Tracking device

• US 6,378,634 B1
• Filed: 11/28/2000
• Issued: 04/30/2002
• Est. Priority Date: 11/28/2000
• Status: Expired due to Term

• Current Assignee: Xerox Corporation (Xerox Holdings Corp.)
• Original Assignee: Xerox Corporation (Xerox Holdings Corp.)
• Inventors: Yim, Mark H.
• Primary Examiner(s): DePumpo, Daniel G.
• Application Number:
  US09/722,630
• Time in Patent Office: 518 Days
• Field of Search: 180/7.1, 180/65.1, 180/65.8, 280/205, 280/206, 446/409, 446/437, 446/233, 446/431, 446/441, 446/454, 446/457
• US Class Current: 180/7.1
• CPC Class Codes: B62D 57/00 Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track sledges B62B; motor sledges B62M

Abstract

A tracking device includes an external member and an internal member rotatable relative to the external member. A motor is attached to the internal member and includes a rotor shaft attached to the external member. A pair of target sensors that sense a phenomenon such as a magnetic field, sound, light or RF radiation, provide input to a controller that controls rotation of the motor. Angular acceleration of the internal member will cause an equal and opposite angular acceleration of the external member and the tracking device will roll toward the target. The tracking device may hop by suddenly stopping the rotation of the internal member or by suddenly decreasing or increasing the acceleration of the motor or by inserting a linkage fixed to the external member into the rotation path of the internal member.

Claims

1. A tracking device, comprising:

an external member;

an internal member rotatable relative to the external member;

a motor attached to the internal member and having a rotor shaft attached to the external member;

at least one power source for the motor;

a pair of target sensors on the internal member that detect a target;

a pair of ground contact sensors on the internal member; and

a controller that controls the rotation of the rotor shaft based on signals provided by the target sensors and ground contact sensors.

2. The tracking device according to claim 1, wherein the ground contact sensors are proximity sensors.

3. The tracking device according to claim 1, wherein the ground contact sensors are provided opposite to each other on the internal member.

4. The tracking device according to claim 1, wherein the target is at least one of a magnetic field, sound, light, and RF radiation.

5. The tracking device according to claim 1, wherein the controller controls the motor to move the tracking device toward the target.

6. The tracking device according to claim 1, wherein the controller controls the motor to move the tracking device away from the target.

7. The tracking device according to claim 1, wherein the external member is spherical.

8. The tracking device according to claim 1, wherein the external member is ovoid.

9. The tracking device according to claim 1, wherein the internal member is a disc.

10. The tracking device according to claim 1, wherein the at least one power source is a battery.

11. The tracking device according to claim 1, wherein the at least one power source is a solar cell.

12. The tracking device according to claim 1, further comprising a member attached to the external member selectively actuable by the controller to contact the internal member to stop rotation of the internal member and cause hopping of the tracking device.

13. The tracking device according to claim 12, wherein the member is a solenoid plunger.

14. A rolling device, comprising:

an external member;

an internal member rotatable relative to the external member;

a motor attached to the internal member and having a rotor shaft attached to the external member;

at least one power source for the motor;

a controller that controls the rotation of the rotor shaft; and

a member attached to the external member selectively actuable by the controller to contact the internal member to stop rotation of the internal member and cause hopping of the rolling device.

15. The rolling device according to claim 14, wherein the member is a solenoid plunger.

16. A hopping device, comprising:

an external member;

an internal member rotatable relative to the external member;

a motor attached to the internal member and having a rotor shaft attached to the external member;

at least one power source for the motor;

a controller that controls the rotation of the rotor shaft; and

a member attached to the external member selectively actuable by the controller to contact the internal member to stop rotation of the internal member and cause hopping of the hopping device.

17. The hopping device according to claim 16, wherein the member is a solenoid plunger.