CN105045265A - Magnetically coupled accessory for a self-propelled device - Google Patents
Magnetically coupled accessory for a self-propelled device Download PDFInfo
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- CN105045265A CN105045265A CN201510463007.1A CN201510463007A CN105045265A CN 105045265 A CN105045265 A CN 105045265A CN 201510463007 A CN201510463007 A CN 201510463007A CN 105045265 A CN105045265 A CN 105045265A
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- self
- propelling
- spherical shell
- propelling instrument
- magnetic
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H33/00—Other toys
- A63H33/26—Magnetic or electric toys
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- 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
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Abstract
A self-propelled device includes a spherical housing and an internal drive system including one or more motors. The internal drive system acts to provide power to an interior surface of the spherical housing, thereby causing the self-propelled device to move. A biasing mechanism is coupled to the internal drive system and includes a spring and a spring end in contact with the inner surface of the spherical housing. An accessory component magnetically interacts with the biasing mechanism through the spherical housing such that as the self-propelled device rotates along, the accessory component remains stable with respect to the biasing mechanism.
Description
Related application
The application in the application number that on September 24th, 2013 submits to, be entitled as " SELF-PROPELLEDDEVICEWITHACTIVELYENGAGEDDRIVESYSTEM " be the part continuation application of the United States Patent (USP) of 14/035,841; US14/035,841 on January 3rd, 2012 submit to, title be the U.S. Patent Application No. of " SELF-PROPELLEDDEVICEWITHACTIVELYENGAGEDDRIVESYSTEM " is 13/342, the continuation application of 853, this application is authorized on October 29th, 2013, its patent No. is 8,571,781; US13/342,853 according to the right of priority of the following application of 35U.S.C. § 119 (e) request: (i) on January 5th, 2011 submit to, title to be the patent application serial numbers of " METHODANDSYSTEMFORCONTROLLINGAROBOTICDEVICE " be 61/430,083 U.S. Provisional Patent Application; (ii) on January 5th, 2011 submit to, title is the U.S temporary patent application sequence No.61/430083 of " METHODANDSYSTEMFORESTABLISHING2-WAYCOMMUNICATIONFORCONTR OLLINGAROBOTICDEVICE "; (iii) on October 31st, 2011 submit to, title to be the patent application serial numbers of " ASELF-PROPELLEDDEVICEANDSYSTEMANDMETHODFORCONTROLLINGSAM E " be 61/553,923 U.S. Provisional Patent Application; All aforementioned priority applications by reference and entirety is incorporated to herein.
Background technology
Remote control equipment had previously used the telepilot specific to particular device is special to operate.The accessory of remote control equipment is usually directed to physics fastener, accessory to be connected to a part for framework or shell.
Accompanying drawing explanation
By way of example and unrestriced mode illustrates, in each figure of accompanying drawing, similar reference number refers to similar element to present disclosure, wherein:
Fig. 1 is the example block diagram that the system controlling self-propelling instrument operation is shown;
Fig. 2 is the schematic diagram of the self-propelling instrument under the control of controller equiment;
Fig. 3 is the example of self-propelling instrument, shows the exemplary components of exemplary spherical self-propelling instrument;
Fig. 4 illustrates the exemplary operations causing the spherical equipment moving of self-propelled;
Fig. 5 is the example block diagram that the enforceable computer system of the example wherein described is shown.
Embodiment
There is provided a kind of self-propelled apparatus comprising spherical shell and internal drive system, described internal drive system comprises the one or more motor being coupled to one or more wheel, and described wheel joins the inside surface of spherical shell to.Biasing mechanism comprises spring and contact jaw, this biasing mechanism is coupled to internal drive system to provide the diametrically relative power between wheel and contact jaw, thus allow the electric power of supply motor to be sent to the inside surface of spherical shell, cause self-propelling instrument along surface scrolls.Self-propelling instrument can rotate based on the combination of the acting force of the independent current source of the movement of its barycenter, motor and biasing element inner surface.Magnetic coupling access component can be included in biasing mechanism.Magnetic couplings assembly can comprise ferrous metal or permanent magnet, such as neodymium magnet, for providing magnetic field by spherical shell, thus with external unit or annex magnetic mutual.
Disclose a kind of exemplary external annex, it comprises magnetic couplings assembly magnetic-coupled with the magnetic couplings assembly of biasing mechanism (such as, contact jaw).Therefore, when causing the spherical shell of self-propelling instrument to roll, external accessory can keep the contact jaw being stably connected to biasing mechanism alternately by means of the magnetic of spherical shell.
One in self-propelling instrument, external accessory or both can comprise any amount of magnet (such as, neodymium magnet), cause the interactive magnetic field of magnetic to produce.This reciprocation can relate to the magnetic pull wherein come in contact between external accessory and the outside surface of spherical shell.In this example, can by the outside surface of spherical shell and/or the surface of contact of external accessory applying friction free material and reduce friction in essence.Additionally or alternatively, magnetic reciprocation can relate to repulsive force, it comprises stabilizing mechanism (such as, one or more extra magnet), to produce the stable magnetic levitation between external accessory and spherical shell.
As used herein, in the linguistic context that biasing mechanism angle rotates, when self-propelling instrument is when operating under control, " in essence " nulling degree is to being less than between an angle of 90 degrees.Therefore, when self-propelling instrument is in non-accelerating state, " in essence " angle that stable, " in essence " is constant or refer to vertical with " in essence " between the outside surface that self-propelling instrument rolls thereon of biasing mechanism (or spring assembly), are less than 90 degree relative to this surface, and are usually less than 45 degree.As used in this article further, in the linguistic context of the friction between the outside surface and the surface of contact of external accessory devices of spherical shell, " in essence " subnormal friction law between two conventional smooth surfaces (such as, the metal of polishing or wood surface) is referred to.Therefore, " in essence " friction free material refers to the material designing into reducing friction or make, such as
or
coating.
