WO2013059516A1

WO2013059516A1 - Integral antenna system

Info

Publication number: WO2013059516A1
Application number: PCT/US2012/060903
Authority: WO
Inventors: Jeremiah David JANSSEN; Casey R. Carlson
Original assignee: Reconrobotics. Inc.
Priority date: 2011-10-18
Filing date: 2012-10-18
Publication date: 2013-04-25
Also published as: WO2013059516A8

Abstract

A robotic control system utilizing a deployable integral antenna system. A hand held transceiver configured for wireless communication the a throw robot includes first and second antenna assemblies, each rotatable between a stowed and a deployed position. In the stowed position, the antennas are adjacent to and substantially parallel with the sides of the hand held transceiver. In the deployed position, the antennas extend above a top edge of the transceiver, again parallel with the sides of the transceiver. The antenna assemblies permit rotation of the antennas in a forward direction ( i.e., through a plane defined by a front face of the transceiver) while a stop mechanism prevents rotation in a backward direction (i.e., through a plane defined by a back face of the transceiver).

Description

INTEGRAL ANTENNA SYSTEM

RELATED APPLICATIONS

This patent application claims the benefit of U.S. Provisional Patent Application No. 61/548,619, filed October 18, 2011, which is hereby incorporated by reference in its entirety.

FIELD OF THE INVENTION

The invention relates to antenna system designs. More particularly, the invention relates to an integral dual antenna assembly for use with a remote operator control unit.

BACKGROUND OF THE INVENTION

The use of robotic surveillance systems is becoming increasingly common in hostile environments. The robots used in these surveillance systems are utilized to provide visual images. After delivery into an area to be reconnoitered, such as by throwing, the robots can be remotely maneuvered with an operator control unit to position the robot and embedded camera as desired by a user. The operator control unit is typically a radio transceiver capable of sending and receiving radio signals that are regulated by the Federal Communications Commission (FCC).

Additional information regarding remote controlled robots can be found in U.S. Patent Publication No. 2010/0152922, and U.S. Patent No. 7,559,385, each of which is incorporated by reference herein except for express definitions contained therein.

SUMMARY OF THE INVENTION

Various embodiments of the invention provide ready operation and quick setup time by eliminating the need to attach antennas to the operator control unit in order to control a robot, with fewer parts being attached to the operator control unit during deployment. The unit easily packs into a MOLLE bag which can attached to a team members' (carrier) back for another team member (operator) to unzip the MOLLE bag and flip up the antennas and turn the operator control unit on to control the robot. Internal components allow the antennas to be rotated within an allowed range of motion (e.g. 180° or 360°) and passively maintain their rotational position after manual adjustment, while preventing reversal of dual antennas.

In one embodiment, permanent attachment of different antennas to an operator control unit complies with the "Integral Antenna" definition for FCC conformance. An "Integral Antenna" in compliance with 47 CFR Part 95, which is hereby incorporated by reference herein except for express definitions contained therein. An Integral Antenna prevents an operator from removing the antennas coupled to an operator control unit and then attaching non-compliant antennas used for sending/receive commands to robot vehicles. An operator may be motivated to replace the antennas in order to achieve a longer command range, however, this modification can cause the operator control unit to operate outside of the legal maximum operating spectrum or result in degraded performance of the operator control unit.

In one embodiment the operator control unit is designed to operate in approximately the 445 MHz radio spectrum. Exemplary robot vehicles include the Recon Scout XT, Recon Scout UVI, Recon Scout IR or Recon Scout Throwbot LE, available from ReconRobotics, Inc. of Edina, MN.

The aforementioned robots are herein referred to as "throw robots," and are characterized by a weight and dimension that enables manual handling and throwing of the robots by hand. Typically, throw robots weigh less than 2 kg.

One embodiment of the invention comprises a hand held transceiver for communication with a throw robot, and includes a pair of antennas, each coupled to an independent antenna rotator that is capable of at least 180 degrees of rotation about an axis where the antenna rotator is coupled to an antenna block. In one embodiment the antenna rotator is capable of nearly 360 degrees of rotation about the axis where the antenna rotator is coupled to the antenna block. The antenna block and the antenna rotator provide a passageway that contains a conductor that electrically couples the antennas to their respective transceiver circuits. The antenna block and the antenna rotator also include a biasing element that can maintain the relative orientation of the antenna block and the antenna rotator relative to each other, while still allowing manipulation of the antenna rotator by an operator.

