OBSTACLE CLIMBING SURVEILLANCE ROBOT AND ENERGY-ABSORBING FRAME THEREFOR

Abstract

A surveillance robot is adapted with a light-weight body formed with light-weight foam, wheel motors arranged within the light-weight foam and connected to wheels extending out from the body and drivable by the wheel motors, a sensor system at least partially arranged within the light-weight foam for picking up any of image, audio and environmental data, an electronic controller arranged within the light-weight foam, connected to the sensor system and wheel motors, and including a memory and a set of computer instructions that provide for surveillance robot operation, and a transceiver section connected to the electronic controller and including an antenna for transmitting and receiving commands, the image data, the audio data and/or the environmental data to or from the electronic controller. The light-weight foam substantially surrounds, supports and protects the wheel motors, sensor system, electronic controller and transceiver from mechanical shock as the robot traverses obstacles.

Claims

1. A surveillance robot, comprising: a light-weight body formed with light-weight foam; wheel motors arranged within the light-weight foam of the light-weight body; wheels connected to and drivable by the wheel motors; a sensor system at least partially arranged within the light-weight foam for picking up image, audio and environmental data; a robot electronic controller arranged within the light-weight foam and connected to the sensor system and the wheel motors, the electronic controller including a memory and a set of computer instructions that are processed by the robot electronic controller to effect surveillance robot operation; and a transceiver section connected to the electronic controller for receiving commands, and transmitting the image data, the audio data and/or the environmental data picked up by the sensor system to a surveillance system user; wherein the light-weight foam substantially surrounds, supports and protects the wheel motors, sensor system, robot electronic controller and transceiver from mechanical shock.

2. The surveillance robot of claim 1, further comprising an operator control unit (OCU) wirelessly connectable to the robot electronic controller for transmitting commands to and receiving the image data, the audio data and/or the environmental data from the robot electronic controller.

3. The surveillance robot of claim 1, wherein the light-weight foam housing comprises one or more injection molded pieces or sections of the light-weight foam housing.

4. The surveillance robot of claim 1, further comprising a cellular dangle or cellular phone arranged within the light-weight foam housing, the cellular dangle programmed to answer when called and establish and maintain two-way audio link with a caller, until the caller ends the call.

5. The surveillance robot of claim 1, further comprising a battery arranged within the light-weight foam and electrically connected to sensor system and the robot electronic controller, wherein components of the battery are arranged in the light-weight foam to set a center of gravity of the light-weight body.

6. The surveillance robot of claim 1, further comprising an under door camera assembly having a camera and a light that is controlled to extend the light and camera under a closed door to capture images of a space otherwise inaccessible by the closed door.

7. The surveillance robot of claim 6, wherein the under door camera assembly includes means for adjusting an angle at which the camera captures images of said space otherwise inaccessible by the closed door.

8. A surveillance system comprising a surveillance robot and an operator control unit (OCU) for controlling the robot; wherein the surveillance robot comprises a light-weight body formed with light-weight foam, wheel motors arranged within the light-weight foam, wheels connected to and drivable by the wheel motors, a sensor system at least partially arranged within the light-weight foam for picking up any of image, audio and environmental data, a robot electronic controller arranged within the light-weight foam and connected to the sensor system and the wheel motors, the robot electronic controller including a memory and a set of computer instructions that are processed to implement surveillance robot operation, a transceiver section connected to the robot electronic controller and including an antenna for receiving commands and transmitting the picked up image data, audio data and/or the environmental data to the OCU and a cellular dongle arranged at least partially within the light-weight body for establishing two-way voice communications between the dongle and a wireless communication device capable of communicating therewith; and wherein the light-weight foam substantially surrounds, supports and protects the wheel motors, sensor system, electronic controller, transceiver and cellular dongle from mechanical shock.

9. The surveillance system according to claim 8, wherein the operator control unit (OCU) includes a controller application program comprising a set of computer readable instructions for communicating with the robot electronic controller; and wherein the OCU comprises a wireless communication device such as a cellular phone.

10. The surveillance system according to claim 8, wherein the light-weight body comprises front and rear body sections formed from the light-weight foam and connected to each other by a conduit hinge assembly to facilitate articulation between the front and rear body sections and surveillance robot stability during use.

11. The surveillance system according to claim 10, wherein the front and rear body sections and conduit hinge assembly provide the surveillance robot with a capability to efficiently ascend and descend stairways.

12. The surveillance system according to claim 8, wherein the sensor system includes any of a microphone, a radiation sensor and a chemical detection sensor or system.

13. The surveillance system according to claim 10, further comprising a rear frame extension that functions as an anti-flip element for stability during robot climbing.

14. The surveillance system of claim 10, further comprising a surveillance robot storage box that stores the robot at a fixed location until called into use, wherein the storage box includes a door that is locked to prevent access to the stored robot without an access code.

15. The surveillance system of claim 14, wherein the controller application program operational in the wireless communication device or the operational control unit (OCU) are programmed to enable a user to send a signal to the storage box to deploy the robot.

16. The surveillance robot of claim 8, further comprising an under door camera assembly, with a camera and a light, the under door camera assembly constructed to be controlled by controlling the robot to which it is attached to extend the light and camera under a closed door to capture images of a space otherwise inaccessible in view of the closed door.

17. The surveillance robot of claim 16, wherein the under door camera assembly includes means for adjusting an angle at which the camera captures images of said space otherwise inaccessible in view of the closed door.

18. A method of surveilling a dangerous environment in reliance upon a surveillance robot adapted with a light-weight body formed with light-weight foam, wheel motors arranged within the light-weight foam, wheels connected to and drivable by the wheel motors, a sensor system at least partially arranged within the light-weight foam for picking up any of image, audio and environmental data, an robot electronic controller arranged within the light-weight foam and connected to the sensor system and the wheel motors and including a memory, and a transceiver section connected to the electronic controller for transmitting sensor data and receiving commands, wherein the light-weight foam substantially surrounds, supports and protects the wheel motors, sensor system, electronic controller and transceiver from mechanical shock, and wherein the surveillance robot is stored at a location in known dangerous environment in a locked box or compartment, the method comprising the steps of: establishing electronic communication between the surveillance robot and an operator control unit (OCU) with a processor, a memory and a set of stored computer readable instructions that are operated upon by the processor to effect OCU operation; using the OCU, communicating with the surveillance robot in the locked box or compartment, and the locked box or compartment, to open the locked box or compartment and deploy or otherwise access the surveillance robot; and using the OCU, controlling the surveillance robot to capture sensor data and communicate the captured sensor data to the OCU.

19. The method of claim 18, further comprising throwing or otherwise delivering the surveillance robot to a starting point in the dangerous location, while maintaining electronic communication between the surveillance robot and the OCU.

20. The method of claim 18, wherein the robot further includes a LI DAR system, and the controller application program operational in the is operator control unit (OCU) manages the robot electronic controller to control the robot and the LIDAR system as the robot traverses the dangerous environment in which the locked box and robot are arranged to be deployed in an emergent situation to generate and save a map of the facility.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The invention will be described in conjunction with the following drawings in which like reference numerals designate like elements and wherein:

[0045] FIG. 1 depicts one embodiment of a throwable robot 10 constructed according to the invention;

[0046] FIG. 2 presents a top perspective exploded or expanded view of a frame housing of the FIG. 1 robot;

[0047] FIG. 3 presents a bottom perspective exploded view of the frame housing;

[0048] FIG. 4 presents a perspective view of the robot with a frame housing removed;

[0049] FIG. 5 presents an exploded or expanded view of the operational components of the FIG. 1 robot;

[0050] FIG. 6 presents a bottom perspective view of the robot's operational components; highlighted in FIG. 5.