One or more example as herein described provides by the method for computing equipment programming execution, technology or operation, or as computer implemented method.As used herein, programming refers to by using code or computer executable instructions.These instructions can be stored in one or more memory resources of computing equipment.It can be automatic automatically or not that programming performs step.
One or more example as herein described can use the assembly of programming module or system to realize.Programming module or assembly can comprise a part for program, subroutine, program, maybe can perform the task of one or more regulation or the component software of function or nextport hardware component NextPort.As used herein, module or assembly can be present on nextport hardware component NextPort independent of other modules or assembly.Alternately, module or assembly can be the process of shared element or other modules, program or machine.
Examples more described herein major requirement can adopt computing equipment, comprise process and storage resources.Such as, one or more example described herein can realize based on computing equipment whole or in part, such as digital camera, Digital Video, desk-top computer, honeycomb or smart phone, personal digital assistant (PDA), laptop computer, printer, digital album (digital photo frame) and tablet device.Store, process and Internet resources can all use (comprising the execution of any method or the enforcement of any system) in conjunction with the foundation of any example described herein, use or execution.
In addition, one or more example as herein described can be realized by the executable instruction of one or more processor by using.These instructions can be carried on computer-readable medium.There is provided with the machine of accompanying drawing display or description the example processing resource and computer-readable medium, described process resource and computer-readable medium can be carried out and/or perform the instruction for exemplifying embodiment.Particularly, processor is comprised with the numerous machines shown in example and for keeping the various forms of storeies of data and instruction.The example of computer-readable medium comprises permanent storage memory device, the hard disk drive of such as personal computer or server.Other examples of computer-readable storage medium comprise portable storage unit, such as CD or DVD unit, flash memory (such as, being carried on smart phone, multifunctional equipment or flat board) and magnetic store.Computing machine, terminal, network-enabled devices (such as, mobile device, such as cell phone) are all the examples of the machine and equipment of instruction utilizing processor, storer and store on a computer-readable medium.In addition, example can with computer program, and the form that maybe can carry the non-transience computing machine available support medium of this this program realizes.
System explanation
Referring now to accompanying drawing, Fig. 1 is the exemplary plot that self-propelling instrument 100 is shown.Self-propelling instrument 100 can be operated, thus such as moving by under the control of another equipment of the computing equipment of user operation.This self-propelling instrument 100 may be configured with the resource realizing one or more following function: (i) keeps the self-consciousness of orientation relative to initial reference frame and/or position after equipment setting in motion; (ii) programmatically processing controls input, so that the multiextent specific program response realizing to different control inputs; (iii) utilize software or programmed logic to make another equipment control it to move, described programmed logic communicates with the programmed logic on self-propelling instrument; And/or (iv) generates the output response of its motion and state, described response can carry out software interpretation by opertaing device.
Self-propelling instrument 100 can comprise multiple interconnects subsystems and module.Processor 114 can perform the programming instruction from program storage 104.The instruction stored in program storage 104 can change, such as, increase feature, correct flaw or act of revision.In some modified examples, program storage 104 storing communication or otherwise operate in the programmed instruction of the software that link controller equipment performs.This processor 114 is configured to the distinct program of execution of program instructions, to change wherein self-propelling instrument 100 decipher or otherwise to respond the mode of the control inputs from different controller equiment.
Wireless communication port 110 is combined with communication converter 102, the swapping data be used at processor 114 and other external unit.Such as, exchanges data provides the communication of program storage 104, control, logical order, status information and/or renewal.Processor 114 can generate the output corresponding to state and/or positional information, is sent to controller equiment via wireless communication port 110.The movability of self-propelling instrument 100 may make wired connection inadvisable.Therefore, term " connection " can be understood to mean that the logic without the need to the physical connection to self-propelling instrument 100 connects, such as wireless link (such as, bluetooth).
In modified example, wireless communication port 110 implements Bluetooth communication protocol, and transducer 102 is the antennas being applicable to send and receive Bluetooth radio signal.Other wireless communication mediums and agreement also can use in the embodiment substituted.
Sensor 112 can provide the information about processor 114 surrounding enviroment and condition.In some modified examples, sensor 112 comprises inertia measurement equipment, comprises three-axis gyroscope, three axis accelerometer and/or three axle magnetometers.According to some modified examples, after equipment setting in motion, sensor 112 provides input, and processor 114 is maintained the orientation of equipment relative to initial reference frame and/or the consciousness of position.In different examples, sensor 112 comprises for detecting light, temperature, humidity and/or measuring chemical concentrations or radioactive instrument.
State/alterable memory 106 stores the information of regarding system current state, such as comprise to rotate about each axle and the position of translation, orientation, speed.State/alterable memory 106 also stores the information of the initial reference frame (referenceframe) of the equipment of corresponding to, when such as equipment 100 is put into use (such as, this equipment 100 is unlocked) time, also store this equipment 100 position in use and orientation information.By this way, the information of some embodiment specified devices 100 utilization state/alterable memories 106, so that the position and the orientation information that keep equipment 100 when equipment 100 starts mobile.
Clock 108 provides timing information to processor 114.In one example, base (time-base) when clock 108 provides, for measuring interval and the speed of change.In similar example, clock 108 provides day, date, year, time and alarm clock function.Clock 108 can allow self-propelling instrument 100 to provide in the time preset and send warning or alarm.
