IT201800004459A1 - Remote guided terrestrial robotic system for rescue and transport of injured personnel and for general transport adaptive to any surface and with autonomous driving capability with different levels of control - Google Patents

Description

Remote guided terrestrial robotic system for rescue and transport of injured personnel and for general transport adaptive to any surface and with autonomous driving capability with different levels of control

DESCRIPTION

The present invention relates to a remotely controlled robotic vehicle using a remote guide (defined as Unmanned Ground Vehicle or UGV) including autonomous driving capability for rescue and transport of injured personnel in serious contingency situations and for general adaptive transport to any surface.

Numerous situations are known, for example in war or during an armed conflict or due to an unexpected catastrophic event (earthquake, accident, etc.) in which it is necessary to recover and save people in danger due to adverse conditions; it is also known that very often, the same rescue or rescue activity exposes the rescuers themselves, professional or improvised, to dangerous situations as it usually occurs in extremely dangerous situations and sometimes the latter often lose their lives; for example, as it happens when during an armed conflict the wounded is exposed and targeted by hostile elements.

Therefore, the object of the present invention is to solve the aforementioned problems by providing a UGV for rescue and general transport, which can, autonomously and without a pilot on board, go to the recovery area of the victim to be rescued and provide for rescue.

Another object of the present invention is to provide a UGV rescue vehicle capable of recovering the injured person from the ground, in a horizontal position, loading him even if in a state of (semi) unconsciousness or, in any case, unable to offer complete effective collaboration, thus avoiding that occasional people who improvise as rescuers may be in danger if the conditions for recovery are adverse.

Furthermore, the object of the present invention is to provide a particularly light rescue and transport UGV vehicle capable of being air-launched.

UGV robots are motorized vehicles that operate without human presence on board. Remotely controlled and driven unmanned vehicles (such as UGVs) are widely used in high-risk applications such as bomb disposal, search and rescue, hazardous material disposal, surveillance, etc.

The generic concept of UGV provides a chassis or frame that represents the support structure, wheels, actuator motors, cameras, a communication system (preferably audio / video), proximity sensors, a computer system, suspensions, a guidance system.

The wheels, the actuator motors, the cameras, the communication system, the proximity sensors, the computer system, suspension, driving system are associated with the support structure or platform. The communication system (wireless communication) makes it possible to maintain a continuous remote audio / video connection with the control station and with other data transfer units (radio links).

Since UGVs are often used in sloped areas (e.g. hills, slopes, rubble, stairs, etc.). In these scenarios, UGVs can be unstable. As a consequence of this instability, the UGVs can tip over and cause damage to the UGV and consequently to the mission they are carrying out.

The present invention therefore also relates to a remotely controlled vehicle with remote driving (UGV) with characteristics of high stability thanks to its triangular shape, with a weight of less than about 165 kgr, which can climb slopes of about 16 °, and which it can also be air-launched with a parachute and then fall on a hard / non-elastic surface without incurring structural damage that could hinder its mission.

This UGV robot is intended for use in defense, disaster relief, disaster relief, and general rescue and transport missions.

This UGV, therefore, has the main function of transporting injured people by moving them from hostile environments such as battlefields, earthquake areas or where catastrophic events such as natural or man-made disasters are underway, but it can also be used for the transport of payloads. (support / war material) or other equipment of various characteristics including also the possibility of loading active weapons or control systems and surveillance of areas, thus making the UGV a multi-role and multi-purpose operating platform with the only condition that concerns the limit of load in use which is not to exceed the estimated overall 175 Kgr of load, thus reducing the dependence on the rotary wing support and facilitating the movement of operational / tactical personnel.

The aforementioned and other objects and advantages of the invention, which could result from the detailed explanation given in the description, are achieved by the UGV or remotely controlled robotic vehicle (including autonomous driving capability) intended for rescue in hostile environments or adverse conditions such as that described in claim 1. Preferred embodiments and non-trivial variants of the present invention form the subject of the dependent claims.

It is understood that all the attached claims form an integral part of the present description.

It is evident that innumerable variations and modifications (for example relating to shape, dimensions, arrangements and parts with equivalent functionality) can be made to what has been described without departing from the scope of the invention as appears from the attached claims. The present invention will be better described by some preferred embodiments, provided by way of non-limiting example, with reference to the attached drawings, in which:

Figure 1 shows a top view concerning the preferred embodiment of the rescue and transport vehicle UGV 1 of the present invention.

Figure 2 shows a second top view detailing the preferred embodiment of the rescue and transport UGV vehicle 1 of the present invention in a configuration without transport elements and defined as a "clean" configuration.

