US20210116223A1 - Reusable robotic flashbang delivery vehicle - Google Patents
Reusable robotic flashbang delivery vehicle Download PDFInfo
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- US20210116223A1 US20210116223A1 US16/992,048 US202016992048A US2021116223A1 US 20210116223 A1 US20210116223 A1 US 20210116223A1 US 202016992048 A US202016992048 A US 202016992048A US 2021116223 A1 US2021116223 A1 US 2021116223A1
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- Prior art keywords
- flashbang
- grenade
- mobile carrier
- delivery vehicle
- vehicle
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B27/00—Hand grenades
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H7/00—Armoured or armed vehicles
- F41H7/005—Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B12/00—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material
- F42B12/02—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect
- F42B12/36—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect for dispensing materials; for producing chemical or physical reaction; for signalling ; for transmitting information
- F42B12/42—Projectiles, missiles or mines characterised by the warhead, the intended effect, or the material characterised by the warhead or the intended effect for dispensing materials; for producing chemical or physical reaction; for signalling ; for transmitting information of illuminating type, e.g. carrying flares
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
Definitions
- This application relates to the field of tactical devices and more particularly to flashbang grenades.
- ReconRobotics developed the Throwbot 2 , a super-lightweight (1.3 lbs) yet rugged (30-foot drop height) robot equipped with video and audio reconnaissance that can be tossed over walls and into rooms—allowing operators to surreptitiously surveil an area without exposing themselves to hostile fire.
- a tactical device merges a robot, and in one embodiment a throwable robot, with a flashbang grenade.
- a throwable mobile delivery device with a flashbang grenade.
- military and law enforcement users e.g., hostage rescue, special reaction and SWAT teams
- SWAT teams to not only better position the flashbang grenades before detonation but also give themselves better opportunities to protect themselves from the detonation. These also save precious seconds before detonation as well as benefit from real-time intelligence.
- the robot is used together with a legacy flash-bang device such as a stun grenade.
- a legacy flash-bang device such as a stun grenade.
- the robot is used together with an Enhanced Diversionary Device (EDD), such as an electronically controlled flashbang grenade.
- EDD Enhanced Diversionary Device
- An example of such an EDD is described in U.S. patent application Ser. No. 16/441,874, filed Jun. 14, 2019, which is herein incorporated by reference for all purposes.
- an EDD is contrasted with legacy flash-bang devices such as stun grenades.
- the EDD is a reusable, microprocessor-controlled flash-bang designed to be safer and more economical than the standard stun grenades currently used by police officers and military personnel.
- Legacy flash-bangs are supposed to be safe, but their chemical detonators can sometimes “cook off” too early. They can also cause fires and secondary fragmentation because they burn very hot and explode on the ground.
- the EDD has a digital fuse for precise, programmable detonation, and it fires its special binary load into free space.
- the device doesn't kick up secondary debris from the floor. This has made the EDD very attractive for law enforcement and special operators as well as other platform-makers.
- FIG. 1 is a perspective view of one embodiment of a mobile carrier for a flashbang grenade.
- FIG. 2 is another perspective view, from a nearly opposite perspective, of the mobile carrier of claim 1 , illustrating a tail used to stabilize the mobile carrier.
- FIG. 3 is another perspective view, similar to that of FIG. 2 , with emphasis on a loading bracket for mounting the flashbang grenade the mobile carrier.
- FIG. 4 is another perspective view, nearly opposite the perspective of FIG. 3 , also emphasizing the loading bracket.
- FIG. 5 is a perspective view of another embodiment of the mobile carrier which uses a different type of loading bracket for a flashbang grenade along with a different embodiment of the flashbang grenade.
- FIG. 6 is another perspective view of the embodiment of FIG. 5 , but from a nearly opposite perspective.
- FIG. 7 is a partly exploded perspective view of the embodiment of FIG. 5 , separating the flashbang grenade from its loading bracket and separating both from the mobile carrier.
- FIG. 8 is a perspective view of one half of the flashbang grenade used in FIGS. 5 to 6 .
- the other half is substantially or completely identical.
- FIG. 9 is a line drawing depicting one embodiment of a hand-held and hand-operated controller to navigate the mobile carrier and to discharge its explosive payload.
- FIG. 10 is a perspective view of another embodiment of a hand-held and hand-operated controller to navigate the mobile carrier and to discharge and ignite its explosive payload.
- FIG. 11 is identical to FIG. 10 except that it adds a flappable toggle guard for the toggle in order to prevent accidental discharge.
- FIG. 12 is similar to FIG. 11 except that the flappable toggle guard is recessed in the body of the controller.
- FIG. 13 is a perspective view of another embodiment of a hand-held and hand-operated controller to navigate the mobile carrier and to discharge its explosive payload, where two buttons are provided to discharge and ignite the explosive payload, and where the buttons are positioned to make it difficult to engage both buttons with only one hand.
- invention within this document is a reference to an embodiment of a family of inventions, with no single embodiment including features that are necessarily included in all embodiments, unless otherwise stated. Furthermore, although there may be references to “advantages” provided by some embodiments, other embodiments may not include those same advantages, or may include different advantages. Any advantages described herein are not to be construed as limiting to any of the claims.
- a squib 54 can alternatively be described as a detonator, an initiator, or electrically initiated primer.