Extended Capabilities Port 120 is provided for the connection of additional components or equipment.Extended Capabilities Port 120 can be passed through for further expanding, and adds the dirigibility of option or improvement.Such as, Extended Capabilities Port 120 can be used for adding peripherals, sensor, processing hardware, storer, display or actuator to basic self-propelling instrument 100.
In modified example, Extended Capabilities Port 120 provides and analog or digital signal and the assembly suitably configured can be used to carry out the interface communicated.Therefore, Extended Capabilities Port 120 can provide standard or well-known electrical interface and agreement.In addition, this Extended Capabilities Port 120 realizes optical fiber interface.The example interface being suitable for Extended Capabilities Port 120 comprises USB (universal serial bus) (USB), internal integrate circuit bus (I2C), Serial Peripheral Interface (SPI) or Ethernet.
Display 118 can be comprised, present information with external device or personnel.This display 118 can present information in a variety of forms.In modified example, display 118 can produce the combination of the light of design and color, sound, vibration, music or stimulus to the sense organ.In one embodiment, display 118 operates together with actuator 126, conveys a message to be moved by the physics of equipment 100.Such as, the head that equipment 100 can be made into simulate people is nodded or shakes the head to pass on "Yes" or "No".
In modified example, no matter be in visible or sightless scope, display 118 is transmitters of light.Can be used in the invisible light in infrared ray or ultraviolet ray range, the sense organ of such as sender be cannot see but the obtainable information of dedicated probe device.In some instances, display 118 comprises the array of the light emitting diode (LED) launching various light frequency, is arranged so that their relative intensity is variable, and the light sent is mixed and form color composition.
In modified example, display 118 comprises LED array, and it comprises multiple LED, and each LED launches the visible primary colors of the mankind.This processor 114 can change the relative intensity of each LED, to produce the color of wide region.The primary colors of light is that wherein several color different amount can mix and produce those colors of the apparent colour of wide colour gamut.Organize primary colors known more, such as, comprise red/green/blue, red/green/blue/white, red/green/blue/amber.Such as, red, the green usable set that can comprise three primary colors equipment that can obtain together with blue led, comprises display 118.In other example, other set and White LED of primary colors can be used.Display 118 can also comprise the reference point on the equipment of being used to indicate 100 so that the LED aimed at.
Power supply 124 stored energy, for electronic package and the electromechanical assemblies of operating equipment 100.In some instances, power supply 124 is rechargeable batteries.In addition, induction charging port one 28 can allow to charge to power supply 124, but without the need to wired electrical connection.In modified example, induction charging port one 28 can receive magnetic energy and it is converted to electric energy to charge the battery.Charge port 128 can provide the wireless communication interface with external charging equipment.
Can comprise deep sleep sensor 122, self-propelling instrument 100 to be set to low-down power or " deep sleep " pattern, wherein most of electronic equipment does not use battery supply.This is favourable for standing storage or transport.
In modified example, deep sleep sensor 122 is non-contacting, because it is sensed by the housing of equipment 100, and does not use wired connection to sense.Deep sleep sensor 122 can be the Hall effect transducer installed, thus external magnets can be applied to the predetermined position of equipment 100, to activate deep sleep mode.
Actuator 126 can be comprised, to convert electric energy to mechanical energy for various uses.The main application of actuator 126 is promote self-propelling instrument 100 and make it to turn to.Mobile and steering actuator is also referred to as drive system or trailer system.Under the control of processor 114, drive system makes mobile device 100 rotate and translation motion.The example of actuator 126 includes, but is not limited to wheel, motor, solenoid, screw propeller, paddle wheel and pendulum.
The actuator 126 of drive system can comprise two parallel wheels, and each wheel is installed to the axle be connected with independent variable-speed motor respectively by reduction gear device.Therefore, the speed of these two drive motors can be controlled by processor 114.
But should be appreciated that, except only rotating and translation self-propelling instrument 100, actuator 126 can produce various action.Therefore, in some modified examples, actuator 126 causes motion that is that equipment 100 realizes Communicative or that emotion is made us aftertaste, comprises the gesture of simulating human, such as, nods, shakes the head, trembles, rotates or overturn.In some modified examples, processor 114 coordinates actuator 126 and display 118.Such as, processor 114 can provide signal to actuator 126 and display 118, rotates or tremble and launch the pattern of colorama simultaneously to make equipment 100.Therefore, equipment 100 can send and the light pattern of synchronized movement and/or acoustic pattern.
In further modified example, self-propelling instrument 100 can be used as the controller of other network access device.Equipment 100 can comprise sensor and wireless communication ability, and therefore it can play the effect of the controller of other equipment.Such as, self-propelling instrument 100 can be held in hand and for sensing gesture, motion, rotation, combinatorial input, etc.
Fig. 2 is the example schematic diagram of the self-propelling instrument 214 under controller equiment 208 controls, controller equiment 208 such as smart phone or panel computer equipment.More specifically, self-propelling instrument 214 is controlled its motion by the programmed logic and/or control that are derived from controller equiment 208.Self-propelling instrument 214 can move under the control of computing equipment 208, and computing equipment 208 can be operated by user 202.Use standard or proprietary wireless communication protocol, computing equipment 208 can by control data 204 switched wireless to self-propelling instrument 214.In modified example, self-propelling instrument 214 can, at least in part from controlling, utilize sensor and inside programming logic to control the parameter (such as, speed, direction etc.) of its motion.Further, self-propelling instrument 214 can exchange the data of position about self-propelling instrument and/or kinematic parameter, for generation of or interleaved computation equipment 208 on content.In other modification, self-propelling instrument 214 can pass through each side of its motion and/or the programmed logic controlling calculation equipment 208 of inside.
