Stair climbing robotic vehicle

Patent metadata

Field	Value
Publication number	US-12168377-B2
Application number	US-202217815837-A
Country	US
Kind code	B2
Filing date	Jul 28, 2022
Priority date	Jul 28, 2022
Publication date	Dec 17, 2024
Grant date	Dec 17, 2024

Abstract

The disclosure generally pertains to a robotic vehicle. An example robotic vehicle has a base platform that includes at least a chassis, an actuator, a sensor, and a controller. The chassis includes a first wheel that is attached to a first section of the chassis and further includes a second wheel attached to a second section of the chassis. The actuator has a proximal end attached to the first section of the chassis and a distal end attached to the second section of the chassis. The sensor is configured to obtain information associated with a stair structure located on a traversal path of the robotic vehicle. The controller evaluates the information obtained by the sensor and operates the actuator to vary a separation distance between the first section of the chassis and the second section of the chassis so as to enable the robotic vehicle to traverse the stair structure.

First claim

That which is claimed is:

1. A method to operate a robotic vehicle, the method comprising:
detecting, by the robotic vehicle, a stair structure located on a traversal path of the robotic vehicle;
evaluating, by the robotic vehicle, the stair structure;
modifying, by the robotic vehicle, a longitudinal dimension of a chassis of the robotic vehicle based on evaluating the stair structure; and
traversing the stair structure based on modifying the longitudinal dimension of the chassis of the robotic vehicle.

2. The method of claim 1 , wherein modifying the longitudinal dimension of the chassis of the robotic vehicle comprises:
modifying, by the robotic vehicle, a separation distance between a first wheel that is attached to a first section of the chassis of the robotic vehicle and a second wheel that is attached to a second section of the chassis of the robotic vehicle.

3. The method of claim 2 , wherein traversing the stair structure comprises:
actuating, by the robotic vehicle, a flipper to rotate over an arcuate angle for raising at least the first wheel to prevent contact between the first wheel and a step in the stair structure, and to enable the flipper to make contact with the step in the stair structure for providing traction to the robotic vehicle.

4. The method of claim 2 , further comprising:
removing, by an individual, a dual-functionality deck that is mounted upon a four-bar linkage assembly attached to a top surface of the first section of the chassis;
mounting, by the individual, a package housing module upon the four-bar linkage assembly in place of the dual-functionality deck; and
placing, by the individual, the dual-functionality deck upon a top surface of the package housing module, the dual-functionality deck operative as a lid.

5. The method of claim 4 , further comprising:
placing, by the individual, a package inside the package housing module;
detecting, by the robotic vehicle, a movement of the package inside the package housing module when traversing the stair structure; and
operating, by the robotic vehicle, the four-bar linkage assembly to modify an orientation of the package housing module in response to detecting the movement of the package inside the package housing module.

6. The method of claim 5 , wherein placing the package inside the package housing module comprises:
activating, by the robotic vehicle, a slide-out conveyor configured for moving the package or a bin into the package housing module;
mounting, by the individual, the package upon the slide-out conveyor; and
retracting, by the robotic vehicle, the slide-out conveyor to move the package into the package housing module.

7. The method of claim 6 , further comprising:
operating, by the robotic vehicle, the four-bar linkage assembly to align an axis of the package housing module with a package drop-off surface; and
activating, by the robotic vehicle, the slide-out conveyor configured for moving the package out of the package housing module and on to the package drop-off surface.

Assignees

• Ford Global Tech Llc

Inventors

• Panigrahi Smruti
• Lundeen Kurt
• Hong Sanghyun
• Chen Yifan

Classifications

• B60P1/36

  using endless chains or belts thereon · CPC title

• B62D21/14

  of adjustable length or width · CPC title

• B62D57/024

  specially adapted for moving on inclined or vertical surfaces (endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02) · CPC title

• B60K1/00 Primary

  Arrangement or mounting of electrical propulsion units (B60K7/00 takes precedence; arrangement or mounting of plural diverse prime-movers for mutual or common propulsion B60K6/00) · CPC title

• B62D61/12

  with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels (for manoeuvring purposes only B60S) · CPC title