METHOD OF USING MOTION STATES OF A CONTROL DEVICE FOR CONTROL OF A SYSTEM
This invention is for control of a system using motion states of a control device. The method enables complex system control typically controlled by complex controllers, but does not require any buttons or actuators, or video capture of body movements or gesture. An embodiment of the invention utilizes the gyroscope and accelerometer motion sensors of a control device such as a smart phone, smart watch, fitness band, or other device with motion sensors connected, via a cable or wirelessly, to a processor for analysis and translation.
1 . A method for controlling a system, comprising:
obtaining motion sensor data of a system controller;
determining a current motion state of the system controller using the obtained motion sensor data; and
controlling the system based at least in part on a sequence from a previous motion state to the current motion state of the system controller;
wherein motion state refers to one of a plurality of predetermined ranges of orientation around an axis in three-dimensional space.
2 . The method of claim 1 , wherein the step of controlling the system is performed only if the current motion state is a valid motion state for the system.
3 . The method of claim 2 , wherein the step of controlling the system is performed only if the sequence from a previous motion state to the current motion state of the system controller is a valid sequence.
4 . The method of claim 1 , wherein the current motion state and the previous motion state include ranges of motion about the same axis in three-dimensional space and together with at least two other motion states cover a range of motion entirely around the axis.
5 . The method of claim 1 , wherein the obtained motion data includes data obtained from a gyroscope and an accelerometer.
6 . The method of claim 1 , wherein the step of determining the motion state includes:
determining gravity data and attitude data using the obtained motion sensor data; and
determining the motion state using the determined gravity data and attitude data;
wherein each motion state is defined according to a predetermined range of gravity data and attitude data.
7 . The method of claim 6 , wherein determining the gravity data includes applying a low pass filter to accelerometer data from the obtained motion sensor data.
8 . The method of claim 6 , wherein the gravity data is obtained in part from the combination of accelerometer and gyroscope data.
9 . The method of claim 6 , wherein determining the attitude data includes integration of rotational velocity obtained from the motion sensor data.
10 . The method of claim 6 , wherein the motion states that are rotations about axes that are tangential to the earth gravity vector are derived from n-degree rotations of a gravity sensor, each starting p-degrees from axes of a coordinate system.
11 . The method of claim 6 , wherein the motion states that are in a plane tangential to the surface of the earth are derived from m-degree rotations of attitude, each starting q-degrees from an initial starting point.
12 . The method of claim 11 wherein the starting point of rotations of attitude are at least in part based upon last gravity state orientation.
13 . The method of claim 11 wherein the obtained motion data includes compass data, and the starting point of rotations of attitude is at least in part based upon the compass data.
14 . The method of claim 13 , further including the step of applying a low pass filter to the compass data.
15 . The method of claim 13 , wherein compass data is obtained in part using gyroscope data.
16 . The method of claim 9 , wherein the coordinate system is a Cartesian coordinate system.
17 . The method of claim 10 , wherein the coordinate system is a Cartesian coordinate system.
18 . The method of claim 9 , wherein n=90 degrees and p=45 degrees.
19 . The method of claim 10 , wherein m=90 degrees and q=45 degrees.
20 . The method of claim 1 , wherein the system controller is a hand-held control device.
21 . The method of claim 1 , wherein controlling the system is further based on one or more of angular and acceleration data derived from the obtained motion sensor data, interpreted in light of the current motion state.
22 . The method of claim 1 , wherein the system controller further includes an external device communicatively coupled thereto including additional sensors.
23 . The method of claim 1 , wherein the system is a game.
24 . The method of claim 23 , where the game relates to: basketball, American football, tennis, badminton, squash, handball, baseball, rounders, cricket, beanbag toss, bowling, horseshoes, darts, hockey, volleyball, soccer, fishing, shooting or golf.
25 . The method of claim 1 , wherein controlling the system includes controlling a robot.
26 . The method of claim 1 , wherein controlling the system includes controlling flight.
27 . The method of claim 2 , wherein the current motion state is a valid motion state if the motion state is listed in a motion state table for the system.
28 . The method of claim 3 , wherein the motion state sequence is a valid motion state sequence if the motion state sequence is listed in a motion state sequence for the system.
29 . A method for controlling a system, comprising:
obtaining motion sensor data of a system controller;
determining a current motion state of the system controller using the obtained motion sensor data;
determining if the current motion state and the motion state sequence from the previous motion state are valid for the system; and
controlling a physical movement, based at least in part on a sequence from a previous motion state to the current motion state of the system controller, if the current motion state and the previous motion state are different motion states.
30 . A method for building a control system, comprising:
for each axis of a three-dimensional coordinate system, assigning a range of motion along the respective axis as one of a plurality of motion states;
defining a set of valid motion states for the system from the plurality of assigned motion states;
defining a set of motion state sequences, each motion state sequence including a sequence from one of the defined motion state to another such defined motion state; and
defining a set of system inputs for each of the motion state sequences.