Patent · US9586471B2 · B2 · US

Robotic omniwheel

(11) Publication number

US9586471B2

(21) Application number

13/872,054

(22) Filing date

2013-04-26

(30) Priority date

2013-04-26

(43) Publication date

2017-03-07

(45) Date of grant

2017-03-07

(51) IPC

B60K 17/30; B60K 7/00

(52) CPC

B60K Arrangement or mounting of propulsion units or of transmissions in vehicles; arrangement or mounting of plural diverse prime-movers in vehicles; auxiliary drives for vehicles; instrumentation or dashboards for vehicles; arrangements in connection with cooling, air intake, gas exhaust or fuel supply of propulsion units in vehicles: 7/0007, 17/30, 2007/0038, 2007/0092, 31/0058
A63C Skates; skis; roller skates; design or layout of courts, rinks or the like: 17/014, 17/12, 2203/12
B25J Manipulators; chambers provided with manipulation devices: 5/007
B60B Vehicle wheels; castors; axles for wheels or castors; increasing wheel adhesion: 19/003
B60L Propulsion of electrically-propelled vehicles; supplying electric power for auxiliary equipment of electrically-propelled vehicles; electrodynamic brake systems for vehicles in general; magnetic suspension or levitation for vehicles; monitoring operating variables of electrically-propelled vehicles; electric safety devices for electrically-propelled vehicles: 2200/12, 2200/14, 2260/34, 53/80
B60W Conjoint control of vehicle sub-units of different type or different function; control systems specially adapted for hybrid vehicles; road vehicle drive control systems for purposes not related to the control of a particular sub-unit: 2420/408, 2710/20
B60Y Indexing scheme relating to aspects cross-cutting vehicle technology: 2200/91
B62J Cycle saddles or seats; auxiliary devices or accessories specially adapted to cycles and not otherwise provided for, e.g. article carriers or cycle protectors: 43/10, 45/00, 45/4151, 45/4152
B62K Cycles; cycle frames; cycle steering devices; rider-operated terminal controls specially adapted for cycles; cycle axle suspensions; cycle sidecars, forecars, or the like: 11/007, 11/02, 17/00, 21/12, 21/26, 2204/00, 23/02, 25/02, 5/08
G05D Systems for controlling or regulating non-electric variables: 1/0016, 1/0231, 1/0257, 1/0276, 1/0278
Y02T Climate change mitigation technologies related to transportation: 10/70, 10/7072, 90/16

(73) Assignee

GILLETT CARLA R

(72) Inventors

GILLETT CARLA R

(54) Title

Robotic omniwheel

(57) Abstract

A robotic omniwheel system for motion comprising various components such as in wheel motor assemblies with brake, supportive hub and axle assemblies, strut and yoke assemblies for suspension, a motor device having controller for steering motion, a motorized universal joint for rocking motion, an active transmission rod to uniquely engage lift and expansion which are managed by a drive logic system comprising status control system and sensor array, laser radar, GPS, and as well as manual navigational control system including wireless remote control for communication and monitoring motion states for transport and to monitor power levels therein. As well, an electrical system includes battery array to furnish power for the robotic omniwheel array assemblies and to the electrical components via power cable. Accordingly, a navigational system can control components by a cell phone device and by a remote controller device with toggle switches, and also by a remote control panel having touch screen monitor and thusly allowing the robotic omniwheel array to move about in a holonomic manner for transport.

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Claims (5)

