Self-propelled device implementing three-dimensional control

• US 9,952,590 B2
• Filed: 06/09/2016
• Issued: 04/24/2018
• 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.
• Primary Examiner(s): CHEUNG, CALVIN K
• Application Number:
  US15/177,809
• Publication Number:
  US 20160291591A1
• Time in Patent Office: 684 Days
• 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 drive system operable to maneuver the self-propelled device;

a wireless receiver; and

an internal controller operable to;

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

receive control inputs over the wireless receiver from a mobile device operated by a user, the control inputs being inputted by a user on the steering mechanism of the mobile device;

control the drive system to maneuver the self-propelled device based at least in part on the control inputs; and

continuously stabilize the self-propelled device while the self-propelled device is maneuvered by (i) determining an orientation of the self-propelled device in relation to the initial reference frame, and (ii) maintaining the orientation by counteracting a dynamic inherent instability of the self-propelled device.

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

a sensor array providing sensor data to the internal controller to enable the internal controller to determine the orientation of the self-propelled device 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 a three-axis gyroscope, a three-axis accelerometer, or a three-axis magnetometer.

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

one or more lights indicating one or more alignment reference points for the mobile device.

6. The self-propelled device of claim 2, wherein the internal controller counteracts the dynamic inherent instability of the self-propelled device by dynamically generating and implementing pitch, yaw, and roll correction commands on the drive system to stabilize the orientation of the self-propelled device.

7. The self-propelled device of claim 6, wherein the self-propelled device comprises a remotely operated aircraft, and wherein the drive system comprises a set of propellers.

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 mobile device operated by a user, the control inputs being inputted by the user on a steering mechanism of the mobile device;

control a drive system of the self-propelled device to maneuver the self-propelled device based at least in part on the control inputs; and

continuously stabilize the self-propelled device while the self-propelled device is maneuvered by (i) determining an orientation of the self-propelled device in relation the initial reference frame, and (ii) maintaining the orientation by counteracting a dynamic inherent instability of the self-propelled device.

9. The non-transitory computer readable medium of claim 8, wherein the self-propelled device includes a sensor array providing sensor data to the one or more processors to enable the one or more processors to determine the orientation of the self-propelled device 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 a three-axis gyroscope, a three-axis accelerometer, or a three-axis magnetometer.

12. The non-transitory computer readable medium of claim 9, wherein the self-propelled device includes one or more lights indicating one or more alignment reference points of the mobile device.

13. The non-transitory computer readable medium of claim 9, wherein the executed instructions cause the one or more processors to counteract the dynamic inherent instability of the self-propelled device by dynamically generating and implementing pitch, roll, and yaw correction commands on the drive system to stabilize the orientation of the self-propelled device.

14. The non-transitory computer readable medium of claim 13, wherein the self-propelled device comprises a remotely operated aircraft, and wherein the drive system comprises a set of propellers.

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 mobile device operated by a user, the control inputs being inputted by the user on a steering mechanism of the mobile device;

controlling a drive system of the self-propelled device to maneuver the self-propelled device based at least in part on the control inputs; and

continuously stabilizing the self-propelled device while the self-propelled device is maneuvered by (i) determining an orientation of the self-propelled device in relation to the initial reference frame, and (ii) maintaining the orientation of the self-propelled device by counteracting a dynamic inherent instability of the self-propelled device.

16. The computer-implemented method of claim 15, wherein the self-propelled device includes a sensor array providing sensor data to the one or more processors to enable the one or more processors to determine the orientation of the self-propelled device 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 the self-propelled device includes one or more lights indicating on or more alignment reference points for the controller.

19. The computer-implemented method of claim 16, wherein counteracting the dynamic inherent instability of the self-propelled device includes dynamically generating and implementing pitch, roll, and yaw correction commands on the drive system to stabilize the orientation of the self-propelled device.

20. The computer-implemented method of claim 19, wherein the self-propelled device comprises a remotely operated aircraft, and wherein the drive system comprises a set of propellers.