CN105264452B - Multipurpose self-advancing device - Google Patents
Multipurpose self-advancing device Download PDFInfo
- Publication number
- CN105264452B CN105264452B CN201480029695.4A CN201480029695A CN105264452B CN 105264452 B CN105264452 B CN 105264452B CN 201480029695 A CN201480029695 A CN 201480029695A CN 105264452 B CN105264452 B CN 105264452B
- Authority
- CN
- China
- Prior art keywords
- self
- advancing device
- advancing
- control device
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims description 30
- 230000000007 visual effect Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 19
- 230000033001 locomotion Effects 0.000 description 39
- 230000006854 communication Effects 0.000 description 33
- 238000004891 communication Methods 0.000 description 32
- 238000010586 diagram Methods 0.000 description 18
- 230000004044 response Effects 0.000 description 9
- 238000004146 energy storage Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 239000003086 colorant Substances 0.000 description 6
- 230000005291 magnetic effect Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000013519 translation Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 239000002360 explosive Substances 0.000 description 4
- 230000001939 inductive effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000001413 cellular effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 210000000697 sensory organ Anatomy 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000003019 stabilising effect Effects 0.000 description 2
- 230000005355 Hall effect Effects 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 244000131316 Panax pseudoginseng Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000007175 bidirectional communication Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000011469 building brick Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003153 chemical reaction reagent Substances 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 239000004417 polycarbonate Substances 0.000 description 1
- 229920000515 polycarbonate Polymers 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
This application discloses a kind of multipurpose self-advancing devices and the method for operating the self-advancing device.Certain variation examples may include spherical shell, and the spherical shell has internal drive system and the multi-functional payload space for using in various applications.
Description
Technical field
Example described herein is related to multiduty remote-controlled self-advancing device.
Background technique
Various types of remote-controlled devices existed already.For example, amateur usually operate automobile, truck, aircraft and
The remote control device of helicopter form.This device is typically received from control device and is ordered, and changes movement according to input
(for example, direction and speed).This device uses software-based controller, these controllers may be implemented as in such as intelligence
The form of the application program run in equipment as energy phone or tablet computer.
Detailed description of the invention
The disclosure herein is to be illustrated by means of the example on attached drawing, but be not limited to the example, identical on the diagram
Label indicate similar element, in which:
Fig. 1 is the exemplary block diagram for showing the component of self-advancing device of body form spherical in shape；
Fig. 2A is the exemplary block diagram for showing self-advancing device；
Fig. 2 B is the exemplary block diagram for showing the self-advancing device with optional biasing mechanism；
Fig. 2 C is the self-advancing device shown Dai You for improving another optional biasing mechanism of payload space
Exemplary block diagram；
Fig. 3 is the exemplary block diagram for showing the self-advancing device including attached camera；
Fig. 4 is the exemplary block diagram for showing the self-advancing device including payload；
Fig. 5 is the exemplary conceptual diagram of self-advancing device and control device；
Fig. 6 shows the example technique for moving self-propelled spherical device；
Fig. 7 is the exemplary block diagram for showing sensor array and data flow；
Fig. 8 shows the exemplary system including self-advancing device and control device, and the control device is for controlling
It is interacted with self-advancing device；And
Fig. 9 is the exemplary process diagram of the method for display operation self-advancing device.
Specific embodiment
Provide a kind of multipurpose self-advancing device, the device include drive system, spherical shell, biasing mechanism and
The intracorporal payload space of spherical shell.Biasing mechanism may include the spring individually stretched, which engages by drive system
The position diametrically of contact surface engaged with the inner surface of spherical shell.Alternatively, biasing mechanism may include one or more
A (for example, a pair of) door-hinge, each door-hinge have spring and contact element, each connect for withstand on spherical shell inner surface
Contact.In this way, door-hinge can produce vertical force, which similarly actively forces drive system continuously to engage spherical shell
Inner surface, so that spherical shell moves.Self-advancing device can be implemented to one payload of carrying or multiple payload, use
In various uses and activity.
Payload space can be utilized to carry any payload.For example, payload may include camera, it is described
Image and/or video flowing can be sent to control device from self-advancing device by camera.Intelligence can be presented in control device
The form of energy phone, tablet computer or any other operating device appropriate.Moreover, spherical shell can be it is transparent, with permit
Perhaps camera obtains image or real-time video, and the user of control device (for example, smart phone) is thus allowed to pass through viewing view
Frequency stream controls self-advancing device.
In another variation example, payload space includes single payload or multiple payload, for civilian or
Military use.Such payload may include below one or more: camera, infrared sensor, chemical sensor,
Biosensor, one or more explosives, listening device can adapt to any other effective in payload space
Load.
For including the variation example of camera or other image acquiring devices, a kind of touch driving method, the party are disclosed
Method provides the ability that self-advancing device is controlled by the location point dynamic touched on realtime graphic or video pictures for user.
Method includes receiving image or video pictures from self-advancing device, it provides the camera being mounted in self-advancing device
The visual field.This video pictures can be shown in the touch display screen of controlled or mobile computing device.Method further includes
It is received in touch display screen and the user of the location point in camera view is selected, and select generation will quilt according to user
It is transmitted to the command signal of self-advancing device, instruction self-advancing device is manipulated to location point.
Moreover, method may include determining the visual field according to first reference frame in the visual field shown on control device
The position of interior location point；And the position of location point is mapped to corresponding with the location point relative to self-advancing device second
Reference coordinate is fastened.It include for manipulating self-advancing device only according to the generation of the second reference frame in such arrangement
Instruction command signal.Furthermore for the embodiment of real-time video picture, control device can be in conjunction with a received reality
When video pictures and dynamic generation command signal.
Systematic review
Referring to attached drawing, Fig. 1 is the exemplary block diagram for showing each component for the self-advancing device that spherical form is presented.It is multi-purpose
The self-advancing device 100 on way can be steered and move under the control of another device, such as by the calculating equipment of user's operation
(for example, smart phone, tablet computer and/or remote controler).Self-advancing device 100, which may be configured with, can be carried out one below or more
The resource of movement: (i) keeps after the device setting in motion knowing energy relative to the orientation of initial reference coordinates and/or position
Power；(ii) programmed process control input, to obtain the different range specifically responded for the program of different control inputs；
(iii) another device is made to be able to use software or programmed logic to control its movement, the software or programmed logic can be with
Programmed logic on self-advancing device is communicated；And/or (iv) generates the movement for it and the output response of state, it is described
Output phase should can carry out software interpretation by control equipment.
For example, multipurpose self-advancing device 100 may include the subsystem and module of some interconnections.Processor 114 is held
Programming instruction of the row from program storage 104.The instruction being stored in program storage 104 can be changed, for example, addition
Characteristic, correction disadvantage or recovery actions.In some examples, program storage 104 stores programming instruction, and the programming instruction can
It can with the software communication executed on computing device or otherwise operate.Processor 114 can be configured to execute programming instruction
Distinct program, to change the interpretation of self-advancing device 100 or otherwise to respond the control from another computing device
The mode of input.
Wireless communication module 110 is combined with communication energy converter 102 can be used in processor 114 and other external equipments
Swapping data.Data exchange, such as communication can be provided, control is provided, provides logical order, status information, and/or mention
For the update for program storage 104.In some examples, processor 114 can be generated and state and/or location information pair
Then the output answered, the output can be transmitted to control device via wireless communication port.The mobility of device to have
Line connection is undesirable.Therefore, term " connection " be understood to be description do not have to be physically attached to self-advancing device 100 and
The logical links made.
In some examples, wireless communication module 110 can be implemented Bluetooth communication protocol, and energy converter 102 can be it is suitable
In the antenna for transmitting and receiving Bluetooth signal.Additionally or alternatively, Wi-Fi communication protocols can be implemented in wireless communication module 110
View, and energy converter can be the antenna for being suitable for transmitting and receive Wi-Fi signal.In such an example, self-advancing device 100
It can be controlled by control device through bluetooth and/or Wi-Fi signal.In alternative embodiments, other nothings also can be used
Line communication module and agreement.