[0051] FIG. 7 presents a top perspective view of an alternative embodiment of the robot of FIGS. 1-6, also constructed according to the invention;

[0052] FIG. 8 presents a bottom perspective view of the robot FIG. 7;

[0053] FIG. 9A depicts an operator control unit (OCU) 200; constructed in accordance with the invention;

[0054] FIG. 9B presents an exploded or expanded view of the OCU 200 depicted in FIG. 9A;

[0055] FIG. 10 depicts another embodiment of a robot 12, constructed according to the invention;

[0056] FIG. 11 depicts another embodiment of a robot constructed according to the invention;

[0057] FIG. 12A depicts another embodiment of a robot constructed according to the invention;

[0058] FIG. 12B presents a side view of the robot depicted in FIG. 12A;

[0059] FIG. 13 depicts another embodiment of a robot constructed according to the invention;

[0060] FIG. 14 depicts another embodiment of a robot constructed according to the invention, with stair climbing gears and anti-flip wheels;

[0061] FIG. 15 depicts the robot depicted in FIG. 14, climbing stairs of a staircase;

[0062] FIG. 16 depicts an embodiment of a robot constructed according to the invention and including two articulating sections, where each of the two sections is configured with 4 wheels;

[0063] FIG. 17 depicts an exploded or expanded top perspective view of a frame housing of the robot of FIG. 16;

[0064] FIG. 18 depicts an exploded or expanded bottom perspective view of the robot of FIG. 16;

[0065] FIG. 19 depicts a perspective view of the robot FIG. 16, with the frame housing removed;

[0066] FIG. 20 presents an exploded or expanded view of the operational components of the robot first depicted in FIG. 16;

[0067] FIG. 21 presents a bottom perspective view of the operational components of the robot first depicted in FIG. 16;

[0068] FIG. 22 presents an alternative embodiment to the robot first depicted in FIG. 16, where a portion of front and rear foam frame sections; and wheels positioned thereon, extend out horizontally, substantially perpendicular to the central axis of the robot;

[0069] FIG. 23 presents an alternative embodiment of the robot of FIG. 22, where the wheels are replaced with obstacle climbing gears (or star wheels) for enhanced climbing and stability;

[0070] FIG. 24 depicts the robot of FIG. 23 climbing down the stairs of a staircase;

[0071] FIG. 25 depicts a magnified side view of the middle section of the robot first depicted in FIG. 23;

[0072] FIG. 26 presents an alternative embodiment of the robot first depicted in FIG. 23, climbing upstairs, in which several of the obstacle climbing or star wheels include a shock absorbing hub cap;

[0073] FIG. 27 presents the robot of FIG. 26 climbing down the stairs;

[0074] FIG. 28 presents an embodiment of a disposable robot of the invention that may be relied upon to support explosive ordinance disposal;

[0075] FIG. 29 presents one embodiment of a protective storage box according the invention, with its access door closed;

[0076] FIG. 30 presents the protective storage box with its access door open showing an inventive surveillance robot atop an inside surface of the open door;

[0077] FIG. 31 presents a view of an inventive surveillance robot deploying (moving away) from open storage box;

[0078] FIG. 32 presents a view of an inventive surveillance robot deploying various cameras and sensors, including but not limited to a directional microphone, speaker and distraction device;

[0079] FIG. 33 presents a cellular phone (e.g., cell phone) demonstrating the application program that causes the cellular phone to function as does and OCU, presenting captured images from the robot in the phone's display device;

[0080] FIG. 34 presents a view of a computer tablet that includes an application program that causes the tablet to operate as the OCU with display device;

[0081] FIG. 35 presents a view of a computer laptop that includes an application program that causes the computer laptop to operate as the OCU with display device;

[0082] FIG. 36A presents a view of an inventive surveillance robot attached to a holder arranged on a top side of a ceiling tile, for storage at a site at which it could be deployed;

[0083] FIG. 36B presents a view of a surveillance robot and holder shifted 90 degrees for deployment; and

[0084] FIG. 36C presents a view of the surveillance robot, holder and tile after being shifted 180 degrees, and the robot released from the holder.

[0085] FIG. 37 presents a frontal, top, right side perspective view of an under door camera assembly of the inventive front facing as shown;

[0086] FIG. 38 presents a rear, top and left side perspective view of the under door camera assembly of FIG. 7, rear facing as shown;

[0087] FIG. 39 presents a side plan view of the inventive under door camera assembly arranged to be inserted into a gap between a door and a floor portion by movement in a direction of the arrow;

[0088] FIG. 40 presents a side plan view in which the under door camera assembly has been inserted into the gap between the door and the floor, where a tongue in which a camera is mounted is tilted at an angle (ANGLE);

[0089] FIG. 41A presents a frontal; top right side perspective view of an under door camera mounting assembly for mounting the under door camera assembly to a robot, as described herein;

[0090] FIG. 41B presents a rear, top right side perspective view of an under door camera mounting assembly;

[0091] FIG. 42 presents a top, rear right side perspective view of a robot with an under door camera assembly mounted to the robot using a under door camera mounting assembly, either affixed or permanently attached;

[0092] FIG. 43 presents a top, front right side perspective view of a robot with an under door camera assembly mounted to the robot using a under door camera mounting assembly;

[0093] FIG. 44 presents a top, rear, right side perspective view of a two-wheel robot with the under door camera assembly affixed thereto using a under door camera mounting assembly;

[0094] FIG. 45 presents a top, front, right side perspective view of a robot with the under door camera affixed thereto using a under door camera mounting assembly;

[0095] FIG. 46 presents the under door camera mounting assembly affixed to a pole using a under door camera mounting assembly;

[0096] FIG. 47 presents a top; rear right side perspective view of the under door camera mounting assembly affixed to a drone using a under door camera mounting assembly; and

[0097] FIG. 48 presents a top, front right side perspective view of the under door camera mounting assembly affixed to a drone using a under door camera mounting assembly.

DETAILED DESCRIPTION OF THE INVENTION

[0098] The following is a detailed description of example embodiments of the invention depicted in the accompanying drawings. The example embodiments are presented in such detail as to clearly communicate the invention and are designed to make such embodiments obvious to a person of ordinary skill in the art. The amount of detail offered is not intended to limit the anticipated variations of embodiments, but to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present invention, as defined by the appended claims.

[0099] FIG. 1 shows throwable robot 10 constructed according to the invention. Throwable robot 10 comprises a light-weight frame housing 20, 4 wheels 40, a camera assembly 60 and light 80. The frame housing 20 is foam, the frame housing 20 comprises a foam cover 22, a foam top housing or foam top housing layer 24, a foam middle housing or foam middle housing layer 28 and a foam bottom housing or foam bottom housing layer 36. The reader should note that the term housing is used interchangeably herein with housing layer. The camera assembly 60 and light 80 are mounted and embedded in the foam of the middle housing 28, in the embodiment shown. As used herein, the foam may comprise any of polyethylene, polyurethane, sorbothene, in various weights and densities, and/or any combination of the foams, and might include carbon fiber. Other components, such as compartments, are formed of polyethylene, polyurethane, sorbothene, carbon fiber, polycarbonate and thermoplastic polyurethane (TPU), in any combination.

[0100] FIG. 2 includes an expanded view of the frame housing 20, including the cover 22, the top housing 24, which includes a Velcro® layer 23 for detachably connecting the top housing 24 to the cover, which includes a complementary Velcro® layer (FIG. 3). The top housing includes a cutout 25 for receiving an electronics module 90 and a battery or battery module 70. While Velcro® is proposed as an exemplary means for connecting layers of foam, or a cover layer of foam to an underlying layer of foam, the invention is not limited thereto. Any number of ways for attaching different foam layers may be used in place of Velcro®, such as adhesive or fasteners, without deviating from the scope and spirit of the invention. For that matter, while the frames housing of the FIG. 1 robot embodiment is shown to have a foam cover, a top housing (layer), a middle housing (layer) and a bottom housing (layer), the invention is not limited to any set number of foam housings or foam housing sections, but may be in solid or multilayer laminate form to suit the needs of a particular robot embodiment and intended robot operation.

[0101] The middle housing (or middle housing layer) 28 includes motor compartment cutouts 29. FIG. 3 highlights a bottom expanded view of the frame housing 20, highlighting that the bottom surface of cover 22 is formed with a Velcro® later to complement the Velcro® layer 23 on the top housing 24, While the top housing 24, the middle housing 28 and the bottom housing 36 are glued or otherwise bonded together, the Velcro® connection of cover 22 to the top housing 24 allows for cover removal and access to the batteries and electronic components. In an embodiment, the lower surface of the top housing, the upper and lower surfaces of the middle housing and the upper surface of the bottom housing 36 may have respective Velcro® layers, instead of being connected by an adhesive.

