CN205721185U - Self-propelling instrument - Google Patents

Abstract

A kind of self-propelled apparatus includes spherical shell and internal drive system, and described internal drive system includes one or more motor.Internal drive system is for providing power supply to the inner surface of spherical shell, so that self-propelling instrument moves.Biasing assembly can be included so that internal drive system persistently engages the inner surface of spherical shell.External accessory is mutual with internal magnet assembly magnetic by spherical shell so that self-propelling instrument rotates and handles, and described accessory assembly therefor keeps the position relationship at the top relative to self-propelling instrument.

Description

Self-propelling instrument

The application is entitled " self-propelling instrument ", the Application No. 201520569257.9 submitted on July 31st, 2015 The divisional application of Chinese utility model patent.

Related application

This application claims the Application No. 62/149,441 submitted on April 17th, 2015, entitled " SELF PROPELLED The priority of the US provisional patent of DEVICE WITH MAGNETIC COUPLING "；Above-mentioned priority requisition by by quote with It is integrally incorporated herein.

The application still, entitled " MAGNETICALLY COUPLED ACCESSORY that submit on August 13rd, 2014 FOR A SELF-PROPELLED DEVICE " application sequence is the part continuation application of 14/459,235 United States Patent (USP)；US14/ 459,235 is entitled " the SELF-PROPELLED DEVICE WITH ACTIVELY submitting on September 24th, 2013 ENGAGED DRIVE SYSTEM ", the part continuation application of Application No. 14/035,841 United States Patent (USP)；US14/035,841 is Entitled " the SELF-PROPELLED DEVICE WITH ACTIVELY ENGAGED DRIVE that on January 3rd, 2012 submits to The continuation application of the United States Patent (USP) of the Application No. 13/342,853 of SYSTEM ", this application authorizes on October 29th, 2013, Its patent is 8,571,781；US 13/342,853 according to 35 U.S.C. § 119 (e) request following priority applications: (i) in That on January 5th, 2011 submits to, entitled " METHOD AND SYSTEM FOR CONTROLLING A ROBOTIC DEVICE " The US provisional patent of Serial No. 61/430,023；(ii), entitled " METHOD AND that submit on January 5th, 2011 SYSTEM FOR ESTABLISHING 2-WAY COMMUNICATION FOR CONTROLLING A ROBOTIC DEVICE” The U.S. Provisional Patent Application of Serial No. 61/430,083；(iii), entitled " A that submit on October 31st, 2011 The Serial No. of SELF-PROPELLED DEVICE AND SYSTEM AND METHOD FOR CONTROLLING SAME " The U.S. Provisional Patent Application of 61/553,923；All aforementioned priority applications are integrally incorporated by quoting herein.

Technical field

Present application relates generally to remote control equipment, especially self-propelling instrument.

Background technology

Remote control equipment had previously used and had operated specific to the special remote controller of particular device.Remote control equipment Accessory be usually directed to physics fastener, so that accessory to be connected to a part for framework or housing.

Utility model content

This application provides a kind of self-propelling instrument, this self-propelling instrument includes: spherical shell；Internal drive system, institute Stating internal drive system, to be enclosed in described spherical shell interior and operable and make described self-propelling instrument roll；Internal junction Structure, described internal structure is enclosed in described spherical shell and is coupled to described internal drive system；Described internal structure Including magnet holder, described magnet holder keeps first group of magnetic interactive elements, and wherein said magnet holder includes pivoting Mechanism and one or more actuator, described actuator is used for making described magnet holder pivot in described spherical shell；Outward Department enclosure, described external accessory includes second group of magnetic interactive elements；And wave point, for receiving the control from controller equiment System order.Wherein when described spherical shell rolls, and when described pivot makes described magnet holder pivot, described First group of magnetic interactive elements keeps magnetic mutual by described spherical shell with described second group of magnetic interactive elements, and described magnetic is handed over Described external accessory is made to pivot accordingly when described magnet holder pivots mutually.

In certain embodiments, self-propelling instrument farther includes: be positioned at the magnet holder of described spherical shell, institute State magnet holder and include described first group of magnetic interactive elements.

In certain embodiments, self-propelling instrument farther includes: bias subassemblies, and described bias subassemblies is couple to institute State internal drive system so that described internal drive system persistently engages the inner surface of described spherical shell.

In certain embodiments, bias subassemblies is couple to internal drive system by one or more springs.

In certain embodiments, magnet holder includes pivot and one or more actuator, and described actuator is used Pivot in described spherical shell in making described magnet holder.

Thus, this application provides a kind of self-propelling instrument, this self-propelling instrument can roll and handle, simultaneously outside attached Part keeps the magnetic reciprocation with the magnetic interactive elements in spherical shell, thus accessory device is protected when self-propelling instrument rolls Hold the constant opposite segments on the outer surface of described spherical shell or region.

Brief description

Present disclosure by way of example rather than illustrates by way of limiting, in each figure of accompanying drawing, similar Reference number refers to similar element, wherein:

Fig. 1 is the example block diagram of the system illustrating control self-propelling instrument operation；

Fig. 2 A is the schematic diagram of the self-propelling instrument according to an embodiment and computing device；

Fig. 2 B illustrates the system including computing device and self-propelling instrument according to another embodiment；

Fig. 2 C illustrates according to another embodiment, including the signal of the system of computing device and multiple self-propelling instrument Figure.

Fig. 3 A illustrates according to an embodiment, with the side of robot, the parts of the self-propelling instrument of spherical spherical formula Block diagram；

Fig. 3 B is the block diagram of the exploded view illustrating example self-propelling instrument；

Fig. 4 A-4D illustrates according to some embodiments, including for making certainly with the assembly of external accessory devices magnetic couplings The example that puopulsion equipment rotates or rolls；

Fig. 5 A and Fig. 5 B illustrates according to one or more embodiments, is magnetically coupled to accessory device at the volley and simultaneously Self-propelling instrument；

Fig. 6 illustrates the example of spherical self-propelling instrument, and schematically shows the assembly of the spherical self-propelling instrument of example；

Fig. 7 A is the cross sectional side view of example self-propelling instrument, and this self-propelling instrument includes separate internal structure and magnetic coupling Structure to accessory device；

Fig. 7 B is the cross-section front view of example self-propelling instrument, and this self-propelling instrument includes biasing assembly and is magnetically coupled to attached The structure of genus equipment；

Fig. 8 is the sectional view of the example self-propelling instrument including magnetic array；

Fig. 9 A-9B illustrates example steering state under the operational control of controller equiment for the self-propelling instrument；With

Figure 10 is the example block diagram illustrating the enforceable computer system of example described in it.

Detailed description of the invention

There is provided a kind of self-propelled apparatus including spherical shell and internal drive system, described internal drive system includes Being coupled to one or more motor of one or more wheel, described wheel is joined to the inner surface of spherical shell.Biasing group Part include some biasing elements to contact the inner surface of spherical shell, biasing assembly is connected to internal drive system, to force Wheel persistently engages inner surface, thus allows the electric power supplying motor to be sent to the inner surface of spherical shell, causes certainly pushing away Enter equipment along surface scrolls and manipulation.Self-propelling instrument can be based on the independent current source and partially of the movement of its barycenter, motor Put the combination of the active force of element inner surface and rotate.Magnetic interactive component or element can be included in spherical shell. Magnetic interactive component or element can include ferrous metal or permanent magnet, such as neodymium magnet, for being provided by spherical shell Magnetic field, thus mutual with external accessory magnetic.

In some instances, make self-propelling instrument spherical shell roll and handle, simultaneously external accessory keep with spherical External accessory is coupled to spherical shell by the magnetic reciprocation of the magnetic interactive component in housing.When self-propelling instrument rolling When dynamic, accessory device may remain in the constant opposite segments on the outer surface of spherical shell or region (for example, top Point).

One of self-propelling device, external accessory or both can include any amount of magnet (for example, neodymium magnet), Be enough to keep magnetic-coupled magnetic reciprocation to produce.This reciprocation can relate to wherein at external accessory and spherical shell The magnetic pull coming in contact between outer surface.In this example, can be by the outer surface of spherical shell and/or external accessory Contact surface on coat substantially friction free material and reduce friction.External accessory can include by sliding bearing, hub bearing Or the contact portion that the one or more wheels engaging the outer surface of spherical shell are constituted.

Additionally or alternatively, magnetic reciprocation can relate to repulsive force, and it includes stabilizing mechanism (for example, or many Individual extra magnet), to produce the stable magnetic suspension between external accessory and spherical shell.

In this disclosure, term " substantially " can be used in different linguistic context, for explicitly introducing and determining of stating Property is approached.In a lot of linguistic context, this word may be interpreted as be pointed quantity, relatively or measurement at least 75%.In angle In the linguistic context of measurement, term " substantially " refers to when self-propelling instrument is in motion relative to the reference configuration in spherical shell Rotate zero degree to the angle less than 90 degree.Therefore, this term can use in various linguistic context, and for example, " substantially " is stable, " this In matter " constant angle, " substantially " at the ad-hoc location rolling or on static ball, or " substantially " is vertically opposite in self-propelled The underlying surfaces that equipment rolls on it.In such linguistic context, when self-propelling instrument is in non-accelerating state, " substantially " Can refer to there is the difference less than 90 degree to underlying surfaces relative to vertically (or vertical) reference axis, and is commonly angled relative to vertical axes Less than 45 degree.It is therefoie, for example, when self-propelling instrument is operated, external accessory can keep mutual with the magnetic in spherical shell The magnetic reciprocation of element, and reside on the assembly being substantially vertically oriented or within.As further herein Middle use, under the linguistic context of the friction between the outer surface and the contact surface of external accessory of spherical shell, " essence On " refer to be less than normal friction relation between the smooth surface (such as metal or the wood surface of polishing) of two routines.Therefore, " substantially " friction free material refers to the material designing for reducing friction or making, such asOrApply Layer.

One or more examples as herein described provide method, technology or the operation being performed by computing device programming, or make For computer implemented method.As it is used herein, programming refers to by using code or computer executable instructions.These refer to Order can be stored in one or more memory resources of computing device.Programming step can be automatic or not be Automatically.

