Self propelled device with magnetic coupling

Patent metadata

Field	Value
Publication number	US-10423155-B2
Application number	US-201815888354-A
Country	US
Kind code	B2
Filing date	Feb 5, 2018
Priority date	Jan 5, 2011
Publication date	Sep 24, 2019
Grant date	Sep 24, 2019

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.

First claim

What is claimed is:

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.

Assignees

• Sphero Inc

Inventors

• Bernstein Ian H
• Wilson Adam
• Kong Chun
• Macgregor Ross

Classifications

• A63H33/005

  Motorised rolling toys · CPC title

• Y10S901/01

  Mobile robot · CPC title

• B62D39/00

  Vehicle bodies not otherwise provided for {, e.g. safety vehicles (safety equipment B60R21/00)} · CPC title

• A63H33/26

  Magnetic or electric toys (electric drives A63H29/22 {; indoor games played with small balls using magnetic power A63F7/0088, A63F7/068}) · CPC title

• B60R2011/007

  using magnetic means · CPC title