In one embodiment, a robotic control system comprises a throw robot and a hand held transceiver configured for wireless communication with the throw robot. The hand held transceiver includes a front face and a back face, a top edge, a first side and a second side, the first side being substantially parallel with second side, the first and second sides being separated by the top edge. A first antenna assembly and a second antenna assembly are mounted to the hand held transceiver, the first antenna assembly and the second antenna assembly having a stowed position and a deployed position. In the stowed position, the first antenna assembly extends below the top edge of the hand held transceiver adjacent to and parallel with the first side of the hand held transceiver. Also in the stowed position the second antenna assembly extends below the top edge adjacent to and parallel with the second side of the hand held transceiver. In the deployed position, the first antenna assembly extends above the top edge and parallel with the first side of the hand held transceiver and the second antenna assembly extends above the top edge parallel with the second side of the hand held transceiver. The first and second antenna assemblies are each rotatable from the stowed position to the deployed position about an axis that is substantially orthogonal with the respective first or second side of the hand held transceiver. In one embodiment, the first and second antenna assemblies enable rotation of the antennae in a "forward" direction, i.e. passing through a plane defined by the front face of the transceiver when rotated from the stowed position to the deployed position. In certain embodiments, the first and second antenna assemblies each include a stop mechanism that prevents the first and second antenna assemblies from rotating in a "backward" direction, i.e., through a plane that is parallel with the back face of the hand held transceiver. In various embodiments, the first and second antenna assemblies are mounted to the top edge of the hand held transceiver.

The first and second antenna assemblies can each include a stationary antenna block on the top edge of the hand held transceiver and an antenna rotator operatively coupled with and pivotable with respect to the stationary antenna block. In one embodiment, the antenna rotator extends laterally beyond the top edge of the hand held transceiver. The hand held transceiver can include a video display screen for viewing images transmitted by the throw robot, and/or a joy stick for controlling throw robot. The throw robot can weigh less than 2 kg.

In another embodiment of the invention, a hand held transceiver for communicating with a throw robot comprises a front face and a back face, a top edge, a first side and a second side, the first side being substantially parallel with second side, the first and second sides being separated by the top edge. A first antenna assembly and a second antenna assembly is mounted to the hand held transceiver, the first antenna assembly and the second antenna assembly having a stowed position and a deployed position. Each of the first and second antenna assemblies include a stationary antenna block including a port formed on a face thereof, the port being axisymmetric about a rotation axis. Each of the first and second antenna assemblies also include an antenna rotator operatively coupled with the stationary antenna block, the antenna rotator being coupled with an antenna and including a connector portion extending from one side thereof, the connector portion being disposed within the port of the stationary antenna block and being concentric with the rotation axis of the stationary antenna block. The antenna rotator is rotatable about the rotation axis. The connector portion includes a groove formed on an outer surface thereof, the groove defining a plane that is normal to the rotation axis. The stationary antenna block includes a through passage formed therethrough for insertion of a fastener, the through passage defining a retention axis that is orthogonal to the rotation axis, the retention axis being aligned tangentially with the groove of the connector portion. A fastener is disposed in the through passage, the fastener passing tangentially through the groove of the connector portion to secure the antenna rotator within the stationary antenna block while enabling the antenna rotator to rotate about the rotation axis. In some embodiments, the hand held transceiver further comprises an arcuate slot defined on the face of the antenna rotator, the arcuate slot being adjacent to and following a radial contour of the connector portion, the arcuate slot having a first end and a second end and defining an arc of predetermined angle. A first bore and a second bore defined by the stationary antenna block, each bore extending at least partway into the stationary antenna block from the face of the stationary antenna block, each bore defining a respective bore axis that is substantially parallel to the rotation axis, each bore axis being subtended by the arcuate slot of the antenna rotator. A stop can be disposed in one of the first bore and the second bore of the stationary antenna block, the stop extending into the arcuate slot of the antenna rotator. The stop engages the first end of the arcuate slot when the antenna rotator is in the stowed position and the stop engages the second end of the arcuate slot when the antenna rotator is in the deployed position, the antenna rotator being rotatable between the stowed position and the deployed position. A first direction of rotation of the antenna rotator is selectable by disposing the stop in the first bore, and a second direction of rotation of the antenna rotator is selectable by disposing the stop in the second bore, the first direction of rotation being opposite the second direction of rotation. The first direction of rotation selected can pass through a plane defined by the front face. Each stop corresponding to a respective one of the first and second antenna assemblies prevent the respective antenna assembly from rotating through a plane defined by the back face of the hand held transceiver. In one embodiment, an inner boundary of the arcuate slot is defined by an exterior surface of the connector portion. The predetermined angle can enable the antenna rotator to be rotated 180°.