One or more example as herein described can realize for using the assembly of programming module or system.Programming module or Assembly can include a part for program, subroutine, program, or is able to carry out the task of one or more regulation or the soft of function Part assembly or nextport hardware component NextPort.As it is used herein, module or assembly can be present in independent of other modules or assembly firmly On part assembly.Alternately, module or assembly can be process, program or the machines sharing element or other modules.

Some examples described herein major requirement can use computing device, including process and storage resource.For example, originally One or more examples that literary composition describes can realize based on computing device whole or in part, such as digital camera, digital vedio recording Machine, desktop computer, honeycomb or smart phone, personal digital assistant (PDA), laptop computer, printer, DPF and Tablet device.Storage, process and Internet resources can all combine the foundation of any example described herein, use or hold Go and use (including the execution of any method or the enforcement of any system).

Additionally, one or more example as herein described can be by using by the executable finger of one or more processors Order realizes.These instructions can be carried on computer-readable medium.The machine offer showing with accompanying drawing or describing processes resource With illustrating of computer-readable medium, described process resource and computer-readable medium can be carried out and/or perform For implementing the instruction of example.Specifically, processor is included and for keeping data and referring to the numerous machines shown in example The various forms of memories of order.The example of computer-readable medium includes permanent memory storage device, such as individual calculus Machine or the hard disk drive of server.Other examples of computer-readable storage medium include portable storage unit, such as CD or DVD Unit, flash memory (for example, being carried on smart phone, multifunctional equipment or flat board) and magnetic memory.Computer, terminal, network Enabled device (for example, mobile device, such as cell phone) is all to utilize processor, memory and be situated between at computer-readable The example of the machine and equipment of the instruction of storage in matter.Additionally, example or can carry this this program with computer program The form of non-transience computer available support medium realize.

System explanation

Referring now to accompanying drawing, Fig. 1 is the example block diagram of the system of the operation illustrating control self-propelling instrument 100.Permissible Operation self-propelling instrument 100, thus move under the control such as by another equipment of the computing device of user operation.Should be certainly Puopulsion equipment 100 may be configured with the resource realizing one or more following function: (i) keeps relative after equipment setting in motion Self-consciousness in the orientation of initial reference frame and/or position；(ii) control input is programmatically processed, in order to realize to difference control The multiextent specific program response of system input；(iii) utilize software or programmed logic to make another equipment control it to move, described Programmed logic and the programmed logic communication on self-propelling instrument；And/or (iv) generates the output response of its motion and state, institute Stating response is the software interpretation that can be carried out by control equipment.

Self-propelling instrument 100 can include multiple interconnection subsystem and module.Processor 114 can perform to deposit from program The programming instruction of reservoir 104.The instruction of storage in program storage 104 can change, for example, increase new feature, correct flaw Or act of revision.In some modified examples, program storage 104 storage communicates or otherwise operates and sets at link controller The programmed instruction of the software of standby upper execution.This processor 114 is configured to perform the distinct program of programmed instruction, to change wherein Self-propelling instrument 100 interprets or otherwise responds the mode of order input (" order ") from separate sources.As herein Described in, self-propelling instrument 100 can have multiple modes of operation, including self-propelling instrument 100 by offer order Computing device control, self-propelling instrument 100 is the controller for another equipment, and/or self-propelling instrument 100 is partly or completely Full ground self-contr ol.

In some instances, the computing device that self-propelled apparatus 100 can be shared on it with programmed logic is shared Calculate platform, in order to: (i) makes user operation computing device operate self-propelling instrument 100, institute to produce polytype input State input include simple direction input, instruction input, gesture input, motion or other sense organs input, phonetic entry or they Combination；(ii) self-propelling instrument 100 is made to explain the input receiving from computing device, as order or Management Information Base；And/or (iii) data of the mutual position with regard to self-propelling instrument of self-propelling instrument 100, motion and/or state are made, in order to impact calculates State (for example, showing state, to include the corresponding content with controller user interface) on equipment.In modified example, certainly push away Entering formula equipment 100 and can further providing for DLL (for example, on display 118), this DLL is easy to increase programming Logic and/or instruction, to operate self-propelling instrument 100.Computing device can perform and the programmed logic on self-propelling instrument 100 Mutual programming.

Wireless communication port 110 is combined with communication converter 102, is used for handing between processor 114 and other external equipments Change data.For example, data exchange 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 control via wireless communication port 110 Device equipment.The mobility of self-propelling instrument 100 may make wired connection inadvisable.Therefore, term " connection " is understood to be meaning The logic that taste without the physical connection to self-propelling instrument 100 connects, such as Radio Link (for example, bluetooth).

In modified example, wireless communication port 110 implements Bluetooth communication protocol, and transducer 102 applies to send and connect Receive the antenna of Bluetooth radio signal.Other wireless communication mediums and agreement also can use in alternative embodiment.

Sensor 112 can provide the information with regard to processor 114 surrounding enviroment and condition.In some modified examples, pass Sensor 112 includes inertia measurement equipment, including three-axis gyroscope, three axis accelerometer and/or three axle magnetometers.According to some Modified example, after equipment setting in motion, sensor 112 provides input, makes processor 114 maintain to equipment relative to initial ginseng Examine the orientation of frame and/or the consciousness of position.In different examples, sensor 112 include for detect light, temperature, humidity and/ Or measure chemical concentrations or radioactive instrument.

State/alterable memory 106 is stored with the information of pass system current state, for example include rotating with regard to each axle and The position of translation, orientation, speed.State/alterable memory 106 also store corresponding to equipment referring initially to frame (reference Frame) information, when such as equipment 100 is put into use (for example, this equipment 100 is unlocked), also stores this equipment 100 Position in use and orientation information.By this way, some embodiment specified devices 100 utilization state/alterable memories The information of 106, in order to keep position and the orientation information of equipment 100 when equipment 100 starts mobile.

Clock 108 provides timing information to processor 114.In one example, base when clock 108 provides, is used for measuring The interval of change and speed.In similar example, clock 108 provides day, date, year, time and alarm clock function.Clock 108 Self-propelling instrument 100 can be allowed to provide in the time set in advance and to send warning or alarm.

ECP Extended Capabilities Port 120 provides the connection being used for additional components or equipment.ECP Extended Capabilities Port 120 can be by for further Extension, and add option or improved flexibility.For example, ECP Extended Capabilities Port 120 can be used for adding to basis self-propelling instrument 100 Ancillary equipment, sensor, process hardware, memory, display or actuator.

In modified example, ECP Extended Capabilities Port 120 provides and analog or digital signal can be used to lead to appropriately configured assembly The interface of letter.Therefore, ECP Extended Capabilities Port 120 can provide standard or well-known electrical interface and agreement.Additionally, this extension end Mouth 120 realizes optical fiber interface.The example interface being suitable for ECP Extended Capabilities Port 120 includes USB (USB), is internally integrated electricity Road bus (12C), Serial Peripheral Interface (SPI) or Ethernet.

Display 118 can be included, to present information to external equipment or personnel.This display 118 can be in a variety of forms Present information.In modified example, display 118 can have the light of design and color, sound, vibration, music or sense organ thorn The combination swashing.In one embodiment, display 118 operates together with actuator 126, moves with the physics by equipment 100 And pass on information.For example, equipment 100 can be made into nodding with the head simulating people or shaking the head passing on "Yes" or "No".

In modified example, either in visible or sightless scope, display 118 is the transmitter of light.Can be used in The sense organ of the black light in infrared ray or ultraviolet ray range, such as sender is invisible but the obtainable letter of dedicated probe device Breath.In some instances, display 118 includes the array launching the light emitting diode (LED) of various light frequency, is arranged so that Their relative intensity is variable, and the light sending is mixed and forms color composition.

In modified example, display 118 includes LED array, and it includes multiple LED, and each LED emission mankind are visible Primary colors.This processor 114 can change the relative intensity of each LED, to produce the color of wide scope.The primary colors of light is wherein Several colors same amount can not be blended to produce those colors of apparent colour of wide colour gamut.Known many group primary colors, for example, include Red green blue, red green blue/white, red green blue/amber.For example, red, green can include permissible together with blue led The usable set of three the primary colors equipment obtaining, including display 118.In other examples, it is possible to use other collection of primary colors Close and White LED.Display 118 can also include for indicating reference point on equipment 100 so that the LED of alignment.

Power supply 124 stores energy, for operating electronic building brick and the electromechanical assemblies of equipment 100.In some instances, power supply 124 is rechargeable battery.Additionally, induction charging port 128 can allow to charge power supply 124, but without wired electrical connection.? In modified example, induction charging port 128 can receive magnetic energy and be converted into electric energy and charge the battery.Charge port 128 can To provide the wireless communication interface with external charging equipment.

Deep sleep sensor 122 can be included, self-propelling instrument 100 is arranged low-down power or " degree of depth is slept Sleep " pattern, wherein most of electronic equipments do not use battery supply.This is favourable for long term storage or transport.

In modified example, deep sleep sensor 122 is non-contacting, because it is by the housing sensing of equipment 100, and not Wired connection is used to sense.Deep sleep sensor 122 can be the Hall effect transducer installed, thus external magnets can apply In the predetermined position of equipment 100, to activate deep sleep mode.

Actuator 126 can be included, to convert electric energy to mechanical energy for various uses.The main application of actuator 126 It is on underlying surfaces to promote self-propelling instrument 100 and be allowed 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 translational motion.Actuator 126 Example include but is not limited to wheel, motor, solenoid, screw, paddle wheel and pendulum.

The actuator 126 of drive system can include two parallel wheels, and each wheel passes through reduction gear device respectively It is installed to the axle being connected with independent variable-speed motor.Therefore, the two drives the speed of motor can be controlled by processor 114 System.

It should be appreciated, however, that except only rotating the peaceful puopulsion equipment 100 that is moved from, actuator 126 can produce various dynamic Make.Therefore, in some modified examples, actuator 126 causes equipment 100 it is to realize the motion of aftertaste in Communicative or emotion, Including the gesture of simulating human, for example, nod, shake the head, tremble, be rotated or turned over.In some modified examples, processor 114 is coordinated Actuator 126 and display 118.For example, processor 114 can provide signals to actuator 126 and display 118, so that equipment 100 rotate or tremble and simultaneously launch colourama pattern.Therefore, equipment 100 can send the light pattern with synchronized movement and/ Or acoustic pattern.

