WO2023107081A1 - Cave and urban area unmanned ground vehicle - Google Patents
Cave and urban area unmanned ground vehicle Download PDFInfo
- Publication number
- WO2023107081A1 WO2023107081A1 PCT/TR2022/051465 TR2022051465W WO2023107081A1 WO 2023107081 A1 WO2023107081 A1 WO 2023107081A1 TR 2022051465 W TR2022051465 W TR 2022051465W WO 2023107081 A1 WO2023107081 A1 WO 2023107081A1
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- Prior art keywords
- cave
- unmanned ground
- urban area
- ground vehicle
- vehicle
- Prior art date
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- 230000010354 integration Effects 0.000 claims description 7
- 235000019994 cava Nutrition 0.000 abstract description 6
- 230000009194 climbing Effects 0.000 description 5
- 230000005484 gravity Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/022—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members consisting of members having both rotational and walking movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D53/00—Tractor-trailer combinations; Road trains
- B62D53/005—Combinations with at least three axles and comprising two or more articulated parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
Definitions
- the invention relates to an articulated, low-silhouette unmanned ground vehicle that can be used underground, in caves, urban areas, tunnels, and narrow passageways.
- the invention relates to a cave and urban area unmanned ground vehicle that can operate in indoor spaces, underground, in tunnels, caves, pipelines, and similar structures with different grounds, to which body modules can be added and removed and have interchangeable drive units.
- UGVs unmanned ground vehicles
- Conventional unmanned vehicles which are reduced in size, fail to meet basic vehicle performance requirements such as overcoming obstacles, crossing ditches, etc.
- drive methods such as tracks, wheels, or legs to move on the ground.
- Each drive method causes UGVs to perform differently in different terrains. Therefore, the drive method decided to be used in the Unmanned Ground Vehicle during the design phase limits the type of terrain to be operated and the vehicle performance in this terrain.
- the geometric dimensions of the UGV and the drive method directly affect the vehicle's ability to climb slopes, side slopes, and ditches, to fit into narrow areas, and to overcome steep obstacles.
- unmanned ground vehicles designed with conventional methods in order to fulfill some of these mobility criteria, others are abandoned.
- UGVs tasks that UGVs can perform are directly related to the sensors and other equipment they contain.
- UGVs that have all sensors on board at the same time causes technical, economical, and user experience challenges. Since not all sensors and equipment are needed in each task, there are disadvantages such as carrying extra weight at the time of use, jeopardizing expensive sensors in tasks, and the need for high user awareness for technical details that do not contribute to the task.
- the article in the known state of the art, titled "Advantage of straight walk instability in turning maneuver of multilegged locomotion: a robotics approach” and published in 2016 discloses a robot with multiple parts and legs. With the connection elements in the robot body, the body part can be multiplied. In addition, the legs of the robot are controlled by two tilt articulations, so that the legs follow a periodic trajectory, including the front-end position and the rear-end position.
- US9180920B2 numbered US patent document in the known state of the art discloses a mobile robot comprising a robot chassis with a front end, rear end, and a center of gravity.
- the robot comprises a support surface driven to move the robot and a pivotable articulated arm disposed behind the center of gravity of the robot chassis.
- the object of this invention is to realize cave and urban area unmanned ground vehicles that can operate in indoor spaces, underground, tunnels, caves, pipelines, and similar structures with different grounds, to which the body modules can be added and removed and have interchangeable drive units.
- Figure 1 Top schematic view of cave and urban area unmanned ground vehicle.
- Figure 2 Perspective schematic view of cave and urban area unmanned ground vehicle.
- Figure 3 Exploded schematic view of cave and urban area unmanned ground vehicle.
- Figure 4 Schematic view of the drive units located in the cave and urban area unmanned ground vehicle.
- Figure 5 Schematic view of cave and urban area unmanned ground vehicle.
- Figure 6 Perspective view of cave and urban area unmanned ground vehicle from a different angle.
