# US 11,305,645 B2 · Mobile robot

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- Number: US 11,305,645 B2
- Document ID: US11305645B2
- Status: Granted
- Kind: B2
- Application number: 16/317,353
- Filed: 2017-07-13
- Published: 2020-07-09
- Granted: 2022-04-19
- Earliest claimed: 2016-07-13
- Assignees: CrossWing Inc.
- Applicants: Crosswing Inc.
- Inventors: Stephen Sutherland; Philippe Guillaumont; Daniel Sutherland
- Web page: https://patentgrep.com/patent/US11305645B2

## CPC

- B60K 17/14: the motor of fluid or electric gearing being disposed in, or adjacent to, traction wheel
- A47L 9/009: {Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles}
- A47L 9/2852: {Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles}
- A47L 9/30: Arrangement of illuminating devices
- A47L 11/4044: {Vacuuming or pick-up tools; Squeegees}
- A47L 11/405: {Machines using UV-lamps, IR-lamps, ultrasound or plasma cleaning}
- A61L 2/10: Ultraviolet [UV] radiation
- A61L 2/26: Accessories
- B25J 5/007: {mounted on wheels}
- B60B 7/20: having an element mounted for rotation independently of wheel rotation
- B60B 19/003: {Multidirectional wheels}
- B60B 19/12: Roller-type wheels (B60B19/06 takes precedence)
- B60K 1/04: of the electric storage means for propulsion
- B60K 7/0007: {the motor being electric}
- B60K 8/00: Arrangement or mounting of propulsion units not provided for in one of main groups B60K1/00 - B60K7/00
- B60K 17/043: {Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel}
- B60K 17/356: having fluid or electric motor, for driving one or more wheels
- B62B 3/12: characterised by three-wheeled construction
- B62B 5/004: {in wheels}
- B62B 5/0069: {Control}
- B62D 61/06: with only three wheels
- A47L 2201/04: Automatic control of the travelling movement; Automatic obstacle detection
- A61L 2202/11: Apparatus for generating biocidal substances, e.g. vaporisers, UV lamps
- A61L 2202/16: Mobile applications, e.g. portable devices, trailers, devices mounted on vehicles
- A61L 2202/17: Combination with washing or cleaning means
- B60K 2001/0405: {characterised by their position}
- B60K 2007/0046: {the motor moving together with the vehicle body, i.e. moving independently from the wheel axle}
- B60K 2007/0061: {the motor axle being parallel to the wheel axle}
- B60K 2007/0076: {the motor axle being horizontal}
- B60Y 2200/80: Other vehicles not covered by groups B60Y2200/10 - B60Y2200/60
- B60Y 2300/08: Predicting or avoiding probable or impending collision
- B60Y 2400/30: Sensors
- B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- A47L: DOMESTIC WASHING OR CLEANING (brushes A46B; cleaning quantities of bottles or of other hollow articles of one kind B08B9/00; laundry D06F); SUCTION CLEANERS IN GENERAL (cleaning in general B08)
- A61L: METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES (preservation of bodies or disinfecting characterised by the agents employed A01N; preserving, e.g. sterilising, food or foodstuffs A23; preparations for medical, dental or toiletry purposes A61K)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- B60B: VEHICLE WHEELS (making wheels or wheel parts by rolling B21H1/00, by forging, hammering or pressing B21K1/28); CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B62B: HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES (characterised by animal propulsion B62C; propulsion of sledges by driver or engine B62M)
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY

## Abstract

The improved mobile robot utilizes a cooperative wheeled support arrangement having a unique axle design that preferably cooperates with a base support module. A tri-axle is preferably used to support at least one omni-wheel on each axle section. Multiple omni-wheels on each section can be used for higher load applications. The tri-axle is of a fixed design and each wheel pivots on the individual axle section. Preferably, the axle sections are welded to each other.

## Claims

### Claim 1

A mobile robot having a base module with a minimum of 3 omni-wheels with each wheel having a separate electric drive motor connected to an electric battery supported in the base module, wherein said omni-wheels are commonly supported by a fixed tri-axle supporting said base module.

### Claim 2 (depends on 1)

A mobile robot as in claim 1 wherein the base module includes a base shell and at least a portion of said base shell extends between at least two adjacent omni-wheels; said portion of said base shell configured such that when the mobile robot is tipped onto one or more of the two adjacent omni-wheels the portion of the base shell contacts the ground and one or more of said two adjacent omni-wheels cooperate with the portion of the base shell to return the mobile robot to an upright position.

### Claim 3 (depends on 1)

A mobile robot as claimed in claim 1 wherein said tri-axle is a single fixed component having 3 axle sections connected to each other at a central point with said axle sections extending outwardly from said central point and being located in a common plane and each axle section supports one of said omni-wheels.

### Claim 4 (depends on 3)

A mobile robot as claimed in claim 3 wherein each omni-wheel has a hub cap and the hub cap does not rotate; and wherein the axle sections are stationary and wires can be fed through a hollow channel in the centre of each of the axle sections so that sensors or decorative elements can be affixed to the hub cap or axial flow or other hub motors installed on the axle sections to drive the omni-wheels.

### Claim 5 (depends on 3)

A mobile robot as claimed in claim 3 wherein the tri-axle supports an upper assembly providing vacuum cleaning.

### Claim 6 (depends on 3)

A mobile robot as claimed in claim 3 wherein the tri-axle supports an upper assembly providing an autonomous shopping cart functionality.

### Claim 7 (depends on 3)

A mobile robot as claimed in claim 3 wherein the tri-axle supports an upper assembly providing UV disinfecting.

### Claim 8 (depends on 3)

A mobile robot as claimed in claim 3 wherein the tri-axle supports a rain cover accessory connected at the outer extremities of the tri-axle sections.

### Claim 9 (depends on 3)

A mobile robot as claimed in claim 3 wherein said 3 axle sections are welded to each other at said central point.

### Claim 10 (depends on 1)

A mobile robot as claimed in claim 1 including a series of modules vertically stacked and partially connected and maintained in a stacked relationship by two more connecting members that extend between at least 3 stacked modules and one of said modules is a base module.

### Claim 11 (depends on 10)

A mobile robot as claimed in claim 10 wherein said connecting members include mechanical fasteners for applying a compressive force maintaining said modules in a stacked orientation.

### Claim 12 (depends on 10)

A mobile robot as claimed in claim 10 wherein said connecting members are directly fastened to a tri-axle in the base module.

### Claim 13 (depends on 10)

A mobile robot as claimed in claim 10 wherein sensors are attached at the outer extremities of the tri-axle.

### Claim 14 (depends on 1)

A mobile robot as claimed in claim 1 wherein the base module includes slots adapted to receive and retain motor plates used to secure drive motors into said base module.

### Claim 15 (depends on 1)

A mobile robot as claimed in claim 1 wherein each wheel on each axle is a set of cooperating wheels.