CA2349213A1

CA2349213A1 - Modular robotic mobile

Info

Publication number: CA2349213A1
Application number: CA002349213A
Authority: CA
Inventors: Florencio Neto Palma
Original assignee: Individual
Current assignee: Individual
Priority date: 2001-05-29
Filing date: 2001-05-29
Publication date: 2002-11-29

Abstract

Environment friendly computer controlled robotic modular mobile for two people comprising: a stainless steel tubular frame chassis having one front and two rear flat and blowout proof electromagnetic wheels for propulsion and electric braking, which are provided with hydro-pneumatic suspension for riding comfort. The three wheels are provided with 180 degrees freedom for manual and automatic steering control by individual encoded electric servomotors to permit the vehicle to move sideways for parking, either left of right. A hydrogen rotary generator provides electricity and heat, and a power back-up battery to permits recuperating electric braking energy and provides a boost for rapid acceleration. The vehicle exterior frame is molded from composite material and painted in glossy colors in two parts, top and bottom and joined by a steel chrome plated spring loaded latch-in rim. The modular vehicle has o roof rack module, exchangeable with a molded composite material module having three identical pivoted electromagnetic propellers to provide for vertical takeoff and landing in all weather and water ballast tanks provide for submersible operation to a specific rated depth to permit motion in any direction.
The electromagnetic propellers provide electricity for the fuel cell electrolyser a means for refueling the vehicle in rivers and ocean currents, according to GPS
mapping of anchoring buoys, as an alternative for refueling stations. The fuel cell provides a backup power boost and breathing oxygen for submersible operations and high altitude flight. Manual and automatic pressurized deployable parachute according to specific programs for flight and submersible operations safety.

Description

TITLE: MODULAR ROBOTIC MOBILE
FIELD OF THE INVENTION
The present invention is directed to a environment friendly modular roboti.c computer controlled vehicle with three identical wheel steering modules flat and blowout proof tire electromagrietic wheels for land based, water surfing and as a submersible, snow and ice, and three identical electromagnetic propellers as an airplane and helicopter capable of flying in any direction in all weather according to manual, automatic and remote control.
BACKGROUND OF THE INVENTION
Contemporary computer an<i data communications technologies provide very sophisticate and reliable robotic operation, which can be creatively applied to improve land and water based vehicles and flying machines, with their performance limited to computer software programming ability.
From a visionary view point the future looks very promising to achieve innovative means of transportation that are environment. friendly, which can provide dazzling recreation alternatives in safety and comfort, economically. The Internet, GPS, and handheld computer provide for a wide scope of remote control, diagnostic and voice communications with machines.
Eventually, in the very near future these technologies provide for vehicles that can operate in all forms of transportation in-land, in the air and in the oceans, virtually energy self-sufficient., Essentially, they provide the pioneering technologies of the eventual large-scale transportation of cargo and passengers and far the colonization of the oceans.
Transportation of people and cargo play a vital role in the global economy. Their availability and costs can be very significantly reduced once the colonization _ 1 _ of the oceans becomes an accepted way of life providing hydrogen-refueling stations across the oceans with their locations identifiable by GPS. Yet i.n another aspect, the hydrogen rotary generator provides the ideal means of environment friendly propulsion for giant flying machines of innovative design configuration; to satisfy society needs, capable of vertical takeoff and landing as a solution to airport reduced space. The roboti.c and remote control ability of these vehicles has the potential to make them virtually energy self-su:Eficient by providing floating anchoring buoys in high energy areas of rivers and ocean currents where they c<~n go for refueling according to routine flight path across the globe.
These potential alternatives contrast very sharply with the present dwindling fossil fuel dependent piston engines and airliner jet engines air polluting technologies. Breaking this pattern can only at best take many years since the eventual phasing-in of environment friendly technologies will require very substantial reallocation of financial and human resources. The very fortunate and important thing to consider is that fossil fuels have many other potential applications other than as a combustion fuel and as society prospers on inexpensive hydrogen fuel, their demand and consequently their price will appreciate very significantly in value.
The following invention disclosures filed for patent in Canada, Robotic Mobile Att:orney's Docket No. JJ
11 178CA filed Mar. 28, 2001; Hydrogen Rotary Generator, No. JJ 11 207 CA filed May 2, 2001; Electromagnetic wheel No. JJ 11 220 CA filed May 8, 2001; Three Wheel Vehicle No. JJ 11 236 CA filed May 23, 2001, which provide complementary proprietary technologies accordingly are applied in this new application.
The Modular Robotic Mobile provides a vehicle to overcome most problems with traffic jams and street parking as well the recreation needs for society worldwide, while resolving future environment pollution and dwindling fossil fuel concerns.
OBJECTS OF THE INVENTION
An object of the modular robotic mobile according to the present invention is to provide a computer controlled modular robot:ic vehicle for two people with the ability to operate along paved roads and highways, as a snowmobile on ice and snow, as a surfing vessel and a submarine, as an airplane and an helicopter.
Another object is to provide a stainless steel tubular chassis forming a strong frame to protect the passengers in the eventuality of crashes.
Another object is to provide three identical computer-controlled encoded electric servomotors to provide steering of the hydro-pneumatic suspension electric wheels robotic control in synchronism.
Another object is to provide two roof windows for improve vision having adjustable shades.
Another object is to provide a pressurized parachute that can be manually and automatically deployed as means to prevent serious accidents.
Another object is to provide a modular veh~_cle that can easily adapt from a recreation vehicle to add robotic flight capabilities by simpZ.y exchanging the roof rack module with the electromagnetic propeller module in minutes.
Another object is to provide a vehicle with the ability to park sideways and adapted to park in residential building and high rise apartment buildings rooftops.
Another object is to employ top quality composite materials molding process for the frame having a reinforcing steel wire mesh layer inside also as a preventive means against lightning.
Another object is to provide a molded surfboard configuration to the bottom of the slick-mobile.