As described herein, self-propelling instrument 214 can have multiple modes of operation, controlled by computing equipment 208 comprising self-propelling instrument 214, self-propelling instrument 214 be another equipment (such as, another self-propelling instrument or computing equipment 208) controller, and/or self-propelling instrument 100 part is autonomous or Complete autonomy.
In some instances, self-propelling instrument 214 and computing equipment 208 can shared computation platforms, this computing platform realizes programmed logic share, so that: (i) makes user 202 operate computing equipment 208, to produce multiple input, comprise simple directed input, order input, gesture input, motion or the input of other sense organs, phonetic entry or their combination; (ii) self-propelling instrument 214 is made to explain the input received from computing equipment 208, as order or Management Information Base; And/or (iii) makes self-propelling instrument 214 exchange data about the position of self-propelling instrument, motion and/or state, for realizing state on computing equipment 208 (such as, display state, such as corresponding with controller user interface content).Example specifies further: self-propelling instrument 214 comprises DLL (dynamic link library), and this interface is convenient to other programmed logic and/or instruction uses equipment.Computing equipment 208 can perform programming, and the programmed logic on itself and self-propelling instrument 214 is mutual.
According to some examples, self-propelling instrument 214 comprises the actuator or driving mechanism that cause motion or directed movement.Self-propelling instrument 214 can carry out appellation with multiple relevant term and phrase, comprises opertaing device, robot, robot device, remote equipment, autonomous device and remote control equipment.In certain embodiments, self-propelled apparatus 214 can be formed in various medium and moves and control.Such as, self-propelling instrument 214 can be configured to move in media as well, such as plane surface, Shamian Island or rock surface.
Self-propelling instrument 214 can be implemented in a variety of manners.The example of as described below and Fig. 3, self-propelling instrument 214 may correspond to the spherical object in rolling and/or perform other actions (such as, rotating).In other modified example, self-propelling instrument 214 can comprise external accessory 216, is magnetically coupled to self-propelling instrument 214 with the magnetic coupling by means of equipment 214 shell.
In other modified examples, self-propelling instrument 214 can correspond to radio-controlled flight device, such as aircraft, helicopter, hovermarine or balloon.In other modification, equipment 214 may correspond in radio controlled ship, such as ship or submarine.Other modified examples many also can realize, and such as wherein equipment 214 is those modified examples of robot.
In one embodiment, equipment 214 comprises the hollow shell of sealing, is essentially spherical, and the action by the actuator in closure realizes directed movement.
Continue with reference to figure 2, self-propelling instrument 214 is configured to use network communication link 210 to communicate with computing equipment 208 with 212.Link 210 transmits data from equipment 208 to equipment 214.Link 212 transmits data from self-propelling instrument 214 to computing equipment 208.In order to illustrate, link 210 and 212 is shown as independent one way link, but single bidirectional communication link can perform communication in the two directions.Should be appreciated that link 210 and link 212 are not necessarily identical on type, bandwidth or capacity.Such as, higher usually than link 212 of the traffic rate had from computing equipment 208 to the communication link 210 of self-propelling instrument 214 and bandwidth.In some cases, a link 210 or 212 is only had to be established.In this case, communication is unidirectional.
Computing equipment 208 may correspond to any equipment in comprising at least one processor and communication capacity, its be applicable to setting up at least with the one-way communication of self-propelling instrument 214.The example of this equipment includes but not limited to: mobile computing device (such as, multi-functional message/voice communication apparatus, such as smart phone), panel computer, portable communication device and PC.In some modified examples, computing equipment 208 is from the IPHONE of the Apple of the Cupertino in California.In other modified examples, computing equipment 208 is IPAD panel computers, and it is also from Apple.In other modified examples, computing equipment 208 performs from any hand-held calculating of the Android operation system of Google and communicator.
In other modified examples further, computing equipment 208 is PC of notebook computer or desktop computer configuration.Such as, equipment 208 can be the multi-usage computing platform running MicrosoftWindows operating system or (SuSE) Linux OS system or APPLEOS/X operating system, is configured with suitable application program to communicate with self-propelling instrument 214.
In modified example, computing equipment 208 can be exclusively used in make user 202 can control self-propelling instrument 214 and the Special Equipment mutual with self-propelling instrument 214.
In one embodiment, polytype computing equipment 208 can exchange use, to communicate with self-propelling instrument 214.In one embodiment, described self-propelling instrument 214 can communicate and/or control (such as, or one next) by multiple equipment simultaneously.Such as, self-propelling instrument 214 can link with IPHONE a session, and links with Android device in session afterwards, and need not revise self-propelling instrument 214.
According to some modified examples, user 202 can be mutual via computing equipment 208 and self-propelling instrument 214, to control self-propelling instrument 214 and/or to receive feedback or the interaction of computing equipment 208 from self-propelling instrument 214.Therefore, user 202 can be made with the various mechanisms appointment input 204 by providing computing equipment 208.The example of this input comprises text event detection, voice command, touch sensing surface or screen, physical operations, gesture, knocks, rocks and above combination.
User 202 can carry out alternately, to receive feedback 206 with computing equipment 208.In response to user's input, computing equipment 208 generates feedback 206.As an alternative or additive term, feedback 206 also can based on transmit from self-propelling instrument 214 to computing equipment 208 about the position of such as self-propelling instrument or the data of state.Be not intended to restriction, the example of feedback 206 comprises text display, figure display, sound, music, tone pattern, the modulation of photochromic or light intensity, sense of touch, vibration or haptic stimulus.Feedback 206 can in conjunction with the input that computing equipment 208 generates.Such as, the exportable content of computing equipment 208, it is modified to reflect the position or status information that obtain alternately from self-propelling instrument 214.
