Self-propelled device with actively engaged drive system

• US 8,571,781 B2
• Filed: 01/03/2012
• Issued: 10/29/2013
• Est. Priority Date: 01/05/2011
• Status: Active Grant

• Current Assignee: Sphero Inc.
• Original Assignee: Orbotix Incorporated
• Inventors: Bernstein, Ian H., Wilson, Adam
• Primary Examiner(s): Cheung, Mary
• Application Number:
  US13/342,853
• Publication Number:
  US 20120173047A1
• Time in Patent Office: 665 Days
• Field of Search: 701/99, 280/3, 280/7.15, 280/828, 440 4- 6, 440/9, 440/12.5, 440/12.57, 440/21, 464/159
• US Class Current: 701/99
• 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: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0044 by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps maps used for automatic navigation G05D1/0274; flight directors G01C23/005
• 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 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• 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: G05D 1/0891 specially adapted for land vehicles
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A self-propelled device is provided including a drive system, a spherical housing, and a biasing mechanism. The drive system includes one or more motors that are contained within the spherical housing. The biasing mechanism actively forces the drive system to continuously engage an interior of the spherical housing in order to cause the spherical housing to move.

Claims

1. A self-propelled device comprising:

a drive system comprising one or more motors;

a spherical housing that contains the drive system;

a biasing mechanism including a spring, the spring being positioned to bias the drive system;

wherein the spring is coupled to the drive system at a first end, and includes a spring end that extends in a direction that is opposite to the first end to contact an inner surface of the spherical housing;

wherein the biasing mechanism biases the spring end against the inner surface of the spherical housing to actively force the drive system to continuously engage the inner surface of the spherical housing and cause the spherical housing to move.

2. The self-propelled device of claim 1, wherein the drive system further comprises a carrier that is coupled to the biasing mechanism.

3. The self-propelled device of claim 1, wherein each of the one or more motors is coupled to one or more wheels.

4. The self-propelled device of claim 3, wherein the biasing mechanism actively forces the one or more wheels to contact an inner surface of the spherical housing.

5. The self-propelled device of claim 4, wherein a perimeter of at least one of the one or more wheels is covered with a material to increase friction when the one or more wheels contacts the inner surface of the spherical housing than when the at least one of the one or more wheels is not covered with the material.

6. The self-propelled device of claim 1, wherein the spherical housing is formed of at least two housing portions that are attachable to be adjoined together to form the spherical housing and separable to detach from each other to expose the drive system.

7. The self-propelled device of claim 1, wherein the self-propelled device is operable in a plurality of modes, including an autonomous mode and a controlled mode.

8. The self-propelled device of claim 7, further comprising a processor, and a plurality of sensors that enable the self-propelled device to operate in the autonomous mode and the controlled mode.

9. The self-propelled device of claim 8, wherein the plurality of sensors include a 3-axis gyroscope, a 3-axis accelerometer, and a 3-axis magnetometer.

10. The self-propelled device of claim 1, further comprising a processor that implements a controller to control the drive system.

11. The self-propelled device of claim 10, further comprising a wireless communication port that receives control input from another controller device, and wherein the controller (i) interprets the control input as one or more commands, and (ii) implements a control on the drive system based at least in part on the one or more commands.

12. The self-propelled device of claim 10, further comprising:

a set of sensors,

wherein the controller is a three-axis controller that uses an input from the set of sensors to implement control on the drive system about three axes.

13. The self-propelled device of claim 12, wherein the set of sensors includes one or more accelerometers.

14. The self-propelled device of claim 12, wherein the set of sensors includes a gyroscope.

15. The self-propelled device of claim 12, wherein the set of sensors includes a magnetometer.

16. The self-propelled device of claim 12, wherein the set of sensors includes a camera.

17. The self-propelled device of claim 1, further comprising a light-emitting component that illuminates to identify an orientation of the self-propelled device.