Sensor 112 can provide the information of ambient enviroment and condition about processor 114.In variation example, sensing
Device 112 includes inertial measuring unit comprising three-axis gyroscope, three-axis accelerometer and three axle magnetometer.Moreover, sensor
112 can provide input, and processor 114 is kept to device after device setting in motion relative to initial reference coordinates
Orientation and/or position know ability.Sensor 112 may include dense for detection light, temperature, humidity or measurement chemistry
Degree or radioactive instrument.
State/alterable memory 106 can store information related with unit state, for example including position, orientation, each
Rotation and translation rate on a axis.State/alterable memory 106 can also store for example after device is put into use (for example,
After device is activated) information of the initial reference coordinates of device, and once position that device is used and orientation information.This
Sample, self-advancing device 100 can use the information of state/alterable memory 106, to be maintained for pushing away after device operation certainly
Position and orientation information into device 100.
Clock 108 can provide timing information to processor 114.For example, clock 108 can be provided for measuring change
The when base of time interval and rate.Moreover, clock 108 can provide day, date, year, time and alarm clock function.Furthermore clock
108, which can permit self-advancing device 100, provides quarter-bell or prompting in the pre-set time.
ECP Extended Capabilities Port 120 can provide the connection for adding attachment or device.ECP Extended Capabilities Port 120 provides the expansion in future
Exhibition, and the flexibility of addition option or enhancement measures.For example, ECP Extended Capabilities Port 120 can be used to a peripheral hardware, sensor, processing
Hardware, storage device, display or driver etc. are added to self-advancing device 100.
Additionally or alternatively, ECP Extended Capabilities Port 120 can provide can by using analog or digital signal and with suitably match
The interface that the component set is communicated.ECP Extended Capabilities Port 120 can provide standard or well known electrical interface and agreement.ECP Extended Capabilities Port
120 can also implement optical interface.For example, the interface for being suitable for ECP Extended Capabilities Port 120 includes universal serial bus (USB), integrates
Bus (I2C), Serial Peripheral Interface (SPI) (SPI) or Ethernet between circuit.
Display 118 presents information to external equipment or individual.Various various forms of letters can be presented in display 118
Breath.In various examples, display 118 can produce the group with colored and pattern light, sound, vibration or stimulus to the sense organ
It closes.In some examples, display 118 can be run in conjunction with actuator 126, for transmitting by the physics of self-advancing device 100
Information caused by moving.It nods or shakes the head to transmit "Yes" or "No" for example, self-advancing device 100 can be made into simulation people.
Additionally or alternatively, display 118 can be configured to emit the light in visible light or non-visible light range.Example
Such as, the non-visible light in infrared ray or ultraviolet ray range can be used to sender and feel invisible but for special detection
The available information of device.Moreover, display 118 may include light emitting diode (LED) array for emitting various light frequencies, the hair
Optical diode, which is arranged to, can be changed its relative intensity, and the light emitted can be mixed and form color composition.
Additionally or alternatively, display 118 includes LED array comprising several LED, what each LED transmitting people can be seen that
Primary colours.Processor 114 can change the relative intensity of each LED, to generate many a variety of different colors.The primary colours of light are
Following kind of color: wherein several colors can be blended to produce wide colour gamut in different amounts.It has been known that there is multiple groups primary lights, examples
Such as, including it is red green blue, red green blue/white and red green blue/amber.For example, red, green and blue LED includes three kinds together
Useful group of primary colours device, including display 118 can be used.In variation example, other primary colours and White LED group can be used.
In many embodiments, display 118 may include one or more LED, be used to indicate on self-advancing device 100
, reference point for alignment.
Energy storage units 124 are stored for operating the electronics of self-advancing device 100 and the energy of electromechanical component.For example,
Energy storage units 124, which can be, rechargeable battery.Inductive charging port 128 can permit to energy storage units 124
Charging, without wired electrical connection.Moreover, inductive charging port 128 can receive magnetic energy, and convert it to electricity
Can, to charge to energy storage units 124.Additionally or alternatively, inductive charging port 128 can provide and external charging
The wireless communication interface of device.Moreover, the plug in charging unit can be used as inductive charging port 128 additives or can
Object is selected to be included.
It may include deep sleep sensor 122, with that self-advancing device 100 is placed in unusual low-power or " deep sleep "
Mode, wherein most of electronic devices do not use power.This is for storing for a long time, transporting, and/or the need of self-advancing device 100
It is very useful for wanting certain embodiments of this state.For example, self-advancing device 100 can be implemented to carrying payload,
Such as camera, motion sensor, infrared sensor, and/or chemistry or biosensor.In such variation example, push away certainly
Deep sleep mode can be entered into device 100 with suspend mode, until trigger event, such as activation camera or one or more biographies
The event of sensor, until starting self-advancing device 100 automatically.
In variation example, sensor 122 can not have to wired connection and be perceived by the spherical shell of self-advancing device 100
Object, event, accident, things and/or phenomenon.Additionally or alternatively, deep sleep sensor 122 can be Hall effect sensing
Device, it is mounted so that external magnet can be applied on self-advancing device 100, to start deep sleep mode.
Drive system actuator 126 can convert electrical current into mechanical energy, be used for various uses.Actuator 126 it is main
Purposes can be propulsion and manipulation self-advancing device 100.Movement is alternatively referred to as drive system or trailer system with manipulation actuator.
Drive system causes rotation and translation motion of the self-advancing device 100 under the control of processor 114.The example of actuator 126
It may include such as wheel, motor, helix tube, propeller, paddle wheel and pendulum.
For example, drive system actuator 126 may include one group of two parallel wheel, each wheel is mounted on axis,
The axis by reduction gear device be connected to can independent speed change motor.In such an example, two independent operatings
The operation of drive motor can be controlled by processor 114.
However, actuator 126 can also generate various fortune other than rotation and translation self-advancing device 100
It is dynamic.For example, actuator 126 can make self-advancing device 100 execute exchange movement, the simulation including manpower gesture, for example, nod,
It shakes the head, tremble, rotate or gently jumps.In variation example, processor coordinates actuator 126 and display 118.Similarly, processor
114 can provide signals to actuator 126 and display 118, so that the rotation of self-advancing device 100 or shake, while emitting each
The colored light of kind pattern.Additionally or alternatively, self-advancing device 100 can synchronously emit light or sound pattern with movement.
Self-advancing device 100 can be used as controller, the equipment for other network connections.Self-advancing device 100 can be with
Comprising sensor and wireless communication ability, in this way, it can play the role of the controller for other equipment.For example, pushing away certainly
Perception gesture, movement, rotation, combination input etc. can be held in the hand and are used into device 100.
Machine Design
Fig. 2A is the exemplary block diagram for showing self-advancing device.Self-advancing device 200 can be multiduty, and can wrap
Include spherical shell 202, drive system 201, biasing mechanism 215 and payload space 228.For example, self-advancing device 200 can be with
The form of robot spherical is presented.200 size and weight of self-advancing device can make it be easy to be held in adult manpower
Firmly, it lifts and carries.In variation example, self-advancing device 200 can be greater or lesser, and/or can effectively carry to be specific
Lotus customization.For example, self-advancing device 200 can be made into including transparent spherical shell, camera may include in payload
To provide video flowing to control device in space, such as, such as smart phone or tablet computer, as shown in the example of fig. 3
's.
Still referring to Fig. 2A, self-advancing device 200 includes spherical shell (shell) 202, it when device is rolled with extraneous table
Face contact.In addition, self-advancing device 200 includes the inner surface 204 of spherical shell 202, wherein the component as drive system 201
The wheel 218 and 220 being included is contacted with inner surface 204, so that self-advancing device 200 moves.In addition, self-propelled fills
Setting 200 may include several mechanically and electrically subassemblies being packed into spherical shell 202.
Spherical shell 202 at least partly can carry out transmission by the signal for being allowed for wireless communication but can be to moisture-resistant
One or more materials of degree and dust are made.The material of spherical shell 202 can be durable, washable, and/or anti-powder
Broken.Spherical shell 202, which can also be built into, can transmit light, and can be made into it is textured, to diffuse.
