Self propelled device with magnetic coupling
A self-propelled device includes a spherical housing and an internal drive system. The self-propelled device can further include an internal structure having a magnet holder that holds a first set of magnets and an external accessory comprising a second set of magnets to magnetically interact, through the spherical housing, with the first set magnets.
1. A self-propelled device comprising:
a spherical housing comprising an inner surface;
an internal drive system enclosed within the spherical housing and operable to accelerate and maneuver the self-propelled device;
an internal structure coupled to the internal drive system and comprising a magnet holder, the magnet holder including a first magnetically interactive element;
a spring for biasing the magnet holder towards the inner surface of the spherical housing;
an external accessory comprising a second magnetically interactive element to magnetically interact, through the spherical housing, with the first magnetically interactive element as the self-propelled device accelerates and maneuvers;
a wireless communication interface to receive control inputs; and
one or more processors to process the control inputs and implement commands on the internal drive system, based on the control inputs, to accelerate and maneuver the self-propelled device.
2. The self-propelled device of claim 1 , wherein the internal drive system comprises a plurality of biasing elements for causing the internal drive system to exert a force on the inner surface.
3. The self-propelled device of claim 2 , wherein the plurality of biasing elements comprise a plurality of wheels.
4. The self-propelled device of claim 3 , wherein the plurality of biasing elements are rigidly connected to the internal structure.
5. The self-propelled device of claim 3 , wherein the spring is disposed between the plurality of biasing elements.
6. The self-propelled device of claim 2 , wherein the spring biases the plurality of biasing elements into the inner surface.
7. The self-propelled device of claim 6 , wherein the first magnetically interactive element does not contact the inner surface.
8. The self-propelled device of claim 1 , wherein the first magnetically interactive element comprises a first pair of magnets, and wherein the second magnetically interactive element comprises a second pair of magnets.
9. The self-propelled device of claim 1 , wherein the internal drive system comprises a pair of motor-driven wheels.
10. The self-propelled device of claim 1 , wherein the external accessory is dome-shaped or hemispherical and includes an underlying surface that corresponds to a curvature of the spherical housing.
11. A self-propelled device comprising:
a spherical housing comprising an inner surface;
an internal drive system enclosed within the spherical housing and operable to accelerate and maneuver the self-propelled device;
an internal structure coupled to the internal drive system and comprising a carrier and a pivoting magnet holder configured to pivot relative to the carrier, the pivoting magnet holder including a first magnetically interactive element;
an external accessory comprising a second magnetically interactive element to magnetically interact, through the spherical housing, with the first magnetically interactive element as the self-propelled device accelerates and maneuvers;
a wireless communication interface to receive control inputs; and
one or more processors to process the control inputs and implement commands on the internal drive system, based on the control inputs, to accelerate and maneuver the self-propelled device.
12. The self-propelled device of claim 11 , further comprising a pivot actuator for pivoting the pivoting magnet holder relative to the carrier.
13. The self-propelled device of claim 11 , further comprising a spring for biasing the pivoting magnet holder.
14. The self-propelled device of claim 13 , wherein the spring biases a plurality of biasing elements into the inner surface.
15. The self-propelled device of claim 11 , wherein the first magnetically interactive element does not contact the inner surface.
16. The self-propelled device of claim 11 , wherein the first magnetically interactive element comprises a first pair of magnets, and wherein the second magnetically interactive element comprises a second pair of magnets.
17. The self-propelled device of claim 11 , wherein the internal drive system comprises a pair of motor-driven wheels.
18. The self-propelled device of claim 11 , wherein the external accessory is dome-shaped or hemispherical and includes an underlying surface that corresponds to a curvature of the spherical housing.