In another embodiment, the hand held transceiver includes a dowel pin anchored to the antenna rotator and extending into the stationary antenna block. An antenna cable is routed through the stationary antenna block and the antenna rotator and connected to the antenna, the antenna cable being mounted to and wrapped at least partially around the dowel pin so that a portion of the antenna cable proximate the antenna rotates with the antenna rotator, thus relieving stress at the cable/antenna connection. In one embodiment, each of the first and second antenna assemblies include an Integral Antenna.

BRIEF DESCRIPTION OF THE DRAWINGS

The embodiments of the invention may be more completely understood in consideration of the following detailed description of various embodiments of the invention in connection with the accompanying drawings, in which: FIG. 1 is a perspective view of an operator control unit including a pair of antenna assemblies in a stowed position in an embodiment of the invention;

FIG. 2 is a perspective view of the operator control unit of FIG. 1 with the pair of antenna assemblies in a deployed position;

FIG. 3 is a perspective view of an integral antenna assembly according to an embodiment of the invention;

FIG. 4 is an exploded view of the integral antenna assembly of FIG. 3;

FIG. 5 is a perspective view of a stationary antenna block and an antenna rotator of the integral antenna assembly of FIG. 3, depicted in isolation;

FIG. 6 is a partial sectional frontal view of the stationary antenna block and antenna rotator of the integral antenna assembly of FIG. 3; and

FIG. 7 is a partial sectional top view of the stationary antenna block and antenna rotator of FIG. 6.

While the invention is amendable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail. It should be understood, however, that the intention is not to limit the invention to the particular embodiments described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

DETAILED DESCRIPTION OF THE DRAWINGS Referring to FIGS. 1 and 2, an operator control unit 20 is depicted in an embodiment of the invention. The operator control unit includes a hand held transceiver 22 having a front face 24 and a back face (not depicted), a top edge 26, a first side 28, a second side 32 and a bottom edge 34. In the depicted embodiment, the first and second sides 26 and 28 are opposing and substantially parallel to each other, being separated by the top and bottom edges 26 and 34.

The operator control unit 20 further comprises a first antenna assembly 42 and a second antenna assembly 44. Each antenna assembly 42 and 44 includes a stationary antenna block 46 and an antenna rotator 48 operatively coupled with an antenna 50. Each antenna rotator 48 is operatively coupled with the stationary antenna block 46, each being rotatable about its own axis of rotation 52a and 52b. The axes of rotation 52a and 52b can be substantially parallel with each other, and can be substantially orthogonal to respective first or second side 28 or 32 of the hand held console 22. The stationary antenna block 46 can be mounted to the top edge 26 of the hand held transceiver 22, with the antenna rotator 48 extending laterally beyond the top edge of the hand held transceiver 22 and over the side 26 or 28 of the hand held transceiver 22.

Functionally, the rotatability of the antenna rotator 48 enables the antennae 50 to be configured in a stowed position, as depicted in FIG. 1. In the stowed position, the first antenna assembly 42 extends below the top edge 26 of the hand held console 22 and is adjacent to and parallel with the first side 26 of the hand held console 22; the second antenna assembly 44 extends below the top edge 22 and is adjacent to and parallel with said second side 28.

