CN105264452A - Multi-purposed self-propelled device - Google Patents
Multi-purposed self-propelled device Download PDFInfo
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- CN105264452A CN105264452A CN201480029695.4A CN201480029695A CN105264452A CN 105264452 A CN105264452 A CN 105264452A CN 201480029695 A CN201480029695 A CN 201480029695A CN 105264452 A CN105264452 A CN 105264452A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H33/00—Other toys
- A63H33/005—Motorised rolling toys
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0038—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Abstract
Disclosed are a multi-purpose self-propelled device and a method for operation of the self-propelled device. Certain variations can include a spherical housing having an internal drive system and a multifunctional payload space for use in a variety of applications.
Description
Technical field
Example described herein relates to multiduty remote-controlled self-advancing device.
Background technology
Various types of remote-controlled device existed already.Such as, amateur usually operates the telechiric device of automobile, truck, aircraft and helicopter form.This device typically receives order from control device, and changes motion (such as, direction and speed) according to input.This device uses the controller based on software, and these controllers may be implemented as the form of the application program run on the equipment that such as smart phone or panel computer are such.
Accompanying drawing explanation
Disclosure herein content illustrates by means of the example on accompanying drawing, but be not limited to described example, and label identical on figure indicates similar element, wherein:
Fig. 1 is the block diagram of the parts of the self-advancing device showing bodily form formula spherical in shape;
Fig. 2 A is the block diagram of display self-advancing device;
Fig. 2 B is the block diagram of display with the self-advancing device of optional biasing mechanism;
Fig. 2 C is the block diagram of display with the self-advancing device of another the optional biasing mechanism for improvement of payload space;
Fig. 3 is the block diagram of display comprising the self-advancing device of attached camera;
Fig. 4 is the block diagram that display comprises the self-advancing device of useful load;
Fig. 5 is the exemplary conceptual diagram of self-advancing device and control device;
The example technique of Fig. 6 display for making self-propelled spherical device move;
Fig. 7 is the block diagram of display sensor array and data stream;
Fig. 8 display comprises the example system of self-advancing device and control device, and described control device is used for controlling and interactive with self-advancing device; And
Fig. 9 is the exemplary process diagram of the method for display operation self-advancing device.
Embodiment
Provide a kind of multi-usage self-advancing device, this device comprises drive system, spherical shell, biasing mechanism and the payload space in spherical shell.Biasing mechanism can comprise the spring of single stretching, and this spring engages with the inside surface of spherical shell in the position diametrically of the surface of contact engaged by drive system.Alternatively, biasing mechanism can comprise one or more (such as, a pair) door-hinge, and each door-hinge has spring and contact element, for withstanding each contact point on spherical shell inside surface.Like this, door-hinge can produce vertical force, and this vertical force initiatively forces drive system to engage the inside surface of spherical shell continuously similarly, moves to make spherical shell.Self-advancing device can be implemented to carrying useful load or multiple useful load, for various uses and activity.
Payload space can be utilized to carry any useful load.Such as, useful load can comprise camera, and described camera can be sent to control device image and/or video flowing from self-advancing device.Control device can present the form of smart phone, panel computer or other suitable operating means any.And spherical shell can be transparent, to allow camera to obtain image or real-time video, the user of control device (such as, smart phone) is allowed to control self-advancing device by viewing video flowing thus.
In another modified example, payload space comprises single useful load or multiple useful load, for civilian or military purposes.Such useful load can comprise following one or more: camera, infrared ray sensor, chemical sensor, biology sensor, one or more explosive, listening device, maybe can adapt to other useful load any in payload space.
For the modified example comprising camera or other image acquiring device, disclose and a kind of touch driving method, the method provides the ability by touching location point on realtime graphic or video pictures and Dynamic controlling self-advancing device for user.Method comprises the image or video pictures that receive from self-advancing device, and it provides the visual field of the camera be arranged in self-advancing device.This video pictures can show on the touch display screen of the calculation element of in check or movement.Method is also included in touch display screen receives and selects the user of the location point in camera view, and selects according to user to generate the command signal that will be sent to self-advancing device, and instruction self-advancing device is manipulated to location point.
And method can comprise the position determining the location point in the visual field according to first reference frame in the visual field shown on control device; And the position of location point is mapped to fastens with the second reference coordinate corresponding relative to the location point of self-advancing device.In such arrangement, only generate the command signal of the instruction comprised for manipulating self-advancing device according to the second reference frame.Moreover for the embodiment of real-time video picture, control device dynamically can generate command signal in conjunction with received real-time video picture.
Systematic review
With reference to accompanying drawing, Fig. 1 is the block diagram that display presents each parts of the self-advancing device of spherical form.Multiduty self-advancing device 100 can be moved under the control of another device by manipulating, such as by the computing equipment (such as, smart phone, panel computer and/or telepilot) of user operation.Self-advancing device 100 may be configured with the resource carrying out following one or more action: (i) keeps knowing ability relative to the orientation of initial reference coordinates and/or position after device setting in motion; (ii) programmed process control inputs, to obtain the different range specifically responded for the program of different control inputs; (iii) make another device that software or programmed logic can be used to control its motion, described software or programmed logic can carry out communication with the programmed logic on self-advancing device; And/or (iv) generation responds for its motion and the output of state, described output is corresponding can carry out software decipher by opertaing device.
Such as, multi-usage self-advancing device 100 can comprise some subsystem be connected to each other and modules.Processor 114 performs the programming instruction from program storage 104.The instruction be stored in program storage 104 can be changed, and such as, adds characteristic, corrects shortcoming or recovery actions.In some example, program storage 104 stores programming instruction, and described programming instruction with the software communication that performs on calculation element or otherwise can be able to operate.Processor 114 can be configured to perform the distinct program of programming instruction, to change self-advancing device 100 decipher or otherwise to respond the mode of the control inputs from another calculation element.
Wireless communication module 110 combines with communication transducer 102 and may be used at the swapping data of processor 114 with other external unit.Exchanges data, such as, can provide communication, provide control, provides logical order, status information, and/or be provided for the renewal of program storage 104.In some example, processor 114 can generate the output corresponding with state and/or positional information, and then described output can be sent to control device via wireless communication port.The movability of device makes wired connection be less desirable.Therefore, term " connection " can be understood to describe and need not physically be attached to self-advancing device 100 and the logical links made.
In some example, wireless communication module 110 can implement Bluetooth communication protocol, and transducer 102 can be the antenna being suitable for transmitting and receiving Bluetooth signal.Additionally or alternatively, wireless communication module 110 can implement Wi-Fi communication protocol, and transducer can be the antenna being applicable to transmit and receive Wi-Fi signal.In such example, self-advancing device 100 can be controlled through bluetooth and/or Wi-Fi signal by control device.In alternative embodiments, also other wireless communication module and agreement can be used.
Sensor 112 can provide the information of surrounding environment about processor 114 and condition.In modified example, sensor 112 comprises inertial measuring unit, and it comprises three-axis gyroscope, three-axis accelerometer and three axle magnetometers.And sensor 112 can provide input, make processor 114 can keep knowing ability to the orientation relative to initial reference coordinates of device and/or position after device setting in motion.Sensor 112 can comprise for detecting light, temperature, humidity or measuring chemical concentrations or radioactive instrument.
State/alterable memory 106 can store the information relevant with unit state, such as, comprise position, orientation, rotate and rate of translation on each axle.State/alterable memory 106 can also store such as device be put into use after the information of initial reference coordinates of (such as, device be activated after) device, and once device is by the position that uses and orientation information.Like this, self-advancing device 100 can the information of utilization state/alterable memory 106, just to keep position and the orientation information of self-advancing device 100 after plant running.
Clock 108 can provide timing information to processor 114.Such as, clock 108 can be provided for the time base measuring the time interval and the speed changed.And clock 108 can provide day, date, year, time and alarm clock function.Moreover clock 108 can allow self-advancing device 100 to provide quarter-bell or prompting in the time pre-set.
Extended Capabilities Port 120 can be provided for the connection adding annex or device.Extended Capabilities Port 120 provides expansion in the future, and adds the dirigibility of option or enhancement measures.Such as, Extended Capabilities Port 120 can be used to a peripheral hardware, sensor, processing hardware, memory storage, display or driver etc. and adds self-advancing device 100 to.
Additionally or alternatively, Extended Capabilities Port 120 can provide the interface that can be carried out with the parts suitably configured by use analog or digital signal communicating.Electrical interface that is that Extended Capabilities Port 120 can provide standard or that know and agreement.Extended Capabilities Port 120 can also implement optical interface.Such as, the interface being applicable to Extended Capabilities Port 120 comprises USB (universal serial bus) (USB), inter-IC bus (I2C), Serial Peripheral Interface (SPI) (SPI) or Ethernet.
Information is presented to external unit or individual by display 118.Display 118 can present various multi-form information.In various example, display 118 can produce there is colored and pattern light, sound, vibration or stimulus to the sense organ combination.In some example, display 118 can run in conjunction with driver 126, is used for transmitting the information produced by the physical motion of self-advancing device 100.Such as, self-advancing device 100 can be made into simulation people nod or shake the head to transmit "Yes" or "No".
Additionally or alternatively, display 118 can be configured to be transmitted in the light in visible ray or non-visible light range.Such as, the non-visible light in infrared ray or ultraviolet ray range can be used to sender feel invisible but for special detecting device can information.And display 118 can comprise light emitting diode (LED) array launching various light frequency, described light emitting diode is arranged to and makes its relative intensity variable, and the light launched can be mixed and form color composition.
Additionally or alternatively, display 118 comprises LED array, and it comprises some LED, and each LED launches the primary colours that people can see.Processor 114 can change the relative intensity of each LED, thus produces many various different colors.The primary colours of light are the colors with Types Below: the amount that wherein several color can be different mixes and produces wide colour gamut.There will be a known and organize primary lights more, such as, comprise red/green/blue, red/green/indigo plant/Bai Hehong/green/indigo plant/amber.Such as, red, green and blue look LED comprises useful group of three kinds of using primary colors devices together, comprises display 118.In modified example, other primary colours and White LED group can be used.In many embodiments, display 118 can comprise one or more LED, and it is used for indicating on self-advancing device 100, for aiming at reference point.
Energy storage units 124 stores the energy for the electronics and electromechanical component operating self-advancing device 100.Such as, energy storage units 124 can be chargeable battery.Inductive charging port 128 can allow to charge to energy storage units 124, and without the need to wired electrical connection.And inductive charging port 128 can receive magnetic energy, and it is converted to electric energy, charge to give energy storage units 124.Additionally or alternatively, inductive charging port 128 can provide the wireless communication interface with external recharging apparatus.And the plug in charging device can be included as the condiment of inductive charging port 128 or optional thing.
Can comprise deep sleep sensor 122, self-advancing device 100 is placed in very lower powered or " deep sleep " pattern, wherein most of electronic installation does not use power.This some embodiment for this state of needs of longer-term storage, transport and/or self-advancing device 100 is very useful.Such as, self-advancing device 100 can be implemented to carrying useful load, such as camera, motion sensor, infrared sensor and/or chemistry or biology sensor.In such modified example, self-advancing device 100 can dormancy penetration depth sleep pattern, until trigger event, such as activates the event of camera or one or more sensor, till automatically starting self-advancing device 100.
In modified example, sensor 122 can without wired connection by the spherical shell perceptual object of self-advancing device 100, event, accident, things and/or phenomenon.Additionally or alternatively, deep sleep sensor 122 can be hall effect sensor, and it is installed into external magnet can be applied on self-advancing device 100, thus starts deep sleep mode.
Drive system actuator 126 can convert mechanical energy to electric energy, for various uses.The main application of actuator 126 can be advance and manipulation self-advancing device 100.Motion also can be described as drive system or trailer system with manipulation actuator.Drive system causes the rotation of self-advancing device 100 under the control of processor 114 and translation motion.The example of actuator 126 can comprise such as wheel, motor, spiral pipe, thruster, paddle wheel and pendulum.
Such as, drive system actuator 126 can comprise one group two parallel wheels, and each wheel is installed on axle, and described axle is connected to by reduction gear device can the motor of independent speed change.In such example, the operation of the drive motor of two independent operatings can be controlled by processor 114.
But except rotation and translation self-advancing device 100, actuator 126 can also produce various motion.Such as, actuator 126 can make self-advancing device 100 perform and exchange motion, comprises the simulation of people's gesture, such as, nods, shakes the head, trembles, rotates or gently jump.In modified example, processor coordinates actuator 126 and display 118.Similarly, processor 114 can provide signal to actuator 126 and display 118, makes self-advancing device 100 rotate or shake, launches the colored light of various pattern simultaneously.Additionally or alternatively, self-advancing device 100 can with synchronized movement ground utilizing emitted light or sound pattern.
Self-advancing device 100 can be used as controller, for the equipment that other network connects.Self-advancing device 100 can comprise sensor and wireless communication ability, and like this, it can play the effect of the controller for miscellaneous equipment.Such as, self-advancing device 100 can be held in the hand and be used to perception gesture, motion, rotation, combinatorial input etc.
Machine Design
Fig. 2 A is the block diagram of display self-advancing device.Self-advancing device 200 can be multiduty, and can comprise spherical shell 202, drive system 201, biasing mechanism 215 and payload space 228.Such as, self-advancing device 200 can present the form of robot spherical.Self-advancing device 200 size and weight can make it be easy to be held, lift and carry in adult staff.In modified example, self-advancing device 200 can be greater or lesser, and/or can be the customization of specific useful load.Such as, self-advancing device 200 can manufacture and comprise transparent spherical shell, and camera can be included in provide video flowing to control device in payload space, such as, and such as smart phone or panel computer, as shown in the example of fig. 3.
Still with reference to Fig. 2 A, self-advancing device 200 comprises spherical shell (shell) 202, and it is when device rolls and extraneous surface contact.In addition, self-advancing device 200 comprises the inside surface 204 of spherical shell 202, and the wheel 218 be wherein included as the parts of drive system 201 contacts with inside surface 204 with 200, and self-advancing device 200 is moved.In addition, self-advancing device 200 can comprise and load some machinery in spherical shell 202 and electronic unit.
Spherical shell 202 can be undertaken transmitting by the signal being allowed for radio communication at least in part but one or more materials that can resist humidity and dust are made.The material of spherical shell 202 can be durable, that can wash and/or anti-pulverizing.Spherical shell 202 can also be built into can transmission light, and can be made into veined, to diffuse.