In variation example, spherical shell 202 can be made of the polycarbonate plastic sealing.In similar variation example,
In spherical shell 202 or inner surface 204 at least one of be it is textured, to diffuse.Additionally or alternatively, spherical shell
Body 202 may include two hemispherical Shells with associated subsidiary body, and such spherical shell 202 can be opened and allow to connect
Nearly internal electronics and mechanical part.In similar variation example, spherical shell 202 may include autoamtic-opening device, it is described from
Dynamic device for opening is configured under the command cue made by user open shell using control device.Additionally or alternatively
Ground, spherical shell 202 can be opened, and payload is placed in payload space 228, is then accordingly turned off, so that
User can continue to manipulate self-advancing device 200.Spherical shell 202 can also include the outer surface of threading or include to be used for
The knob of traction and/or the outer surface of tubercle.
Several electronics and mechanical part can be placed in inside spherical shell 202, so as to handled, wirelessly communicated,
Promote and realize other functions.It in these components, may include drive system 201, to allow the devices to promote it certainly
Oneself.Drive system 201 can be coupled to process resource and other control mechanisms as described in above by reference to Fig. 1.Still referring to figure
2A, bracket 214 can be included to attachment point and the support of the electronic component as self-advancing device 200.Drive system 201, energy
Amount storage unit 216, bracket 214, biasing mechanism 215, such as above by reference to Fig. 1 describe other components and may finally account for
With payload space 228 but any payload project on spherical shell 202 cannot be firmly fixed to.Instead, it drives
The wheel 218,220 for including in dynamic system 201 can carry out CONTACT WITH FRICTION with the inner surface 204 of spherical shell 202, and can be with
Spherical shell 202 is driven for the movement by actuator.
Bracket 214 can mechanically and electrically be contacted with energy storage units 216.Energy storage units 216 can provide
Energy storage device to provide energy to device and electronic device, and can supplement again via induction charging port 226.
For example, energy storage units 216 can be rechargeable battery, it can be made of lithium polymer battery.
Bracket 214 can be most of internal parts, including for the printed circuit board of electronic building brick, sensor array,
One or more antennas and one or more connectors etc., provide installation site, and provide mechanical attachment point for internal part.
Moreover, bracket 214 can provide pedestal for the payload being placed in self-advancing device 200.In this way, the top of bracket 214
Surface is also possible to the ground of payload space 228.However, the other configurations of payload space 228 are also to be expected
, such as, such as it is exclusively formed to the payload space 228 of camera, or include the compartment for carrying multiple articles
Payload space.
Drive system 201 includes motor 222,224 and wheel 218,220.Motor 222,224 passes through associated biography
Moving axis, wheel shaft and gear drive (not shown), are attached separately to wheel 218,220.Wheel 218,220 can be with inner surface
204 are physically contacted.Wherein wheel 218, the point of 220 contact inner surfaces 204 are the weights of the driving mechanism of self-advancing device 200
Part is wanted, therefore the covering of excellent the selection of material is to increase friction and reduce sliding.For example, silicon can be used around wheel 218,220
Rubber tyre covering.
Biasing mechanism 215 can be included to that actively wheel 218,220 is pressed against on inner surface 204.As an example, spring
212 and spring end 210 may include biasing mechanism 215.More specifically, spring 212 and spring end 210 can be placed with
With the point contact inner surface 204 of wheel 218,220 diametrically.Spring 212 and spring end 210 can provide contact force, with
Reduce or substantially eliminate the sliding of wheel 218,220.Spring 212 be selected to provide for push wheel 218,220 compared with
Small power, and spring end 210 is balancedly against inner surface 204.
The offer of spring end 210 is contacted with the almost friction free of inner surface 204.In this way, spring end 210 includes circle
Or the surface of quasi-circular, the surface are configured to when self-advancing device 200 is driven by drive system 201 along inner surface 204
Sliding.It also may include that other devices of almost friction free contact are provided.In certain embodiments, spring end 210 can
Including one or more bearings, for further decreasing at the contact point when spring end 210 is moved along inner surface 204
Friction.Moreover, spring 212 and spring end 210 can be made of non-magnetic material, to avoid the sensitive magnet sensing of interference
Device.
Payload space 228 can be combined to carry single payload or multiple payload, for it is civilian and/
Or military activity.Payload space 228 can be arranged to any number of payload of carrying, for example including one below
Or it is multinomial: for monitor or the camera of remote video stream, infrared sensor, the chemistry for detecting harmful reagent or biology pass
Sensor, the bomb or flash bomb and/or listening equipment that appropriate place can be maneuvered to and be detonated.
Fig. 2 B is the exemplary block diagram for showing the self-advancing device with optional biasing mechanism 217.Referring to Fig. 2 B, biasing
Mechanism 217 can be combined with chassis 237, it may include one or more additional wheels 234,236, to increase and match again
It is set effective load space 228.Biasing mechanism 217 may include newel 238, and the newel 238 is configured to apply a power
To chassis 237, which can make additional wheel 234,236 against the inner surface 204 of spherical shell 202 in turn.Newel
238 may include or not include spring 240, to help to bias.Optionally, chassis 237 can be placed adjacent to drive system
201, such wheel 218,220,234 and 236 contacts the same hemispherical inner surface 204, diametrically opposed.In addition
Or alternatively, chassis 237 can be oriented so that 238 shape of newel at an angle, wherein additional wheel 234,236 contacts
(in reference frame, drive system 201 is positioned in self-advancing device 200 most to inner surface 204 under the line slightly above
Bottom).It may include these arrangements and similar arrangement, so that for example, payload space 228 is maximized or optimized.
Fig. 2 C is the self-advancing device shown Dai You for improving another optional biasing mechanism of payload space 250
Exemplary block diagram.For example, may include independent biasing mechanism 252, it is configured to drive system wheel 218,220 actively
It is pressed against on inner surface 204, similar to the biasing mechanism above by reference to Fig. 2A and 2B discussion.Independent biasing mechanism 252 includes
Two or more separated door-hinges 258,260.Door-hinge 258,260 may include spring, utilizing the force vector with vertical value and
Wheel 254,256 is pressed against to inner surface 204.The vertical force for carrying out the wheel 254,256 of self-pressing inner surface 204 actively will again
Drive system 201 and its respective wheel 254,256 are pressed against to inner surface 204, are thus provided for drive system 201 enough
Power, so that self-advancing device 200 moves.
As shown, the independent bias device 252 with its two or more door-hinges 258,260 allows to have dramatically increased
Imitate load space 250, thus different type or size any number of payload (for example, camera, infrared sensor,
Chemistry or biosensor, one or more explosives, listening equipment etc.) it can be positioned in space 250.By removing such as
The biasing mechanism configuration shown by the example of Fig. 2A and 2B, and with the independent bias mechanism with independent door-hinge 258,260
252 substitute them, and the inside of self-advancing device 200 can be cleaned, to provide spacious inner space.Door-hinge 258,
260 include that independent bias mechanism 252 can be directly mounted on bracket 214.Spring corresponding to door-hinge 258,260 can have
The form of torsionspring, it is pressed against wheel 254,256 to inner surface 204.Additionally or alternatively, spring may include below
One or multinomial: compressed spring, watch spring or extension spring.Optionally, door-hinge 258,260 can install in the following manner, so that its
In do not include spring, still to keep pressing drive system 201 and wheel 218,220 to allow to have enough against the power of inner surface 204
Tractive force make self-advancing device 200 move.
Fig. 3 is the exemplary block diagram for showing the self-advancing device including camera.Multipurpose self-advancing device 300 may include
The camera 320 being mounted in payload space 310.For example, spherical shell 304 is transparent, the permission viewing of camera 302
The outside of self-advancing device 300.Camera 302 may be mounted on bias unit, or otherwise be mounted on self-propelled dress
It sets in 300, to keep substantially horizontally positioning.For example, camera 302 may be mounted to that bracket 314, reach identical knot
Fruit.