In further modified example, self-propelling instrument 100 can be used as the controller of other network access devices.Equipment 100 can comprise sensor and wireless communication ability, and therefore it can play the effect of the controller of other equipment.For example, certainly Puopulsion equipment 100 can be held in hand and for sensing gesture, motion, rotation, combination input, etc..

In some embodiments, self-propelling instrument 100 is entirely autonomous, it means that the motion of equipment 100 is by setting Resource on standby 100 determines, or not from the input signal of another equipment as controller or independent of this signal.? In other implementations, self-propelling instrument 100 can operate in the various control hierarchies being provided by another equipment, such as under passing through As face is provided with regard to some examples that Fig. 2 A-2C describes.Further, self-propelling instrument 100 can autonomous mould in office Under formula, part autonomous mode or with under controlled mode operation.

Fig. 2 A is the schematic diagram of the self-propelling instrument according to an embodiment and computing device.More specifically, self-propelling instrument 214 are controlled its motion by the programmed logic being derived from controller equiment 208 and/or control.Self-propelling instrument 214 can calculate Moving under the control of equipment 208, computing device 208 can be operated by user 202.Use standard or proprietary radio communication association View, computing device 208 can be by control data switched wireless to self-propelling instrument 214.In modified example, self-propelling instrument 214 Sensor and inside programming logic can be utilized to control parameter (for example, speed, the side of its motion at least in part from control To etc.).Further, self-propelling instrument 214 can exchange the number of the position about self-propelling instrument and/or kinematic parameter According to for the content producing or on interleaved computation equipment 208.In other modification, self-propelling instrument 214 can be by its fortune The each side of dynamic and/or internal programmed logic control computing device 208.

As described herein, self-propelling instrument 214 can have multiple modes of operation, including self-propelling instrument 214 is by counting Calculation equipment 208 controls, and self-propelling instrument 214 is by the control of another equipment (for example, another self-propelling instrument or computing device 208) Device processed controls, and/or self-propelling instrument 100 part is autonomous or Complete autonomy.

In some instances, self-propelling instrument 214 and computing device 208 can share calculating platform, at this calculating platform On realize that programmed logic is shared, in order to: (i) makes user 202 operate this computing device 208, producing multiple input, including simple Orientation input, order input, gesture input, motion or the input of other sense organs, phonetic entry or combinations thereof, be used for operating Self-propelling instrument 214；(ii) self-propelling instrument 214 is made to explain the input receiving from computing device 208, as order or one group of life Order；It and/or (iii) makes self-propelling instrument 214 exchange the data of the position with regard to self-propelling instrument, motion and/or state, is used for Realize the state in computing device 208 (for example, showing state, to include the corresponding content with controller user interface).Should be certainly Puopulsion equipment 214 may further include DLL, and it is easy to extra programmed logic and/or instruction uses self-propelling instrument 214.Computing device 208 can perform programming, and it is mutual with the programmed logic on self-propelling instrument 214.

According to some embodiments, self-propelling instrument 214 includes causing actuator or the drive mechanism of motion or directed movement. Self-propelling instrument 214 can carry out appellation with multiple related terms and phrase, including control equipment, robot, robot device, Remote equipment, autonomous device and remote control equipment.In certain embodiments, self-propelled apparatus 214 can be configured to various Medium moves and is controlled.For example, self-propelling instrument 214 is configurable to move in media as well, such as flat surface, Shamian Island Or rock surface.

Self-propelling device 214 can be implemented in a variety of manners.As described in some examples following, self-propelling instrument 214 may correspond to roll and/or realize the spherical object of other motions (such as, rotating).In other modified examples, certainly push away Entering equipment 214 and can including cylindrical housings, when self-propelling instrument 214 moves, this cylindrical housings rotates.Cylindrical housings Can directly rotate on underlying surfaces, in order to move along assigned direction or translate.Alternatively, cylindrical housings can include making cylinder The outside wheel of shape housing motion and/or drive system module, by the momentum of cylindrical housings and with external drive system Freely connecting, or being connected to other rotary components of wheel or drive system by cylindrical housings, cylindrical housings rotates. Further, self-propelling instrument 214 can include other shapes of housing, and its middle shell rolls or rotates.Further, exist In other modified examples, magnetic interactive element (for example, metal or magnet) that self-propelling instrument 214 can include being magnetically coupled in housing External accessory.The housing of self-propelling instrument can include one or more structural detail, and it keeps magnetic interactive element at housing Interior position.Further, equipment 214 can correspond to radio-controlled flight device, such as aircraft, helicopter, aircushion vehicle Or balloon.In other modified examples, equipment 214 may correspond to radio controlled ship, such as ship or submarine.Many other Modified example also it is achieved that such as wherein equipment 214 be those modified examples of robot.In one embodiment, equipment 214 Including the hollow shell, generally spherical in shape sealing, directed movement can be realized by the action of the actuator in closure.

With continued reference to Fig. 2 A, self-propelling instrument 214 is configured with network communication link 210 and 212 and computing device 208 communicate.Link 210 transmits data from computing device 208 to self-propelling instrument 214.Link 212 sets from described self-propelled Standby 214 transmit data to computing device 208.Link 210 and 212 is shown as single one way link for illustrating.At some In embodiment, single bidirectional communication link performs communication in the two directions.It should be appreciated that link 210 and link 212 not One to be scheduled on type, bandwidth or capacity be identical.For example, from computing device 208 to the communication link of self-propelling instrument 214 210 traffic rates having and bandwidth usually higher than link 212.In some cases, only one of which link 210 or 212 It is established.In such an embodiment, communication is unidirectional.

Computing device 208 may correspond to include any equipment of at least one processor and communication capacity, and it is suitable for setting up At least one-way communication with self-propelling instrument 214.The example of this equipment includes but is not limited to: mobile computing device is (for example, many Feature message/voice communication apparatus, such as smart phone), panel computer, portable communication device and PC.At one In embodiment, computing device 208 can be the IPHONE of the Apple of the Cupertino from California.At another In individual embodiment, computing device 208 is IPAD panel computer, and it is also from Apple.In another embodiment, count Calculation equipment 208 is carried out any hand-held calculating and the communicator of the Android operation system from Google.

In another embodiment, computing device 208 is notebook computer or the PC of desktop computer configuration.For example, Computing device 208 can be to run Microsoft Windows operating system or (SuSE) Linux OS system or APPLE The multipurpose of OS/X operating system calculates platform, is configured with suitable application program to communicate with self-propelling instrument 214.

In modified example, computing device 208 can be exclusively used in make user 202 can control self-propelling instrument 214 and with The mutual Special Equipment of self-propelling instrument 214.

In one embodiment, polytype computing device 208 can exchange use, to enter with self-propelling instrument 214 Row communication.In one embodiment, described self-propelling instrument 214 can communicate and/or be controlled (for example, simultaneously by multiple equipment Or one next).For example, self-propelling instrument 214 can link with IPHONE a session, and in session afterwards with Android device links, and need not change self-propelling instrument 214.

According to some embodiments, user 202 can be mutual with self-propelling instrument 214 via computing device 208, with control certainly Puopulsion equipment 214 and/or receive the feedback computing device 208 or interaction from self-propelling instrument 214.According to embodiment, User 202 can be made to specify input 204 by providing the various mechanism of computing device 208.The example of this input includes word Input, voice command, touch sensing surface or screen, physical operations, gesture, tap, rock and above combination.

User 202 can interact with computing device 208, to receive feedback 206.In response to user's input, calculating Feedback 206 is generated on equipment 208.Alternatively or additionally item, feedback 206 also can be based on from self-propelling instrument 214 to calculating The position with regard to such as self-propelling instrument of equipment 208 transmission or the data of state.Being not intended to limit, the example of feedback 206 includes Text shows, figure shows, sound, music, tone pattern, the modulation of photochromic or light intensity, sense of touch, vibration or haptic stimulus.Instead Feedback 206 can be in conjunction with the content generating in computing device 208.For example, the exportable content of computing device 208, it is modified to instead Reflect from the position that self-propelling instrument 214 obtains alternately or status information.

In certain embodiments, computing device 208 and/or self-propelling instrument 214 are configured such that user inputs 204 Hes Feedback 206 improves availability and accessibility for user 202 to greatest extent, this user 202 have limited perception, thinking, Consciousness, motion or other abilities.This allows the system 200 described by user operation that is disabled or that have special requirement.

It should be appreciated that the configuration shown in the embodiment of Fig. 2 A be only virtually limitless possible, include that there is communication connection One of network configuration of self-propelling instrument of function.Additionally, while characterized as many embodiments regulation user operation Or otherwise directly dock with computing device, to control self-propelling instrument and/or mutual with self-propelling instrument, described reality The modified example executing example includes enabling users to directly control self-propelling instrument 214 or interacting with self-propelling instrument 214, and does not makes Intermediate equipment by such as computing device 208.

Fig. 2 B illustrates the system 218 including computing device and self-propelling instrument according to another embodiment.Carried by Fig. 2 B In the example of confession, system 218 includes two computing devices 220 and the 228th, four self-propelling instruments the 224th, the 232nd, 236 and 238, with And communication link the 222nd, the 226th, the 230th, 234 and 239.Computing device 220 uses the communication class of link 222 and self-propelling instrument 224 It is similar to the embodiment described in the network 200 of Fig. 2 A.But, those embodiments make two computing devices as illustrated Extra communication is set up via network link 226 between 220 and 228.

According to all embodiment such as with system 218, computing device the 220th, 228 can optionally control more than one Self-propelling instrument.Additionally, each self-propelling instrument the 224th, the 232nd, the 236th, 238 can be by more than one computing device the 220th, 228 Control.For example, embodiment regulation, computing device 228 can set up multiple communication link, including with self-propelling instrument 232 Communication link with 236 and computing device 220.

In modified example, the 220th, computing device 228 also can use such as internet or Local wireless network (for example, family Front yard network) network communicate with one or more self-propelling instruments.For example, computing device 228 is shown as having communication Link 239, computing device can be connected to Internet server, website or another computing device to remote location by it.One In a little embodiments, computing device 228 can be as the intermediary between network source and self-propelling instrument.For example, computing device 228 The programming from internet can be accessed and this programming is exchanged to one of them self-propelling instrument.

