omnichair with arm, a motorized door mechanism which, can be designed to open up and outwardly having a preferred placement, and an electromagnetic coupling device.
    • BRIEF DISCRETION OF THE DRAWINGS
  • These and other objects and advantages of the present invention will become more fully apparent from the following detailed description when read in conjunction with the accompany drawings with like reference numerals indicating corresponding parts throughout, wherein:
  • FIG. 1 is a side view depiction of a robotic omniwheel for motion and the chassis frame.
  • FIG. 2 is a from view depicting robotic omniwheel assemblies for motion.
  • FIG. 3 is a front view depiction of a robotic omniwheel comprising a in wheel motor mechanism, hub mechanisms, stmt armature, yoke, universal joint, and a transmission rod.
  • FIG. 4A is a side view depiction of a robotic omniwheel comprising omniwheel array coupled with an active omni-board chassis, and also FIG. 4B depicts by arrows showing holonomic motion.
  • FIG. 5 is a side view depiction of a robotic omniwheel array for motion coupled with a chassis for an omni-skate board blueprint.
  • FIG. 6 is a side view depiction of a robotic omniwheel array for motion coupled with a chassis for an omni-scooter blueprint.
  • FIG. 7 is an angular depiction of a robotic omniwheel array for motion coupled with a chassis for an omni-motorcycle blueprint.
  • FIG. 8A is a front view depiction of a robotic omniwheel array for motion coupled with a chassis for an omni-cart blueprint with arrows showing motion arrows.
  • FIG. 8B is a perspective view of a robotic omniwheel array coupled with a chassis for an omni-vehicle blueprint showing toggle.
  • FIG. 9 is a side view depiction of a robotic omniwheel array for motion coupled with, a chassis for an omni-truck blueprint.
  • FIG. 10 is a side view depiction of a robotic omniwheel array for motion coupled with a chassis for an omni-trailer blueprint.
  • FIG. 11 is a side view depiction of a robotic omniwheel array for motion coupled with a chassis for an omni-van, bus, or railcar blueprint.
    •  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
  • Hereinafter, a robotic omniwheel will be described in details with reference to the drawings and assigned the same reference numerals.
  • Referring now in greater detail FIG. 1 shows a robotic omniwheel apparatus 9 for motion having zero degree swivel range and thus comprising a wheel frame 1, an in wheel motor mechanism 2 with active hub mechanisms 3, active strut armature 4, an active yoke mechanism 5, an active universal joint mechanism 7, a transmission rod mechanism 8 coupled with a chassis blueprint 10.
  • The robotic omniwheel comprising a in wheel motor mechanism with active hub mechanisms can be coupled with active strut armature, and can be coupled with an active yoke mechanism and can be coupled with an active universal joint mechanism that can also be coupled with a transmission rod mechanism.
  • The motorized universal joint for rocking motion.
  • The transmission rod for expansion motion is to raise and lower a chassis body.
  • Referring now in greater detail FIG. 2 shows a robotic omniwheel 6 for motion having limited, swivel range and thus comprising a wheel frame 1 which may encompass tire or tread, an in wheel motor mechanism 2 with inner break shown by arrow, and with an active axis and hub mechanisms 3, which are coupled with active strut armature 4 and bolted on hub 3, and coupled with an active yoke mechanism 5 which is to steer the omniwheel and provide fuel power to the in wheel motor mechanism and break(s). A robotic omniwheel wheel frame 1 is showing the assembly method, and exterior frame surface which may or may not encompass a tire or tread, a rail omniwheel is not shown.
  • The yoke assemblies are to control the degree turning radius for steering and velocity speed for inner motor, and breaking via USB 9 cable which is housed within the yoke and the strut's a hollow conduit contains wiring 11, and thus can be contained within the omniwheel apparatus 9.
  • Referring now in greater detail FIG. 3 shows a robotic omniwheel 9 for motion having zero degree swivel range and thus comprising in wheel motor mechanism 2 with break, and with an active axis and huh mechanisms 3, which can be coupled with active strut armature 4 and bolted on to hub(s) 3, and coupled with an active yoke mechanism 5 which is to steer the omniwheel and provide fuel power to the in wheel motor mechanism and break(s).