Camera 302 may be mounted to that gyroscope or other stabilising arrangements, so that the orientation of camera is relative to outside
Reference frame can be more horizontal.For example, stabilising arrangement (not shown) can be installed in bias unit 315 and/or support
On frame 314, to realize further stability and further to keep orienting.For having using the door as discussed referring to Fig. 2 C
The self-advancing device 300 of the independent bias device of axis, camera 302 can be mounted in bracket 314.
Additionally or alternatively, camera 302 can also be connected to wireless communication module.Camera 302 can be by means of
Photo and/or video flowing are supplied to control device 306 by Radio Link 308.In similar arrangement, self-advancing device can be with
It is remotely controlled using control device 306 via Radio Link 308 by user.As embodied, self-advancing device 300 can be by making
With video flow control, therefore user does not need to keep in the range of visibility operated effectively and in self-advancing device 300.
Camera 302 can be any photo or video recording apparatus.Camera 302 may include wireless communication dress in itself
It sets, in this way, it can directly be linked with control device 306.Optionally, camera 306 may be coupled to processor, video flowing
Control device 306 can be fed to via including the wireless module in the system as described in above by reference to Fig. 1.
Control device 306 can be remote controler, smart phone, tablet computer or can store and execute application program
Or it instructs to operate the equipment for customizing of self-advancing device 300.For example, smart phone or plate can be presented in control device 306
The form of computer, the operation of self-advancing device can by means of the application program that is stored in smart phone or tablet computer and by
It executes.Optionally, control device 306 and self-advancing device 300 can be fabricated as one or more purposes and be specifically manufactured
Combined system.For example, the combined system of self-advancing device 300 and control device 306 can be specifically designed to monitor.And
And the application program of control device 306 may include " touch and drive " characteristic, wherein user can touch and selected location pair
The display for the control device 306 answered." touch and drive " characteristic can also allow for the aobvious of user's selection control device 306
Show the position on device, wherein the selected position is corresponding with the same position on video flowing.In other words, user " can touch
Touch " position on the video flowing from self-advancing device 300, self-advancing device 300 will manipulate automatically and oneself reach that position
It sets.
Fig. 4 is the exemplary block diagram for showing the self-advancing device including payload.Referring to Fig. 4, self-advancing device includes
Payload space 406 is used for various activities for carrying and conveying specific article or payload 404.Such article
May include below one or more: infrared sensor, chemistry or biosensor, explosive or flash bomb, listen to dress or its
Its mechanical device etc..Any one or more of these articles can also be included in includes as described in above by reference to Fig. 3
In the variation example of camera.
As shown in the example in fig. 4, self-advancing device 400 includes payload space 406, for carrying effectively
Load 404.Self-advancing device 400 can construct in such a way that it can be thrown by user, then control via control device 412
System.It may include protectiveness outer cover 402, for buffering the vibration for example when self-advancing device 4 is thrown by user.Outside protectiveness
Cover 402 is dismountable, and/or can be configured to the self-advancing device 400 that breaks away during extreme vibration.In such example
In, self-advancing device 400 can get rid of protectiveness outer cover 402, and carry out the purposes of its plan.
Protectiveness outer cover 402 can be by including being used to seal self-advancing device 400 or making its waterproof.For example, self-advancing device
400 can be configured to the application intended according to it and float or sink.Moreover, self-advancing device 400 is being put to water
It can be floated when middle, in order to easily fetch.
Example as shown in Figure 4 can be manufactured into for single purposes, or can be configured to be loaded and unloaded repeatedly.
The latter may include spherical shell 408 and/or protectiveness outer cover 402, they can easily be opened or closed by user.It is single to use
The example on way can be manufactured into permanent seal, and the payload 404 of this arrangement can be selected for single purposes.Example
Such as, payload 404 can be explosive, and wherein self-advancing device 400 is used for single purposes.It is just as embodied, it pushes away certainly
It can be maneuvered to the position of selection into device 400, be then detonated, effectively destroy self-advancing device 400.
Optionally, self-advancing device 400 can be configured to open under the command cue of user, and by its payload
404 are placed on the position of selection.Then control device 412 can be used close spherical shell 408 in user, and continues to grasp
Control self-advancing device 400.Moreover, self-advancing device 400 and control device 412 may include as above by reference to described in Fig. 4
" touch and drive " characteristic.
Fig. 5 is the illustrative diagram of self-advancing device 514 and control device 508.More specifically, self-advancing device
514 can be controlled when it is moved by may originate from programmed logic and/or the control of control device 508.Self-advancing device
514 can move under the control for the control device 508 that can be manipulated by user 502.Control device 508 can be by making
Control data are wirelessly transmitted to self-advancing device 514 with standard or dedicated wireless communication protocol.In variation example,
Self-advancing device 514 can at least partly be that its movement ginseng is controlled using sensor and inside programming logic from controlling
Number (for example, speed, direction etc.).Furthermore self-advancing device 514 can be transmitted about setting position and/or kinematic parameter
Data, for content to be generated or changed on control device 508.In other variation examples, self-advancing device 514 can be by
The various aspects of control device 508 are controlled in its movement and/or inside programming logic.
As described herein, self-advancing device 514 can have multiple modes of operation, including device by control device
Those of 508 controls operation mode, is the controller for another device (for example, another self-advancing device or control device
It 508), and/or is partially or completely autonomous.
In addition, self-advancing device 514 and control device 508 can share computing platform, programmed logic on the platform
It is shared, in order to have the function including following item in other characteristics: (i) enables user 502 to operate control
Device device 508 processed and generate multiple inputs, including the input of simple direction, order input, gesture input, movement or other sense organs
Input, voice input or their combination；(ii) self-advancing device 514 is enable to interpret received defeated from control device 508
Enter, as an order or Management Information Base；And/or (iii) makes self-advancing device 514 can be transmitted the position about device, fortune
Dynamic and/or state data, to influence the state of control device 508 (for example, display state, such as corresponding to control
Device-user interface content).Moreover, self-advancing device 514 may include programming interface, it, which is realized, is used to the additional of use device
Programmed logic and/or instruction.Control device 508 can execute the volume with the programmed logic communication on self-advancing device 514
Journey.
Therefore, self-advancing device 514 may include the actuator or driving mechanism for leading to movement or directed movement.Self-propelled dress
Setting 514 can be referred to many relevant terms and phrase, including controlled device, robot, robot device, long-range dress
It sets, autonomous devices and remote control device.In variation example, self-advancing device 514 can be built into various media movement and by
Control.For example, self-advancing device 514 can be configured to move in the medium, such as in flat surfaces, sandy land surface or stone
It is moved on surface.
Self-advancing device 514 can be implemented in the form of a variety of different.For example, self-advancing device 514 can correspond to spherical shape
Object, it, which can roll and/or execute, such as rotates such other movements.In variation example, self-advancing device 514 can be with
Corresponding to the flying object of radio control, such as aircraft, helicopter, aircushion vehicle or balloon.In other variation examples, self-propelled
Device 514 can correspond to the ship of radio control, such as ship or submarine.Many other variation examples is also implementable
, self-advancing device 514 such as therein is those of robot device.
Moreover, self-advancing device 514 may include approximately spherical sealing hollow shell, the actuating in big envelope can be passed through
The movement of device and directed movement.
Still referring to Fig. 5, self-advancing device 514 can be configured to use network communication link 510 and 512 and and controller
Device 508 communicates.Data can be transmitted to self-advancing device 514 from control device 508 by link 510.Link 512 can be
Data are transmitted to control device 508 from self-advancing device 514.Link 510 and 512 is shown as separated one way link, with
Convenient for explanation.As an example, single bidirectional communication link executes communication in two directions.Link 510 and link 512 are in class
It is not necessarily the same on type, bandwidth or capacity.For example, being filled compared with link 512 from control device 508 to self-propelled
Higher traffic rate and bandwidth can usually be had by setting 514 communication link.In some cases, a link is only established
510 or 512.In such an example, communication is unidirectional.