- the term is properly construed to cover anything that the declared synonyms would cover.
- Another example is the use of the terms “electrodes” and “terminals.” While some definitional sources strain to provide distinct meanings of the terms, as a practical matter they are widely used interchangeably.
- Electrode or “terminal” should be understood to encompass both what is more technically considered to be an “electrode” and what is more technically considered a “terminal.”
- the present specification uses the term “piston” to refer to what is basically a plug that travels the length of a cylindrical reservoir 44 .
- Many sources define a “piston” as a disk connected to a rod that travels up and down a cylinder, but this term is not intended to be construed so narrowly, as the specification describes the piston without a connected link or rod and as an object that travels one way down the reservoir 44 , disintegrating along the way.
- flashbang grenade is not limited in any sense to the structure of conventional grenade. Rather, “flashbang grenade” has long been applied, and is applied here, in a very broad sense to mean any flashbang device. Most components traditionally associated with a grenade are not required to constitute a “flashbang grenade.” For example, a reusable flashbang delivery vehicle 10 is described that has no need for a safety pin because the grenade is discharged remotely.
- the term “flashbang grenade” does retain a more common definition—that of the “flashbang grenade” being an explosive device holding some kind of explosive agent or agents that, when ignited, create a bright flash and a loud bang that temporarily blinds, deafens, and/or disorients (by disturbing fluid in the ear) the target.
- the flashbang device is generally non-lethal, and designed not to fragment during detonation, although sometimes, people die, particularly when the flashbang device ignites flammable material such as curtains.
- the flashbang is designed to be lethal for persons closest to the blast and stunning for others. This is accomplished through more potent explosives, by designing the explosion to occur inside without any preparatory pre-detonation discharge outside the grenade body, and/or by designing the grenade body to fragment.
- FIGS. 1-4 illustrate a reusable robotic flashbang delivery vehicle or throwbot 10 according to a first embodiment.
- the vehicle 10 comprises a mobile carrier 20 and a flashbang grenade 50 .
- the mobile carrier 20 has one or more wheels 24 or a plurality of legs that articulate to move from one location to another.
- the vehicle 10 is a rugged, reusable throwable robot designed to withstand a common range of forces that it would bear by being thrown over a wall or into a building. This includes drops of as much as 15-30 feet at any angle onto a hard surface, but not necessarily any forces greater than that. At some point or threshold, the cost of making the throwbot extremely rugged is likely to exceed the marginal savings generated by recovering the throwbot under ever harsher conditions.
- the vehicle 10 has an elongate and very stout body portion or frame 22 , a pair of rugged motorized wheels 24 , optionally shocks or a suspension, a rearwardly extending tail 28 (to help the flashbang delivery vehicle 10 maintain a proper orientation), and antennae 49 and 59 .
- the vehicle 10 comprises some other means, such as legs or paddles, to move from one location to another. In other implementations as few as one or more than two wheels 24 are provided. It will be understood that in another embodiment, the delivery vehicle 10 would not be rugged enough to be reusable, because it may be more cost effective for it to be built less expensively per unit even though it would need to be replaced with each discharge.
- a flashbang grenade 50 which in one embodiment comprises a disposable chemical agent delivery cartridge 12 , is mounted on the elongate vehicle body portion 22 , which doubles as a handhold for tossing the vehicle 10 .
- the cartridge 12 has many of the features described in the '874 application, including first and second chambers 66 containing an explosive charge and an initiator.
- the cartridge 12 is disposable and mounts on the robot by sliding in and out of a loading bracket 57 ( FIG. 3 ).
- the back portion 58 of the loading bracket 57 or, in the alternative, the elongate body portion 22 contains all or many of the electrical components described in the '874 application with respect to a reusable compartment 14 ('874 application).
- the electrical components may also be subdivided between the elongate body portion 22 and the back portion 58 .
- the entire grenade 50 is easily removable, so that the vehicle 10 can be rapidly redeployed in another location.
- the loading bracket 57 is itself mounted to the vehicle 10 via an intermediate bracket 53 .
- the back portion 58 ( FIGS. 3, 4 ) loading bracket 57 provides a spring-biased electrical connection between the squib 54 ( FIG. 4 ) and a detonation control circuit (element 18 of the '874 patent) housed in the back portion 58 or, alternatively, within the loading bracket 57 or elongate body portion 22 .
- the digital detonation control circuit 18 may be integrated with a robot control circuit or autonomous drive controller 25 which is also housed in the elongate body portion 22 .
- the squib 54 is mounted in the grenade 50 itself.
- the chemical agent delivery cartridge 12 of the present invention does not necessarily include a safety pin (element 30 of the '874 patent), striker (element 25 of the '874 patent), or safety lever (element 26 of the '874 patent), although these elements could be incorporated in a grenade 50 designed to be tossed or loaded on a mobile carrier 20 .
- substitute safety components are contained within a handheld wireless vehicle controller 90 ( FIGS. 9-13 ).
- the vehicle controller 90 or 100 - 103 in one embodiment provides two triggers or momentary push button switches 91 and 92 that must be simultaneously depressed to discharge and/or detonate the chemicals, but which are positioned so as to make it difficult to depress both at the same time using only one hand.