In modified example, spherical shell 202 can be made up of the polycarbonate plastic sealing.In similar modified example, at least one item in spherical shell 202 or inside surface 204 is veined, to diffuse.Additionally or alternatively, spherical shell 202 can comprise two hemispherical Shells with the cum rights be associated, and such spherical shell 202 can be opened and allow close to inner electronics and mechanical part.In similar modified example, spherical shell 202 can comprise autoamtic-opening device, and described autoamtic-opening device is configured to use control device to open shell under the command cue made by user.Additionally or alternatively, spherical shell 202 can be opened, and useful load is placed in payload space 228, then closes thereupon, can continue to manipulate self-advancing device 200 to make user.Spherical shell 202 can also comprise the outside surface of threading or the outside surface of the knob included for drawing and/or tubercle.
It is inner that some electronics and mechanical part can be placed on spherical shell 202, can carry out processing, radio communication, advance and realize other function.In these parts, drive system 201 can be comprised, advance it oneself to enable described device.Drive system 201 can be coupled to process resource and other control gear as above reference Fig. 1 description.Still with reference to Fig. 2 A, bracket 214 can be included attachment point and the support of the electronic unit being used as self-advancing device 200.Drive system 201, energy storage units 216, bracket 214, biasing mechanism 215, such as above other parts of describing with reference to Fig. 1 and may finally take payload space 228 but any useful load project on spherical shell 202 can not be firmly fixed to.On the contrary, the wheel 218,220 that drive system 201 comprises can carry out rubbing contact with the inside surface 204 of spherical shell 202, and can be used for driving spherical shell 202 by the action of actuator.
Bracket 214 can carry out machinery and electrical contact with energy storage units 216.Energy storage units 216 can provide energy storage device, provide energy to device and electronic installation, and again can supplement via induction charging port 226.Such as, energy storage units 216 can be rechargeable battery, and it can be made up of lithium polymer battery.
Bracket 214 can be most of internal part, comprises for the printed circuit board (PCB) of electronic package, sensor array, one or more antenna and one or more connection first-class, provides installation site, and provides mechanical attachment point for internal part.And bracket 214 can provide pedestal for the useful load be placed in self-advancing device 200.Like this, the top surface of bracket 214 also can be the ground of payload space 228.But other configuration of payload space 228 also it is expected to, such as, the such as specifically created payload space 228 for camera, or comprise the payload space of the compartment for carrying multiple article.
Drive system 201 comprises motor 222, and 224 and wheel 218,220.Motor 222,224 transmission shaft, wheel shaft and gear drive (not shown) by being associated, are connected to wheel 218,220 independently.Wheel 218,220 can carry out physical contact with inside surface 204.Wherein wheel 218, the point of 220 contact inside surfaces 204 is piths of the driving mechanism of self-advancing device 200, and therefore excellent the selection of material covers increase friction and reduce slippage.Such as, wheel 218, the surrounding of 220 can cover with silicon rubber tire.
Biasing mechanism 215 can be included initiatively by wheel 218, and 220 are pressed against on inside surface 204.As an example, spring 212 and spring end 210 can comprise biasing mechanism 215.More specifically, spring 212 and spring end 210 can be placed with wheel 218,220 point cantact inside surfaces 204 diametrically.Spring 212 and spring end 210 can provide contact force, to reduce or to eliminate in essence the slippage of wheel 218,220.Spring 212 is selected to the less power being provided for promoting wheel 218,220, and spring end 210 is balancedly against inside surface 204.
Spring end 210 provides and contacts with the almost friction free of inside surface 204.Like this, spring end 210 comprises the surface of circle or quasi-circular, and described surface is configured to slide along inside surface 204 when self-advancing device 200 is driven by drive system 201.Also other device that almost friction free contact is provided can be comprised.In certain embodiments, spring end 210 can comprise one or more bearing, is used for reducing further the friction at the contact point place when spring end 210 moves along inside surface 204.And spring 212 and spring end 210 can be made up of nonmagnetic substance, to avoid interference responsive magnet sensor.
Payload space 228 combinedly can carry single useful load or multiple useful load, for civilian and/or military activity.Payload space 228 can be arranged to the useful load carrying any number, such as, comprise following one or more: for monitor or the camera of remote video stream, infrared sensor, the chemistry being used for detecting harmful reagent or biology sensor, can by manipulation to suitable place and the bomb be detonated or flash bomb and/or listening equipment.
Fig. 2 B is the block diagram of display with the self-advancing device of optional biasing mechanism 217.With reference to Fig. 2 B, biasing mechanism 217 can be combined with chassis 237, and it can comprise one or more additional wheel 234,236, thus increases and reconfigure payload space 228.Biasing mechanism 217 can comprise newel 238, and described newel 238 is configured to applying power to chassis 237, and this power can make the wheel 234,236 that adds against the inside surface 204 of spherical shell 202 conversely.Newel 238 can comprise or not comprise spring 240, to help biased.Alternatively, underframe 237 can be placed with near drive system 201, and such wheel 218,220,234 contacts same hemispherical inside surface 204 with 236, in diametric(al) relatively.Additionally or alternatively, underframe 237 can be positioned such that newel 238 shape at an angle, wherein additional wheel 234,236 contacts the inside surface 204 (in reference frame, drive system 201 is positioned in the bottommost of self-advancing device 200) of top slightly under the line.Can comprise these to arrange and similar layout, make such as, payload space 228 maximizes or optimization.
Fig. 2 C is the block diagram of display with the self-advancing device of another the optional biasing mechanism for improvement of payload space 250.Such as, can comprise independently biasing mechanism 252, it is configured to initiatively be pressed against on inside surface 204 by drive system wheel 218,220, is similar to the above biasing mechanism discussed with reference to Fig. 2 A and 2B.Independently biasing mechanism 252 comprises two or more door-hinge 258,260 separated.Door-hinge 258,260 can comprise spring, utilize the force vector with vertical value and by wheel 254,256 are pressed against on inside surface 204.Drive system 201 and its respective wheel 254,256 are initiatively pressed against to inside surface 204 again by the vertical force carrying out the wheel 254,256 of self-pressing inside surface 204, thus for drive system 201 provides enough power, self-advancing device 200 are moved.
As shown in the figure, with its two or more door-hinges 258, the independent bias device 252 of 260 allows significantly to increase payload space 250, the useful load (such as, camera, infrared sensor, chemistry or biology sensor, one or more explosive, listening equipment etc.) of any number of dissimilar or size can be positioned in space 250 thus.By remove as show by the example of Fig. 2 A and 2B biasing mechanism configuration, and with the independent bias mechanism 252 with independent door-hinge 258,260 come alternative they, the inside of self-advancing device 200 can be cleaned, thus provide spaciousness inner space.Door-hinge 258,260 comprise independent bias mechanism 252 can be directly installed on bracket 214.Corresponding to door-hinge 258, the spring of 260 can have the form of torsionspring, and it makes wheel 254, and 256 are pressed against to inside surface 204.Additionally or alternatively, spring can comprise following one or multinomial: Compress Spring, watch spring or extension spring.Alternatively, door-hinge 258,260 can install in the following manner, make wherein not comprise spring, still keep pressing drive system 201 and wheel 218,220 against the power of inside surface 204, allow enough tractive force that self-advancing device 200 is moved.