The rotatability of the antenna rotator 48 further enables the antennae 50 to be configured in a deployed position, as depicted in FIG. 2. In the deployed position, the first antenna assembly 42 extends above said top edge of the hand held console 22 and is parallel with the first side 26 of the hand held console 22; the second antenna assembly 44 extends above the top edge 26 and is parallel with the second side 28. The hand held transceiver 22 is adapted to communicate with a remote device, for example, a throw robot 62. Accordingly, the hand held transceiver 22 can include appurtenances for controlling the remote device and monitoring information received from the remote device. In one embodiment, the hand held transceiver includes a joy stick 64 for remote manipulation of the throw robot 54 and a video monitor 66 for displaying images transmitted by the throw robot 54.

In one embodiment, the antenna assemblies 42 and 44 are configured to rotate the antennae 50 from the stowed position to the deployed position and from the deployed position to the stowed position in "forward" directions 76, i.e., directions that pass through a plane defined by the front face 24 of the hand held transceiver 22. Furthermore, the antenna assemblies 42 and 44 can be configured with a stop mechanism that can prevent rotation in "backward" directions, i.e., directions that passes through a plane defined by the back face of the hand held transceiver 22.

Referring to FIGS. 3 and 4, an Integral Antenna assembly 70 is depicted in an embodiment of the invention. The Integral Antenna assembly 70 includes the first antenna assembly 42 and the second antenna assembly 44. Each of the antenna assemblies 42 and 44 include a conductor or cable 72 that electrically couples the antennas 42, 44 to their respective transceiver circuits via connectors 74. The connectors 74 are coupled to the transceiver circuits deep within the housing of the hand held transceiver 22. Functionally, the Integral Assembly 70 can prevent removal of the antennas on an operator control unit 20 and attaching non-compliant antennas used for sending/receive commands to the throw robot 62.

Referring to FIGS. 5 through 7, various aspects of the antenna assemblies 42 and 44 are now presented. The stationary antenna block 46 and the antenna rotator 48 are depicted in FIGS. 5-7 in an embodiment of the invention. The stationary antenna block 46 includes a port 82 formed on a face 84 thereof, the port 82 being axisymmetric about the rotation axis 52. The antenna rotator 48 includes a connector portion 86 extending from one side 88 thereof, the connector portion 86 being disposed within the port 82 of the stationary antenna block 46 and being concentric with the rotation axis 52 when assembled with the stationary antenna block 46. The connector portion 86 includes a groove 92 formed on an outer surface 94 thereof, the groove 92 defining a plane 96 that is substantially normal to the rotation axis 52 when the antenna block 46 and the antenna rotator 48 are coupled together. The face 84 of the antenna rotator 48 can also define an arcuate slot 112 adjacent to and following the radial contour of the connector portion 86. The arcuate slot 112 is characterized as having a first end 114 and a second end 116, and as defining an arc 118 having a predetermined angle (e.g., 180°). In one embodiment, an inner boundary 120 of the arcuate slot 112 is defined by the external surface of the connector portion 86.

In one embodiment, the stationary antenna block 46 includes through passages 122 formed therethrough for insertion of fasteners 124. The through passages 122 each define a retention axis 128 that is orthogonal to said rotation axis 52, each retention axis 128 being aligned tangentially with the groove 92 of said connector portion 86. The fasteners 124 are disposed in the through passages 122 and tangentially through the groove 92 of the connector portion 86 to secure the antenna rotator 48 within said stationary antenna block 46 while enabling said antenna rotator 48 to rotate about the rotation axis 52. The stationary antenna block 46 can further define a first bore 132 and a second bore 134, each extending at least partway into said stationary antenna block 46 from the face 84 of said stationary antenna block 46. Each bore 132, 134 defines a respective bore axis 136, 138 that is substantially parallel to said rotation axis. When the antenna block 46 and the antenna rotator 48 are coupled together, each bore axis 136 and 138 are subtended by the arcuate slot 112 of the antenna rotator 48. A stop 142 is disposed in either the first bore 132 or the second bore 134, the stop 142 extending into the arcuate slot 112 of said antenna rotator 48.

In operation, the stop 142 engages the first end 114 of said arcuate slot 112 when the antenna rotator 48 is in the stowed position; the stop 142 engages the second end 116 of the arcuate slot 112 when the antenna rotator 48 is in the deployed position, the antenna rotator 48 being rotatable between the stowed position and the deployed position.