- Figure 3 shows a third top view that details the same preferred embodiment of the rescue and transport UGV vehicle 1 of the present invention in another operating configuration for generic material transport.

Figure 4 shows a first left side view which details the preferred embodiment of the rescue and transport UGV vehicle 1 of the present invention in a "clean" configuration.

Figure 5 shows a first right side view which details the preferred embodiment of the rescue and transport UGV vehicle 1 of the present invention in a "clean" configuration.

Figure 6 shows a second side view which details the preferred embodiment of the rescue and transport UGV vehicle 1 of the present invention in configuration with a stretcher (litter) and presents details thereof.

Figure 7 shows a second side view which details the preferred embodiment of the rescue and transport UGV vehicle 1 of the present invention in configuration with a stretcher in a wounded lifting representation.

With reference to the Figures, it is possible to note that the robotic vehicle or UGV for rescue and transport 1 for a victim according to the present invention, in particular of the semi-automatic or automatic type and without pilot on board, has an isosceles triangular structure shape. acute angle supported by a double chassis 7 made of reinforced double layer composite material and arranged longitudinally with respect to the direction of advance of this rescue and transport vehicle UGV 1. The "Y" -shaped chassis 7 performs the function of supporting the propulsion system and in particular of the command system 22 and guide 23. The platform 15 acts as a support and overturned support of the chassis 7 in the lower part and in the upper part, it acts as a base to accommodate the different configurations for transport in the different types of missions or conformation . In addition, the lower part of the platform 15 houses the set of right 21a and left 21b batteries as well as the wiring for driving and data management.

In addition to the batteries 21a and 21b, the platform 15 also carries a tilting surface 16 which, if necessary, lowers to allow for facilitated loading or lifting of the injured person if acting in autonomous mode.

In the platform 15 there are also the fixing hooks 20 where the protective screens of the injured person can be secured.

The propulsion system of the rescue and transport vehicle UGV 1 is provided by the electric stepping actuator motors 6, by the spherical wheels 2 which give the platform the ability to move on any type of terrain. The rescue and transport UGV 1 of the present invention has a system of three spherical wheels 2, consisting of two hemispheres 3a and 3b each, decoupled from each other to facilitate directional control without the mechanical elements typical of a traditional guide system . This system has an arrangement of the spherical wheels 2 in a triangular-isosceles-acute angle shape in its arrangement following that of the base structure. The spherical wheel system 2 of the present invention is exclusively based on the study Spherical Omnidirectional Wheel: “Omni-Ball” by K. Tadakuma. The rescue and transport UGV 1 has its body at the center of the entire triangular base structure. The propulsive force (the actuator motors 6) are located in each vertex of the triangle and is given by three brushless actuator motors 6 with step-by-step control. The mechanism of the spherical drive wheels 2 uses the "Omni-Ball" system with an active spherical rotation axis 4 with two hemispheres with passive rotation on axis 5 placed at the center of the circumference. Hence, the single wheel 2 consists of a sphere consisting of two hemispheres 3a and 3b which separately passively rotate around a common axis 5 through their hemisphere centers (circumference). The spherical wheel assembly 2 is actively rotated by the propulsion unit provided by the actuator motor 6 around the axis 4 parallel to the plane of the hemispheres as shown in Figure 1. The radius of rotation of the passive hemispheres 3a and 3b are the same as that of the entire mechanism of the spherical wheel 2 overall, so that this spherical wheel mechanism can have the high ability to climb inclined planes.

The movement of the UGV of this invention in semi-automatic mode is controlled by a pilot who is in a remote position with respect to the rescue and transport UGV 1 and who, using a control unit equipped with a joystick, directs the UGV of rescue and transport 1 in the desired routes through a remote audio / video / data connection that allow them to see the route by means of the video system 14 and constantly know their position by means of the positioning or geo-localization system 13.

Another system with which the rescue and transport UGV 1 is equipped consists of a set of 14 video cameras with remote control night vision capabilities on the upper part of the left shaft. This consists of a fixed camera and two cameras that can swing sideways.

The control unit communicates with the Rescue and Transport UGV 1 via a wireless or radio communication link.

In the case of semi-automatic operation, the operating directives or commands are given by a remote operator via radio or encrypted wireless communication. The commands received by the command systems 22 and guide systems 23 are managed by a teleoperation system substantially known in the art, in particular, this teleoperation system is a communications manager already used for high-risk operations composed of a receiving station housed in the inside of a container in the control system 22 connected by signal cables to the guide system 23. The control signal cables are the reference for the drivers of the various actuators.

The movement of the rescue and transport UGV 1 is typically controlled by modulating the speed of the rescue and transport UGV 1 in proportion to the movement of the joystick of the control unit.

In the case of automatic operation, the guidance systems comprise a geo-localization system 13, i.e. a GPS emitter / receiver system, which allows the UGV rescue and transport vehicle 1 to be traceable by the remote operator or by its own guidance system. .

The UGV rescue and transport vehicle 1 according to the present invention is therefore able to operate even if the person in difficulty who is to be recovered is able to send a GPS signal and therefore by means of the position data communications received from the external, the rescue and transport vehicle UGV 1 knows the position of the person to be rescued. Then, together with the video camera system 14, the proximity sensor 8 and the geolocation system 13 it determines by defining and analyzing in progression the optimal path to follow in order to autonomously reach the place where the injured person is.

This detail, logically, does not imply that the UGV rescue and transport vehicle 1 cannot be used to search for missing persons, not equipped with any traceability and localization device. To meet this need too, the guide system includes and cooperates with the various sensors on board, such as the video camera system 14 which operates with the help of high intensity and infrared LED lights contained in the platform 15 and in the video camera 14. essential for night vision and determination of heat sources.

The applications of the UGV rescue and transport vehicle 1 according to the present invention are obviously numerous and, for example, it can be used as an automatic or semi-automatic rescue vehicle provided by the armed forces, for the garrison of areas under control, and basically in aid of immediate response forces in the event of natural disasters.

In the present description some elementary embodiments of the invention have been described, but they are certainly susceptible to further modifications and variations within the same inventive idea. In particular, numerous variants and modifications, functionally equivalent to the preceding ones, which fall within the field of application of the invention will be immediately apparent to those skilled in the art, as highlighted in the attached claims.

The operation of the rescue vehicle 1 according to the present invention as described above is therefore as follows:

Self-recovery

- The UGV rescue and transport vehicle 1 in self-recovery configuration is brought, with the aid of the propulsion means 6, near the person to be recovered in a longitudinal manner preferably from the head side, placing substantially on the axis of the person himself

- the safety hooks 18 are remotely controlled to open;

- the pulley hoist 19 allows the movement of the stretcher 10, dragging it with the dragging eyelet 24 up to the beginning of the platform 15.

- by means of the video cameras 14, the remote operator in command of the UGV rescue and transport vehicle 1 can manage and control the entire operation;

- the platform 10 brings down the inclinable plane 16 which houses the drive gears 9 necessary to make the drive rollers 12 of the stretcher 10 rotate in a synchronized manner;

- the stretcher structure 10 has descended at a sufficient angle for dragging and retrieval thanks to the tiltable plane 16 which tilts; - when the stretcher has completely descended, with the help of the propulsion means 6, the UGV rescue and transport vehicle 1 slowly advances, lifting the person and making him slide on the stretcher 10 thanks to the synchronized rollers 12 which allow the body of the incapable injured person to slide to offer complete effective collaboration;

- the synchronized rollers 12 of the stretcher 10 allow the body of the injured person to slide halfway down the stretcher;

- at this point, the UGV rescue and transport vehicle 1 moves quickly from the danger area or hostile environment, continuously signaling its position thanks to the positioning system 13 supplied or heading autonomously to a recovery area or safe place closer.

Assisted recovery

- In the assisted or personnel-supported recovery configuration, the UGV rescue and transport vehicle 1 moves, with the aid of propulsion means 6, as close as possible to the person to be recovered;

- by means of a remote control or directly by pressing the stretcher release button placed on the platform 15, the stretcher 10 is released from the safety hooks 18 and from the dragging eye 24, remaining free to be moved freely;

- with the help of support staff, the injured person is loaded and harnessed on the stretcher 10;

- The support staff confirms to the rescue and transport 1 UGV that the recovery has taken place and by means of a command from the remote operator driving, it is confirmed that the injured person is ready to be transported as quickly as possible from the area of danger;

- at this point, the UGV rescue and transport vehicle 1 moves quickly from the danger area or hostile environment, continuously signaling its position thanks to the positioning system 13 supplied or heading autonomously to a recovery area or safe place closer.

In addition to the all-terrain displacement capabilities provided by the UGV Rescue and Transport 1 vehicle, it also has additional buoyancy capabilities.

In particular, it is possible to note in Figures 1, 2 and 3 the size of the triad of wheels 2 composed of the two hemispheres 3a and 3b. These give the UGV rescue and transport vehicle 1 a minimum ability to remain or keep afloat allowing the transported person to be carried across fords or stretches of water for a short distance. For this reason, all electronic components below the buoyancy level are watertight. This also includes 6 propulsive means.