- FIG. 9 also depicts a trackball 93 for controlling the direction of movement of the throwbot 10 to navigate the throwbot 10 and control its speed and direction, and antennae 97 and 98 to exchange signals over two frequencies to a motion control receiver and a detonation control circuit receiver, respectively.
- the controller 90 or 100 - 103 may incorporate any common user interface, including but not limited to paddles, joysticks, trackballs, throttles, steering wheels, etc.
- the reusable robotic flashbang delivery vehicle 10 is self-mobilizing, using artificial intelligence (AI) to control its movements.
- AI artificial intelligence
- the AI may analyze one or more visual images or other sensor inputs of the floor surface, walls, and various obstacles (e.g., furniture) to identify a location thereon where the AI predicts the flash-bang impact will have its widest distribution or greatest impact (on persons and/or on structures), and the vehicle 10 may automatically move to that location.
- the autonomous drive controller 25 of the flashbang delivery vehicle 10 is programmed to rotate to get sensor information from each surrounding wall and calculate a spot that has the least average distance to orthogonal points on the walls.
- the autonomous drive controller 25 is programmed to identify, from sensor information, people, the distance between itself and the people, and a spot where the flashbang delivery vehicle 10 would have the least average distance to the detected persons. This is done from the vantage of the delivery vehicle 10 , wherein sensors sense where people are located, which is limited by what the vehicle's sensors and image processing technology can identify.
- An image processor identifies people in images and calculates distances between the people and the flashbang delivery vehicle 10 , and travels to a location likely to impact the most people. Of course, this is only practicable with respect to the people visible from the vantage of the flashbang delivery vehicle 10 .
- the flashbang delivery vehicle 10 can only make judgments with respect to people it can detect, which may not include people on the opposite side of a crowd.
- Stealth is also an important consideration in determining an “optimal” location, so moving around the crowd to find an optimal location with respect to the entire crowd would expose the flashbang delivery vehicle 10 to detection and evasion.
- the middle of a large crowd is unlikely to be practicable unless the device is nimble enough to move to the middle of the crowd, while avoiding all the people's legs, and fast enough to navigate to that spot and discharge and ignite its explosive chemical payload before people can react.
- the mobile carrier 20 and flashbang grenade 50 are respectively dimensioned so that any drop or impact against a flat surface will not directly impact and damage the flashbang grenade 50 .
- the flashbang grenade 50 is also rugged, it would still have a high probability of discharging and detonating its chemical payload even if the mobile carrier 20 landed on a surface or structure that delivered direct impact to the flashbang grenade 50 .
- FIGS. 5-8 illustrate an alternative embodiment of a loading bracket assembly 83 that better integrates a chemical agent delivery cartridge 80 with the reusable robotic flashbang delivery vehicle 10 , keeping it at a much lower profile with respect to the elongate body portion 22 .
- the chambers 66 of the chemical agent delivery cartridge 14 are re-arranged end-to-end into first and second barrel segments 67 and 68 .
- Each barrel segment 67 and 68 has a squib end 88 and a deflection end 89 connected by a barrel 87 with an interior passage 86 resembling that of a 90° pipe elbow ( FIG. 8 ).
- the amount of bend may be less (e.g., 80°) to more efficiently mix the two chemicals.
- Circuitry for activating the squibs 54 are housed in a loading bracket assembly 83 ( FIG. 7 ), or the elongate body portion 22 .
- the bracket assembly 83 differs from the loading bracket 57 of FIGS. 3 and 4 .
- the bracket assembly 83 is configured to receive a pair of first and second barrel segments 67 and 68 by snapping them into place.
- both squibs 54 In operation, power is provided to both squibs 54 simultaneously to expel the chemicals and trigger an explosion. As the binary chemicals (e.g., fuel and oxidizer) exit the chambers 66 , they mix together and ignite. After the segments have discharged and it is safe to handle, the barrel segments 67 and 68 can be easily removed and replaced.
- binary chemicals e.g., fuel and oxidizer
- a flashbang delivery vehicle 10 comprising a hand-tossable mobile carrier 20 having wheels 24 and motion actuators to move from one location to another and a flashbang grenade 50 mounted to the mobile carrier 20 .
- the flashbang grenade 50 need not be one the same as or like the flashbang grenade of Ser. No. 16/441,874.
- the mobile carrier 20 need not be one the same as or like the mobile carrier 20 of FIGS. 1-9 .
- Power for the mobile carrier 20 and flashbang grenade 50 can be centralized in the elongate body 22 .
- separate power supplies are built into the mobile carrier 20 and the flashbang grenade 50 (or each of the barrel segments 67 and 68 ) to power the mobile carrier 20 and the squib(s) 54 , respectively.
- FIGS. 10-13 illustrate various embodiments of a controller 100 , 101 , 102 and 103 for a flashbang grenade 50 mounted on a hand-tossable mobile carrier 20 .
- the controller 100 - 103 comprises a body 110 , a display 145 on a backside of the body 110 , a camera lens or imager 145 on a frontside of the body 110 , a recessed toggle switch 130 or other control 165 that arms and disarms the flashbang grenade 50 depending on the location of a toggle or switch 130 , a wireless communication circuit 140 , a joystick, trackball, throttle, yoke or equivalent 150 to navigate the mobile carrier 20 , and a button 155 or buttons 155 and 156 . If and only if the vehicle 10 is armed, pressing the button 155 (if no second button 156 exists) or simultaneously pressing first and second buttons 155 and 156 (if they both exist) discharges the flashbang grenade 50 .
