WO2023163687A2 - Unmanned ground vehicle steerable by guiding element - Google Patents

Unmanned ground vehicle steerable by guiding element Download PDF

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Publication number
WO2023163687A2
WO2023163687A2 PCT/TR2023/050187 TR2023050187W WO2023163687A2 WO 2023163687 A2 WO2023163687 A2 WO 2023163687A2 TR 2023050187 W TR2023050187 W TR 2023050187W WO 2023163687 A2 WO2023163687 A2 WO 2023163687A2
Authority
WO
WIPO (PCT)
Prior art keywords
guiding element
unmanned
land vehicle
vehicle according
unmanned land
Prior art date
Application number
PCT/TR2023/050187
Other languages
French (fr)
Other versions
WO2023163687A3 (en
Inventor
Ferhat Uğur
Original Assignee
Elektroland Savunma Sanayi̇ Anoni̇m Şi̇rketi̇
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Elektroland Savunma Sanayi̇ Anoni̇m Şi̇rketi̇ filed Critical Elektroland Savunma Sanayi̇ Anoni̇m Şi̇rketi̇
Publication of WO2023163687A2 publication Critical patent/WO2023163687A2/en
Publication of WO2023163687A3 publication Critical patent/WO2023163687A3/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device

Definitions

  • the invention relates to an unmanned robotic mechanism equipped with a guiding element in order to allow steering by the user .
  • Unmanned land vehicles are mostly robotic mechanisms produced for remote-controlled and autonomous operations .
  • This type of robotic mechanism can be used especially for military and civilian applications such as surveillance , bomb disposal , and patrolling .
  • the vehicle may need to be steered by the user for certain reasons .
  • Military-purpose unmanned land vehicles can be used in the field for the execution of di f ferent operations together with the infantry .
  • Remote control units can be used so that the robotic mechanism can be used by the military elements that it accompanies during the operation .
  • Military elements may have di f f iculty using heavy and largesi zed steering elements such as remote controls , especially while on the move .
  • the failure of the command units such as controllers etc . during the operation or becoming unable to perform some of their functions may also cause the robotic mechanism to remain in the operation zone .
  • Some military operations may require the unmanned land vehicle to follow the infantry from a certain distance .
  • the robotic mechanism has a weapon, it will be able to follow the infantry from a certain distance , which wil l provide an advantage in terms of the safety of the infantry .
  • a remote- controlled or autonomously operated unmanned land vehicle used especially for military purposes is disclosed . It is clear that the said vehicle can carry di f ferent payload units for the performance of di f ferent missions .
  • the body weight of this type of robotic mechanism can be high .
  • the obj ect of the invention is to build an autonomous and/or remotely commanded unmanned land vehicle that can move at a certain distance from the human or vehicle holding a guiding element and can change its directions in line with the directions of the human .
  • the unmanned land vehicle subj ect to the invention can be guided by a human using a guiding apparatus in the form of a rope , etc .
  • the guiding apparatus will allow the distance between the human and the unmanned land vehicle to remain at a certain value , as well as allow the movement of the robotic mechani sm by changing the directions of the robotic mechanism in line with the directions of the human .
  • the invention relates to an unmanned land vehicle that can move by means of a motion element such as a track or the wheel and can be operated remotely or autonomously.
  • Said unmanned land vehicle body (1) comprises at least one guiding element (2) equipped with control elements that allow it to move in the direction of the human or other vehicle commanding it and to follow them at a certain distance between itself and the vehicle or human.
  • the guiding element (2) is made of a flexible material that can be wound up in strip form. More specifically, the guiding element (2) may be in the form of rope, cable, or wire.
  • the guiding element (2) is preferably connected with at least one winding unit (6) formed in the front part of the body (1) of the unmanned land vehicle according to the direction of movement .
  • the winding unit (6) is in the form of a reel and aims to wind up the guiding element (2) , which can be in the form of a rope, etc. around itself.
  • the winding unit (6) is also operated together with a sensor. In this way, the winding element will be able to wind up a guiding element (2) of a certain length while following the human or vehicle and then release it.
  • the winding unit (6) will wind up the guiding element (2) with its associated sensors, only 2 meters, and the distance between them can be fixed at 2 meters.
  • the guiding element (2) has at least one holding element (4) at the end where it is not connected to the unmanned land vehicle.
  • the holding element (4) is the part intended to be held by the human hand or to be attached to another towing vehicle .
  • the winding unit (6) is also equipped with a direction sensor.
  • the direction sensor can be in the form of a sensor that detects the forces acting on the guiding element (2) . In this way, the motion directions that occur while towing the unmanned land vehicle by means of the towing vehicle or the human guiding element (2) will be able to be detected by the unmanned land vehicle.
  • the winding unit (6) is in the form of a reel and the center shaft is equipped with a direction-sensing shaft. In this way, the directions of the human or vehicle towing the guiding element (2) can be detected.
  • the directions of the towing human or vehicle can be detected by an external sensor located on the body (1) .
  • This sensor may be a joystick connected with the guiding element (2) .
  • the guiding element (2) is connected to the body by means of a guiding clearance (5) formed on the body (1) . It may also be possible to connect the said sensors with this guiding clearance (5) .
  • the unmanned robotic mechanism is equipped with at least one processor operating in relation to the sensors that detect the movements and directions of the guiding element (2) .
  • the processor will allow the winding element (6) to wind up only a certain length of the guiding element (2) in accordance with the predetermined distance criteria. In this way, the unmanned robotic mechanism will be able to move forward without going beyond the predetermined distance to the towing vehicle or the human .
  • This distance can also be operated using a predetermined tolerance range in the processor.
  • the guiding element (2) is operated to open at a certain distance, and when this distance is exceeded within this tolerance range, winding element (6) can bring the distance back to the predetermined range by winding.
  • the winding element (6) can also be operated by being driven by a motor.
  • Direction detection sensors connected with the guiding element (2) are also operated in conjunction with the processor. When the human or towing vehicle changes direction while towing the unmanned land vehicle with the guiding element (2) , the force vectors acting on the guiding element (2) will be transferred to the processor by the direction detection sensors and the unmanned robotic mechanism will be able to operate the motion elements in order to move in the direction determined.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computing Systems (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Steering Controls (AREA)