Fig. 3 is the block diagram that display comprises the self-advancing device of camera.Multi-usage self-advancing device 300 can comprise the camera 320 be arranged in payload space 310.Such as, spherical shell 304 is transparent, allows camera 302 to watch the outside of self-advancing device 300.Camera 302 can be arranged on bias unit, or is otherwise arranged in self-advancing device 300, to keep substantially horizontal location.Such as, camera 302 can be installed in bracket 314, reaches identical result.
Camera 302 can be installed in gyroscope or other stabilising arrangement, can be more level to make the orientation of camera relative to external reference coordinate system.Such as, stabilising arrangement (not shown) can be installed on bias unit 315 and/or bracket 314, to realize further stability and to keep directed further.For the self-advancing device 300 with the independent bias device used as the door-hinge discussed with reference to Fig. 2 C, camera 302 can be installed in bracket 314.
Additionally or alternatively, camera 302 can also be connected to wireless communication module.Camera 302 can be supplied to control device 306 by means of wireless link 308 photo and/or video flowing.In similar layout, self-advancing device can use control device 306 via wireless link 308 remote control by user.As implement, self-advancing device 300 can by use video flowing control, therefore user does not need to be in order to the operation of remaining valid in the visual line of sight of self-advancing device 300.
Camera 302 can be any photo or video recording apparatus.Camera 302 itself can comprise radio communication device, and like this, it can directly link with control device 306.Alternatively, camera 306 can be coupled to processor, and video flowing can be fed to control device 306 as above with reference to the wireless module in the system of Fig. 1 description via being included in.
Control device 306 can be telepilot, smart phone, panel computer, maybe can store and executive utility or instruction to operate the equipment for customizing of self-advancing device 300.Such as, control device 306 can present the form of smart phone or panel computer, and the operation of self-advancing device can be performed by means of the application program be stored in smart phone or panel computer.Alternatively, control device 306 and self-advancing device 300 can be manufactured into the combined system for one or more purposes manufacture specially.Such as, the combined system of self-advancing device 300 and control device 306 can be specifically designed to monitoring.And the application program of control device 306 can comprise " touch and drive " characteristic, and wherein user can touch the display of the control device 306 corresponding with selected location." touch and driving " characteristic can also allow the position on the display of user's selection control device 306, and the position of wherein said selection is corresponding with the same position on video flowing.In other words, user " can touch " position on the video flowing from self-advancing device 300, and self-advancing device 300 automatically will manipulate and oneself arrive that position.
Fig. 4 is the block diagram that display comprises the self-advancing device of useful load.With reference to Fig. 4, self-advancing device comprises payload space 406, is used for carrying and carrying specific article or useful load 404, for various activity.Such article can comprise following one or more: infrared sensor, chemistry or biology sensor, explosive or flash bomb, listen to dress or other mechanical hook-up etc.These article any one or multinomial can also be included in as above describe with reference to Fig. 3 comprising in the modified example of camera.
As what show in the example in fig. 4, self-advancing device 400 comprises payload space 406, for carrying useful load 404.Self-advancing device 400 can be built by the mode that user throws with it, then controls via control device 412.Protectiveness outer cover 402 can be comprised, be used for cushioning the vibrations such as when self-advancing device 4 is thrown by user.Protectiveness outer cover 402 is dismountable, and/or can be configured to break away self-advancing device 400 during extreme vibrations.In such example, self-advancing device 400 can break away from protectiveness outer cover 402, and carries out its purposes of plan.
Protectiveness outer cover 402 can be included for sealing self-advancing device 400 or make its waterproof.Such as, self-advancing device 400 can also be configured to according to its intend application and floating or sink.And self-advancing device 400 can be floating when being put in water, can easily fetch.
Example as shown in Figure 4 can be manufactured into for single purposes, maybe can be configured to be loaded and unloaded repeatedly.The latter can comprise spherical shell 408 and/or protectiveness outer cover 402, and they can easily be opened or closed by user.The example of single purposes can be manufactured into permanent seal, and the useful load 404 of this layout can be selected for single purposes.Such as, useful load 404 can be explosive, and wherein self-advancing device 400 is used to single purposes.As implemented, self-advancing device 400 by manipulation to the position selected, then can be detonated, effectively destroys self-advancing device 400.
Alternatively, self-advancing device 400 can be configured to open under the command cue of user, and its useful load 404 is placed on the position of selection.Then user can use control device 412 to close to make spherical shell 408, and continues manipulation self-advancing device 400.And self-advancing device 400 and control device 412 can comprise as above " touch and drive " characteristic described with reference to Fig. 4.
Fig. 5 is the illustrative diagram of self-advancing device 514 and control device 508.More specifically, self-advancing device 514 can by can being derived from the programmed logic of control device 508 and/or controlling to control when it moves.Self-advancing device 514 can move under the control of the control device 508 that can be manipulated by user 502.Control data can be wirelessly transmitted to self-advancing device 514 by use standard or special wireless communication protocol by control device 508.In modified example, self-advancing device 514 can be from controlling, utilizing sensor and inside programming logic to control its kinematic parameter (such as, speed, direction etc.) at least partly.Moreover self-advancing device 514 can transmit the data about setting position and/or kinematic parameter, for generating on control device 508 or changing content.In other modified examples, self-advancing device 514 can control the various aspects of control device 508 by means of its motion and/or inside programming logic.
As described herein, self-advancing device 514 can have multiple modes of operation, comprise those operator schemes that device is controlled by control device 508, be for another device controller (such as, another self-advancing device or control device 508), and/or be partially or completely autonomous.
In addition, self-advancing device 514 and control device 508 can shared computation platforms, programmed logic is shared on the platform, so that the function comprising following item can also be had in other characteristic: (i) makes user 502 energy operation control device 508 and generate multiple input, comprises the input of simple direction, order input, gesture input, moves or the input of other sense organ, phonetic entry or their combination; (ii) make self-advancing device 514 can the input that receives from control device 508 of decipher, as an order or Management Information Base; And/or (iii) makes self-advancing device 514 can transmit data about the position of device, motion and/or state, to affect the state of control device 508 (such as, display state, such as corresponds to the content of controller-user interface).And self-advancing device 514 can comprise DLL (dynamic link library), its realizes being used for the additional programmed logic of operative installations and/or instruction.Control device 508 can perform the programming with the programmed logic communication on self-advancing device 514.
Therefore, self-advancing device 514 can comprise the actuator or driving mechanism that cause motion or directed movement.Self-advancing device 514 can refer to many relevant terms and phrase, comprises in check device, robot, robot device, remote-control device, autonomous devices and telechiric device.In modified example, self-advancing device 514 can be built in various medium motion and to be controlled.Such as, self-advancing device 514 can be configured to move in media as well, such as moves on flat surfaces, sandy land surface or stone surface.
Self-advancing device 514 can various different form be implemented.Such as, self-advancing device 514 can correspond to spherical object, and it can roll and/or perform and such as rotate other such motion.In modified example, self-advancing device 514 can correspond to radio controlled flying object, such as aircraft, helicopter, hovermarine or balloon.In other modified example, self-advancing device 514 can correspond to radio controlled ship, such as ship or submarine.Other modified examples many are also enforceable, and such as self-advancing device 514 is wherein those devices of robot.
