SELF-PROPELLED DEVICE IMPLEMENTING THREE-DIMENSIONAL CONTROL

• US 20160291591A1
• Filed: 06/09/2016
• Published: 10/06/2016
• Est. Priority Date: 01/05/2011
• Status: Active Grant

• Current Assignee: Sphero Inc.
• Original Assignee: Sphero Inc.
• Inventors: Bernstein, Ian H., Wilson, Adam, Hygh, David E.
• Granted Patent: US 9,952,590 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: 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 can determine an initial reference frame of the self-propelled device in three-dimensional space, receive control inputs from a controller device, where the control inputs can be inputted by a user on a steering mechanism of the controller device. The self-propelled device can interpret the control inputs as control commands to maneuver the self-propelled device, and implement the control commands on an internal drive system of the self-propelled device to maneuver the self-propelled device based on the control inputs. While maneuvering, the self-propelled device can determine an orientation of the internal drive system within a spherical housing of the self-propelled device in relation to the initial reference frame, and transmit feedback to the controller device based on the orientation of the internal drive system in order to calibrate an orientation of the steering mechanism with the orientation of the internal drive system.

Claims

1. A self-propelled device comprising:

a spherical housing;

an internal drive system included within the spherical housing and operable to engage an inner surface of the spherical housing to accelerate and maneuver the self-propelled device;

a wireless communication interface;

one or more processors included within the spherical housing; and

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

determine an initial reference frame of the self-propelled device in three-dimensional space;

receive control inputs over the wireless communication interface from a controller device, the control inputs being received to control movement of the self-propelled device, the control inputs further being inputted by a user on a steering mechanism of the controller device;

interpret the control inputs as control commands to maneuver the self-propelled device;

implement the control commands on the internal drive system to maneuver the self-propelled device based on the control inputs;

while maneuvering the self-propelled device, determine an orientation of the internal drive system within the spherical housing in relation to the initial reference frame; and

transmit feedback to the controller device based on the orientation of the internal drive system in order to calibrate an orientation the steering mechanism with the orientation of the internal drive system.

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

a sensor array included within the spherical housing, the sensor array providing sensor data to the one or more processors to enable the one or more processors to determine the orientation of the internal drive system in relation to the initial reference frame.

3. The self-propelled device of claim 2, wherein the sensor array comprises an inertial measurement unit (IMU).

4. The self-propelled device of claim 2, wherein the sensor array comprises at least one of three-axis gyroscope, a three-axis accelerometer, or a three-axis magnetometer.

5. The self-propelled device of claim 2, wherein operation of the internal drive system within the spherical housing produces a dynamic inherent instability of the internal drive system, and wherein the executed instructions further cause the one or more processors to:

continuously receive the sensor data from the sensor array to determine characteristics of the dynamic inherent instability; and

dynamically generate correction commands to implement on the internal drive system to continuously compensate of the dynamic inherent instability of the internal drive system.

6. The self-propelled device of claim 5, wherein the correction commands comprise pitch correction commands and yaw correction commands that stabilize the internal drive system within the spherical housing.

7. The self-propelled device of claim 6, wherein the internal drive system comprises a pair of independent motors operating a pair of wheels, and wherein the executed instructions cause the one or more processors to selectively implement the control commands, the pitch correction commands, and the yaw correction commands on the independent motors to maneuver the self-propelled device while maintaining stability of the internal driver system within the spherical housing.

8. 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:

determine an initial reference frame of the self-propelled device in three-dimensional space;

receive control inputs from a controller device, the control inputs being received to control movement of the self-propelled device, the control inputs further being inputted by a user on a steering mechanism of the controller device;

interpret the control inputs as control commands to maneuver the self-propelled device;

implement the control commands on an internal drive system of the self-propelled device to maneuver the self-propelled device based on the control inputs;

while maneuvering the self-propelled device, determine an orientation of the internal drive system within a spherical housing of the self-propelled device in relation to the initial reference frame; and

transmit feedback to the controller device based on the orientation of the internal drive system in order to calibrate and orientation of the steering mechanism with the orientation of the internal drive system.

9. The non-transitory computer readable medium of claim 8, wherein the self-propelled device includes a sensor array within the spherical housing, the sensor array providing sensor data to the one or more processors to enable the one or more processors to determine the orientation of the internal drive system in relation to the initial reference frame.

10. The non-transitory computer readable medium of claim 9, wherein the sensor array comprises an inertial measurement unit (IMU).

11. The non-transitory computer readable medium of claim 9, wherein the sensor array comprises at least one of three-axis gyroscope, a three-axis accelerometer, or a three-axis magnetometer.

12. The non-transitory computer readable medium of claim 9, wherein operation of the internal drive system within the spherical housing produces a dynamic inherent instability of the internal drive system, and wherein the executed instructions further cause the one or more processors to:

continuously receive the sensor data from the sensor array to determine characteristics of the dynamic inherent instability; and

dynamically generate correction commands to implement on the internal drive system to continuously compensate of the dynamic inherent instability of the internal drive system.

13. The non-transitory computer readable medium of claim 12, wherein the correction commands comprise pitch correction commands and yaw correction commands that stabilize the internal drive system within the spherical housing.

14. The non-transitory computer readable medium of claim 13, wherein the internal drive system comprises a pair of independent motors operating a pair of wheels, and wherein the executed instructions cause the one or more processors to selectively implement the control commands, the pitch correction commands, and the yaw correction commands on the independent motors to maneuver the self-propelled device while maintaining stability of the internal driver system within the spherical housing.

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

determining an initial reference frame of the self-propelled device in three-dimensional space;

receiving control inputs from a controller device, the control inputs being received to control movement of the self-propelled device, the control inputs further being inputted by a user on a steering mechanism of the controller device;

interpreting the control inputs as control commands to maneuver the self-propelled device;

implementing the control commands on an internal drive system of the self-propelled device to maneuver the self-propelled device based on the control inputs;

while maneuvering the self-propelled device, determining an orientation of the internal drive system within a spherical housing of the self-propelled device in relation to the initial reference frame; and

transmitting feedback to the controller device based on the orientation of the internal drive system in order to calibrate an orientation of the steering mechanism with the orientation of the internal drive system.

16. The computer-implemented method of claim 15, wherein the self-propelled device includes a sensor array within the spherical housing, the sensor array providing sensor data to the one or more processors to enable the one or more processors to determine the orientation of the internal drive system in relation to the initial reference frame.

17. The computer-implemented method of claim 16, wherein the sensor array comprises an inertial measurement unit (IMU).

18. The computer-implemented method of claim 16, wherein operation of the internal drive system within the spherical housing produces a dynamic inherent instability of the internal drive system, and wherein the executed instructions further cause the one or more processors to:

continuously receive the sensor data from the sensor array to determine characteristics of the dynamic inherent instability; and

dynamically generate correction commands to implement on the internal drive system to continuously compensate of the dynamic inherent instability of the internal drive system.

19. The computer-implemented method of claim 18, wherein the correction commands comprise pitch correction commands and yaw correction commands that stabilize the internal drive system within the spherical housing.

20. The computer-implemented method of claim 19, wherein the internal drive system comprises a pair of independent motors operating a pair of wheels, and wherein the executed instructions cause the one or more processors to selectively implement the control commands, the pitch correction commands, and the yaw correction commands on the independent motors to maneuver the self-propelled device while maintaining stability of the internal driver system within the spherical housing.