As an alternative or modification, computing device 228 can make the one or more self-propelling instrument of network user's control 232nd, the computing device 228 of 236 etc..Further, computing device 228 can access network source, to receive what programming triggered Order, the such as order because of network service, this network service uses computing device 228 to cause one or more self-propelling instrument Update or synchronization.For example, self-propelling instrument 232 can include image capture resource, and network source can trigger computing device 228 and access From the image of self-propelling instrument, and/or pass through internet by those image exchange to network source.

In modified example, this telecommunication network function is alternately direct from network source to self-propelling instrument the 224th, the 232nd, 236 communications.Therefore, the 220th, computing device 228 can be optional.Alternatively, computing device the 220th, 228 can be by such as The 232nd, the 224th, the network of internet 236 separate with self-propelling instrument.Therefore, the 220th, computing device 228 also can be alternatively Remotely control and/or the network source communicating with self-propelling instrument.

It should be pointed out that, for illustrative purposes, the data link in Fig. 2 A, 2B and 2C is the 210th, the 212nd, the 222nd, the 226th, 230th, it the 234th, the 239th, the 242nd, the 246th, 248 and 252 is depicted briefly direct.But, physical link may be more various and multiple Miscellaneous.For example, if equipment 220 and 228 is close at hand, the link 226 connecting two computing devices 220 and 228 can be low work( The Radio Link of rate.But, as long as suitable network service can be set up, computing device 220 and 228 can be with a good distance off (example As, separately several miles or separated by geographical conditions).

Therefore, the 230th, the 222nd, link 226 and all of link 234 and 239 can use various network technology, including Yin Te Net, WWW, Radio Link, use twireless radio-frequency communication, optical link or any available network communication technology of procotol. To self-propelling instrument the 224th, the 232nd, 236 and 238 final connect preferably wireless, therefore connect wire without limitation on motion Property.

In one embodiment, communication link the 222nd, the 226th, 230 and 234 based on be referred to as bluetooth wireless communication standard come Carry out data exchange.Bluetooth technology is widely available, and provides communication construction flexibly, is used for using short-wave radio conveyer Set up data network with data encoding.Bluetooth is integrated with security function, with protection on link from unwarranted observer or The data that interference sends.It is used as optional wireless communication media, such as Wireless USB, wireless network or proprietary radio communication. In modified example, to one or more communication linkages the 222nd, the 226th, 230 and 234 can utilize short-range radio frequency (RF) communication and/ Or horizon communication.

In other various embodiments, communication link is based on other wireless communication systems.Various radio frequency data are led to Communication system is available, including for example those are referred to as WI-FI, IEEE 802.11a, IEEE 802.11b, IEEE802.11g Or IEEE802.11n standard.Other rf data links use cell phone service to be formed, or use radio modem Serial communication protocol.In other embodiments, optical communication link is used, including the modulation attribute of light and laser beam.

Any suitable communication technology can be used for forming network linking, and no matter it is currently known or can use in future 's.This feature described herein does not relies on any specific network technology or standard.

In certain embodiments, between devices (such as, computing device the 220th, 228 and/or self-propelling instrument the 224th, 232nd, between 236) communication set up can be interim, elastic and reconfigurable.The network of obtained this equipment can Being considered as " self-organizing (ad-hoc) " network, or interchangeable " piconet (piconet) " or " personal area network (personal area network)”.In this respect, some embodiments regulation: computing device the 220th, 228 and self-propelled set Standby 224th, the 232nd, 236 node being considered network (such as self-organizing network).In such an arrangement, networking component, Topological sum communication path is flexible and is easily tuned to adapt to add or eliminating equipment, changes communicating requirement or channel disturbance. For example, the self-propelled apparatus 238 in Fig. 2 B does not has current network to connect.But, self-propelling instrument 238 is connected in the past System 218 simultaneously receives instruction and allows it to operate in the case of not having persistent network link.

Fig. 2 C is the schematic diagram illustrating the system 268 according to another embodiment, and this system 268 includes a computing device With multiple self-propelling instruments.Computing device 240 can be used to the 244th, the 250th, 254 communicate with one or more self-propelling instruments. Being similar to above-described embodiment, the commutative order of computing device 240 or other control data simultaneously receive feedback.Self-propelling instrument is the 244th, 250th, 254 are configured to communicate with computing device 240 and/or controlled by computing device 240.In addition, self-propelling instrument is the 244th, 250th, 254 are configured to communicate and/or control.

In the drawings in the example shown in 2C, this computing device 240 uses communication link 242 to carry out with self-propelling instrument 244 Communication.Self-propelling instrument 244 uses link 246 to communicate with self-propelling instrument 250, and uses link 248 and self-propelling instrument 254 Communication.Self-propelling instrument 250 and 254 uses link 252 to communicate.Use equipment 244 can be sent out as relaying, computing device 250 Transmit data to self-propelling instrument 250 or 254.Alternately, computing device 240 can directly and other self-propelling instruments the 250th, 254 Communication.

System 268 can include various configuration.For example, user can operate computing device 240 to control self-propelling instrument 244.250th, the motion of self-propelling instrument 244 can exchange computing device 240 and other self-propelling instruments one or more 254.Each self-propelling instrument can be programmed, to believe based on the state exchanging to from another one self-propelling instrument or position Cease and react in a particular manner.For example, self-propelling instrument the 244th, 250 each can operate under repulsion pattern so that The motion (as controlled from computing device 240) of self-propelling instrument 244 is produced from the exclusion movement of puopulsion equipment 250.Become at other In type example, the 250th, the 244th, self-propelling instrument 254 can be programmed, and keeping specific distance from each other, thus one sets Standby motion causes the motion of other two equipment automatically.Further, the 250th, the 244th, equipment 254 be configurable to carry out respectively Planting activity, for example, (i) self-propelling instrument automatically moves when another self-propelling instrument is close to threshold distance；(ii) one The programming of individual self-propelling instrument is mobile to clash into another self-propelling instrument；(iii) based on by each self-propelling instrument from other certainly Puopulsion equipment or the input being received from equipment calculating 240 and/or their variant, this self-propelling instrument moves automatically subsequently.

The 218th, the 200th, various systems 238 be embodiment provided herein.Using any system describing, modified example includes adding Add computing device more or less, and/or self-propelling instrument more or less.Some modified examples as described, additional comes Source or node can be provided by telecommunication network source.In addition, in certain operations environment, the existence of computing device is optional.Example As, use programmed logic to operate, self-propelling instrument can be partially or completely autonomous.

Self-propelling instrument example

Fig. 3 A is each assembly of self-propelling instrument 300 of the form of spherical ball in robot illustrating according to an embodiment Block diagram.In one embodiment, the size of self-propelling instrument 300 and weight allow it to be easily gripped in hand, lift with And carrying on hand adult.

As it can be seen, self-propelling instrument 300 includes spherical shell 302, the outer surface of spherical shell 302 rolls at equipment 300 Contact outer surface when dynamic.In addition, self-propelling instrument 300 includes the inner surface 304 of housing 302.Additionally, self-propelling instrument 300 Including the multiple mechanical part being encapsulated by housing 302 and electronic unit.

In the described embodiment, housing 302 is by transmitting for the signal of radio communication but the material of impermeable moisture and dirt Composition.Case material can be lasting, can wash and/or anti-pulverizing.Housing 302 is also configured to transmission light and quilt Texture and diffused light.

In one embodiment, housing 302 is made up of the polycarbonate plastic sealing.In one embodiment, housing 302 Or inner surface 304 is textured so that light diffusion.In one embodiment, housing 302 includes with the attachment mechanism being associated Two hemispherical Shells, thus housing 302 can be opened with allow access within electronic building brick and mechanical component.

Multiple electronic building bricks and mechanical component are positioned at housing 302, are used for realizing process, radio communication, propelling, Yi Jiqi His function.In one example, assembly includes drive system 301, so that equipment 300 advances self.As combined other embodiments Described, drive system 301 can be coupled to process resource and other controlling organizations.Refer again to Fig. 3, carrier 314 conduct The attachment point of inner member and support for self-propelling instrument 300.The assembly of self-propelling instrument 300 is simultaneously not rigidly connected to Housing 302.On the contrary, drive system 310 is in the point selecting and inner surface 304 CONTACT WITH FRICTION, and can be by drivetrain in housing 302 The action of actuator of system 301 and move.

Carrier 314 and accumulator 316 Mechanical Contact and electrical contact.Accumulator 316 is equipment 300 and electronic equipment provides energy Amount deposit, and be supplemented with by induction charging port 326.In one embodiment, accumulator 316 is rechargeable battery. In one embodiment, accumulator 316 is battery, for example, be made up of lithium polymer battery.In other embodiments, accumulator 316 can be other kinds of rechargeable battery.

Carrier 314 can provide installation site for most intraware, including the printed circuit board (PCB) of electronic building brick, sensing Device array, antenna and connector, and provide mechanical attachment point for intraware.

In one embodiment, drive system 301 includes motor the 322nd, 324 and wheel the 318th, 320.Motor 322 He 324 drive (not shown) to be connected to wheel 318 and 320 by axle, wheel shaft and the gear being associated respectively.Wheel 318 and 320 Circumference is two positions, wherein drive system 301 Mechanical Contact inner surface 304.Wherein wheel 318 and 320 contact inner surface 304 Position can be the major part of drive mechanism of self-propelling instrument 300, so wheel 318 and 320 can be coated or covered with material Material is to increase friction and to reduce skidding.For example, wheel 318 and 320 can be coated with silicon rubber tire.

In certain embodiments, provide biasing mechanism actively to force wheel 318 and 320 to be pressed against inner surface 304.At one In example, spring 312 and spring end 310 can include biasing mechanism.More specifically, spring 312 and spring end 310 position Cheng Yu wheel 318 and 320 point cantact inner surface 304 diametrically.Spring 312 and spring end 310 provide extra connecing Touch, skids to reduce wheel 318 and 320, is not especially located so that wheel 318 and 320 in bottom in drive system 301 And wherein gravity does not provides the situation that enough power is slided to prevent driving wheel 318 and 320.Select spring 312 to provide power, For promote wheel 318 and 320 and spring end 310 equably against inner surface 304.

