Multi-purposed self-propelled device

• US 10,168,701 B2
• Filed: 05/04/2016
• Issued: 01/01/2019
• Est. Priority Date: 01/05/2011
• Status: Active Grant

• Current Assignee: Sphero Inc.
• Original Assignee: Sphero Inc.
• Inventors: Berberian, Paul, Bernstein, Ian, Wilson, Adam, Hemmings, Kevin, MacGregor, Ross
• Primary Examiner(s): Marc-Coleman, Marthe Y
• Application Number:
  US15/146,631
• Publication Number:
  US 20160246299A1
• Time in Patent Office: 972 Days
• Field of Search: 701 28, 701 23, 701 99, 440 6, 244190, 244175, 700259
• CPC Class Codes: A63H 30/04 using wireless transmission
• CPC Class Codes: A63H 33/005 Motorised rolling toys
• CPC Class Codes: B62D 61/00 Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0259 using magnetic or electromagnetic means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A self-propelled device can include at least a wireless interface, a housing, a propulsion mechanism, and a camera. Using the camera, the self-propelled device can generate a video feed and transmit the video feed to a controller device via the wireless interface. The self-propelled device can receive an input from the controller device indicating an object or location in the video feed. In response to the input, the self-propelled device can initiate an autonomous mode to autonomously operate the propulsion mechanism to propel the self-propelled device towards the object or location indicated in the video feed.

Claims

1. A self-propelled device comprising:

a wireless interface;

a housing comprising an inner surface;

a carrier disposed within the housing;

a propulsion mechanism disposed within the housing and supported by the carrier, wherein the propulsion mechanism comprises a motor and a wheel engaged with an inner wall of the housing to propel the housing;

a biasing mechanism comprising;

a left portal axle and a right portal axle, the left portal axle and the right portal axle each being mounted to and extending from a top surface of the carrier at opposing ends of the carrier, the biasing mechanism including at least one spring causing each of the left portal axle and the right portal axle to exert a continuous force against an inner surface of the housing to actively force the wheel to continuously engage the inner wall;

a gyroscope supported on the carrier;

a camera mounted to the gyroscope; and

one or more processors to execute an instruction set, causing the self-propelled device to;

using the camera, generate a video feed;

transmit the video feed to a controller device remote from the self-propelled device via the wireless interface;

receive an input from the controller device indicating an object or location in the video feed; and

in response to the input, initiate an autonomous mode to autonomously operate the propulsion mechanism to propel the self-propelled device towards the object or location.

2. The self-propelled device of claim 1, wherein the self-propelled device comprises an aircraft.

3. The self-propelled device of claim 2, wherein the executed instruction set causes the self-propelled device to autonomously detect and maneuver around obstacles in propelling the self-propelled device towards the object or location.

4. The self-propelled device of claim 1, wherein the executed instruction set further causes the self-propelled device to:

initiate a control mode to (i) receive command inputs from the controller device, and (ii) operate the propulsion mechanism to accelerate and maneuver the self-propelled device based on the command inputs.

5. The self-propelled device of claim 1, further comprising:

an inertial measurement unit;

wherein the executed instruction set further causes the self-propelled device to;

receive feedback from the inertial measurement unit to compensate for a dynamic instability of the self-propelled device; and

based on the feedback, dynamically stabilize pitch, roll, and yaw of the self-propelled device.

6. The self-propelled device of claim 5, wherein the inertial measurement unit comprises at least one of a three-axis gyroscopic sensor, a three-axis accelerometer, or a three-axis magnetometer.

7. The self-propelled device of claim 5, wherein the propulsion mechanism comprises a plurality of independent motors, and wherein the executed instruction set causes the self-propelled device to dynamically stabilize the pitch, roll, and yaw of the self-propelled device by generating correction signals for independent execution by the plurality of independent motors.

8. The self-propelled device of claim 5, wherein the executed instruction set further causes the self-propelled device to:

maintain an orientation awareness of the self-propelled device in relation to an initial frame of reference.

9. The self-propelled device of claim 1, further comprising:

a global positioning system (GPS) device to provide GPS data to the controller device.

10. The self-propelled device of claim 1, wherein the controller device comprises a mobile computing device executing a software application specific to controlling the self-propelled device.

11. The self-propelled device of claim 10, wherein the mobile computing device comprises one of a smart phone or a tablet computer.