- a toggle guard 135 is added.
- the toggle guard 135 is designed to move the toggle 130 from an armed state to a disarmed state when the toggle guard is pressed down over the toggle 130 .
- the toggle guard 135 is recessed.
- FIGS. 10-12 illustrate a single button 155 to discharge and detonate the flashbang grenade 50 .
- the embodiment of FIG. 13 provides two buttons 155 and 156 that need to be simultaneously depressed to discharge and detonate the flashbang grenade 50 .
- the recessed toggle 130 controls arming and disarming of the vehicle 10 . If the toggle 130 is in the “armed” state when the controller 90 or any of 100 - 103 is powered up, the controller 90 or any of 100 - 103 ignores the “armed” state. A person must reset the toggle 130 to the disarmed state, and then return it to the armed state, in order to arm the vehicle 10 . If the controller 90 or any of 100 - 103 is powered off while the toggle 130 is in the armed state, then the controller 90 or 100 - 103 disarms the vehicle 10 before powering off.
- Some safety features discussed in the '874 application are moved from the grenade 50 to the controller 90 or any of 100 - 103 . This may include power cycling safety considerations and/or circuit delays between depressing the buttons 155 and 156 and the actual detonation. Many safety features remain in the grenade 50 itself, and information about various circumstances are transmitted to and displayed or reported by the controller 90 or any of 100 - 103 . Examples of such safety features include the checking of an internal reference voltage, checking a reed switch that detects whether the grenade 50 is mounted to the loading bracket 57 or bracket assembly 83 , checking whether a fuse has blown, preventing detonation, and verifying the presence of an initiator.
- controllers 90 and 100 - 103 are simply examples. Any of an infinite number of form factors could be used in place of the ones depicted in the drawings. The form factor itself is not important, but functionality is important. However, it is not necessary that a controller have all of the functional features described with respect to controllers 30 and 100 - 103 . There are several different combinations of functional elements or features that are believed to be novel.
- Video or 3D information captured by a camera or lidar sensor 26 FIG.
- the controller 90 mounted on the mobile carrier 20 , or some real-time derivative (e.g., enhanced night vision) thereof, is streamed to the controller 90 , 100 , 101 , 102 or 103 .
- Either the operator or the flashbang delivery vehicle 10 autonomously estimates a spot that is most optimal for discharging the flashbang grenade 50 .
- an operator navigates the mobile carrier 20 to a spot estimated to be most optimal for discharge.
- the mobile carrier 20 travels autonomously to the estimated-to-be-optimal spot.
- the controller 90 , 100 , 101 , 102 or 103 captures video, using its camera, imager, and/or image sensor 145 from the operator's perspective.
- the video captured by the mobile carrier's camera 26 and the controller's camera 145 provide valuable information for investigating the people affected by the blast as well as the circumstances that led to the use of the hand-tossable mobile carrier 20 .
Abstract
Description
- This application claims the benefit of U.S. Provisional Patent Application No. 62/885,700, filed Aug. 12, 2019, and entitled “Reusable Robotic Flashbang Delivery Vehicle,” which is herein incorporated by reference
- This application relates to the field of tactical devices and more particularly to flashbang grenades.
- ReconRobotics developed the Throwbot 2, a super-lightweight (1.3 lbs) yet rugged (30-foot drop height) robot equipped with video and audio reconnaissance that can be tossed over walls and into rooms—allowing operators to surreptitiously surveil an area without exposing themselves to hostile fire.
- A tactical device is provided that merges a robot, and in one embodiment a throwable robot, with a flashbang grenade. The combination of a throwable mobile delivery device with a flashbang grenade enables military and law enforcement users (e.g., hostage rescue, special reaction and SWAT teams) to not only better position the flashbang grenades before detonation but also give themselves better opportunities to protect themselves from the detonation. These also save precious seconds before detonation as well as benefit from real-time intelligence.
- In one embodiment, the robot is used together with a legacy flash-bang device such as a stun grenade. In another embodiment, the robot is used together with an Enhanced Diversionary Device (EDD), such as an electronically controlled flashbang grenade. An example of such an EDD is described in U.S. patent application Ser. No. 16/441,874, filed Jun. 14, 2019, which is herein incorporated by reference for all purposes.
- As used herein, an EDD is contrasted with legacy flash-bang devices such as stun grenades. The EDD is a reusable, microprocessor-controlled flash-bang designed to be safer and more economical than the standard stun grenades currently used by police officers and military personnel. Legacy flash-bangs are supposed to be safe, but their chemical detonators can sometimes “cook off” too early. They can also cause fires and secondary fragmentation because they burn very hot and explode on the ground.
- By contrast, the EDD has a digital fuse for precise, programmable detonation, and it fires its special binary load into free space. As a result, there is a loud and blinding airburst, but the device doesn't kick up secondary debris from the floor. This has made the EDD very attractive for law enforcement and special operators as well as other platform-makers.
- The present disclosure may be better understood with reference to the following figures. Corresponding reference numerals designate corresponding parts throughout the figures, and components in the figures are not necessarily to scale.
- It will be appreciated that the drawings are provided for illustrative purposes and that the invention is not limited to the illustrated embodiment. For clarity and in order to emphasize certain features, not all of the drawings depict all of the features that might be included with the depicted embodiment. The invention also encompasses embodiments that combine features illustrated in multiple different drawings; embodiments that omit, modify, or replace some of the features depicted; and embodiments that include features not illustrated in the drawings. Therefore, it should be understood that there is no restrictive one-to-one correspondence between any given embodiment of the invention and any of the drawings.
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FIG. 1 is a perspective view of one embodiment of a mobile carrier for a flashbang grenade. -
FIG. 2 is another perspective view, from a nearly opposite perspective, of the mobile carrier of claim 1, illustrating a tail used to stabilize the mobile carrier. -
FIG. 3 is another perspective view, similar to that ofFIG. 2 , with emphasis on a loading bracket for mounting the flashbang grenade the mobile carrier. -
FIG. 4 is another perspective view, nearly opposite the perspective ofFIG. 3 , also emphasizing the loading bracket. -
FIG. 5 is a perspective view of another embodiment of the mobile carrier which uses a different type of loading bracket for a flashbang grenade along with a different embodiment of the flashbang grenade. -
FIG. 6 is another perspective view of the embodiment ofFIG. 5 , but from a nearly opposite perspective. -
FIG. 7 is a partly exploded perspective view of the embodiment ofFIG. 5 , separating the flashbang grenade from its loading bracket and separating both from the mobile carrier. -
FIG. 8 is a perspective view of one half of the flashbang grenade used inFIGS. 5 to 6 . The other half is substantially or completely identical. -
FIG. 9 is a line drawing depicting one embodiment of a hand-held and hand-operated controller to navigate the mobile carrier and to discharge its explosive payload. -
FIG. 10 is a perspective view of another embodiment of a hand-held and hand-operated controller to navigate the mobile carrier and to discharge and ignite its explosive payload. -
FIG. 11 is identical toFIG. 10 except that it adds a flappable toggle guard for the toggle in order to prevent accidental discharge. -
FIG. 12 is similar toFIG. 11 except that the flappable toggle guard is recessed in the body of the controller. -
FIG. 13 is a perspective view of another embodiment of a hand-held and hand-operated controller to navigate the mobile carrier and to discharge its explosive payload, where two buttons are provided to discharge and ignite the explosive payload, and where the buttons are positioned to make it difficult to engage both buttons with only one hand. - Any reference to “invention” within this document is a reference to an embodiment of a family of inventions, with no single embodiment including features that are necessarily included in all embodiments, unless otherwise stated. Furthermore, although there may be references to “advantages” provided by some embodiments, other embodiments may not include those same advantages, or may include different advantages. Any advantages described herein are not to be construed as limiting to any of the claims.
- Specific quantities (e.g., spatial dimensions) may be used explicitly or implicitly herein as examples only and are approximate values unless otherwise indicated. Discussions pertaining to specific compositions of matter, if present, are presented as examples only and do not limit the applicability of other compositions of matter, especially other compositions of matter with similar properties, unless otherwise indicated.
- Where a range of values is provided, it is understood that each intervening value, to the tenth of the unit of the lower limit unless the context clearly dictates otherwise, between the upper and lower limit of that range and any other stated or intervening value in that stated range is encompassed within the invention. The upper and lower limits of these smaller ranges may independently be included in the smaller ranges is also encompassed within the invention, subject to any specifically excluded limit in the stated range. Where the stated range includes one or both of the limits, ranges excluding either both of those included limits are also included in the invention.
- In describing preferred and alternate embodiments of the technology described herein, various terms are employed for the sake of clarity. Technology described herein, however, is not intended to be limited to the specific terminology so selected, and it is to be understood that each specific element includes all technical equivalents that operate similarly to accomplish similar functions. Where several synonyms are presented, any one of them should be interpreted broadly and inclusively of the other synonyms, unless the context indicates that one term is a particular form of a more general term.
- For example, in the specification that follows, a
squib 54 can alternatively be described as a detonator, an initiator, or electrically initiated primer. When any of these terms are used in the claims, the term is properly construed to cover anything that the declared synonyms would cover. Another example is the use of the terms “electrodes” and “terminals.” While some definitional sources strain to provide distinct meanings of the terms, as a practical matter they are widely used interchangeably. Thus, when used in a claim, either “electrode” or “terminal” should be understood to encompass both what is more technically considered to be an “electrode” and what is more technically considered a “terminal.” As yet another example, the present specification uses the term “piston” to refer to what is basically a plug that travels the length of a cylindrical reservoir 44. Many sources define a “piston” as a disk connected to a rod that travels up and down a cylinder, but this term is not intended to be construed so narrowly, as the specification describes the piston without a connected link or rod and as an object that travels one way down the reservoir 44, disintegrating along the way. - Also, as used herein, the term “flashbang grenade” is not limited in any sense to the structure of conventional grenade. Rather, “flashbang grenade” has long been applied, and is applied here, in a very broad sense to mean any flashbang device. Most components traditionally associated with a grenade are not required to constitute a “flashbang grenade.” For example, a reusable
flashbang delivery vehicle 10 is described that has no need for a safety pin because the grenade is discharged remotely. As used herein, the term “flashbang grenade” does retain a more common definition—that of the “flashbang grenade” being an explosive device holding some kind of explosive agent or agents that, when ignited, create a bright flash and a loud bang that temporarily blinds, deafens, and/or disorients (by disturbing fluid in the ear) the target. In a preferred embodiment, the flashbang device is generally non-lethal, and designed not to fragment during detonation, although sometimes, people die, particularly when the flashbang device ignites flammable material such as curtains. In an alternative embodiment, the flashbang is designed to be lethal for persons closest to the blast and stunning for others. This is accomplished through more potent explosives, by designing the explosion to occur inside without any preparatory pre-detonation discharge outside the grenade body, and/or by designing the grenade body to fragment. - This invention is related to U.S. Nonprovisional patent application Ser. No. 16/441,874, entitled “Chemical Agent Delivery Receptacle with Reusable Digital Control Cartridge” (“'874 application”), which is herein incorporated by reference. Disclosed herein is a flashbang or other explosive device, adapted from the embodiments of the '874 application, mounted on or integrated into a robotic device adapted from U.S. Patent Pub. No. US2019/0092406A1, published Mar. 28, 2019 (Ser. No. 15/998,837, filed Aug. 15, 2018), which is herein incorporated by reference.
