Multi-body self propelled device with magnetic yaw control
First Claim
1. A multi-body self-propelled device comprising:
- (i) a drive body comprising;
a spherical housing;
an internal drive system within the spherical housing to propel the multi-body self-propelled device;
a magnet support assembly comprising a rotating portion including a plurality of magnets and a stationary portion comprising one or more magnets; and
a yaw motor to drive the rotating portion of the magnet support assembly, wherein the rotating portion of the magnet support assembly comprises a rotatable outer ring driven by the yaw motor and holding the plurality of magnets of the rotating portion, the rotatable outer ring surrounding an inner holder that holds the one or more magnets of the stationary portion of the magnet support assembly; and
(ii) a coupled head comprising;
a corresponding rotating portion comprising a plurality of magnets in magnetic interaction, through the spherical housing, with the plurality of magnets of the magnet support assembly; and
a corresponding stationary portion comprising one or more magnets in magnetic interaction with the one or more magnets of the magnet support assembly.
1 Assignment
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Accused Products
Abstract
A multi-body self-propelled device can include a drive body and a coupled head. The drive body can include a spherical housing and an internal drive system within the spherical housing to propel the multi-body self-propelled device. The drive body can further include a magnet support assembly comprising a rotating portion including a plurality of magnets and a stationary portion comprising one or more magnets. The drive body can further include a yaw motor to drive the rotating portion of the magnet support assembly. The coupled head can include (i) a corresponding rotating portion comprising a plurality of magnets in magnetic interaction, through the spherical housing, with the plurality of magnets of the magnet support assembly, and (ii) a corresponding stationary portion comprising one or more magnets in magnetic interaction with the one or more magnets of the magnet support assembly.
63 Citations
19 Claims
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1. A multi-body self-propelled device comprising:
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(i) a drive body comprising; a spherical housing; an internal drive system within the spherical housing to propel the multi-body self-propelled device; a magnet support assembly comprising a rotating portion including a plurality of magnets and a stationary portion comprising one or more magnets; and a yaw motor to drive the rotating portion of the magnet support assembly, wherein the rotating portion of the magnet support assembly comprises a rotatable outer ring driven by the yaw motor and holding the plurality of magnets of the rotating portion, the rotatable outer ring surrounding an inner holder that holds the one or more magnets of the stationary portion of the magnet support assembly; and (ii) a coupled head comprising; a corresponding rotating portion comprising a plurality of magnets in magnetic interaction, through the spherical housing, with the plurality of magnets of the magnet support assembly; and a corresponding stationary portion comprising one or more magnets in magnetic interaction with the one or more magnets of the magnet support assembly. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A multi-body self-propelled device comprising:
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(i) a drive body comprising; a spherical housing; an internal drive system within the spherical housing to propel the multi-body self-propelled device; a magnet support assembly comprising a rotating portion including a plurality of magnets and a stationary portion comprising one or more magnets; and a yaw motor to drive the rotating portion of the magnet support assembly, wherein the rotating portion of the magnet support assembly comprises a rotatable inner holder driven by the yaw motor and holding the plurality of magnets of the rotating portion, the rotatable inner holder being surrounded by an outer ring that holds the one or more magnets of the stationary portion of the magnet support assembly; and (ii) a coupled head comprising; a corresponding rotating portion comprising a plurality of magnets in magnetic interaction, through the spherical housing, with the plurality of magnets of the magnet support assembly; and a corresponding stationary portion comprising one or more magnets in magnetic interaction with the one or more magnets of the magnet support assembly. - View Dependent Claims (14, 15, 16, 17)
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18. A multi-body self-propelled device comprising:
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(i) a drive body comprising; a spherical housing; an internal drive system within the spherical housing to propel the multi-body self-propelled device; a magnet support assembly comprising a rotating portion including a plurality of magnets and a stationary portion comprising one or more magnets; and a yaw motor to drive the rotating portion of the magnet support assembly; and (ii) a coupled head comprising; a corresponding rotating portion comprising a plurality of magnets in magnetic interaction, through the spherical housing, with the plurality of magnets of the magnet support assembly; and a corresponding stationary portion comprising one or more magnets in magnetic interaction with the one or more magnets of the magnet support assembly, wherein the one or more magnets of the stationary portion comprises a first asymmetrical programmable magnet, and wherein the one or more magnets of the corresponding stationary portion comprises a second asymmetrical programmable magnet, and wherein the first and the second asymmetrical programmable magnets provide a net compassing force to settle the coupled head in a default orientation.
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19. A multi-body self-propelled device comprising:
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(i) a drive body comprising; a spherical housing; an internal drive system within the spherical housing to propel the multi-body self-propelled device; a magnet support assembly comprising a rotating portion including a plurality of magnets and a stationary portion comprising one or more magnets; and a yaw motor to drive the rotating portion of the magnet support assembly; and (ii) a coupled head comprising; a corresponding rotating portion comprising a plurality of magnets in magnetic interaction, through the spherical housing, with the plurality of magnets of the magnet support assembly; and a corresponding stationary portion comprising one or more magnets in magnetic interaction with the one or more magnets of the magnet support assembly, wherein the one or more magnets of the stationary portion and the one or more magnets of the corresponding stationary portion each comprise a plurality of magnets attractively arranged to generate an asymmetrical field, and wherein the asymmetrical field provides a net compassing force to settle the coupled head in a default orientation.
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Specification