Self-propelled device with center of mass drive system

• US 9,829,882 B2
• Filed: 12/20/2013
• Issued: 11/28/2017
• 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:
  US14/137,954
• Publication Number:
  US 20150175202A1
• Time in Patent Office: 1,439 Days
• Field of Search: 701 2, 700245, 446273, 446325, 180218
• 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 carrier, 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 left motor and the right motor are each 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 coupled to the carrier to receive control inputs from a mobile computing device; and

a processor coupled to the circuit board to;

in response to execution of a software application on the mobile computing device, establish a wireless communication link with the mobile computing device to receive, via the receiver, the control inputs; and

process the control inputs for maneuvering the self-propelled device by independently operating the left motor and the right motor;

wherein actuation of the left motor and the right motor by the processor causes the left and right motors, hanging freely from the carrier, to pitch rotationally, causing a displacement in the center of mass of the self-propelled device in order to propel the self-propelled device.

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 substantially cylindrical body.

3. The self-propelled device of claim 2, wherein the substantially cylindrical 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, further comprising:

an inductive charge port coupled to the one or more power units, the inductive charge port to recharge the one or more power units via an induction charger.

12. The self-propelled device of claim 11, wherein the processor activates a deep sleep mode upon activation of the inductive charge port to recharge the one or more power units.

13. The self-propelled device of claim 1, wherein the drive system is rigid to the substantially cylindrical body, causing the substantially cylindrical body to rotate in conjunction with the rotational pitch of the drive system.

14. The self-propelled device of claim 13, 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.

15. The self-propelled device of claim 14, wherein the left and right 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 of the left and right wheels.

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

17. The self-propelled device of claim 1, wherein the processor utilizes one or more inertial measurement devices of the self-propelled device to maintain awareness of an initial reference frame after the self-propelled device initiates movement.

18. 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.

19. The self-propelled device of claim 1, wherein the communication link comprises a BLUETOOTH low energy communication link, and wherein the executing software application is unique to controlling the self-propelled device.

20. The self-propelled device of claim 18, wherein the processor further (i) stores information corresponding to an initial frame of reference of the self-propelled device in the memory when the self-propelled device is initiated, and (ii) maintains position and orientation information of the self-propelled device, relative to the initial frame of reference, when the self-propelled device controlled by the mobile computing device executing the software application.