ROBOT AND METHOD FOR TRAVERSING VERTICAL OBSTACLES

Abstract

A robot has a robot body on a frame structure, the robot body having at least one enclosed space to hold at least one delivery item. At least one sensing device detects objects along a direction of motion of said robot. The robot has six wheels, where at least two wheels on a side of the frame are connected to each other. The axis of rotation of each wheel is substantially fixed with respect to the robot during forward, rearward, and turning motion of the robot. During transition, via a substantially vertical obstacle, from a first substantially horizontally surface to a second substantially horizontally surface higher than the first substantially horizontally surface, one of the connected wheels causes an upward or a downward force to be applied to the other connected wheel.

Claims

1. A robot comprising: (A) a robot body on a frame structure, said robot body having at least one enclosed space; (B) at least one sensing device constructed and adapted to detect objects along a direction of motion of said robot; and (C) six wheel mechanisms, comprising: (C)(1) on a left side of said frame: (i) a left front wheel mechanism including a left front wheel, (ii) a left rear wheel mechanism including a left rear wheel, and (iii) a left middle wheel mechanism including a left middle wheel and positioned between the left front wheel and the left rear wheel, and, (C)(2) on a right side of said frame: (iv) a right front wheel mechanism including a right front wheel, (v) a right rear wheel mechanism including a right rear wheel, and (vi) a right middle wheel mechanism including a right middle wheel, positioned between the right front wheel and the right rear wheel, wherein at least two of the wheel mechanisms on a side of the frame are connected to each other, wherein, (x) when said robot is standing on or moving along a substantially horizontal surface, the wheels are substantially horizontally aligned with respect to the surface, and wherein, (y) during transition, via at least one substantially vertical obstacle, from a first surface to a second surface higher than said first surface, one of the connected wheel mechanisms causes an upward or downward force to be applied to the other connected wheel mechanism, and wherein (z) each wheel has an axis of rotation, said axis of rotation substantially fixed with respect to the robot during forward, rearward, and turning motion of said robot.

2. The robot of claim 1, wherein the left front wheel and the right front wheel are steerable.

3. The robot of claim 1, wherein at least two of the wheels are driven by individual axles.

4. The robot of claim 3, wherein each of the wheels is driven by an individual axle.

5. The robot of claim 1, wherein at least two of the wheels are individually driven.

6. The robot of claim 5, wherein the six wheels are each individually driven.

7. The robot of claim 1, wherein the wheels are driven by multiple motors.

8. The robot of claim 7, wherein at least some of the multiple motors are located on axles.

9. The robot of claim 8, wherein at least some of the multiple motors are located in at least some of the wheels.

10. The robot of claim 1, wherein at least two of said six wheels are attached to corresponding piston devices.

11. The robot of claim 10, wherein each of said six wheels is attached to a corresponding piston device.

12. The robot of claim 11, wherein at least one said piston device is constructed and adapted to drive at least one attached wheel in a vertical direction with respect to the ground.

13. The robot of claim 1, wherein at least some of the wheels protrude beneath the frame by at least 5 cm.

14. The robot of claim 1 wherein the front wheels protrude in front of the frame by 1 cm to 8 cm.

15. The robot of claim 1, wherein the enclosed space is constructed and adapted to hold at least one delivery item.

16. The robot of claim 1 having a center of mass located between the middle of the robot and the front end of the robot.

17. The robot of claim 1, wherein at least one of the wheel mechanisms comprises a motor-driven device adapted to apply at least one of a downward force and an upward force through a corresponding at least one wheel, to facilitate traversal of said at least one substantially vertical obstacle by said robot.

18. The robot of claim 1, wherein said at least one sensing device comprises one or more of: a Lidar sensor and a camera system.

19. The robot of claim 1, wherein, during said transition from said first surface to said second surface, at least one of the left middle wheel and the right middle wheel is lifted.

20. The robot of claim 1, wherein said upward or downward force applied to the other connected wheel mechanism causes vertical movement of a rotational center of a wheel associated with the other connected wheel mechanism.