[0102] FIG. 4 presents a perspective view of the robot 10, without the frame housing 20, to highlight the robot's operational components. Central are the battery 70 and electronics 90 modules or compartments, which electrically connect to the motors in the wheel motor compartments 50, the camera assembly 60 and the light 80. The wheel motor compartments 50 are detachable from the respective wheels 40, allowing access to set screws 54 (see FIG. 5). The set screws operate to secure the motors 52 into the wheel motor compartments 50.

[0103] FIG. 5 is an exploded or expanded view of the operational components of robot 10, highlighting the electrical and physical connections between the operational components, as shown. For example, the battery compartment or module 70 is shown to include a connection element 71 that connects to a first connection element 91 of the electronics compartment or module 90. Each of the motors 52 include a respective connection element or wire 53, for electrical connection to connectors 94 in the electronics compartment or module 90. The light 80 includes connection element 81. The camera assembly 60 is shown to comprise camera housing 62, camera 64, camera cover 63, connection element 65, a speaker 67 and a microphone 68. The connection elements 65 and 91 of the camera assembly 60 and light 80 also connect to connectors 94 of the electronics compartment 90.

[0104] An electronic controller 92 is shown as part of electronics compartment or module 90, which cooperates with electronics in an operator control unit (OCU) 200 (not shown in FIG. 5), to control the motors 52, camera 64 and light 80. Preferably, robot electronic controller 92 includes a memory for storing computer-readable instructions in the form of a robot application program, or application program component, which instructions are processed by the robot electronic controller 92. Another (e.g., second) connection element 93 is available for physical connection to the electronics compartment 90, and therefore, the controller 92 and memory therein, for diagnostics, to push and pull data including data comprising application programs, etc. Camera assembly speaker 67 and microphone or audio pick-up 68 are connected to electronic compartment or module 90 to send and receive audio communication to the OCU. An antenna element 96 also is included for communicating wirelessly to the robot 10, for example, by the OCU 200, and therefore, connects the robot electronics controller to the OCU.

[0105] Such communication includes communicating the control commands to the robot 10. The OCU includes a processor and memory in which is stored a set of computer-readable instructions in a form of a controller application program that when operated upon by the processor, effect surveillance system operation. Communications alternatively may be carried out directly through the hard-wire connections (e.g., via connection element 93), which accommodate electrical signals exchanging diagnostics data and operational commands, to push and pull other data including data comprising application programs, etc. FIG. 6 is a bottom perspective view of the operational components of robot 10.

[0106] The geared motors 52 drive the wheels 40 connected to them enable the robot 10 forward, reverse, left and right control, via the OCU 200. The axle portion 51 is a fixed part of the wheel motor compartment 50 that is designed to slide into a rim 41 thus stabilizing the wheel motor compartment when fixed therein, such that the axle portion receives any shock passed from the wheel 52 and rim 41 and transfers the shock through the wheel motor compartment 50 and into the foam. This arrangement whereby mechanical shock is communicated into the foam safeguards the motors from damage when the inventive robot is dropped. The axle portions 51 are connected to the inner wheel (such as by friction fit) to control rotation of the wheel 40.

[0107] The robot 10 carries any number of sensors including but not limited to visible light cameras 62, low light cameras, near infrared cameras, and thermal cameras, radiation detectors, without limitation. All the cameras 62 zoom in cooperation with the OCU 200. Illumination including but not limited to visible and infrared lighting can be added to any embodiment in addition to the light provided by light 80.

[0108] As mentioned, the inventive robots are designed to withstand high impacts by the foam frame housings, (e.g., foam frame housing 20). The foam frame housings will allow the robots to be thrown, i.e., upstairs or into an open window of a structure, bus, plane, warehouse, or tumble downstairs, embankment or the like, because the foam absorbs mechanical forces that might otherwise break the robot apart, or damage its components and modules were the robot was constructed conventionally. The inventive robots are throwable because the foam which forms the housing frame absorbs shock.

[0109] Please note that the inventive robots also are intended for reconnaissance and surveillance. That is, the unique robot designs enable the robots to investigate tight spaces, such as spaces under vehicles, within crawl spaces, indoors and outdoors. For example, the robot 10 can be thrown over a fence to investigate a fenced in area or any type of chemically or otherwise contaminated environments, such as nuclear power plants or even reactors themselves. For that matter, the robot can be deployed from a drone, for example, on to a roof or other dangerous or hard to access environments, such as a hijacked oil tanker or cruise ship.

[0110] The robot shown in FIGS. 1-6 can climb over objects, such as objects up to 5 inches tall, but is not limited thereto. Moreover, by adding an internal component compartment with a propulsion unit (not shown), for example, the robot so modified can climb stairs (see below).

[0111] A robot operator can use the operator control unit (OCU) 200 to drive the robot 10 with the aid of a video monitor, up to 1000 feet and as such, the robot can be operated safely from outside a structure that is being cleared by the user/operator (e.g., SWAT personnel). The robot 10 can be thrown into a window or door of the structure before the SWAT Team members enter, for reconnaissance. Then, a SWAT Team member having (or wearing) equipment to enable them receive video from the robot (such as an OCU or electronic device in wireless communication with the OCU), can receive a live video feed from the robot before they enter the structure. Once inside, as the robot moves throughout the structure, such SWAT Team members can move into the structure and communicate with the robot operator, who presumable is safely outside the structure directing the robot's course through the structure. Upon entering a room, for example, the robot is able to provide the SWAT Team member (with video equipment) a real-time view of the inside of the room, before he or she enters the room. The robot 10 can be driven downstairs into basements or thrown by the Swat Team members upstairs, to further safely clear multi floor structures. Larger robots can be produced using the modules to make systems capable of investigating vehicles, truck beds and other suspicious objects at a safe distance, without deviating from the scope and spirit of the invention.

[0112] The robot 10 and OCU 200 can be operated for hours at a time, depending on the battery selected for the task. The robot and OCU combination has the potential to be disruptive to the current state of the art in Public Safety Robotics, with its relatively low manufacturing cost, ease of use, light-weight and capability, due to the foam-based construction of the robot and OCU to absorb repeated high shock impacts without damage to the respective constituent parts.

[0113] FIGS. 7 and 8 together depict another embodiment of a robot 10′, constructed according to the invention. The robot 10′ depicted in FIGS. 7 and 8 includes a second camera assembly 66, which also comprises a camera housing 62, a camera cover 63, a camera 64 and connection element 65, where the connection element 65 connects to a connector 94 in electronics in the electronics compartment or module 90. FIG. 8 presents a bottom perspective view of the robot 10′ of FIG. 7. The two cameras, one each mounted on the front and rear of the robot, are orientated 180 degrees to each other (upside down to each other) and are selectable (for capturing data from one, or the other, or even both designs) using a camera orientation selection switch 225 on the OCU 200 (see FIGS. 9A and 9B). This is done so that no matter which way the robot lands after it is thrown, at least one selectable camera is always orientated right side up when viewed from the monitor on the OCU.

[0114] FIGS. 9A and 9B depict one embodiment of the operator control unit (OCU) 200, for controlling the robots according to inventive principles. The OCU 200 comprises a radio control unit 212, a radio receiver 214, an antenna 216, a display device 218 (e.g., a color video monitor), a microphone 220, a speaker 222, a voltmeter 224, switches 226, a robot control input device 228 (e.g., a joystick), a robot arm control input device 230 (joystick) and a battery 232. The reader should note that while the input devices are depicted separately, same is for exemplary purposes only, where the inventive robot and OCU may include a single input device, such as a joystick, in order to control the robot operation, including a robot arm if present, or may rely on some other type of command input device, such as a voice interpreter, to control the robots and robot arms, if included. The OCU 200 is used to remotely control the inventive robot 10 (as well as the other robot embodiments, described in greater detail, below). The OCU receives a live audio/video stream sent from one or both robot's camera assemblies 60, which preferably capture sound (camera microphone 68) and image data (camera 64). The video data is presented to the user/operator on the display device 218, where the sound data is presented by a speaker 222 on the OCU. The OCU microphone 220 can send operator/user voice data to the robot's speaker 67, for example, commands to a hostage taker or a gunman in a house, warehouse, etc.

