Self-propelled device with center of mass drive system

• US 10,620,622 B2
• Filed: 11/27/2017
• Issued: 04/14/2020
• Est. Priority Date: 12/20/2013
• Status: Active Grant

• Current Assignee: Sphero Inc.
• Original Assignee: Sphero Inc.
• Inventors: MacGregor, Ross, Bernstein, Ian H., Wilson, Adam
• Primary Examiner(s): Smith, Isaac G
• Application Number:
  US15/822,676
• Publication Number:
  US 20180299879A1
• Time in Patent Office: 869 Days
• Field of Search: 701 2, 701124
• CPC Class Codes: B60K 1/04 of the electric storage means for propulsion exchanging batteries for electric propulsion of vehicles B60L53/80; for auxiliary purposes only B60R16/04; supplying batteries to, or removing batteries from, vehicles B60S5/06
• CPC Class Codes: B60K 17/043 Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
• CPC Class Codes: B60K 2001/0438 Arrangement under the floor
• CPC Class Codes: B60K 7/0007 the motor being electric
• CPC Class Codes: B60Y 2200/81 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: B62K 11/007 Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement

Abstract

A self-propelled device is disclosed that includes a center of mass drive system. The self-propelled device includes a substantially cylindrical body and wheels, with each wheel having a diameter substantially equivalent to the body. The self-propelled device may further include an internal drive system with a center of mass below a rotational axis of the wheels. Operation and maneuvering of the self-propelled device may be performed via active displacement of the center of mass.

Claims

1. A self-propelled device comprising:

a substantially cylindrical body;

a drive system comprising a left motor to operate a left wheel, a right motor to operate a right wheel, and one or more power units to power the left and right motors, wherein the drive system is mounted to hang freely from the carrier between the left and right wheels and below a common rotational axis of both the left and right wheels;

a receiver to receive control inputs from a controller device;

a processor to process the control inputs for maneuvering the self-propelled device, the processor to independently control operation of the left motor and the right motor;

wherein actuation of the left motor and the right motor causes the drive system, hanging freely from the carrier, to pitch rotationally causing a displacement in the center of mass of the drive system in order to cause the self-propelled device to move.

2. The self-propelled device of claim 1, wherein a height of both the left and right wheels is substantially equivalent to a height of the body.

3. The self-propelled device of claim 2, wherein the body includes one or more fastening means to fasten one or more attachable accessories to the self-propelled device.

4. The self-propelled device of claim 3, wherein the one or more attachable accessories includes a light-emitting element.

5. The self-propelled device of claim 3, wherein the one or more attachable accessories includes a trailer attachment.

6. The self-propelled device of claim 3 wherein the one or more attachable accessories includes a camera.

7. The self-propelled device of claim 1, further comprising removable wheel coverings to fit around each of the left and right wheels.

8. The self-propelled device of claim 1, further comprising detachable wheel covers coupled to a wheel hub on each of the left and right wheels.

9. 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.

10. The self-propelled device of claim 1, wherein the processor (i) interprets the control inputs 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.

11. The self-propelled device of claim 1, wherein the body is at least partially transparent.

12. The self-propelled device of claim 11, further comprising a light-emitting element coupled to a fastening means on the drive system and disposed within the body.

13. The self-propelled device of claim 1, further comprising a left gear coupling the left motor to the left wheel, and a right gear coupling the right motor to the right wheel, wherein the left and right gears are respectively rigid to the left and right wheels.

14. The self-propelled device of claim 13, wherein the motors are configured to engage in concert to rotationally pitch the drive system, allowing for linear motion of the self-propelled device in directions perpendicular to the common rotational axis the left and right wheels.

15. The self-propelled device of claim 14, wherein the left and right motors are further configured to engage independently in order to cause directional change of the self-propelled device.

16. The self-propelled device of claim 14, wherein the left and right motors are configured to rotationally pitch the drive system approximately 90 degrees to cause the self-propelled device to move.

17. The self-propelled device of claim 1, further comprising a memory coupled to the processor, the memory to store programmatic instructions that translate the control inputs into commands for operating each of the left motor and the right motor.

18. The self-propelled device of claim 17, wherein the control inputs are received from a computing device via a software application unique to controlling the self-propelled device, wherein the computing device is one of (i) a smart phone, (ii) a tablet computer, (iii) a laptop device, (iv) a desktop device, or (v) a specialized remote control.

19. The self-propelled device of claim 17, wherein execution of the software application automatically links the computing device to the self-propelled device.

20. The self-propelled device of claim 1, further comprising one or more sensors operable to provide information about a surrounding environment.