The robotic omniwheel apparatus system comprising: an omniwheel apparatus comprising: a wheel frame housing a hub motor with brake, a motor controller, microprocessors and sensor devices for controlling motion, a hub assemblies including; an axle rod, bearings, bolts, a hub cap with lug nuts, a yoke array with strut and hollow conduit to contain prewired USB power cable connections and motion sensors by plugging directly into omniwheel apparatus and other modules, a first connection method by affixing the yoke's strut end opening to couple directly to an omniwheel apparatus hub, said yoke array is further comprising: a second connection method to couple an upper yoke section to at least one of the following module array in any order; the upper yoke section coupled onto a steering module and to a flange mounting, the upper section of the yoke with a connection to a universal joint module, an upper section of said universal joint module which is a connected to the lower section of the steering module, a third connection method to couple to the yoke to the base of the framed platform thusly supporting the module array, and also comprising a compartment to house the robotic omniwheel control system comprising wherein: a CPU control system and autonomous drive logic control for tracking and monitoring robotic omniwheel assembly devices including; a wireless processing arrangement, GPS mapping, lidar device, radar scanner systems, sensor array, and also utilizing a wireless telecommunication motion control system comprising user interface control devices in a communication arrangement for transmitting and receiving positional signals to selectively activate robotic drive motion, and a power control system, a battery bank and a charger device, a retractable USB power cable, sensors, wiring, plugs and fuel systems.
The omniwheel apparatus system of claim 1 for controlled robotic motion states comprising: synchronized steering, rocking and lifting motions to maneuver the framed platform, methods including: controlling actuation of said wheel motor accordingly steering from 0 degree-360 degrees thusly achieving forward and reverse direction at 180 degrees, also achieving parallel directions at 90 degrees and 270 degrees, and also achieving traverse directions at 45 degrees and 225 degrees, controlling pivoting actuation of said universal joint mechanism for lateral pivoting motion from 1 degree up to 90 degrees thus rocking fore and aft to balance the framed platform, controlling telescoping actuation of said transmission rod mechanism for vertical lift and lowering motions to stabilize the framed platform.
The framed platform of claim 1 further comprising: frame bolts to connect flange bracket via bolts onto the yoke array's steering motor, motorized universal joint motor, and motorized transmission rod which are plugged in to the power control system, thus said frame is made from metal, plastic composite materials, carbon fiber to form a geometric shape.
A robotic drive system for controlling the omniwheel apparatus of claim 1, the robotic drive system comprising a processor configured to extract control information of at least one telecommunication device from coded information; and a network interface configured to modulate the control information extracted by the processor based on a communication type of the user cell phone device and output the modulated control information, and a wireless telecommunication control system comprising user interface control devices with voice control, touch control including digital toggles, switches, and a user smart cell phone device with verbal and digital navigation control methodology to navigate the robotic omniwheel array by maneuvering drive control via a user in a hand held manner whilst on board or from afar, a wireless hand held remote controller device with navigation control methodology with touch screen monitor with navigation control methodology for visual and verbal control of said robotic omniwheel array.
A robotic omniwheel system of claim 1 further comprising manual drive control methodology to navigate the robotic omniwheel array diversely situated in a chassis with manual navigation by utilizing a steering wheel comprising linkage, gears, belts, and also by speed and brake pedals.

Description

The present disclosure relates to a robotic omniwheel assembly for use in a vehicle platform which a modular yoke and strut assembly holonomically maneuvers during driving navigation.

Related Art for Comparability In the past various types of omniwheels and conventionally powered robot wheels have been used to drive a vehicle omni-directionally but those types of wheel assemblies do not prevent a bouncing ride and do not enhance balance and stability, cited art discusses a yoke and a strut supporting the wheel assemblies yet does address the power system wiring and cable obviously hanging loosely which can be easily snagged or damaged during transport and is also visually unappealing. The present robotic omniwheel utilizes clever methods to solve this problem by ideally containing the power systems electrical wiring array inside the yoke and strut via a hollow conduit securing the cabling connections from omniwheel to the frame, and offers solutions for other problems that cited art does not achieve which are detailed. Prior art does disclose hub wheels which can rotate at 90 degrees to turn a vehicle omnidirectional in a circle however those hub wheels do not steer at a full 360 degrees to pivot fore and aft in a robotic manner or raise the chassis higher then lower it back down.

Citations (8)