In certain embodiments, computing equipment 208 and/or self-propelling instrument 214 are configured such that user inputs 204 and improves availability and accessibility for user 202 to greatest extent with feedback 206, and this user 202 has limited perception, thinking, consciousness, motion or other abilities.This system 200 described by user operation allowing deformity or have special requirement.
Should be appreciated that the configuration shown in Fig. 2 is only various possible, of comprising in the network configuration of the self-propelling instrument with communication connection function.In addition, although many embodiments described herein specify user operation or otherwise directly dock with computing equipment, to control self-propelling instrument and/or mutual with self-propelling instrument, the modified example of described embodiment comprises to be made user directly can control self-propelling instrument 214 or carries out alternately with self-propelling instrument 214, and does not use the intermediate equipment of such as computing equipment 208.
Self-propelling instrument example
Fig. 3 is the example of self-propelling instrument, and shows the explanatory view of the assembly of example self-propelling instrument.But the modified example of present disclosure is not limited to such equipment.On the contrary, system 100 discussed above can be implemented with wherein completing any remote equipment matching or connect.With reference to Fig. 3, the size of self-propelling instrument 300 and weight allow it to be easily booked, lift and carrying on hand adult.Self-propelling instrument 300 can comprise the spherical shell 302 with outside surface, thus when device rolling and exterior surface.In addition, this spherical shell 302 comprises inside surface 304.In addition, this self-propelling instrument 300 comprises the multiple machinery and electronic unit that are encapsulated by spherical shell 302.
Spherical housing 302 by transmission wireless communication signals but the material of moisture vapor transmission gas and dirt do not form.That spherical housing 302 can comprise is lasting, can wash and/or the material of anti-pulverizing.Spherical housing 302 also can be constructed to be permeable to transmitted light and by veining (textured) with diffusion light.
In a modified example, shell 302 is made up of the polycarbonate plastic sealing.In addition, spherical shell 302 can comprise one or more surface, and it is spread to make light by veining.In one example, spherical shell 302 comprises two hemispherical Shells with the attachment means be associated, thus spherical shell 302 can be opened, to allow access internal electron and mechanical component.
Multiple electronics and mechanical part are positioned at encapsulation, for realizing process, radio communication, propelling and other functions (being referred to as below " internal mechanism ").The example of each assembly comprises drive system 301, advances self to make equipment.Drive system 301 can be coupled to process resource and other control gears, as described by other example.Carrier 314 is as the attachment point of drive system 301 and support.The assembly of drive system 301 is attached to spherical shell 302 non-rigidly.On the contrary, drive system 301 can comprise one wheel pairs 318,320, inside surface 304 rubbing contact of itself and spherical shell 302.
Carrier 314 and accumulator 316 Mechanical Contact and electrical contact.Accumulator 316 provides energy reserve for equipment 300 and electronic equipment, and is supplemented by induction charging port 326 again.In one example, accumulator 316 is rechargeable batteries.In a modified example, battery is made up of lithium polymer battery.In other modified example, the chargeable chemical cell of other types can be adopted.
Carrier 314 can be most intraware and provides installation site, comprises the printed circuit board (PCB) of electronic package, sensor array, antenna and connector, and provides mechanical attachment point for intraware.
Drive system 301 comprises motor 322,324 and wheel 318,320.Motor 322 and 324 is connected to wheel 318 and 320 respectively by the axle be associated, wheel shaft and gear drive (not shown).The circumference of wheel 318 and 320 is two positions, wherein internal mechanism and inside surface 304 Mechanical Contact.Wherein wheel 318 contacts the major part that the position of inside surface 304 can be the driving mechanism of ball with 320, so the preferred coating material of wheel 318 and 320 is to increase friction and to reduce to skid.Such as, wheel 318 and 320 can be coated with silicon rubber tire.
In some modified examples, biasing mechanism 315 is provided to be pressed against inside surface 304 initiatively to force wheel 318 and 320.In the example provided, spring 312 and spring end 310 can comprise biasing mechanism 315.More specifically, spring 312 and spring end 310 are positioned in and wheel 318 and 320 point cantact inside surface 304 diametrically.Spring 312 and spring end 310 provide extra contact force, skid to reduce wheel 318 and 320, especially internal mechanism be not located so that wheel in bottom and wherein gravity the situation that enough power is slided to prevent driving wheel 318 and 320 is not provided.Select spring 312 to provide power, for promoting wheel 318 and 320 and spring end 310 against inside surface 304.
Spring end 310 can be designed as to be provided and the contacting close to friction free of inside surface 304.Spring end 310 comprises circular surface, and this circular surface is configured to reflect (mirror) low frictional contact area at the place of having point of contact with inside surface 304.Other mechanisms provided close to frictionless contact can be set.In another embodiment, circular surface can comprise one or more bearing, to be reduced in the friction of end 310 along the contact point place of inside surface 304 movement further.Spring 312 and spring end 310 can be made up of nonmagnetic substance, to avoid interfering with each other with responsive Magnetic Sensor.But in modified example, spring end 310 can comprise one or more magnetic assembly, to be magnetically coupled to external accessory devices 330.
In some instances, the spring constant that spring 312 has makes wheel 318,320 and spring end 310 almost join the inside surface 304 of spherical shell 302 to always.Like this, from motor 322, most of power of 324 is directly passed for rotary spherical housing 302, instead of makes intraware (that is, biasing mechanism 315 and internal drive system 301) tilt (pitch).Therefore, although make self-propelling instrument 300 move at least in part by angled inner assembly (being therefore mass centre), motion also can directly by the active force (via biasing mechanism 315) of the inside surface 304 of wheel 318,320 pairs of spherical shells 302,304 with directly transmit from the electric power of motor 322,324 to wheel 318,320 and cause.Therefore, the inclination of biasing mechanism 315 can be greatly reduced, and keeps in essence constant (such as, in essence perpendicular to the outside surface of self-propelling instrument 300 movement thereon).Additionally or as an alternative, the inclination of biasing mechanism 315 can increase (such as, more than 45 degree) within the hard acceleration or deceleration cycle.In addition, according to normal running conditions, the inclination of biasing mechanism 315 can keep stable or change (such as, in 10-15 degree) subtly.
