Self-propelled device implementing three-dimensional control
First Claim
1. A method for operating a self-propelled device, the method comprising:
- receiving control inputs from an external source;
maneuvering, in accordance with the control inputs, the self-propelled device so that the self-propelled device exhibits motion about each of an x-axis, a y-axis and a z-axis;
while maneuvering the self-propelled device, maintaining, on the self-propelled device, a frame of reference about each of the x-axis, y-axis, and z-axis;
implementing the control inputs as a three-dimensional, rotational motion, so that a spherical housing of the self-propelled device is maneuvered about the x-axis, the y-axis, and the z-axis in response to receiving the control inputs; and
providing an outwardly visible feature to indicate the frame of reference while the self-propelled device is maneuvered.
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Accused Products
Abstract
A self-propelled device can include a spherical housing, an internal drive system, and an inertial measurement unit. The self-propelled device can determine an initial frame of reference for the self-propelled device in a three-dimensional coordinate system. The self-propelled device can further receive control inputs from a controller device, translate the control inputs into commands to maneuver the self-propelled device, and implement the commands on the internal drive system to cause the spherical housing to rotate about each axis of the three-dimensional coordinate system. Utilizing the IMU, the self-propelled device can maintain an awareness of an orientation of the spherical housing relative to the initial frame of reference as the spherical housing rotates about each axis of the three-dimensional coordinate system.
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Citations
21 Claims
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1. A method for operating a self-propelled device, the method comprising:
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receiving control inputs from an external source; maneuvering, in accordance with the control inputs, the self-propelled device so that the self-propelled device exhibits motion about each of an x-axis, a y-axis and a z-axis; while maneuvering the self-propelled device, maintaining, on the self-propelled device, a frame of reference about each of the x-axis, y-axis, and z-axis; implementing the control inputs as a three-dimensional, rotational motion, so that a spherical housing of the self-propelled device is maneuvered about the x-axis, the y-axis, and the z-axis in response to receiving the control inputs; and providing an outwardly visible feature to indicate the frame of reference while the self-propelled device is maneuvered. - View Dependent Claims (2, 3, 4, 5)
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6. A self-propelled device comprising:
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a spherical housing; an internal drive system provided within the spherical housing to maneuver the spherical housing; a wireless receiver to receive control inputs from an external source; an externally visible feature provided with the spherical housing; an internal controller coupled to the wireless receiver; wherein the internal controller responds to control inputs received on the wireless receiver by; maneuvering, in accordance with the control inputs, the self-propelled device so that the self-propelled device exhibits motion about each of an x-axis, a y-axis and a z-axis; while the self-propelled device is maneuvered, maintaining, on the self-propelled device, a frame of reference about each of the x-axis,the y-axis, and the z-axis; implementing the control inputs as a three-dimensional, rotational motion, so that the spherical housing is maneuvered about the x-axis, the y-axis, and the z-axis in response to receiving the control inputs; and indicating the frame of reference using the externally visible feature provided with the spherical housing, while the self-propelled device is maneuvered. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification