Radio controlled aircraft, remote controller and methods for use therewith

• US 10,095,226 B1
• Filed: 03/16/2018
• Issued: 10/09/2018
• Est. Priority Date: 02/12/2008
• Status: Active Grant

• Current Assignee: Drone-Control LLC
• Original Assignee: Drone-Control LLC
• Inventors: Stuckman, Katherine C., Reynolds, Michael D.
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): HUYNH, LUAT T
• Application Number:
  US15/923,289
• Time in Patent Office: 207 Days
• Field of Search: 701 2, 701 3
• CPC Class Codes: A63H 27/004 Means for launching objects from aircraft, e.g. pilot, missiles
• CPC Class Codes: A63H 27/02 Model aircraft
• CPC Class Codes: A63H 27/12 Helicopters A63H27/04 takes precedence; Flying tops
• CPC Class Codes: A63H 30/04 using wireless transmission
• CPC Class Codes: A63H 31/10 Gearing mechanisms actuated by movable wires enclosed in flexible tubes
• CPC Class Codes: B64C 19/00 Aircraft control not otherwise provided for
• CPC Class Codes: B64C 27/57 automatic or condition responsive, e.g. responsive to rotor speed, torque or thrust
• CPC Class Codes: B64U 10/10 Rotorcrafts
• CPC Class Codes: B64U 10/17 Helicopters flying platforms B64U10/13
• CPC Class Codes: B64U 2101/18 for dropping bombs; for firing ammunition
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 2101/69 the UAVs provided with means for airdropping goods, e.g. deploying a parachute during descent
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 30/297 Tilting rotors
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
• CPC Class Codes: G05D 1/0202 specially adapted to aircraft
• CPC Class Codes: G05D 1/0808 specially adapted for aircraft

Abstract

A radio controlled (RC) vehicle includes a receiver configured to receive a radio frequency (RF) signal from a remote control device. The RF signal indicates command data in accordance with a first coordinate system that is from a perspective of the remote control device. The command data includes a lift command associated with a hovering state of the RC vehicle. One or more motion sensors are configured to generate motion data that indicates a position of the RC vehicle and an orientation of the RC vehicle. A processor is configured to transform the command data into control data based on the motion data and in accordance with a second coordinate system that is from a perspective of the RC vehicle. A plurality of control devices are configured to control motion of the RC vehicle based on the control data.

Claims

1. A radio controlled (RC) vehicle comprising:

a receiver configured to receive a radio frequency (RF) signal from a remote control device, the RF signal indicating command data in accordance with a first coordinate system, wherein the command data indicates a lift command associated with a hovering state of the RC vehicle, and wherein the first coordinate system is from a perspective of the remote control device;

one or more motion sensors configured to generate motion data, wherein the motion data indicates a position of the RC vehicle and an orientation of the RC vehicle;

a processor coupled to the one or more motion sensors and to the receiver, the processor configured to transform the command data into control data based on the motion data and in accordance with a second coordinate system, wherein the second coordinate system is from a perspective of the RC vehicle, wherein the command data includes yaw-velocity command data, wherein the control data includes yaw-velocity control data, and wherein the yaw-velocity control data is related to the yaw-velocity command data; and

a plurality of control devices coupled to the processor, the plurality of control devices configured to control motion of the RC vehicle based on the control data.

2. The RC vehicle of claim 1, wherein the command data includes roll-axis command data and pitch-axis command data, wherein the control data includes roll-axis control data, and wherein the processor is further configured to generate the roll-axis control data based on the roll-axis command data and the pitch-axis command data.

3. The RC vehicle of claim 2, wherein the motion data includes yaw-axis motion data, and wherein the roll-axis control data is based further on the yaw-axis motion data.

4. The RC vehicle of claim 1, wherein the command data includes roll-axis command data and pitch-axis command data, wherein the control data includes pitch-axis control data, and wherein the processor is further configured to generate the pitch-axis control data based on the roll-axis command data and the pitch-axis command data.

5. The RC vehicle of claim 4, wherein the motion data includes yaw-axis motion data, and wherein the pitch-axis control data is based further on the yaw-axis motion data.

6. The RC vehicle of claim 1, wherein the plurality of control devices includes at least one first control device configured to control a pitch of the RC vehicle and a roll of the RC vehicle.

7. The RC vehicle of claim 6, wherein the plurality of control devices includes at least one second control device configured to control a yaw of the RC vehicle.

8. The RC vehicle of claim 1, wherein the one or more motion sensors include a first motion sensor and a second motion sensor, wherein the first motion sensor includes an accelerometer, and wherein the second motion sensor includes a gyroscope.

9. The RC vehicle of claim 1, wherein controlling the motion of the RC vehicle includes causing the RC vehicle to enter the hovering state in response to the lift command.

10. The RC vehicle of claim 1, wherein the control data includes lift control data, and wherein the processor is further configured to generate the lift control data based on a weight of the RC vehicle.

11. The RC vehicle of claim 1, wherein the lift command is associated with a return position of a plurality of spring-loaded interface devices at the remote control device, and wherein the plurality of control devices comprises one or more actuators.

