SELF-PROPELLED DEVICE IMPLEMENTING THREE-DIMENSIONAL CONTROL
First Claim
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1. A method for operating a self-propelled device comprising an internal drive system, the method comprising:
- using processing resources of the self-propelled device to perform steps comprising;
maintaining, on the self-propelled device, an initial frame of reference that rotates about each of an x-axis, a y-axis, and a z-axis as the self-propelled device moves;
receiving, from a two-dimensional steering mechanism of a controller device, a two-dimensional input to control the self-propelled device;
translating the two-dimensional input into a three-dimensional, rotational motion for the self-propelled device about each of the x-axis, the y-axis, and the z-axis; and
based on translating the two-dimensional input, maneuvering the self-propelled device about each of the x-axis, the y-axis, and the z-axis while continuously maintaining the initial frame of reference;
wherein the internal drive system of the self-propelled device is dynamically unstable when maneuvering about one or more of the x-axis, the y-axis, or the z-axis, and wherein maneuvering the self-propelled device includes processing feedback during movement, from one or more sensors of the self-propelled device, to compensate for the internal drive system being dynamically unstable.
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Abstract
A self-controlled device maintains a frame of reference about an x-, y- and z-axis. The self-controlled device processes an input to control the self-propelled device, the input being based on the x- and y-axis. The self-propelled device is controlled in its movement, including about each of the x-, y- and z-axis, based on the input.
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Citations
1 Claim
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1. A method for operating a self-propelled device comprising an internal drive system, the method comprising:
using processing resources of the self-propelled device to perform steps comprising; maintaining, on the self-propelled device, an initial frame of reference that rotates about each of an x-axis, a y-axis, and a z-axis as the self-propelled device moves; receiving, from a two-dimensional steering mechanism of a controller device, a two-dimensional input to control the self-propelled device; translating the two-dimensional input into a three-dimensional, rotational motion for the self-propelled device about each of the x-axis, the y-axis, and the z-axis; and based on translating the two-dimensional input, maneuvering the self-propelled device about each of the x-axis, the y-axis, and the z-axis while continuously maintaining the initial frame of reference; wherein the internal drive system of the self-propelled device is dynamically unstable when maneuvering about one or more of the x-axis, the y-axis, or the z-axis, and wherein maneuvering the self-propelled device includes processing feedback during movement, from one or more sensors of the self-propelled device, to compensate for the internal drive system being dynamically unstable.
Specification