Spring end 310 can be designed as providing and the contacting close to friction free of inner surface 304.An embodiment In, spring end 310 includes circular surface, and this circular surface is configured in its place's of being had point of contact reflection with inner surface 304 (mirror) low frictional contact area.Other mechanisms providing close to frictionless contact can be set.In another embodiment, Circular surface can include one or more bearing, to reduce the contact point moving along inner surface 304 in end 310 further The friction at place.

Fig. 3 B is the exploded block diagram of the example illustrating cylindrical self-propelling instrument 350.In the example of Fig. 3 B, drive system The 305 left motor 352 including having corresponding wheel shaft and right motor the 354th, one or more power set the 370th, carrier are the 384th, Having the circuit board 366 of any amount of electronic building brick, and receiver 368, this receiver 368 can be configured to or include various The standard of radio communication and/or technology.

With reference to Fig. 3 B, features described above is included in the main body 364 of self-propelling instrument 350.In addition, features described above is any It is rigid that combination may be structured to relative main body 364.For example, carrier 384 can be mounted or be otherwise connected to main body The inside of 364.Alternatively, any number of intraware of self-propelling instrument 350 can be couple to the inside portion of main body 364 Point.Accordingly, because internal part is to being rigid to main body 364, when self-propelling instrument 350 is manipulated by, main body 364 can Tilt with the rotation of drive system 305 and rotate together.

Main body 364 be generally shaped like cylinder, and any number of Design and Features can be included.For example, main body Can be at least partly transparent so that the light of the internal illumination assembly in being placed in main body is in terms of the outside of equipment 350 Significantly.Internal illumination assembly can be any kind of illumination component, for example one or more light emitting diodes (LED) or one Individual or multiple LED array.Illumination component can be fixed to carrier 384, or any other internal group of self-propelling instrument 350 Part.Additionally or alternatively, main body 364 can include seal polycarbonate plastic or other can be textured with diffusion Compound from the light of interior lighting element.

Additionally, main body 364 can be constituted by allowing the material for the signal of radio communication for the transmission.Also further, main body The outer surface of 364 can comprise substantially impermeable moisture and the material of tolerance general wear.Main body 364 can be to set from self-propelled Standby 350 dismountable, allowing close to intraware, and can also is that persistently, can wash and/or anti-pulverizing.

Additionally or alternatively, main body 364 can include fastening or attachment point, to allow movable accessory to be connected to main body The outside of 364.As being discussed in further detail below, these annexes can for example include being attached head lamp or trailer annex.

As shown in Figure 3 B, for purposes of illustration, the gear 360 of specific wheel 358 can mould or be at least a partially formed In the interior section of wheel, as schematically shown by wheel 358.Alternately, it may include gear 360 is as power A part for power train, wherein motor 354 is couple to the combination of wheel shaft 362 and gear 360.Therefore, wheel shaft 362 and gear Then the combination of 360 can be assembled to wheel 358.Alternately, can be at least partially formed in the interior section of wheel Wheel shaft and the combination of gear.

Further, wheel hub 386 can: (i) is at least partially formed at the exterior section of respective wheel (not shown) In, (ii) is formed with the gear combination in the inside radius of wheel (also not shown), and the part of (iii) PWTN is attached to Gear 360 and wheel shaft 362.In the example of the latter, wheel hub 386 can be a part for wheel shaft 362 or be couple to wheel shaft 362, And can be configured to prominent from the outside of wheel 358.Self-propelling device 350 can farther include the hub that can be removed Lid the 372nd, 374, the 372nd, this hub cap 374 can be attached to wheel hub 386 and disconnected easily.Hub cap the 372nd, 374 can basis The preference of user uses various different color and/or pattern.Alternately, the 372nd, hub cap 374 semipermanent can be attached to wheel hub On 386.Wheel hub cover the 372nd, 374 can by duroplasts or flexible plastic, plastics/rubber composite or compound, metal or any its He makes suitable material.

The 356th, wheel 358 can allow wheel covering the 376th, 378 (for example, tire) cooperation to cover them.Wheel covers The 376th, thing 378 detachably and is formed by soft rubber compound.But, the 376th, wheel covering 378 is not limited to soft rubber, also Can be made up of any compound.Wheel covering 376,378 can include any amount of tread pattern, for specific or The purpose of simple style.The 376th, wheel covering 378 also can have multiple different style and/or face according to the preference of user Look.In modified example, the 356th, wheel hub 358 has identical with main body 364 or essential identical height, wheel covering the 376th, 378 The ceiling advantage slightly that the combination of wheel and tire has can be allowed relative to main body.Alternately, wheel 356, the height of 358 Degree is noticeably greater than the height of main body 364.

There is the self-propelling instrument of magnetic couplings

Fig. 4 A-4D illustrates the example rotating or rolling self-propelling instrument according to some embodiments, this self-propelling instrument bag Include the assembly coupling external accessory devices for magnetic.In the example of Fig. 4 A, self-propelling instrument 400 is depicted in motion In, it is magnetically coupled to external accessory devices 430 simultaneously.Fig. 4 B illustrates the top view of self-propelling instrument 400, illustrates for creating magnetic The magnetic element 405 coupling.Similarly, Fig. 4 C illustrates the top view of external accessory devices, describes to be used for and self-propelling instrument 400 The complementary magnetic element 435 that couples of magnetic element 405.

In an example of Fig. 4 A-4D, self-propelling instrument 400 is according to such as with the example of Fig. 3 A, (for example, self-propelled sets Standby 300) embodiment or described by the example (for example, self-propelling instrument 350) of Fig. 3 B constructs.Therefore, Fig. 4 A-4D's In example, self-propelling instrument 400 includes spherical shell 410, and it uses internal drive system to roll on underlying surfaces 402. In modified example, the housing 410 of self-propelling instrument 400 can have alternative rounding shape, such as oval or cylindrical (for example, with reference to Fig. 3 B), so that housing rotates in underlying surfaces 402 above and over.

According to an aspect, self-propelled apparatus 400 can include magnetic element 405 and the inside being formed by magnetic material Supporting construction 425, to be supported on expectation orientation relative to underlying surfaces 402 and position by magnetic element 405.Exemplarily, Supporting construction 425 can be implemented as a part for biasing mechanism, and magnetic element 405 can be arranged on top or the bullet of biasing mechanism On spring end.Magnetic element 405 can correspond to magnet or any material (for example, ferrous metal etc.), its can magnetic mutual Be coupled in the complimentary magnet being arranged on external accessory devices 430.Plate structure 420 (for example, printed circuit board (PCB)) can provide Logic and hardware, for controlling the drive system of self-propelling instrument 400.In one embodiment, plate structure 420 and support knot Structure 425 is provided as a part for platform, and when housing 410 rotates (W) on underlying surfaces 402, this platform keeps essence Constant angle position.

Accessory device 430 can include complementary magnetic element 435 on bottom section or near it, it contacts spherical shell Body 410.In modified example, accessory device 430 can include variously-shaped and orientation, and this depends on the embodiment of unit equipment Or purpose.For example, in the embodiment of Fig. 4 A-4C, accessory device 430 includes cylindrical shape or the rectangle " cap of spherical shell 410 Son " shape.In other modified examples, accessory device 430 can have spherical or spherical.In numerous applications, self-propelling instrument 400 Operating as toy or amusement equipment, accessory device 430 is optionally shaped or configured to imitate the feature of the mankind, or provides it He strengthens function to promote the amusement of unit equipment and appreciation.

In one embodiment, the magnetic element of each the 405th, 435 in self-propelling instrument 400 and accessory device 430 It is to be orientated to make its opposing polarities realize the magnet that magnetic attracts toward each other.In modified example, self-propelling instrument 400 or attached The 405th, the magnetic element of part equipment 430 435 includes magnetic interaction material, such as ferrous metal.

In various examples, the operation of self-propelling instrument 400 or use environment can include that upsetting self-propelling instrument 400 transports Dynamic event or situation, the change of such as (i) underlying surfaces (for example, from smooth floor transition be carpet floor), (ii) touches Hit (for example, colliding with wall or other self-propelled apparatus), and (iii) is owing to self-propelling instrument 400 is in multiple directions Either one rotate up or turn to, the comparison of self-propelling instrument 400 speed drastically and acceleration.Given self-propelling instrument The operation of 400 and use environment, the 405th, magnetic element 435 can remain strong between self-propelling instrument 400 and accessory device 430 Greatly, stable and elastic magnetic couplings.

Therefore, in certain embodiments, the quantity of magnetic element (or magnetic material) and/or distribution in spherical shell 410 Can be changed, to increase stability and/or magnetic-coupled elasticity.For example, although Fig. 4 A regulation magnetic element 405 is by substantially position In polar region 412 (relative to underlying surfaces 402), in modified example, magnetic element 405 can be replaced by multiple discrete magnetic elements Changing or expanding, these discrete magnetic elements are oriented to the intensity in raising magnetic coupling, stability and flexibility.For example, Discrete magnetic element can equidistant from polar region 412 (or otherwise) be arranged, such as along equator 408 and polar region 412 it Between transverse plane 411 arrange.Accessory device 430 can include one or more complementary magnetic element 435, desired to realize Magnetic couplings.

Further, the coupling surfaces of accessory device 430 can include profile and structure, with at least at self-propelling instrument 400 at the volley when reduce friction.Exist friction can for example cause spherical shell 410 and accessory device 430 Magnetic Isolation or Destroy the coupling between the two equipment.In order to reduce friction, the underlying surfaces 432 of accessory device 430 can be circular, and And the outer surface of each can keep relative smooth in spherical shell 410 and accessory device 430.Additionally, spherical shell 410 One of underlying surfaces 432 of outer surface 417 and accessory device 430 or both can be by the material reducing with other mantle frictions Formed.

Accessory device 430 can present various sizes, various different shape.For example, with reference to Fig. 4 D, accessory device 430 can be dome-shaped or hemispherical.Accessory device 430 can be shaped as discoid, cuboid, cylinder further or appoint Other of what quantity are irregularly shaped.Regardless of shape or size, accessory device 430 can include multiple magnet 435, to protect The magnetic holding magnetic element 405 with self-propelling instrument 400 is mutual.Additionally, accessory device 430 can with have difformity and Other accessory devices various of size exchange.