- the invention is a cave and urban area unmanned ground vehicle, comprising;
- Unmanned ground vehicles may have to operate and perform in difficult terrains in order to perform tasks such as research, reconnaissance, surveillance, etc.
- the design criteria and vehicle geometries of unmanned ground vehicles directly affect their maneuverability and performance in these terrains.
- the position of the center of gravity, vehicle weight, vehicle length, width, and height directly affect mobility (crossing steep and side slopes, traversing ditches, climbing steep obstacles, etc.) and the placement of the loads it carries.
- the number of body modules (1) appropriate for the task to be performed are added/removed one after the other from the additional connection region (2), and the cave and urban area unmanned ground vehicle is brought to the size suitable for the task.
- the body modules (1) are connected to each other by means of multi-axis joints (3) in the additional connection region (2). Due to the functional structure of these multiaxial joints (3), the body modules (1) gain relative freedom of movement. This freedom of movement prevents all of the body modules (1) from rolling over at the same time while the cave and urban area unmanned ground vehicle is traveling on rough and twisty terrains.
- the multiaxial joints (3) limit the movements of the body modules (1) in the vertical and horizontal directions by applying a pre-tensile force to the additional connection regions (2).
- the multiaxial joints (3) improve the vertical obstacle crossing, ditch crossing, and flat and side slope climbing performances of the articulated cave and urban area unmanned ground vehicle.
- the payloads (5) required for the execution of the task are mounted on the body module (1) via the payload integration interface (4).
- a flexible robot configuration is provided to the user, since whatever sensor or payload (5) is required for the task will be integrated. Due to the flexible configuration, the payloads (5) that will not be used during the task will not be carried in terms of weight and expensive sensors will not be put at risk. Due to its modular structure, maintenance, repair, and shipment operations will be facilitated, and its maintenance and replacement will be kept at a reasonable level.
- the length of the vehicle and the number of body modules (1) to be added are determined according to the payloads (5) to be integrated into the cave and urban area unmanned ground vehicle. After the appropriate number of body modules (1) are added one after the other, the balance tail (8) is mounted on the rearmost body module (1). Due to this balance tail (8), the performance of the unmanned ground vehicle in crossing steep obstacles, crossing ditches, and climbing stairs is improved.
- the motion provided by the power pack is brought to the appropriate speed and torque value and transmitted to the drive outputs (6) outside the body module (1).
- the drive outputs (6) have a common mechanical interface that allows different drive units (7) to be mounted. Depending on the ground to be operated on, such as sandy, stony, rocky, grassy, muddy, etc., it is required to increase the climbing ability of the robot, to prevent slipping, not to sink in the terrain, or to be able to overcome large and small obstacles.
- the most suitable drive units (7) according to these conditions are mounted to the motor drive outputs (6) by means of a common mechanical interface, thus increasing the driving performance of the cave and urban area unmanned ground vehicle on different grounds.
- UGV 1- Unlike existing UGVs, it can easily fit into narrow spaces such as caves, passages, urban areas, tunnels, and undergrounds, due to its low silhouette and articulated structure. It can perform critical tasks such as taking images, mapping and collecting information about environmental conditions by entering confined areas unsafe for human health or areas that cannot be entered by humans due to their narrow spaces.
- the sizes of the vehicle can be adjusted by adding or removing body modules (1) depending on the task to be performed and the terrain. Since the main focus is on the task while using the product, the integration of whatever is required as a payload (5) can be provided easily, and the task is carried out.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an articulated, low-silhouette unmanned ground vehicle that can be used underground, in caves, urban areas, tunnels, and narrow passageways.
Description
CAVE AND URBAN AREA UNMANNED GROUND VEHICLE
Technical Field
The invention relates to an articulated, low-silhouette unmanned ground vehicle that can be used underground, in caves, urban areas, tunnels, and narrow passageways.
More specifically, the invention relates to a cave and urban area unmanned ground vehicle that can operate in indoor spaces, underground, in tunnels, caves, pipelines, and similar structures with different grounds, to which body modules can be added and removed and have interchangeable drive units.
