Self-propelled device for interpreting input from a controller device

• US 10,012,985 B2
• Filed: 06/13/2016
• Issued: 07/03/2018
• Est. Priority Date: 01/05/2011
• Status: Active Grant

• Current Assignee: Sphero Inc.
• Original Assignee: Sphero Inc.
• Inventors: Bernstein, Ian H., Wilson, Adam, Smith, Brian Keith, Carroll, Jonathan
• Primary Examiner(s): CHEUNG, CALVIN K
• Application Number:
  US15/180,485
• Publication Number:
  US 20160282871A1
• Time in Patent Office: 750 Days
• CPC Class Codes: A63H 30/04 using wireless transmission
• CPC Class Codes: A63H 33/005 Motorised rolling toys
• CPC Class Codes: B62D 61/00 Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0044 by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps maps used for automatic navigation G05D1/0274; flight directors G01C23/005
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0259 using magnetic or electromagnetic means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0891 specially adapted for land vehicles
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A self-propelled device operates to interpret an input corresponding to a set of actions that are performed on a controller device.

Claims

1. A self-propelled device comprising:

a drive system;

an inertial measurement unit (IMU); and

one or more processors to execute motion input instructions, causing the one or more processors to;

receive, from a controller device, motion-sensed inputs corresponding to a set of actions performed by a user of the controller device, the set of actions comprising the user moving the controller device in three-dimensional space;

interpret the motion-sensed inputs as a set of commands according to the executing motion input instructions to maneuver the self-propelled device, the executing motion input instructions being specific to interpreting data from the controller device corresponding to the user moving the controller device in three-dimensional space;

implement the set of commands on the drive system to maneuver the self-propelled device based on the set of actions performed by the user;

determine an initial reference frame utilizing data from the IMU; and

transmit information corresponding to the initial reference frame to the controller device to calibrate the initial reference frame of the self-propelled device with a generated graphic steering mechanism on a touch-screen display of the controller device.

2. The self-propelled device of claim 1, further comprising:

a spherical housing within which the drive system and the one or more processors are disposed.

3. The self-propelled device of claim 2, further comprising:

a carrier to which the drive system and a circuit board comprising the one or more processors are coupled; and

a biasing mechanism mounted to the carrier, the biasing mechanism comprising one or more springs and providing a biasing force against an inner surface of the spherical housing, causing a plurality of wheels of the drive system to continuously engage the inner surface of the spherical housing.

4. The self-propelled device of claim 2, wherein the drive system comprises a pair of independent motors that drive a pair of wheels that continuously engage an inner surface of the spherical housing.

5. The self-propelled device of claim 2, further comprising:

a light emitting component disposed within the spherical housing, the light-emitting component being visible external to the self-propelled device and indicating a forward operating direction of the self-propelled device;

wherein the spherical housing is at least partially translucent to enable at least one of transmission or diffusion of light.

6. The self-propelled device of claim 1, wherein the one or more processors execute control input instructions, causing the one or more processors to:

receive, from the controller device, control inputs corresponding to the user performing touchscreen inputs on the generated graphic steering mechanism;

interpret the control inputs as a second set of commands to maneuver the self-propelled device; and

implement the second set of commands on the drive system to maneuver the self-propelled device based on the touchscreen inputs on the generated graphic steering mechanism.

7. The self-propelled device of claim 6, wherein the motion input instructions are executed by the one or more processors based on a first controller application being initiated on the controller device, and wherein the control input instructions are executed by the one or more processors based on a second controller application being initiated on the controller device.

8. The self-propelled device of claim 1, wherein the self-propelled device is operable in an autonomous mode in which the one or more processors implement control commands on the drive system in response to sensor input from one or more sensors of the self-propelled device.

9. A computer-implemented method for operating a self-propelled device, the method being performed by one or more processors of the self-propelled device and comprising:

receiving, from a controller device, motion-sensed inputs corresponding to a set of actions performed by a user of the controller device, the set of actions comprising the user moving the controller device in three-dimensional space;

interpreting the motion-sensed inputs as a set of commands according to motion input instructions executable by the one or more processors to maneuver the self-propelled device, the executable motion input instructions being specific to interpreting data from the controller device corresponding to the user moving the controller device in three-dimensional space;

implementing the set of commands on a drive system of the self-propelled device to maneuver the self-propelled device based on the set of actions performed by the user;

determining an initial reference frame utilizing data from an inertial measurement unit (IMU) of the self-propelled device; and

transmitting information corresponding to the initial reference frame to the controller device to calibrate the initial reference frame of the self-propelled device with a generated graphic steering mechanism on a touch-screen display of the controller device.

10. The computer-implemented method of claim 9, wherein the self-propelled device includes a spherical housing within which the drive system and the one or more processors are disposed.

11. The computer-implemented method of claim 10, wherein the self-propelled device further includes (i) a carrier to which the drive system and a circuit board comprising the one or more processors are coupled, and

(ii) a biasing mechanism mounted to the carrier, the biasing mechanism comprising one or more springs and providing a biasing force against an inner surface of the spherical housing, causing a plurality of wheels of the drive system to continuously engage the inner surface of the spherical housing.

12. The computer-implemented method of claim 9, wherein the drive system comprises a pair of independent motors that drive a pair of wheels that continuously engage an inner surface of the spherical housing.

13. The computer-implemented method of claim 9, wherein the self-propelled device further includes a light emitting component disposed within the spherical housing, the light-emitting component being visible external to the self-propelled device and indicating a forward operating direction of the self-propelled device, and wherein the spherical housing is at least partially translucent to enable at least one of transmission or diffusion of light.

14. The computer-implemented method of claim 9, further comprising:

receiving, from the controller device, control inputs corresponding to the user performing touchscreen inputs on the generated graphic steering mechanism;

interpret the control inputs according to control input instructions, executable by the one or more processors, as a second set of commands to maneuver the self-propelled device; and

implement the second set of commands on the drive system to maneuver the self-propelled device based on the touchscreen inputs on the generated graphic steering mechanism.

15. The computer-implemented method of claim 14, wherein the motion input instructions are executed by the one or more processors based on a first controller application being initiated on the controller device, and

wherein the control input instructions are executed by the one or more processors based on a second controller application being initiated on the controller device.

16. The computer-implemented method of claim 14, wherein the self-propelled device is operable in an autonomous mode in which the one or more processors implement control commands on the drive system in response to sensor input from one or more sensors of the self-propelled device.

17. A non-transitory computer-readable medium storing instructions that, when executed by one or more processors of a self-propelled device, cause the one or more processors to:

receive, from a controller device, motion-sensed inputs corresponding to a set of actions performed by a user of the controller device, the set of actions comprising the user moving the controller device in three-dimensional space;

interpret the motion-sensed inputs as a set of commands according to motion input instructions executable by the one or more processors to maneuver the self-propelled device, the executable motion input instructions being specific to interpreting data from the controller device corresponding to the user moving the controller device in three-dimensional space;

implement the set of commands on a drive system to maneuver the self-propelled device based on the set of actions performed by the user;

determine an initial reference frame utilizing data from an inertial measurement unit (IMU); and

transmit information corresponding to the initial reference frame to the controller device to calibrate the initial reference frame of the self-propelled device with a generated graphic steering mechanism on a display of the controller device.