# US 12,179,337 B2 · Modular robotic service vehicle

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- Number: US 12,179,337 B2
- Document ID: US12179337B2
- Status: Granted
- Kind: B2
- Application number: 17/337,233
- Filed: 2021-06-02
- Published: 2021-09-16
- Granted: 2024-12-31
- Earliest claimed: 2019-12-18
- Assignees: Carla R. Gillett
- Applicants: Carla R. Gillett
- Inventors: Carla R. Gillett
- Web page: https://patentgrep.com/patent/US12179337B2

## CPC

- B25J 11/008: {Manipulators for service tasks}
- B25J 5/007: {mounted on wheels}
- B25J 9/0084: {comprising a plurality of manipulators}
- B25J 9/162: {Mobile manipulator, movable base with manipulator arm mounted on it}
- B62D 57/022: {consisting of members having both rotational and walking movements}
- G05D 1/0011: {associated with a remote control arrangement}
- G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)}
- G05D 1/0278: {using satellite positioning signals, e.g. GPS}
- G05D 1/222: operated by humans
- G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
- G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle
- B25J 9/1697: {Vision controlled systems}
- G05D 1/0246: {using a video camera in combination with image processing means}
- 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})
- 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)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING

## Abstract

The application discloses a modular robotic service vehicle (MRSV) including a chassis and body comprising one or more robotic arms and robotic legs with drive wheel providing stepping, walking and driving capability to transport passengers and/or cargo and a control system comprising kinematics equations providing real-time administration involving controlling one or more robotic legs and/or robotic arms to transition in a retracted position and/or in protracted position for achieving walking, driving, attaining and handling objects. Accordingly, an operator or a Network associating with providing real-time administration involving controlling motion and position of the MRSV according to an assignment relative for walking, driving, attaining and handling objects, and aiding or assisting a user.

## Claims

### Claim 1

A modular robotic service vehicle (MRSV) comprising:
a chassis coupled to a body;
one or more robotic legs including a steering mechanism, actuators and a drive wheel comprising a motor and motor controller connected therein, wherein the one or more robotic legs are extendable and retractable providing multiple degrees of freedom the MRSV maneuvers over pathways;
one or more robotic arms including actuators and an implement connected thereupon, wherein the one or more robotic arms are extendable and retractable providing multiple degrees of freedom in such a manner that the MRSV maneuvers to attain one or more objects;
one or more robotic legs and one or more robotic arms being rotatably connected to the chassis and to the body via chassis couplings in a horizontal position or in a vertical position, wherein provide a retracted a pitch position for lowering the MRSV, or provide a protracted pitch position to raise the MRSV, or actuate the wheel into different directions to stabilize the MRSV;
a control system comprising kinematics equations providing real-time administration involving controlling one or more robotic legs and the one or more robotic arms to transition in a retracted position or in protracted position in such a manner that the MRSV achieves one or more of the following maneuvers including walking, driving, attaining objects, handling objects, aiding or assisting a user;
an onboard operator, user or a Network associated with providing real-time administration involving controlling motion and position of the MRSV according to a walking or driving assignment in such a manner that the MRSV achieves one or more of the following motion states involving stepping, walking, driving on a stairway, driving on a curb, driving on a ramp, or driving on other surface, or walking or driving on various routes, pathways or terrain;
a perception system utilizing an array of sensors and cameras, the perception system sensors and cameras configured for detecting objects and generating data;
a positioning system utilizing GPS and generating various routes;
an autonomous walking mode associated with programming and software configured with calibrations for controlling stepping, walking, and driving maneuvers of the MRSV; and
an operator to control motion, position, and performance of the MRSV, the operator being one of: an onboard operator, a remote operator, or a teleoperator associated with one of: Wi-Fi, Bluetooth, Internet, Cloud;
wherein the MRSV control system utilizes programming and providing real-time technical calibrations configured for controlling motion, position, and performance assignments autonomously when instructed by user inputs;
wherein the control system comprises processors with software programming configured for controlling maneuvers of the MRSV in such a manner that each robotic leg is calibrated to step, to walk or to drive through pathways;
wherein the control system comprising processors with software associated with programming calibrations configured for controlling robotic arm maneuvers in such a manner that the MRSV controls robotic leg maneuvers of the MRSV;
wherein the processors of the control system are linked to the sensors and cameras for providing data to the control system comprising processors with software programming;
wherein control system is further configured for controlling a motion and a position of the plurality of robotic legs during a walking mode of the MRV;
wherein the control system utilizes an autonomous drive mode associated with quadratic programming calibrations configured for controlling driving maneuvers in such a manner that the MRSV achieves real time autonomous path planning based on generated perception system data;
wherein the control system is further configured for initiating the one or more actuator controllers to activate one of:
a retracted pitch position for lowering the MRSV;
a protracted pitch position to raise the MRSV; or
the one or more robotic legs into opposed respective directions to stabilize the MRSV.