Another object is to provide water ballast as means to enable the robotic mobile to operate as a submersible to a specific rated pressure.
Another object is to have an air-condition system that is specifically adapted to recuperate air moisture to be recycled for combustion and the production of hydrogen fuel by the fuel cell a:~ an electrolyser.
Another object is to use the fuel cell to generate breathing oxygen in submarine operations and high altitude flight from the condensed moisture for the air-conditioning unit.
Another object is to provide a hooking facility to the robotic mobile to hook with floating buoys in rivers and ocean currents as means to automatically refuel itself by using the electromagnetic propellers to generate electricity directly fo=r the currents when submerged by remote control.
Another object is to provide a joystick as a means to provide steering for operation as a vehicle, as a submersible and as an airplane.
Another object is to provide a chromed steel trim sections having a longitudinal snap-on spring to latch the composite molded frame ~t~o the stainless steel chassis and form a watertight assembly.
Another object is to provide a selector switch for operation as a land-based vehicle or as an aircraft.
SUMMARY OF THE INVENTION
The Modular Robotic Mobile apparatus according to the present invention provides a computer controlled robotic modular vehicle for two people, which can be specifically adapted for land-ba~~ed operation, water surfing and as a submersible, as an airplane and an helicopter with robotic flying ability, capable of vertical takeoff and lading in all weather. As a land based vehicle for paved roads and snow the three electromagnetic wheels provide propulsion, electric and hydraulic braking, hydro-pneumatic suspension and the ability to drive radially in any direction, particularly to be able to park side ways.
The hydrogen rotary generator provides electricity to power the electric wheels and a battery, as a means to store the braking energy and as a back-up power source kept automatically recharged by the rotary generator. A fuel cell provides the functions of another power backup and as an electrolyse: to produce hydrogen and oxygen when powered by the electromagnetic propellers harnessed energy, such as when anchored in river and oceans currents anchored to floating buoys. The hydrogen is stored as a fuel and the oxygen for breathing during submersible and high altitude flying operations. Water ballasts installed under the floor enable the vehicle to submerge and operate within a specific depth as sophisticate robotic mini submarine. The electromagnetic propeller module has a pressurized ;parachute that can be either manually and automatically deployed according the programmed emergency situation.
It will be appreciated that the operation of the Modular Robotic Mobile relies on the proprietary technologies provided in the prior invention disclosure embodiments, .mentioned in the background of the invention. Essentially, these modular technologies provide the basic building blocs for other vehicles such as the Robotic Transporter, Attorne=y's Docket. No. JJ 11 177CA filed Mar. 28, 2001. With the new technologies ' provided by the Hydrogen Rot<~ry Generator, the Electromagnetic Wheel and the Hyd:ro-Pneumatic Steering Module conceived since then, it is viable to build very large scale flying machines specifically adapted for the transportation of passengers and cargo, for airports -without the need for landing strips, and for the colonization of oceans. The Hydrogen Rotary Generator is potentially a revolutionary simple machine capable of producing immense quantities of electricity and jet propulsion ideally suited for :Large scale robotic transportation, as an alternative to airliners, buses, trucks and trains, which clutter them landscape with paved highways and railroads. The remote controlled hydro-pneumatic steering electromagnetic wheel is another important module building block.
The potential eventual provision of floating anchors in rivers and ocean current: registered according to GPS can provide refueling stations conveniently located for circumnavigation either stored hydrogen fuel or harnessing for virtual energy self-sufficiency. The collection of water moisture from air-conditioning can be used as a form of fuel by mixing it with the hydrogen combustion by the rotary generator of for electrolysis by the fuel cell. Essentially the modular robotic mobile is a leading edge technology vehicle specifically designed to for recreation and to satisfy the needs of modern living and coping with the problems of contemporary traffic. It's environment friendly operation, as the potential for accumulative improved global air pollution in the future.
BRIEF DESCRIPTION OF THE DRAWINGS
Preferred embodiments of: the invention are shown in the drawings, wherein:
FIG. 1 is a perspective view of the modular robotic mobile according to one preferred embodiment of the invention, with the doors open, to show part of the interior. -FIG. 2 is a perspective view of the vehicle in FIG. 1 with the doors closed.
FIG. 3 is a perspective view of a handheld computer for remote communications.
FIG. 4 is a perspective view of the modular robotic mobile if FIG 1 adapted with the Electromagnetic Propeller Module to enable flight and submarine operations.