[0115] Like the robot, the OCU 200 is constructed with a housing frame formed of light-weight, vibration absorbent materials (e.g., foam). The material may be, but is not limited to polyethylene, polyurethane, sorbothene, carbon fiber, PVC, thermoplastic polyurethane (TPU) and various 3d printed materials. As such, the OCU 200 and the components therein are protected against physical forces (mechanical shocks) resulting from the OCU being dropped or thrown, and otherwise during intended operation.

[0116] In greater detail, the OCU 200 comprises a frame housing formed with a bottom foam layer 242, a middle foam layer 244 is positioned on the bottom foam layer 242. The middle foam layer is shown with various cutouts 246A (battery), 246B (switches), 246C (voltmeter), 246D (radio control unit), 246E (robot control input devices), 246F (display device), 246G (radio receiver) and 246H (antenna), within which middle foam layer seats and surrounds with foam (to protect) the various components of the radio control unit of the OCU. A top foam layer 248 is attached to the middle foam layer 244 (for example, by adhesive or respective Velcro® layers), including cutouts 248B (switches), 248C (voltmeter), 248D (radio control unit, and 248F video display monitor (device) and 248E (robot and robot arm input devices). Preferably, the display device includes flaps 254 that flip-up about hinged connections (or are detachably inserted), to block light from interfering with a user/operators ability to see the content presented by the display device 218, during intended operation (for example, sunlight). The flaps, while preferably made of light-weight materials, must be made to be durable for long-term use.

[0117] The Operator Control Unit receives the video signal from the robot Audio/Video Transmitter using the audio/video receiver and displays the images on the monitor for the operator to see. Using these images, the operator can maneuver the robot around objects using the robot control joystick. Inputs from the robot control are transmitted to the robot and control forward, reverse, left and right movements of the robot.

[0118] FIG. 10 depicts an embodiment of a robot 12 constructed according to the invention. Robot 12 is constructed equivalently to the constructions of the robot 10 and 10′, but includes 3 extra pair of wheels 40, motors and motor connections for driving and control the additional wheels, as shown. That is, additional motors 52, housed in additional motor compartments 50, are electrically connected to connectors 94 in the electronics compartment or module 90 and to controller 92, thereby. The axle portion 51 of the motor compartments are connected to the inner wheel (such as by friction fit), via rim 41, to control rotation of the wheel 40. Accordingly, the OCU 200 can control wheels 40 by use of various control functions implemented by the OCU in cooperation with the electronics controller 92. In the 10-wheel embodiment, the 10 wheels allow the robot to more readily climb obstacles, such as curbs, stairs, staircases, etc.

[0119] FIG. 11 depicts another embodiment of a robot 13 constructed with a light-weight foam housing, which is a variation of the robots 10, 10′. That is, robot 13 includes 6 wheels 40, motors 52, motor axles 51, wheel motor compartments 50, and connection elements or wires 53, that are controlled by the OCU 200 and the electronics controller 92. In addition, robot 13 includes a mechanism for grasping 110, and therefore carrying, objects. The OCU 200 controls the grasping mechanism using operator input via switch 226. The grasping mechanism 110 is connected to the cover 22 by a base element 112, upon which is arranged a rotational element 113. Lifting elements 114 are articulated to the rotational element 113. A robotic arm 116 is connected to the lifting elements 114, Robotic arm 116 includes a link 118 and a connector 120 that connects the arm 116 to claw control 122 and claws 124.

[0120] FIGS. 12A and 12B together depict another embodiment of a robot 14 constructed according to the invention. As can be seen from FIGS. 12A and 12B, the robot includes 4 pairs of wheels 40, in 4 sections and an extended housing frame 150. A forward wheel-pair section 140 is formed at an acute angle of attack to facilitate climbing over obstacles. That is, a portion of the housing frame 150 that is extended to accommodate the extra 2 wheels 40 extends upward from a plane of the extended frame housing cover 154 at an acute angle α from a central axis X of the robot. The extra wheels and acute angle of attack allow for overcoming obstacles and for stability of the robot. Section 140 may include more than one pair of wheels 40, for example, a 5.sup.th pair. Motors 52, motor axles 51, wheel motor compartments 50, and connection elements or wires 53, are included for each of the wheels. An OCU 200 and the electronics controller 92 controls each of the wheels individually, like in the other robot embodiments,

[0121] FIG. 13 depicts another embodiment of a robot 15 constructed according to the invention, but instead of wheels 40, motors 52, motor axles 51, wheel motor compartments 50 and connection elements or wires 53, for connection and communication, robot 13 includes a pair of track assemblies 130, positioned on opposing sides of the robot. The opposing track assemblies 130 each comprise rollers 132, 133 and 134. Tracks 130 are driven by a prime mover (e.g., an electric motor, not shown) through any one or more pair of opposite-side rollers. Any of rollers 132, 133, 134 may be driven rollers directly connected to a rotational drive mechanism of the prime mover. The prime mover is fully controlled by controller 92 and, therefore, the OCU 200. Roller 133 positioned above line of rollers 132 (at a slight angle of attack (α) in relation to the central axis (x) of the robot 15, to readily climb and overcome obstacles.

[0122] FIG. 14 depicts an embodiment of a robot 16 constructed according to the invention. Robot 16 is constructed equivalently to the construction of the robot 12 with the addition of obstacle climbing gears, or star wheels 42, which are attached to 6 of the wheels 40, as shown. Also included is an anti-flip element or extension 18, which included a pair of anti-flip wheels 19. The anti-flip wheels are mounted on anti-flip element or extension 18. The anti-flip element is mounted at the rear of the robot 16 and while depicted as shown, a variation may be utilized that does not include wheel(s) 19. For that matter, in a different form, anti-flip element 18 includes a handle for carrying or throwing the robots constructed according to the invention. The obstacle climbing gears 42 enable the robot to better climb stairs, for example, by making direct contact to stair step surfaces, to improve gripping and locomotion up and over, thereby aiding the robot to climb staircases, particularly with steps having cantilevered sections. The anti-flip element 18 (with or without a handle and with or without wheel(s) 19) keeps the robot from flipping back over when climbing obstacles at steep angles. FIG. 15 depicts robot 16 climbing a staircase 102, comprising separate stairs 104.

[0123] FIG. 16 depicts another embodiment of a light-weight surveillance robot 17 of the invention; FIG. 17 depicts an exploded or expanded top perspective view of the exploded or expanded view of a frame housing 20′ of the FIG. 16 (robot 17); and FIG. 18 depicts an exploded or expanded bottom perspective view of the exploded or expanded view of a frame housing 20′ of the FIG. 16 (robot 17).

[0124] Unlike the other robot embodiments, the robot 17 of FIG. 16 includes a pair of light-weight frame housings 20F, 20R, interconnected by a conduit hinge assembly 21 that is positioned in a foam middle housing 28′, which comprises a front foam middle housing 28F′ and a rear foam middle housing 28R′. The conduit hinge assembly 21 is positioned in a hinge area 21A that is located between the ends of the front and rear foam middle housings 28F′, 28R′. The conduit hinge assembly 21 also includes conduits 21B, which allow for hard wires (such as connection elements or wires 53) extending between the front and rear light-weight frame housings, and any electrical components therein. The conduits 21B are embedded in foam conduit anchors 21C, as shown. The conduits and conduit anchors preferably are made of thermoplastic polyurethane (TPU).

[0125] Robot 17 also includes front and rear bottom foam housings, 36F, 36R. Each of the light-weight frame housings 20F, 20R, foam middle housing (28f′, 28′R) and front and rear bottom foam housings 36F, 36R are constructed similarly as the related parts of robot 10, for example, are foam based. As such, robot 17 is inter alia, easy to work with and to change the design where necessary for different applications, super affordable, strong and mechanical-energy (shock) absorbing, which protects the components in the robot.