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FIGS. 1-4 illustrate a reusable robotic flashbang delivery vehicle orthrowbot 10 according to a first embodiment. As depicted, thevehicle 10 comprises amobile carrier 20 and aflashbang grenade 50. Themobile carrier 20 has one ormore wheels 24 or a plurality of legs that articulate to move from one location to another. In one implementation, thevehicle 10 is a rugged, reusable throwable robot designed to withstand a common range of forces that it would bear by being thrown over a wall or into a building. This includes drops of as much as 15-30 feet at any angle onto a hard surface, but not necessarily any forces greater than that. At some point or threshold, the cost of making the throwbot extremely rugged is likely to exceed the marginal savings generated by recovering the throwbot under ever harsher conditions. To the extent that this threshold is discoverable or estimable, it is preferable that the throwbot be made as rugged as, but no more rugged than, the ruggedness associated with the threshold. Thevehicle 10 has an elongate and very stout body portion orframe 22, a pair of ruggedmotorized wheels 24, optionally shocks or a suspension, a rearwardly extending tail 28 (to help theflashbang delivery vehicle 10 maintain a proper orientation), andantennae vehicle 10 comprises some other means, such as legs or paddles, to move from one location to another. In other implementations as few as one or more than twowheels 24 are provided. It will be understood that in another embodiment, thedelivery vehicle 10 would not be rugged enough to be reusable, because it may be more cost effective for it to be built less expensively per unit even though it would need to be replaced with each discharge. - A
flashbang grenade 50, which in one embodiment comprises a disposable chemicalagent delivery cartridge 12, is mounted on the elongatevehicle body portion 22, which doubles as a handhold for tossing thevehicle 10. Thecartridge 12 has many of the features described in the '874 application, including first andsecond chambers 66 containing an explosive charge and an initiator. Thecartridge 12 is disposable and mounts on the robot by sliding in and out of a loading bracket 57 (FIG. 3 ). In one embodiment, theback portion 58 of theloading bracket 57 or, in the alternative, theelongate body portion 22, contains all or many of the electrical components described in the '874 application with respect to a reusable compartment 14 ('874 application). The electrical components may also be subdivided between theelongate body portion 22 and theback portion 58. Theentire grenade 50 is easily removable, so that thevehicle 10 can be rapidly redeployed in another location. - The
loading bracket 57 is itself mounted to thevehicle 10 via anintermediate bracket 53. In one embodiment, the back portion 58 (FIGS. 3, 4 )loading bracket 57 provides a spring-biased electrical connection between the squib 54 (FIG. 4 ) and a detonation control circuit (element 18 of the '874 patent) housed in theback portion 58 or, alternatively, within theloading bracket 57 orelongate body portion 22. The digitaldetonation control circuit 18 may be integrated with a robot control circuit orautonomous drive controller 25 which is also housed in theelongate body portion 22. In another embodiment, thesquib 54 is mounted in thegrenade 50 itself. - Unlike the chemical agent receptacle or device of the '874 patent (element 10), the chemical
agent delivery cartridge 12 of the present invention does not necessarily include a safety pin (element 30 of the '874 patent), striker (element 25 of the '874 patent), or safety lever (element 26 of the '874 patent), although these elements could be incorporated in agrenade 50 designed to be tossed or loaded on amobile carrier 20. Instead, substitute safety components are contained within a handheld wireless vehicle controller 90 (FIGS. 9-13 ). For example, to trigger theinitiator 54, thevehicle controller 90 or 100-103 in one embodiment provides two triggers or momentary push button switches 91 and 92 that must be simultaneously depressed to discharge and/or detonate the chemicals, but which are positioned so as to make it difficult to depress both at the same time using only one hand.FIG. 9 also depicts atrackball 93 for controlling the direction of movement of thethrowbot 10 to navigate thethrowbot 10 and control its speed and direction, andantennae controller 90 or 100-103 may incorporate any common user interface, including but not limited to paddles, joysticks, trackballs, throttles, steering wheels, etc. - In another embodiment, the reusable robotic
flashbang delivery vehicle 10 is self-mobilizing, using artificial intelligence (AI) to control its movements. For example, the AI may analyze one or more visual images or other sensor inputs of the floor surface, walls, and various obstacles (e.g., furniture) to identify a location thereon where the AI predicts the flash-bang impact will have its widest distribution or greatest impact (on persons and/or on structures), and thevehicle 10 may automatically move to that location. - Many different methods may be used to calculate an “optimal” location. In one example, the
