MULTI-PURPOSED SELF-PROPELLED DEVICE

• US 20140238762A1
• Filed: 05/06/2014
• Published: 08/28/2014
• Est. Priority Date: 01/05/2011
• Status: Active Grant

• Current Assignee: Sphero Inc.
• Original Assignee: Orbotix Incorporated
• Inventors: Berberian, Paul, Bernstein, Ian, Wilson, Adam, Hemmings, Kevin, MacGregor, Ross
• Granted Patent: US 10,281,915 B2
• Time in Patent Office: Days
• US Class Current: 180/167
• 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

Disclosed are a multi-purposed, self-propelled device and method for operation of the self-propelled device. Certain variations can include a spherical housing having an internal drive system and a multifunctional payload space for use in a variety of applications.

Claims

1. A self-propelled device comprising:

a spherical housing;

a drive system disposed within the spherical housing, the drive system to power one or more wheels;

a carrier mounted atop the drive system, the carrier having a top surface corresponding to a floor of a payload space within the spherical housing; and

a biasing mechanism coupled to the carrier, the biasing mechanism to actively force the one or more wheels to continuously engage an inner surface of the spherical housing in order to cause the spherical housing to move.

2. The self-propelled device of claim 1, further comprising a protective cover encasing the spherical housing, the protective cover configured to break away during periods of intense shock.

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

one or more batteries coupled to the drive system; and

an inductive charge port coupled to the one or more batteries, the inductive charge port to enable inductive charging of the one or more batteries.

4. The self-propelled device of claim 1, further comprising a charging port coupled to one or more batteries disposed within the self-propelled device and coupled to the drive system, the charging port configured for plug-in charging of the one or more batteries.

5. The self-propelled device of claim 1, wherein the biasing mechanism comprises a left portal axle and a right portal axle, each of the left portal axle and the right portal axle mounted to the carrier and including a spring coupled to a contact surface to provide a force against the inner surface of the spherical housing, wherein the force includes a vertical vector providing sufficient biasing to actively force the one or more wheels to continuously engage the inner surface of the spherical housing in order to cause the spherical housing to move.

6. The self-propelled device of claim 5, further comprising a camera coupled to the floor of the payload space between the left portal axle and the right portal axle, wherein the spherical housing is optically transparent.

7. The self-propelled device of claim 6, further comprising a camera stabilizer mounted to the floor of the payload space between the left portal axle and the right portal axle, wherein the camera is mounted to the camera stabilizer.

8. The self-propelled device of claim 1, further comprising one or more of:

a chemical sensor, an infrared sensor, a motion sensor, a listening device, or a biological sensor disposed within the payload space.

9. The self-propelled device of claim 1, further comprising one or more explosives disposed within the payload space.

10. The self-propelled device of claim 1, wherein the spherical housing is sealable to permit the self-propelled device to be substantially waterproof.

11. The self-propelled device of claim 1, further comprising a receiver coupled with a processor operating the drive system, the receiver to receive an instruction signal from an external controller and transmit the instruction signal to the processor, the processor to execute the instruction signal as a command to the drive system to maneuver the self-propelled device.

12. The self-propelled device of claim 11, wherein the processor operates a door mechanism on the spherical housing, and wherein the spherical housing mechanically opens via the door mechanism upon opening instructions received by the processor from the external controller.

13. The self-propelled device of claim 1, further comprising a stabilizer mounted to the floor of the payload space, the stabilizer including a gyroscope to maintain a substantially constant orientation for a payload when the self-propelled device is in motion.

14. The self-propelled device of claim 13, wherein the stabilizer further includes a dampening system to reduce impact force on the payload during impacts on the self-propelled device.

15. A computer-implemented method for operating a self-propelled device, the method performed by one or more processors of a mobile computing device and comprising:

receiving an image from the self-propelled device, the image providing a field of view of an image capturing device mounted within the self-propelled device;

displaying the image on a touch-sensitive display of the mobile computing device;

receiving, on the touch-sensitive display, a user selection of a location point within the field of view of the image capturing device; and

based on the user selection, generating a command signal to be transmitted to the self-propelled device, the command signal instructing the self-propelled device to maneuver to the location point.

16. The method of claim 15, further comprising:

determining a position of the location point in the field of view based on a first reference frame of the field of view as displayed on the mobile computing device; and

mapping the position of the location point on a second reference frame corresponding to the location point relative to the self-propelled device;

wherein the command signal is generated to include instructions for maneuvering the self-propelled device based solely on the second reference frame.

17. The method of claim 15, wherein the image is a live video feed provided from the image capturing device within the self-propelled device, and wherein generating the command signal is performed dynamically in conjunction with receiving the live video feed.

18. A non-transitory computer-readable medium storing instructions that, when executed by one or more processors of a mobile computing device, cause the mobile computing device to:

receive an image from a self-propelled device, the image providing a field of view of an image capturing device mounted within the self-propelled device;

display the image on a touch-sensitive display of the mobile computing device;

receive, on the touch-sensitive display, a user selection of a location point within the field of view of the image capturing device; and

based on the user selection, generate a command signal to be transmitted to the self-propelled device, the command signal instructing the self-propelled device to maneuver to the location point.

19. The non-transitory computer-readable medium of claim 18, wherein the instructions, when executed by the one or more processors, further cause the mobile computing device to:

determine a position of the location point in the field of view based on a first reference frame of the field of view as displayed on the mobile computing device; and

map the position of the location point on a second reference frame corresponding to the location point relative to the self-propelled device;

wherein the command signal is generated to include instructions for maneuvering the self-propelled device based solely on the second reference frame.

20. The non-transitory computer-readable medium of claim 18, wherein the image is a live video feed provided from the image capturing device within the self-propelled device, and wherein generating the command signal is performed dynamically in conjunction with receiving the live video feed.