US 12,189,393 B2
Method and system for controlling movement of a device
David E. Hygh, Henderson, NV (US); James William Konish, Amherst, NH (US); and Ting Cao, Highlands Ranch, CO (US)
Assigned to SPHERO, INC., Greenville, TX (US)
Filed by SPHERO, INC., Boulder, CO (US)
Filed on Nov. 21, 2022, as Appl. No. 18/057,723.
Application 18/057,723 is a continuation of application No. 16/788,277, filed on Feb. 11, 2020, granted, now 11,507,096.
Prior Publication US 2023/0333561 A1, Oct. 19, 2023
Int. Cl. G05B 11/42 (2006.01); G05D 1/00 (2006.01)
CPC G05D 1/0212 (2013.01) [G05B 11/42 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for controlling device movement, the method comprising:
receiving a movement command;
determining a command type of the movement command, wherein the command type comprises at least one of a linear movement and an angular movement;
determining a first controller and a second controller based on the determined command type, wherein the first controller controlling a destination of the device movement based on the movement command and the second controller correcting a deviation of the device movement toward the destination;
when the determined command type is the linear movement, set the first controller being a proportional-integral-derivative (PID) controller and the second controller being a proportional/proportional-integral (PPI) controller;
when the determined command type is the angular movement, set the first controller being the PPI controller and the second controller being the PID controller;
transmitting the movement command to the first controller, wherein the first controller generates and transmits one or more instructions to the second controller, and wherein the second controller generates and transmits, based on the one or more commands at one or more signal levels to a part of the device that controls the device movement; and
rotating, by a motor connected to one or more wheels of the device, based on the one or more commands, the one or more wheels of the device as a part of the controlled device movement.