Self-propelled device implementing three-dimensional control
First Claim
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1. A system comprising:
- a controller device;
a self-propelled device including a spherical housing and an internal drive system, the internal drive system being provided within the spherical housing to maneuver the spherical housing under control of the controller device by;
maintaining, on the spherical housing, a frame of reference about each of an x-axis, a y-axis, and a z-axis as the spherical housing is maneuvered;
receiving, from a two-dimensional steering mechanism of the controller device, two-dimensional control inputs of a user operating the controller device, the controller device being external to the spherical housing;
implementing the two-dimensional control inputs as three-dimensional, rotational motion about each of the x-axis, the y-axis, and the z-axis, so that the spherical housing is maneuvered about the x-axis, the y-axis, and the z-axis in response to the two-dimensional control inputs being received; and
indicating the frame of reference by an outwardly visible feature while the spherical housing is maneuvered about the x-axis, the y-axis, and the z-axis.
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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
15 Claims
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1. A system comprising:
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a controller device; a self-propelled device including a spherical housing and an internal drive system, the internal drive system being provided within the spherical housing to maneuver the spherical housing under control of the controller device by; maintaining, on the spherical housing, a frame of reference about each of an x-axis, a y-axis, and a z-axis as the spherical housing is maneuvered; receiving, from a two-dimensional steering mechanism of the controller device, two-dimensional control inputs of a user operating the controller device, the controller device being external to the spherical housing; implementing the two-dimensional control inputs as three-dimensional, rotational motion about each of the x-axis, the y-axis, and the z-axis, so that the spherical housing is maneuvered about the x-axis, the y-axis, and the z-axis in response to the two-dimensional control inputs being received; and indicating the frame of reference by an outwardly visible feature while the spherical housing is maneuvered about the x-axis, the y-axis, and the z-axis. - View Dependent Claims (2, 3)
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4. A system comprising:
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a controller device; a self-propelled device including a spherical housing and an internal drive system, the internal drive system being provided within the spherical housing to maneuver the spherical housing under control of the controller device by; maintaining, on the spherical housing, an initial frame of reference that rotates about each of an x-axis, a y-axis, and a z-axis as the spherical housing is maneuvered; receiving, from a two-dimensional steering mechanism of the controller device, two-dimensional control inputs of a user operating the controller device, the controller device being external to the spherical housing; implementing the two-dimensional control inputs as three-dimensional, rotational motion about each of the x-axis, the y-axis, and the z-axis, so that the spherical housing is maneuvered about the x-axis, the y-axis, and the z-axis in response to the two-dimensional control inputs being received; and maintaining the initial frame of reference while the spherical housing is maneuvered about the x-axis, the y-axis, and the z-axis; wherein the controller device is calibrated based on the initial frame of reference. - View Dependent Claims (5, 6, 7, 8)
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9. A method for operating a self-propelled device, the method comprising:
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maintaining, for 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 of a spherical housing for the self-propelled device, the three-dimensional rotational motion being about each of the x-axis, the y-axis, and the z-axis; and based on translating the two-dimensional input, maneuvering the spherical housing about each of the x-axis, the y-axis, and the z-axis while maintaining the initial frame of reference. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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Specification