Abstract

The invention relates to an unmanned land vehicle that can move by means of a motion element such as a track or the wheel and can be operated remotely or autonomously.

Description

UNMANNED GROUND VEHICLE STEERABLE BY GUIDING ELEMENT
Technical Field
The invention relates to an unmanned robotic mechanism equipped with a guiding element in order to allow steering by the user .
State of the Art
Unmanned land vehicles are mostly robotic mechanisms produced for remote-controlled and autonomous operations .
This type of robotic mechanism can be used especially for military and civilian applications such as surveillance , bomb disposal , and patrolling .
In case the unmanned land vehicle is used especially in of froad conditions , the vehicle may need to be steered by the user for certain reasons .
Military-purpose unmanned land vehicles can be used in the field for the execution of di f ferent operations together with the infantry . Remote control units can be used so that the robotic mechanism can be used by the military elements that it accompanies during the operation .
In order to operate the complex functions that unmanned land vehicles need to have , it may be necessary that the control units of unmanned land vehicles have a complex structure . The weights and dimensions of these complex structures can also increase in proportion to their complexity .
Military elements may have di f f iculty using heavy and largesi zed steering elements such as remote controls , especially while on the move .
The failure of the command units such as controllers etc . during the operation or becoming unable to perform some of their functions may also cause the robotic mechanism to remain in the operation zone .
The fact that the batteries that provide the energy of the robotic mechanism during the operation are reduced will also be an important handicap in terms of using di f ferent functions with the remote control . In this case , it is important to carry the robotic mechanism back with minimum energy consumption .
Some military operations may require the unmanned land vehicle to follow the infantry from a certain distance . For example , i f the robotic mechanism has a weapon, it will be able to follow the infantry from a certain distance , which wil l provide an advantage in terms of the safety of the infantry .
Considering the weights of robotic mechanisms equipped with di f ferent payloads (weapon, robotic arm, etc . ) , it will be an important handicap to rescue such a robotic mechanism with a high total weight , which may encounter such problems , from the operation area .
In the patent application numbered TR 2019/ 06238 , a remote- controlled or autonomously operated unmanned land vehicle used especially for military purposes is disclosed . It is clear that the said vehicle can carry di f ferent payload units for the performance of di f ferent missions . The body weight of this type of robotic mechanism can be high .
In case of faults such as remote-control failure , lack of autonomous control , and mal function, recovering the device from the operation area in the field and bringing it to the military base may pose an important technical problem .
However, an additional guiding unit is not mentioned in the description set to bring the said robotic mechanism back from the operation area in case of such a mal function or deficiency .
Problems to be Solved by the Invention
The obj ect of the invention is to build an autonomous and/or remotely commanded unmanned land vehicle that can move at a certain distance from the human or vehicle holding a guiding element and can change its directions in line with the directions of the human .
In case of di f ferent usage conditions , the unmanned land vehicle subj ect to the invention can be guided by a human using a guiding apparatus in the form of a rope , etc . The guiding apparatus will allow the distance between the human and the unmanned land vehicle to remain at a certain value , as well as allow the movement of the robotic mechani sm by changing the directions of the robotic mechanism in line with the directions of the human .
In this way, in case the remote control unit is not used or not desired to be used, the user will be able to steer the unmanned land vehicle by using the guiding element . Description of the Figures
Figure 1. Perspective view of the robotic mechanism
Figure 2. Detailed view of the winding element and its details
Description of References in the Figures
