Self-propelled device for interpreting input from a controller device

Patent metadata

Field	Value
Publication number	US-2016282871-A1
Application number	US-201615180485-A
Country	US
Kind code	A1
Filing date	Jun 13, 2016
Priority date	Jan 5, 2011
Publication date	Sep 29, 2016
Grant date	—

Abstract

A self-propelled device operates to interpret an input corresponding to a set of actions that are performed on a controller device.

First claim

What is claimed is:

1 . A self-propelled device comprising:
a drive system; and one or more processors to execute motion input instructions, causing the one or more processors to:
receive, from a controller device, motion-sensed inputs corresponding to a set of actions performed by a user of the controller device, the set of actions comprising the user moving the controller device in three-dimensional space;
interpret the motion-sensed inputs as a set of commands according to the executing motion input instructions to maneuver the self-propelled device, the executing motion input instructions being specific to interpreting data from the controller device corresponding to the user moving the controller device in three-dimensional space; and
implement the set of commands on the drive system to maneuver the self-propelled device based on the set of actions performed by the user.

2 . The self-propelled device of claim 1 , further comprising:
a spherical housing within which the drive system and the one or more processors are disposed.

3 . The self-propelled device of claim 2 , further comprising:
a carrier to which the drive system and a circuit board comprising the one or more processors are coupled; and a biasing mechanism mounted to the carrier, the biasing mechanism comprising one or more springs and providing a biasing force against an inner surface of the spherical housing, causing a plurality of wheels of the drive system to continuously engage the inner surface of the spherical housing.

4 . The self-propelled device of claim 2 , wherein the drive system comprises a pair of independent motors that drive a pair of wheels that continuously engage an inner surface of the spherical housing.

5 . The self-propelled device of claim 2 , further comprising:
a light emitting component disposed within the spherical housing, the light-emitting component being visible external to the self-propelled device and indicating a forward operating direction of the self-propelled device; wherein the spherical housing is at least partially translucent to enable at least one of transmission or diffusion of light.

6 . The self-propelled device of claim 1 , further comprising:
an inertial measurement unit (IMU); wherein the executing motion input instructions further cause the one or more processors to:
determine an initial reference frame utilizing data from the IMU; and
transmit information corresponding to the initial reference frame to the controller device to calibrate the initial reference frame of the self-propelled device with a generated graphic steering mechanism on a touch-screen display of the controller device.

7 . The self-propelled device of claim 6 , wherein the one or more processors execute control input instructions, causing the one or more processors to:
receive, from the controller device, control inputs corresponding to the user performing touchscreen inputs on the generated graphic steering mechanism; interpret the control inputs as a second set of commands to maneuver the self-propelled device; and implement the second set of commands on the drive system to maneuver the self-propelled device based on the touchscreen inputs on the generated graphic steering mechanism.

8 . The self-propelled device of claim 7 , wherein the motion input instructions are executed by the one or more processors based on a first controller application being initiated on the controller device, and wherein the control input instructions are executed by the one or more processors based on a second controller application being initiated on the controller device.

9 . The self-propelled device of claim 1 , wherein the self-propelled device is operable in an autonomous mode in which the one or more processors implement control commands on the drive system in response to sensor input from one or more sensors of the self-propelled device.

10 . 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:
receiving, from a controller device, motion-sensed inputs corresponding to a set of actions performed by a user of the controller device, the set of actions comprising the user moving the controller device in three-dimensional space; interpreting the motion-sensed inputs as a set of commands according to motion input instructions executable by the one or more processors to maneuver the self-propelled device, the executable motion input instructions being specific to interpreting data from the controller device corresponding to the user moving the controller device in three-dimensional space; and implementing the set of commands on a drive system of the self-propelled device to maneuver the self-propelled device based on the set of actions performed by the user.

11 . The computer-implemented method of claim 10 , wherein the self-propelled device includes a spherical housing within which the drive system and the one or more processors are disposed.

12 . The computer-implemented method of claim 11 , wherein the self-propelled device further includes (i) a carrier to which the drive system and a circuit board comprising the one or more processors are coupled, and (ii) a biasing mechanism mounted to the carrier, the biasing mechanism comprising one or more springs and providing a biasing force against an inner surface of the spherical housing, causing a plurality of wheels of the drive system to continuously engage the inner surface of the spherical housing.

13 . The computer-implemented method of claim 10 , wherein the drive system comprises a pair of independent motors that drive a pair of wheels that continuously engage an inner surface of the spherical housing.

14 . The computer-implemented method of claim 10 , wherein the self-propelled device further includes a light emitting component disposed within the spherical housing, the light-emitting component being visible external to the self-propelled device and indicating a forward operating direction of the self-propelled device, and wherein the spherical housing is at least partially translucent to enable at least one of transmission or diffusion of light.

15 . The computer-implemented method of claim 10 , further comprising:
determining an initial reference frame utilizing data from an inertial measurement unit (IMU) of the self-propelled device; and transmitting information corresponding to the initial reference frame to the controller device to calibrate the initial reference frame of the self-propelled device with a generated graphic steering mechanism on a touch-screen display of the controller device.

16 . The computer-implemented method of claim 15 , further comprising:
receiving, from the controller device, control inputs corresponding to the user performing touchscreen inputs on the generated graphic steering mechanism; interpret the control inputs according to control input instructions, executable by the one or more processors, as a second set of commands to maneuver the self-propelled device; and implement the second set of commands on the drive system to maneuver the self-propelled device based on the touchscreen inputs on the generated graphic steering mechanism.

17 . The computer-implemented method of claim 16 , wherein the motion input instructions are executed by the one or more processors based on a first controller application being initiated on the controller device, and wherein the control input instructions are executed by the one or more processors based on a second con

Assignees

• Sphero Inc

Inventors

• Bernstein Ian H
• Wilson Adam
• Smith Brian Keith
• Carroll Jonathan

Classifications

• A63H33/005

  Motorised rolling toys · 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

• Y10S901/01

  Mobile robot · CPC title

• A63H30/04 Primary

  using wireless transmission · CPC title

• G05D1/0088 Primary

  characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00) · CPC title