### Claim 2 (depends on 1)

The modular robotic service vehicle of claim 1, wherein the chassis further comprises:
a body configuration for a vehicle characterized as being at least one of: a cart, a wheelchair, a scooter, a car, a truck, an all-terrain vehicle utilized to work according to an assignment for transporting passengers and payloads;
wherein when the MRSV is manually controlled by a user or present operator within the MRSV utilizing devices comprising one or more of the following: a brake pedal, an accelerator pedal, a human machine interface (HMI) screen, and a steering wheel.

### Claim 3 (depends on 1)

The modular robotic service vehicle of claim 1, wherein the chassis further comprises:
a robotic leg including: a steering mechanism, a hip actuator, a knee actuator, an ankle actuator;
a drive wheel providing multiple degrees of freedom for rotating the robotic leg in different directions;
a chassis coupling, wherein the chassis coupling is connected between the steering mechanism and the robotic leg in a horizontal or a vertical position, wherein the steering mechanism provides multiple degrees of rotation to maneuver the MRSV in different directions;
a robotic arm including: a shoulder actuator, an elbow actuator, a wrist actuator and an implement connecting thereupon, wherein the chassis coupling is connected between the steering mechanism and the robotic arm in a horizontal or a vertical position, wherein the robotic arm is extendable providing multiple degrees of rotation in such a manner to maneuver the robotic arm in different directions.

### Claim 4 (depends on 1)

The modular robotic service vehicle of claim 1, wherein the robotic leg further comprises:
a control system providing real-time technical calibrations for autonomously controlling motion and position and performance assignments according to user input;
quadratic programming calibrated for controlling maneuvers of robotic leg to alternatively transition from various retracted configurations into various protracted configurations which allows the MRSV to step, walk and drive on various pathways and terrain according to an assignment;
wherein the user input commands are configured for controlling motion of the actuators and the drive motors for each robotic leg of the plurality of robotic legs to flexibly transpose and hoist the MRSV over uneven terrain or over obstacles, and for controlling a speed of the drive wheel motor.

### Claim 5 (depends on 1)

The modular robotic vehicle of claim 1, wherein the control system further comprises:
a positioning system utilizing GPS generating route which the MRSV travels;
real-time administration by a user or a present operator to control motion, position, performance or to determine context according to an assignment in GPS environments accordingly to other remote users or other remote operators using a wireless Network.

### Claim 6

A modular robotic service vehicle comprising:
a chassis coupled to a body;
the body configured as a service vehicle utilized to work according to an assignment for task handling of one or more objects, to transport user(s) and/or payloads and objects;
a robotic leg including actuators and a drive wheel comprising a motor connecting therein, wherein the leg is extendable providing multiple degrees of freedom;
a robotic arm including actuators and an implement connecting thereupon, wherein the robotic arm is extendable providing multiple degrees of freedom;
a control system associated with one of:
programming calibrated for controlling one or more robotic legs to maneuver the MRSV at multiple degrees of freedom to step, walk or drive on various terrain based on generated perception system data;
programming calibrated for controlling one or more robotic arms to maneuver the MRSV at multiple degrees of freedom to attain one or more objectives based on generated perception system data;
a perception system utilizing an array of sensors and cameras, the sensors and cameras configured for detecting objects and generating data;
a positioning system utilizing GPS generating route which the MRSV travels;
real-time administration by a present user/present operator to control motion, position, performance or to determine context according to an assignment, accordingly the other remote user/operator associated with a wireless Network.

