Modular robotic vehicle

US9085302B2 · kind B2 · utility

Assignee

• The United States of America as represented by the Administrator of the National Aeronautics and Space Administration · US

Inventors

• Christopher E. Borroni-Bird · Oakland Charter Township, US
• Robert Louis Vitale · Macomb Township, US
• Chunhao J. Lee · Troy, US
• Robert O. Ambrose · Houston, US
• William J. Bluethmann · Houston, US
• Lucien Q. Junkin · Houston, US
• Jonathan J. Lutz · League City, US
• Raymond Guo · Seabrook, US
• Anthony Joseph Lapp · Houston, US
• Justin S. Ridley · Houston, US

Key dates

• Filing date: Sep 20, 2013
• Grant date: Jul 21, 2015
• Expiry date: Jan 28, 2034

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60T2260/09
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

A modular robotic vehicle includes a chassis, driver input devices, an energy storage system (ESS), a power electronics module (PEM), modular electronic assemblies (eModules) connected to the ESS via the PEM, one or more master controllers, and various embedded controllers. Each eModule includes a drive wheel containing a propulsion-braking module, and a housing containing propulsion and braking control assemblies with respective embedded propulsion and brake controllers, and a mounting bracket covering a steering control assembly with embedded steering controllers. The master controller, which is in communication with each eModule and with the driver input devices, communicates with and independently controls each eModule, by-wire, via the embedded controllers to establish a desired operating mode. Modes may include a two-wheel, four-wheel, diamond, and omni-directional steering modes as well as a park mode. A bumper may enable docking with another vehicle, with shared control over the eModules of the vehicles.