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    METHOD AND SYSTEM FOR CONTROLLING MOVEMENT OF A DEVICE
    3.
    发明申请
    METHOD AND SYSTEM FOR CONTROLLING MOVEMENT OF A DEVICE 有权

    公开(公告)号：US20210247768A1

    公开(公告)日：2021-08-12

    申请号：US16788277

    申请日：2020-02-11

    Applicant: SPHERO, INC.

    Inventor： David E. Hygh ,  James William Konish ,  Ting Cao

    IPC: G05D1/02 ,  G05B11/42

    Abstract: Methods and systems are disclosed for controlling device movement based on a movement command. Issues on accurately controlling movement of a device such as a programmable robot and rover are addressed by first determining a command type of the movement command, followed by determining specific types of controllers for a high-level controller and a low-level controller based on the determined command type. When the command type is a linear movement, a Proportional-Integral-Derivative (PID) controller is used at the high-level controller and a Proportional/Proportional-Integral (PPI) controller is used at the low-level controller to accurately control a target distance. When the command type is an angular movement, the PPI controller is used at the high-level controller and the PID controller is used at the low-level controller to accurate control the end-heading of the device.

    SELF-PROPELLED DEVICE IMPLEMENTING THREE-DIMENSIONAL CONTROL
    5.
    发明申请
    SELF-PROPELLED DEVICE IMPLEMENTING THREE-DIMENSIONAL CONTROL 有权
    自主设备实现三维控制

    公开(公告)号：US20160291591A1

    公开(公告)日：2016-10-06

    申请号：US15177809

    申请日：2016-06-09

    Applicant: Sphero, Inc.

    Inventor： Ian H. Bernstein ,  Adam Wilson ,  David E. Hygh

    IPC: G05D1/00 ,  G05D1/02

    CPC classification number: G05D1/0011 ,  A63H30/04 ,  A63H33/005 ,  B62D61/00 ,  G05D1/0016 ,  G05D1/0044 ,  G05D1/0088 ,  G05D1/021 ,  G05D1/0212 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0278 ,  G05D1/0891 ,  G05D2201/0214 ,  Y10S901/01

    Abstract: A self-propelled device can determine an initial reference frame of the self-propelled device in three-dimensional space, receive control inputs from a controller device, where the control inputs can be inputted by a user on a steering mechanism of the controller device. The self-propelled device can interpret the control inputs as control commands to maneuver the self-propelled device, and implement the control commands on an internal drive system of the self-propelled device to maneuver the self-propelled device based on the control inputs. While maneuvering, the self-propelled device can determine an orientation of the internal drive system within a spherical housing of the self-propelled device in relation to the initial reference frame, and transmit feedback to the controller device based on the orientation of the internal drive system in order to calibrate an orientation of the steering mechanism with the orientation of the internal drive system.

    Abstract translation: 自推进装置可以在三维空间中确定自推进装置的初始参考系，接收来自控制装置的控制输入，其中控制输入可由用户在控制装置的转向机构上输入。 自推进装置可以将控制输入解释为用于操纵自推进装置的控制命令，并且在自推进装置的内部驱动系统上实现控制命令，以基于控制输入来操纵自推进装置。 在机动的同时，自推进装置可以相对于初始参考系确定自推进装置的球形壳体内的内部驱动系统的方向，并且基于内部驱动器的方向将反馈传送到控制器装置 系统，以便根据内部驱动系统的方向校准转向机构的方位。

    Self-propelled device implementing three-dimensional control
    6.
    发明授权
    Self-propelled device implementing three-dimensional control 有权
    自推进装置实现三维控制

    公开(公告)号：US09395725B2

    公开(公告)日：2016-07-19

    申请号：US14839610

    申请日：2015-08-28

    Applicant: Sphero, Inc.

    Inventor： Ian H. Bernstein ,  Adam Wilson ,  David E. Hygh

    IPC: G01C22/00 ,  G05D1/00 ,  A63H30/04 ,  A63H33/00 ,  B62D61/00 ,  G05D1/08 ,  G05D1/02

    CPC classification number: G05D1/0011 ,  A63H30/04 ,  A63H33/005 ,  B62D61/00 ,  G05D1/0016 ,  G05D1/0044 ,  G05D1/0088 ,  G05D1/021 ,  G05D1/0212 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0278 ,  G05D1/0891 ,  G05D2201/0214 ,  Y10S901/01

    Abstract: A self-propelled device can include a spherical housing, an internal drive system, and an inertial measurement unit. The self-propelled device can determine an initial frame of reference for the self-propelled device in a three-dimensional coordinate system. The self-propelled device can further receive control inputs from a controller device, translate the control inputs into commands to maneuver the self-propelled device, and implement the commands on the internal drive system to cause the spherical housing to rotate about each axis of the three-dimensional coordinate system. Utilizing the IMU, the self-propelled device can maintain an awareness of an orientation of the spherical housing relative to the initial frame of reference as the spherical housing rotates about each axis of the three-dimensional coordinate system.