1. Body
2. Guiding element
3. Motion element
4. Holding element
5. Guiding clearance
6. Winding unit
Description of the Invention
The invention relates to an unmanned land vehicle that can move by means of a motion element such as a track or the wheel and can be operated remotely or autonomously.
Said unmanned land vehicle body (1) comprises at least one guiding element (2) equipped with control elements that allow it to move in the direction of the human or other vehicle commanding it and to follow them at a certain distance between itself and the vehicle or human.
According to the preferred embodiment of the invention, the guiding element (2) is made of a flexible material that can be wound up in strip form. More specifically, the guiding element (2) may be in the form of rope, cable, or wire. The guiding element (2) is preferably connected with at least one winding unit (6) formed in the front part of the body (1) of the unmanned land vehicle according to the direction of movement .
According to the preferred embodiment of the invention, the winding unit (6) is in the form of a reel and aims to wind up the guiding element (2) , which can be in the form of a rope, etc. around itself. The winding unit (6) is also operated together with a sensor. In this way, the winding element will be able to wind up a guiding element (2) of a certain length while following the human or vehicle and then release it.
For example, when the unmanned land vehicle is desired to follow the towing vehicle or human from a distance of 2 meters, the winding unit (6) will wind up the guiding element (2) with its associated sensors, only 2 meters, and the distance between them can be fixed at 2 meters.
The guiding element (2) has at least one holding element (4) at the end where it is not connected to the unmanned land vehicle. The holding element (4) is the part intended to be held by the human hand or to be attached to another towing vehicle .
The winding unit (6) is also equipped with a direction sensor. The direction sensor can be in the form of a sensor that detects the forces acting on the guiding element (2) . In this way, the motion directions that occur while towing the unmanned land vehicle by means of the towing vehicle or the human guiding element (2) will be able to be detected by the unmanned land vehicle. According to the preferred embodiment of the invention, the winding unit (6) is in the form of a reel and the center shaft is equipped with a direction-sensing shaft. In this way, the directions of the human or vehicle towing the guiding element (2) can be detected.
In different embodiments of the invention, the directions of the towing human or vehicle can be detected by an external sensor located on the body (1) . This sensor may be a joystick connected with the guiding element (2) .
According to Figure 2, the guiding element (2) is connected to the body by means of a guiding clearance (5) formed on the body (1) . It may also be possible to connect the said sensors with this guiding clearance (5) .
According to the preferred embodiment of the invention, the unmanned robotic mechanism is equipped with at least one processor operating in relation to the sensors that detect the movements and directions of the guiding element (2) . The processor will allow the winding element (6) to wind up only a certain length of the guiding element (2) in accordance with the predetermined distance criteria. In this way, the unmanned robotic mechanism will be able to move forward without going beyond the predetermined distance to the towing vehicle or the human .
This distance can also be operated using a predetermined tolerance range in the processor. The guiding element (2) is operated to open at a certain distance, and when this distance is exceeded within this tolerance range, winding element (6) can bring the distance back to the predetermined range by winding. Within this application, the winding element (6) can also be operated by being driven by a motor. Direction detection sensors connected with the guiding element (2) are also operated in conjunction with the processor. When the human or towing vehicle changes direction while towing the unmanned land vehicle with the guiding element (2) , the force vectors acting on the guiding element (2) will be transferred to the processor by the direction detection sensors and the unmanned robotic mechanism will be able to operate the motion elements in order to move in the direction determined.