### Claim 7

A modular robotic service vehicle comprising:
a chassis coupled to a body;
a robotic leg including actuators and a drive wheel comprising a motor connecting therein, wherein the leg is extendable providing multiple degrees of freedom;
a robotic arm including actuators and an implement connecting thereupon, wherein the robotic arm is extendable providing multiple degrees of freedom;
a control system associated with one of:
programming configured to drive the drive wheel to a user when summoned, and/or programming configured to obtain and handle objects or to assist humans via robotic arms with handling ability by various implements based on generated perception system data;
programming for controlling one or more robotic legs to maneuver the MRSV at multiple degrees of freedom to step, walk or drive on various terrain according to an assignment;
programming for controlling one or more robotic arms to maneuver the MRSV at multiple degrees of freedom to attain one or more objectives;
a perception system utilizing an array of sensors and cameras, the perception sensors and cameras configured for detecting objects;
a positioning system utilizing GPS for generating a route in which the MRSV travels;
wherein the positioning system utilizes one or more networks for providing real-time administration by teleoperation processors accordingly though teleoperators.

### Claim 8 (depends on 1)

The modular robotic service vehicle of claim 1, further comprising a hip actuator, wherein a hip actuator comprises:
a plurality of actuators calibrated to provide X axis and Y axis of rotation, wherein a knee actuator is configured for providing a Y axis of rotation, an ankle actuator is configured providing X axis and Y axis of rotation, wherein the ankle actuator is rotatably configured, via a motor connecting therein, the motor being a DC motor having braking capability, wherein the drive wheel is configured to function like a foot when powered off to step in different directions.

### Claim 9 (depends on 1)

The modular robotic service vehicle of claim 1, wherein the one or more robotic arms configurations further comprise:
a shoulder actuator that provides X axis and Y axis of rotation, an elbow actuator that provides a Y axis of rotation;
a wrist actuator providing X axis and Y axis of rotation,
wherein the implement is rotatable connected at an end of a wrist actuator;
the implement being one of: a gripper-like hand, a suction mechanism or other object manipulating device;
wherein the gripper-like hand comprises one or more actuators for gripping an object,
wherein the implement is calibrated for manipulation of an object or releasing the object,
wherein a suction mechanism is configured for attaching on to the object and then discharging the object.

### Claim 10 (depends on 1)

The modular robotic service vehicle of claim 1, wherein the perception system further comprises:
programming calibrated for communicating with a perception system utilizing an array of sensors and cameras, wherein the perception system comprises sensors and cameras configured for detecting objects and for capturing images surrounding the MRSV, and wherein the positioning system utilizes GPS for generating a current location and for generating one or more route destinations.

### Claim 11 (depends on 1)

The modular robotic service vehicle of claim 1, wherein the control system further comprises:
programming configured for receiving an image of an object via an object management subsystem such that the one or more robotic arms attain or manipulate an object through processed object data; or
programming configured for identifying an object; or
programming configured for generating object data.

### Claim 12 (depends on 1)

The modular robotic service vehicle of claim 1, wherein the control system further comprises:
programming configured for controlling one or more robotic leg motion and position configurations when navigating through various GPS routes based on perception system sensors and cameras configured for generating data.

