MODULAR ROBOTIC SYSTEM

Abstract

The modular robotic system disclosed herein may comprise a central body that houses various essential components, a plurality of propulsion arms, and a plurality of quick-detach mechanisms. The combination is designed to be assembled, have individual components replaced, and be converted from one embodiment to another without the use of any tools. The plurality of propulsion arms may be designed for any mission-specific task or may be designed to perform multiple tasks, such as ground or aerial movement, depending on their orientation. The system is also designed to be quickly disassembled for storage and carrying in a backpack.

Claims

1. A modular robotic system, comprising: a central body; a plurality of electronic drone components; a power source a plurality of propulsion arms; and a plurality of quick-detach mechanisms; wherein said plurality of electronic drone components is contained within said central body; and wherein said plurality of propulsion arms are connected to said central body via said plurality of quick-detach mechanisms.

2. The invention of claim 1, further comprising: a plurality of means for articulation; and a plurality of motors; wherein said plurality of means for articulation cause said plurality of propulsion arms to articulate relative to said central body; wherein said plurality of motors are attached to said plurality of propulsion arms; and wherein said plurality of motors articulate relative to said plurality of propulsion arms such that said plurality of motors remain in an upright orientation.

3. The invention of claim 2, wherein said central body further comprises a plurality of propulsion arm receivers and a plurality of body articulation points; wherein said plurality of propulsion arms further comprise a plurality of central body receivers, a plurality of arm articulation points, a plurality of motor mount receivers, and plurality of foot pads; wherein said plurality of central body receivers on said plurality of propulsion arms are connected to said plurality of propulsion arm receivers on said central body by said plurality of quick-detach mechanisms; and wherein said plurality of arm articulation points on said plurality of propulsion arms are connected to said plurality of body articulation points on said central body by said plurality of means for articulation.

4. The invention of claim 3, wherein said plurality of electronic drone components comprise a drone receiver, a control module, and an electronic speed controller.

5. The invention of claim 4, further comprising: a plurality of cameras; wherein said plurality of cameras are attached to said central body.

6. The invention of claim 4, further comprising: a laser detection and ranging system; wherein said laser detection and ranging system allows for autonomous mobility of said modular robotic system.

7. The invention of claim 4, further comprising: a radio detection and ranging system; wherein said radio detection and ranging system allows for autonomous mobility of said modular robotic system.

8. The invention of claim 4, further comprising: a global positioning system.

9. The invention of claim 4, further comprising: a controller area network.

10. The invention of claim 4, further comprising: a plurality of weapon hardpoints.

11. The invention of claim 4, wherein said power source is located within said central body.

12. The invention of claim 4, wherein said power source is located within said plurality of propulsion arms.

13. The invention of claim 4, wherein said plurality of propulsion arms provide aerial propulsion.

14. The invention of claim 4, wherein said plurality of propulsion arms provide ground propulsion.

15. The invention of claim 4, wherein said plurality of propulsion arms provide water propulsion.

16. The invention of claim 4, wherein said plurality of propulsion arms provide underwater propulsion.

17. The invention of claim 4, wherein articulation of said propulsion arms is used to change the center of gravity of the modular robotic system so as to produce varying flight characteristics.

Description

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0021] Elements in the figures have not necessarily been drawn to scale in order to enhance their clarity and improve understanding of these various elements and embodiments of the invention. Furthermore, elements that are known to be common and well understood to those in the industry are not depicted in order to provide a clear view of the various embodiments of the invention.

[0022] FIG. 1 illustrates an exemplary central body of a modular robotic system.

[0023] FIG. 2 illustrates an exemplary propulsion arm of a modular robotic system.

[0024] FIG. 3 illustrates an exemplary propulsion arm of a modular robotic system.

[0025] FIG. 4 illustrates a first embodiment of a modular robotic system in a first orientation.

[0026] FIG. 5 illustrates a second embodiment of a modular robotic system in a first orientation.

[0027] FIG. 6 illustrates a first embodiment of a modular robotic system in a second orientation.

[0028] FIG. 7 illustrates a second embodiment of a modular robotic system in a second orientation.

DETAILED DESCRIPTION OF THE INVENTION

[0029] Certain terminology is used in the following description for reference only and is not limiting. Unless specifically set forth herein, the terms a, an, and the are not limited to one element, but instead should be read as meaning at least one.