Background
Current unmanned ground vehicles (UGVs) cannot fit into narrow spaces such as caves, passages, urban areas, tunnels, and undergrounds due to their geometric dimensions, and cannot perform the necessary basic maneuvers required in indoor spaces. Conventional unmanned vehicles, which are reduced in size, fail to meet basic vehicle performance requirements such as overcoming obstacles, crossing ditches, etc. Furthermore, they use conventional drive methods such as tracks, wheels, or legs to move on the ground. Each drive method causes UGVs to perform differently in different terrains. Therefore, the drive method decided to be used in the Unmanned Ground Vehicle during the design phase limits the type of terrain to be operated and the vehicle performance in this terrain.
The geometric dimensions of the UGV and the drive method directly affect the vehicle's ability to climb slopes, side slopes, and ditches, to fit into narrow areas, and to overcome steep obstacles. In unmanned ground vehicles designed with conventional methods, in order to fulfill some of these mobility criteria, others are abandoned.
The types of tasks (reconnaissance, surveillance, CBRN, mapping, explosion) that UGVs can perform are directly related to the sensors and other equipment they contain. However, UGVs that have all sensors on board at the same time causes technical, economical, and
user experience challenges. Since not all sensors and equipment are needed in each task, there are disadvantages such as carrying extra weight at the time of use, jeopardizing expensive sensors in tasks, and the need for high user awareness for technical details that do not contribute to the task.
The article, in the known state of the art, titled "Advantage of straight walk instability in turning maneuver of multilegged locomotion: a robotics approach" and published in 2016 discloses a robot with multiple parts and legs. With the connection elements in the robot body, the body part can be multiplied. In addition, the legs of the robot are controlled by two tilt articulations, so that the legs follow a periodic trajectory, including the front-end position and the rear-end position.
US9180920B2 numbered US patent document in the known state of the art, discloses a mobile robot comprising a robot chassis with a front end, rear end, and a center of gravity. The robot comprises a support surface driven to move the robot and a pivotable articulated arm disposed behind the center of gravity of the robot chassis.
In the literature, there are unmanned ground vehicles and articulated robots consisting of a single body. As the payloads are added to the single-body UGVs, their silhouettes grow, and their center of gravity rises in position. For this reason, the vehicle grows in size, becomes heavier, and can easily rollover due to the increased center of gravity. Articulated robots, on the other hand, show different vehicle performances on different grounds since their drive methods are fixed.
In order to overcome these disadvantages, there is no similar cave and urban area unmanned ground vehicle with both an articulated body structure and interchangeable drive units. Therefore, there is a need to develop the unmanned aerial vehicle of the invention.
Objects of the Invention
The object of this invention is to realize cave and urban area unmanned ground vehicles that can operate in indoor spaces, underground, tunnels, caves, pipelines, and similar
structures with different grounds, to which the body modules can be added and removed and have interchangeable drive units.
Detailed Description of the Invention
The cave and urban area unmanned ground vehicle realized to achieve the objects of the present invention is shown in the attached figures.
These figures;
Figure 1: Top schematic view of cave and urban area unmanned ground vehicle.
Figure 2: Perspective schematic view of cave and urban area unmanned ground vehicle.
Figure 3: Exploded schematic view of cave and urban area unmanned ground vehicle.
Figure 4: Schematic view of the drive units located in the cave and urban area unmanned ground vehicle.
Figure 5: Schematic view of cave and urban area unmanned ground vehicle.
Figure 6: Perspective view of cave and urban area unmanned ground vehicle from a different angle.
The parts in the figures are individually numbered, and the corresponding numbers are given below.