And self-advancing device 514 can comprise roughly spherical sealed hollow shell, can the directed movement by the action of the actuator in big envelope.
Still with reference to Fig. 5, self-advancing device 514 can be configured to use network communication link 510 and 512 and communicate with control device 508.Link 510 can be sent to self-advancing device 514 data from control device 508.Link 512 can be sent to control device 508 data from self-advancing device 514.Link 510 and 512 is shown as one way link separately, so that explanation.As an example, single bidirectional communication link performs communication in the two directions.Link 510 and link 512 are not necessarily identical on type, bandwidth or capacity.Such as, compared with link 512, usually higher traffic rate and bandwidth can be had from control device 508 to the communication link of self-advancing device 514.In some cases, a link 510 or 512 is only set up.In such example, communication is unidirectional.
Control device 508 can with comprise at least one processor and be suitable for setting up at least corresponding with any equipment of the communication capacity of the one-way communication of self-advancing device 514.The example of such equipment includes but not limited to: mobile computing device (such as, multi-functional message transmission/voice communication device, such as smart phone), flat computer, portable communication appts and personal computer.Such as, control device 508 is the IPHONE that can be provided than the Apple Computer of Dinon by storehouse, California.In another example, control device 508 is also from the IPAD flat computer of Apple Computer.In another example, control device 508 performs from any hand-held calculating of the Android operation system of Google and communicator.
In addition, control device 508 can be the personal computer being configured to notebook and desktop computer.Such as, control device 508 can be run MICROSOFTWINDOWS operating system, or the multi-usage computing platform of LINUX operating system or APPLEOS/X operating system, and it is configured with suitable application program to communicate with self-advancing device 514.
In modified example, control device 508 can be exclusively used in make user 502 can control self-advancing device 514 and with the Special Equipment of self-advancing device 514 interaction.
And polytype control device 508 can be used for communicating with self-advancing device 514 interchangeably.Additionally or alternatively, self-advancing device 514 can carry out communicating with multiple device and/or be controlled (such as, simultaneously or one at a time) by multiple device.Such as, self-advancing device 514 can link with IPHONE during a session, and during next session with ANDROID linking of devices, and described device 514 need not be revised.
Therefore, user 502 can be interactive with self-advancing device 514 via control device 508, to control self-advancing device 514 and/or to receive the feedback or mutual to control device 508 from self-advancing device 514.And the various mechanisms that user 502 can be equipped with by control device 508 specify that user inputs 504.The example of this input comprises Text Input, voice command, touch sensing surface or screen, physical manipulation, gesture, impact, shake the head and with the combination of beginning a project.
User 502 can be mutual with control device 508, to receive feedback 506.Feedback 506 can be generated on control device 506 in response to user's input.Additionally or alternatively, feed back 506 also can based on be sent to from self-advancing device 514 control device 508, about the such as position of self-advancing device 514 or the data of state.And unrestricted, the example of feedback 506 comprises text display, figure display, sound, music, tone pattern, the modulation of the colour of light or intensity, sense of touch, vibration or haptic stimulus.Feedback 596 can be combined with the input that generates on control device 508.Such as, control device 508 can output content, and described output content can be corrected, to reflect the position or status information of transmitting from self-advancing device 514.
As an example, control device 508 and/or self-advancing device 514 can be configured to make user input 504 and feedback 506 make the workability of the user 502 with limited sensation, thought, consciousness, kinesitherapy nerve or other ability and accessibility are maximized.This system 500 described by user operation allowing disabled user or have special requirement.
Configuration as shown in Figure 5 can be only one of possible configuration of the almost unlimited amount of the network of the self-advancing device 514 comprised with communication connection.And, although numerous modifications example described herein provide user operation control device 508 or otherwise with control device 508 direct interaction, so that control self-advancing device and/or mutual with self-advancing device, but described modified example comprises and makes user directly can control self-advancing device 514 or mutual with self-advancing device 514, and do not use the intermediate equipment of such as control device 508.
The example technique of Fig. 6 display for causing self-propelled spherical device 600 to be moved.As what shown by the example of Fig. 6, device 600 has rotation center 602 and barycenter 606, and device 600 can contact flat surfaces 612.Driving mechanism for robot device comprises actuator 608 that contact with the inside surface of the closed enclosed globe shade of device 600, two independent provided with wheels controlled.Also show sensor platform 604.For the purpose of simplifying the description, some parts of device 600 are not illustrated on Fig. 6.
In order to reach the continuous motion of constant speed, barycenter 606 can be kept by the action of the actuator 608 of provided with wheels relative to the skew of rotation center 602.Barycenter 606 is difficult to measure relative to the skew of rotation center 602, is therefore difficult to obtain the feedback for keeping constant speed for closed loop controller.But, skew and sensor platform 604 and surface 612 between angle proportional.Angle 610 can be perceived or estimate from the input of various sensor, as described herein.Therefore, the speed control for robot device 600 can be implemented, to carry out the speed of the actuator 608 of adjustment belt wheel by angle 610, makes device 600 with constant speed in surface 612 motion.Speed control can determine the angle 610 wanted, and to produce the speed wanted, the angle set point wanted can be provided to the closed loop controller of adjustment driving mechanism as input.
Speeds control is carried out in Fig. 6 display measurement of angle.But technology can also be extended to the feedback of perception angle by suitable and angular rate, provides the control turned to and rotate.
Can see from above-mentioned discussion, in modified example, learn that orientation angles is useful for control self-advancing device 600.The orientation of measurement mechanism also can be useful for navigating and aiming at other device.
Fig. 7 is the block diagram of display sensor array and data flow.With reference to Fig. 7, sensor array 712 can comprise one group of sensor, for supplying information to self-advancing device, such as, comprises its position, orientation, the speed of translation, rotation and acceleration.In various example, other sensors many can be comprised, to meet the demands.
In modified example, sensor array 712 can comprise three-axis gyroscope sensor 702,3-axis acceleration sensor 704 and three axle magnetometer sensor 706.In some modified example, comprise the receiver 710 for GPS (GPS).But gps signal is typically disabled in indoor, so GPS can be omitted.
Due to the restriction of size and cost, the sensor in sensor array 712 can be the miniaturization device utilizing micro electronmechanical (MEMS) technology.Data from these sensors may need filtering and process, to produce State Estimation 716 accurately.Various algorithm can be utilized in sensor fusion and State Estimators 714.These algorithms can be performed by the processor on self-advancing device.
It will be understood to those of skill in the art that the signal from the sensor in sensor array 712 may be faulty and distortion due to the limited capability of noise, interference and cheap sensor.But sensor also can provide the information of redundancy, like this, the application of suitable sensor fusion and State Estimators process 714 can provide the appropriate state valuation 716 of the time of day of self-advancing device.
Such as, in most cases, magnetometer data distortion is caused due to stray magnetic field and neighbouring ferromagnetic metal.Sensor fusion and State Estimators 714 can be configured to refuse bad or incredible magnetometer data, and depend on remaining sensor when estimating the state 716 of self-advancing device.In some example, the special exercise of self-advancing device can be used to improve in order to the sensing data needed for intended use.While supervision magnetometer data, rotating self-advancing device by the head scanning of whole 360 degree, may be useful to conversion local magnetic field.Because magnetic field is normally geostationary within the short time interval, local magnetic field measurement is repeatably, is therefore useful, even if it is distortion.