Fig. 5 A and Fig. 5 B illustrate according to one or more embodiments move and magnetic is couple to accessory device Self-propelling instrument.When self-propelling instrument 500 moves, external accessory devices 504 can at self-propelling instrument 500 top substantially Constant position remains to the magnetic couplings of self-propelling instrument 500.Thus, when self-propelling instrument 500 is manipulated by, support platform Or structure 515 (for example, providing the structure of the biasing mechanism 615 of Fig. 6 such as described below) can have variable inclining Oblique angle (relative to the polar angle (θ) of plane of movement), when extreme damage sexual behavior part or situation occur, this inclination angle is typically not greater than 45 degree.But, at self-propelling instrument 500 continuously and during stable operation, the inclination of support platform or structure 515 can minimum, as The level of about 10 degree.Additionally, in manipulation process, according to from another drive mechanism of motor or wheel or self-propelling instrument The independent current source of transmission, azimuth (φ) can change in any angle.

In order to realize that self-propelling instrument 500 moves continuously with constant speed, the barycenter of equipment rotates relative to center Displacement can be maintained by the action of wheel 568,570, and the barycenter of self-propelling instrument 500 is relative to the displacement 500 of pivot It is likely difficult to measurement, therefore, it is difficult to obtain the feedback of the closed loop controller for keeping constant speed.But, displacement and Zhi Chiping Inclination angle (being equal to polar angle θ) between the surface that platform or structure 515 and self-propelling instrument 500 move over is proportional.Permissible By various sensor input sensings or estimation inclination angle.It is therefoie, for example, the speed control of self-propelling instrument 500 can be implemented For use the inclination angle between support platform or structure 515 and surface regulate one wheel pairs the 568th, 570 speed so that certainly push away Enter equipment 500 to move with constant speed.Speed control can determine that desired angle of inclination, to produce desired speed, it is desirable to Angle initialization point be provided as an input to regulate drive mechanism closed loop controller.

In some implementations, such as shown in Figure 5 B, self-propelling instrument 500 can be operable by controller equiment 502 Ground control.Controller equiment 502 can be can with self-propelling instrument 500 communication linkage thus arbitrarily setting of control command is provided Standby.For example, control equipment 502 can be Multifunctional wireless apparatus, such as smart phone or tablet computing device.Controller equiment 502 can perform to control specially the application program of self-propelling instrument 500.According to many examples, controller equiment 502 can generate Including the user interface of virtual controlling (for example, virtual steering mechanism), allow the user to operate self-propelling instrument.Therefore, as Shown in Fig. 5 B, when user input on controller equiment 502 control input 590 instruction self-propelling instruments 500 move forward when, from Puopulsion equipment 500 moves forward accordingly.

In the example of Fig. 5 A and Fig. 5 B, the internal drive system of self-propelling instrument 500 can be produced based on the direction of acceleration Vividly measuring and making platform inclination or tilting, it can be consistent with advance, retrogressing or transverse acceleration.When self-propelling instrument 500 When accelerating and advance, the magnetic between external accessory 504 and self-propelling instrument 500 can cause external accessory 504 and inside alternately Assembly rolls or tilts.In order to prevent external accessory 504 from rotating, external accessory 504 can have the magnetic element of complementation, and it is fixed To becoming relative polarity towards the magnetic element of self-propelling instrument 500.In the example of Fig. 5 A-5B, self-propelling instrument 500 includes one To magnetic element, wherein the first magnetic element may be oriented so that its south magnetic pole upward, and the second magnetic cell may be oriented to make Obtain its north magnetic pole upward.Therefore, external accessory 504 can include the magnet of a pair complementation, and the first magnetic element is oriented to Make its south magnetic pole down, attract the first magnetic element of self-propelling instrument 500 with magnetic.Second magnetic unit of external accessory 504 Part can be oriented such that its north magnetic pole towards the second magnetic element attracting downwards self-propelling instrument 500 with magnetic.It is contemplated that Multiple magnetic elements are arranged, the magnetic element (for example, magnetic array) of any of which number can include at self-propelling instrument 500 In.For such arrangement, exemplary external accessory device 504 can include complementary set or magnetic array, the magnetic wherein matching Body is relative with the association magnet in self-propelling instrument 500.

Fig. 6 illustrates the example of spherical self-propelling instrument 600, and illustrates the showing of assembly of the spherical self-propelling instrument of example 600 It is intended to.But, the modified example of present disclosure is not limited to such equipment.But, the system 100 of Fig. 1 discussed above is permissible Realize relative to any remote equipment, match in remote equipment or connect.With reference to Fig. 6, the size of self-propelling instrument 600 It can be allowed easily to be held, lift and carry in the hand of adult with weight.Self-propelling instrument 600 can include tool There is the spherical shell 602 of outer surface, outside this outer surface is with corresponding magnetic-coupled accessory device when self-propelling instrument 600 rolls Surface contacts.Additionally, spherical shell 602 includes inner surface 604.In addition, self-propelling instrument 600 includes by spherical shell 302 envelope Multiple mechanical component of dress and electronic building brick.In one example, self-propelling instrument 600 includes magnetic element 682, and it is supported Spherical shell 602 is interior and mutual with the complementary magnetic member magnetic of suitable accessory device.When self-propelling instrument 600 moves, Magnetic reciprocation and coupling can occur and/or maintain.

Spherical shell 602 is made up of the material transmitting the signal gas impermeable to moisture and dirt being used for radio communication.Spherical shell That body 602 can include is lasting, can wash and/or the material of anti-pulverizing.Spherical shell 602 also can be configured to realize the saturating of light Penetrate and textured and diffused light.

In a modified example, housing 602 is made up of the polycarbonate plastic sealing.In one example, spherical shell 602 include two hemispherical Shells with the attachment mechanism being associated, thus spherical shell 602 can be opened to allow to access inside Electronic building brick and mechanical component.

Multiple electronic building bricks and mechanical component are positioned at encapsulation, are used for realizing process, radio communication, propelling, Yi Jiqi His function (hereafter referred to collectively as " internal mechanism ").In one example, assembly includes drive system 601, so that equipment advances certainly Body.Drive system 601 can be coupled to process resource and other controlling organizations, as described in other embodiments.Carrier 614 is as driving The attachment point of the assembly of dynamic system 601 and support.The assembly of drive system 601 is non-rigid is connected to housing 602.On the contrary, drive System 601 can include one wheel pairs the 618th, 620, described wheel the 618th, 620 with inner surface 604 CONTACT WITH FRICTION of spherical shell 602.

Carrier 614 and accumulator 616 Mechanical Contact and electrical contact.Accumulator 616 is equipment 600 and electronic equipment provides energy Amount deposit, and be supplemented with by induction charging port 626.In one example, accumulator 616 is rechargeable battery.? In one modified example, battery is made up of lithium polymer battery.In other modified examples, accumulator 616 can be other kinds of Chargeable chemical cell.

Carrier 614 can provide installation site for most intraware, including the printed circuit board (PCB) of electronic building brick, sensing Device array, antenna and connector, and provide mechanical attachment point for intraware.

Drive system 601 includes motor the 622nd, 624 and wheel the 618th, 620.Motor 622 and 624 is respectively by being related to The axle of connection, wheel shaft and gear drive (not shown) to be connected to wheel 618 and 620.The circumference of wheel 618 and 620 is wherein internal Mechanism and two positions of inner surface 604 Mechanical Contact.Wherein the position of wheel 618 and 620 contact inner surface 604 can be certainly The major part of the drive mechanism of puopulsion equipment 600, so wheel 618 and 620 is preferably coated with or covers material to increase friction Skid with reducing.For example, wheel 618 and 620 can be coated with silicon rubber tire.

In some modified examples, provide biasing mechanism 615 actively to force wheel 618 and 620 to be pressed against inner surface 604.? In the example providing, biasing assembly 615 can include two or more single gate-type axles the 658th, 660, with actively by drivetrain The 618th, steerage 620 is pressed against to inner surface 604.The 658th, gate-type axle 660 can include biasing element the 654th, 656 (or spring), its bag Include the end 655 being pressed against on inner surface 604 by the force vector with longitudinal value or end.Come from and be pressed against inner surface 604 On bias spring the 654th, 656 vertical force actively make drive system 601 and each wheel thereof the 618th, 620 be pressed against inner surface 604, Thus provide the enough power for drive system 601, so that self-propelling instrument 600 moves.

Including independent bias element the 654th, 656 gate-type axle the 658th, 660 can be mounted directly on carrier 614.It is couple to Gate-type axle the 658th, 660 biasing element 656 can be the 654th, the form of torque spring, the power of its induction inner surface power 604.Make For supplementing or substituting, the 654th, biasing element 656 can include one or more compression spring, watch spring or extension spring.Alternatively, The 658th, gate-type axle 660 can be installed in the case of not including spring, to keep drive system 601 and wheel the 618th, 620 by leaning on To the power of inner surface 604, and leave enough tractive force so that self-propelling instrument 600 moves.

According to many embodiments, self-propelling instrument 600 can include induction charging port 626, to realize charging source 616 Induction charging, is same as to independent electric motors the 622nd, the 624 offer electric power to wheel the 618th, 620 offer power.Self-propelling instrument 600 May further include the magnet holder 680 being couple to carrier 614.Magnet holder 680 can include the interactive unit of one group of magnetic Part 682, such as includes the element of ferrous material and/or electromagnet or permanent magnet.Similarly, external accessory can also wrap Include for realizing magnetic-coupled complimentary magnet.Therefore, magnet holder 680 and external accessory can include the interactive metal of magnetic, Ferromagnetic element, neodymium, yttrium/cobalt, aluminium nickel cobalt or other permanent element magnets, other " rare earth " magnets, any combination of electromagnet etc. One or more of.

In modified example, magnet holder 680 can include one group of magnetic element 682 (for example, magnet to), magnetic element 682 are oriented at having contrary polarity.For example, as with shown in other embodiments, magnetic element 682 includes the first magnet With the second magnet, wherein the first magnet be oriented with making its north magnetic pole upward and its south magnetic pole down.Second magnet can be directed to Become to make its south magnetic pole upward with its north magnetic pole down.