Spring end 310 can be formed by the magnetic metal being attracted to magnet.This metalloid can comprise iron, nickel, cobalt, gadolinium, neodymium, samarium, or contains the metal alloy of these metal ingredients.Alternatively, spring terminal 310 can comprise the inside surface 304 of contact spherical shell 302, friction free contact portion in essence, and contact or do not contact the magnetic interactive portion of inside surface 304, comprises above-mentioned metal or metal alloy.The described contact portion of friction free in essence can include organic polymer, such as thermoplasticity or thermosetting polymer.
Alternately, spring end 310 can be made up of magnet, the neodymium permanent magnet of such as polishing.In such modified example, spring terminal 310 can produce the magnetic field extending beyond spherical shell 302 outside surface, with magnetic couplings external accessory devices 330.Again alternatively, spring end 310 can comprise friction free contact portion in essence, and is included in magnet wherein.
Still alternatively, the magnet assembly of self-propelling instrument 300 can be included on any intraware, such as spring 312 or carrier 314, or is coupled to the add-on assemble of biasing mechanism 315 or carrier 314.
Additionally or alternati, external accessory devices 330 can comprise magnet assembly 332, with magnetic couplings biasing mechanism 315 (such as, spring end 310).Magnetic assembly 332 can comprise permanent magnet, such as neodymium magnet.In this variant, magnet assembly 332 can be magnetically coupled to spring end 310.Like this, the magnetic field that magnetic part 332 produces can extend through spherical shell 302 to keep and spring end 310 magnetic contact.
Alternately, the magnet assembly 332 of external accessory devices 330 can comprise magnetic metal, and it can attracted to the magnet comprising spring terminal 310.As mentioned above, these metals can comprise iron, nickel, cobalt, gadolinium, neodymium, samarium or comprise the metal alloy of these metal ingredients.
In further example, one or more spring end 310 and magnet assembly can comprise any amount of electromagnet or permanent magnet.This magnet can be irregular shape, to provide extra magnetic stability when self-propelling instrument 300 moves.Such as, the magnetic part 332 of accessory device 330 can be single or multiple magnetic stripe, comprises one or more tributaries bar (tributarystrip) with the one or more correspondingly configured magnet that coupling spring end 310 comprises.In addition, multiple magnet disperses by external accessory devices 330 and spring end 310, to provide extra stability.
Alternately, when self-propelling instrument 300 moves, spring end 310 and external accessory devices 330 can be in stable magnetic repulsion state.In this variant, magnet assembly 332 or spring end 310 can comprise superconductor, to eliminate the dynamic instability repelling magnetic force in essence, thus allow auxiliary device relative to the stable magnetic levitation of spring end 310 when spherical shell 302 rotates in-between.In similar modified example, diamagnetic material during can be included in self-propelling instrument 300, spring end 310 or external accessory devices 330 one or more, and can provide stability for magnetic levitation.Therefore, when not using guide rail or magnetic orbit, self-propelling instrument 300 can be made in any direction to handle, external accessory devices 330 remains on the position (Cartesian coordinates or cylinder z-axis coordinate, or the spherical r-coordinate not having polar angle (θ)) constant in essence of the Z-axis along self-propelling instrument.
External accessory devices 330 can be any shape, and can be formed by any suitable material.The surface of contact 334 of external accessory devices, or the surface (at magnetic interaction) of outside surface closest to spherical shell 302 can be formed the outside surface corresponding to spherical shell 304 in essence.Therefore, the spherical shell 302 of self-propelling instrument 300 and external accessory devices 330 (that is, surface in contact 334) can have the radius-of-curvature that essence is equal.In some modified example, this radius-of-curvature can be the order of magnitude of 10-30 centimetre.But, it is expected to: the radius that other examples of self-propelling instrument and appended external accessory devices have can reach the order of magnitude of 1 meter, upwards can reach the size of mankind's haulage vehicle, and above size.Therefore, the powerful electromagnet that magnetic coupling or can use alternately is arranged in self-propelling instrument 300 realizes, with coupled external auxiliary device 330, it can be configured to perform an action, carry useful load, comprise novel designs, represent character or picture, or like this.
The surface of contact 334 of external accessory 330 can be formed with or be coated with friction free material in essence, the compound such as synthesized or suitable polymkeric substance.Other suitable compound comprises
the teflon (PTFE) of brand or
polyoxymethylene (POM) coating of brand.But, it is expected to any coating of friction free in essence, comprise superguard agent surface or liquid infiltration is surperficial and material, such as synovia inject porous surface (SLIPS).Further example in essence without friction surface or coating comprises " ceramal " or " metallic ceramics ", and it can by producing in conjunction with metal alloy and ceramic compound.Such as, comprise boron, the metal/ceramic alloy (AlMgB of aluminium and magnesium
14) can in conjunction with titanium boride (TiB
2) ceramic compound, to be provided for the intimate without friction coatings 334 of the surface in contact of external accessory devices 330.
Additionally or as an alternative, the outside surface of spherical shell 302 can comprise any above-mentioned coating of friction free in essence or compound that the surface of contact 334 about external accessory devices 330 discusses.Correspondingly, the combination in any of friction free coating or compound can combine with the surface in contact of the outside surface of spherical shell 302 and external accessory devices 330 in essence.