1. Body module
2. Additional connection region
3. Multiaxial joints
4. Payload integration interface
5. Payload
6. Engine drive output
7. Drive unit
8. Balance tail
The invention is a cave and urban area unmanned ground vehicle, comprising;
- one or more body modules (1),
- additional connection region (2) at the rear of the body module (1), which enables other body modules (1) to be attached,
- multiaxial joints (3) that enable the body modules (1) to be connected to each other through an additional connection region (2),
- payload integration interface (4) located on the body module (1),
- payload (5) placed on the payload integration interface (4),
- three motor drive outputs (6) on the right and left sides of the body module (1),
- drive units (7) mounted on the engine drive outputs (6), which enable the vehicle to move,
- balance tail (8) mounted on the rearmost body module (1).
Unmanned ground vehicles may have to operate and perform in difficult terrains in order to perform tasks such as research, reconnaissance, surveillance, etc. However, the design criteria and vehicle geometries of unmanned ground vehicles directly affect their maneuverability and performance in these terrains. In vehicles consisting of a single body, the position of the center of gravity, vehicle weight, vehicle length, width, and height directly affect mobility (crossing steep and side slopes, traversing ditches, climbing steep obstacles, etc.) and the placement of the loads it carries.
Due to the articulated body structure of the developed unmanned ground vehicle, the number of body modules (1) appropriate for the task to be performed are added/removed one after the other from the additional connection region (2), and the cave and urban area unmanned ground vehicle is brought to the size suitable for the task.
The body modules (1) are connected to each other by means of multi-axis joints (3) in the additional connection region (2). Due to the functional structure of these multiaxial joints (3), the body modules (1) gain relative freedom of movement. This freedom of movement prevents all of the body modules (1) from rolling over at the same time while the cave and urban area unmanned ground vehicle is traveling on rough and twisty terrains. On the other
hand, the multiaxial joints (3) limit the movements of the body modules (1) in the vertical and horizontal directions by applying a pre-tensile force to the additional connection regions (2). Thus, the multiaxial joints (3) improve the vertical obstacle crossing, ditch crossing, and flat and side slope climbing performances of the articulated cave and urban area unmanned ground vehicle.
The payloads (5) required for the execution of the task are mounted on the body module (1) via the payload integration interface (4). A flexible robot configuration is provided to the user, since whatever sensor or payload (5) is required for the task will be integrated. Due to the flexible configuration, the payloads (5) that will not be used during the task will not be carried in terms of weight and expensive sensors will not be put at risk. Due to its modular structure, maintenance, repair, and shipment operations will be facilitated, and its maintenance and replacement will be kept at a reasonable level.
The length of the vehicle and the number of body modules (1) to be added are determined according to the payloads (5) to be integrated into the cave and urban area unmanned ground vehicle. After the appropriate number of body modules (1) are added one after the other, the balance tail (8) is mounted on the rearmost body module (1). Due to this balance tail (8), the performance of the unmanned ground vehicle in crossing steep obstacles, crossing ditches, and climbing stairs is improved.
In the cave and urban area unmanned ground vehicle, the motion provided by the power pack is brought to the appropriate speed and torque value and transmitted to the drive outputs (6) outside the body module (1). The drive outputs (6) have a common mechanical interface that allows different drive units (7) to be mounted. Depending on the ground to be operated on, such as sandy, stony, rocky, grassy, muddy, etc., it is required to increase the climbing ability of the robot, to prevent slipping, not to sink in the terrain, or to be able to overcome large and small obstacles. The most suitable drive units (7) according to these conditions are mounted to the motor drive outputs (6) by means of a common mechanical interface, thus increasing the driving performance of the cave and urban area unmanned ground vehicle on different grounds. Therefore, combinations can be made by installing different drive units (7) on the developed unmanned ground vehicle at the same time. For example, climbing legs can be attached to the front part of the vehicle body module (1), while tracks can be attached to the rear part. Thus, the unmanned ground vehicle will be
able to climb rocky terrain and steep obstacles, as well as move with track on soft terrains such as sandy, grassy, etc.