In modified example, each in magnet holder 680 and external accessory all can house any amount of complementation Magnet or magnetic element, or the combination of the magnet of complementation or magnetic element.For example, single magnet assembly can be contained in and certainly push away Enter in equipment 600 or corresponding external accessory, and be arranged to the opposing party's in external accessory or self-propelling instrument 600 Multiple magnet assembly magnetic are mutual.Alternately, for bigger modification, the magnetic array of three or more magnets can be held It is contained in spherical shell 602, mutual with the respective magnet array magnetic with external accessory.

In certain embodiments, biasing assembly 615 is formed so that wheel the 618th, 620 and biasing element the 654th, 656 Terminal part 655 almost engages the inner surface 604 of spherical shell 602 constantly.So, from motor the 622nd, 624 major part Power is directly passed makes spherical shell 602 rotate, rather than makes intraware (that is, biasing assembly 615 and internal drive system System 601) tilt.Therefore, although the motion of self-propelling instrument 600 can be at least partly by making intraware (therefore and barycenter) tilt And cause, motion also can directly by the active force of the inner surface 604 of wheel the 618th, 620 pairs of spherical shells 602 (via biasing assembly 615) and electrical power from motor the 622nd, 624 to wheel the 618th, 620 directly transmission cause.Therefore, the inclining of biasing assembly 615 Tiltedly can be greatly reduced, and substantially keep constant and (for example, be essentially perpendicular to what self-propelling instrument 600 moved over Outer surface).Additionally or as an alternative, (for example, directly the inclination of biasing mechanism 615 can increase in the hard acceleration or deceleration cycle To more than 45 degree).Additionally, in normal working conditions, the inclination of biasing assembly 615 can keep stable or change subtly (for example, in 10-15 degree).

In some modified examples, magnetic element 682 can be replaced by magnetic material or supplement, and this magnetic material can wrap Be contained in such as biasing element the 654th, 656 terminal part 655.End front 655 can be formed by magnetic material, such as ferrous metal.This Sample metal can include iron, nickel, cobalt, gadolinium, neodymium, samarium or the metal alloy containing these metal ingredients.Alternatively, terminal part 655 Inner surface 604, the substantially friction free contact portion, and contact contacting spherical shell 602 can be included or do not contact The magnetic interactive portion of inner surface 604, including above-mentioned metal or metal alloy.As another modified example, substantially friction free connects Contact portion can include organic polymer, such as thermoplasticity or thermosetting polymer.

In some instances, terminal part 655 can be formed by magnet, such as polishing neodymium permanent magnet.In such modification In example, terminal part 655 can produce the magnetic field extending beyond spherical shell 602 outer surface, with magnetic couplings external accessory devices 630.Alternatively still, terminal part 655 can include substantially friction free contact portion, and is included in magnet therein.

Alternatively still, the magnet assembly of self-propelling instrument 600 can include on any intraware, such as carrier 614, or it is coupled to biasing assembly 615 or the accessory assembly therefor of carrier 614.

In further example, in the complimentary magnet of magnetic element the 682nd, terminal part 655 and/or external accessory devices One or more include any amount of electromagnet or permanent magnet.This magnet can be irregular shape, with certainly Puopulsion equipment 600 provides extra magnetic stability when moving.For example, the magnetic element 682 of self-propelling instrument 600 can be single Or multiple magnetic stripe, including one or more tributaries bar (tributary strip) is with the complimentary magnet of coupled accessory equipment.Additional Ground or alternatively, terminal part 655 also can include difform single or multiple magnet, described magnet is couple to annex and sets Standby complimentary magnet.

Alternatively, the magnetic couplings between self-propelling instrument 600 and accessory device can be to create stable magnetic repulsion shape The magnetic couplings of state.For example, magnetic element 682 can include superconductor, repels the dynamic unstable of magnetic force substantially to eliminate Qualitative, thus allow accessory device with regard to the stable magnetic suspension of magnetic element 682, spherical shell 602 is on underlying surfaces simultaneously Rotate.In similar modified example, diamagnetic material can be included in self-propelling instrument the 600th, terminal part 655 or external accessory and set In one or more of standby, for providing stability for magnetic suspension.Therefore, in the situation not using guide rail or magnetic orbit Under, self-propelling instrument 600 can be made to handle in any direction, external accessory devices remains along the vertical of self-propelling instrument 600 The substantially constant position of axle (cartesian coordinate or cylinder z-axis coordinate, or there is no the spherical r-coordinate of polar angle (θ)).

Fig. 7 A is the cross-sectional side view of example self-propelling instrument, and this self-propelling instrument includes independent internal structure and use It is couple to the structure of external accessory devices in magnetic.In the following description to Fig. 7 A, self-propelling instrument 700 may be incorporated in this and carries Multiple features of other examples of confession.With reference to Fig. 7 A, self-propelling instrument 700 can include internal drive system 702, to cause certainly Motion on puopulsion equipment 700 any one direction in multiple possible directions.Inner drive system 702 can be by one or many Individual biasing element biases, to cause a number of wheel 714 to engage the inner surface 716 of spherical shell 718 constantly.Therefore, When self-propelling instrument 700 is remotely operated by controller equiment, internal drive system 702 makes spherical shell 718 according to receiving Control command roll and handle.

According to examples described herein, self-propelling instrument 700 can include external accessory, wherein self-propelling instrument 700 Magnetic element 712 can be mutual with the magnetism of material of corresponding magnetic element or external accessory by spherical shell 718.Therefore, When spherical shell 718 rolls, the magnetic between magnetic element 712 and respective magnetic element or the material of external accessory makes alternately Magnet holder 706 keeps the position relationship with external accessory, and the magnetic element of self-propelling instrument 700 is accommodated in magnet and keeps On device 706.Therefore, spherical shell 718 can roll according to the control command receiving and handle, and magnetic element 712 can be protected Hold persistently mutual with the material of magnetic element or external accessory devices.

In some instances, magnet holder 706 can be directly coupled to internal drive system 702, or such as circuit board The integrated carrier thereon of assembly.Alternately, magnet holder 706 can be couple to independent internal structure 707, and this is independent Internal structure 707 be couple to internal drive system via inclined springs 708.As shown in Figure 7 A, inclined springs 708 can allow Self-propelling instrument 700 absorbs a certain amount of vibration when experiencing collision accident.Inclined springs 708 buffers further and is tied by separate internal The impulsive force that structure 707 stands, in order to reduce vibrations, accelerated events and/or by jolting that self-propelling instrument 700 experiences.Such Event may increase the probability that magnetic element will decouple, and makes the external accessory being couple to self-propelling instrument 700 depart from.Tilt bullet Spring 708 can reduce the probability of this decoupling event.

Fig. 7 B is the cross-section front view of example self-propelling instrument, and this self-propelling instrument includes biasing assembly and is magnetically coupled to attached The structure of genus equipment.Self-propelling instrument 720 can be the variant with reference to the self-propelling instrument 700 described by Fig. 7 A.As example, The separate internal structure 707 of Fig. 7 A can be included as a part for biasing assembly 758 as shown in Figure 7 B.Although additionally, not having Having and illustrating at Fig. 7 B, self-propelling instrument 720 can be additionally included in Fig. 7 A the inclined springs 708 providing.With reference to Fig. 7 B, self-propelled sets The internal drive system 760 of standby 720 can be biased by biasing assembly 758.The 754th, biasing assembly 758 can include multiple biasing element 756, described biasing element the 754th, 756 can include spring or storage mechanical energy other equipment, in order to produce to spherical shell 757 The vitality of inner surface.Biasing element the 754th, 756 power providing be may result in internal drive system 760 to spherical shell 757 Inner surface apply lasting power (F1), therefore when the wheel that power supply is provided in equipment 720, rotating wheel causes from pushing away Enter equipment 720 to roll and handle.

Any number of biasing element 754,756 can include in spherical shell 757.These biasing elements the 754th, 756 can Including on biasing assembly 758, it is possible to as a part for internal drive system 760, to provide stability in operation And reduce inclination and/or the rolling of the intraware of self-propelling instrument 720.When self-propelling instrument 720 moves, reduce self-propelled The inclination of the intraware of equipment 720 may result in the band of position more tightened at the top of self-propelling instrument 720 for the external accessory In with spherical shell 757 holding contact.

According to embodiment, biasing assembly 758 can include pivoting magnet holder 750, and its pivotable certain number of degrees are (for example, 10-20 degree), or it can be arranged in guiding system with pivot three-sixth turn.Pivot magnet holder 750 can include being oriented phase Reversed polarity pair of magnets relative to each other 762.The complimentary magnet of respective external annex can also be orientated opposite polarity phase each other Right, thus external accessory can be only attached to self-propelling instrument 720, the opposed magnet on external accessory is couple to rotary magnet and protects Opposed magnet 762 in holder 750.Therefore, when pivoting magnet holder 750 and pivoting, external accessory pivots accordingly.

Biasing assembly 758 can also include pivoted actuator 752, and this pivoted actuator 752 can set based on from controller The standby control command receiving causes pivoting magnet holder 750 and turns to.In one example, wherein the equipment of Fig. 7 B uses Fig. 1 System 100 realize, pivot order and can be received by transducer 102 and pass through processor 114 and process (as shown in Figure 1), with Pivoted actuator 752 performs described order.Therefore, the control function on controller equiment is (such as, in virtual steering mechanism User interface function) can be used for receiving user's input, this user input causes pivoting magnet holder 750 and turns to, and thus External accessory is made to turn to.Pivoting order in response to such, pivoted actuator 752 can be moved clockwise or counterclockwise by control State turns to.

Additionally or alternatively, self-propelling instrument 720 can be programmed and cause pivoted actuator 752 in response to some thing Part activates.For example, on startup, self-propelling instrument 720 can be programmed to detect the direction towards controller equiment.Based on The direction of controller, inner drive system 760 can rotate from puopulsion equipment 720, in order to calibration self-propelling instrument 720 is relative Forward direction in controller equiment.Additionally, pivoted actuator 752 can enable automatically so that pivoting magnet holder 750 turns To so that external accessory Controller-oriented equipment.

Additionally or alternatively, pivoting the forward direction that magnet holder 750 can have acquiescence, this acquiescence is forwards Forward direction to the internal drive system 760 meeting calibration.Therefore, when self-propelling instrument 720 by initial calibration to controller During the control of equipment, pivoted actuator 752 can be activated and automatically calibrate external accessory towards forward direction.Additionally, pivot Actuator 752 can be during collision accident or automatically start when another self-propelling instrument being detected in preset distance.More enter one Step ground, the combination of action can be performed by internal drive system 760 and pivot actuator 752, as programming action or event.

