Accelerometer based controller and/or controlled device

摘要

The present disclosure generally relates to techniques for controlling a device to perform a function, for example, window washing. A controller device may be adapted to control a controlled device. In response to hand movement, an accelerometer in the controller may obtain acceleration and/or angle signals. The signals may be processed in order to identify a command that may be used to control the controlled device. The controlled device may be secured to, for example, a window. Upon identifying command(s) initiated from the controller device, the controlled device may respond to the commands. The controlled device may include, for example, a cleaning unit. The command(s) may be instructions for the controlled device to move about the window and activate the cleaning system.

主权项

1. An apparatus adapted to be attached to a window to clean a surface of the window and to be controlled by a handheld controller device that is detached from the apparatus and that includes an accelerometer, wherein the controller device is configured to transmit trajectory values which are based on acceleration values determined by the accelerometer in response to movement of the handheld controller device, wherein the trajectory values are indicative of an angular acceleration of the controller device about an axis, a first linear acceleration of the controller device in a first direction, and a second linear acceleration of the controller device in a second direction, the apparatus comprising:
a receiver configured to receive the trajectory values from the controller device; a processor configured to generate a first motor control signal and a second motor control signal for controlling the apparatus based on the received trajectory values; a first motor operatively connected to a first wheel; a second motor operatively connected to a second wheel; a controller configured to control the first motor based on the first motor control signal and to control the second motor based on the second motor control signal, wherein control of the first motor and the second motor results in movements of first and second wheels such that movements of the apparatus correspond to movements of the controller device about the axis, in the first direction, and in the second direction; and a cleaning unit including one or more cleaning tools configured to clean the surface of the window responsive to movement of the controller.