Multi-purposed self-propelled device

Patent metadata

Field	Value
Publication number	US-11630457-B2
Application number	US-202017074207-A
Country	US
Kind code	B2
Filing date	Oct 19, 2020
Priority date	Jan 5, 2011
Publication date	Apr 18, 2023
Grant date	Apr 18, 2023

Abstract

A self-propelled device can include at least a wireless interface, a housing, a propulsion mechanism, and a camera. Using the camera, the self-propelled device can generate a video feed and transmit the video feed to a controller device via the wireless interface. The self-propelled device can receive an input from the controller device indicating an object or location in the video feed. In response to the input, the self-propelled device can initiate an autonomous mode to autonomously operate the propulsion mechanism to propel the self-propelled device towards the object or location indicated in the video feed.

First claim

What is claimed is:

1. A self-propelled device comprising:
a wireless interface;
a housing;
a propulsion mechanism;
a camera; and
one or more processors to execute an instruction set, causing the self-propelled device to:
using the camera, generate a video feed;
transmit the video feed to a controller device via the wireless interface;
receive an input from the controller device indicating an object or location in the video feed; and
in response to the input, initiate an autonomous mode to programmatically generate control parameters, on the self-propelled device, based upon input from one or more sensors of the self-propelled device, wherein the control parameters cause the self-propelled device to autonomously operate the propulsion mechanism to propel the self-propelled device towards the object or location.

2. The self-propelled device of claim 1 , wherein the self-propelled device comprises an aircraft.

3. The self-propelled device of claim 2 , wherein the executed instruction set causes the self-propelled device to autonomously detect and maneuver around obstacles in propelling the self-propelled device towards the object or location.

4. The self-propelled device of claim 1 , wherein the camera is mounted on a gyroscope of the self-propelled device.

5. The self-propelled device of claim 1 , wherein the executed instruction set further causes the self-propelled device to:
initiate a control mode to (i) receive command inputs from the controller device, and (ii) operate the propulsion mechanism to accelerate and maneuver the self-propelled device based on the command inputs.

6. The self-propelled device of claim 1 , further comprising:
an inertial measurement unit;
wherein the executed instruction set further causes the self-propelled device to:
receive feedback from the inertial measurement unit to compensate for a dynamic instability of the self-propelled device; and
based on the feedback, dynamically stabilize pitch, roll, and yaw of the self-propelled device.

7. The self-propelled device of claim 6 , wherein the inertial measurement unit comprises at least one of a three-axis gyroscopic sensor, a three-axis accelerometer, or a three-axis magnetometer.

8. The self-propelled device of claim 6 , wherein the propulsion mechanism comprises a plurality of independent motors, and wherein the executed instruction set causes the self-propelled device to dynamically stabilize the pitch, roll, and yaw of the self-propelled device by generating correction signals for independent execution by the plurality of independent motors.

9. The self-propelled device of claim 6 , wherein the executed instruction set further causes the self-propelled device to:
maintain an orientation awareness of the self-propelled device in relation to an initial frame of reference.

10. The self-propelled device of claim 1 , further comprising:
a global positioning system (GPS) device to provide GPS data to the controller device.

11. The self-propelled device of claim 1 , wherein the controller device comprises a mobile computing device executing a software application specific to controlling the self-propelled device.

12. The self-propelled device of claim 11 , wherein the mobile computing device comprises one of a smart phone or a tablet computer.

13. A computer-implemented method for operating a self-propelled device, the method being performed by one or more processors of the self-propelled device and comprising:
using a camera of the self-propelled device, generating a video feed;
transmitting the video feed to a controller device via a wireless interface of the self-propelled device;
receiving an input from the controller device indicating an object or location in the video feed; and
in response to the input, initiating an autonomous mode to programmatically generate control parameters based upon input from one or more sensors of the self-propelled device, wherein the control parameters cause the self-propelled device to autonomously operate a propulsion mechanism of the self-propelled device to propel the self-propelled device towards the object or location.

14. The method of claim 13 , wherein the self-propelled device comprises an aircraft.

15. The method of claim 14 , wherein in the autonomous mode, the one or more processors operate the propulsion mechanism to autonomously detect and maneuver around obstacles in propelling the self-propelled device towards the object or location.

16. The method of claim 13 , further comprising:
initiating a control mode to (i) receive command inputs from the controller device, and (ii) operate the propulsion mechanism to accelerate and maneuver the self-propelled device based on the command inputs.

17. A controller device comprising:
a display screen;
one or more processors; and
one or more memory resources storing instructions that, when executed by the one or more processors, cause the controller device to:
receive a video feed from a self-propelled device;
display content corresponding to the video feed on the display screen;
receive a touch input on the display screen indicating an object or location in the video feed;
in response to the touch input, generate a command signal to command the self-propelled device to initiate an autonomous mode, wherein the autonomous mode causes the self-propelled device to programmatically generate control parameters based upon input from one or more sensors of the self-propelled device, wherein the control parameters cause the self-propelled device to autonomously accelerate and maneuver towards the object or location; and
transmit the command signal to the self-propelled device for execution.

18. The controller device of claim 17 , wherein the controller device comprises one of a smart phone or a tablet computer executing a software application specific to controlling the self-propelled device.

19. The controller device of claim 18 , wherein the self-propelled device comprises a radio-controllable aircraft.

20. The controller device of claim 17 , wherein the executed instructions cause the controller device to generate the command signal by (i) mapping a relative position of the object or location in the video feed with a position of the object or location in a frame of reference of the self-propelled device, and (ii) including instructions to maneuver the self-propelled device toward to the object or location based on the frame of reference of the self-propelled device.

Assignees

• Sphero Inc

Inventors

• Berberian Paul
• Bernstein Ian
• Wilson Adam
• Hemmings Kevin
• Macgregor Ross

Classifications

• A63H30/04 Primary

  using wireless transmission · CPC title

• B62D61/00

  Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern · CPC title

• G01S19/13

  Receivers · CPC title

• Y10S901/01

  Mobile robot · CPC title

• A63H33/005

  Motorised rolling toys · CPC title