In addition, spherical shell 302 can be formed as comprising inside surface 304, and this inside surface 304 is more conducive to using such as rubber compound or other suitable synthesis compound (such as, silicon) to provide the friction of increase.In addition, this spherical shell 302 can be formed as comprising use coating discussed above or compound there is the outside surface be close to without frictional behaviour.
In the above example, when self-propelling instrument 300 moves, external accessory devices 330 can keep being magnetically coupled to spring end 310 in the position constant in essence on self-propelling instrument 300 top.Similarly, when self-propelling instrument 300 is by manipulation, biasing mechanism 315 can have variable pitch angle (polar angle (θ) relative to plane of movement), and how much minimally it, but be in most of the cases usually no more than 45 degree, unless between relatively extreme accelerated period.But, self-propelling instrument 300 continuously and stable handle during, the inclination of biasing mechanism 315 can closer to zero, or in 10 degree.In addition, during handling, position angle (φ) can change at any angle according to the independent current source transmitted from motor 322,344 to wheel 318,320.
Described various embodiments only for illustration of object.Use any described system, modified example comprises adds more or less computing equipment, and/or more or less self-propelling instrument.As described in some modified examples, additional source or node can provide from telecommunication network source.In addition, in certain operations environment, the existence of computing equipment is optional.Such as, self-propelling instrument can be partially or completely autonomous, uses programmed logic to carry out work.
Fig. 4 illustrates the example technique for making the spherical equipment 400 of self-propelled move.In example as shown in Figure 4, self-propelling instrument 400 is illustrated, and has rotation center 402 and barycenter 406, and contacts plane surface 412.The driving mechanism of robot device 400 can comprise two independent wheeled actuators 408 controlled, and it contacts with the inside surface of the closure ball spherical shell of equipment 400.Sensor platform 404 is also shown.Multiple parts of equipment 400 do not illustrate at Fig. 4, for simplifying accompanying drawing.
In order to realize the continuous motion with constant speed, barycenter 406 can be maintained by the action of Wheel driver 408 relative to offseting of rotation center 402.Barycenter 406 is difficult to measure relative to the displacement of rotation center 402, is therefore difficult to the feedback obtaining closed loop controller, to keep constant speed.But the angle 410 (equaling θ) between displacement and sensor platform 404 and surface 412 is proportional.Angle 410 can by various sensor input sensing or estimation.Therefore, exemplarily, the speed control of robot device 400 can be embodied as use angle 410 to regulate the speed of Wheel driver 408, causes equipment 400 with constant speed through surface 412.Speed control can determine that required angle 410 is to produce required speed, and desired angle initialization point is provided to the closed loop controller regulating driving mechanism as input.
Fig. 4 illustrates that use angle is measured for speeds control; But using suitable induction angle and the feedback of angular velocity, this technology can expand to provide and turns to and rotate control.Can find out from discussion above, in various embodiments, know orientation angles and be conducive to controlling self-propelling instrument.The orientation of measuring equipment also can be beneficial to navigation and aim at other equipment.
Hardware block diagram
Fig. 5 is the example block diagram that the computer system that the example of description can be implemented wherein is shown.Such as, the one or more assemblies discussed about the system 100 of Fig. 1 can be performed by the system 500 of Fig. 5.System 100 also can use the combination of multiple computer system to realize, as described by Fig. 5.
In one embodiment, computer system 500 comprises process resource 510, primary memory 520, ROM530, memory device 540 and communication interface 550.Computer system 500 comprises for the treatment of at least one processor 510 of information and primary memory 520 (such as, random access memory (RAM) or other dynamic memories), primary memory 520 is for storing the information that performed by processor 510 and instruction 522.Primary memory 520 can also be used for storing temporary variable or performing other intermediate informations between order period in execution by processor 510.Computer system 500 can also comprise ROM (read-only memory) (ROM) 530 or other static storage device, for static information and the instruction of storage of processor 510.There is provided memory device 540 (such as, disk or CD) for storing information and instruction.Such as, memory device 540 can correspond to computer-readable medium, and its Trigger Logic is for handling the self-propelling instrument discussed about Fig. 1-4.
Communication interface 550 can make computer system 500 communicate with controller equiment 580 via the network link 552 (wireless or wired) set up.Use network link 552, computer system 500 can receive command instruction, for handling self-propelling instrument.
Example described herein relates to use computer system 500 to realize technology described here.According to an example, perform one or more sequences of the one or more instructions be included in primary memory 520 in response to processor 510, these technology are performed by computer system 500.Such instruction can read primary memory 520 from another machine readable media (such as memory device 540).Performing the instruction sequence comprised in primary memory 520 causes processor 510 to perform treatment step described herein.Hi an alternative embodiment, Hard link circuit can be used for replace or in conjunction with software instruction to realize example described herein.Therefore, the example of description is not limited to the particular combination of any hardware circuit and software.
Conclusion
It is contemplated that: example as herein described expands to discrete component as herein described and concept, independent of other concepts, idea or system, and comprise the example of elements combination mentioned Anywhere in this application.Although various example has been described with reference to the drawings in this article in detail, should be appreciated that the disclosure is not limited to these concrete examples.Therefore, many modifications and variations will be apparent to those skilled in the art.Therefore, scope meaning of the present invention is limited by following claim and equivalent replacement thereof.In addition, it is expected to: the special characteristic that a part individually or exemplarily describes appoints the incorporating aspects of feature or other example that can describe separately with other, even if other characteristic sum examples all do not mention described specific characteristic.Therefore, do not have the combination described should not get rid of and right is advocated to such combination.