In one embodiment, the direction of rotation of the antenna rotator 48 is selected by disposing the stop 142 in the first bore 132, and a second direction of rotation of the antenna rotator 48 can be selected by disposing the stop 142 in the second bore 134, the first direction of rotation being opposite said second direction of rotation. By this mechanism, the first antenna assembly 42 is selected to rotate through the plane defined by the front face 24 of the hand held transceiver 22 by disposing the stop 142 in the first bore 132; the second antenna assembly 44 is selected to rotate through the plane defined by the front face 24 by disposing the stop 142 in the second bore 134. The stop mechanism described also prevents the antenna assemblies from rotating through a plane defined by the back face of the hand held transceiver 22.

In one embodiment, a dowel pin 152 is anchored to the antenna rotator 48 and extends into the stationary antenna block 46. The antenna cable 72 can be routed through the stationary antenna block 46 and the antenna rotator 48 and connected to the respective antenna 50, the antenna cable 72 being mounted to and wrapped at least partially around the dowel pin 152 so that a portion of the antenna cable 72 proximate the antenna 50 rotates with the antenna rotator 48. The antenna cable 72 can be coupled to the dowel pin 152, for example, with heat shrink tubing 156. The antennae 50 are each secured to the respective antenna rotator 48 by a threaded fastener 162 that is surrounded by an insulator 164 that is affixed to the antenna rotator 48 with a retaining compound. An antenna can be secured to fastener 162 with a thread-locker and sealed with a potting compound.

In one embodiment, a biasing element 172, such as a spring or wave washer, is disposed at an interface 174 between the stationary antenna block 46 and the antenna rotator 48. The biasing element 172 provides friction between the stationary antenna block 46 and the antenna rotator 48 to passively maintain the relative orientation therebetween while still being manually adjustable by an operator.

The embodiments above are intended to be illustrative and not limiting. Additional embodiments are within the claims. In addition, although aspects of the invention have been described with reference to particular embodiments, those skilled in the art will recognize that changes can be made in form and detail without departing from the spirit and scope of the invention, as defined by the claims.

Persons of ordinary skill in the relevant arts will recognize that the invention may comprise fewer features than illustrated in any individual embodiment described above. The embodiments described herein are not meant to be an exhaustive presentation of the ways in which the various features of the invention may be combined. Accordingly, the embodiments are not mutually exclusive combinations of features; rather, the invention may comprise a combination of different individual features selected from different individual embodiments, as understood by persons of ordinary skill in the art.

Any incorporation by reference of documents above is limited such that no subject matter is incorporated that is contrary to the explicit disclosure herein. Any incorporation by reference of documents above is further limited such that no claims included in the documents are incorporated by reference herein. Any incorporation by reference of documents above is yet further limited such that any definitions provided in the documents are not incorporated by reference herein unless expressly included herein. For purposes of interpreting the claims for the present invention, it is expressly intended that the provisions of Section 112, sixth paragraph of 35 U.S.C. are not to be invoked unless the specific terms "means for" or "step for" are recited in the subject claim.

Claims

CLAIMS What is claimed is:

1. A robotic control system, comprising: a throw robot; a hand held transceiver configured for wireless communication with said throw robot, said hand held transceiver having a front face and a back face, a top edge, a first side and a second side, said first side being substantially parallel with second side, the first and second sides being separated by said top edge; a first antenna assembly and a second antenna assembly mounted to said hand held transceiver, said first antenna assembly and said second antenna assembly having a stowed position and a deployed position, wherein in said stowed position said first antenna assembly extends below said top edge adjacent to and parallel with said first side and said second antenna assembly extends below said top edge adjacent to and parallel with said second side, wherein in said deployed position said first antenna assembly extends above said top edge and parallel with said first side and said second antenna assembly extends above said top edge parallel with said second side, wherein the first and second antenna assemblies are each rotatable from said stowed position to said deployed position about an axis that is substantially orthogonal with the respective first or second side of said hand held transceiver, wherein the first and second antenna assemblies pass through a plane defined by said front face of said transceiver when rotated from said stowed position to said deployed position, and wherein the first and second antenna assemblies each include a stop mechanism that prevents the first and second antenna assemblies from rotating through a plane that is parallel with said back face of said hand held transceiver.