[0126] The conduit hinge area 21A separates the front and rear middle foam housings (layers) 28f′, 28R′ and therefore the front and rear frame housings 20F, 20R, The conduits 21B are made of rigid or semi-rigid material, such as acrylonitrile butadiene styrene (ABS), carbon fiber, flexible material such as rubber, thermoplastic polyurethane (TPU), foam etc. And as mentioned above, the conduits 21B allows for a pass through and protection of the wires for electronic connection to the components of both foam (light-weight) frame housings 20F, 20R, regardless of whether the electronics modules and other FIG. 5 operational components, or some subset thereof, such as a camera assembly 60, are in the front or rear housings or housing sections 20F, 20R.

[0127] Preferably, lateral bumpers 20A are arranged on outer sides of the conduit hinge area 21A, at opposing ends of each of the front and rear top housings 24F, 24R, and the front and rear bottom foam housings 36F, 36R. These lateral bumpers 20A limit the movement of the foam frame sections 20F, 20R, side to side, about the hinge area 21A. Limiting the movement aides in control and stability, but also allows lateral flexibility and shock absorption when taking shocks from falls and maneuvering over rough terrain.

[0128] Also included in robot 17 are deflection angle limiting straps 30. The deflection angle limiting straps 30 are located above the conduit hinge assembly 21 and hinge area 21A, preferably embedded in respective parts of the front and rear top housings 24F, 24R, and the front and rear bottom foam housings 36F, 36R, as shown in FIGS. 17 and 25. The deflection angle limiting straps 30 limit the upward and downward angular deflection of the 2 respective foam frame sections 20F, 20R, in relation to each other to optimize the robot's ability to climb obstacles and remain stable and to prevent the foam frame sections 20F, 20R form folding over on each other. Moreover, the conduit hinge assembly 21, the conduit hinge area 21A, the conduits 21B (which also provide a stabilizing connection as well as a path for wires, etc.), the conduit anchors 21C (preferably made from TPU), the lateral bumpers 20A and deflection angle limiting straps 30 together allow for better control of the robot 17 while climbing up and down stairs, and isolates each of the foam frame housings or sections from any shocks received by the other foam frame housings or sections when the robot tumbles down the stairs. As such, the robot can operate down-side up and up-side down.

[0129] FIG. 19 depicts a perspective view of the robot 17 (FIG. 16), with the frame housing removed. The conduits 21B are shown therein, within conduit hinge area 21A, surrounding connection element or wires 53. FIG. 20 presents an exploded or expanded view of the operational components of the robot 17. FIG. 21 presents a bottom perspective view of the operational components of the robot 17.

[0130] FIG. 22 presents a robot 17′ that is an alternative embodiment to the robot 16. The front and rear light-weight frame housings or housing sections 20F′ and 20R′, are formed such that a portion of the housings in which the motor compartments 50 for the inner pairs of wheels 40 are disposed, extend out horizontally, substantially perpendicular to the central axis of the robot, as shown. Such a wheel arrangement enables better traction and climbing ability for given obstacle configurations. But while the horizontally extended portions are shown to be located so that the inner pairs of wheels 40 extend out further than the outer pairs of wheels 40, the invention is not limited thereto. The extended portions may be located so that the outer wheel pairs extend out horizontally, rather than the inner wheel pairs as shown, or any other combination thereof, to suit a particular climbing operation.

[0131] FIG. 23 presents a robot 18, that is an alternative embodiment of the robot of FIG. 22. In robot 18, the wheels 40 are replaced with obstacle climbing gears or star wheels 42 for enhanced climbing and stability and the rear of the robot includes an anti-flip element or extension 18 and a anti flip wheel 19, or pair of anti-flip wheels 19. The anti-flip-elements is located in the rear of the robot and prevents it from flipping backwards, for example, when climbing. And while the anti-flip element or extension 18 is shown with a pair of anti-flip wheels 19, the wheels 19 can be replaced with rectangular shaped rods made of thermoplastic polyurethane (TPU). For that matter, the anti-flip element 18 also could include a handle in place of the wheel(s), or in addition to the wheel(s).

[0132] FIG. 24 depicts the robot 18 climbing Up the stairs 104 of a staircase 102. FIG. 25 depicts a magnified side view of a mid-section of the robot 18 (star wheels 42 not drawn to scale), to highlight the conduit hinge assembly 21, located proximate conduit hinge area 21A between the front and rear middle housings or housing sections 28F′, 28R′. Bumpers 20A are shown at the inner ends of front and rear top housings 24F′, 24R′ and front and rear bottom housings 36F′. 36R′, where the straps 30 connect those top and bottom sections (24F′, 24R′; 36F″, 36R′), as explained above (see FIGS. 16-19).

[0133] FIG. 26 is a robot 18′ that is an alternative embodiment of the robot 18, in which several of the obstacle climbing or star wheels 42′ (as distinguished from star wheel 42), include a shock absorbing hub cap 46. The shock absorbing hub caps 46 function to improve shock absorption of the robot 18′ as a whole when the robot falls on its side, or is otherwise exposed to a mechanical shock at the hub cap. The shock absorbing hub caps 46 also prevent the robot from resting on its side as it would if the hubcaps were flat instead of round. FIG. 27 depicts robot 18′ climbing down the stairs 104

[0134] As explained above, conduit hinge 21, in cooperation with deflection limiting straps 30 and the lateral bumpers 20A function as part of an articulating joint system that enables the robot to flex at a particular point in the robot's frame, while allowing the wires or connection elements 53 needed for power and control to pass from one side of the joint to the other, preferably protected (at the joint) within conduits 21B. This articulating joint system is used to join sections of the robot frame (the front and back housings 20F′, 20R′) and allow for up and down as well as side to side motion, enabling the robot to operate equally well right-side up or upside down. The articulating joint system can be made of rubber or TPU (for example) to allow for frictionless motion between robot frame housings or housing sections, all while isolating each robot frame housing of housing section from shock and vibration. The shock isolating aspect of the articulating joint system greatly increases the robots ability to fall without getting damaged from mechanical shock resulting therefrom.

[0135] The articulating joint system allows the robot to climb and descend stairs with greater control. When climbing stairs, the first step is often the hardest step for the inventive robots to overcome. The articulating joint system enables the robot to flex to mount the first step more effectively. As the robot approaches stair steps, or a like obstacle, in an embodiment outfitted with a front set of star wheels (for example, a pair of 205 mm 3-legged Star Wheels or the 5-legged star wheels 42 depicted in FIG. 14), at least one of the star wheels engages the 1st step. The robot then moves forward, and the legs of the 3-legged star wheels contact the first step such that rotational force compelling a leg upon the stair upper surface operates to lift the front section up onto the first step, as the articulating joint system flexes and allows the rear section to remain level with the ground. This ability for the front section to pitch up independent of the rear section effectively lightens the load on the front motors and allows the rear section to stay level with the ground giving more traction to the rear set of star wheels.

[0136] As the robot continues to move forward, the second set of star wheels in this embodiment, embody 164 mm 6-legged Star Wheels, which begin to engage the first step as the rear section starts to deflect upward. As the rear section lifts upward it places more of a load on the second set of star wheels, providing the star wheels more traction as they engage the first step. The second set of star wheels propel the robot up the stairs, which then enables the front set of star wheels to engage the second step as the third set of star wheels (a pair of 192 mm 6-legged) engages the first step. As the first and third set of star wheel propel the robot up the stairs, the second set of star wheels engages the second step, as the fourth set of star wheels (a pair of 178 mm 6-legged star wheels) engages the first step. As all the star wheels now work together to propel the robot up the stairs, the anti-flip assembly 18, mounted in the rear, prevents the robot from flipping over backward by making contact with the steps (by anti-flip wheels 19 (for example) as the angle of attack increases as the robot climbs. The anti-flip element 18 is constructed of rubber or TPU in this embodiment to not break if the robot falls down the stairs.

