Modular sensing device for controlling a self-propelled device

Patent metadata

Field	Value
Publication number	US-2017192517-A1
Application number	US-201615253778-A
Country	US
Kind code	A1
Filing date	Aug 31, 2016
Priority date	Jan 4, 2016
Publication date	Jul 6, 2017
Grant date	—

Abstract

A wearable device can be worn by a user, and can include one or more sensors to detect user gestures performed by the user. The wearable device can further include a wireless communication module to establish a communication link with a self-propelled device, and a controller that can generate control commands based on the user gestures. The control commands may be executable to accelerate and maneuver the self-propelled device. The controller may then transmit the control commands to the self-propelled device over the communication link for execution by the self-propelled device.

First claim

What is claimed is:

1 . A system comprising:
a wearable device, including one or more sensors, configured to be to be worn by a user, the wearable device generating control commands based on user gestures performed by the user utilizing the wearable device; and a self-propelled device comprising:
a wireless communication module to wirelessly connect with the wearable device and receive the control commands from the wearable device;
an internal drive system operable to control movement of the self-propelled device; and
a control system to implement the control commands on the internal drive system to accelerate and maneuver the self-propelled device in accordance with the user gestures.

2 . The system of claim 1 , wherein the wearable device comprises a wrist-worn device operable in a plurality of modes, and wherein detection of a distinct user gesture by a controller of the wearable device causes the controller to override a current mode and execute a drive mode corresponding to operative control of the self-propelled device.

3 . The system of claim 1 , wherein the wearable device comprises one or more output devices, and wherein the one or more output devices include a haptic system, an audio system, and a visual system.

4 . The system of claim 2 , the wearable device further comprising:
a wireless communication module to communicate the control commands to the self-propelled device; and a selectable component to enable the user to perform an initial directional calibration between the wearable device and the self-propelled device.

5 . The system of claim 4 , wherein the selectable component comprises an analog button on the wrist-worn device, and wherein the initial directional calibration comprises depressing the analog button when the wrist-worn device is forward directionally aligned with the self-propelled device.

6 . The system of claim 1 , the wearable device further comprising an induction interface configured to establish a communication link between the wearable device and the self-propelled device once the wearable device and the self-propelled device are within inductive range.

7 . The system of claim 2 , wherein the user gestures comprise (i) raising an arm, on which the wrist-worn device is attached, to accelerate the self-propelled device, (ii) lowering the arm to decelerate the self-propelled device, and (iii) performing lateral gestures with the arm to steer the self-propelled device.

8 . The system of claim 7 , wherein the wearable device initially interprets the lateral gestures according to a first set of directional commands, and wherein, after the user performs a vertical arm gesture that exceeds a threshold angle, the wearable device interprets the lateral gestures according to a second set of directional commands.

9 . The system of claim 8 , wherein the first set of directional commands correspond to turn commands to turn the self-propelled device, and wherein the second set of directional commands corresponds to an inverse of the turn commands triggered by the vertical arm gesture exceeding the threshold angle.

10 . The system of claim 6 , wherein the communication link comprises a BLUETOOTH low energy link.

11 . The system of claim 1 , wherein the one or more sensors comprises an inertial measurement unit generating raw sensor data based on the user gestures, wherein the control commands are generated by the wearable device based on the raw sensor data.

12 . The system of claim 11 , the wearable device further comprising:
a controller implementing a plurality of state machines, each respective state machine being associated with a sensor data signature corresponding to a specified user gesture, and wherein the respective state machine executes a state transition when the raw sensor data correlates with the sensor data signature, the state transition causing the controller to generate an associated control command executable by the self-propelled device.

13 . A wearable device to be worn by a user, the wearable device comprising:
one or more sensors to detect user gestures performed by the user; a wireless communication module to establish a communication link with a self-propelled device; and a controller to:
generate control commands based on the user gestures, the control commands being executable to accelerate and maneuver the self-propelled device; and
transmit the control commands to the self-propelled device over the communication link.

14 . The wearable device of claim 13 , wherein the wearable device is a wrist-worn device, and wherein the user gestures comprise (i) raising an arm, on which the wrist-worn device is attached, to accelerate the self-propelled device, (ii) lowering the arm to decelerate the self-propelled device, and (iii) performing lateral gestures with the arm to steer the self-propelled device.

15 . The wearable device of claim 14 , wherein the controller initially interprets the lateral gestures according to a first set of directional commands, and wherein, after the user performs a vertical arm gesture that exceeds a threshold angle, the wearable device interprets the lateral gestures according to a second set of directional commands.

16 . The wearable device of claim 15 , wherein the first set of directional commands correspond to turn commands to turn the self-propelled device, and wherein the second set of directional commands corresponds to an inverse of the turn commands triggered by the vertical arm gesture exceeding the threshold angle.

17 . The wearable device of claim 13 , wherein the communication link comprises a BLUETOOTH low energy link.

18 . The wearable device of claim 13 , wherein the one or more sensors comprise an inertial measurement unit generating raw sensor data based on the user gestures, wherein the control commands are generated by the wearable device based on the raw sensor data.

19 . The wearable device of claim 17 , wherein the controller implements a plurality of state machines, each respective state machine being associated with a sensor data signature corresponding to a specified user gesture, and wherein the respective state machine executes a state transition when the raw sensor data correlates with the sensor data signature, the state transition causing the controller to generate an associated control command executable by the self-propelled device.

20 . A computer-implemented method of controlling a self-propelled device, the method being performed by one or more processors of a wearable device and comprising:
detecting, using one or more sensors, user gestures performed by a user wearing the wearable device; based on user gestures, generating control commands executable to accelerate and maneuver the self-propelled device; and transmitting the control commands to the self-propelled device over a wireless communication link.

Assignees

• Sphero Inc

Inventors

• Hygh David
• Wiencrot Jeffrey
• Bernstein Ian H

Classifications

• G06F3/167

  Audio in a user interface, e.g. using voice commands for navigating, audio feedback · CPC title

• H04W4/80

  Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication · CPC title

• G08B7/06

  using electric transmission {, e.g. involving audible and visible signalling through the use of sound and light sources} · CPC title

• A63F13/212

  using sensors worn by the player, e.g. for measuring heart beat or leg activity · CPC title

• A63H30/04

  using wireless transmission · CPC title