### Claim 13 (depends on 1)

The modular robotic service vehicle of claim 1, wherein the control system further comprises:
processors providing a kinematics equation or calibrations configured for controlling the one or more robotic legs to have higher control accuracy relative to motion states involving one of:
moving in a retractable and pro-tractable manner to transition into traversed positions with respect to moving on a route;
traversing to a pose with respect to alignment according to an object or to an operator;
traversing to a pose with respect to avoiding an object.

### Claim 14 (depends on 1)

The modular robotic vehicle of claim 1, wherein the control system further comprises:
processors providing programming configured for controlling one or more robotic leg motion states providing extendable freedom, for providing multiple degrees of freedom to transition from a retracted configuration into a protracted configuration and to transition into other traversed positions for stepping, walking, accessing steps, accessing ramps, and/or navigating through routes or terrain based on the generated perception system data.

### Claim 15 (depends on 1)

The modular robotic vehicle of claim 1, wherein the control system further comprises:
programming configured for controlling the one or more robotic legs such that the one or more robotic legs are retractable and pro-tractable to transition into traversed positions for walking and/or rolling whilst navigating through terrain or traversing through GPS routes.

### Claim 16 (depends on 1)

The modular robotic service vehicle of claim 1, wherein the control system further comprises:
a kinematics equation providing real-time administration involving controlling the one or more robotic legs and/or the robotic arms to retract or protract in bending positions for achieving walking, driving, attaining and handling objects, and/or for aiding or assisting others or a present operator.

### Claim 17 (depends on 1)

The modular robotic service vehicle of claim 1, wherein the control system further comprises:
wireless communication linked with an operator of a Network associated with providing real-time administration involving controlling one of:
motion of the MRSV according to an assignment;
position of the MRSV according to the assignment;
motion and position of the MRSV for aiding or assisting an operator or a user.

### Claim 18 (depends on 1)

The modular robotic service vehicle of claim 1, wherein the control system further comprises:
wireless communication linked with an operator of a Network associated with providing real-time administration involving controlling the one or more robotic legs to transpose in a retracted and/or in protracted manner for achieving a maneuver for at least one of:
stepping on a stairway, curb or ramp surface;
walking on various pathways or terrain; and
driving on various routes or terrain.

### Claim 19 (depends on 1)

The modular robotic service vehicle of claim 1, wherein the control system further comprises:
wireless communication linked with a user/or present operator of a Network associated with providing real-time administration involving controlling the one or more robotic arms to transpose in a retracted and/or in protracted manner for achieving at least one of:
obtaining an object;
handling an object;
manipulating an object;
discharging an object;
moving or handling an operator or a user of the modular robotic service vehicle.

### Claim 20 (depends on 1)

The modular robotic service vehicle of claim 1, wherein the control system further comprises:
cloud computing based on real-time administration programming for the MRSV to be summoned by a user and then to drive to the user;
the cloud computing configured for providing real-time administration by the teleoperation processors to control motion, position, performance of the MRSV or to determine context through various other control systems, other cloud computing networks, and teleoperator assignments which may involve one or more of the following Network processes:
the other control systems, or the other cloud computing networks, or the teleoperator assignments involving controlling the motion of the plurality of robotic legs to drive the MRSV to one or more GPS generated locations; or
the other control systems, or the other cloud computing networks, or the teleoperator assignments associated with providing a real-time control a process to control motion, position, performance or to determine context assignments; or
the other control systems, or the other cloud computing networks, or the teleoperator assignments associated with providing a real-time control process for controlling motion of the plurality of robotic legs to navigate the MRSV to the user; or
the other control systems, or the other cloud computing networks, or the teleoperator assignments associated with providing a real-time control process for controlling motion of the one or more robotic arms to handle one or more objects; or
the other control systems, or the other cloud computing networks, or the teleoperator assignments associated with providing a real-time control process for controlling motion of the one or more robotic arms to assist an onboard operator; or
the other control systems, or the other cloud computing networks, or the teleoperator assignments associated with providing a real-time control process for controlling motion of the one or more robotic arms to assist a user upon picking-up the user or upon dropping off the user.