  • The robotic omniwheel yoke assemblies S can comprising at least one strut 4, and also an optional motorized universal joint controls fore and aft rocking actions to the yoke mechanism, and also a robotic omniwheel assemblies can include an active transmission rod mechanism for active expansion to raise and lower the chassis body 10.
  • Referring now in greater detail FIG. 4A shows a robotic omniwheel array couple with chassis 10 which is to house an electrical system 12 to controls power via grid, fuel, solar 24, power to maintain charge to a battery bank 14 and grid access, wiring 11 and plug, and the USB cable 13.
  • The robotic omniwheel is controlled by drive logic system 15 comprising laser radar for obstacle avoidance, and GPS for location awareness, and also a navigational control systems 16 and a status control system sensor array 17 are thusly placed accordingly.
  • The drive logic control system with microprocessor components for monitoring operation and path plan. The drive logic and navigation control system 16 having Capability Statistics Indices sensors 17 or “CSI,” that define the degree to which the process is or is not meeting the task.
  • The robotic omniwheel control system 15 comprises drive logic with radar and GPS. The CPU control modes can select to switch power on and adjust power levels to electric components and has a safety mechanism kill switch to shot off motor(s)2. The drive logic communicates via USB 13 accessing and administering commands to omniwheel's mechanisms 9 with power supply 12 within the chassis body 10.
  • The navigation system 16 for navigation, a dash computer with monitor 18 with port charger, a cellular phone device 19 for navigation with voice control, wireless remote controller 20, handle, throttle or toggle 21 for manual control.
  • The chassis blueprint may also include a rotational floorboard 22, with controller and motor to support a chair 23.
  • The power supply system 12 provides AC voltage DC voltage via electric wire harness 11 and also fuel power with and fuel lines and to the electric motors 2 and breaks component, and transfers ample voltage to maintain battery bank system with battery charger 14, and also a grid source can charge battery via plug. A drive logic 15 and navigation control system 16, manages the wheel motor mechanism 2, and with an active axis and hub 3 sensor 17 array and the active yoke mechanism 5 a status to steer robotic omniwheel accordingly. The omniwheel power system 12 provides fuel power to the in wheel motor mechanism break(s) and to the drive logic navigation control system, which also manages the yoke assembly's universal joint mechanism, and the transmission rod mechanism.
  • The navigational control joystick device and handle bar with throttle 21 controls are to maneuver and control breaking and speed in a uniquely synchronize and coordinating manner. A dash panel control device 18 with a dash computer with monitor having gauges and touch screen can include a port charger for a cellular phone 19 device which can also control the robotic omniwheel array 9 a-9 d.
  • An operator can be secured within an optional navigational omnichair 23 which has motion having swivel range. The omnivehicle operator can manually control the omniwheel array as well as an operator can allow the drive logic control system to work.
  • Referring now in greater detail FIG. 4B shows a robotic omniwheel comprising omniwheel array coupled with, an active omni-board chassis, and also operator may or may not use an omnichair to drive and a rotational floorboard having zero degree swivel range and thusly can support a load, and arrows show rocking, and lift and lower actions 8 and 9.
  • Referring now in greater detail FIG. 5 shows a robotic omniwheel array for motion coupled with a chassis blueprint tor an omni-skate board. An omni skate is having at least one in line omniwheel wheel device 6 a, 6 b shown in FIG. 2 having no rocking or lift actions. The passenger can use a wireless controller 20 and cellular phone device 19 to navigate.
  • The chassis body houses the battery bank 14 and grid access wiring and plug 11, and the USB cable 13. The robotic omniwheel is controlled by the drive logic system 15, and the navigational control systems 16 and the sensor array 17.
  • Skates work in sets of two and can carry a load or conceivably load and thusly be wireless controlled from a far.
  • Referring now in greater detail FIG. 6 shows a robotic omniwheel array for motion coupled with a chassis blueprint for an omni-scooter having pluralities of omniwheel apparatus with optional, handier hand held wireless or wired remote controller, and also the battery replacement compartment and hand throttle 21 for steering and speed control.
