Versatile Endless Track For Lightweight Mobile Robots

Abstract

A versatile endless track system for a lightweight robotic vehicle is disclosed. The versatile endless track system includes a flexible track configured for mounting about a plurality of track supports of the lightweight robotic vehicle. A plurality of traction pads including at least two different types of traction pads are inserted into and supported by a plurality of receptacles contained within the flexible track. The different types of traction pads provide different ground-interfacing profiles designed to provide traction with respect to ground surfaces having different traction properties. Optionally, traction pads can be removable, allowing the versatile endless track to be reconfigured. A method of configuring a versatile endless track is also disclosed.

1 . A versatile endless track usable by a lightweight mobile robot, the track comprising:
 a flexible track configured for mounting about a plurality of track supports, and having a changing ground-engaging portion exposed for engagement with a ground surface as the flexible track is rotated around the plurality of track supports;   a plurality of receptacles contained within the flexible track; and   a plurality of traction pads inserted into and support by the plurality of receptacles,
 wherein at least two different types of traction pad are included, each type of traction pad having a different ground-interfacing profile designed to provide traction with respect to ground surfaces having different traction properties, and 
 wherein sufficient traction pads of each type are included so that at least one traction pad of each type is present on the ground-engaging portion of the flexible track at all times. 
   
     
     
         2 . The track of  claim 1 , wherein the traction pads are removably supported with the receptacles and replaceable with a traction pad of a different type. 
     
     
         3 . The track of  claim 1 , wherein the traction pads snap into the receptacles. 
     
     
         4 . The track of  claim 1 , wherein the traction pads have a friction fit interface with the receptacles. 
     
     
         5 . The track of  claim 1 , wherein each of the plurality of receptacles comprises at least one hole formed into flexible track for receiving at least one corresponding post extending from a base of a traction pad. 
     
     
         6 . The track of  claim 1 , wherein the flexible track comprises an elastic belt into which the plurality of receptacles are formed. 
     
     
         7 . The track of  claim 1 , wherein the flexible track is configured to provide a friction drive interface to at least one of the plurality of track supports. 
     
     
         8 . The track of  claim 1 , wherein at least three different traction pad types are included. 
     
     
         9 . The track of  claim 1 , wherein each traction pad type is optimized to provide traction with respect to a ground surface having different traction properties. 
     
     
         10 . The track of  claim 1 , wherein the traction pad types are optimized to provide traction when loaded by a lightweight mobile robot weighing less than 100 pounds. 
     
     
         11 . The track of  claim 1 , wherein a first traction pad type is designed to provide traction on a soft, friable surface and a second traction pad type is designed to provide traction on a hard, slippery surface. 
     
     
         12 . The track of  claim 1 , wherein a first traction pad type is designed to provide traction on a firm surface and a second traction pad type is designed to provide traction on a soft surface. 
     
     
         13 . The track of  claim 1 , wherein a first traction pad type is designed to provide traction on a solid surface and a second traction pad type is designed to provide traction on a liquid surface. 
     
     
         14 . The track of  claim 1 , wherein at least one traction pad type comprises a substantially flat ground-interfacing portion having a high coefficient of friction and a second traction pad type comprises a projecting cleat. 
     
     
         15 . The track of  claim 1 , wherein at least one traction pad type comprises a projecting cleat and a second traction pad type comprises a water paddle. 
     
     
         16 . The track of  claim 1 , wherein each of the traction pad types are chosen from the group of traction pad types consisting of: a flat pad, a sticky pad, a bar cleat, a spike, a suction cup, a saw tooth profile, and a water paddle. 
     
     
         17 . A method of configuring an endless track with traction pads comprising
 providing an endless track suitable for mounting on a lightweight robotic vehicle having a ground-engaging portion and a plurality of receptacles contained within the endless track;   mounting the endless track on the lightweight robotic vehicle so that the ground-engaging a portion is exposed for interfacing to a ground surface; and   inserting the plurality of traction pads into the plurality of receptacles in an alternating sequence of at least two different traction pad types so that at least one of each type of traction pad is present on the exposed, ground-engaging portion of the endless track when the lightweight robotic vehicle is operated.   
     
     
         18 . The method of  claim 17 , further comprising selecting the at least two different traction pad types from a predefined assortment of traction pad types, wherein the at least two fraction pad types are selected to correspond to a planned operating environment. 
     
     
         19 . The method of  claim 17 , further comprising removing and replacing at least one of the plurality of traction pads with a traction pad of a different type. 
     
     
         20 . A versatile endless track usable by a lightweight mobile robot, the track comprising:
 a flexible track configured for mounting about a plurality of track supports, and having a changing ground-engaging portion exposed for engagement with a ground surface as the flexible track is rotated around the plurality of track supports;   a plurality of receptacles contained within the flexible track; and   a plurality of first traction pads removably inserted into at least some of the plurality of receptacles, each having a ground-interfacing profile configured to provide traction with respect to a first ground surface; and   a plurality of second traction pads removably inserted into at least some of the plurality of receptacles in an alternating sequence with the first traction pads, each having a ground-interfacing profile configured to provide traction with respect to a second ground surface,   wherein the first and second traction pads are selectively interchangeable with a plurality of third traction pads having a ground-interfacing profile configured to provide traction with respect to a third ground surface, and   wherein sufficient traction pads of at least two types are included so that at least one traction pad of the at least two types is present on the ground-engaging portion of the flexible track at all times.