FIG. 5 is a bottom view of the modular robotic mobile of FIG. 1 to show the three circular cavities for JJ-il 244CA
the three electric steering wheels and the skate board elevation in the composite material molding.
FIG. 6 is a front view o:f the modular robotic mobile of FIG. 1.
FIG. 7 is a rear view of. the modular robotic mobile of FIG. 6.
FIG. 8 is a top view of the tubular stainless steel frame adapted with some of the major modules to show their relative position.
FIG. 9 is a perspective va_ew of the of the roof rack composite material molded module.
FIG_ 10 is a perspective view of an encoded electric servomotor directly coupled to the hydro-pneumatic suspension and electromagnetic wheel seen from the rear, supported by the steel frame.
FIG. 11 is a perspective view of a three electromagnetic propeller module, which is exchangeable with the roof rack of FIG. 9.
FIG. 12 is a perspective front view of the electromagnetic wheel.
FIG. 13 is a perspective rear view of the hydrogen rotary generator.
FIG. 14 is a vertical front cut view of the hydro-pneumatic suspension assembly between the encoded electric servomotor and the electromagnetic wheel to provide robotic remote steering control.
FIG. 15 represents a black box containing the ' necessary computer, power control modules and electronic communication interfaces as deemed necessary for the various mode of operation.
FIG. 16 is a front cut view of the composite material moldings adapted to the tubular chassis frame by means of a chrome plated steel molding formed strip specifically designed in sections to latch in position and form a watertight assembly, which can be removed with the aid of a vacuum operated tool.
FIG. 17 is a cut section view of the composite material molding to show the rim configuration and the JJ-1i 244CA
inlaid steel wire mesh for reinforcing and lightning protection.
FIG 18 is a perspective view of a joystick for steering and flight control.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
There is shown in FIG. 1 a perspective view of the modular robotic mobile apparatus for two people according to one alternative of t:he present invention generally shown as 10. A molded composite material two-part frame 11 painted in glossy colors 1s adapted to an internal stainless steel chassis frame general shown as 12 in FIG. 8, and having a roof .rack module generally shown as 13, a trunk cover 14 with :trips 14A and spoiler 148. A pair of conventional remotf~ control lock-unlock doors 15, a pair of rear view mirrors 16, a pair of wind shield wipers with fluid spray nozzles 17, a pair of headlights 18, a wind shield 19 and a pair of roof windows 20 to provide improved vision, which have a laterally deploying shading curtain to block unwanted. A
roof adjustable air vent 21 designed to form an airtight assembly for operation of the vehicle as a submersible vehicle. A computer monitor 22 for GPS mapping and data display on the instrument panel with a plurality of visual display instruments 23, that are electrically interfaced to the main control computer for automatic control. A fuel tank cover 24, conventional seats 25 for two people, and optionally' a pair of joysticks 26 for manual steering and flight control. Flat and blowout proof tire 27 is one of three identical electric wheel modules that are encoded electric servomotor computer controlled in synchronism to provide 180 degrees of radial steering for lateral parking ability. Lateral steel chrome plated rim 28 provides a press fitting means to join the molded composite material top and bottom body frames 11.
_ g _ FIG. 2 is a perspective view of the modular robotic mobile of FIG. 1 having the doors closed showing a recess for door handle 29 and a key lock 30.
FIG. 3 is a hand held computer to permit remote control communications with the modular robotic mobile.
FIG. 4 is a perspective view of the modular robotic mobile adapted with molded composite material module 31 painted in glossy colors having three electromagnetic propellers fitted i.n the mounting place of roof rack 13, which is descrix>ed in detail in the proprietary Robotic Mobile dis~~losure: The three electromagnetic propellers are of identical design, encoded electric servomotor computer controlled to provide vertical takeoff and lading and operation in symbiosis for flight in any direction according to computer coordinate system and GPS or remote control.
FIG. 5 is a bottom view of the modular robotic mobile of FIG. 1 to show the relative position of the three identical electric wheels 27 within the semi-spherical cavities 32 and a skateboard molded shape 33 to facilitate water and snow surfing.
FIG. 6 is a front view of the modular robot mobile of FIG. 1 to show the license plates molding 34 and arrow shaped signal turning lights 35.
FIG. 7 is a rear view of the modular robot mobile of FIG. 1 to show the license plates molding 34, arrow shaped signal lights 35, bra3cing signal lights 36 ' and back-up lights 37 of conventional design.
FIG. 8 is a top view of the stainless steel tubular frame 38 to show it's general configuration and that of the hydrogen fuel tank 39 under the rear trunk floor 14, water ballast tanks 40 under the passenger floor. A power back-up battery 41, an electrolyser fuel cell 42 and a hydrogen rotary generator 43 assembled to support beam 44 along with electric wheels 27.
FIG. 9 is a top view of composite molded material roof rack 13 module painted. in glossy colors.

