Self-propelled device for interpreting input from a controller device

• US 9,114,838 B2
• Filed: 01/03/2012
• Issued: 08/25/2015
• Est. Priority Date: 01/05/2011
• Status: Active Grant

• Current Assignee: Sphero Inc.
• Original Assignee: Sphero Inc.
• Inventors: Bernstein, Ian H., Wilson, Adam, Smith, Brian Keith, Carroll, Jonathan
• Primary Examiner(s): Cheung, Calvin
• Application Number:
  US13/342,908
• Publication Number:
  US 20120168241A1
• Time in Patent Office: 1,330 Days
• Field of Search: 700/264, 472/4, 472/446, 701 1- 2, 701/18, 701 56- 58, 701/61
• 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 operates to interpret an input corresponding to a set of actions that are performed on a controller device.

Claims

1. A computer-implemented method performed by one or more processors of a self-propelled spherical device, the computer-implemented method comprising:

(a) receiving, from a mobile computing device, motion-sensed inputs corresponding to a set of actions performed by a user of the mobile computing device, the motion-sensed inputs corresponding to the user'"'"'s manipulation of the mobile computing device through a sensor set that can detect the mobile computing device moving in three-dimensional space, the sensor set including at least an accelerometer;

(b) interpreting the motion-sensed inputs as a set of commands according to instructions executable by the one or more processors to maneuver the self-propelled spherical device, the executable instructions including motion input instructions specific to interpreting the user'"'"'s manipulation of the mobile computing device through the sensor set; and

(c) implementing the set of commands on a drive system of the self-propelled spherical device to maneuver the self-propelled spherical device in accordance with the executable instructions; and

(d) controlling the self-propelled spherical device.

2. The method of claim 1, wherein the set of actions include at least one action that has an inherent directional characteristic, and wherein (c) includes interpreting the at least one action as a directional command and maneuvering the self-propelled spherical device, based on the directional command, in a manner that is not correlative of the inherent directional characteristic of the at least one action.

3. The method of claim 2, wherein the directional command causes the self-propelled spherical device to maneuver linearly in a first direction that is not correlative of the inherent directional characteristic of the at least one action.

4. The method of claim 2, wherein the directional command causes the self-propelled spherical device to maneuver in multiple directions, including in at least one direction that is not correlative of the inherent directional characteristic of the at least one action.

5. The method of claim 2, wherein the directional command causes the self-propelled spherical device to maneuver in at least one rotational direction that is not correlative of the inherent directional characteristic of the at least one action.

6. The method of claim 1, wherein the executable instructions, when executed, cause the self-propelled spherical device to control a direction, a velocity, a rotational motion, or a path of the self-propelled spherical device.

7. The method of claim 1, wherein the set of actions performed by the user include a touch input that is indicative of a first direction, and wherein (c) includes interpreting the touch input as a directional command and maneuvering the self-propelled spherical device in at least a second direction that is different than the first direction in accordance with the directional command.

8. The method of claim 1, wherein (a) includes receiving a directional motion input corresponding to the user moving the mobile computing device in a manner that is indicative of a first direction, and wherein (c) includes interpreting the directional motion input as a directional command and maneuvering the self-propelled spherical device in at least a second direction that is different than the first direction in accordance with the directional command.

9. The method of claim 1, wherein the set of actions includes a first type of action that is detected by a first mechanism of the mobile computing device, and wherein the user moving the mobile computing device is detected by a second mechanism of the mobile computing device, and wherein the executable instructions include instructions to maneuver the self-propelled spherical device in accordance with the first type of action and the user'"'"'s manipulation of the mobile computing device through the sensor set.

10. The method of claim 9, wherein the first mechanism corresponds to a first sensor in the sensor set of the mobile computing device, and the second mechanism corresponds to the accelerometer of the mobile computing device.

11. The method of claim 9, wherein the first type of action corresponds to the user touching one or more regions of a surface of the mobile computing device.

12. The method of claim 1, wherein the set of actions includes the user manipulating the mobile computing device through the sensor set while simultaneously performing a second action, and wherein the set of commands includes a command to further maneuver the self-propelled spherical device in accordance with the second action.

13. The method of claim 12, wherein the second action corresponds to the user maintaining a position of one or more fingers on a display screen of the mobile computing device.

14. The method of claim 1, wherein the set of actions includes a prompted action corresponding to a generated user-prompt on a display of the mobile computing device, and wherein the set of commands includes a command to maneuver the self-propelled spherical device at least partially in accordance with the prompted action.

15. The method of claim 14, wherein the generated user prompt specifies the user to position a hand or finger on a specified area of the display.

16. The method of claim 1, wherein the user'"'"'s manipulation of the mobile computing device through the sensor set corresponds to a simulated golf stroke using the mobile computing device, and wherein the set of commands cause the self-propelled spherical device to maneuver in a manner that simulates a golf ball that is directed by the simulated golf stroke.

17. The method of claim 1, wherein the user'"'"'s manipulation of the mobile computing device through the sensor set corresponds to a simulated bowling stroke, and wherein the set of commands cause the self-propelled spherical device to maneuver in a manner that simulates a bowling ball that is directed by the simulated bowling stroke.

18. The method of claim 1, wherein the instructions executable by the one or more processors to maneuver the self-propelled spherical device include specified instructions corresponding to the user moving the mobile computing device linearly, in an arc, and rotationally, and wherein execution of the specified instructions causes the self-propelled spherical device to maneuver in accordance with the user moving the mobile computing device linearly, in an arc, and rotationally.

19. A system comprising:

a mobile computing device configured to detect a set of actions performed by a user operating the mobile computing device; and

a self-propelled spherical device in communication with the mobile computing device to;

receive motion sensed inputs corresponding to the set of actions, the motion sensed inputs corresponding to the user'"'"'s manipulation of the mobile computing device through a sensor set that can detect the mobile computing device moving in three-dimensional space, the sensor set including at least an accelerometer;

interpret the set of actions as a set of commands according to executable instructions for maneuvering the self-propelled spherical device, the executable instructions including motion input instructions specific to interpreting the user'"'"'s manipulation of the mobile computing device through the sensor set;

implement the set of commands on a drive system of the self-propelled spherical device to maneuver the self-propelled spherical device in accordance with the executable instructions; and

control the self-propelled spherical device.

20. A computer-implemented method performed by one or more processors of a mobile computing device, the computer-implemented method comprising:

(a) detecting a set of actions performed by a user on the mobile computing device, the set of actions including a first action in which the user manipulates the mobile computing device through a sensor set that can detect the mobile computing device moving in three-dimensional space, the sensor set including at least an accelerometer;

(b) interpreting the set of actions as a set of commands according to instructions executable by the mobile computing device for maneuvering the self-propelled spherical device, the executable instructions including motion input instructions specific to interpreting the first action;

(c) transmitting the set of commands to the self-propelled spherical device to cause the self-propelled spherical device to maneuver in accordance with the executable instructions; and

(d) remotely controlling the self-propelled spherical device.

21. The method of claim 20, wherein the first action corresponds to an arc motion, pivot, or linear movement of the mobile computing device by the user.

22. The method of claim 20, wherein the first action corresponds to the user holding the self-propelled spherical device while turning or walking.