MULTI-PURPOSED SELF-PROPELLED DEVICE

• US 20160246299A1
• Filed: 05/04/2016
• Published: 08/25/2016
• Est. Priority Date: 01/05/2011
• Status: Active Grant

• Current Assignee: Sphero Inc.
• Original Assignee: Sphero Inc.
• Inventors: Berberian, Paul, Bernstein, Ian, Wilson, Adam, Hemmings, Kevin, MacGregor, Ross
• Granted Patent: US 10,168,701 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• 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: G01S 19/13 Receivers
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• 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 1/0259 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: Y10S 901/01 Mobile robot

Abstract

A self-propelled device can include at least a wireless interface, a housing, a propulsion mechanism, and a camera. Using the camera, the self-propelled device can generate a video feed and transmit the video feed to a controller device via the wireless interface. The self-propelled device can receive an input from the controller device indicating an object or location in the video feed. In response to the input, the self-propelled device can initiate an autonomous mode to autonomously operate the propulsion mechanism to propel the self-propelled device towards the object or location indicated in the video feed.

Claims

1. A self-propelled device comprising:

a wireless interface;

a housing;

a propulsion mechanism;

a camera; and

one or more processors to execute an instruction set, causing the self-propelled device to;

using the camera, generate a video feed;

transmit the video feed to a controller device via the wireless interface;

receive an input from the controller device indicating an object or location in the video feed; and

in response to the input, initiate an autonomous mode to autonomously operate the propulsion mechanism to propel the self-propelled device towards the object or location.

2. The self-propelled device of claim 1, wherein the self-propelled device comprises an aircraft.

3. The self-propelled device of claim 2, wherein the executed instruction set causes the self-propelled device to autonomously detect and maneuver around obstacles in propelling the self-propelled device towards the object or location.

4. The self-propelled device of claim 1, wherein the camera is mounted on a gyroscope of the self-propelled device.

5. The self-propelled device of claim 1, wherein the executed instruction set further causes the self-propelled device to:

initiate a control mode to (i) receive command inputs from the controller device, and (ii) operate the propulsion mechanism to accelerate and maneuver the self-propelled device based on the command inputs.

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

an inertial measurement unit;

wherein the executed instruction set further causes the self-propelled device to;

receive feedback from the inertial measurement unit to compensate for a dynamic instability of the self-propelled device; and

based on the feedback, dynamically stabilize pitch, roll, and yaw of the self-propelled device.

7. The self-propelled device of claim 6, wherein the inertial measurement unit comprises at least one of a three-axis gyroscopic sensor, a three-axis accelerometer, or a three-axis magnetometer.

8. The self-propelled device of claim 6, wherein the propulsion mechanism comprises a plurality of independent motors, and wherein the executed instruction set causes the self-propelled device to dynamically stabilize the pitch, roll, and yaw of the self-propelled device by generating correction signals for independent execution by the plurality of independent motors.

9. The self-propelled device of claim 6, wherein the executed instruction set further causes the self-propelled device to:

maintain an orientation awareness of the self-propelled device in relation to an initial frame of reference.

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

a global positioning system (GPS) device to provide GPS data to the controller device.

11. The self-propelled device of claim 1, wherein the controller device comprises a mobile computing device executing a software application specific to controlling the self-propelled device.

12. The self-propelled device of claim 11, wherein the mobile computing device comprises one of a smart phone or a tablet computer.

13. 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:

using a camera of the self-propelled device, generating a video feed;

transmitting the video feed to a controller device via a wireless interface of the self-propelled device;

receiving an input from the controller device indicating an object or location in the video feed; and

in response to the input, initiating an autonomous mode to autonomously operate a propulsion mechanism of the self-propelled device to propel the self-propelled device towards the object or location.

14. The method of claim 13, wherein the self-propelled device comprises an aircraft.

15. The method of claim 14, wherein in the autonomous mode, the one or more processors operate the propulsion mechanism to autonomously detect and maneuver around obstacles in propelling the self-propelled device towards the object or location.

16. The method of claim 13, further comprising:

initiating a control mode to (i) receive command inputs from the controller device, and (ii) operate the propulsion mechanism to accelerate and maneuver the self-propelled device based on the command inputs.

17. A controller device comprising:

a display screen;

one or more processors; and

one or more memory resources storing instructions that, when executed by the one or more processors, cause the controller device to;

receive a video feed from a self-propelled device;

display content corresponding to the video feed on the display screen;

receive a touch input on the display screen indicating an object or location in the video feed;

in response to the touch input, generate a command signal to command the self-propelled device to initiate an autonomous mode to autonomously accelerate and maneuver towards the object or location; and

transmit the command signal to the self-propelled device for execution.

18. The controller device of claim 17, wherein the controller device comprises one of a smart phone or a tablet computer executing a software application specific to controlling the self-propelled device.

19. The controller device of claim 18, wherein the self-propelled device comprises a radio-controllable aircraft.

20. The controller device of claim 17, wherein the executed instructions cause the controller device to generate the command signal by (i) mapping a relative position of the object or location in the video feed with a position of the object or location in a frame of reference of the self-propelled device, and (ii) including instructions to maneuver the self-propelled device toward to the object or location based on the frame of reference of the self-propelled device.