FIG. 10 is a perspective view of on of the three identical electric wheels g<~nerally shown as 27 module having a encoded electric servo motor 45 assembled on metallic frame 44 and tubular supporting frame 46 with radial struts 47, supporting hydro-pneumatic suspension cylinders 48 and 49 assembled to wheel coupling frame 50 and mud guard 51. Cylinder 49 has a plurality of guiding rollers 52, are better shown in cut view of FIG. 14.
FIG. 11 is a perspet~tive view of the electromagnetic propeller module shown and briefly described in FIG. 4.
FIG. 12 is a perspective front view of the flat and blowout proof electromagnetic wheel module of proprietary technology generally shown as 27, which provides propulsion electric and hydraulic braking.
FIG. 13 is a perspective rear view of the hydrogen rotary generator module of proprietary technology generally shown as 43, which provides electricity and exhaust steam.
FIG. 14 is front cut view of the one of three similar hydro-pneumatic suspensions generally shown as 27 and first described in FIG 10, having a computer controlled steering encoded electric servomotor. 45 with planetary reducing gear 53 and a shaft coupling 54 into hydro-pneumatic suspension steering cylinder 48. A
sealing ring 55 in frame 44 provides a watertight assembly to roller bearings 56, 57 and 58, which support ' cylinder 48 and a sealing ring 59 ate the opposite side to complete the watertight assembly.
A compression spring 60 fitted within cylinder 49, which is filled with hydraulic oil to level 61 and a compressed gas to a specific pressure in the cavity above. Hydraulic oil 61 is circulated through orifice 62 into hydraulic cylinder 63 and operated by piston rod 64 having two sealing rings 65. Cylinder 49 has two sealing rings 66 to form a sealed assembly with outer cylinder 48 and roller guides 52 provide a longitudinal coupling of the hydro pneumatic suspension within a specific frame of reference. The strut frame 50 is coupled to the electromagnetic wheel 27 from the r<~ar side by means of a matching frame 67 having stud bolts and nuts 68. An electric cable 69 provides power i~o the variable speed motors inside the wheel and electric cable 70 provides power to the servomotor 45. A check valve 71 with a sealing cap provides a means to pre-charge the hydro-pneumatic cylinder with oil and gas to a specific pressure and a plurality of bolts 72 complete the assembly.
FIG. 15 is represents a black box containing the main computer, power control boards and other components of conventional techno:Logy as necessary to complement the overall operations.
FIG. 16 is a front cuts section view of a chassis stain lees steel tubular section having a rim 73 with a cavity 74 to insert the chrome plated rim, which is designed to compress the moldfsd composite material frames 11 protrusions 75 into cavities 76 and inside sealing ring 77.
FIG. 17 is a cur section view of the molded composite material 11 to show a atain lees steel .wire mesh 78 for reinforcing anc~ provide a shield against lightning.
FIG. 18 is a perspective view of the joystick 26 one of optionally two to provide manual steering and flight control couple by electric cable 78. ' In accordance with the provisions of the patent statutes, the principle and mode of operation of the invention have been explained and illustrated in its preferred embodiments. However, it. must be understood that the invention may be practiced otherwise that the specifically illustrated and described without departing from its spirit or scope.

