Self-propelled device with center of mass drive system
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G05D-001/00
G05D-003/00
G06F-007/00
B62D-061/00
B60K-001/04
B60K-007/00
B62K-011/00
B60K-017/04
출원번호
US-0137954
(2013-12-20)
등록번호
US-9829882
(2017-11-28)
발명자
/ 주소
MacGregor, Ross
Bernstein, Ian H.
Wilson, Adam
출원인 / 주소
SPHERO, INC.
대리인 / 주소
Merchant & Gould P.C.
인용정보
피인용 횟수 :
0인용 특허 :
150
초록▼
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 sy
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.
대표청구항▼
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 ea
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; anda 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; andprocess 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.
연구과제 타임라인
LOADING...
LOADING...
LOADING...
LOADING...
LOADING...
이 특허에 인용된 특허 (150)
Chieffo Joseph M. (1023 Yates Ave. Marcus Hook PA 19061), Amusement device.
Garretson, Justin R.; Parker, Eric P.; Gladwell, T. Scott; Rigdon, J. Brian; Oppel, III, Fred J., Apparatus and method for modifying the operation of a robotic vehicle in a real environment, to emulate the operation of the robotic vehicle operating in a mixed reality environment.
Rankin David B. (Lowell MA) Roberts ; Jr. Edgar P. (Winston-Salem NC) Kluttz James W. (Winston-Salem NC), Apparatus and method for tracking the flight of a golf ball.
Rankin David B. (Lowell MA) Roberts ; Jr. Edgar P. (Winston-Salem NC) Kluttz James W. (Winston-Salem NC), Apparatus and method for tracking the flight of a golf ball.
Takayama Kuniharu,JPX ; Nakano Eiji,JPX ; Mori Yoshikazu,JPX ; Takahashi Takayuki,JPX, Apparatus for controlling motion of normal wheeled omni-directional vehicle and method thereof.
Matsuoka,Tsunetaro; Otsuki,Tadashi; Konishi,Tetsuya; Kasuga,Tomoaki; Takemoto,Kunio; Okita,Ayako; Fujita,Yaeko; Ogura,Toshiya, Automatic apparatus, information server, robotic apparatus and commercial transaction method for performing an action based on information.
Osawa, Hiroshi; Hosonuma, Naoyasu, Charging system for mobile robot, method for searching charging station, mobile robot, connector, and electrical connection structure.
McCulloch, Daniel J.; Navratil, Arnulfo Zepeda; Steed, Jonathan T.; Hastings, Ryan L.; Scott, Jason; Mount, Brian J.; Hirzel, Holly A.; Bennett, Darren; Scavezze, Michael J., Controlling a virtual object with a real controller device.
Bakholdin Daniel (14929 Sylvan St. Van Nuys CA 91411) Bosley Robert W. (18104 Hoffman Ave. Cerritos CA 90701) Rosen Harold A. (14629 Hilltree Rd. Santa Monica CA 90402) Grayer William (15720 Ventura , Flywheel rotor with conical hub and methods of manufacture therefor.
Eric Richard Bartsch ; Charles William Fisher ; Paul Amaat France ; James Frederick Kirkpatrick ; Gary Gordon Heaton ; Thomas Charles Hortel ; Arseni Velerevich Radomyselski ; James Randy Stig, Home cleaning robot.
Hoffberg, Steven M; Hoffberg-Borghesani, Linda I, Mobile system, a method of operating mobile system and a non-transitory computer readable medium for a programmable control of a mobile system.
Allen Ross R. (408 Hainline Dr. Belmont CA 94002) Beard David (842 Los Robles Palo Alto CA 94306) Smith Mark T. (726 Pico Ave. San Mateo CA 94403) Tullis Barclay J. (1795 Guinda St. Palo Alto CA 9430, Navigation technique for detecting movement of navigation sensors relative to an object.
Kim, Dong yoon; Oh, Jong koo; Bang, Won chul; Cho, Joon kee; Kang, Kyoung ho; Cho, Sung jung; Choi, Eun sook; Chang, Wook, Remote robot control method using three-dimensional pointing procedure and robot control system using the remote robot control method.
Sawada, Tsutomu; Fujita, Masahiro; Takagi, Tsuyoshi, Robot behavior control based on current and predictive internal, external condition and states with levels of activations.
Nielsen, Curtis W.; Bruemmer, David J.; Walton, Miles C.; Hartley, Robert S.; Gertman, David I.; Kinoshita, Robert A.; Whetten, Jonathan, Robots, systems, and methods for hazard evaluation and visualization.
Matsuoka, Tsunetaro; Otsuki, Tadashi; Konishi, Tetsuya; Kasuga, Tomoaki; Takemoto, Kunio; Okita, Ayako; Fujita, Yaeko; Ogura, Toshiya, System and method for generating an action of an automatic apparatus.
Karlsson, L. Niklas; Pirjanian, Paolo; Goncalves, Luis Filipe Domingues; Di Bernardo, Enrico, Systems and methods for using multiple hypotheses in a visual simultaneous localization and mapping system.
Boyden, Edward S.; Hyde, Roderick A.; Ishikawa, Muriel Y.; Leuthardt, Eric C.; Myhrvold, Nathan P.; Rivet, Dennis J.; Weaver, Thomas Allan; Wood, Jr., Lowell L., Systems for autofluorescent imaging and target ablation.
Niemelä, Esko; Öberg, Pierre; Kjellsson, Jimmy; Strand, Martin; Grönqvist, Åsa; Tasala, Seija, Wireless controller and a method for wireless control of a device mounted on a robot.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.