Self-propelled device implementing three-dimensional control
First Claim
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1. A method for operating a self-propelled device comprising an internal drive system, the method comprising:
- using processing resources of the self-propelled device to perform steps comprising;
maintaining, on 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 for the self-propelled device about each of the x-axis, the y-axis, and the z-axis; and
based on translating the two-dimensional input, maneuvering the self-propelled device about each of the x-axis, the y-axis, and the z-axis while continuously maintaining the initial frame of reference;
wherein the internal drive system of the self-propelled device is dynamically unstable when maneuvering about one or more of the x-axis, the y-axis, or the z-axis, and wherein maneuvering the self-propelled device includes processing feedback during movement, from one or more sensors of the self-propelled device, to compensate for the internal drive system being dynamically unstable.
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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.
189 Citations
19 Claims
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1. A method for operating a self-propelled device comprising an internal drive system, the method comprising:
using processing resources of the self-propelled device to perform steps comprising; maintaining, on 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 for the self-propelled device about each of the x-axis, the y-axis, and the z-axis; and based on translating the two-dimensional input, maneuvering the self-propelled device about each of the x-axis, the y-axis, and the z-axis while continuously maintaining the initial frame of reference; wherein the internal drive system of the self-propelled device is dynamically unstable when maneuvering about one or more of the x-axis, the y-axis, or the z-axis, and wherein maneuvering the self-propelled device includes processing feedback during movement, from one or more sensors of the self-propelled device, to compensate for the internal drive system being dynamically unstable. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A system comprising:
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a controller device providing a graphic user interface comprising a two-dimensional steering mechanism to enable a user to enter two-dimensional control inputs; and a self-propelled device comprising an internal drive system, the self-propelled device operable to move under control of the controller device, the self-propelled device comprising; one or more processors; and one or more memory resources storing instructions that, when executed by the one or more processors, cause the one or more processors to perform operations comprising; maintaining, on 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 the two-dimensional steering mechanism of the controller device, the two-dimensional control inputs to control the self-propelled device; translating the two-dimensional control inputs into a three-dimensional, rotational motion for the self-propelled device about each of the x-axis, the y-axis, and the z-axis; and based on translating the two-dimensional input, maneuvering the self-propelled device about each of the x-axis, the y-axis, and the z-axis while continuously maintaining the initial frame of reference. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15)
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16. A self-propelled device comprising:
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an internal drive system operable to maneuver the self-propelled device; and a control system to; maintain, 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; process a two-dimensional control input received from a two-dimensional steering mechanism of a controller device; translate the two-dimensional control input into a three-dimensional, rotational motion for the self-propelled device about each of the x-axis, the y-axis, and the z-axis; and based on translating the two-dimensional input, implement control on the internal drive system to maneuver the self-propelled device about each of the x-axis, the y-axis, and the z-axis while continuously maintaining the initial frame of reference; wherein the internal drive system is dynamically unstable when maneuvering about one or more of the x-axis, the y-axis, or the z-axis, and wherein the control system processes feedback during movement, from a set of sensors of the self-propelled device, to compensate for the internal drive system being dynamically unstable. - View Dependent Claims (17, 18, 19)
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Specification