Although some embodiment describes above, should be understood that described embodiment is only exemplary.Therefore, the disclosure should not be limited to the example of description.On the contrary, more than combination when explanation and accompanying drawing, the scope of the present disclosure should be only limitted to follow-up claim.
Claims (20)
1. a self-propelling instrument, is characterized in that, described self-propelling instrument comprises:
Spherical shell;
Internal drive system, this internal drive system comprises the one or more motor be arranged in described spherical shell;
Biasing mechanism, this biasing mechanism is couple to described internal drive system, the spring end that described biasing mechanism comprises spring and contacts with the inside surface of described spherical shell; With
Annex, the outside surface of spherical shell described in this accessory contact, described annex is coupled by described spherical shell and described biasing mechanism magnetic.
2. self-propelling instrument as claimed in claim 1, it is characterized in that, described magnetic attachment comprises surface of contact, and the radius-of-curvature that this surface of contact has is equal with the radius-of-curvature of described spherical shell outside surface.
3. self-propelling instrument as claimed in claim 1, it is characterized in that, described internal drive system comprises one wheel pairs, and each wheel is coupled to one or more motor of described internal drive system.
4. self-propelling instrument as claimed in claim 3, it is characterized in that, described one or more motor comprises the first independent electric motors of the first wheel be couple in described one wheel pairs, and is couple to the second independent electric motors of the second wheel in described one wheel pairs.
5. self-propelling instrument as claimed in claim 3, it is characterized in that, described biasing mechanism is configured to initiatively force described one wheel pairs to continue to engage the inside surface of described spherical shell, moves to make described self-propelling instrument.
6. self-propelling instrument as claimed in claim 5, it is characterized in that, the motion of described self-propelling instrument comprises: described spherical shell based on magnetic-coupled, relative to the three-dimensional rotation of the stable orientations of the annex of described spherical shell outside.
7. self-propelling instrument as claimed in claim 1, it is characterized in that, described spring end comprises magnet, for coupling with described annex magnetic.
8. self-propelling instrument as claimed in claim 7, it is characterized in that, described annex comprises ferrous metal, for coupling with described spring end magnetic.
9. self-propelling instrument as claimed in claim 1, it is characterized in that, described annex comprises magnet, for coupling with described biasing mechanism magnetic.
10. self-propelling instrument as claimed in claim 9, it is characterized in that, described spring end comprises ferrous metal, for coupling with described annex magnetic.
11. self-propelling instruments as claimed in claim 9, is characterized in that, corresponding with the outside surface contacting described spherical shell, and the surface of contact of described annex comprises friction free material in essence.
12. self-propelling instruments as claimed in claim 11, it is characterized in that, described surface of contact comprises liquid infiltration surface.
13. self-propelling instruments as claimed in claim 11, is characterized in that, described surface of contact comprises the porous surface that synovia injects.
14. self-propelling instruments as claimed in claim 11, is characterized in that, described surface of contact comprise in polytetrafluorethylecoatings coatings or polyoxymethylene coating one or more.
15. self-propelling instruments as claimed in claim 1, it is characterized in that, described annex comprises the first magnet, and described spring end comprises the second magnet.
16. self-propelling instruments as claimed in claim 15, is characterized in that, described first magnet and the irregular shaping of the second magnet, for providing extra stability for the magnetic between described annex and spring end couples.
17. self-propelling instruments as claimed in claim 1, is characterized in that, the outside surface of described spherical shell comprise in polytetrafluorethylecoatings coatings or polyoxymethylene coating one or more.
18. self-propelling instruments as claimed in claim 1, is characterized in that, the magnetic between described annex and biasing mechanism couples corresponding to one or more neodymium magnet, and it is one or more that described one or more neodymium magnet is couple in described annex or biasing mechanism.
19. self-propelling instruments as claimed in claim 1, it is characterized in that, the outside surface of described spherical shell comprises ceramal coating.
20. 1 kinds of self-propelling instruments, is characterized in that, described self-propelling instrument comprises:
Spherical shell;
Internal drive system, this internal drive system comprises the one or more motor be arranged in described spherical shell;
Biasing mechanism, this biasing mechanism is couple to described internal drive system, and described biasing mechanism comprises spring and the magnet spring end of inside surface contacting described spherical shell; With
Annex, described annex passes through described spherical shell and described magnet spring end is mutual, and described annex comprises stabilizing mechanism, and this stabilizing mechanism provides correction stability, mutual to maintain described magnetic.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| EP15831882.4A EP3180236A4 (en) | 2014-08-13 | 2015-08-12 | Self-propelled device with magnetic coupling |
| PCT/US2015/044885 WO2016025617A1 (en) | 2014-08-13 | 2015-08-12 | Self-propelled device with magnetic coupling |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| US14/459,235 US9090214B2 (en) | 2011-01-05 | 2014-08-13 | Magnetically coupled accessory for a self-propelled device |
| US14/459,235 | 2014-08-13 |
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| CN105045265A true CN105045265A (en) | 2015-11-11 |
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| CN201510463007.1A Active CN105045265B (en) | 2014-08-13 | 2015-07-31 | The magnetic coupling attachment of self-propelling instrument |
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| CN (2) | CN205229799U (en) |
| DE (1) | DE212015000008U1 (en) |
| WO (1) | WO2016025047A1 (en) |
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Also Published As
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| CN105045265B (en) | 2018-06-15 |
| WO2016025047A1 (en) | 2016-02-18 |
| WO2016025047A8 (en) | 2017-01-12 |
| DE212015000008U1 (en) | 2016-04-11 |
| CN205229799U (en) | 2016-05-11 |
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