12. The RC vehicle of claim 11, wherein the return position is returned to when no force is applied to the plurality of spring-loaded interface devices.

13. The RC vehicle of claim 1, wherein the command data comprises a command to establish initial conditions for a position and an orientation of the RC vehicle.

14. The RC vehicle of claim 1, wherein the motion data and the control data are determined at the RC vehicle.

15. An apparatus comprising:

means for receiving a radio frequency (RF) signal at a remote controlled (RC) vehicle from a remote control device, the RF signal indicating command data in accordance with a first coordinate system, wherein the first coordinate system is from a perspective of the remote control device;

means for generating motion data at the RC vehicle, wherein the motion data indicates a position of the RC vehicle and an orientation of the RC vehicle;

means for transforming the command data into control data based on the motion data and in accordance with a second coordinate system, wherein the second coordinate system is from a perspective of the RC vehicle, and wherein the means for transforming is coupled to the means for receiving and the means for generating, wherein the command data includes yaw-velocity command data, wherein the control data includes yaw-velocity control data, and wherein the yaw-velocity control data is related to the yaw-velocity command data; and

means for controlling motion of the RC vehicle based on the control data.

16. The apparatus of claim 15, wherein the command data includes roll-axis command data and pitch-axis command data, wherein the control data includes roll-axis control data, and wherein the roll-axis control data is based on the roll-axis command data and the pitch-axis command data.

17. The apparatus of claim 15, wherein the command data includes roll-axis command data and pitch-axis command data, wherein the control data includes pitch-axis control data, and wherein the pitch-axis control data is based on the roll-axis command data and the pitch-axis command data.

18. The apparatus of claim 15, further comprising means for determining a weight of the RC vehicle, wherein the command data indicates a lift command associated with a hovering state of the RC vehicle, wherein the control data includes lift control data, and wherein the means for transforming the command data is further configured to generate the lift control data based on the weight.

19. The apparatus of claim 15, wherein the means for controlling includes a first means for controlling motion of the RC vehicle and a second means for controlling motion of the RC vehicle.

20. The apparatus of claim 15, wherein the RC vehicle comprises the means for generating.

21. The apparatus of claim 15, wherein the yaw-velocity command data is associated with a particular button of the remote control device.

22. The apparatus of claim 15, wherein the motion data indicates a change in position of the RC vehicle from an initial position and a change in orientation of the RC vehicle from an initial orientation.

23. A method comprising:

receiving a radio frequency (RF) signal at a remote controlled (RC) vehicle from a remote control device, the RF signal indicating command data in accordance with a first coordinate system, wherein the first coordinate system is from a perspective of the remote control device;

generating motion data from at least one motion sensor of the RC vehicle, wherein the motion data indicates a position of the RC vehicle and an orientation of the RC vehicle;

transforming the command data into control data based on the motion data and in accordance with a second coordinate system, wherein the second coordinate system is from a perspective of the RC vehicle, wherein the command data includes yaw-velocity command data, wherein the control data includes yaw-velocity control data, and wherein the yaw-velocity control data is related to the yaw-velocity command data; and

controlling motion of the RC vehicle based on the control data.

24. The method of claim 23, wherein the motion data is generated at the RC vehicle.

25. The method of claim 23, further comprising determining a weight of the RC vehicle, wherein the command data indicates a lift command associated with a hovering state of the RC vehicle, wherein the control data includes lift control data, and wherein the lift control data is generated based on the weight.

26. The method of claim 23, wherein the motion of the RC vehicle is controlled by a plurality of control devices of the RC vehicle based on the control data.

27. The method of claim 26, wherein the command data indicates an operation to establish an initial position and an initial orientation, wherein the position of the RC vehicle is with respect to the initial position, and wherein the orientation of the RC vehicle is with respect to the initial orientation, and wherein the operation is associated with a particular button of the remote control device.

28. A non-transitory, computer-readable medium storing instructions that, when executed by a processor of a remote controlled (RC) vehicle, cause the processor to perform operations comprising:

receiving a radio frequency (RF) signal at the RC vehicle from a remote control device, the RF signal indicating command data in accordance with a first coordinate system, wherein the first coordinate system is from a perspective of the remote control device;

generating motion data from at least one sensor of the RC vehicle, wherein the motion data indicates a position of the RC vehicle and an orientation of the RC vehicle;

transforming the command data into control data based on the motion data and in accordance with a second coordinate system, wherein the second coordinate system is from a perspective of the RC vehicle, wherein the command data includes yaw-velocity command data, wherein the control data includes yaw-velocity control data, and wherein the yaw-velocity control data is related to the yaw-velocity command data; and

controlling motion of the RC vehicle based on the control data.

29. The non-transitory, computer-readable medium of claim 28, wherein the operations further comprise determining a current weight of the RC vehicle, wherein the command data indicates a lift command associated with a hovering state of the RC vehicle, wherein the control data includes lift control data, and wherein the lift control data is generated based on the current weight.

30. The non-transitory, computer-readable medium of claim 28, wherein the motion of the RC vehicle is controlled by a plurality of control devices of the RC vehicle based on the control data.