  • Referring now in greater detail FIG. 7 shows a robotic omniwheel array for motion coupled with a chassis blueprint for an omni-motorcycle with a navigational control system which may include a handle bar controller 21 with desired turning radius and speed.
  • The robotic omniwheel is controlled by the drive logic system 15, and the navigational control systems lb and the sensor array 17, and accordingly can carry (conceivably) a passenger and may comprise two or more omniwheel apparatus 6, or 9 a, 9 b as shown.
  • Referring now in greater detail FIG. 8A and FIG. 8B show a robotic omniwheel array 6 or 9 coupled with a chassis blueprint for an omni-cart 8A including a navigational control system which may utilize a toggle controller 21 to steer and break with velocity control, and may have at least three wheels, a wireless controller. The chassis body is to house the battery bank 14 and grid cable and plug 11, and accordingly to carry a load or passenger(s) 8B.
  • Referring now in greater detail FIG. 9 shows a robotic omniwheel array for motion coupled with a chassis blueprint for an omni-truck which can include a motorized door 25. The chassis is to house an electrical system 12 with grid and a solar power 24 to maintain charge to a battery bank 14 and grid access wiring and plug 11, and the USB cable 13. The robotic omniwheel is controlled by drive logic system 15 and the navigation system 15 comprises a cellular phone 19 for navigation, a dash controller.
  • Referring now in greater detail FIG. 10 shows a robotic omniwheel array 6 for motion coupled with a chassis blueprint for an omni-trailer which is including a robotic omniwheel array 6 coupled with chassis 10 which is to house an electrical system 12 with grid and a solar power 24 to maintain charge to a battery bank 14 and grid access wiring and plug 11, and the USB cable 13.
  • The robotic omniwheel is controlled by drive logic system 15, 19, and 20 can thusly manage the omniwheel groups 6 to self dock. The navigation system comprises a cellular phone 19 for navigation from a far, and a remote controller 20 to control docking application near by.
  • Referring now in greater detail FIG. 11 shows a robotic omniwheel array 6 for limited motion thusly coupled with a chassis blueprint for an omni-van, or bus or railcar which may comprise a rail shape robotic omniwheel wheel device shown in FIG. 2, and can include electromagnet coupler device 26 a and 26 b, multiple occupants, and van comprising both with fuel and electric motor types for a hybrid omnivehicle application.
  • The various embodiments specified vehicle contents describe in generic terms and are not technologically precise and thusly as claimed remains within accordance of the spirit the present invention, and it is apparent to those skilled in the art that many more entailed nuances are possible within the scope of the invention.

Claims (2)

1-10. (canceled)
11. A robotic omniwheel having motion comprising:
a wheel frame which may or may not be encompassed with tire or tread,
an in wheel motor,
at least one axle,
a hub and lug bolt,
a yoke assembly having a controller, a yoke motor and a yoke gear box, and
a strut assembly, strut suspension located within the strut armature is a hollow conduit shaft to allow newer cable cue USB cable, wiring, sensor array and access for fuel lines,
a universal joint mechanism to rock omniwheel apparatus,
a transmission rod mechanism to uniquely engage lib and expansion to chassis,
USB cable,
power cable and plug,
an electrical system with power transfer device tor power supply to furnish electronic components and devices power,
a fuel system,
a solar panel device to subsequently maintain battery charge,
a grid charge system with access plugs to charge battery,
at least one battery bank having a desired voltage range, and battery charging device,
a drive logic control system with microprocessor components for monitoring,
laser radar for obstacle avoidance,
GPS for locations awareness,
CSI sensor array,
a navigation control system having a control device having a read out and touch screen,
a cellular phone device for navigation with voice control,
a wireless hand held remote controller for navigational,
a handle, throttle or toggle for manual navigation,
a rotational floorboard mechanism with controller, motor and gear box for load,
an omnichair with arm,
a chassis body,
a motorized door mechanism which can be designed to open up and outwardly having a preferred placement, and
an electromagnetic coupling device.
US13/858,109 2010-01-04 2013-04-08 Robotic Omniwheel Abandoned US20130277128A1 (en)

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