In the stretcher 10 of figure 1 both the dragging rollers 12 of the injured person and the openings that allow the injured person to support themselves in case of impossibility of having support or help from the support staff to get on the stretcher 10 are evident.

In particular, it is possible to note in the same Figure 1 the system of belts 11a and 11b useful for the harness of the transported person or injured person, allowing safe transport in this form.

In particular, it is possible to notice in Figure 2 the basket for generic transport 25. The change between stretcher or gurney 10 and basket for generic transport 25 does not require any additional re-configuration to the rescue and transport vehicle 1 other than to simply exchange the stretcher 10 with general transport basket 25.

Some preferred embodiments of the invention have been disclosed, but of course during the development stages, they may be subject to further modifications and changes within the same inventive idea.

Specifically, evident numerous variants and modifications functionally equivalent to the previously described fall within the scope of the invention as highlighted in the claims attached to the present invention.

Claims (10)

CLAIMS Claims of the invention entitled: "TERRESTRIAL ROBOTIC SYSTEM WITH REMOTE GUIDANCE FOR AID AND TRANSPORT OF INJURED PERSONNEL AND FOR GENERIC TRANSPORT ADAPTIVE TO ANY SURFACE AND WITH AUTONOMOUS DRIVING CAPACITY WITH DIFFERENT LEVELS OF CONTROL" 1. Land rescue vehicle (1) for at least one person, in particular of the semi-automatic type with remote control or automatic and unmanned driving (defined as Unmanned Ground Vehicle or UGV), being composed of a triangular structure- isosceles-acute angle is characterized by the fact that the rescue vehicle (1) and transport includes a propulsion system consisting of motors (6), spherical wheels (2); it consists of a "Y" -shaped chassis (7) and a transport platform (15) supporting the chassis (7) in the lower part and which acts as a transport platform in the upper part where the stretcher is positioned ( 10) for transporting the injured person or the general cargo basket (25). The vehicle (1) according to claim 1, characterized in that said propulsion system consisting of three actuator motors (6) positioned in each vertex of the triangle designed to allow the vehicle (1) to advance until reaching and recovering the injured person. The vehicle (1) according to claim 1, characterized in that said propulsion system consisting of three spherical wheels (2), each composed of two hemispheres (3a and 3b) which gives the rescue vehicle (1) adaptive capacity to all types of terrain and high stability, thanks also to its low center of gravity, allow the vehicle itself to be able to enter dangerous areas. 4. The vehicle (1) according to claim 1, characterized in that said propulsion system composed of the motors (6) is able to bring the rescue vehicle (1) itself close to the injured person and by means of the inclinable plane (16) together to the stretcher (10), in the absence of support staff, slide the stretcher (10) under the injured person, and then drag said person together with the stretcher (10) onto the surface (15) and secure it with the safety hooks (18 ) on the transport platform (15), furthermore providing additional protection with the addition of side protective shields with anti-bullet capabilities by fixing them in the fixing hooks (20). The vehicle (1) according to claim 1, characterized in that said digitally controlled propulsion system is composed of the three actuator motors (6) each independently controlled by a respective different power and rotation manager (23) placed under the platform (15) between the chassis (7). The vehicle (1) according to claim 1, characterized in that being composed of a triangular-isosceles-acute-angle structure, it consists of three wheels (2) of such dimensions and composition that they give the vehicle (1) a minimum capacity to remain or keep afloat by allowing the injured person or general cargo to be carried across fords or bodies of water for a short distance. The vehicle (1) according to claim 5, characterized in that said digitally controlled propulsion system is composed of the three actuator motors (6) comprising a single directional system (23) with the individual management of the actuator motors (6) which allows the vehicle (1) to change direction even in lateral u omnidirectional (headless) displacements. The vehicle (1) according to claim 7, characterized in that in the case of semi-automatic operation, said driving form is controlled by a remote teleoperation system with encrypted transmissions which sends the operating commands or directives to the control system communication and command (22) placed under the platform (15) between the chassis (7) supported by a geo-positioning system (13) interfaced with a standard global positioning system. The according to claim 7, characterized in that in the case of automatic operation, said driving form comprises at least the support of a geo-positioning system (13) interfaced with a global standard positioning system. The vehicle (1) according to claims 8 and 9, characterized in that in the case of semi-automatic or automatic operation, consists of proximity sensors (8) and a video system (14) with night vision capability which allow the vehicle (1) to detect obstacles and unevenness in the terrain to determine the optimal route.