Claims

CLAIMS An unmanned land vehicle that can move by means of a motion element such as a track or wheel and can be operated remotely or autonomously, characterized in that it comprises at least one guiding element (2) equipped with control-detection elements and associated with control-detection elements, which allows it to move by changing its orientation in line with the orientation of the person commanding it or another vehicle and to follow it in such a way that a certain distance remains between it and the vehicle or person. An unmanned land vehicle according to Claim 1, characterized in that it comprises a guiding element (2) made of a flexible material that can be wound up in strip form. An unmanned land vehicle according to Claim 1 or 2, characterized in that it comprises a guiding element (2) that can be in the form of rope, cable, or wire. An unmanned land vehicle according to Claim 1 or 3, characterized in that it comprises the winding unit (6) , which aims to wind up the guiding element (2) around itself, which can be in the form of a reel and a rope and is also operated together with a sensor. An unmanned land vehicle according to Claim 1, characterized in that it comprises a guiding element (2) having at least one holding element (4) at the end where it is not connected to the unmanned ground vehicle . An unmanned land vehicle according to any one of the above claims, characterized in that it comprises a winding unit (6) equipped with a direction sensor. An unmanned land vehicle according to any one of the above claims, characterized in that it is in the form of a reel and comprises the winding unit (6) whose center shaft is equipped with a direction-sensing shaft An unmanned land vehicle according to any one of the above claims, characterized in that it comprises a guiding element (2) associated with an external sensor such as a joystick for detecting the direction of the human or vehicle. An unmanned land vehicle according to any one of the above claims, characterized in that it comprises at least one processor operating in relation to the sensors that detect the movements and directions of the unmanned robotic mechanism guiding element (2) .
PCT/TR2023/050187 2022-02-25 2023-02-25 Unmanned ground vehicle steerable by guiding element WO2023163687A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
TR2022/002686A TR2022002686A2 (en) 2022-02-25 2022-02-25 UNMANNED GROUND VEHICLE STEERING WITH GUIDING ELEMENT
TRTR2022/002686 2022-02-25

Publications (2)

Publication Number Publication Date
WO2023163687A2 true WO2023163687A2 (en) 2023-08-31
WO2023163687A3 WO2023163687A3 (en) 2024-03-21

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WO (1) WO2023163687A2 (en)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9823082B2 (en) * 2011-08-24 2017-11-21 Modular Mining Systems, Inc. Driver guidance for guided maneuvering
DE102013213339A1 (en) * 2013-07-08 2015-01-08 Ford Global Technologies, Llc Control device for an autonomous land vehicle
JP6085883B2 (en) * 2013-08-10 2017-03-01 みのる産業株式会社 Autonomous vehicle
JP2019045370A (en) * 2017-09-05 2019-03-22 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ Control method, autonomous land vehicle, and control program

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TR2022002686A2 (en) 2022-05-23

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