US20160184721A1 - Rolling and jumping robot with an increased obstacle passing ability - Google Patents
Rolling and jumping robot with an increased obstacle passing ability Download PDFInfo
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- US20160184721A1 US20160184721A1 US14/979,891 US201514979891A US2016184721A1 US 20160184721 A1 US20160184721 A1 US 20160184721A1 US 201514979891 A US201514979891 A US 201514979891A US 2016184721 A1 US2016184721 A1 US 2016184721A1
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- United States
- Prior art keywords
- robot
- wheels
- ground
- carriage
- sliding part
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- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H11/00—Self-movable toy figures
- A63H11/06—Jumping toys
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/004—Stunt-cars, e.g. lifting front wheels, roll-over or invertible cars
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/26—Details; Accessories
- A63H17/262—Chassis; Wheel mountings; Wheels; Axles; Suspensions; Fitting body portions to chassis
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H29/00—Drive mechanisms for toys in general
- A63H29/22—Electric drives
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H33/00—Other toys
- A63H33/005—Motorised rolling toys
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
Definitions
- the invention relates to a rolling and jumping robot including a pair of wheels arranged on either side of a robot body.
- Such a type of robot is described for example in the JP 2011/41696 A (Barse) as well as in the EP 2 862 606 A1 (published on 22 Apr. 2015), corresponding to the product marketed under the name “Jumping Sumo” by Parrot SA, Paris, France.
- the robot body includes a frame or carriage connected to the wheels and a sliding part guided on slides, with a spring interposed between the carriage and the sliding part.
- a motor moves the sliding element closer to the carriage, which has for effect to progressively compress the spring and hence accumulate therein an elastic potential energy.
- the unit is maintained in this position by a locking system, which may be liberated to abruptly release the spring and to throw the robot above the ground by transformation of the potential energy of the spring into kinetic energy, the impact of the sliding part against the ground producing, by reaction, the desired leaping effect.
- the jump height may be adjusted by a variable compression of the spring, so as to deliver a more or less significant energy at the time of the jump.
- the object of the present invention is, while keeping this base structure and this jumping function, to improve the robot and to add it functionalities of aid to obstacle passing, in particular when it is used in “cross-country”, or to get over steps, pavement edges, etc., for example, and this with a minimum of complementary physical means added to the base structure.
- the invention applies to a robot of the above-mentioned type, i.e. comprising more precisely and in a manner known per se, in particular from the above-mentioned JP 2011/41696 A:
- the sliding part includes a protruding distal end supporting a contact pad such that, in the contracted position, the contact pad is located near the perimeter of the wheels, and that the expansion of the sliding part is transmitted by the contact pad.
- the robot further includes a tail stand extending in a vertical plan and fastened to the robot body at a fixation point located remote from the sliding part and in a region at the opposite from the ground according to the main direction of the carriage.
- the tail stand forms at its distal end an alternative ground-bearing point, in a region located beyond the circumference of the wheels.
- this tail stand is at least partially elastically deformable by bending so as to allow under stress a moving of the contact pad closer to or away from the surface of contact with the ground.
- the wheels are advantageously wheels that are notched at their periphery.
- the robot further comprises jump-control means, adapted to modify the configuration of the robot, successively between:
- FIG. 1 is a general three-quarter front view of a known robot.
- FIG. 2 is a general three-quarter rear view of the robot of FIG. 1 , showing more precisely the different elements of this known robot that, combined together, ensure the jumping function.
- FIGS. 3( a ) and ( b ) are side views illustrating the known robot of FIGS. 1 and 2 , with the sliding part in the extended position and the contracted position, respectively.
- FIGS. 4( a ) to ( d ) illustrate a robot of the type illustrated in the preceding Figures, but modified according to the teachings of the invention, as it is in four successive positions, i.e.: extended, contracted, jump preparation and jump triggering.
- FIGS. 5( a ) to ( c ) illustrate the robot according to the invention of FIG. 4 , as it is at three successive steps of passing an obstacle such as a step.
- FIGS. 1, 2 and 3 illustrate a robot of a known type, such as that described in the above-mentioned EP 2 862 606 A1.
- the reference 10 generally denotes the robot, which comprises a carriage 12 supported by two wheels 14 .
- the wheels 14 are mounted on the carriage 12 so as to pivot about a common axis D, and they are driven independently by individual electric motors (not shown), piloted by suitable circuits allowing the robot, according to the direction and speed of rotation of the wheels, to progress along a straight line, to move rearward, to turn about itself or to turn along a curve, etc., such different moves being controlled by the user by means of a suitable remote-control.
- the carriage 12 extends following a main direction A, perpendicular to the pivot axis D of the wheels, and it supports a sliding part 16 movable in translation parallel to the axis A under the effect of a suitable motor, piloted by the robot control circuits.
- This sliding part 16 comprises for example two parallel rods 18 guided by these respective cylinders 20 integral with the carriage 12 , with interposition between the rods 18 and the cylinders 20 of one or several helical springs (not visible in the Figures) serving as energy storage means, with compression of the spring when the sliding part 16 is moved closer to the carriage 12 , and conversely returning to the sliding part 16 of the energy stored by these springs when the sliding part 16 is released towards an extended position of the carriage/sliding part unit.