21. A robot comprising: (A) a robot body on a frame structure, said robot body having at least one enclosed space constructed and adapted to hold at least one delivery item; (B) at least one sensing device to detect objects along a direction of motion of said robot, wherein said at least one sensing device comprises one or more of: (i) a Lidar sensor; and (ii) a camera system; and (C) six wheels including: (i) a first front wheel on a first side of said frame structure, (ii) a first rear wheel on the first side of the frame structure, (v) a first middle wheel, on the first side of the frame structure and between the first front wheel and the first rear wheel, wherein said first front wheel is on a first front axle, said first middle wheel is on a first middle axle, and said first rear wheel is on a first rear axle, and wherein at least two wheels on the first side of the frame are connected to each other, and wherein at least two of said wheels are attached to corresponding piston devices, and wherein the wheels are driven by multiple motors, and wherein each wheel has an axis of rotation, said axis of rotation substantially fixed with respect to the robot during forward, rearward, and turning motion of said robot, and wherein, during transition, via a substantially vertical obstacle, from a first substantially horizontally surface to a second substantially horizontally surface higher than said first substantially horizontally surface, one of the connected wheels causes an upward force or a downward force to be applied to the other connected wheel.

22. The robot of claim 21, wherein least two wheels on the first side of the frame that are connected to each other are directly connected.

23. The robot of claim 21, wherein, during said transition from said first surface to said second surface, said upward force or said downward force causes a rotational center of the first middle wheel to be raised.

24. A method of operating a robot having: (A) a robot body on a frame structure, said robot body having at least one enclosed space; (B) at least one sensing device constructed and adapted to detect objects along a direction of motion of said robot; and (C) six wheel mechanisms, comprising: (C)(1) on a left side of said frame: (i) a left front wheel mechanism including a left front wheel, (ii) a left rear wheel mechanism including a left rear wheel, and (iii) a left middle wheel mechanism including a left middle wheel and positioned between the left front wheel and the left rear wheel, and (C)(2) on a right side of said frame: (iv) a right front wheel mechanism including a right front wheel, (v) a right rear wheel mechanism including a right rear wheel, and (vi) a right middle wheel mechanism including a right middle wheel, positioned between the right front wheel and the right rear wheel, wherein at least two of the wheel mechanisms on a side of the frame are connected to each other, the method comprising: (a) moving said robot in a forward direction along a first surface; and (b) in response to said robot encountering a substantially vertical obstacle between said first substantially horizontal surface and a second substantially horizontal surface higher than said first substantially horizontal surface, traversing said substantially vertical obstacle, wherein, during transition, via said obstacle, from said first substantially horizontal surface to said second substantially horizontal surface, one of the connected wheel mechanisms causes a force to be applied to the other connected wheel mechanism.

25. The method of claim 24, wherein, when said robot is standing on or moving along a substantially horizontal surface, the wheels are substantially horizontally aligned with respect to the surface.

26. The method of claim 24, further comprising: (c) turning said robot to change a direction of forward movement of said robot, wherein each wheel has an axis of rotation, said axis of rotation substantially fixed with respect to the robot during forward, rearward, and turning motion of said robot.

27. The method of claim 24, wherein at least one of the connected wheel mechanisms further comprises a motor-driven device, and wherein the method further comprises: during the traversing of the substantially vertical obstacle, applying at least one of a downward force and an upward force to at least one wheel by actuating the motor-driven device.

28. The method of claim 24, further comprising: during the traversing of the substantially vertical obstacle, causing at least one of said left middle wheel and said right middle wheel to be lifted.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0280] FIG. 1 shows a perspective view onto a robot embodiment in accordance with the present invention;

[0281] FIG. 2 shows a schematic and exemplifying arrangement of elements in accordance with the present invention.

[0282] FIG. 3 shows an embodiment in accordance with the present invention before, during and after the traversal of a curbstone.

[0283] FIG. 4a shows just the wheels of the robot according to one embodiment with wheels aligned; and

[0284] FIG. 4b shows the embodiment according to FIG. 4a indicating the movement of the tilting lever and the attached rear wheels.

[0285] FIG. 5a shows a schematic embodiment of elements of the tilting lever in accordance with the present invention

[0286] FIG. 5b shows an inclined embodiment according to FIG. 5a.

[0287] FIG. 5c shows an embodiment of elements of the tilting lever and lever turn motor according to the invention.

DESCRIPTION OF VARIOUS EMBODIMENTS

[0288] In the following, exemplary embodiments of the invention will be described, referring to the figures. These examples are provided to provide further understanding of the invention, without limiting its scope.

[0289] In the following description, a series of features and/or steps are described. The skilled person will appreciate that unless required by the context, the order of features and steps is not critical for the resulting configuration and its effect. Further, it will be apparent to the skilled person that irrespective of the order of features and steps, the presence or absence of time delay between steps, can be present between some or all of the described steps.