Control device 508 can with include at least one processor and be adapted to set up at least with self-advancing device 514
Any equipment of the communication capacity of one-way communication is corresponding.The example of such equipment includes but is not limited to: mobile computing device (example
Such as, multi-functional messaging/voice communication device, such as smart phone), tablet computer, portable communication appts and individual
Computer.For example, control device 508 is can be provided by the Apple Computer of California cupertino
IPHONE.In another example, control device 508 is the also IPAD tablet computer from Apple Computer.?
In further example, control device 508 is to execute any hand-held calculating of the Android operation system from Google and lead to
T unit.
In addition, control device 508 can be arranged to the personal computer of notebook and desktop computer.For example, controller
Device 508 can be operation MICROSOFTWINDOWS operating system or LINUX operating system or APPLEOS/X operating system
Multipurpose computing platform, to communicate with self-advancing device 514 configured with application program appropriate.
In variation example, control device 508, which can be, is exclusively used in enabling user 502 to control self-advancing device 514 simultaneously
The special equipment interacted with self-advancing device 514.
Moreover, a plurality of types of control devices 508 can interchangeably be used to communicate with self-advancing device 514.In addition
Or alternatively, self-advancing device 514 can be communicated with multiple devices and/or be controlled by multiple devices (for example, simultaneously or one
Next ground).For example, self-advancing device 514 can be linked in an ession for telecommunication with IPHONE, and in next session phase
Between with ANDROID linking of devices, and do not have to amendment described device 514.
Therefore, user 502 can interact via control device 508 with self-advancing device 514, to control self-propelled
It device 514 and/or receives from self-advancing device 514 to the feedback or interaction of control device 508.Moreover, user 502 can lead to
Cross the various mechanisms regulation user input 504 of the outfit of control device 508.The example of this input includes text input, voice
Order touch sensing surface or screen, physical manipulation, gesture, strikes, shakes the head and the combination of the above project.
User 502 can interact with control device 508, to receive feedback 506.Can in response to user input and
Feedback 506 is generated on control device 506.Additionally or alternatively, feedback 506 can also be based on transmitting from self-advancing device 514
To control device 508, about such as data of the position of self-advancing device 514 or state.It not limits, feeds back 506
Example include text show, the modulation of graphical display, sound, music, tone pattern, the colour of light or intensity, tactile, vibration or
Haptic stimulus.Feedback 506 can be combined with the input generated on control device 508.For example, control device 508 can be with
Content is exported, the output content can be corrected, to reflect from the position that self-advancing device 514 transmits or status information.
As an example, control device 508 and/or self-advancing device 514 may be configured such that user inputs 504 Hes
Feedback 506 makes the workability for the user 502 with limited feeling, thought, consciousness, kinesitherapy nerve or other abilities and can
Access property maximizes.This allows disabled user or has system 500 described in the user's operation of special requirement.
Configuration as shown in Figure 5 can be only include with communication connection self-advancing device 514 network almost
One of an infinite number of possible configuration.Moreover, although numerous modifications example described herein provides user's operation control device
It 508 or is otherwise directly interacted with control device 508, in order to control self-advancing device and/or and self-advancing device
Interaction, but described variation example includes allowing users to directly control self-advancing device 514 or handing over self-advancing device 514
Mutually, without the use of the intermediate equipment of such as control device 508.
Fig. 6 shows the example technique for causing self-propelled spherical device 600 to move.As shown by the example of Fig. 6,
Device 600 has rotation center 602 and mass center 606, and device 600 can contact flat surfaces 612.Drive for robot device
Motivation structure includes the actuator of provided with wheels contact with the inner surface of the closing enclosed globe shade of device 600, two independent controls
608.Also show sensor platform 604.To simplify the explanation, some components of device 600 are not shown on Fig. 6.
In order to reach the continuous movement of constant speed, mass center 606 can pass through belt wheel relative to the offset of rotation center 602
The movement of the actuator 608 of son is kept.Mass center 606 is difficult to measure relative to the offset of rotation center 602, therefore hardly results in pair
In closed loop controller for keeping constant the feedback of speed.However, between offset and sensor platform 604 and surface 612
Angle is proportional.Angle 610 can be perceived or input estimation from various sensors, as described herein.Therefore, it uses
Can be carried out in the speed control of robot device 600, so as to adjusted with angle 610 provided with wheels actuator 608 speed
Degree, so that device 600 is moved with constant speed on surface 612.Speed control can determine desired angle 610, to produce
Raw desired speed, it is desirable to angle set point can be used as the closed loop controller that input is provided to adjustment driving mechanism.
Fig. 6, which is shown with angle measurement, carries out speed control.However, technology can also be extended to through perception angle appropriate
The feedback of degree and angular rate provides the control to turning to and rotating.
It can be seen that, in variation example, learn that orientation angles are to have for control self-advancing device 600 from the discussion above
?.The orientation of measuring device is also possible to navigation and be aligned with other devices useful.
Fig. 7 is the exemplary block diagram for showing sensor array and data flow.Referring to Fig. 7, sensor array 712 may include
One group of sensor for example including its position, orientation, the rate of translation, rotation and adds for supplying information to self-advancing device
Speed.It may include many other sensors, to meet the requirements in various examples.
In variation example, sensor array 712 may include three-axis gyroscope sensor 702,3-axis acceleration sensor
704 and three axle magnetometer sensor 706.In certain variation examples, the receiver including being used for global positioning system (GPS)
710.However, GPS signal is typically disabled indoors, so GPS receiver can be omitted.
Due to the limitation of size and cost, the sensor in sensor array 712, which can be, utilizes micro electronmechanical (MEMS)
The miniaturization device of technology.Data from these sensors may need to filter and handle, to generate accurate State Estimation
716.It can be merged in sensor and utilize various algorithms in State Estimators 714.These algorithms can be by self-advancing device
Processor execute.
It will be understood to those of skill in the art that the signal of the sensor in sensor array 712 may due to noise,
The limited capability of interference and cheap sensor but it is faulty and distortion.However, sensor can also provide the letter of redundancy
Breath, in this way, the application of sensor appropriate fusion and State Estimators processing 714 can provide the time of day of self-advancing device
Appropriate state valuation 716.
For example, in most cases, causing magnetometer data to be distorted 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 estimate certainly
Remaining sensor is depended on when the state 716 of propulsion device.In some examples, the special exercise of self-advancing device can by with
To improve for sensing data needed for intended use.While monitoring magnetometer data, pass through entire 360 degree of head
Scanning may be useful to transformation local magnetic field to rotate self-advancing device.Since magnetic field is usual in short time interval
Be it is geostationary, local magnetic field measurement is repeatable, therefore is useful, though it be distortion.
Structure
Fig. 8 shows the exemplary system including self-advancing device 810 and control device 850, and control device 850 is controlled
Self-advancing device 810 processed is simultaneously interacted with self-advancing device 810.Self-advancing device 810 can be by using such as by the example of Fig. 1
The hardware resource of description constructs.Therefore, self-advancing device 810 can be such as spherical shape referring to described in the example of Fig. 2-4
Object.Control device 850 can be multifunctional equipment, such as mobile computing device (such as smart phone), tablet computer
Or personal computer.Alternatively, control device 850 can be exclusively used in control self-advancing device 810 and and self-advancing device
The special equipment of 810 communications is corresponding.
Self-advancing device 810 can execute the one or more programs 816 being stored in program library 820.In program library
Each program 816 in 820 may include the instruction or rule for operating device, including for described device how in response to spy
How fixed condition, described device are in response to control input 813 (for example, the user inputted on control device 850 inputs)
The mode (for example, controlled mode, compares autonomous, etc.) of instruction and/or the operation to be implemented of described device.
Program library 820 can also save can be by the instruction group of multiple procedure sharings, including makes certain user's input energy
Enough instructions being interpreted in an ordinary way.Application programming interfaces (API) 830 can be implemented on device 810, enable calling program
The function of access mechanism and the library of resource.For example, API830 may include that can be used to implement motion control (example in conjunction with program
Such as, speed or direction), state conversion, sensor device interpretation, and/or wireless communication function.
