# US 8,751,063 B2 · Orienting a user interface of a controller for operating a self-propelled device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,751,063 B2 - Document ID: US8751063B2 - Status: Granted - Kind: B2 - Application number: 13/342,884 - Filed: 2012-01-03 - Published: 2012-07-05 - Granted: 2014-06-10 - Earliest claimed: 2011-01-05 - Assignees: Orbotix, Inc. - Applicants: Ian H. Bernstein; Adam Wilson; Brian Keith Smith - Inventors: Ian H. Bernstein; Adam Wilson; Brian Keith Smith - Web page: https://patentgrep.com/patent/US8751063B2 ## CPC - G05D 1/0011: {associated with a remote control arrangement} - A63H 30/04: using wireless transmission - A63H 33/005: {Motorised rolling toys} - B62D 61/00: Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/0016: {characterised by the operator's input device (input arrangements for computing systems in general G06F3/00)} - G05D 1/0044: {by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps (maps used for automatic navigation G05D1/0274; flight directors G01C23/005)} - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/027: {comprising intertial navigation means, e.g. azimuth detector (inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165)} - G05D 1/0278: {using satellite positioning signals, e.g. GPS} - G05D 1/0891: {specially adapted for land vehicles} - G05D 1/0259: {using magnetic or electromagnetic means} - Y10S 901/01: Mobile robot - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - A63H: TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract A self-propelled device determines an orientation for its movement based on a pre-determined reference frame. A controller device is operable by a user to control the self-propelled device. The controller device includes a user interface for controlling at least a direction of movement of the self-propelled device. The self-propelled device is configured to signal the controller device information that indicates the orientation of the self-propelled device. The controller device is configured to orient the user interface, based on the information signaled from the self-propelled device, to reflect the orientation of the self-propelled device. ## Claims ### Claim 1 A system comprising: a self-propelled device, wherein the self-propelled device determines an orientation for its movement based on a pre-determined reference frame; a mobile computing device including a touch-screen display and operable by a user to control the self-propelled device, wherein the mobile computing device includes a user interface provided on the touch-screen display for controlling at least a direction of movement of the self-propelled device; wherein the self-propelled device is configured to signal the mobile computing device information that indicates the orientation of the self-propelled device; wherein the mobile computing device is configured to orient the user interface, based on the information signaled from the self-propelled device, to reflect the orientation of the self-propelled device; and wherein the user interface of the mobile computing device includes content comprising a virtual steering mechanism for the self-propelled device, the virtual steering mechanism being provided in an orientation that reflects the orientation of the self-propelled device. ### Claim 2 (depends on 1) The system of claim 1, wherein the self-propelled device is substantially spherical. ### Claim 3 (depends on 1) The system of claim 1, wherein the self-propelled device includes one or more features that identify the orientation of the self-propelled device to an observer of the self-propelled device. ### Claim 4 (depends on 3) The system of claim 3, wherein the one or more features of the self-propelled device includes a light emitting component. ### Claim 5 (depends on 3) The system of claim 3, wherein the virtual steering mechanism is provided a reference that is aligned directionally with the one or more features that identify the orientation of the self-propelled device. ### Claim 6 (depends on 5) The system of claim 5, wherein the mobile computing device is configured to detect a movement of the mobile computing device, and to re-orient the reference of the virtual steering mechanism so that it is aligned directionally with the one or more features that identify the orientation of the self-propelled device after the mobile computing device is moved. ### Claim 7 (depends on 1) The system of claim 1, wherein the mobile computing device is configured to detect a movement of the mobile computing device using one or more accelerometers or a magnetometer. ### Claim 8 (depends on 1) The system of claim 1, wherein the self-propelled device is configured to signal the information repeatedly to the mobile computing device in order to enable the mobile computing device to orient the user interface during or after the self-propelled device has moved. ### Claim 9 (depends on 1) The system of claim 1, wherein the self-propelled device includes a wireless communication port to signal the mobile computing device the information. ### Claim 10 A self-propelled device comprising: a substantially spherical housing; one or more processors; one or more sensors, wherein the one or more processors determine a reference frame based on inputs from the one or more sensors; a wireless communication port; wherein the self-propelled device is configured to signal a mobile computing device that includes a touch sensitive screen, over the wireless communication port, information that indicates an orientation of the self-propelled device; and one or more features that indicate a forward-facing direction of the self-propelled device based on the determined reference frame. ### Claim 11 (depends on 10) The self-propelled device of claim 10, wherein the signaled information includes information that identifies the forward-facing direction of the self-propelled device. ### Claim 12 (depends on 10) The self-propelled device of claim 10, wherein the one or more features include a light-emitting component. ### Claim 13 (depends on 10) The self-propelled device of claim 10, wherein the one or more features include a light-emitting diode. ### Claim 14 (depends on 10) The self-propelled device of claim 10, wherein the one or more features are provided under a surface of the substantially spherical housing that coincides with the forward-facing direction. ### Claim 15 A mobile computing device comprising: one or more processors; a touch-sensitive display screen; a wireless communication port; a memory that stores instructions, including instructions for controlling a self-propelled device; wherein the one or more processors operate to: generate a user interface on the touch-sensitive display screen for controlling at least a directional movement of the self-propelled device; receive information from the self-propelled device over the wireless communication port indicating an orientation of the self-propelled device; and configure the user interface on the touch-sensitive display screen to reflect the orientation of the self-propelled device; wherein the user interface includes a virtual steering mechanism for controlling directional movements of the self-propelled device, the virtual steering mechanism being provided in an orientation that reflects the orientation of the self-propelled device. ### Claim 16 (depends on 15) The mobile computing device of claim 15, wherein the virtual steering mechanism is provided a reference that is aligned directionally with one or more features that mark the orientation of the self-propelled device. ### Claim 17 (depends on 16) The mobile computing device of claim 16, further comprising one or more sensors, wherein the one or more processors are configured to detect a movement and an orientation of the mobile computing device using the one or more sensors, and wherein the one or more processors are configured to re-orient the reference of the virtual steering mechanism so that it is aligned directionally with the orientation of the self-propelled device after the mobile computing device is moved.