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.

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.

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.

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.