[0290] As used herein, including in the claims, singular forms of terms are to be construed as also including the plural form and vice versa, unless the context indicates otherwise. Thus, it should be noted that as used herein, the singular forms a, an, and the include plural references unless the context clearly dictates otherwise.

[0291] Throughout the description and claims, the terms comprise, including, having, and contain and their variations should be understood as meaning including but not limited to, and are not intended to exclude other components.

[0292] The present invention also covers the exact terms, features, values and ranges etc. in case these terms, features, values and ranges etc. are used in conjunction with terms such as about, around, generally, substantially, essentially, at least etc. (i.e., about 3 shall also cover exactly 3 or substantially constant shall also cover exactly constant).

[0293] The term at least one should be understood as meaning one or more, and therefore includes both embodiments that include one or multiple components. Furthermore, dependent claims that refer to independent claims that describe features with at least one have the same meaning, both when the feature is referred to as the and the at least one.

[0294] It will be appreciated that variations to the foregoing embodiments of the invention can be made while still falling within the scope of the invention. Alternative features serving the same, equivalent or similar purpose can replace features disclosed in the specification, unless stated otherwise. Thus, unless stated otherwise, each feature disclosed represents one example of a generic series of equivalent or similar features.

[0295] Use of exemplary language, such as for instance, such as, for example and the like, is merely intended to better illustrate the invention and does not indicate a limitation on the scope of the invention unless so claimed. Any steps described in the specification may be performed in any order or simultaneously, unless the context clearly indicates otherwise.

[0296] All of the features and/or steps disclosed in the specification can be combined in any combination, except for combinations where at least some of the features and/or steps are mutually exclusive. In particular, preferred features of the invention are applicable to all aspects of the invention and may be used in any combination.

[0297] Reference numerals have just been referred to for reasons of quicker understanding and are not intended to limit the scope of the present invention in any manner.

[0298] FIG. 1 shows one example of a robot 1 in accordance with the invention. As can be seen the robot can comprise a body 2 and a lid 3. Other configurations for different applications are also possible. The robot embodiment shown can be particularly used for the transfer of deliveries (such as mail, groceries, parcels, packages, flowers and/or purchases). For communication reasons further electronics, telecommunication devices, computers, sensors etc. or parts thereof can be used. In the embodiment shown an antenna 4 is also shown.

[0299] A undercarriage or frame 5 is particularly arranged at the bottom of the robot 1. As can be seen in the embodiment shown 3 sets or pairs of wheels are provided, one or more front wheels 10, one or more middle wheels 20 and one or more rear wheels 30. The front wheels 10 can be steered and can slightly protrude in front of the body 2. Also other wheels may be steered. The wheels 10, 20, 30 could also be covered by any kind of shields and/or can be integrated into the body 2.

[0300] FIG. 2 shows a schematic sketch only. Reference numerals are provided for elements on one side only, in case further corresponding elements are provided on the other side. The front wheels 10 can be driven and can extend over the front part of the body 2 and/or frame 5 for the reasons described before. A front motor 12 can drive a front axle 11 and the front wheel 10 being attached. As mentioned before, the front wheels 10 can be steered which is not shown. A front control 14 can control the front motor 12 and can also be connected to a central or intermediate robot control (not shown). The front wiring 13 can connect the front control 14 and the front motor 12. The same applies to the other side, i.e. to the other front wheel, front motor and front control (not numbered). A central motor driving both front wheels 10 can also be provided, but requires more elements. The arrangement shown can thus be an easier, more reliable and less expensive design.

[0301] The middle wheels 20 can be connected by a common middle axle 21 but could also be driven by individual axles (not shown).

[0302] The rear wheels 30 can be connected by a common rear axle 31 but could also be driven by individual axles (not shown).

[0303] Besides the options mentioned already, an embodiment particularly for moving the middle wheels 20 away from the body and/or frame 5 is shown for tilting the arrangement of middle wheels 20 and rear wheels 30. A tilting assembly 40 can do this. In the embodiment shown, the middle wheels 20 and the rear wheels 30 are driven together by rear motors 44. Alternatively, a common motor (not shown) could be arranged for driving all wheels in the middle and in the rear. The motors 44 are driving a lever shaft 43 and the rotational movement and/or force will be further delivered to the middle wheels 20 and rear wheels 30 by a mechanism not shown. This mechanism could be any known means for transferring and/or gearing the rotational movement, such as by gear(s), pulley(s), chain(s) etc. or any combination thereof. Alternatively, the motors could also be located in the wheels or on the axles the wheels are directly connected to. This can apply to all wheels. A respective rear control 46 can control the rear motor 44 either individually on each side or one rear control 46 could also control the rear motors 44 together. The rear control 46 can also communicate with a central control (not shown).

