US 11,691,302 B2
Two wheeled robot with enhanced climbing features
Casey R. Carlson, Independence, MN (US); Andrew Drenner, Savage, MN (US); Alex J. Kossett, Minnetonka, MN (US); and Ian T. Burt, West St. Paul, MN (US)
Assigned to ReconRobotics, Inc., Edina, MN (US)
Filed by ReconRobotics, Inc., Edina, MN (US)
Filed on Apr. 26, 2022, as Appl. No. 17/729,239.
Application 17/729,239 is a continuation of application No. 16/909,406, filed on Jun. 23, 2020, granted, now 11,312,031, issued on Apr. 26, 2022.
Application 16/909,406 is a continuation of application No. 15/717,443, filed on Sep. 27, 2017, granted, now 10,688,671, issued on Jun. 23, 2020.
Application 15/717,443 is a continuation of application No. 14/747,780, filed on Jun. 23, 2015, abandoned.
Application 14/747,780 is a continuation of application No. 14/012,910, filed on Aug. 28, 2013, granted, now 9,061,544, issued on Jun. 23, 2015.
Application 14/012,910 is a continuation of application No. 12/634,610, filed on Dec. 9, 2009, abandoned.
Claims priority of provisional application 61/121,141, filed on Dec. 9, 2008.
Prior Publication US 2022/0362951 A1, Nov. 17, 2022
Int. Cl. B60K 1/00 (2006.01); B62D 61/00 (2006.01); B62D 57/02 (2006.01); B25J 19/02 (2006.01); B60B 9/10 (2006.01); B25J 5/00 (2006.01)
CPC B25J 19/023 (2013.01) [B25J 5/007 (2013.01); B60B 9/10 (2013.01); B62D 57/02 (2013.01); B62D 61/00 (2013.01); Y10S 901/01 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A two wheeled surveillance robot comprising:
a pair of ground or floor engaging drive wheels, each of the pair of wheels comprising a wheel, each wheel having a maximum radius and an axis;
a body extending between the wheels, the body having a radius that is less than the maximum radius of the wheels and containing a forwardly directed video camera, the surveillance robot movable in a forward direction and a rearward direction; and
a stabilizing tail extending from a rearward side of the body for engaging the ground or floor;
wherein each of the wheels has a main portion with an axial inner side adjacent the body, an axial outer side opposite the axial inner side, a periphery extending around the wheel and extending between the axial inner side and the axial outer side, and a main portion width measured between the axial inner side and axial outer side, wherein each of the wheels further comprising a plurality of vanes extending radially outward from the main portion and circumferentially spaced thereabout; each of the vanes attached to the main portion at a juncture extending across the entire wheel width of the main portion of the wheel, each vane having a radial outer vane edge with a radial vane height measured between the main portion and the radial outer vane edge, wherein said vane height is at a minimum at the axial outer side, and that said height continually increases to an apex positioned intermediate the axial inner side and the axial outer side, the vane height then decreasing as the vane approaches the axial inner side.