Self-propelled device implementing three-dimensional control
A self-controlled device maintains a frame of reference about an x-, y- and z-axis. The self-controlled device processes an input to control the self-propelled device, the input being based on the x- and y-axis. The self-propelled device is controlled in its movement, including about each of the x-, y- and z-axis, based on the input.
1. A system comprising:
a controller device;
a self-propelled device including a spherical housing and an internal drive system, the internal drive system being provided within the spherical housing to maneuver the spherical housing under control of the controller device by:
maintaining, on the spherical housing, a frame of reference about each of an x-axis, a y-axis, and a z-axis as the spherical housing is maneuvered;
receiving, from a two-dimensional steering mechanism of the controller device, two-dimensional control inputs of a user operating the controller device, the controller device being external to the spherical housing;
implementing the two-dimensional control inputs as three-dimensional, rotational motion about each of the x-axis, the y-axis, and the z-axis, so that the spherical housing is maneuvered about the x-axis, the y-axis, and the z-axis in response to the two-dimensional control inputs being received; and
indicating the frame of reference by an outwardly visible feature while the spherical housing is maneuvered about the x-axis, the y-axis, and the z-axis.
2. The system of claim 1 , wherein the self-propelled device includes
an internal controller that wirelessly receives the two-dimensional control inputs.
3. The system of claim 2 , wherein the internal controller includes a processor.
4. A system comprising:
a controller device;
a self-propelled device including a spherical housing and an internal drive system, the internal drive system being provided within the spherical housing to maneuver the spherical housing under control of the controller device by:
maintaining, on the spherical housing, an initial frame of reference that rotates about each of an x-axis, a y-axis, and a z-axis as the spherical housing is maneuvered;
receiving, from a two-dimensional steering mechanism of the controller device, two-dimensional control inputs of a user operating the controller device, the controller device being external to the spherical housing;
implementing the two-dimensional control inputs as three-dimensional, rotational motion about each of the x-axis, the y-axis, and the z-axis, so that the spherical housing is maneuvered about the x-axis, the y-axis, and the z-axis in response to the two-dimensional control inputs being received; and
maintaining the initial frame of reference while the spherical housing is maneuvered about the x-axis, the y-axis, and the z-axis;
wherein the controller device is calibrated based on the initial frame of reference.
5. The system of claim 4 , wherein the self-propelled device includes
an internal controller that wirelessly receives the two-dimensional control inputs.
6. The system of claim 5 , wherein the internal controller includes a processor.
7. The system of claim 4 , wherein the initial frame of reference is identifiable by an outwardly visible feature.
8. The system of claim 4 , wherein the controller device executes programmatic instructions to calibrate.
9. A method for operating a self-propelled device, the method comprising:
maintaining, for the self-propelled device, an initial frame of reference that rotates about each of an x-axis, a y-axis, and a z-axis as the self-propelled device moves;
receiving, from a two-dimensional steering mechanism of a controller device, a two-dimensional input to control the self-propelled device;
translating the two-dimensional input into a three-dimensional rotational motion of a spherical housing for the self-propelled device, the three-dimensional rotational motion being about each of the x-axis, the y-axis, and the z-axis; and
based on translating the two-dimensional input, maneuvering the spherical housing about each of the x-axis, the y-axis, and the z-axis while maintaining the initial frame of reference.
10. The method of claim 9 , further comprising maneuvering about one or more of the x-axis, the y-axis, or the z-axis, using an internal drive system that is dynamically unstable.
11. The method of claim 10 , further comprising processing feedback during movement, from one or more sensors of the self-propelled device, to compensate for the internal drive system being dynamically unstable.
12. The method of claim 11 , wherein processing the feedback includes processing a first input from a three-axis gyroscope sensor of the self-propelled device.
13. The method of claim 11 , wherein processing the feedback further includes processing a second input from a three-axis accelerometer of the self-propelled device.
14. The method of claim 13 , wherein the second input is processed by an inertial measurement unit of the self-propelled device to determine the initial frame of reference about each of the x-axis, the y-axis, and the z-axis when the spherical housing is being maneuvered.
15. The method of claim 9 , wherein the spherical housing provides a marker to identify the initial frame of reference while the self-propelled device is being maneuvered.