[0304] A tilting lever or tilting shaft 41 or a unit working as a connection between the middle wheels 20 and the rear wheels 30 fixes these wheels in relation to each other. The tilting lever 41 can be turned and will allow the wheels 20, 30 to be driven and to tilt.

[0305] A tilting axle (lever bearing) 42 allows the arrangement of the middle wheels 20 and rear wheels 30 as well as the tilting lever 41 to turn. The tilting axle (lever bearing) 42 can be turned itself by a turning mechanism 47 for transferring and/or gearing a rotational movement, such as by gear(s), pulley(s), chain(s) etc. or any combination thereof. The rotational movement is provided, when needed, by a turning motor 49 driving a turning shaft 48 which will then make the tilting axle (lever bearing) 42 turn over the turning mechanism 47. A turning control 51 is connected with the turning motor 49 by a turning wiring 50. Again, the turning control 51 and turning wiring 50 may also communicate with a more central control (not shown).

[0306] The tilting assembly 40 can just be arranged on one side but also on both sides. In case it is arranged on one side, the middle wheels 20 and the rear wheels 30 can be connected by the axes 21 and 31, respectively.

[0307] FIG. 3 shall exemplify different situations of climbing an obstacle, such as a curbstone, by the robot 1. For reasons of clarity, reference numbers are just shown in sketch no. 1. Middle wheels 20 and rear wheels 30 are both connected to a tilting lever 41. A curbstone 60 is shown being approached by the robot 1. In case of no other sensors, the front wheels 10 may touch the curbstone. This can initiate the climbing of the robot 1 onto the curbstone, as shown in sketch no. 2. The traction of the front wheel onto the curbstone's vertical surface, the movement of the middle wheels away from the robot generated by rotational movement of the tilting lever 41, the movement of the rear wheels towards the body of the robot and/or the forward momentum of the robot, aided by the force applied by the driven middle and/or rear wheels to keep the front wheels in contact with the curbstone vertical surface initiate the climbing of the robot as shown. A motor for driving the tilting lever (not shown) will be turned on at this stage, so as to apply rotational force to the tilting lever 41.

[0308] When the front wheels are on top of the curbstone, as shown in sketch no. 3, the middle wheels are further moved towards the curbstone by the moving robot 1 until they touch the curbstone 60 as shown in sketch no. 4. During this phase, the tilting of the robot is at its maximum, at least for the curbstone shown. A further tilting may be possible when climbing a higher curbstone.

[0309] In sketch no. 5, the middle wheels are climbing up the curbstone and the tilting action of the tilting mechanism is reversed, such that the middle wheels move towards the frame of the robot, while the back wheels move away from the robot, driven by the tilting lever 41. It will even reverse further as is apparent from sketch no. 6. By this action, maximum traction of all wheels and maximum stability of the robot during climbing can be obtained.

[0310] During further progress of the robot, the tilting assembly will return back to a neutral position so that the wheels are in one plane or generally in one plane again. This is demonstrated in sketch no. 8. During such forward motion, the tilting mechanism is in a neutral position, and the motor driving the tilting mechanism is generally switched off.

[0311] It is not necessary to keep all wheels on the ground at all times, and this may even not be feasible when the robot reaches an obstacle under another angle than shown in FIG. 3. However, the robot can be designed and programmed to approach obstacles perpendicularly so that a stable and successful climbing of obstacles can be achieved.

[0312] FIGS. 4a-4b show a side view of one embodiment of the wheels of the robot wherein two back wheels are arranged on a tilting lever 41 that sits on a lever shaft (not shown). In FIG. 4a, the wheels 10, 20, 30 are all horizontally or essentially horizontally aligned (with respect to ground) on a straight line and the tilting lever 41 is aligned to or parallel to the frame of the robot (not shown). The tilting lever 41 is adapted to rotate around the lever bearing 42 so that the middle wheel 20 and the back wheel 30 move ascend or descend, depending on the direction of rotation. Thus, during clockwise rotation the back wheel 30 descends and the center wheel ascends, while the during anticlockwise rotation the movement of the center and back wheels is reversed.