2. The control system of claim 1, wherein the first and second antenna assemblies are mounted to said top edge of said hand held transceiver.

3. The control system of claim 2 wherein the first and second antenna assemblies each include a stationary antenna block on said top edge of said hand held transceiver and an antenna rotator operatively coupled with and pivotable with respect to said stationary antenna block, said antenna rotator extending laterally beyond said top edge of said hand held transceiver.

4. The control system of any of the preceding claims, wherein said hand held transceiver includes a video display screen for viewing images transmitted by the throw robot.

5. The control system of any of the preceding claims, wherein said hand held transceiver includes a joy stick for controlling throw robot.

6. The control system of any of the preceding claims, wherein said throw robot weighs less than 2 kg.

7. A hand held transceiver for communicating with a throw robot, comprising: a front face and a back face, a top edge, a first side and a second side, said first side being substantially parallel with second side, the first and second sides being separated by said top edge; a first antenna assembly and a second antenna assembly mounted to said hand held transceiver, said first antenna assembly and said second antenna assembly having a stowed position and a deployed position, wherein each of the first and second antenna assemblies include: a stationary antenna block including a port formed on a face thereof, said port being axisymmetric about a rotation axis; an antenna rotator operatively coupled with said stationary antenna block, said antenna rotator being coupled with an antenna and including a connector portion extending from one side thereof, said connector portion being disposed within said port of said stationary antenna block and being concentric with said rotation axis of said stationary antenna block, said antenna rotator being rotatable about said rotation axis; said connector portion including a groove formed on an outer surface thereof, said groove defining a plane that is normal to said rotation axis; said stationary antenna block including a through passage formed therethrough for insertion of a fastener, said through passage defining a retention axis that is orthogonal to said rotation axis, said retention axis being aligned tangentially with said groove of said connector portion; and a fastener disposed in said through passage, said fastener passing tangentially through said groove of said connector portion to secure said antenna rotator within said stationary antenna block while enabling said antenna rotator to rotate about said rotation axis.

8. The hand held transceiver of claim 8, further comprising: an arcuate slot defined on said face of said antenna rotator, said arcuate slot being adjacent to and following a radial contour of said connector portion, said arcuate slot having a first end and a second end and defining an arc of predetermined angle; a first bore and a second bore defined by said stationary antenna block, each bore extending at least partway into said stationary antenna block from said face of said stationary antenna block, each bore defining a respective bore axis that is substantially parallel to said rotation axis, each bore axis being subtended by said arcuate slot of said antenna rotator; and a stop disposed in one of said first bore and said second bore of said stationary antenna block, said stop extending into said arcuate slot of said antenna rotator, wherein said stop engages said first end of said arcuate slot when said antenna rotator is in said stowed position and said stop engages said second end of said arcuate slot when said antenna rotator is in said deployed position, said antenna rotator being rotatable between said stowed position and said deployed position, and wherein a first direction of rotation of said antenna rotator is selectable by disposing said stop in said first bore, and a second direction of rotation of said antenna rotator is selectable by disposing said stop in said second bore, said first direction of rotation being opposite said second direction of rotation.

9. The hand held transceiver of claim 8, wherein said first direction of rotation selected passes through a plane defined by said front face.

10. The hand held transceiver of claim 8 or 9, wherein each stop corresponding to a respective one of the first and second antenna assemblies prevent said respective antenna assembly from rotating through a plane defined by said back face of said hand held transceiver.

11. The hand held transceiver of any of claims 7-10, wherein an inner boundary of said arcuate slot is defined by an exterior surface of said connector portion.

12. The hand held transceiver of any of claims 7-11, wherein said predetermined angle enables said antenna rotator to be rotated 180°.

13. The hand held transceiver of any of claims 7-12, further comprising: a dowel pin anchored to said antenna rotator and extending into said stationary antenna block; and an antenna cable routed through said stationary antenna block and said antenna rotator and connected to said antenna, said antenna cable being mounted to and wrapped at least partially around said dowel pin so that a portion of said antenna cable proximate said antenna rotates with said antenna rotator.

14. The hand held transceiver of any of claims 7-12, wherein each of the first and second antenna assemblies include an Integral Antenna.