Structure
Fig. 8 display comprises the example system of self-advancing device 810 and control device 850, and control device 850 controls self-advancing device 810 and mutual with self-advancing device 810.Self-advancing device 810 can build by using the hardware resource such as described by the example of Fig. 1.Therefore, self-advancing device 810 can be such as with reference to the spherical object described by example of Fig. 2-4.Control device 850 can be multifunctional equipment, such as mobile computing device (such as smart phone), flat computer or personal computer.Alternatively, control device 859 can control self-advancing device 810 and corresponding with the Special Equipment that self-advancing device 810 communicates with being exclusively used in.
Self-advancing device 810 can perform the one or more programs 816 be stored in routine library 820.Each program 816 in routine library 820 can comprise instruction for operating means or rule, comprise for described device how in response to specified conditions, described device how in response to control inputs 813 (such as, on control device 850 input user input) instruction, and/or the pattern of operation that described device will be implemented (such as, controlled mode, contrast is autonomous, etc.).
Routine library 820 can also be preserved can by the instruction group of multiple procedure sharing, comprise certain user is inputted can in due form by the instruction of decipher.Application programming interfaces (API) 830 can be implemented on device 810, enable the function of calling program access means and the storehouse of resource.Such as, API830 can comprise the function that can be used to implement in conjunction with program motion control (such as, speed or direction), State Transferring, sensor device decipher and/or radio communication.
In certain embodiments, device 810 can come wireless receiving program and programming instruction by using wireless communication port 812.In modified example, device 810 can via other port, and such as Extended Capabilities Port 120 (see Fig. 1), receives the program from external resource 880 and programming instruction.Programming resource can derive from: such as, the program being supplied to the medium (such as, SD card) of the user of device, the Internet resources that can download from it or website and/or transmit from control device 850 via wireless communication port 812 and/or instruction group.In some embodiments, control device 850 can be configured to mutual by software and self-advancing device 810 and/or control self-advancing device 810 with being programmed.Once be configured, control device 850 just can be sent to self-advancing device 810 the instruction of the configuration consistency with its programming.Such as, control device 850 can be downloaded for controlling self-advancing device 810 or the application program mutual with self-advancing device 810.Application program by being used in wireless communication ability intrinsic in control device 850, such as, from network (such as, from App thesaurus), or can be downloaded from website.The application program downloaded by control device 850 can comprise the instruction group that can be sent to self-advancing device 810.
Control device 850 can perform specialization or otherwise for self-advancing device 810 communication or mutual, and/or control the specific program 856 of self-advancing device 810.In modified example, the program 856 that control device 850 performs can comprise the matcher 816A that also can perform on control device 810.Program 856,816A can perform on the platform shared or system.Such as, as described below, the program 856 that control device 850 runs can be cooperated with the working procedure 816A of pairing, generates the input being used for self-advancing device 810, and according to the data-signal from self-advancing device 810, be created on the output on control device 850.Such as, program 856 can generating user interface 860, this user interface 860 (i) promotes or instructs user, so that be provided as the result of the working procedure 816A of pairing, can the input of decipher on self-advancing device 810, cause some expected result from self-advancing device 810; And (ii) receives the feedback 818 from self-advancing device 810, to such an extent as to the content that impact is exported by the program 856 run on control device 850.When the latter, such as, the content of Practical computer teaching can be changed according to the position of self-advancing device 810 or motion.
More specifically, on control device 850, program 856 can provide user interface 860, comprises the user's input for promoting and/or on decipher control device.Various forms of input can be transfused on control device 850, comprising: such as, utilizes the inputs of the user interactions of mechanical switch or button, touch-screen, audio frequency input, gesture input or device motion in a specific way.
Therefore, program 856 can be configured to utilize Application Program Interface intrinsic on control device 850, utilizes the various resources of equipment receive and process input.Many existing multi-functional or universal computing devices (such as, smart phone or panel computer) can be configured to detect other input various types of, comprise touch-screen input (such as, multi-touch input or gesture input), optics input (such as, camera images sensing inputs), audio frequency input and device motion input (such as, shake or mobile whole device).User interface 860 can comprise logic 862, be used for pointing out user to carry out the input of particular types (such as, comprising user should the visable indicia that is placed on it of finger, Dictating user or provide vision and/or audio prompt to carry out mobile device etc. to user), and this input is interpreted as the control information being sent to self-advancing device 810.
In certain embodiments, the input that control device 850 generates can be interpreted as order, then it is sent to self-advancing device 810.In other embodiments, input control device 850 carried out can be interpreted as order by the programming resource on self-advancing device 810.By interpreting user input in the form of a command, self-advancing device 810 can intelligent inputting in response to user with configurable mode.Such as, self-advancing device 810 can be directed user's input with nondirectional mode decipher originally.Such as, user can input the gesture input corresponding with direction, to allow self-advancing device 810 move in the mode being different from direction intrinsic in user's input.Such as, user can input gesture left, and device (according to working procedure 816A) can be interpreted as stopping it, rotates, goes home or change the order of illumination output etc.
User interface 860 also can comprise output logic 864, for the data that decipher receives from self-advancing device 810.Like this, self-advancing device 810 can transmit the information of such as status information and/or positional information (such as, such as after device motion) to control device 850.In one embodiment, from self-advancing device 810 to the communication of control device 850 can be the response of order that the decipher of the user's input on control device 850 is obtained.In another embodiment, the form of the continuous print feedback produced due to the continuous motion of device within one period of duration can be had from the communication of self-advancing device 810.In modified example, the output being added to equipment 850 can corresponding to the control device of the form factor had in various possible form factor.Program 856 can become provide game content and/or different user interface examples to graphically, for controlling self-advancing device 810 interface configurations.Program 856 can be run directly to be affected in these embodiments according to the motion of self-advancing device 810, position or state and the content generated.
Operationally, self-advancing device 810 can implement 816A working time that programmes by using one or more set of program instructions that be stored in its routine library 820.Program runtime 816A can correspond to, such as, and the program selected by user, or by a program that is default or that run in response to some other conditioned disjunction trigger condition.In other function, program runtime 816A can perform and utilize the specific instruction of the batch processing of apparatus function and/or resource, so that: (i) decipher is from the control inputs of control device 850; (ii) according to the interpretation result of input, control and/or set forth device motion; And/or (iii) is sent to control device 850 information from self-advancing device 810.
Program runtime 816A can implement drived control logic 831, comprises sensor control logic 821 and input control logic 823.Sensor control logic 821 can decipher device sensor input 811, for the speed of the drive system or assembly that control self-advancing device, direction or other motion.Sensor input 811 can be corresponding with the data such as provided by the accelerometer of self-advancing device 810, magnetometer and/or gyroscope.Sensing data can also be included in the out of Memory that device obtains, and these information, about the motion of device, position, state or service condition, comprise gps data, temperature data etc.Program 816A can implement parameter, rule or instruction, for sensor input 811 is interpreted as driven unit controling parameters 825.Input control logic 823 can the control inputs 813 that receives from control device 850 of decipher.In certain embodiments, logic 823 can be interpreted as order when exporting the driven unit controling parameters 825 determined by input 813 input.Input queued switches logic 823 also can be that program is specific, and like this, control inputs 813 and/or its interpretation result are specific for working procedure 816A.Driven unit steering logic can use the parameter as generated by sensor/input control logic 821,823, controls to implement driven unit.