    Abstract translation: 自推进装置可以包括球形壳体，内部驱动系统和惯性测量单元。 自推进装置可以在三维坐标系中确定自推进装置的初始参考基准。 自推进装置可以进一步接收来自控制器装置的控制输入，将控制输入转换成用于操纵自推进装置的命令，并且在内部驱动系统上执行命令以使球形壳体围绕 三维坐标系。 利用IMU，随着球形壳体围绕三维坐标系的每个轴线旋转，自推进装置可以保持关于球形壳体相对于初始参考系的取向的意识。

    Method and system for controlling movement of a device
    7.
    发明授权
    Method and system for controlling movement of a device 有权

    公开(公告)号：US12189393B2

    公开(公告)日：2025-01-07

    申请号：US18057723

    申请日：2022-11-21

    Applicant: SPHERO, INC.

    Inventor： David E. Hygh ,  James William Konish ,  Ting Cao

    IPC: G05B11/42 ,  G05D1/00

    Abstract: Methods and systems are disclosed for controlling device movement based on a movement command. Issues on accurately controlling movement of a device such as a programmable robot and rover are addressed by first determining a command type of the movement command, followed by determining specific types of controllers for a high-level controller and a low-level controller based on the determined command type. When the command type is a linear movement, a Proportional-Integral-Derivative (PID) controller is used at the high-level controller and a Proportional/Proportional-Integral (PPI) controller is used at the low-level controller to accurately control a target distance. When the command type is an angular movement, the PPI controller is used at the high-level controller and the PID controller is used at the low-level controller to accurate control the end-heading of the device.

    METHOD AND SYSTEM FOR CONTROLLING MOVEMENT OF A DEVICE
    8.
    发明公开
    METHOD AND SYSTEM FOR CONTROLLING MOVEMENT OF A DEVICE 审中-公开

    公开(公告)号：US20230333561A1

    公开(公告)日：2023-10-19

    申请号：US18057723

    申请日：2022-11-21

    Applicant: SPHERO, INC.

    Inventor： David E. Hygh ,  James William Konish ,  Ting Cao

    IPC: G05D1/02 ,  G05B11/42

    CPC classification number: G05D1/0212 ,  G05B11/42

    Abstract: Methods and systems are disclosed for controlling device movement based on a movement command. Issues on accurately controlling movement of a device such as a programmable robot and rover are addressed by first determining a command type of the movement command, followed by determining specific types of controllers for a high-level controller and a low-level controller based on the determined command type. When the command type is a linear movement, a Proportional-Integral-Derivative (PID) controller is used at the high-level controller and a Proportional/Proportional-Integral (PPI) controller is used at the low-level controller to accurately control a target distance. When the command type is an angular movement, the PPI controller is used at the high-level controller and the PID controller is used at the low-level controller to accurate control the end-heading of the device.

    Method and system for controlling movement of a device
    9.
    发明授权
    Method and system for controlling movement of a device 有权

    公开(公告)号：US11507096B2

    公开(公告)日：2022-11-22

    申请号：US16788277

    申请日：2020-02-11

    Applicant: SPHERO, INC.

    Inventor： David E. Hygh ,  James William Konish ,  Ting Cao

    IPC: G05B11/42 ,  G05D1/02

    Abstract: Methods and systems are disclosed for controlling device movement based on a movement command. Issues on accurately controlling movement of a device such as a programmable robot and rover are addressed by first determining a command type of the movement command, followed by determining specific types of controllers for a high-level controller and a low-level controller based on the determined command type. When the command type is a linear movement, a Proportional-Integral-Derivative (PID) controller is used at the high-level controller and a Proportional/Proportional-Integral (PPI) controller is used at the low-level controller to accurately control a target distance. When the command type is an angular movement, the PPI controller is used at the high-level controller and the PID controller is used at the low-level controller to accurate control the end-heading of the device.

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