autonomous drive controller 25 of theflashbang delivery vehicle 10 is programmed to rotate to get sensor information from each surrounding wall and calculate a spot that has the least average distance to orthogonal points on the walls. In another example, theautonomous drive controller 25 is programmed to identify, from sensor information, people, the distance between itself and the people, and a spot where theflashbang delivery vehicle 10 would have the least average distance to the detected persons. This is done from the vantage of thedelivery vehicle 10, wherein sensors sense where people are located, which is limited by what the vehicle's sensors and image processing technology can identify. An image processor identifies people in images and calculates distances between the people and theflashbang delivery vehicle 10, and travels to a location likely to impact the most people. Of course, this is only practicable with respect to the people visible from the vantage of theflashbang delivery vehicle 10. Theflashbang delivery vehicle 10 can only make judgments with respect to people it can detect, which may not include people on the opposite side of a crowd. - Stealth is also an important consideration in determining an “optimal” location, so moving around the crowd to find an optimal location with respect to the entire crowd would expose the
flashbang delivery vehicle 10 to detection and evasion. One could argue that a most optical location would be in the middle of a crowd of people. It is possible to detect a large crowd and make intelligent assumptions of where the middle of that crowd would be. So, while this constitutes one embodiment of the invention, it is noted that traveling into the middle of the crowd to get a better estimate of the optimal location would likely significantly increase the risk of detection and evasion. Because of that probable reaction, the middle of a large crowd is unlikely to be practicable unless the device is nimble enough to move to the middle of the crowd, while avoiding all the people's legs, and fast enough to navigate to that spot and discharge and ignite its explosive chemical payload before people can react. - Preferably, the
mobile carrier 20 andflashbang grenade 50 are respectively dimensioned so that any drop or impact against a flat surface will not directly impact and damage theflashbang grenade 50. This is accomplished by dimensioning and positioning theflashbang grenade 50, relative to thewheels 24, so that a cylinder (represented by dashed lines inFIG. 2 ) centered along the axis of the wheels and surrounding the wheels as closely as possible would entirely encompass theflashbang grenade 50. That way, theflashbang grenade 50 would be directly impacted only if it fell on something that jutted from a surface, like a corner or a chair rail. Because theflashbang grenade 50 is also rugged, it would still have a high probability of discharging and detonating its chemical payload even if themobile carrier 20 landed on a surface or structure that delivered direct impact to theflashbang grenade 50. -
FIGS. 5-8 illustrate an alternative embodiment of aloading bracket assembly 83 that better integrates a chemicalagent delivery cartridge 80 with the reusable roboticflashbang delivery vehicle 10, keeping it at a much lower profile with respect to theelongate body portion 22. Here, thechambers 66 of the chemicalagent delivery cartridge 14 are re-arranged end-to-end into first andsecond barrel segments barrel segment deflection end 89 connected by abarrel 87 with aninterior passage 86 resembling that of a 90° pipe elbow (FIG. 8 ). The amount of bend may be less (e.g., 80°) to more efficiently mix the two chemicals. Circuitry for activating thesquibs 54 are housed in a loading bracket assembly 83 (FIG. 7 ), or theelongate body portion 22. - To accommodate the chemical
agent delivery cartridge 80, thebracket assembly 83 differs from theloading bracket 57 ofFIGS. 3 and 4 . Thebracket assembly 83 is configured to receive a pair of first andsecond barrel segments - In operation, power is provided to both
squibs 54 simultaneously to expel the chemicals and trigger an explosion. As the binary chemicals (e.g., fuel and oxidizer) exit thechambers 66, they mix together and ignite. After the segments have discharged and it is safe to handle, thebarrel segments - In another embodiment, a
flashbang delivery vehicle 10 is provided comprising a hand-tossablemobile carrier 20 havingwheels 24 and motion actuators to move from one location to another and aflashbang grenade 50 mounted to themobile carrier 20. In this embodiment, theflashbang grenade 50 need not be one the same as or like the flashbang grenade of Ser. No. 16/441,874. Moreover, themobile carrier 20 need not be one the same as or like themobile carrier 20 ofFIGS. 1-9 . - Power for the
mobile carrier 20 and flashbang grenade 50 (or first andsecond barrel segments 67 and 68) can be centralized in theelongate body 22. Alternatively, separate power supplies are built into themobile carrier 20 and the flashbang grenade 50 (or each of thebarrel segments 67 and 68) to power themobile carrier 20 and the squib(s) 54, respectively. -
FIGS. 10-13 illustrate various embodiments of acontroller flashbang grenade 50 mounted on a hand-tossablemobile carrier 20. The controller 100-103 comprises abody 110, adisplay 145 on a backside of thebody 110, a camera lens orimager 145 on a frontside of thebody 110, a recessedtoggle switch 130 orother control 165 that arms and disarms theflashbang grenade 50 depending on the location of a toggle or switch 130, awireless communication circuit 140, a joystick, trackball, throttle, yoke or equivalent 150 to navigate themobile carrier 20, and abutton 155 orbuttons vehicle 10 is armed, pressing the button 155 (if nosecond button 156 exists) or simultaneously pressing first andsecond buttons 155 and 156 (if they both exist) discharges theflashbang grenade 50. - In the embodiment of
FIG. 11 , atoggle guard 135 is added. Thetoggle guard 135 is designed to move thetoggle 130 from an armed state to a disarmed state when the toggle guard is pressed down over thetoggle 130. In the embodiment ofFIG. 12 , thetoggle guard 135 is recessed. The embodiments ofFIGS. 10-12 illustrate asingle button 155 to discharge and detonate theflashbang grenade 50. The embodiment ofFIG. 13 provides twobuttons flashbang grenade 50. - The recessed
toggle 130 controls arming and disarming of thevehicle 10. If thetoggle 130 is in the “armed” state when thecontroller 90 or any of 100-103 is powered up, thecontroller 90 or any of 100-103 ignores the “armed” state. A person must reset thetoggle 130 to the disarmed state, and then return it to the armed state, in order to arm thevehicle 10. If thecontroller 90 or any of 100-103 is powered off while thetoggle 130 is in the armed state, then thecontroller 90 or 100-103 disarms thevehicle 10 before powering off. - Some safety features discussed in the '874 application are moved from the
grenade 50 to thecontroller 90 or any of 100-103. This may include power cycling safety considerations and/or circuit delays between depressing thebuttons grenade 50 itself, and information about various circumstances are transmitted to and displayed or reported by thecontroller 90 or any of 100-103. Examples of such safety features include the checking of an internal reference voltage, checking a reed switch that detects whether thegrenade 50 is mounted to theloading bracket 57 orbracket assembly 83, checking whether a fuse has blown, preventing detonation, and verifying the presence of an initiator. - It will be appreciated that the
controllers 90 and 100-103 are simply examples. Any of an infinite number of form factors could be used in place of the ones depicted in the drawings. The form factor itself is not important, but functionality is important. However, it is not necessary that a controller have all of the functional features described with respect to controllers 30 and 100-103. There are several different combinations of functional elements or features that are believed to be novel. - In operation, someone attaches a
flashbang grenade 50 to a rugged, hand-tossablemobile carrier 20. Before or after the first step, someone carries the flashbang grenade and hand-tossablemobile carrier 20 to a location where a disturbance is occurring. After the flashbang grenade is mounted to themobile carrier 20, someone tosses the hand-tossablemobile carrier 20 along with itsflashbang grenade 50 over a wall, through a window or door, or into a disorderly crowd in an outdoor area. Video or 3D information captured by a camera or lidar sensor 26 (FIG. 5 ) mounted on themobile carrier 20, or some real-time derivative (e.g., enhanced night vision) thereof, is streamed to thecontroller flashbang delivery vehicle 10 autonomously estimates a spot that is most optimal for discharging theflashbang grenade 50. Using the joystick, trackball, throttle, yoke orother interface 150 on thecontroller 90 or 100-103, an operator navigates themobile carrier 20 to a spot estimated to be most optimal for discharge. Alternatively, themobile carrier 20 travels autonomously to the estimated-to-be-optimal spot. Then, the operator presses one or twobuttons flashbang grenade 50. In the meantime, thecontroller image sensor 145 from the operator's perspective. The video captured by the mobile carrier'scamera 26 and the controller'scamera 145 provide valuable information for investigating the people affected by the blast as well as the circumstances that led to the use of the hand-tossablemobile carrier 20. - Afterwards, someone recovers the
flashbang delivery vehicle 10 and removes the dischargedflashbang grenade 50 so that theflashbang delivery vehicle 10 can be reused. To reuse theflashbang delivery vehicle 10, someone loads areplacement flashbang grenade 20 into theloading bracket 57 orbracket assembly 83. Afterwards, someone tosses themobile carrier 20 with itsreplacement flashbang grenade 50 into another crowd. It will be appreciated that certain steps could be skipped (e.g., gathering video from either thevehicle 10 or thecontroller - Having thus described exemplary embodiments of the present invention, it should be noted that the disclosures contained in the drawings are exemplary only, and that various other alternatives, adaptations, and modifications may be made within the scope of the present invention. Accordingly, the present invention is not limited to the specific embodiments illustrated herein.
Claims (24)
Priority Applications (1)
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US16/992,048 US20210116223A1 (en) | 2019-08-12 | 2020-08-12 | Reusable robotic flashbang delivery vehicle |
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US201962885700P | 2019-08-12 | 2019-08-12 | |
US16/992,048 US20210116223A1 (en) | 2019-08-12 | 2020-08-12 | Reusable robotic flashbang delivery vehicle |
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US20210116223A1 true US20210116223A1 (en) | 2021-04-22 |
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US16/992,048 Abandoned US20210116223A1 (en) | 2019-08-12 | 2020-08-12 | Reusable robotic flashbang delivery vehicle |
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Cited By (1)
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US20230004173A1 (en) * | 2021-07-01 | 2023-01-05 | Hyundai Motor Company | Mobile object and method of controlling the same |
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2020
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Cited By (1)
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US20230004173A1 (en) * | 2021-07-01 | 2023-01-05 | Hyundai Motor Company | Mobile object and method of controlling the same |
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