[0030] The present invention relates in general to robotic systems, and, more specifically, to a modular robotic system comprising, at least, a central body that houses various essential components, a plurality of propulsion arms, and a plurality of quick-detach mechanisms. As contemplated by the present disclosure, the modular robotic system separates the expensive electronics relevant to the control of the vehicle that allows for exchangeable propulsion mechanism. This exchangeable propulsion mechanism can easily be applied in the field to quickly optimize the propulsion system to the desired payload, while still using the same core components. The proposed physical prototypes will allow the same core electronics/sensing/localization to be interchangeable with the means of propulsion, thus allowing for air, ground, air/ground, and fixed wing configurations, all in the same backpackable platform.

[0031] FIG. 1 illustrates an exemplary central body of a modular robotic system identifying a central body 100, a plurality of propulsion arm receivers 102, and a plurality of body articulation points 104. The central body 100 may contain a computer, motor controller, a plurality of cameras, laser detection and ranging (LADAR), radio detection and ranging (RADAR), global positioning system (GPS), mechanical and electrical interfaces, controller area network (CAN bus), and a power source.

[0032] FIGS. 2 and 3 illustrate an exemplary propulsion arm of a modular robotic system identifying a propulsion arm 200, central body receiver 202, arm articulation point 204, motor mount receiver 206, and foot pad 300. The propulsion arm 200 may contain a plurality of aerial motors, a plurality of ground motors, CAN bus, and mechanical and electrical interfaces.

[0033] The propulsion arm 200 is attached to the central body 100 via a quick-detach mechanism, and may be removed or installed without the use of tools. The plurality of propulsion arm receivers 102 interface with the plurality of central body receivers 202 to permit the articulation of the plurality of propulsion arms 200 from a ground orientation to a flight orientation. The plurality of body articulation points 104 interface with the plurality of arm articulation points 204 to drive the articulation of the plurality of propulsion arms 200 from a ground orientation to a flight orientation. In one embodiment of the present device, an extension arm may connect the plurality of body articulation points 104 with the plurality of arm articulation points 204. The extension of the extension arm may push the plurality of propulsion arms 200 into a flight orientation while the retraction of the extension arm may pull the plurality of propulsion arms 200 into a ground orientation.

[0034] FIGS. 4 and 5 illustrate a modular robotic system in a ground orientation identifying a central body 100, a plurality of propulsion arm receivers 102, and a plurality of body articulation points 104, a plurality of propulsion arms 200, a plurality of motor mount receivers 206, a plurality of foot pads 300, and a plurality of motors 400. The plurality of motors 400 are attached via the plurality of motor mount receivers 206 to the plurality of propulsion arms 200. The plurality of motors 400 may articulate relative to the plurality of propulsion arms 200 to ensure that the plurality of motors 400 remain in an upright position when the plurality of propulsion arms 200 articulate from the ground orientation to the flight orientation.

[0035] FIGS. 6 and 7 illustrate a modular robotic system in a flight orientation identifying a central body 100, a plurality of propulsion arm receivers 102, and a plurality of body articulation points 104, a plurality of propulsion arms 200, a plurality of arm articulation points 204, a plurality of motor mount receivers 206, a plurality of foot pads 300, and a plurality of motors 400.

[0036] The plurality of propulsion arms 200 are interchangeable and may be articulated from the ground orientation to the flight orientation so as to protect the propellers in flight mode, provide a full 360-degree field of view for an underslung camera when in aerial mode, and to alter the center of gravity (CG) relative to the center of mass (CM) and the center of propulsion (CP). The change of CG relative to CM and CP converts the system from a slow and stable intelligence, surveillance, and reconnaissance (ISR) platform to a fast moving craft for escape or movement to target.

[0037] The plurality of propulsion arms 200 may be designed for a plurality of mission-specific tasks, such as heavy lift and high endurance. Providing both capabilities within a single system would result in a heavy combination, so these capabilities may be delivered as exchangeable attachments for the same platform. For heavy lift, larger motors and electronic speed controllers are necessary. The larger motors will drain the battery faster, reducing the flight time but allowing the platform to lift a higher weight.

[0038] For high endurance, large propellers are necessary. As a rule of thumb, efficiency and flight time are directly proportional to the blade diameter. The same battery will fly the same payload twice as long with propellers that are twice as long. A longer leg that can house a longer set of propellers at twice the diameter will fly the system approximately twice as long as the standard orientation. Another set of legs may include fixed wings to further increase that flight time.

[0039] The modular robotic system may further comprise significant functionality, including autonomous mobility (obstacle avoidance) both in the air and on the ground, and situational awareness tools including 2D and 3D mapping. The system may also be weaponized by adding hardpoints to the central body 100 or propulsion arms 200.

[0040] While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not to be limited to the disclosed embodiments, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.