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US 12,005,753 B2Granted
System and method for traversing vertical obstacles
AssigneeStarship Technologies Oü
InventorsIvo Liivik, Märt Liivik, Tiit Liivik
Life of this patent
Estimating the term…
Abstract
A mobile robot adapted to traverse vertical obstacles. The robot comprises a frame and at least one wheel positioned in a front section of the robot, at least one middle wheel positioned in a middle section of the robot, at least one back wheel positioned in a back section of the robot, and at least one further wheel in the front, middle or back of the robot. The robot also comprises at least one motor-driven device for exerting a downward and/or upward force on the middle wheel and at least two motors for driving the wheels and the motor-driven device. Also disclosed is a method of climbing using a mobile robot as disclosed.
Claims50
A mobile robot comprising:
- a plurality of wheel mechanisms, comprising:
- on a left side of the mobile robot:
- a left front wheel mechanism including a left front wheel, a left rear wheel mechanism including a left rear wheel, and a left middle wheel mechanism including a left middle wheel positioned between the left front wheel and the left rear wheel, and
- on a right side of the mobile robot:
- a right front wheel mechanism including a right front wheel, a right rear wheel mechanism including a right rear wheel, and a right middle wheel mechanism including a right middle wheel, positioned between the right front wheel and the right rear wheel;
- and
- at least one lever, each for connecting two of the wheel mechanisms on a side of the mobile robot and configured to rotate with respect to a pivot point between said two wheel mechanisms,
- wherein each wheel has an axis of rotation, each said axis of rotation remaining substantially fixed with respect to the mobile robot during forward, rearward, and turning motion of said mobile robot,
- wherein the lever is configured to rotate freely, and
- wherein the at least one lever is configured to rotate freely by at most 60°, clockwise and counterclockwise.
7 more elements
A mobile robot comprising:
- a plurality of wheel mechanisms, comprising:
- on a left side of the mobile robot:
- a left front wheel mechanism including a left front wheel, a left rear wheel mechanism including a left rear wheel, and a left middle wheel mechanism including a left middle wheel positioned between the left front wheel and the left rear wheel, and
- on a right side of the mobile robot:
- a right front wheel mechanism including a right front wheel, a right rear wheel mechanism including a right rear wheel, and a right middle wheel mechanism including a right middle wheel, positioned between the right front wheel and the right rear wheel;
- and
- at least one lever, each for connecting two of the wheel mechanisms on a side of the mobile robot and configured to rotate with respect to a pivot point between said two wheel mechanisms,
- wherein each wheel has an axis of rotation, each said axis of rotation remaining substantially fixed with respect to the mobile robot during forward, rearward, and turning motion of said mobile robot,
- wherein the lever is configured to rotate freely, and
- wherein the at least one lever is configured to rotate freely by at most 45°, clockwise and counterclockwise.
7 more elements
A mobile robot comprising:
- a plurality of wheel mechanisms, comprising:
- on a left side of the mobile robot:
- a left front wheel mechanism including a left front wheel, a left rear wheel mechanism including a left rear wheel, and a left middle wheel mechanism including a left middle wheel positioned between the left front wheel and the left rear wheel, and
- on a right side of the mobile robot:
- a right front wheel mechanism including a right front wheel, a right rear wheel mechanism including a right rear wheel, and a right middle wheel mechanism including a right middle wheel, positioned between the right front wheel and the right rear wheel;
- and
- at least one lever, each for connecting two of the wheel mechanisms on a side of the mobile robot and configured to rotate with respect to a pivot point between said two wheel mechanisms,
- wherein each wheel has an axis of rotation, each said axis of rotation remaining substantially fixed with respect to the mobile robot during forward, rearward, and turning motion of said mobile robot,
- wherein the lever is configured to rotate freely, and
- wherein the at least one lever is configured to rotate freely until a particular inclination angle is reached, at which point a motor is configured to engage the at least one lever to rotate the at least one lever.
7 more elements
Dependencies are inferred from the claim text.