- This mechanism is described in particular in the EP 2 952 236 A1 (published on 9 Dec. 2015).
- the robot may also be provided with one or several optical devices 38 ( FIG. 1 ), such as a camera or a light, whose optical axis 8 forms a fixed angle with respect to the main direction A of the carriage and of the robot body integral with this carriage.
- This device allows for example, when the robot rolls, to light in front of the robot and/or to pick up a video image of the manoeuvre ground, viewed from the robot.
- FIGS. 3( a ) and ( b ) illustrate the robot in two positions hereinafter referred to as “extended” 40 and “contracted” 40 ′ positions, corresponding to the two extremes positions of the sliding part 16 in its guided movement in translation with respect to the carriage 12 .
- the robot rests on the ground 42 through three bearing points: in 44 , at the contact of the wheels (point A 1 ) with the ground, and through the contact pad 36 at the distal end of the sliding part 16 (point A 2 ).
- the sliding part 16 forms a telescopic unit with the carriage 12 , and may hence move in translation between the extended position 40 ( FIG. 3( a ) ) and the contracted position 40 ′ ( FIG. 3 b )) under the action of a motor specifically piloted to ensure this translation.
- FIG. 3( a ) The extended position of FIG. 3( a ) allows in particular the rolling on the ground, the rotations, etc.
- the moving of the sliding part 16 towards the contracted position produces a moving of the ground-bearing point A 2 of the pad 36 and, correlatively, a modification of the inclination of the axis A of the carriage, and hence of the robot inclination.
- the contracted position of FIG. 3( b ) forms the jump-preparation position, which will occur through abrupt liberation of the energy of the previously-compressed springs, this energy being transmitted via the pad 36 , by inertia and reaction of the ground, to the body 22 of the robot, to cause the latter to leap.
- FIGS. 4 and 5 illustrate a robot such as that just described with reference to the state of the art, after having been modified according to the teachings of the invention.
- FIG. 4 will explain how is kept the (pre-existing) jumping function that has been described hereinabove, whereas FIG. 5 will illustrate the (new) obstacle passing function.
- wheels 14 which are notched wheels, i.e. provided at their periphery, on the tire tread, with reliefs, notches or grousers 48 or other similar means (grousers added to or integral with the wheel, deep sculptures, etc.) providing a high adhesion on irregular grounds, for example, as illustrated in FIGS. 5( b ) and ( c ) , on the edge of a step, or on natural, stony grounds, with branches, etc., by minimising the risk of skidding of the robot.
- An alternative to notched wheels consists, equivalently, in making these wheels from a very soft material, able to conform, through its deformation, the irregularities of the ground on which the robot evolves.
- the robot is provided with a tail stand 5 fastened to the robot body.
- this stand 50 is formed of an elongated rigid element 52 linked to the robot body by an elastically deformable member 54 such as an helical spring or an elastic sleeve.
- the distal end 56 of the tail stand 50 is intended to form an alternative bearing point for the robot body.
- the size and shape of the tail stand are chosen so that this end 56 is located beyond the periphery of the wheels, for example at a distance from the rotation axis comprised between typically 1 and 3 times the diameter of the wheels.
- the tail stand 50 is fastened to the body (by the elastic element 54 in the illustrated example) at a fixation point 58 located in the radial direction remote from the sliding part 16 and in a region of the robot body located at the opposite from the ground according to the main direction A of the carriage, in particular on the protruding excrescence 24 in the upper part of the robot body, in the inner vicinity of the periphery of the wheels.
- the tail stand 50 that extends in a vertical plan, is a flexible stand due to the elastic member 54 that links the elongated rigid element to the robot body at the fixation point 58 . More precisely, this flexibility must permit a bending deformation allowing, under stress, a moving of the contact pad ( 36 ) closer to or away from the surface of contact with the ground.
- the general configuration of the tail stand and the size thereof are such that, when the sliding part is in the extended position (configuration of FIG. 4( a ) , itself corresponding to the configuration of FIG. 3( a ) ), the only bearing points that maintain the robot and that support the weight thereof in this case remain the sliding part (at A 2 ) and the wheels (at A 1 ).
- the size and shape of the tail stand are chosen so that this change of bearing point upon the passage of the sliding part to the concentrated position is made with no modification of the general direction of the axis ⁇ of the carriage, and hence of the axis ⁇ of the robot camera with respect to the ground (or with a slight modification, due to the weight of the robot and of the flexible portion, causing a slight bending of the stand).
- This will avoid a tilting of the image of the scene picked-up by this camera, as it was the case with the known robot illustrated in FIG. 3 , where the passage from the position of FIG. 3( a ) to that of FIG. 3( b ) was made with a tilting upward of the axis ⁇ , and hence of the viewing direction 8 of the camera.
- the tail stand 50 has advantageously a curved shape, whose concavity is turned towards the ground, which allows with a shorter stand to better control the position of the robot body.
- the end 56 of the tail stand has for main function to form an alternative bearing point for the robot in conditions that will be exposed hereinafter.
- this end may also serve to the fixation of an accessory providing the robot with an additional functionality, for example by mounting a float, a brush, a catapult, spikes, etc., either by mounting directly the accessory on the tail stand, or by replacing all or part of the rigid portion 52 of the stand by a replacement element carrying the accessory in question.