[0137] When descending stairs, the top step going down is the most difficult to engage. As the robot moves forward over the top step, the front of the robot is suspended in mid-air. As the center of gravity of the robot gets closer to the edge of the top step the robot will pitch downward. This downward pitching motion builds both speed and momentum would cause a conventional robot w/o the inventive articulation joint system, to travel or fall down the stairs uncontrollably.

[0138] The articulating joint system enables the inventive robot's frame to flex downward, allowing the first set of star wheels to engage the second step sooner, thus preventing an uncontrolled rapid downward pitch, which could otherwise have an upsetting effect. The second set of star wheels (in this embodiment a pair of 164 mm 6-legged star wheels) can now engage the first step contributing to more control as the inventive robot slowly and controllably descends the stairs. The second set of star wheels are preferably the smallest of all the star wheels included in the robot (as shown) and thereby prevent the robot from pitching forward as it travels from the top step to the second step on the way down the stairs.

[0139] In another embodiment, the invention provides a disposable robot 13′ that may be relied upon to support explosive ordinance disposal. Please note that in many aspects, the disposable robot 13′ is like the robot 13 depicted in FIG. 11. That is, robot 13′ is constructed with a light-weight foam housing, includes 6 wheels 40, motors 52, motor axles 51, wheel motor compartments 50, and connection elements or wires 53, that are controlled by the OCU 200 and the electronics controller 92 not shown in FIG. 28). In addition, robot 13′ includes a disruptor 47 mounted on a mounting base 48, e.g., a plate of preferably light-weight material. The mounting base 48 is fixed to an outer upper surface of the robot housing, such as foam cover 22 or foam top housing 24. Two opposing sides 49A extend up from the mounting base 48 and attachment means 49B (such as rivets) attaches the disruptor 47 to the sides 49A.

[0140] The disposable robot 13′ and disruptor 47 may be utilized to deal with suspicious packages. That is, in response to a suspicious package, the robot 13′ with disruptor 47 may be directed (using the OCU) down range to the suspicious package. The disruptor 47 is a small cannon that can be loaded with water or a solid projectile and “shot” at or into the suspicious package in the hopes that any explosive device therein will break apart instead of exploding. If an explosive device does explode, the light-weight frame of the robot and disruptor will contribute minimal projectile mass, due to the foam construction. Put another way, the frames of conventional robots that might be equipped with a disruptor are much heavier than that of the inventive robot, and if fragmented in an explosion become part of the fragmentation debris that is the most dangerous part of any explosion. The inventive robot 13′ solves this problem because it is made from soft, light-weight, energy absorbing foam which when blown up will not produce dangerous fragmentation debris (that is, the foam-formed parts) that might be violently projected in all directions when an explosive device is detonated by the proximate inventive foam-framed robot and disruptor.

[0141] In the FIG. 28 embodiment, the disruptor 47 is a non-lethal paintball-type gun that can be attached to robot 13′. In this embodiment, the robot 13′ and disruptor 47 can be used by law enforcement to shoot small pellets, such as pepper balls and other non-lethal types of crowd dispersing munitions. An officer can park the inventive robot 13′ out of sight under a small bush and engage a violent crowd of people without risk to the officer. The inventive robot 13′ can also be equipped with a taser, in place of disruptor 47, and remotely subdue a suspect therewith. The inventive robot also can be used to investigate tunnels at the border enabling Border patrol agents to scout areas at a safe distance, climb on the rubble of a collapsed build and listen and look for survivors and controlled via a tether.

[0142] The invention also anticipates a method of manufacturing the robots, in the various embodiments, and modifications thereof.

[0143] That is, the invention provides a method for forming light-weight frame housing, or housings, are constructed using foam sheets and the various robots constructed therewith. For example, light-weight frame housing 20 of robot 10 includes 3 foam sheets: foam top housing or layer 24, foam middle housing of layer 28 and foam bottom housing or layer 36, attached as 3-layer laminate. Of course, a fourth layer in the form of foam cover 22 is included in the robot 10 embodiment, when covered during intended use.

[0144] Preferably, the foam sheets comprise flame retardant, cross linked polyethylene foam. The foam sheets can be formed of differing thicknesses (e.g., ⅛′, ¼″, ⅓′, ½″, etc.), according to each robots' specifications. The various layers (i.e., foam sheets) of the foam frame can be cut by hand or using a machine such as a water jet or laser cuter. Each layer is cut to have compartments for the various components such as the motor housings, battery bay and electronics bay, as described in detail above. These layers formed of foam sheets are then affixed together (preferably by application of an adhesive layer or coating) to form a strong, laminated, light-weight energy absorbing frame capable of protecting anything mounted to or inside it, as well as maintaining the integrity of the robot when exposed to significant mechanical force when dropped, thrown or crashing downstairs or off and obstacle the robot is attempting to climb during intended operation.

[0145] Using this method of construction in reliance upon the laminated foam sheets with cut-outs, one skilled in the art of robot design can easily and quickly construct a custom robot prototype. Once formed, the robot prototype may be tested, and changes as needed to the design efficiently and quickly. The robot designer may then begin to produce a marketable robot for a fraction of the cost of a robot built with more traditional materials and methods.

[0146] Some of the many benefits of constructing a robot frame out of laminated or molded foam sheets (layers) include the ability to use 3D printed parts for load-bearing elements of the robot. Up to now, the use of 3D printed parts in a conventional robot design has been limited to elements which do not withstand much mechanical force to which they might be subjected during intended use, or if such a conventional robot is subjected to significant mechanical force, the conventional 3D printed part is designed to be easily replaced when they break. The inventive method of construction using light-weight energy absorbing foam sheets attached together allows for the inventive robots as described above that may be larger in size than a conventional robot within a similar weight range, but nevertheless able to inter alia overcome obstacles like stairs, that up to now only heavy, complex expensive, conventional robots could overcome, if at all. For example, the Avatar robot made by Robotex can climb stairs but weighs 26 pounds as compared to, for example, a FIG. 26 embodiment of the inventive robot 18 described herein, which weighs only 8 pounds, 12 ounces.

[0147] Due to the foam-based frame, the inventive robots can be readily formed from the foam sheets. That is, first, according to a particular robot application, the number and size of the foam sheets are determined, then the necessary cut-outs for seating the constituent parts are made therein; then, the parts are inserted and the foam sheets adhered as a laminate foam frame and then the wheel assemblies and other parts are added in one or more assembly steps, to realize a low cost, light-weight and easy to custom manufacture robot. As described above, the robot, depending on application, may be equipped with any known sensor (e.g., an imaging sensor for streaming video) and used for investigation of hostile and dangerous environments like nuclear power plants, storage tanks, ships hulls, mine fields, etc.

[0148] In an embodiment, the inventive surveillance robot and system are adapted for use tactically, in fast developing crisis situations, such as school shootings. Tactical robots, such as the inventive surveillance robot described herein, can provide lifesaving real time intelligence to first responders. Unfortunately, however, conventional tactical robots, because of the time it takes to transport, setup and deploy them, first responders typically will be unable to collect the surveillance or reconnaissance data that they need to optimize safety and tactical measures before entering the crisis situation, i.e., the dangerous environment to be surveilled. The delay in time and the lack of reconnaissance dictated by the limitations of conventional tactical robots could mean the difference of life and death for the victims and the tactical team members.

[0149] Again, the inventive surveillance robot, surveillance system and method that rely upon the surveillance robot leverage its protective lightweight foam to maintain the robot components in the face of mechanical shock, such as from being tossed into a structure, tumbling downstairs, etc. The inventive surveillance robot, surveillance system and method provide first responders with “eyes and ears” at the scene, or proximate the scene (i.e., the dangerous location or situation), remotely by authorized personnel with using the application program operational in either the controller located in the robot, or located the OCU 200, or located in both (in memory).