In modified example, sensor/input control logic 821,823 can be used to the other side controlling self-advancing device 810.In modified example, sensor/input control logic 821,823 can perform working procedure 816A instruction, to generate State-output 827, this State-output can in response to some condition, such as user's input or plant running condition (such as, device will stop), carry out the state of control device.Such as, illumination exports (such as, light-emitting diode display export), audio frequency exports or plant running state (such as, the pattern of operation and/or power rating) can be subject to State-output 827 and affects.
In addition, working procedure 816A can be created on control device 850 runs, for the output interface 826 of self-advancing device 856.Output interface 826 can generate the data comprising feedback 818.Such as, output interface 826 can generate position-based, motion (such as, speed, rotation), the data of state (state of output unit) and/or orientation information (such as, device is relative to the position of initial reference system and orientation).Output interface 826 can also generate the data of the such as event that identification is relevant to working procedure 816A.Such as, output interface 826 can identify that such as device is interrupted or otherwise runs into the such event of interrupt event in its motion.Output interface 826 can also according to such as working time program 816A instruction carry out generator program and specifically export.Such as, working time, program 816A may require the unwanted sensor reading of another program.Output interface 826 can implement for by implement working time program 816A and perform other operate the instruction obtaining sensor reading explicitly.
And self-advancing device 810 can be able to run under relative to control device more than 850 pattern.Under control model, the motion of self-advancing device 810 and/or state aspect can by being controlled via the control inputs 810 of the control signal transmitted from control device 850.In certain embodiments, self-advancing device 810 can match with control device 850, thus the operation affected on control device 850 is to control or feedback.Self-advancing device 810 can also can run in autonomous mode, wherein in response to such as sensor input 811, device programmatically generates controling parameters 825, and does not need control inputs 813.And, self-advancing device 810 can run under " touch and drive " pattern together with control device 850, wherein user can touch the select location on the video flowing of self-advancing device 810, and self-advancing device 810 independently can manipulate the position of correspondence.Moreover in modified example, self-advancing device 810 can play the effect for control device 850 or the controller for another self-advancing device 810.Such as, device can move and affect the state of control device 850.Device can run in a plurality of modes during a Run Sessions.Operational mode can be determined by program 816A working time.
Self-advancing device 810 can comprise instruction group storehouse, for the control inputs 813 of decipher from control device 850.Such as, self-advancing device can store the instruction for multiple program, and can be included in for the instruction of at least some program the matcher that control device 850 performs.The storehouse remained on self-advancing device can be dynamic, and like this, the instruction stored can be added, deletes or revise.Such as, the program be stored on self-advancing device can be added, or another program can be corrected.
When being performed on control device 850, each program comprises the instruction for identifying specific one group of input, and different programs can identify different inputs.Such as, the oscillating motion on control device 850 can be identified as input by golf program, and same motion can be dedicated to provide other programs of virtual manipulation mechanism to ignore.When being performed on self-advancing device 810, each program can comprise for by control inputs 813 decipher be associated with specific identification input or the instruction being transformed into order and controling parameters.
In modified example, self-advancing device dynamically can reconfigure its routine library.Such as, program can be corrected (instruction such as, by being received by control device 850) and process the control inputs corresponding to the new input identified.As another example, self-advancing device 810 can at self-advancing device 810 place by use process time changeover program.When program is switched, the input of not same group can be identified, and/or each input can by differently decipher on self-advancing device 810.
Touch and driving method
Fig. 9 is the process flow diagram of the illustrative methods of display operation self-advancing device.With reference to Fig. 9, the user of control device (such as, smart phone, panel computer, telepilot or other mobile computing device) can receive image from self-advancing device or video pictures.Self-advancing device itself needs not be spherical, and can be any device that can be controlled by control device described herein.In further feature, self-advancing device can be configured to comprise: transparent spherical shell, place camera in the enclosure and video pictures can be delivered to the wireless link of control device.Like this, control device can receive the picture from the camera be placed in self-advancing device (900).And control device can comprise display screen, may be displayed on control device (902) to make described picture.Control device can comprise touch-screen feature, and this feature allows the picture of user and display directly interactive.
Then user can alternative or the location point on the video pictures of display.Therefore, user is received (904) for the selection of location point by control device.User can by touching corresponding with the physical object in the reference coordinate of self-advancing device, on screen object and chosen position point.Additionally or alternatively, user can provide the voice command of the object shown by identifying.After receiving the selection done by user, then control device can generate command signal according to positional information, is added to self-advancing device, makes it advance to physical location point (908).Self-advancing device directly can advance to object, or performs manipulation and cut-through thing finally arrives the position of object.
Additionally or alternatively, control device can also be configured to the position determining the object described on the display screen according to the reference frame of user and/or the reference frame of control device.The position (906) of the location point that control device also can be fastened the reference coordinate that the relative position of the location point shown on control device is mapped to self-advancing device.Like this, self-advancing device by control device according to the relative position mapped, and can guide via image/video picture, and advance to the position of object, wherein control device can comprise the processing unit for calculating relative position.
Conclusion
One or more example described herein specifies: the method performed by computing equipment, technology and action perform with being programmed, or performs as computer-implemented method.Programmatically refer to by using code, or the executable instruction of computing machine.The step programmatically performed can be automatic automatically or not.
One or more example described herein can be implemented by the module or component using programming.Programming module or assembly can comprise program, subroutine, program a part or component software, maybe can perform the task of one or more elaboration or the hardware component of function.As used herein, module or assembly other module relative or assembly independently can exist on hardware component.Alternatively, module or assembly can be shared element or the processing procedures of other module, program or machine.
And one or more example described herein can be implemented by the executable instruction of one or more processor by using.These instructions can carry on a computer-readable medium.The machine being shown with reference to accompanying drawing or describing provides the example processing resource and computer-readable medium, can carry and/or perform the instruction for implementing example of the present invention thereon.Particularly, the many machines be shown in conjunction with example of the present invention comprise processor and various forms of, for preserving the storer of data and instruction.The example of computer-readable medium comprises permanent storage memory storage, the hard-drive such as on personal computer or server.Other example of computer-readable storage medium comprises portable storage unit (such as CD or DVD unit), flash memory (such as carrying on many cell phones and panel computer) and magnetic store.Computing machine, terminal, the device (such as, mobile device, such as cell phone) that can network are all utilize processor, storer and be stored the machine of instruction on a computer-readable medium and the example of device.In addition, these examples can computer program or the spendable form that can carry the bearing medium of such program of computing machine be implemented.
Although describe in detail illustrative example with reference to accompanying drawing, the change for concrete example and details is also included within present disclosure.Scope of the present invention is intended to replace regulation by following claim and equivalence thereof.And, the characteristic that the concrete characteristic that a part individually or is as an example described can describe individually with other, or a part for other example is combined.Therefore, be not described combination, should do not stop that the present inventor claims the right of such combination.
While the foregoing describing some example of the present invention, should see, described example is only as an example.Therefore, the present invention should do not limited according to described example.But scope of invention described herein only should be limited in conjunction with the claim done by above explanation and accompanying drawing.