The benefits of the developed unmanned aerial vehicle are listed below:
1- Unlike existing UGVs, it can easily fit into narrow spaces such as caves, passages, urban areas, tunnels, and undergrounds, due to its low silhouette and articulated structure. It can perform critical tasks such as taking images, mapping and collecting information about environmental conditions by entering confined areas unsafe for human health or areas that cannot be entered by humans due to their narrow spaces.
2- Compared to other UGV systems, it is lightweight, easy to disassemble and transport due to its modular structure, and easy to maintain.
3- With its interchangeable drive units (7), it can perform tasks in different terrains such as stony, sandy, rocky, soil, and muddy ground in underground, cave, tunnel, urban and indoor areas.
4- The sizes of the vehicle can be adjusted by adding or removing body modules (1) depending on the task to be performed and the terrain. Since the main focus is on the task while using the product, the integration of whatever is required as a payload (5) can be provided easily, and the task is carried out.
5- Since it consists of a longitudinal repetitive combination of body modules (1) with an articulated structure, it can fit into narrow cavities, overcome steep obstacles, cross ditches, and move on flat and side slopes without rolling over. Due to its balance tail (8), it can easily climb stairs in urban areas.
6- Since it consists of the longitudinal repetitive combination of body modules (1) with an articulated structure, it is not complex, has high industrial applicability, and is suitable for economies of scale in terms of cost.
Claims
1. The invention is a cave and urban area unmanned ground vehicle, comprising;
- one or more body modules (1) characterized in that it comprises;
- additional connection region (2), at the rear of the body module (1), which enables other body modules (1) to be attached,
- multiaxial joints (3) that enable the body modules (1) to be connected to each other through an additional connection region (2),
- payload integration interface (4) located on the body module (1),
- motor drive outputs (6) on the right and left sides of the body module (1),
- drive units (7) mounted on the engine drive outputs (6), which enable the vehicle to move.
2. The cave and urban area unmanned ground vehicle according to claim 1, characterized in that it comprises a payload (5) placed on a payload integration interface (4).
3. The cave and urban area unmanned ground vehicle according to claims 1 or 2, characterized in that it comprises a balance tail (8) mounted on the rearmost body module (1).
4. The cave and urban area unmanned ground vehicle according to one of the preceding claims, characterized in that it comprises three motor drive outputs (6) located on the right and left sides of the body module (1).
7
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TR2021/019459 TR2021019459A2 (en) | 2021-12-09 | CAVE AND RESIDENTIAL UNMANNED GROUND VEHICLE | |
| TR2021019459 | 2021-12-09 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2023107081A1 true WO2023107081A1 (en) | 2023-06-15 |
Family
ID=86730947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/TR2022/051465 WO2023107081A1 (en) | 2021-12-09 | 2022-12-09 | Cave and urban area unmanned ground vehicle |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2023107081A1 (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6523629B1 (en) * | 1999-06-07 | 2003-02-25 | Sandia Corporation | Tandem mobile robot system |
| US20070209844A1 (en) * | 2006-03-10 | 2007-09-13 | National Institute Of Advanced Industrial Science And Technology | Crawler robot |
| US20140110183A1 (en) * | 2011-01-27 | 2014-04-24 | Pavlo E. Rudakevych | Small unmanned ground vehicle |
| WO2019069323A1 (en) * | 2017-10-05 | 2019-04-11 | Suryawanshi Ganesh | Chassis-less vehicle |
-
2022
- 2022-12-09 WO PCT/TR2022/051465 patent/WO2023107081A1/en unknown
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6523629B1 (en) * | 1999-06-07 | 2003-02-25 | Sandia Corporation | Tandem mobile robot system |
| US20070209844A1 (en) * | 2006-03-10 | 2007-09-13 | National Institute Of Advanced Industrial Science And Technology | Crawler robot |
| US20140110183A1 (en) * | 2011-01-27 | 2014-04-24 | Pavlo E. Rudakevych | Small unmanned ground vehicle |
| WO2019069323A1 (en) * | 2017-10-05 | 2019-04-11 | Suryawanshi Ganesh | Chassis-less vehicle |
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