Unmanned vehicle operating modes

• US 10,216,187 B2
• Filed: 06/15/2017
• Issued: 02/26/2019
• Est. Priority Date: 05/30/2014
• Status: Active Grant

• Current Assignee: Sikorsky Aircraft Corporation (Martin Marietta Corporation)
• Original Assignee: Sikorsky Aircraft Corporation (Martin Marietta Corporation)
• Inventors: Zygmant, Thomas, Lesperance, Jesse J., Zoock, Ira E., Kelly, James A.
• Primary Examiner(s): Wong, Yuen H
• Application Number:
  US15/623,924
• Publication Number:
  US 20170285638A1
• Time in Patent Office: 621 Days
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0055 with safety arrangements
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G08G 5/003 Flight plan management

Abstract

A vehicle includes a frame, drive elements configured to drive movements of the frame, and a computer configured to receive mission planning and manual commands and to control operations of the drive elements to operate in a safe mode in which mission commands are accepted but manual commands are refused, a manual mode in which mission commands are refused but manual commands are accepted and an enroute mode. The computer is further configured to only allow mode transitions directly between the safe mode and the manual mode and directly between the safe mode and the enroute mode.

Claims

1. A vehicle, comprising:

a frame;

drive elements configured to drive movements of the frame; and

a computer configured to receive mission planning and manual commands and to control operations of the drive elements to operate in a safe mode in which mission commands are accepted but manual commands are refused, a manual mode in which mission commands are refused but manual commands are accepted and an enroute mode, the safe mode including a stationary mode characterized in that the frame is stationary relative to ground and the manual mode comprises a manual mode characterized in that the frame is movable relative to ground,

the computer being further configured to only allow mode transitions directly between the safe mode and the manual mode and directly between the safe mode and the enroute mode.

2. The vehicle according to claim 1, wherein the frame is manned and crewed or un-crewed or unmanned.

3. The vehicle according to claim 1, wherein the mission commands comprise at least one of mission details, on-board system details and waypoint settings and the manual commands comprise local maneuvering commands.

4. The vehicle according to claim 1, wherein the computer executes the mission commands during the enroute mode.

5. The vehicle according to claim 1, wherein the computer is receptive of a stop command, which initiates a transition from the manual mode to the safe mode and from the enroute mode to the safe mode.

6. An aircraft, comprising:

an airframe;

drive elements configured to drive movements of the airframe;

a first computer, including at least one processor, by which flight planning and manual commands are generated; and

a second computer, including at least one processor, configured to receive flight planning and manual commands and to control operations of the drive elements to operate in;

first and second safe modes in which flight planning commands are accepted but manual commands are refused, at least one of the first and second safe modes comprising a stationary mode characterized in that the frame is stationary relative to ground,

first and second manual modes in which flight planning commands are refused but manual commands are accepted, at least one of the first and second manual modes being characterized in that the frame is movable relative to ground, and

an enroute mode and first and second special modes in which manual commands are refused,

the second computer being further configured to only allow mode transitions directly between the first safe mode and the first manual mode, directly between the second safe mode and the second manual mode, directly between the first safe mode and the second safe mode and directly between the second safe mode and the enroute mode;

wherein the first computer is configured to prevent generation of the manual commands with the drive elements operating in the first safe mode and the second safe mode, the enroute mode and the first special mode and the second special mode and to prevent generation of the flight commands with the drive elements operating in the first manual mode the second manual mode, the enroute mode and the first special mode and the second special mode; and

wherein the second computer is configured to only allow mode transitions directly between the first safe mode and the manual mode, directly between the second safe mode and the manual mode, directly between the first safe mode and the second safe mode, and directly between the second safe mode and the enroute mode.

7. The aircraft according to claim 6, wherein the first computer is ground-based.

8. A vehicle, comprising:

a frame;

drive elements configured to drive movements of the frame; and

a computer, including at least one processor, configured to receive mission planning and manual commands and to control operations of the drive elements to operate in a ground stationary mode in which mission commands are accepted but manual commands are refused, in a hover stationary mode characterized in that the frame is stationary relative to ground in which mission commands are accepted but manual commands are refused, a ground manual mode in which mission commands are refused but manual commands and a first stop command are accepted, a hover manual mode characterized in that the frame is movable relative to ground in which mission commands are refused but manual commands and a second stop command are accepted and an enroute mode in which mission commands are executed and a third stop command is accepted,

the computer being further configured to only allow mode transitions directly between the ground manual mode and the ground stationary mode upon receipt of the first stop command, directly between the ground stationary mode and the hover stationary mode, directly between the hover manual mode and the hover stationary mode upon receipt of the second stop command and directly between the enroute mode and the hover stationary mode upon receipt of the third stop command.