- the sliding part 16 is in the extended position, and the robot rests on its two wheels (point A 1 ) and on the pad 36 (point A 2 ).
- the end 56 of the tail stand 50 is remote from the ground. This configuration is not different from that illustrated in FIG. 3 a for a device according to the prior art.
- the configuration is that illustrated in FIG. 4( b ) .
- the sliding part 16 is then in the contracted position, with compression of the springs, as in the above-described configuration of FIG. 3( b ) .
- the third bearing point becomes the end 56 of the stand (alternative bearing point A 3 ), the pad 36 being then located above the level of the ground. II will be moreover noted that, in this position of FIG. 4( b ) , the flexible stand 50 is not, or almost not, under bending stress.
- This contracted position may be kept, waiting for a latter jump, wherein the robot can continue to evolve on the ground with an increased stability, in particular on an uneven ground, thanks to the grousers 48 of the wheels 14 , but above all, to the greater distance between the points of contact A 1 of the wheels and the third bearing point, i.e. the alternative bearing point A 3 , which defines a larger lift triangle than in the preceding case.
- the control circuit of the driving motors of the wheels sends to these latter an acceleration impulse that causes a tilting rearward of the robot body (arrow 64 , FIG. 3( c ) ), with for consequence the moving backward of the alternative bearing point A 3 (arrow 68 ) and the bending (schematised by the arrow 70 ) of the elastic element 54 of the tail stand.
- the acceleration impulse imparted to the robot and the bending of the tail stand 50 have for effect to press the pad 36 to the ground.
- the control circuit releases the locking means of the sliding part, which has for effect to cause the abrupt expansion of this sliding part and the leap of the robot above the ground, through the pad 36 (arrow 72 , FIG. 4( d ) ).
- the releasing of the locking means is caused at the suitable time by adjustment between the instant of this releasing (unlocking) and the duration of the impulse of acceleration of the wheels. This ensures a jump in the best conditions, with direct and immediate transmission of the energy liberated at the time of the unlocking.
- the obstacle is, in this example, a step 74 in front of which the robot is located, in the configuration illustrated in FIG. 5( a ) .
- This configuration is in any point identical to that of FIG. 4( b ) described hereinabove, i.e. with the robot resting on the ground through its two wheels (bearing point A 1 ) and the end 56 of the tail stand 50 (alternative bearing point A 3 ).
- the sliding part 16 is in the contracted position (and it will stay therein for all the duration of the obstacle passing), i.e. the pad 36 is in the inner vicinity of the periphery of the wheels 14 .
- the wheels 14 of the robot have moved forward (arrow 76 ) and they enter into contact with the obstacle 74 and, thanks to the grousers 48 , engage with a protruding part of this obstacle, for example the nose of the step 74 .
- the robot is then in rest on the points A 5 of contact of the wheels with the obstacle, and the alternative bearing point A 3 that is still in contact with the ground.
- the tail stand 50 Under the effect of the robot weight, whose centre of gravity G is located between the points A 5 and A 3 , the tail stand 50 is put under elastic stress, with bending of the deformable elastic element 54 (bending schematised by the arrow 78 ).
- the robot After the centre of gravity G of the robot has passed the obstacle, i.e., in the example illustrated, when the pad 36 arrives at the nose of the step 74 (bearing point A 6 ), then the robot can carry on its way, the tail stand 50 ensuring the stability of the mobile unit during this transitory phase.
- the contact face of the pad 36 turned towards the ground is preferably a convex, rounded face, in order not to get caught on the obstacle and to allow the later to be passed with no trouble.
- this obstacle passing functionality requires no run-up to be given to the robot, wherein the configuration illustrated in FIG. 5( a ) can be a configuration in which the robot is stopped, simply in front of the obstacle.
Abstract
This robot includes a body with a carriage (12) and a pair of wheels (14), as well as a sliding part (16) supporting a contact pad (36) allowing, through abrupt liberation of the energy stored in a spring, to cause a leap of the robot above the ground. It further includes a tail stand (50), fastened to the robot body at a fixation point located remote from the sliding part and in a region (24) at the opposite from the ground according to the main direction (Δ) of the carriage. The tail stand forms at its distal end (56) an alternative ground-bearing point (A3), in a region located beyond the circumference of the wheels (14). The tail stand is at least partially elastically deformable by bending so as to allow under stress a moving of its distal end (56) closer to or away from the point (58) of fixation to the robot body.
Description
- The invention relates to a rolling and jumping robot including a pair of wheels arranged on either side of a robot body.
- Such a type of robot is described for example in the JP 2011/41696 A (Barse) as well as in the EP 2 862 606 A1 (published on 22 Apr. 2015), corresponding to the product marketed under the name “Jumping Sumo” by Parrot SA, Paris, France.
- It is a remote-controlled rolling and jumping object mounted on two independent wheels, each provided with its own motor, which allows the robot to move forward, to move rearward, to take a jumping position, etc. The robot body includes a frame or carriage connected to the wheels and a sliding part guided on slides, with a spring interposed between the carriage and the sliding part. A motor moves the sliding element closer to the carriage, which has for effect to progressively compress the spring and hence accumulate therein an elastic potential energy. The unit is maintained in this position by a locking system, which may be liberated to abruptly release the spring and to throw the robot above the ground by transformation of the potential energy of the spring into kinetic energy, the impact of the sliding part against the ground producing, by reaction, the desired leaping effect. The jump height may be adjusted by a variable compression of the spring, so as to deliver a more or less significant energy at the time of the jump.
- The object of the present invention is, while keeping this base structure and this jumping function, to improve the robot and to add it functionalities of aid to obstacle passing, in particular when it is used in “cross-country”, or to get over steps, pavement edges, etc., for example, and this with a minimum of complementary physical means added to the base structure.
- The invention applies to a robot of the above-mentioned type, i.e. comprising more precisely and in a manner known per se, in particular from the above-mentioned JP 2011/41696 A:
-
- a body comprising a carriage and a pair of wheels arranged on either side of the carriage, the wheels being rotationally mounted with respect to the carriage about a common axis perpendicular to the main direction of the carriage;
- a sliding part, mobile in guided translation along the carriage between two extreme positions, respectively extended and contracted, of this sliding part;
- releasable means for locking the sliding part at the contracted position;
- first motor means, adapted to drive the wheels in rotation with respect to the carriage;
- second motor means, adapted to move the sliding part in translation with respect to the carriage, up to the contracted position;
- a spring member stressed between the carriage and the sliding part; and
- means for controlling the spring member, adapted i) to progressively store a mechanical energy in the spring member by moving the sliding part towards the contracted position under the action of the second motor means, and ii) to liberate the thus-stored energy, hence driving the sliding part towards the extended position following the releasing of the locking means, so as to cause a leap of the robot above the ground under the effect of the sliding part expansion.
- The sliding part includes a protruding distal end supporting a contact pad such that, in the contracted position, the contact pad is located near the perimeter of the wheels, and that the expansion of the sliding part is transmitted by the contact pad. Characteristically, the robot further includes a tail stand extending in a vertical plan and fastened to the robot body at a fixation point located remote from the sliding part and in a region at the opposite from the ground according to the main direction of the carriage. The tail stand forms at its distal end an alternative ground-bearing point, in a region located beyond the circumference of the wheels. Moreover, this tail stand is at least partially elastically deformable by bending so as to allow under stress a moving of the contact pad closer to or away from the surface of contact with the ground.
- The wheels are advantageously wheels that are notched at their periphery.
- In a preferential embodiment, the robot further comprises jump-control means, adapted to modify the configuration of the robot, successively between:
-
- a) said extended position, where the robot rests in stable equilibrium on the two wheels and the contact pad;
- b) said contracted position, where the robot rests in stable equilibrium on the two wheels and the alternative bearing point at the distal end of the tail stand, this tail stand being not under bending stress;
- c) a jump-preparation position, where, after stressing of the first motor means towards the tilting rearward of the carriage, the pad comes into contact with the ground, the tail stand being then under bending stress; and
- d) a jumping position, where the robot takes off from the ground after releasing of the locking means.
- According to various advantageous characteristics:
-
- the alternative bearing point is configured with respect to the tail stand so that the passage from the extended position to the contracted position is made with no change of inclination of the main direction of the carriage with respect to the ground;
- the fixation point of the tail stand to the robot body is located, in the radial direction, in the inner vicinity of the periphery of the wheels;
- the length of the tail stand is comprised between 1 and 3 times the diameter of the wheels;
- the tail stand comprises an elongated, rigid distal portion, linked to the robot body by an elastically deformable member;
- the rigid distal portion is a curved portion whose concavity is turned towards the ground;
- the contact face of the pad turned towards the ground is a convex rounded face;
- the distal end of the tail stand further comprises means for mounting an accessory providing the robot with an additional functionality, and/or the rigid portion of the stand is removable and replaceable by an accessory providing the robot with an additional functionality.
- An exemplary embodiment of the invention will now be described, with reference to the appended drawings in which the same numeral references denote identical or functionally similar elements throughout the figures.
-
FIG. 1 is a general three-quarter front view of a known robot. -
FIG. 2 is a general three-quarter rear view of the robot ofFIG. 1 , showing more precisely the different elements of this known robot that, combined together, ensure the jumping function. -
FIGS. 3(a) and (b) are side views illustrating the known robot ofFIGS. 1 and 2 , with the sliding part in the extended position and the contracted position, respectively. -
FIGS. 4(a) to (d) illustrate a robot of the type illustrated in the preceding Figures, but modified according to the teachings of the invention, as it is in four successive positions, i.e.: extended, contracted, jump preparation and jump triggering. -
FIGS. 5(a) to (c) illustrate the robot according to the invention ofFIG. 4 , as it is at three successive steps of passing an obstacle such as a step. -
FIGS. 1, 2 and 3 illustrate a robot of a known type, such as that described in the above-mentioned EP 2 862 606 A1. - In these Figures, the
reference 10 generally denotes the robot, which comprises acarriage 12 supported by twowheels 14. Thewheels 14 are mounted on thecarriage 12 so as to pivot about a common axis D, and they are driven independently by individual electric motors (not shown), piloted by suitable circuits allowing the robot, according to the direction and speed of rotation of the wheels, to progress along a straight line, to move rearward, to turn about itself or to turn along a curve, etc., such different moves being controlled by the user by means of a suitable remote-control. - The
carriage 12 extends following a main direction A, perpendicular to the pivot axis D of the wheels, and it supports asliding part 16 movable in translation parallel to the axis A under the effect of a suitable motor, piloted by the robot control circuits. Thissliding part 16 comprises for example twoparallel rods 18 guided by theserespective cylinders 20 integral with thecarriage 12, with interposition between therods 18 and thecylinders 20 of one or several helical springs (not visible in the Figures) serving as energy storage means, with compression of the spring when thesliding part 16 is moved closer to thecarriage 12, and conversely returning to thesliding part 16 of the energy stored by these springs when thesliding part 16 is released towards an extended position of the carriage/sliding part unit. This mechanism is described in particular in the EP 2 952 236 A1 (published on 9 Dec. 2015). - It will be noted that, in the fully extended position of the sliding part 16 (position illustrated in
FIGS. 1, 2 and 3 (a)), the distal end of this part protrudes beyond the circumference of thewheels 14, and may hence come into contact with the ground. This distal end comprises for that purpose an added element or a surface formingcontact pad 36, liable to form a ground-bearing point for the robot (point denoted A2 inFIGS. 3(a) and (b) ). - The robot may also be provided with one or several optical devices 38 (
FIG. 1 ), such as a camera or a light, whose optical axis 8 forms a fixed angle with respect to the main direction A of the carriage and of the robot body integral with this carriage. This device allows for example, when the robot rolls, to light in front of the robot and/or to pick up a video image of the manoeuvre ground, viewed from the robot. -
FIGS. 3(a) and (b) illustrate the robot in two positions hereinafter referred to as “extended” 40 and “contracted” 40′ positions, corresponding to the two extremes positions of thesliding part 16 in its guided movement in translation with respect to thecarriage 12. - In either one of these
positions ground 42 through three bearing points: in 44, at the contact of the wheels (point A1) with the ground, and through thecontact pad 36 at the distal end of the sliding part 16 (point A2). - As indicated hereinabove, the
sliding part 16 forms a telescopic unit with thecarriage 12, and may hence move in translation between the extended position 40 (FIG. 3(a) ) and the contractedposition 40′ (FIG. 3b )) under the action of a motor specifically piloted to ensure this translation. - The extended position of
FIG. 3(a) allows in particular the rolling on the ground, the rotations, etc. - The moving of the
sliding part 16 towards the contracted position produces a moving of the ground-bearing point A2 of thepad 36 and, correlatively, a modification of the inclination of the axis A of the carriage, and hence of the robot inclination. - The contracted position of
FIG. 3(b) forms the jump-preparation position, which will occur through abrupt liberation of the energy of the previously-compressed springs, this energy being transmitted via thepad 36, by inertia and reaction of the ground, to thebody 22 of the robot, to cause the latter to leap. -
FIGS. 4 and 5 illustrate a robot such as that just described with reference to the state of the art, after having been modified according to the teachings of the invention. -
FIG. 4 will explain how is kept the (pre-existing) jumping function that has been described hereinabove, whereasFIG. 5 will illustrate the (new) obstacle passing function. - To allow this new function, the robot is provided with
wheels 14, which are notched wheels, i.e. provided at their periphery, on the tire tread, with reliefs, notches orgrousers 48 or other similar means (grousers added to or integral with the wheel, deep sculptures, etc.) providing a high adhesion on irregular grounds, for example, as illustrated inFIGS. 5(b) and (c) , on the edge of a step, or on natural, stony grounds, with branches, etc., by minimising the risk of skidding of the robot. An alternative to notched wheels consists, equivalently, in making these wheels from a very soft material, able to conform, through its deformation, the irregularities of the ground on which the robot evolves. - Characteristically of the invention, the robot is provided with a tail stand 5 fastened to the robot body. In the illustrated example, this
stand 50 is formed of an elongatedrigid element 52 linked to the robot body by an elasticallydeformable member 54 such as an helical spring or an elastic sleeve. - The
distal end 56 of thetail stand 50 is intended to form an alternative bearing point for the robot body. The size and shape of the tail stand are chosen so that thisend 56 is located beyond the periphery of the wheels, for example at a distance from the rotation axis comprised between typically 1 and 3 times the diameter of the wheels. On the proximal side, thetail stand 50 is fastened to the body (by theelastic element 54 in the illustrated example) at afixation point 58 located in the radial direction remote from the slidingpart 16 and in a region of the robot body located at the opposite from the ground according to the main direction A of the carriage, in particular on the protrudingexcrescence 24 in the upper part of the robot body, in the inner vicinity of the periphery of the wheels. - The
tail stand 50, that extends in a vertical plan, is a flexible stand due to theelastic member 54 that links the elongated rigid element to the robot body at thefixation point 58. More precisely, this flexibility must permit a bending deformation allowing, under stress, a moving of the contact pad (36) closer to or away from the surface of contact with the ground. The general configuration of the tail stand and the size thereof are such that, when the sliding part is in the extended position (configuration ofFIG. 4(a) , itself corresponding to the configuration ofFIG. 3(a) ), the only bearing points that maintain the robot and that support the weight thereof in this case remain the sliding part (at A2) and the wheels (at A1). It may possibly remain, as in the example ofFIG. 5 , an interval between the surface of the ground and thedistal end 56 of thetail stand 50, but in any case, even if thisend 56 touches the ground, it does not form a real bearing point when the sliding part is extended, due to the flexibility of thestand 50. - On the other hand, in the contracted position of the sliding part 16 (configuration of
FIGS. 4(b) and 5(a) , corresponding to the configuration ofFIG. 3(b) ), thedistal end 56 comes into contact with the ground, the robot then resting on its two wheels (points A1) and on theend 56 of the tail stand (point A3), instead of resting on its two wheels (points A1) and on the pad 36 (point A2).FIGS. 4(b) and 3(b) will be compared in this respect. - Advantageously, the size and shape of the tail stand are chosen so that this change of bearing point upon the passage of the sliding part to the concentrated position is made with no modification of the general direction of the axis Δ of the carriage, and hence of the axis δ of the robot camera with respect to the ground (or with a slight modification, due to the weight of the robot and of the flexible portion, causing a slight bending of the stand). This will avoid a tilting of the image of the scene picked-up by this camera, as it was the case with the known robot illustrated in
FIG. 3 , where the passage from the position ofFIG. 3(a) to that ofFIG. 3(b) was made with a tilting upward of the axis Δ, and hence of the viewing direction 8 of the camera. The tail stand 50 has advantageously a curved shape, whose concavity is turned towards the ground, which allows with a shorter stand to better control the position of the robot body. - As indicated, the
end 56 of the tail stand has for main function to form an alternative bearing point for the robot in conditions that will be exposed hereinafter. But, subsidiary, this end may also serve to the fixation of an accessory providing the robot with an additional functionality, for example by mounting a float, a brush, a catapult, spikes, etc., either by mounting directly the accessory on the tail stand, or by replacing all or part of therigid portion 52 of the stand by a replacement element carrying the accessory in question. - As will be seen with reference to
FIGS. 4(a) to (d) , the jumping function of the known device (exposed hereinabove with reference toFIG. 3 ) is kept with the structure according to the invention, where the robot is provided with thetail stand 50. - At the first step, illustrated in
FIG. 4(a) , the slidingpart 16 is in the extended position, and the robot rests on its two wheels (point A1) and on the pad 36 (point A2). Theend 56 of thetail stand 50 is remote from the ground. This configuration is not different from that illustrated inFIG. 3a for a device according to the prior art. - After retraction of the sliding part 16 (arrow 62), the configuration is that illustrated in
FIG. 4(b) . The slidingpart 16 is then in the contracted position, with compression of the springs, as in the above-described configuration ofFIG. 3(b) . However, unlikeFIG. 3(b) , due to the presence of thetail stand 50, the third bearing point becomes theend 56 of the stand (alternative bearing point A3), thepad 36 being then located above the level of the ground. II will be moreover noted that, in this position ofFIG. 4(b) , theflexible stand 50 is not, or almost not, under bending stress. - This contracted position may be kept, waiting for a latter jump, wherein the robot can continue to evolve on the ground with an increased stability, in particular on an uneven ground, thanks to the
grousers 48 of thewheels 14, but above all, to the greater distance between the points of contact A1 of the wheels and the third bearing point, i.e. the alternative bearing point A3, which defines a larger lift triangle than in the preceding case. - When the user wants to trigger the jump, the control circuit of the driving motors of the wheels sends to these latter an acceleration impulse that causes a tilting rearward of the robot body (
arrow 64,FIG. 3(c) ), with for consequence the moving backward of the alternative bearing point A3 (arrow 68) and the bending (schematised by the arrow 70) of theelastic element 54 of the tail stand. The acceleration impulse imparted to the robot and the bending of the tail stand 50 have for effect to press thepad 36 to the ground. When thepad 36 touches the ground (point A4), then the control circuit releases the locking means of the sliding part, which has for effect to cause the abrupt expansion of this sliding part and the leap of the robot above the ground, through the pad 36 (arrow 72,FIG. 4(d) ). - In practice, the releasing of the locking means is caused at the suitable time by adjustment between the instant of this releasing (unlocking) and the duration of the impulse of acceleration of the wheels. This ensures a jump in the best conditions, with direct and immediate transmission of the energy liberated at the time of the unlocking.
- We will now describe, with reference to
FIGS. 5(a) to (c) , how the adding of thetail stand 50 provides a new function of obstacle passing. - The obstacle is, in this example, a
step 74 in front of which the robot is located, in the configuration illustrated inFIG. 5(a) . - This configuration is in any point identical to that of
FIG. 4(b) described hereinabove, i.e. with the robot resting on the ground through its two wheels (bearing point A1) and theend 56 of the tail stand 50 (alternative bearing point A3). The slidingpart 16 is in the contracted position (and it will stay therein for all the duration of the obstacle passing), i.e. thepad 36 is in the inner vicinity of the periphery of thewheels 14. - At the following step, illustrated in
FIG. 5(b) , thewheels 14 of the robot have moved forward (arrow 76) and they enter into contact with theobstacle 74 and, thanks to thegrousers 48, engage with a protruding part of this obstacle, for example the nose of thestep 74. The robot is then in rest on the points A5 of contact of the wheels with the obstacle, and the alternative bearing point A3 that is still in contact with the ground. - Under the effect of the robot weight, whose centre of gravity G is located between the points A5 and A3, the
tail stand 50 is put under elastic stress, with bending of the deformable elastic element 54 (bending schematised by the arrow 78). - At the following step, illustrated in
FIG. 5(c) , the rotation of the wheels is continued (arrow 80). The robot and the wheels thereof pass the obstacle, whereas the alternative bearing point A3, still in contact with the ground, prevents the tilting rearward of the robot. The stress exerted by the tail stand, which is under bending stress (schematised by the arrow 82), has moreover a tendency to push the robot towards the front of the obstacle. - After the centre of gravity G of the robot has passed the obstacle, i.e., in the example illustrated, when the
pad 36 arrives at the nose of the step 74 (bearing point A6), then the robot can carry on its way, the tail stand 50 ensuring the stability of the mobile unit during this transitory phase. The contact face of thepad 36 turned towards the ground is preferably a convex, rounded face, in order not to get caught on the obstacle and to allow the later to be passed with no trouble. - It will be noted that this obstacle passing functionality requires no run-up to be given to the robot, wherein the configuration illustrated in
FIG. 5(a) can be a configuration in which the robot is stopped, simply in front of the obstacle.
Claims (11)
1. A rolling and jumping robot resting on the ground, including:
a body (22) comprising a carriage (12) and a pair of wheels (14) arranged on either side of the carriage, the wheels being rotationally mounted with respect to the carriage about a common axis (D) perpendicular to the main direction (A) of the carriage;
a sliding part (16), mobile in guided translation along the carriage between two extreme positions, respectively extended and contracted;
releasable means for locking the sliding part at the contracted position;
first motor means, adapted to drive the wheels in rotation with respect to the carriage;
second motor means, adapted to move the sliding part in translation with respect to the carriage, up to the contracted position;
a spring element stressed between the carriage and the sliding part; and
means for controlling the spring member, adapted i) to progressively store a mechanical energy in the spring member by moving the sliding part towards the contracted position under the action of the second motor means, and ii) to liberate the thus-stored energy, hence driving the sliding part towards the extended position following the releasing of the locking means, so as to cause a leap of the robot above the ground under the effect of the sliding part expansion,
said robot being characterized in that:
the sliding part (16) includes a protruding distal end supporting a contact pad (36);
in the contracted position, the contact pad is located near the perimeter of the wheels;
the expansion of the sliding part is transmitted by the contact pad (36);
the robot further includes a tail stand (50) extending in a vertical plan and fastened to the robot body (22) at a fixation point (58) located remote from the sliding part and in a region (24) at the opposite from the ground according to the main direction (A) of the carriage;
the tail stand forms at its distal end (56) an alternative ground-bearing point (A3), in a region located beyond the circumference of the wheels (14); and
the tail stand is at least partially elastically deformable by bending so as to allow under stress a moving of the contact pad (36) closer to or away from the surface of contact with the ground.
2. The robot of claim 1 , wherein the wheels (14) are wheels that are notched (48) at their periphery.
3. The robot of claim 1 , further comprising jump-control means, adapted to modify the configuration of the robot, successively between:
a) said extended position, where the robot rests in stable equilibrium on the two wheels (14, A1) and the contact pad (36, A2);
b) said contracted position, where the robot rests in stable equilibrium on the two wheels (14, A1) and the alternative bearing point (A3) at the distal end of the tail stand (50), this tail stand being not under bending stress;
c) a jump-preparation position, where, after stressing of the first motor means towards the tilting rearward of the carriage, the pad (36) comes into contact (A4) with the ground, the tail stand being then under bending stress; and
d) a jumping position, where the robot takes off from the ground after releasing of the locking means.
4. The robot of claim 3 , wherein the alternative bearing point (A3) is configured with respect to tail stand (50) so that the passage from the extended position to the contracted position is made with no change of inclination of the main direction (Δ) of the carriage with respect to the ground.
5. The robot of claim 1 , wherein the fixation point (58) of the tail stand (50) to the robot body (22) is located, in the radial direction, in the inner vicinity of the periphery of the wheels (14).
6. The robot of claim 1 , wherein the length of the tail stand (50) is comprised between 1 and 3 times the diameter of the wheels (14).
7. The robot of claim 1 , wherein the tail stand comprises an elongated, rigid distal portion (52), linked to the robot body by an elastically deformable member (54).
8. The robot of claim 7 , wherein the rigid distal portion (52) is a curved portion whose concavity is turned towards the ground.
9. The robot of claim 1 , wherein the contact face of the pad (36) turned towards the ground is a convex rounded face.
10. The robot of claim 1 , wherein the distal end (56) of the tail stand further comprises means for mounting an accessory providing the robot with an additional functionality.
11. The robot of claim 7 , wherein the tail stand (50) is a stand whose rigid portion (52) is removable and replaceable by an accessory providing the robot with an additional functionality.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1463364A FR3031044A1 (en) | 2014-12-29 | 2014-12-29 | ROLLER ROBOT AND HEARER WITH INCREASED OBSTACLE BREAK CAPABILITY |
FR1463364 | 2014-12-29 |
Publications (1)
Publication Number | Publication Date |
---|---|
US20160184721A1 true US20160184721A1 (en) | 2016-06-30 |
Family
ID=52988238
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/979,891 Abandoned US20160184721A1 (en) | 2014-12-29 | 2015-12-28 | Rolling and jumping robot with an increased obstacle passing ability |
Country Status (5)
Country | Link |
---|---|
US (1) | US20160184721A1 (en) |
EP (1) | EP3042702A1 (en) |
JP (1) | JP2016137240A (en) |
CN (1) | CN105799802A (en) |
FR (1) | FR3031044A1 (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
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US10058999B2 (en) * | 2016-10-12 | 2018-08-28 | Lunghwa University Of Science And Technology | Wheeled jumping robot |
CN109850025A (en) * | 2019-02-26 | 2019-06-07 | 浙江大学 | A kind of single leg robot mechanism and control method of metope jump |
CN110253593A (en) * | 2019-06-03 | 2019-09-20 | 北京交通大学 | Wheel type barrier-crossing robot with deformable body frame structure for automotive |
CN111055947A (en) * | 2019-12-03 | 2020-04-24 | 上海交通大学 | Foldable wheel type deformation robot device |
CN111284582A (en) * | 2020-03-26 | 2020-06-16 | 行星算力(深圳)科技有限公司 | Multifunctional all-terrain transportation robot |
CN111514591A (en) * | 2019-02-01 | 2020-08-11 | 智高实业股份有限公司 | Steerable wall climbing toy |
CN113002244A (en) * | 2021-03-16 | 2021-06-22 | 重庆大学 | Deep space exploration bouncing robot |
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CN111591373B (en) * | 2020-06-04 | 2021-04-13 | 崔正筠 | All-terrain detection trolley |
CN112223309B (en) * | 2020-09-30 | 2024-01-12 | 腾讯科技(深圳)有限公司 | Controller, control method and robot |
CN112548984B (en) * | 2020-12-10 | 2022-04-12 | 逻腾(杭州)科技有限公司 | Rolling obstacle crossing robot with telescopic arm |
CN113086101B (en) * | 2021-03-29 | 2022-03-11 | 哈尔滨工业大学 | Robot for jumping and sliding on water surface |
CN113443041B (en) * | 2021-07-29 | 2022-05-17 | 山东大学 | Composite leg and foot mechanism and 3-UPS parallel wheel and foot composite bouncing robot |
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WO2010030055A1 (en) * | 2008-09-12 | 2010-03-18 | Convex Co., Ltd. | Mobile robot with jump function |
US9381443B2 (en) * | 2013-10-18 | 2016-07-05 | Parrot | Multi-position rolling and jumping toy |
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US3703784A (en) * | 1972-03-16 | 1972-11-28 | Voorhis F Wigal | Multiple jumping device |
US8083013B2 (en) * | 2006-12-06 | 2011-12-27 | The Regents Of The University Of California | Multimodal agile robots |
JP5234659B2 (en) * | 2009-08-21 | 2013-07-10 | 牛田 浩 | Jumping body |
CN203525303U (en) * | 2013-10-21 | 2014-04-09 | 胡妍琪 | Novel bouncing toy car |
FR3021875B1 (en) | 2014-06-04 | 2016-06-24 | Parrot | ARMING / DISARMING MECHANISM SPRING AND TOY HEARING INCORPORATING |
-
2014
- 2014-12-29 FR FR1463364A patent/FR3031044A1/en not_active Withdrawn
-
2015
- 2015-12-16 EP EP15200312.5A patent/EP3042702A1/en not_active Withdrawn
- 2015-12-28 JP JP2015255808A patent/JP2016137240A/en active Pending
- 2015-12-28 US US14/979,891 patent/US20160184721A1/en not_active Abandoned
- 2015-12-29 CN CN201511009545.XA patent/CN105799802A/en active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2010030055A1 (en) * | 2008-09-12 | 2010-03-18 | Convex Co., Ltd. | Mobile robot with jump function |
US9381443B2 (en) * | 2013-10-18 | 2016-07-05 | Parrot | Multi-position rolling and jumping toy |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10058999B2 (en) * | 2016-10-12 | 2018-08-28 | Lunghwa University Of Science And Technology | Wheeled jumping robot |
CN111514591A (en) * | 2019-02-01 | 2020-08-11 | 智高实业股份有限公司 | Steerable wall climbing toy |
CN109850025A (en) * | 2019-02-26 | 2019-06-07 | 浙江大学 | A kind of single leg robot mechanism and control method of metope jump |
CN110253593A (en) * | 2019-06-03 | 2019-09-20 | 北京交通大学 | Wheel type barrier-crossing robot with deformable body frame structure for automotive |
CN111055947A (en) * | 2019-12-03 | 2020-04-24 | 上海交通大学 | Foldable wheel type deformation robot device |
CN111284582A (en) * | 2020-03-26 | 2020-06-16 | 行星算力(深圳)科技有限公司 | Multifunctional all-terrain transportation robot |
CN113002244A (en) * | 2021-03-16 | 2021-06-22 | 重庆大学 | Deep space exploration bouncing robot |
Also Published As
Publication number | Publication date |
---|---|
CN105799802A (en) | 2016-07-27 |
EP3042702A1 (en) | 2016-07-13 |
FR3031044A1 (en) | 2016-07-01 |
JP2016137240A (en) | 2016-08-04 |
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