Claims

1. A modular robotic mobile apparatus comprising:
a computer controlled vehicle having a two part molded composite material steel reinforced exterior main frame painted in glossy colors adapted to a stainless steel tubular chassis by means of sections of chrome plated steel snap-on rim;
a hydrogen rotary generator to provide electricity and heat as the main power source for the three identical electric motor generator electromagnetic wheel modules and the electromagnetic propellers;
a back-up battery for acceleration and as a means of recuperating electric braking energy and for communications, remote robotic control;
a fuel cell as a back-up power source, the provision of electrolysis for hydrogen fuel and oxygen for breathing during submersible and high altitude flight;
water ballast tanks to provide submersible operations;
three computer controlled identical modular electric motor generators flat and blowout proof tire electromagnetic wheels, having encoded electric servomotor coupled to hydro-pneumatic suspension that provides 180 degrees of radial steering freedom, and operation in synchronism to permit parking laterally, provide electric and hydraulic braking;
a molded composite material roof rack that is exchangeable with a molded composite material module having three identical electromagnetic propellers that provide a means for propulsion and the harnessing of river and ocean currents.
a molded skateboard on the vehicle's bottom to facilitate snow and water surfing;
the option of one or two servo joysticks provides manual steering and flight control.

2. The apparatus according to claim 1 wherein said vehicle may be adapted for two or more people.

3. The apparatus according to claim 1 wherein said hydrogen rotary generator may use a variety of fuels other than hydrogen.

4. The apparatus according to claim 1 wherein said vehicle potentially can become energy self-sufficient by the application of the electromagnetic propellers for the harnessing of river and ocean currents.

5. The apparatus according to claim 1 wherein said vehicle is adapted with a hooking device for anchoring to floating anchors in river rapids and ocean currents to make it virtually energy self-sufficient.

6. The apparatus as in claim 5 wherein said vehicle may optionally come and go to a particular parking spot according to GPS and remote control.

7. The apparatus according to claim 1 wherein said vehicle may operate according to coordinate computer software programs, GPS, remote control and optionally laser and infrared guidance for sophisticate applications.