[0150] FIGS. 29, 30, 31 present an embodiment of an inventive protective storage box 300 for storing the surveillance robots (e.g., 12) and the OCU, for example, on site at locations where they could be needed. That is, the inventive surveillance system includes protective enclosures or storage boxes 300 for storing the surveillance robots (with or without an OCU), which can be mounted on a wall, ceiling or floor, in a school, a hospital, a prison, a military base, a subway system, under or on the back of seats in planes, trains etc., without limitation. When stored at certain locations (such as in a storage box 300 fixed to a wall or floor), the inventive surveillance robots (for example, robot 12) can be unlocked and deployed to capture real-time actionable intelligence and communicate same as streaming data, to authorities (via an operator control unit (OCU)) with access to the protective-storage-box stored robot electronically before the authorities (such as first responders) physically arrive on the scene.

[0151] The protective storage box 300 includes protective storage box door 301 that is locked in its non-deployed state but automatically unlocked (using an electromechanical latching means) by sending an unlock signal to a box controller 320, which includes or is attached to transceiver means, including an antenna. For example, the box controller is electrically connected to a solenoid 310 arranged in the box 300 and to linear actuators 305 (for example, pistons) to affect the opening and closing the door 301 to deploy or store the robot, Please note that while the box controller 320 is shown arranged outside the protective storage box (at a top surface as shown in FIG. 29), where the box controller also can be stored on the outsides, or even the insides, without deviating from the scope or spirit of the invention. A robot charger 313 preferably is included inside the storage box 300, for charging the robot batteries. A power cable 312 connects the robot charger 313 to a source of electrical power, for example, alternating current at 110 volts.

[0152] The protective storage box 300 preferably is comprised of six sides made of a sturdy material including but not limited to aluminum, plastic or any other material that can hold the weight of the foam robots (one side is mounted to a surface). In FIG. 30, the side of the box 300 that includes the hinge is open (the latch is activated remotely). The opening of the open box 300 allows the robot 12 to deploy from the protective storage box and provide surveillance/recognizance expediently in a crisis situation.

[0153] As shown in FIG. 30, the robot 12 is seated on the inner surface of the box door 301. The robot 12 is depicted deploying away from the open door 301 in FIG. 31. FIG. 32 shows the robot 12 deployed with additional audio, video and sensor addons, that is, a camera 64, a speaker 67, a LIDAR system 354 and a distraction device 356 (light, sound, siren, etc.). All of the add-ons are present on the robot 12 while it sits in the protective storage box 300 waiting to deploy.

[0154] By running the robot with a LIDAR system throughout the facility in which the box and the robot are installed, the robot can use the LIDAR data to generate and save a map of the facility. The saved map can be forwarded to the operator control unit (OCU) and presented on the OCU screen, for effectively navigating the robot at deployment. That is, the operator of the robot will have a map of the facility on the OCU screen and may control the robot (from the OCU) based thereon. Alternatively, the inventive robot is programmed to navigate the robot autonomously using the LIDAR generated map of the facility in which it is deployed, for example, with way points assigned by the operator by simply touching a point on the map on the UCU display (assuming a touch sensitive display). The LIDAR generated map can be stored in the robot (in the memory), in a server in the Cloud (with which server the OCU is enabled to communicate) or a memory associated with the OCU. This is done to reduce the load on the operator during a very stressful operating situation.

[0155] FIGS. 33, 34 and 35 demonstrate the use of the inventive controller application program and how it operates to allow the user to control the robot (via the operator control unit (OCU)) and to view what the deployed robot “sees” (what the deployed camera “picks up”) during operation, on the display screen of the OCU or other hand-held electronic device in which the controller application program is installed. The controller application program operates independently of the OCU type or hand-held electronic devices in which it is installed. The controller application program exchanges data with the robot electronic controller, itself operating according to the computer readable instructions it processes. Commands made available by the controller application program are transmitted to electronic controller 320 in the box, which controller than causes the door of the protective storage box 300 to be unlocked/opened. Other commands may be transmitted to the robot, e.g., controller 92 (by the OCU) to drive the robot (e.g., 10 or 12), to access the robot's audio and video feed, to actuate any additional sensors, directional microphone, distraction device, etc.

[0156] FIG. 33 shows the images presented to a user via the inventive controller application program, which is operational in a cellular phone 330 rather than an OCU. During operation, the cellular phone with the controller application program (rather than an OCU running same), operates as the surveillance system controller. FIG. 34 shows the images presented to a user via the inventive controller application program operational in a tablet 335 (rather than the OCU) and FIG. 35 shows the operation in a laptop in which the application program is deployed, rather than in an OCU.

[0157] FIGS. 36A, 36B and 36C depict an inventive robot 10 in a stored state on the upper surface of a ceiling tile 345, in a semi deployed state where the tile 345, holder 350 and robot 10 are shifted 90 degrees and in a fully deployed state where the tile 345, holder 350 and robot 10 are shifted 180 degrees, and the robot is released from the holder (deployed), respectively. In FIG. 36A, the robot 10 is “hidden” on top of the ceiling tile to deploy the robot from the ceiling to the floor (see FIG. 36C).

[0158] FIGS. 37 and 38 depict one embodiment of an under door camera assembly 400 of the invention, for use with the inventive robots to safely surveil the other side of locked doors. The under door camera assembly 400 consists of a conduit rod 407 or a like structural element. The conduit rod 407 allows for the protection and running of the wires 406 from a connection assembly 420 (see FIGS. 41A and 41B) that connects to the under door camera assembly at the distal end. That is, wires 406 extend from the connection assembly 420 along the length of the conduit rod 407 to the tongue 411 in which (under door) cameras 412 and LEDs (under door light) 413 are arranged to be front direction facing. The under door camera assembly 400 allows the user a view into a room (on the other side of a door, wall etc.) via the gap between the floor and the door or wall.

[0159] The proximate end 411 of the conduit rod 407 of the under door camera assembly 400 connects to the tongue 407, in a front of which are mounted the under door camera 412 and LED lights 413. The conduit rod 407 also includes a tongue adjustment stop 410, a tongue adjustment tab 409 and a hinge assembly 408 for effecting the connection of the tongue 411 thereto, and efficiently operating the tongue and camera, for example, to scan the volume of the other side of the door in multiple directions. FIGS. 39 and 40 depict the under door camera assembly 400 arranged to be inserted into, or under, a gap between a door and a floor portion directly under the door.

[0160] By keeping the tongue 411 in contact with the around while sliding the tongue under the door, operators can get otherwise unavailable views into rooms on the other side of the doors. The hinge 408, tab 409 and a stop 410 work together to allow the camera 412 with its LEDs 413 to fit between the floor and the door and capture different views, for example, by adjusting the angle. Once under the door, the tab 409 hits or contacts the door, which can have an effect of slightly elevating the camera 412 and LED 413 to get a floor to ceding view of the room (on the other side of the door looked under) in any lighting condition (see angle in FIG. 40).

[0161] The under door camera assembly 400 can be constructed by flexible material, such as 3D printed thermoplastic, urethane, and like materials, to create a one piece under door camera assembly encompassing all the components.

[0162] FIGS. 41A and 41B depict a mounting assembly 420, which includes a connector or mount 425 for the under door camera assembly 400. The mount 425 can be used to add or connect the under door camera assembly to existing robots, as seen in FIG. 42 thru FIG. 45. The mounting assembly 420 preferably comprises electronic housing 430, and plug 426.

[0163] Alternatively, the under door camera assembly 400 also can be permanently mounted to a light-weight foam robot of this invention, as depicted in FIGS. 42 and 43, without use of the mounting assembly 420. For that matter, the under door camera assembly 400 can be attached to any of the inventive robots disclosed herein, as well as new and novel two-wheel robot 11, as depicted in FIGS. 44 and 45.

