Multi-purposed self-propelled device

• US 10,281,915 B2
• Filed: 05/06/2014
• Issued: 05/07/2019
• 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): Vanaman, Frank B
• Application Number:
  US14/271,203
• Publication Number:
  US 20140238762A1
• Time in Patent Office: 1,827 Days
• 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 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 comprising a pair of motors and a pair of wheels, the pair of motors providing independent power to the pair of wheels;

a carrier mounted atop the drive system and including a top surface; and

a biasing mechanism comprising;

a left portal axle and a right portal axle axially aligned with the left portal axle, the left portal axle and the right portal axle each being mounted to and extending from the top surface 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 spherical housing to actively force the drive system to continuously engage the inner surface of the spherical housing in order to cause the spherical housing to roll.

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, further comprising one or more of:

a chemical sensor, an infrared sensor, a motion sensor, a listening device, or a biological sensor positioned within the spherical housing.

6. The self-propelled device of claim 1, further comprising one or more explosives positioned within the spherical housing.

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

8. 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.

9. The self-propelled device of claim 8, 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.

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

11. The self-propelled device of claim 10, wherein the stabilizer further includes a dampening system to reduce impact force on the carrier during impacts on the self-propelled device.

12. The self-propelled device of claim 1, wherein each of the left portal axle and the right portal axle comprise a wheel rotation axis parallel to the top surface of the carrier.

13. The self-propelled device of claim 12, wherein the pair of wheels of the drive system rotate about an axis parallel to the top surface of the carrier.

14. The self-propelled device of claim 1, wherein the at least one spring comprises a left spring associated with the left portal axle and a right spring associated with the right portal axle.