[0313] Thus, as shown in FIG. 4b, the tilting lever 41 can rotate by any given value of the angle ?, where ?=0 when the wheels are horizontally aligned. The tilting lever 41 can for example be adapted to rotate up to 60? in either direction around the lever bearing 42, resulting in an overall rotation of up to 120?. In a preferred embodiment, the tilting lever 41 can rotate up to 55? in either direction. In another preferred embodiment, the tilting lever 41 can rotate up to 50? in either direction. In another preferred embodiment, the tilting lever 41 can rotate up to 45? in either direction. In another preferred embodiment, the tilting lever 41 can rotate up to 40? in either direction. In another preferred embodiment, the tilting lever 41 can rotate up to 35? in either direction. In another preferred embodiment, the tilting lever 41 can rotate up to 30? in either direction. In another preferred embodiment, the tilting lever 41 can rotate up to 25? in either direction. In another preferred embodiment, the tilting lever 41 can rotate up to 20? in either direction.

[0314] FIG. 5a shows a schematic embodiment of the inside structure of the tilting lever 41. The tilting gear frame 411 can comprise different shapes as long as it provides adequate support and flexural strength to function as intended. The tilting gear frame 411 can be made from a metal and/or a metal alloy. The tilting gear 412 can be made of the same material as the tilting gear frame 411 and can comprise a part of it. The tilting gear teeth 413 can comprise a part of the tilting gear 412 and can also be made of the same material. In this way, the tilting gear frame 411, the tilting gear 412 and the tilting gear teeth 412 can all comprise one solid part of the tilting lever 41. Note that in the present embodiment, four tilting gear teeth 413 are shown, but there can be as well two tilting gear teeth covering a wider radius. The tilting axle 42 can be seen protruding from the center of the tilting gear 412. It can be fixed in this position by a mechanism not shown, or simply by the tilting gear teeth 413. The tilting axle 42 comprises tilting axle teeth 421 also fixed within the tilting gear 412. The tilting gear frame 411 is adapted to rotate around the tilting axle 42 along with the tilting axle teeth 421. The tilting gear teeth 413 can rotate freely along with the tilting gear frame 411 until they reach the tilting axle teeth 421. This is further shown in FIG. 5b.

[0315] FIG. 5b demonstrates the same schematic embodiment of the inside structure of the tilting lever 41 as FIG. 5a rotated by an angle ?. After such rotation, the tilting gear teeth 413 and the tilting axle teeth 421 are aligned and in contact. Any further rotation in the same direction can not be performed freely and would require actuating by the lever turn motor 49 (not shown here). A skilled person will understand that the angle ? can be variable and can depend on the desired application. For the mobile robot as described herein, this arrangement is beneficial, since smaller obstacles can be climbed without engaging the lever turn motor 49. In such a way, the robot can traverse irregularities on the sidewalk of a height such as 5 cm without engaging the lever turn motor 49. When traversing higher obstacles, such as curbstones of 15 cm or so, the robot can tilt the tilting lever freely 41 until the angle ? and then proceed with climbing by engaging the lever turn motor 49. The tilting lever 41 can for example be adapted to rotate freely for about 25?-45? from one engagement point all the way to the next, i.e. for about 12.5?-22.5? from a horizontal position to a maximally inclined position before engaging the motor. In a preferred embodiment, the robot can be adapted to engage the lever turn motor 49 past this point. A skilled person will also understand that the inclined embodiment shown in FIG. 5b can roughly correspond to the inclined embodiment shown in FIG. 4b.

[0316] FIG. 5c demonstrates a side view of the schematic embodiment of the inside structure of the tilting lever 41 along with some further parts of the tilting mechanism. The tilting gear frame 411 is shown sideways along with the tilting gear 412. In this embodiment, the tilting axle 42 can be seen slightly protruding outward from the tilting gear 412. The lever turn mechanism 47 is shown schematically here and can comprise further gears, and/or pulleys. The lever turn shaft 48 connects to the lever turn motor 49 that is adapted to drive the tilting lever 41.

LIST OF REFERENCE NUMERALS

[0317] 1robot [0318] 2body [0319] 3lid [0320] 4antenna [0321] 5frame/carriage [0322] 10front wheel [0323] 11front axle [0324] 12front motor [0325] 13front wiring [0326] 14front control [0327] 20middle wheel [0328] 21middle axle [0329] 30rear wheel [0330] 31rear axle [0331] 40tilting assembly [0332] 41tilting lever (tilting shaft) [0333] 42lever bearing [0334] 43lever shaft [0335] 44rear motor [0336] 45rear wiring [0337] 46rear control [0338] 47lever turn mechanism [0339] 48lever turn shaft [0340] 49lever turn motor [0341] 50lever turn wiring [0342] 51lever turn control