In certain embodiments, device 810 can come wireless receiving program and volume by using wireless communication port 812
Cheng Zhiling.In variation example, device 810 can be received via other ports, such as ECP Extended Capabilities Port 120 (see Fig. 1) from outside
The program and programming instruction of resource 880.Programming resource can derive from: for example, be supplied to the user of device medium (for example,
SD card), can from its download program Internet resources or website, and/or from control device 850 via wireless communication port 812
The program and/or instruction group of transmission.In some embodiments, control device 850 can be configured to by soft with being programmed
Part interacts and/or controls self-advancing device 810 with self-advancing device 810.Once being configured, control device 850 can be
The instruction of the configuration consistency programmed with it is transmitted to self-advancing device 810.For example, control device 850 can be downloaded for controlling
Self-advancing device 810 processed or the application program interacted with self-advancing device 810.Application program can be filled by using in controller
Wireless communication ability intrinsic in 850 is set, such as from network (for example, from App repository), or is downloaded from website.By controller
The application program that device 850 is downloaded may include that may pass to the instruction group of self-advancing device 810.
Control device 850 can execute specialization or otherwise for self-advancing device 810 communicate or hand over
Mutually, and/or control the specific program 856 of self-advancing device 810.In variation example, the program that is executed on control device 850
856 may include the matcher 816A that can also be executed on control device 810.Program 856,816A can be shared
It is executed in platform or system.For example, as described below, the program 856 run on control device 850 can be with pairing
Program 816A cooperation is run, generates the input for being used for self-advancing device 810, and according to the data from self-advancing device 810
Signal generates the output on control device 850.For example, user interface 860 can be generated in program 856, the user interface
860 (i) promote or instruct user, in order to provide the operation program 816A as pairing result, can be in self-advancing device 810
The input of upper interpretation leads to certain expected results from self-advancing device 810；And (ii) is received and is filled from self-propelled
810 feedback 818 is set, so that influencing the content exported by the program 856 run on control device 850.In the latter
In the case of, for example, the content that computer generates can be changed according to the position or movement of self-advancing device 810.
More specifically, on control device 850, program 856 can provide user interface 860, including for promote and/
Or user's input on interpretation control device.Various forms of inputs can be entered on control device 850, comprising:
For example, using the user of mechanical switch or button interaction, touch screen input, audio input, gesture input or device with certain party
The movement of formula.
Therefore, program 856 is configured to Application Program Interface intrinsic on control device 850, utilizes equipment
Various resources receive and handle input.Many existing multi-functional or universal computing devices are (for example, smart phone or plate
Computer) it can be configured to detect various types of other input, including touch screen input (for example, multi-touch input or gesture input),
Optics inputs (for example, camera images sensing input), audio input and device movement and inputs (for example, shake or mobile entire
Device).User interface 860 may include logic 862, for prompt user carry out it is particular kind of input (e.g., including Yong Huying
When placing a finger above visable indicia thereon, instructs user or provide the user with vision and/or audio prompt carrys out mobile device
Etc.), and the input is interpreted as to be sent to the control information of self-advancing device 810.
In certain embodiments, the input generated on control device 850 can be interpreted as order, and then it is passed
It is sent to self-advancing device 810.In other embodiments, the input carried out on control device 850 can be by self-propelled
Programming resource on device 810 is interpreted as order.It is inputted by interpreting user in the form of a command, self-advancing device 810 can be with
Intelligence and configurable mode is inputted in response to user.For example, self-advancing device 810 can in a manner of non-directional solution translation
User to be orientation inputs.For example, user can input gesture input corresponding with direction, to allow self-advancing device 810
It is moved in a manner of being different from direction intrinsic in user's input.For example, user can input gesture to the left, device can be with
(according to operation program 816A) is interpreted as it to stop, rotating, go home or change the order of illumination output etc..
User interface 860 also may include output logic 864, for interpreting from the received data of self-advancing device 810.This
Sample, self-advancing device 810 can transmit such as status information and/or location information (for example, such as after device movement)
Information is to control device 850.It in one embodiment, can be with to the communication of control device 850 from self-advancing device 810
It is the response of the order obtained to the interpretation of user's input on control device 850.In another embodiment, from certainly
The communication of propulsion device 810 can have the continuous movement due to device within one section of duration and the continuous feedback of generation
Form.In variation example, the output for being added to equipment 850 can correspond to a shape for having in various possible form factors
The control device of the formula factor.Program 856 can be interface configurations at offer game content and/or different use to graphically
Family interface paradigm, for controlling self-advancing device 810.Program 856 can run to directly affect root in these embodiments
The content generated according to the movement of self-advancing device 810, position or state.
At runtime, self-advancing device 810 can be by using the one or more programs being stored in its program library 820
Instruction group and implement programming runing time 816A.Program runtime 816A can correspond to, for example, journey selected by user
Sequence, or pass through a program that is default or running in response to certain other conditions or trigger condition.In other functions, journey
Sort run time 816A can be executed specifically to be instructed using apparatus function and/or the batch processing of resource, so as to: (i) interpretation
Control input from control device 850；(ii) according to the interpretation result of input, control and/or elaboration device movement；With/
Or information is transmitted to control device 850 from self-advancing device 810 by (iii).
Drive control logic 831, including sensor control logic 821 and input control can be implemented in program runtime 816A
Logic 823 processed.Sensor control logic 821 can interpret device sensor input 811, for controlling the driving of self-advancing device
System or the speed of component, direction or other movements.Sensor input 811 can with such as by the acceleration of self-advancing device 810
The data that degree meter, magnetometer and/or gyroscope provide are corresponding.Sensing data can also include the other letters obtained on device
Breath, these information are about the movement of device, position, state or service condition, including GPS data, temperature data etc..Program
Parameter, rule or instruction can be implemented in 816A, for sensor input 811 to be interpreted as driving assembly control parameter 825.Input
Control logic 823 can be interpreted from the received control of control device 850 input 813.In certain embodiments, logic 823
Input is interpreted as order when the driving assembly control parameter 825 that can be determined in output by input 813.Input driving logic
823 are also possible to that program is specific, in this way, control input 813 and/or its interpretation result are specific for operation program 816A
's.The parameter as generated by sensor/input control logic 821,823 can be used in driving assembly control logic, so as to
Implement driving assembly control.
In variation example, sensor/input control logic 821,823 can be used to the other of control self-advancing device 810
Aspect.In variation example, sensor/input control logic 821,823 can execute operation program 816A instruction, to generate state
Output 827, the state output can be in response to certain conditions, and such as user's input or device service condition will be (for example, device will
Stop), carry out the state of control device.For example, illumination output (for example, light-emitting diode display output), audio output or device operation
State (for example, mode and/or power rating of operation) will receive the influence of state output 827.
In addition, program running on control device 850, for self-advancing device can be generated in operation program 816A
856 output interface 826.The data including feedback 818 can be generated in output interface 826.For example, output interface 826 can give birth to
At based on position, movement (for example, speed, rotation), state (state of output device) and/or orientation information (for example, device
Position and orientation relative to initial reference system) data.Output interface 826 can also generate such as identification and operation program
The data of the relevant event of 816A.For example, output interface 826 can identify that such as device is interrupted or with other in its movement
Mode encounters event as interrupt event.Output interface 826 can also according to the instruction of such as runing time program 816A come
Program is generated specifically to export.It is read for example, runing time program 816A may require the unwanted sensor of another program institute
Number.Output interface 826 can be implemented for by implementing other operations for executing of runing time program 816A in association
Obtain the instruction of sensor reading.
