Self propelled device with magnetic coupling

• US 10,423,155 B2
• Filed: 02/05/2018
• Issued: 09/24/2019
• Est. Priority Date: 01/05/2011
• Status: Active Grant

• Current Assignee: Sphero Inc.
• Original Assignee: Sphero Inc.
• Inventors: Bernstein, Ian H., Wilson, Adam, Kong, Chun, MacGregor, Ross
• Primary Examiner(s): Dickson, Paul N
• Assistant Examiner(s): Johns, Hilary L
• Application Number:
  US15/888,354
• Publication Number:
  US 20180364699A1
• Time in Patent Office: 596 Days
• Field of Search: None
• CPC Class Codes: A63H 30/04 using wireless transmission
• CPC Class Codes: A63H 33/005 Motorised rolling toys
• CPC Class Codes: A63H 33/26 Magnetic or electric toys electric drives A63H29/22 ; indoor games played with small balls using magnetic power A63F7/0088, A63F7/068
• CPC Class Codes: B60R 11/00 Arrangements for holding or mounting articles, not otherwise provided for
• CPC Class Codes: B60R 2011/007 using magnetic means
• CPC Class Codes: B62D 39/00 Vehicle bodies not otherwise provided for , e.g. safety vehicles safety equipment B60R21/00
• 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 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• 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: Y10S 901/01 Mobile robot

Abstract

A self-propelled device includes a spherical housing and an internal drive system. The self-propelled device can further include an internal structure having a magnet holder that holds a first set of magnets and an external accessory comprising a second set of magnets to magnetically interact, through the spherical housing, with the first set magnets.

Claims

1. A self-propelled device comprising:

a spherical housing comprising an inner surface;

an internal drive system enclosed within the spherical housing and operable to accelerate and maneuver the self-propelled device;

an internal structure coupled to the internal drive system and comprising a magnet holder, the magnet holder including a first magnetically interactive element;

a spring for biasing the magnet holder towards the inner surface of the spherical housing;

an external accessory comprising a second magnetically interactive element to magnetically interact, through the spherical housing, with the first magnetically interactive element as the self-propelled device accelerates and maneuvers;

a wireless communication interface to receive control inputs; and

one or more processors to process the control inputs and implement commands on the internal drive system, based on the control inputs, to accelerate and maneuver the self-propelled device.

2. The self-propelled device of claim 1, wherein the internal drive system comprises a plurality of biasing elements for causing the internal drive system to exert a force on the inner surface.

3. The self-propelled device of claim 2, wherein the plurality of biasing elements comprise a plurality of wheels.

4. The self-propelled device of claim 3, wherein the plurality of biasing elements are rigidly connected to the internal structure.

5. The self-propelled device of claim 3, wherein the spring is disposed between the plurality of biasing elements.

6. The self-propelled device of claim 2, wherein the spring biases the plurality of biasing elements into the inner surface.

7. The self-propelled device of claim 6, wherein the first magnetically interactive element does not contact the inner surface.

8. The self-propelled device of claim 1, wherein the first magnetically interactive element comprises a first pair of magnets, and wherein the second magnetically interactive element comprises a second pair of magnets.

9. The self-propelled device of claim 1, wherein the internal drive system comprises a pair of motor-driven wheels.

10. The self-propelled device of claim 1, wherein the external accessory is dome-shaped or hemispherical and includes an underlying surface that corresponds to a curvature of the spherical housing.

11. A self-propelled device comprising:

a spherical housing comprising an inner surface;

an internal drive system enclosed within the spherical housing and operable to accelerate and maneuver the self-propelled device;

an internal structure coupled to the internal drive system and comprising a carrier and a pivoting magnet holder configured to pivot relative to the carrier, the pivoting magnet holder including a first magnetically interactive element;

an external accessory comprising a second magnetically interactive element to magnetically interact, through the spherical housing, with the first magnetically interactive element as the self-propelled device accelerates and maneuvers;

a wireless communication interface to receive control inputs; and

one or more processors to process the control inputs and implement commands on the internal drive system, based on the control inputs, to accelerate and maneuver the self-propelled device.

12. The self-propelled device of claim 11, further comprising a pivot actuator for pivoting the pivoting magnet holder relative to the carrier.

13. The self-propelled device of claim 11, further comprising a spring for biasing the pivoting magnet holder.

14. The self-propelled device of claim 13, wherein the spring biases a plurality of biasing elements into the inner surface.

15. The self-propelled device of claim 11, wherein the first magnetically interactive element does not contact the inner surface.

16. The self-propelled device of claim 11, wherein the first magnetically interactive element comprises a first pair of magnets, and wherein the second magnetically interactive element comprises a second pair of magnets.

17. The self-propelled device of claim 11, wherein the internal drive system comprises a pair of motor-driven wheels.

18. The self-propelled device of claim 11, wherein the external accessory is dome-shaped or hemispherical and includes an underlying surface that corresponds to a curvature of the spherical housing.