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 method for operating a self-propelled device comprising an internal drive system, the method comprising:
using processing resources of the self-propelled device to perform steps comprising:
maintaining, on 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 for the self-propelled device about each of the x-axis, the y-axis, and the z-axis; and
based on translating the two-dimensional input, maneuvering the self-propelled device about each of the x-axis, the y-axis, and the z-axis while continuously maintaining the initial frame of reference;
wherein the internal drive system of the self-propelled device is dynamically unstable when maneuvering about one or more of the x-axis, the y-axis, or the z-axis, and wherein maneuvering the self-propelled device includes processing feedback during movement, from one or more sensors of the self-propelled device, to compensate for the internal drive system being dynamically unstable.
2. The method of claim 1 , wherein processing the feedback includes processing a first input from a three-axis gyroscope sensor of the self-propelled device.
3. The method of claim 2 , wherein processing the feedback further includes processing a second input from a three-axis accelerometer of the self-propelled device.
4. The method of claim 3 , wherein the first input and the second input are processed by an inertial measurement unit of the self-propelled device to continuously determine the initial frame of reference about each of the x-axis, the y-axis, and the z-axis during movement.
5. The method of claim 1 , wherein the self-propelled device includes a spherical housing comprising a visual marker identifying the initial frame of reference, and wherein the processing resources perform further steps comprising:
providing, to the controller device, orientation information corresponding to the initial frame of reference to enable the controller device to calibrate the two-dimensional steering mechanism generated on a display of the controller device.
6. The method of claim 5 ,
wherein the two-dimensional steering mechanism includes a graphic marker, and
wherein providing the orientation information to the controller device enables the controller device to align the graphic marker with the visual marker to calibrate the two-dimensional steering mechanism.
7. A system comprising:
a controller device providing a graphic user interface comprising a two-dimensional steering mechanism to enable a user to enter two-dimensional control inputs; and
a self-propelled device comprising an internal drive system, the self-propelled device operable to move under control of the controller device, the self-propelled device comprising:
one or more processors; and
one or more memory resources storing instructions that, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
maintaining, on 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 the two-dimensional steering mechanism of the controller device, the two-dimensional control inputs to control the self-propelled device;
translating the two-dimensional control inputs into a three-dimensional, rotational motion for the self-propelled device about each of the x-axis, the y-axis, and the z-axis; and
based on translating the two-dimensional input, maneuvering the self-propelled device about each of the x-axis, the y-axis, and the z-axis while continuously maintaining the initial frame of reference.
8. The system of claim 7 ,
wherein the internal drive system of the self-propelled device is dynamically unstable when maneuvering about one or more of the x-axis, the y-axis, or the z-axis, and
wherein maneuvering the self-propelled device includes processing feedback during movement, from one or more sensors of the self-propelled device, to compensate for the internal drive system being dynamically unstable.
9. The system of claim 8 , wherein processing the feedback includes processing a first input from a three-axis gyroscope sensor of the self-propelled device.
10. The system of claim 9 , wherein processing the feedback further includes processing a second input from a three-axis accelerometer of the self-propelled device.
11. The system of claim 10 , wherein the first input and the second input are processed by an inertial measurement unit of the self-propelled device to continuously determine the initial frame of reference about each of the x-axis, the y-axis, and the z-axis during movement.
12. The system of claim 7 , wherein the self-propelled device includes a spherical housing comprising a visual marker identifying the initial frame of reference.
13. The system of claim 7 , wherein the controller device is a multifunctional wireless device.
14. The system of claim 12 , wherein the instructions, when executed by the one or more processors, cause the one or more processors to perform further operations comprising
providing, to the controller device, orientation information corresponding to the initial frame of reference to enable the controller device to calibrate the two-dimensional steering mechanism included on the graphical user interface.
15. The system of claim 14 ,
wherein the two-dimensional steering mechanism includes a graphic marker, and
wherein providing the orientation information to the controller device enables the controller device to align the graphic marker with the visual marker to calibrate the two-dimensional steering mechanism.
16. A self-propelled device comprising:
an internal drive system operable to maneuver the self-propelled device; and
a control system to:
maintain, 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;
process a two-dimensional control input received from a two-dimensional steering mechanism of a controller device;
translate the two-dimensional control input into a three-dimensional, rotational motion for the self-propelled device about each of the x-axis, the y-axis, and the z-axis; and
based on translating the two-dimensional input, implement control on the internal drive system to maneuver the self-propelled device about each of the x-axis, the y-axis, and the z-axis while continuously maintaining the initial frame of reference;
wherein the internal drive system is dynamically unstable when maneuvering about one or more of the x-axis, the y-axis, or the z-axis, and wherein the control system processes feedback during movement, from a set of sensors of the self-propelled device, to compensate for the internal drive system being dynamically unstable.
17. The self-propelled device of claim 16 , wherein the control system implements an inertial measurement unit to generate the feedback based on input from the set of sensors.
18. The self-propelled device of claim 17 , wherein the set of sensors include a three-axis gyroscope sensor and a three-axis accelerometer.
19. The self-propelled device of claim 16 , wherein the self-propelled device includes a spherical housing comprising a visual marker identifying the initial frame of reference.