Moreover, what self-advancing device 810 can be run under relative to a mode of control device more than 850.It is controlling
Under mode, the movement of self-advancing device 810 and/or state aspect can be by via the controls transmitted from control device 850
The control of signal inputs 810 and is controlled.In certain embodiments, self-advancing device 810 can match with control device 850
It is right, to influence the operation on control device 850 to control or to feed back.Self-advancing device 810 can also be in autonomous mode
Under can run, wherein in response to such as sensor input 811, control parameter 825 is programmatically generated on device, without control
System input 813.Moreover, self-advancing device 810 can be transported under " touching and driving " mode together with control device 850
Row, wherein user can touch the selected location on the video flowing of self-advancing device 810, and self-advancing device 810 can be automatically
Manipulate corresponding position.Furthermore in variation example, self-advancing device 810 can be played for control device 850 or is used for
The effect of the controller of another self-advancing device 810.For example, device can move and influence the state of control device 850.
Device can be run in a plurality of modes during a Run Sessions.Operational mode can be true by runing time program 816A
It is fixed.
Self-advancing device 810 may include instruction group library, for interpreting the control input 813 from control device 850.Example
Such as, self-advancing device can store the instruction for multiple programs, and the instruction at least some of program may include controlling
The matcher executed on device device 850 processed.The library being maintained on self-advancing device can be dynamically, in this way, stored
Instruction can be added, deletes or correct.For example, a program being stored on self-advancing device can be added or another
A program can be corrected.
It is performed when on control device 850, each program includes the instruction for identifying specific one group of input, no
Same program can identify different inputs.For example, golf program can identify the pendulum motion on control device 850
For input, and similarly moving can be dedicated to provide other programs of virtual manipulation mechanism and ignore.When in self-advancing device
It is performed on 810, each program may include for interpreting or converting control input 813 associated with specific identification input
At the instruction of order and control parameter.
In variation example, self-advancing device can dynamically reconfigure its program library.For example, program can be corrected
(for example, by by the received instruction of control device 850) come handle corresponding to newly identified input control input.As another
One example, the changeover program when process that self-advancing device 810 can be used at self-advancing device 810.When program is cut
When changing, not same group of input can be identified and/or each input can differently be solved on self-advancing device 810
It translates.
Touch and driving method
Fig. 9 is the flow chart of the illustrative methods of display operation self-advancing device.Reference Fig. 9, control device (for example,
Smart phone, tablet computer, remote controler or other mobile computing devices) user can receive the image from self-advancing device
Or video pictures.Self-advancing device itself needs not be spherical, and can be can be by control device control described herein
Any device of system.In other feature, it includes: transparent spherical shell that self-advancing device, which can be configured to, is placed on shell
Interior camera and the Radio Link that video pictures can be sent to control device.Come in this way, control device can receive
From the picture for the camera being placed in self-advancing device (900).Moreover, control device may include display screen, so that described
Picture may be displayed on control device (902).Control device may include touch screen feature, and this feature allows user and shows
The picture shown directly interacts.
Then user can choose object or the location point on the video pictures of display.Therefore, user is for location point
Selection by control device receive (904).User can be by touching the physics pair in the reference coordinate with self-advancing device
Location point is selected as object corresponding, on the screen.Additionally or alternatively, user can provide identify it is shown
The voice command of object.After receiving selection made by user, then control device can be generated according to location information and be ordered
Signal is enabled, self-advancing device is added to, so that it advances to physical location point (908).Self-advancing device can directly proceed to pair
As, or execute manipulation and cut-through object eventually arrives at the position of object.
Additionally or alternatively, control device can be configured to the referential and/or control device according to user
Referential determine the position of the object described on the display screen.Control device can also be aobvious on control device
The position (906) for the location point that the reference coordinate that the relative position of the location point shown is mapped to self-advancing device is fastened.In this way,
Self-advancing device can be guided by control device according to the relative position of mapping via image/video picture, be advanced
To the position of object, wherein control device may include the processing unit for calculating relative position.
Conclusion
One or more example described herein provides: being programmed ground by method, technology and movement that calculating equipment executes
It executes, or is executed as the method implemented by computer.Programmatically refer to the instruction executable by using code or computer.
The step of programmatically executing can be automatic or be not automatic.
One or more example described herein can be implemented by using the module or component of programming.The module of programming
Or component may include program, subprogram, a part of program or component software or times for being able to carry out one or more elaborations
The hardware component of business or function.As used herein, module or component can on hardware component relatively other modules or group
Part is individually present.Alternatively, module or component can be the shared element or treatment process of other modules, program or machine.
Moreover, one or more example described herein can be by using the finger that can be performed by one or more processors
It enables to implement.These instructions can carry on a computer-readable medium.At the machine offer being shown and described referring to attached drawing
The example for managing resource and computer-readable medium, can carry and/or execute on it the finger of example for carrying out the present invention
It enables.Specifically, in conjunction with example of the invention be shown many machines include processor and it is various forms of, for saving data
With the memory of instruction.The example of computer-readable medium includes permanent memory storage device, such as in personal computer or
Hard-drive on server.Other examples of computer storage medium include portable storage unit (such as CD or DVD unit),
Flash memory (such as being carried on many cellular phones and tablet computer) and magnetic memory.Computer, terminal, Neng Goulian
The device (for example, mobile device, such as cellular phone) of net be all using processor, memory and be stored in computer can
Read the machine of the instruction on medium and the example of device.In addition, these examples can be workable for computer program or computer
The form that the bearing medium of such program can be carried is carried out.
Although illustrative example is described in detail with reference to the appended drawings, the variation for specific example and details also includes
In this disclosure.The scope of the present invention is intended to be provided by claim below and its equivalence replacement.Moreover, individually or
The specific characteristic that a part as an example is described can be with other characteristics individually described, or the one of other examples
Combining portions.Therefore, combination is not described, the present inventor should not be stopped to claim such right combined.
While the foregoing describe certain examples of the invention, it will be understood that described example is merely possible to example
Son.Therefore, the present invention should not be limited according to described example.But the range of invention described herein only should be by
It is limited to claim made by the description and accompanying drawings more than combining.
Claims (14)
1. a kind of system for self-advancing device, comprising:
Self-advancing device, and
Mobile computing device, the mobile computing device include:
Save the memory of instruction；With
The processor for executing described instruction, wherein the processor, which executes instruction, leads to the processor:
The image from the self-advancing device is received, described image provides the image being mounted in the self-advancing device and obtains
The visual field of equipment；
Described image is shown in the touch display screen of the mobile computing device；
User's selection that object or location point in the equipment visual field are obtained for described image is received in the touch display screen；
It is selected according to the user, generates the command signal to be communicated to the self-advancing device, the command signal instruction
The self-advancing device is manipulated to the object or location point；
According to first reference frame in the visual field shown on a mobile computing device, the object in the visual field or position are determined
The position of point；And
By the position of the object or location point be mapped to relative to the self-advancing device object or location point it is corresponding
Second reference coordinate is fastened；
Wherein generate command signal only according to second reference frame, the command signal include for manipulate it is described from
The instruction of propulsion device.
2. being used for the system of self-advancing device as described in claim 1, which is characterized in that described image is from the self-propelled
The real-time video picture that image acquisition equipment in device provides, and life is dynamically executed in conjunction with real-time video picture is received
Enable the generation of signal.
3. being used for the system of self-advancing device as claimed in claim 1 or 2, which is characterized in that the self-advancing device includes
Spherical shell.
4. being used for the system of self-advancing device as claimed in claim 3, which is characterized in that the self-advancing device includes being used for
Promote the drive system of the self-advancing device.
5. being used for the system of self-advancing device as claimed in claim 4, which is characterized in that the drive system includes a pair of only
Vertical motor, the motor is for operating one wheel pairs.
6. being used for the system of self-advancing device as described in claim 4 or 5, which is characterized in that the wherein self-advancing device
It further include the bracket being mounted on the drive system top, the bracket has and the intracorporal payload space of the spherical shell
The corresponding top surface in ground.
7. being used for the system of self-advancing device as claimed in claim 6, which is characterized in that the self-advancing device further includes connecting
It is connected to the biasing mechanism of the bracket, the biasing mechanism is for actively forcing the drive system force persistently to engage the ball
The inner surface of shape shell.