According to example, external accessory can also include the feature suppressing impact event, such as when self-propelling instrument 720 is crossed When projection or experience collision.Therefore external accessory can include contact portion, to keep contacting with the outer surface of spherical shell 757, And shell structure is to support any amount of feature or non-functional mechanism.Therefore, the 760th, internal drive system pivots cause The feature of dynamic device the 752nd, external accessory or non-functional assembly (for example, one or more loudspeakers) can be combined, so that Self-propelling instrument 720 shows different types of action.

The contact portion of external accessory can be couple to shell structure by one or more impact springs, to reduce impact to magnetic Property coupling impact.In an aspect of Fig. 7 A, when self-propelling instrument 720 crosses projection or experience collision accident, tilt The such event of impact spring available buffer of spring 708 and external accessory solves with self-propelling instrument 720 to reduce external accessory The possibility of coupling.

Fig. 8 is the sectional view of the example self-propelling instrument including magnetic array.Self-propelling instrument 800 and corresponding external accessory The various elements discussing above with respect to Fig. 1,2A-2C, 3A-3B, 4A-4B, 5A-5B, 6 and 7A-7B can be included.According to described herein Many examples, self-propelling instrument 800 can include the internal drive system 810 being couple to biasing assembly 820.Biasing assembly 820 can include multiple biasing element the 816th, 818, pivot magnet holder 822, and one or more pivoted actuator 826, Turn to so that pivoting magnet holder 822 (and external accessory therefore).Biasing assembly 820 can be via inclined springs 814 It is couple to internal drive system 810, it is allowed to pivot magnet holder 822 and absorb impact, and external accessory will not set from self-propelled Standby 800 decouplings.

According to some examples, pivot the magnetic array 824 that magnetic retainer 822 can keep being made up of magnetic element array.So Magnetic element can be the array of neodymium or other permanent magnets.Alternately, magnetic array 824 can be by one or more electromagnetism Body is constituted to produce relatively powerful magnetic field.In some embodiments, external accessory can include corresponding unmagnetized black Non-ferrous metal is mutual with magnetic array 824 magnetic with self-propelling instrument 800.Alternatively, external accessory can include their own Complementary magnetic element or complimentary magnet array, mutual with the magnetic array 824 with self-propelling instrument 800.External accessory can include Shell structure, this shell structure maintains the complementary set of the magnetic element being couple to spherical shell.

The example steering state of Fig. 9 A-9B explanation self-propelling instrument under the operational control of control equipment.Self-propelling instrument 900 describe from the front view shown in Fig. 9 A-9B.It is shown in user on controller equiment 902 to input to perform to turn to.For example, use Family can provide input with the self-propelling instrument 900 that turns right, as shown in Figure 9 A.Self-propelling instrument 900 can receive input, and Implementing diversion order to internal drive system, this may result in intraware and tilts accordingly and roll.When intraware tilts and rolling When moving to perform to turn to, external accessory 904 also can roll accordingly, the magnetic of the internal magnets of holding and self-propelling instrument 900 Alternately.User's input type self-propelling instrument 900 that Fig. 9 B is depicted on controller equiment turns left, wherein intraware and External accessory correspondingly tilts and rolls.

Hardware block diagram

Figure 10 is the example block diagram of the computer system illustrating that the example of description can be implemented within.For example, with regard to Fig. 1's One or more assemblies that system 100 is discussed can be performed by the system 1000 of Figure 10.Additionally, computer system 1000 can Self-propelling instrument is implemented or the part as self-propelling instrument, such as Fig. 2 A-2C, Fig. 3 A-3B, Fig. 4 A-4C, Fig. 5 A- Shown in the example of 5B, Fig. 6, Fig. 7 A-7B, Fig. 8 and Fig. 9 A-9B.

In one embodiment, computer system 1000 includes processing the 1020th, the read-only storage of resource the 1010th, main storage Device the 1030th, storage device 1040 and communication interface 1050.Computer system 1000 includes for processing at least one of information Processor 1010 and main storage 1020 (such as, random access memory (RAM) or other dynamic memories), main storage 1020 by the information being performed by processor 1010 and instruct 1022 for storage.Instruction 1022 for example can realize setting to from control The explanation of the input in inputting to order for 1002.Main storage 1020 can be also used for storage temporary variable or perform by Reason device 1010 performs other average informations during instruction.Computer system 1000 may also comprise read-only storage (ROM) 1030 Or other static storage devices, for storing static information and the instruction of processor 1010.There is provided storage device 1040 (such as, Disk or CD) it is used for storing information and instruction.For example, storage device 1040 can correspond to computer-readable medium, and it touches Send out logic for handling the self-propelling instrument being discussed with regard to Fig. 1-2.

Communication interface 1050 can make computer system 1000 via set up network link 1052 (wirelessly or non-wirelessly) with Controller equiment 1002 communicates.Using network link 1052, computer system 1000 can receive command instruction, is used for grasping Vertical self-propelling instrument.

Example described herein is directed to use with computer system 1000 to realize technique described herein.With according to illustrated in fig. 10 Example, performs to be included in one or more sequences of one or more of main storage 1020 instruction in response to processor 1010 Row, these technology are performed by computer system 1000.This instruction can (such as, storage sets from another machine readable media Standby 1040) main storage 1020 is read.The command sequence performing to comprise in main storage 1020 causes processor 1010 to be held Row process described herein step.In an alternative embodiment, hardware circuitry can be used for replacing or combines software instruction To implement example as herein described.Therefore, the example of description is not limited to the particular combination of any hardware circuit and software.

Although some embodiment has been described above, it should be appreciated that described embodiment is merely exemplary.Cause This, the disclosure should not necessarily be limited to the example describing.On the contrary, when combining described above and accompanying drawing, the scope of the present disclosure should only limit In follow-up claim.

Claims (19)

1. a self-propelling instrument, it is characterised in that described self-propelling instrument includes:

Spherical shell；

Internal drive system, it is interior and operable and make described from pushing away that described internal drive system is enclosed in described spherical shell Enter device rolling；

Internal structure, described internal structure is enclosed in described spherical shell and is coupled to described internal drive system；Institute Stating internal structure and including magnet holder, described magnet holder keeps first group of magnetic interactive elements, and wherein said magnet keeps Device includes pivot and one or more actuator, and described actuator is used for making described magnet holder at described spherical shell Interior pivot；

External accessory, described external accessory includes second group of magnetic interactive elements；With

Wave point, for receiving the control command from controller equiment；

Wherein when described spherical shell rolls, and when described pivot makes described magnet holder pivot, described One group of magnetic interactive elements keeps magnetic mutual by described spherical shell with described second group of magnetic interactive elements, and described magnetic is mutual Described external accessory is made to pivot accordingly when described magnet holder pivots.

2. self-propelling instrument as claimed in claim 1, it is characterised in that described first group of magnetic interactive elements includes being oriented tool Have the first magnet and second magnet of opposite polarity；Wherein said second group of magnetic interactive elements includes being oriented and has opposite polarity The first magnet and the second magnet, in order to couple with the first magnet and the second magnet magnetic of described magnet holder respectively.

3. self-propelling instrument as claimed in claim 1, it is characterised in that described self-propelling instrument farther includes:

Bias subassemblies, described bias subassemblies is couple to described internal drive system so that described internal drive system continues Engage the inner surface of described spherical shell.

4. self-propelling instrument as claimed in claim 3, it is characterised in that described bias subassemblies includes multiple gate-type axle, often Individual gate-type axle includes bias spring, to engage the inner surface of described spherical shell at multiple contact points.

5. self-propelling instrument as claimed in claim 3, it is characterised in that described bias subassemblies and magnet holder constitute institute State the single intraware in spherical shell.

6. self-propelling instrument as claimed in claim 5, it is characterised in that described single intraware passes through one or more bullets Spring is couple to described internal drive system.

7. self-propelling instrument as claimed in claim 1, it is characterised in that described external accessory includes shell structure and contact Part, described contact portion engages the outer surface of described spherical shell.

8. self-propelling instrument as claimed in claim 7, it is characterised in that the contact portion of described external accessory includes sliding axle Hold to engage the outer surface of described spherical shell.

9. self-propelling instrument as claimed in claim 8, it is characterised in that described sliding bearing includes that described second group of magnetic is mutual Element.

10. self-propelling instrument as claimed in claim 7, it is characterised in that described shell structure includes that described second group of magnetic is handed over Mutual element.

11. self-propelling instruments as claimed in claim 7, it is characterised in that described external accessory includes coupling described housing knot Structure and one or more springs of contact portion.

12. self-propelling instruments as claimed in claim 7, it is characterised in that the contact portion of described external accessory includes passing through The one wheel pairs that shaft assembly couples, the pair of wheel engages the outer surface of described spherical shell.

13. self-propelling instruments as claimed in claim 12, it is characterised in that described external accessory includes described shell structure It is couple to one or more springs of the shaft assembly of described contact portion.

14. self-propelling instruments as claimed in claim 1, it is characterised in that described first group of magnetic interactive elements and second group of magnetic In interactive elements each group all includes one or more ferromagnetic element, one or more magnet or one or more electromagnetism Element.

15. self-propelling instruments as claimed in claim 1, it is characterised in that described internal drive system includes operating the first round First motor of son and the second motor of operation the second wheel, described first wheel and the second wheel engage described spherical shell The inner surface of body.

16. self-propelling instruments as claimed in claim 1, it is characterised in that pivoting described actuator can be based on from described control The pivot order that device equipment receives causes described magnet holder to turn to.

17. self-propelling instruments as claimed in claim 16, it is characterised in that when described magnet holder pivots, outside attached Part pivots accordingly.

18. self-propelling instruments as claimed in claim 1, it is characterised in that described self-propelling instrument farther includes:

Power supply, described supply coupling is to described internal drive system；With

Induction charging port, for realizing the induction charging of described power supply.

19. self-propelling instruments as claimed in claim 6, it is characterised in that the one or more spring by described single in Parts is coupled to described internal drive system, and the one or more spring includes vertical inclined springs, for described Impulsive force on described single intraware for cushioning effect during self-propelling instrument experience collision accident.