Claims (19)
1. a self-advancing device, comprising:
Spherical shell;
Be arranged in the drive system in described spherical shell, described drive system provides power for one or more wheel;
Be arranged on the bracket on described drive system top, described bracket has the end face corresponding with the ground of the payload space in described spherical shell; With
Be connected to the biasing mechanism of described bracket, described biasing mechanism comprises left-hand door axle and right door-hinge, described left-hand door axle and right door-hinge are all mounted to the ground of described payload space and comprise the spring being connected to contact element, to provide the power on the inside surface being applied to described spherical shell, wherein said power comprises vertical vector, this vertical vector provides enough biased inside surfaces initiatively forcing the described spherical shell of the lasting engagement of described one or more wheel force, moves to make described spherical shell.
2. self-advancing device as claimed in claim 1, it is characterized in that, described self-advancing device also comprises the protectiveness outer cover surrounding described spherical shell, and described protectiveness outer cover is configured to break away during sharp pounding.
3. self-advancing device as claimed in claim 1, it is characterized in that, described self-advancing device also comprises:
Be coupled to one or more batteries of described drive system; And
Be coupled to the inductive charging port of described one or more battery, described inductive charging port can carry out inductive charging for described one or more battery.
4. self-advancing device as claimed in claim 1, it is characterized in that, described self-advancing device also comprises charging port, described charging port is coupled to and is placed on one or more battery in described self-advancing device and is coupled to described drive system, and described charging port is configured for as described one or more battery carries out plug-in type charging.
5. self-advancing device as claimed in claim 1, it is characterized in that, described self-advancing device also comprises camera, and described camera is connected to ground between described left-hand door axle and right door-hinge, described payload space, and wherein said spherical shell is optically transparent.
6. self-advancing device as claimed in claim 5, it is characterized in that, described self-advancing device also comprises camera steady device, described camera steady device is mounted to ground between described left-hand door axle and right door-hinge, described payload space, and wherein said camera is mounted to described camera steady device.
7. self-advancing device as claimed in claim 1, it is characterized in that, described self-advancing device also comprises the following one or more device be arranged in described payload space: chemical sensor, infrared sensor, motion sensor, listening equipment or biology sensor.
8. self-advancing device as claimed in claim 1, it is characterized in that, described self-advancing device also comprises the one or more explosives be arranged in described payload space.
9. self-advancing device as claimed in claim 1, it is characterized in that, wherein said spherical shell is sealable, to allow described self-advancing device waterproof in essence.
10. self-advancing device as claimed in claim 1, it is characterized in that, described self-advancing device also comprises receiver, described receiver is coupled with the processor of the described drive system of operation, described receiver receives the command signal from peripheral control unit, and this command signal is sent to described processor, and described processor performs described command signal, as being loaded into the order of described drive system to manipulate described self-advancing device.
11. self-advancing devices as claimed in claim 10, it is characterized in that, the door mechanism of wherein said processor operations on described spherical shell, at described processor after external control accepts instruction, described spherical shell is mechanically opened via described door mechanism.
12. self-advancing devices as claimed in claim 1, it is characterized in that, described self-advancing device also comprises the ground stabilizator being arranged on described payload space, and described stabilizator comprises gyroscope, is used for remaining valid when the motion of described self-advancing device load constant orientation in essence.
13. self-advancing device as claimed in claim 12, it is characterized in that, wherein said stabilizator also comprises buffer system, impact suffered in described useful load during being used for reducing to collide on described self-advancing device.
14. 1 kinds for operating the computer-implemented method of self-advancing device, described method is performed by the one or more processors of mobile computing device, and described method comprises:
Receive the image from self-advancing device, described image provides the visual field of the image acquisition equipment be arranged in described self-advancing device;
The touch display screen of mobile computing device shows described image;
The user described touch display screen received for the location point in the described image acquisition equipment visual field selects; And
Select according to described user, generate the command signal that will be sent to described self-advancing device, described in described command signal instruction, self-advancing device manipulates described location point.
15. methods as claimed in claim 14, it is characterized in that, described method also comprises:
According to first reference frame in the visual field shown on a mobile computing device, determine the position of the location point in the visual field; And
The position of described location point is mapped to and fastens with the second reference coordinate corresponding relative to the location point of described self-advancing device;
Wherein only generate command signal, to comprise the instruction for manipulating described self-advancing device according to described second reference frame.
16. method as claimed in claim 14, it is characterized in that, wherein said image is the real-time video picture provided from described image acquisition equipment, and combines the generation receiving real-time video picture and dynamically fill order signal.
17. store a non-transient computer-readable medium for instruction, when one or more processors that described instruction is moved computing equipment perform, described instruction makes mobile computing device carry out following operation:
Receive the image from self-advancing device, described image provides the visual field of the image acquisition equipment be arranged in self-advancing device;
The touch display screen of mobile computing device shows described image;
The user described touch display screen received for the location point in the visual field of described image acquisition equipment selects; And
Select according to described user, generate the command signal that will be sent to self-advancing device, described command signal instruction self-advancing device manipulates described location point.
18. non-transient computer-readable medium as claimed in claim 17, is characterized in that, wherein when instruction is performed by described one or more processor, described instruction also makes mobile computing device carry out following operation:
According to first reference frame in the visual field shown on a mobile computing device, determine the position of the location point in the visual field; And
The position of described location point is mapped to and fastens with the second reference coordinate corresponding relative to the location point of self-advancing device;
Wherein only generate command signal, to comprise the instruction for manipulating self-advancing device according to described second reference frame.
19. non-transient computer-readable mediums as claimed in claim 17, it is characterized in that, wherein said image is the real-time video picture provided from the image acquisition equipment in self-advancing device, and combines the generation receiving real-time video picture dynamically fill order signal.
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| US201361820109P | 2013-05-06 | 2013-05-06 | |
| US61/820,109 | 2013-05-06 | ||
| US14/271,203 US10281915B2 (en) | 2011-01-05 | 2014-05-06 | Multi-purposed self-propelled device |
| US14/271,203 | 2014-05-06 | ||
| PCT/US2014/037013 WO2014182730A1 (en) | 2013-05-06 | 2014-05-06 | Multi-purposed self-propelled device |
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| CN105264452A true CN105264452A (en) | 2016-01-20 |
| CN105264452B CN105264452B (en) | 2019-04-19 |
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| CN201480029695.4A Active CN105264452B (en) | 2013-05-06 | 2014-05-06 | Multipurpose self-advancing device |
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| JP (1) | JP2016525973A (en) |
| KR (1) | KR20160016830A (en) |
| CN (1) | CN105264452B (en) |
| HK (1) | HK1220263A1 (en) |
| WO (1) | WO2014182730A1 (en) |
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| CN108791614A (en) * | 2017-04-29 | 2018-11-13 | 成都海存艾匹科技有限公司 | Shared bicycle based on infrared sensor |
| CN109491393A (en) * | 2018-12-10 | 2019-03-19 | 辽宁工程技术大学 | A kind of ball-type mobile robot based on STM32 single-chip microcontroller |
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Also Published As
| Publication number | Publication date |
|---|---|
| HK1220263A1 (en) | 2017-04-28 |
| JP2016525973A (en) | 2016-09-01 |
| WO2014182730A1 (en) | 2014-11-13 |
| KR20160016830A (en) | 2016-02-15 |
| CN105264452B (en) | 2019-04-19 |
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