8. being used for the system of self-advancing device as claimed in claim 7, which is characterized in that the biasing mechanism includes left-hand door axis
With right door-hinge, the left-hand door axis and right door-hinge are each attached to the ground of the payload space and including being connected to contact element
Spring, in order to provide the power on the inner surface for being applied to the spherical shell, wherein the power includes vertical vector, this is vertical
Vector provides enough biasings and persistently engages the spherical shape actively to force one or more wheels of the biasing mechanism to exert a force
The inner surface of shell, so that the spherical shell moves.
9. being used for the system of self-advancing device as claimed in claim 4, which is characterized in that the self-advancing device further includes connecing
Receipts machine, the receiver are coupled with the processor for operating the drive system, and the receiver is received from the mobile meter
The command signal of equipment is calculated, and sends the command signal to the processor of the self-advancing device, the self-advancing device
Processor described instruction signal is executed in the drive system, to manipulate the self-advancing device.
10. being used for the system of self-advancing device as described in claim 1, which is characterized in that wherein the self-advancing device is also
Including gyroscope, described image obtains equipment and is mounted on the gyroscope.
11. as described in claim 1 be used for self-advancing device system, which is characterized in that the self-advancing device can by
It is run under control mode and autonomous mode.
12. being used for the system of self-advancing device as claimed in claim 11, which is characterized in that described under the autonomous mode
Self-advancing device runs and independently manipulates cut-through object and reach object or location point.
13. being used for the system of self-advancing device as claimed in claim 4, which is characterized in that the self-advancing device includes flying
Row object.
14. being used for the system of self-advancing device as claimed in claim 13, which is characterized in that the drive system includes one group
Propeller.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201361820109P | 2013-05-06 | 2013-05-06 | |
| US61/820,109 | 2013-05-06 | ||
| PCT/US2014/037013 WO2014182730A1 (en) | 2013-05-06 | 2014-05-06 | Multi-purposed self-propelled device |
| US14/271,203 | 2014-05-06 | ||
| US14/271,203 US10281915B2 (en) | 2011-01-05 | 2014-05-06 | Multi-purposed self-propelled device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105264452A CN105264452A (en) | 2016-01-20 |
| CN105264452B true CN105264452B (en) | 2019-04-19 |
Family
ID=51867696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480029695.4A Active CN105264452B (en) | 2013-05-06 | 2014-05-06 | Multipurpose self-advancing device |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JP2016525973A (en) |
| KR (1) | KR20160016830A (en) |
| CN (1) | CN105264452B (en) |
| HK (1) | HK1220263A1 (en) |
| WO (1) | WO2014182730A1 (en) |
Families Citing this family (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104782523A (en) * | 2015-04-28 | 2015-07-22 | 江苏飞石信息科技有限公司 | Novel electronic pet toy ball |
| WO2017146924A1 (en) | 2016-02-22 | 2017-08-31 | Ketchup On, Inc. | Self-propelled device |
| EP3398019B1 (en) * | 2016-02-29 | 2021-10-13 | SZ DJI Technology Co., Ltd. | Methods and systems for movement control of flying devices |
| JP2017196691A (en) * | 2016-04-27 | 2017-11-02 | パナソニックＩｐマネジメント株式会社 | robot |
| JP6653446B2 (en) * | 2016-05-06 | 2020-02-26 | パナソニックＩｐマネジメント株式会社 | robot |
| JP2018005810A (en) * | 2016-07-08 | 2018-01-11 | パナソニックＩｐマネジメント株式会社 | Robot |
| JP6695061B2 (en) * | 2016-07-27 | 2020-05-20 | パナソニックＩｐマネジメント株式会社 | robot |
| JP6690783B2 (en) * | 2016-07-29 | 2020-04-28 | フェアアップ インコーポレイテッドＦａｉｒａｐｐ Ｉｎｃ． | Sphere moving device and its gesture recognition method |
| US10399616B2 (en) | 2016-08-12 | 2019-09-03 | Spin Master Ltd. | Spherical mobile robot with pivoting head |
| KR101927185B1 (en) | 2016-10-06 | 2018-12-10 | 현대자동차 주식회사 | Multipurpose Rollable moving device |
| CN109367659A (en) * | 2017-04-29 | 2019-02-22 | 杭州海存信息技术有限公司 | Shared bicycle based on infrared sensor |
| CN107487394A (en) * | 2017-06-29 | 2017-12-19 | 北京交通大学 | Enjoy a double blessing to wheel drive ball shape robot orthogonal position |
| JP7199071B2 (en) | 2017-07-06 | 2023-01-05 | 国立研究開発法人宇宙航空研究開発機構 | Mobile imaging device |
| CN107703950B (en) * | 2017-10-30 | 2020-09-11 | 燕山大学 | Underwater robot controlled by somatosensory and control method |
| KR20200069913A (en) | 2018-12-07 | 2020-06-17 | 현대자동차주식회사 | Control method of multipurpose rollable moving device |
| 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 |
| JP7294820B2 (en) * | 2019-02-01 | 2023-06-20 | 住友重機械工業株式会社 | Robot and measuring device |
| KR102627929B1 (en) * | 2019-02-19 | 2024-01-23 | 삼성전자 주식회사 | Rotatable mobile electronic device with constant position sensor |
| CN111332378A (en) * | 2020-02-03 | 2020-06-26 | 北京交通大学 | Double-power four-wheel five-omni-directional wheel heavy-load spherical robot |
| KR102290648B1 (en) * | 2020-10-13 | 2021-08-18 | 동의대학교 산학협력단 | Smart ball set |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2309650B (en) * | 1996-01-11 | 1999-10-27 | Ku Wang Mine | Spherical steering toy |
| CN1765595A (en) * | 2004-10-29 | 2006-05-03 | 三星光州电子株式会社 | Robot control system and robot control method thereof |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03182290A (en) * | 1989-12-08 | 1991-08-08 | Masatoshi Ikeda | Magic ball |
| JP2000218578A (en) * | 1999-02-03 | 2000-08-08 | Sony Corp | Spherical robot |
| US6845297B2 (en) * | 2000-05-01 | 2005-01-18 | Irobot Corporation | Method and system for remote control of mobile robot |
| KR20090000013A (en) * | 2006-12-14 | 2009-01-07 | 주식회사 케이티 | Working robot game system in network |
| JP5432626B2 (en) * | 2009-07-31 | 2014-03-05 | 株式会社ソニー・コンピュータエンタテインメント | Remote control system |
| US20120173050A1 (en) * | 2011-01-05 | 2012-07-05 | Bernstein Ian H | System and method for controlling a self-propelled device in connection with a virtual environment |
| KR20140040094A (en) * | 2011-01-28 | 2014-04-02 | 인터치 테크놀로지스 인코퍼레이티드 | Interfacing with a mobile telepresence robot |
-
2014
- 2014-05-06 JP JP2016513028A patent/JP2016525973A/en active Pending
- 2014-05-06 CN CN201480029695.4A patent/CN105264452B/en active Active
- 2014-05-06 KR KR1020157034449A patent/KR20160016830A/en not_active Application Discontinuation
- 2014-05-06 WO PCT/US2014/037013 patent/WO2014182730A1/en active Application Filing
-
2016
- 2016-07-12 HK HK16108160.9A patent/HK1220263A1/en unknown
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2309650B (en) * | 1996-01-11 | 1999-10-27 | Ku Wang Mine | Spherical steering toy |
| CN1765595A (en) * | 2004-10-29 | 2006-05-03 | 三星光州电子株式会社 | Robot control system and robot control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| HK1220263A1 (en) | 2017-04-28 |
| CN105264452A (en) | 2016-01-20 |
| WO2014182730A1 (en) | 2014-11-13 |
| JP2016525973A (en) | 2016-09-01 |
| KR20160016830A (en) | 2016-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105264452B (en) | Multipurpose self-advancing device | |
| US10809724B2 (en) | Multi-purposed self-propelled device | |
| US11460837B2 (en) | Self-propelled device with actively engaged drive system | |
| EP2994804B1 (en) | Multi-purposed self-propelled device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| REG | Reference to a national code |
Ref country code: HK Ref legal event code: DE Ref document number: 1220263 Country of ref document: HK |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |