Self-propelled device implementing three-dimensional control

• US 9,395,725 B2
• Filed: 08/28/2015
• Issued: 07/19/2016
• 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:
  US14/839,610
• Publication Number:
  US 20150370257A1
• Time in Patent Office: 326 Days
• 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 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.

Claims

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.

2. The method of claim 1, further comprising:

processing, on a wireless controller, a user input in order to generate the control inputs, the wireless controller operating in a frame of reference that is different than that of the self-propelled device.

3. The method of claim 1, wherein receiving the control inputs includes receiving two-dimensional control inputs from a wireless controller of the self-propelled device.

4. The method of claim 1, wherein receiving the control inputs includes receiving an audio signal corresponding to a spoken command.

5. The method of claim 1, wherein the outwardly visible feature corresponds to a light emitted from the spherical housing.

6. A self-propelled device comprising:

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.

7. The self-propelled device of claim 6, further comprising:

a wireless controller to process a user input in order to generate the control inputs, the wireless controller operating in a frame of reference that is different than that of the self-propelled device.

8. The self-propelled device of claim 7, wherein the wireless controller includes an accelerometer that detects movement as the user input.

9. The self-propelled device of claim 7, wherein the wireless controller includes a display screen that displays content corresponding to a steering mechanism.

10. The self-propelled device of claim 6, wherein the control inputs include two-dimensional control inputs transmitted from a wireless controller of the self-propelled device.

11. The self-propelled device of claim 6, wherein the control inputs includes an audio signal corresponding to a spoken command.

12. The self-propelled device of claim 6, wherein the externally visible feature corresponds to a light emitted from the spherical housing.

13. The self-propelled device of claim 6, wherein the internal controller includes a processor.

14. The self-propelled device of claim 13, further comprising at least one of an accelerometer or gyroscope sensor provided within the spherical housing, and wherein the processor maintains the frame of reference using feedback from the at least one of the accelerometer or the gyroscopic sensor.

15. The self-propelled device of claim 14, wherein the processor uses the feedback to detect a dynamic instability of the spherical housing as the spherical housing is maneuvered.

16. The self-propelled device of claim 15, wherein the processor continuously compensates for the dynamic instability by:

(i) determining, based on sensor data of the accelerometer or the gyroscopic sensor, actual angles for each of pitch, roll, and yaw of the internal drive system within the spherical housing,

(ii) determining desired angles for each of pitch, roll, and yaw based on the control inputs,

(iii) dynamically calculating a pitch correction signal, a roll correction signal, and a yaw correction signal based on the actual angles versus the desired angles, and

(iv) implementing the pitch correction signal, the roll correction signal, and the yaw correction on the internal drive system.

17. The self-propelled device of claim 13, wherein the processor executes instructions to implement the control inputs as one or more commands, the one or more commands being implemented by the processor to cause the spherical housing to move in a direction that is not indicated by a directional aspect of the control inputs.

18. The self-propelled device of claim 13, further comprising:

a wireless controller to process a user input in order to generate the control inputs, the wireless controller operating in a frame of reference that is different than that of the self-propelled device; and

wherein the processor executes instructions to determine one or more commands from the control inputs.

19. The self-propelled device of claim 18, wherein the control inputs includes a first directional aspect and wherein the one or more commands result in the spherical housing maneuvering in at least one direction that is not indicated by the first directional aspect of the control inputs.

20. The self-propelled device of claim 18, wherein the control inputs include a motion of the wireless controller.

21. The self-propelled device of claim 18,

wherein the processor executes instructions to determine one or more commands, and then implements the one or more commands as a sequence of movements.