US2004112656A1
US3720281A
US4776415A
US4815008A
US4816998A
US5137103A
US5163273A
US7047712B1

Record as JSON

{
  "publication_number": "US9586471B2",
  "country": "US",
  "kind": "B2",
  "title": "Robotic omniwheel",
  "abstract": "A robotic omniwheel system for motion comprising various components such as in wheel motor assemblies with brake, supportive hub and axle assemblies, strut and yoke assemblies for suspension, a motor device having controller for steering motion, a motorized universal joint for rocking motion, an active transmission rod to uniquely engage lift and expansion which are managed by a drive logic system comprising status control system and sensor array, laser radar, GPS, and as well as manual navigational control system including wireless remote control for communication and monitoring motion states for transport and to monitor power levels therein. As well, an electrical system includes battery array to furnish power for the robotic omniwheel array assemblies and to the electrical components via power cable. Accordingly, a navigational system can control components by a cell phone device and by a remote controller device with toggle switches, and also by a remote control panel having touch screen monitor and thusly allowing the robotic omniwheel array to move about in a holonomic manner for transport.",
  "claims": [
    "1. The robotic omniwheel apparatus system comprising: an omniwheel apparatus comprising: a wheel frame housing a hub motor with brake, a motor controller, microprocessors and sensor devices for controlling motion, a hub assemblies including; an axle rod, bearings, bolts, a hub cap with lug nuts, a yoke array with strut and hollow conduit to contain prewired USB power cable connections and motion sensors by plugging directly into omniwheel apparatus and other modules, a first connection method by affixing the yoke's strut end opening to couple directly to an omniwheel apparatus hub, said yoke array is further comprising: a second connection method to couple an upper yoke section to at least one of the following module array in any order; the upper yoke section coupled onto a steering module and to a flange mounting, the upper section of the yoke with a connection to a universal joint module, an upper section of said universal joint module which is a connected to the lower section of the steering module, a third connection method to couple to the yoke to the base of the framed platform thusly supporting the module array, and also comprising a compartment to house the robotic omniwheel control system comprising wherein: a CPU control system and autonomous drive logic control for tracking and monitoring robotic omniwheel assembly devices including; a wireless processing arrangement, GPS mapping, lidar device, radar scanner systems, sensor array, and also utilizing a wireless telecommunication motion control system comprising user interface control devices in a communication arrangement for transmitting and receiving positional signals to selectively activate robotic drive motion, and a power control system, a battery bank and a charger device, a retractable USB power cable, sensors, wiring, plugs and fuel systems.",
    "2. The omniwheel apparatus system of claim 1 for controlled robotic motion states comprising: synchronized steering, rocking and lifting motions to maneuver the framed platform, methods including: controlling actuation of said wheel motor accordingly steering from 0 degree-360 degrees thusly achieving forward and reverse direction at 180 degrees, also achieving parallel directions at 90 degrees and 270 degrees, and also achieving traverse directions at 45 degrees and 225 degrees, controlling pivoting actuation of said universal joint mechanism for lateral pivoting motion from 1 degree up to 90 degrees thus rocking fore and aft to balance the framed platform, controlling telescoping actuation of said transmission rod mechanism for vertical lift and lowering motions to stabilize the framed platform.",
    "3. The framed platform of claim 1 further comprising: frame bolts to connect flange bracket via bolts onto the yoke array's steering motor, motorized universal joint motor, and motorized transmission rod which are plugged in to the power control system, thus said frame is made from metal, plastic composite materials, carbon fiber to form a geometric shape.",
    "4. A robotic drive system for controlling the omniwheel apparatus of claim 1, the robotic drive system comprising a processor configured to extract control information of at least one telecommunication device from coded information; and a network interface configured to modulate the control information extracted by the processor based on a communication type of the user cell phone device and output the modulated control information, and a wireless telecommunication control system comprising user interface control devices with voice control, touch control including digital toggles, switches, and a user smart cell phone device with verbal and digital navigation control methodology to navigate the robotic omniwheel array by maneuvering drive control via a user in a hand held manner whilst on board or from afar, a wireless hand held remote controller device with navigation control methodology with touch screen monitor with navigation control methodology for visual and verbal control of said robotic omniwheel array.",
    "5. A robotic omniwheel system of claim 1 further comprising manual drive control methodology to navigate the robotic omniwheel array diversely situated in a chassis with manual navigation by utilizing a steering wheel comprising linkage, gears, belts, and also by speed and brake pedals."
  ],
  "description_excerpt": "The present disclosure relates to a robotic omniwheel assembly for use in a vehicle platform which a modular yoke and strut assembly holonomically maneuvers during driving navigation.\n\nRelated Art for Comparability In the past various types of omniwheels and conventionally powered robot wheels have been used to drive a vehicle omni-directionally but those types of wheel assemblies do not prevent a bouncing ride and do not enhance balance and stability, cited art discusses a yoke and a strut supporting the wheel assemblies yet does address the power system wiring and cable obviously hanging loosely which can be easily snagged or damaged during transport and is also visually unappealing. The present robotic omniwheel utilizes clever methods to solve this problem by ideally containing the power systems electrical wiring array inside the yoke and strut via a hollow conduit securing the cabling connections from omniwheel to the frame, and offers solutions for other problems that cited art does not achieve which are detailed. Prior art does disclose hub wheels which can rotate at 90 degrees to turn a vehicle omnidirectional in a circle however those hub wheels do not steer at a full 360 degrees to pivot fore and aft in a robotic manner or raise the chassis higher then lower it back down.",
  "cpc": [
    "B60K 7/0007",
    "A63C 17/014",
    "A63C 17/12",
    "A63C 2203/12",
    "B25J 5/007",
    "B60B 19/003",
    "B60K 17/30",
    "B60K 2007/0038",
    "B60K 2007/0092",
    "B60K 31/0058",
    "B60L 2200/12",
    "B60L 2200/14",
    "B60L 2260/34",
    "B60L 53/80",
    "B60W 2420/408",
    "B60W 2710/20",
    "B60Y 2200/91",
    "B62J 43/10",
    "B62J 45/00",
    "B62J 45/4151",
    "B62J 45/4152",
    "B62K 11/007",
    "B62K 11/02",
    "B62K 17/00",
    "B62K 21/12",
    "B62K 21/26",
    "B62K 2204/00",
    "B62K 23/02",
    "B62K 25/02",
    "B62K 5/08",
    "G05D 1/0016",
    "G05D 1/0231",
    "G05D 1/0257",
    "G05D 1/0276",
    "G05D 1/0278",
    "Y02T 10/70",
    "Y02T 10/7072",
    "Y02T 90/16"
  ],
  "ipc": [
    "B60K 17/30",
    "B60K 7/00"
  ],
  "assignees": [
    "GILLETT CARLA R"
  ],
  "inventors": [
    "GILLETT CARLA R"
  ],
  "filing_date": "2013-04-26",
  "publication_date": "2017-03-07",
  "grant_date": "2017-03-07",
  "priority_date": "2013-04-26",
  "application_number": "US-201313872054-A",
  "family_id": "51788309",
  "citations": [
    "US2004112656A1",
    "US3720281A",
    "US4776415A",
    "US4815008A",
    "US4816998A",
    "US5137103A",
    "US5163273A",
    "US7047712B1"
  ]
}

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