[0164] In greater detail, FIGS. 44 and 45 depict a robot 11 constructed according to the invention as described hereinabove, but for its reliance upon only one pair of wheels. Wheels 40 are controlled by one or more motors 52 (not shown in FIGS. 44 and 45) that are connected to the wheel via a motor connection in the robot housing. A controller 92 is electrically connected to connectors 94 in an electronics compartment or module 90 therein is exchanges signals, including wireless control signals or commands sent thereto from an operator control unit (OCU) or hand-held electronic device in which the controller application program is operational, as explained in detail hereinabove. The robot electronic controller 92 is connected to the motors 52 for driving and controlling the one pair of wheels 40. Preferably, a single motor 52 is provided for each wheel 40 of the pair of wheels, whereby two motors 52 are housed in motor compartments and directly or indirectly connected to the respective wheels 40 (not shown in FIGS. 44,45)

[0165] An axle portion 51 [please show in figures] of the motor compartments is connected to an inner wheel (such as by friction fit), via a rim 41 to control rotation of the wheel 40. This two wheel embodiment allows for a much smaller, lighter robot that enables the operator to throw it further than the 4-wheel robots as well as use the two-wheel robot 11 to access smaller, more confined spaces than could the four-wheel robots. The person of ordinary skill in the art shall note that the robot 11 requires a “tail” to ensure stability and to counteract the forces of torque to keep the body of the robot facing forward. The under door camera assembly 400 has an additional use on robot 11, to act or operate as a stability “tail” in addition to its functional role (once attached via the mounting assembly 420).

[0166] The under door camera assembly 400 can also be mounted or attached to a pole 440 via a mounting assembly 420, as shown in FIG. 46. The camera assembly 400 is attached at mount 425 (of the mount assembly 420). The pole 440 includes a housing 441 that includes a monitor and transceiver, which are connected to a battery 442; preferably, the battery is rechargeable.

[0167] FIGS. 47 and 48 present an embodiment of the under door assembly 400 attached via mounting assemblies 420 to drone a 450. The drone 450 is controlled by an OCU or other hand-held electronic device in which the controller application program is operational, as are the robots. As such, the drones include a transceiver and an electronic controller with computer readable instructions that responds to signals and commands transmitted by the controller application program. The drone controller also may control operation of the under door camera assembly attached to the drone at connector 425, the drone controller controlled by the OCU.

[0168] The reader and the skilled artisan should note that the operator control unit (OCU) also preferably is formed with layers of foam sheet to better protect the constituent elements therein, as well as to realize the benefit of a light-weight OCU, for transportability. For that matter, both the robots and OCU formed as described herein, when sealed with a waterproof coating may be water immersed, and floated to a destination, where necessary.

LIST OF ELEMENTS

[0169] 10 robot with 4 wheels [0170] 10′ robot with 4 wheels and 2 cameras [0171] 11 robot with 2 wheels [0172] 11′ robot with 2 wheels and under door camera assembly [0173] 12 robot with 10 wheels [0174] 13 robot with 6 wheels and grasping mechanism [0175] 13′ robot with 6 wheels and a disrupter mechanism [0176] 14 robot with 8 wheels and front axle set at acute angle [0177] 15 robot with track [0178] 16 stair climbing robot [0179] 17 robot with two articulating sections, with 4 wheels per articulating section [0180] 18 anti-flip element or extension [0181] 19 anti-flip wheels [0182] 20 light-weight frame housing [0183] 20′ light-weight frame housing for embodiment with conduit hinge [0184] 20F′ front light-weight frame housing for embodiment with conduit hinge [0185] 20R′ rear light-weight frame housing for embodiment with conduit hinge [0186] 20A lateral bumper [0187] 21 conduit hinge assembly [0188] 21A conduit hinge area [0189] 21B conduits [0190] 21C foam conduit anchors [0191] 22 foam cover [0192] 22F′ front foam cover for embodiment with conduit hinge [0193] 22R′ rear foam cover for embodiment with conduit hinge [0194] 23 Velcro layer [0195] 24 foam top housing [0196] 24F′ front top housing for embodiment with conduit hinge [0197] 24R′ rear top housing for embodiment with conduit hinge [0198] 28 foam middle housing [0199] 28′ foam middle housing for embodiment with conduit hinge [0200] 28F′ front foam middle housing for embodiment with conduit hinge [0201] 28R′ front foam middle housing for embodiment with conduit hinge [0202] 29 motor compartment cutout [0203] 30 deflection angle limiting straps [0204] 36 foam bottom housing [0205] 36F′ front bottom foam housing for embodiment with conduit hinge [0206] 36R′ rear bottom foam housing for embodiment with conduit hinge [0207] 40 wheel [0208] 41 rim [0209] 42 obstacle climbing gears, or star wheels [0210] 42′ obstacle climbing gears, or star wheels with shock absorbing hub caps [0211] 46 shock absorbing hub caps [0212] 47 disruptor [0213] 48 mounting base [0214] 49A opposing sides attached to mounting base [0215] 49B attachment means for mounting the disruptor to opposing side of the mounting base [0216] 50 wheel motor compartment [0217] 51 axle part of the motor compartment [0218] 52 motor [0219] 53 connection element or wires [0220] 54 set screw(s) [0221] 60 camera assembly [0222] 62 camera housing [0223] 63 camera cover [0224] 64 camera [0225] 65 camera connection element [0226] 66 additional camera assembly [0227] 67 speaker [0228] 68 microphone [0229] 70 battery module [0230] 71 connection element [0231] 80 light [0232] 81 light connection element [0233] 90 electronics module [0234] 91 first connection element [0235] 92 robot electronic controller [0236] 93 second connection element [0237] 94 connectors [0238] 96 antenna element [0239] 102 staircase [0240] 104 stairs [0241] 110 grasping mechanism [0242] 112 base element [0243] 113 rotational element [0244] 114 lifting elements [0245] 116 robotic arm [0246] 118 link [0247] 120 link connector [0248] 122 claw control [0249] 124 claw [0250] 130 Track assembly [0251] 132 roller [0252] 133 roller [0253] 134 roller [0254] 140 wheel pair section [0255] 150 extended housing frame [0256] 154 extended housing frame cover [0257] 200 operational control unit (OCU) [0258] 212 radio control unit [0259] 214 radio receiver [0260] 216 antenna [0261] 218 display device [0262] 220 microphone [0263] 222 speaker [0264] 224 voltmeter [0265] 225 switch [0266] 226 switch [0267] 228 robot control input device [0268] 230 robot arm control input device [0269] 232 battery [0270] 225 camera selection switch [0271] 242 bottom foam layer [0272] 244 middle foam layer [0273] 246A battery cutout [0274] 246A cutouts for switches 225, 226 [0275] 246B voltmeter cutout [0276] 246D radio control unit cutout [0277] 246E cutouts for robot control input devices [0278] 246F display device cutout [0279] 246G cutout for radio receiver [0280] 246H cutout for antenna [0281] 248 top foam layer [0282] 248B cutouts for switches 225, 226 [0283] 248C voltmeter cutout [0284] 248D radio control unit cutout [0285] 248E cutouts for robot control input devices [0286] 248F display device cutout [0287] 254 flaps [0288] 300 protective storage box [0289] 301 protective storage box door [0290] 305 linear actuators [0291] 310 solenoid [0292] 312 power cable [0293] 313 robot charger [0294] 320 storage box controller [0295] 330 cellular phone [0296] 335 tablet [0297] 340 laptop [0298] 345 ceiling tile [0299] 350 holder [0300] 352 LIDAR [0301] 354 directional microphone [0302] 356 distraction device [0303] 400 under door camera assembly [0304] 406 wires or other electrical conductors [0305] 407 conduit rod or structure to house wires or other electrical conductors inside [0306] 408 hinge assembly that detachably connects tongue to conduit rod [0307] 409 tongue adjustment tab for adjusting angle of view of tongue at deployment [0308] 410 tongue adjustment stop [0309] 411 tongue or camera/light housing [0310] 412 under door camera [0311] 413 under door light [0312] 420 mounting assembly [0313] 425 Mount [0314] 426 electrical Plug or connector [0315] 430 housing of mounting assembly [0316] 440 pole or extender rod [0317] 441 housing for storing electronics including a controller, a transmitter or receiver [0318] 442 battery [0319] 450 drone [0320] 460 door [0321] 461 floor

[0322] As will be evident to persons skilled in the art, the foregoing detailed description and figures are presented as examples of the invention, and that variations are contemplated that do not depart from the fair scope of the teachings and descriptions set forth in this disclosure. The foregoing is not intended to limit what has been invented, except to the extent that the following claims so limit that.