Radio controlled aircraft, remote controller and methods for use therewith

• US 10,248,117 B2
• Filed: 12/28/2016
• Issued: 04/02/2019
• 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:
  US15/392,687
• Publication Number:
  US 20170102698A1
• Time in Patent Office: 825 Days
• Field of Search: 701 2, 701 14
• 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: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/10 Rotorcrafts
• CPC Class Codes: B64U 10/17 Helicopters flying platforms B64U10/13
• 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 that is configured to receive an RF signal from a remote control device. The RF signal contains command data in accordance with a first coordinate system that is from a perspective of the remote control device. A motion sensor is configured to generate motion data. 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 method comprising:

receiving a radio frequency (RF) signal from a remote control device, the RF signal to control a radio controlled (RC) aircraft;

generating motion data from at least one sensor of the RC aircraft based on motion of the RC aircraft; and

controlling the RC aircraft based on command data and the motion data, wherein the command data corresponds to a user command in a first coordinate system from a perspective of the remote control device and the command data is transformed into control data in a second coordinate system that is from a perspective of the RC aircraft, 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;

wherein the user command includes a lift command that indicates a hovering state, and wherein controlling the RC aircraft includes controlling the RC aircraft to a hovering state in response to the lift command.

2. The method of claim 1, further comprising determining a first position of the RC aircraft at a first time and determining a second position of the RC aircraft at a second time, wherein the RC aircraft is further controlled based on the first position and the second position.

3. The method of claim 1, wherein the motion data includes a first parameter determined by an accelerometer of the RC aircraft.

4. The method of claim 1, wherein the data includes roll-axis command data and pitch-axis command data, wherein the motion data includes yaw-axis motion data, and wherein the control data includes roll-axis control data generated as a function of the roll-axis command data, the pitch-axis command data, and the yaw-axis motion data.

5. The method of claim 1, wherein the command data includes roll-axis command data and pitch-axis command data, wherein the motion data includes yaw-axis motion data, and wherein the control data includes pitch-axis control data generated as a function of the roll-axis command data, the pitch-axis command data, and the yaw-axis motion data.

6. A method comprising:

receiving a radio frequency (RF) signal from a remote control device, the RF signal to control motion of an aircraft;

generating motion data from at least one sensor of the aircraft;

controlling the aircraft based on the RF signal and the motion data, wherein a user command indicated by the RF signal includes a lift command that indicates a hovering state, wherein controlling the aircraft includes controlling the aircraft to a hovering state in response to the lift command, and wherein the user command is in a first coordinate system from a perspective of the remote control device and,

in a first mode of operation;

the user command is transformed into a transformed command in a second coordinate system that is from a perspective of the aircraft by transforming command data into control data, 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

the aircraft is controlled based on the transformed command; and

in a second mode of operation;

the aircraft is controlled directly based on the user command.

7. The method of claim 6, wherein the motion data is distinct from the command data.

8. The method of claim 6, wherein the user command includes a roll-axis command or a pitch-axis command.

9. A radio controlled (RC) vehicle comprising:

a receiver that is configured to receive a radio frequency (RF) signal from a remote control device, the RF signal indicating command data related to a first coordinate system, wherein the first coordinate system is from a perspective of a user of the remote control device;

a motion sensor configured to generate motion data;

a processor coupled to the motion sensor and 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.

10. The RC vehicle of claim 9, 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 configured to generate the roll-axis control data based on the roll-axis command data and pitch-axis command data.

11. The RC vehicle of claim 9, 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 configured to generate the pitch-axis control data based on the roll-axis command data and pitch-axis command data.

12. The RC vehicle of claim 9, wherein the RC vehicle comprises a helicopter.

13. The RC vehicle of claim 12, wherein the helicopter includes a single vertical-axis rotor.

14. The RC vehicle of claim 9, wherein the remote control device is configured to display an operating mode of the RC vehicle.

15. A method comprising:

receiving a radio frequency (RF) signal from a remote control device, the RF signal to control a radio controlled (RC) aircraft;

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

controlling the RC aircraft based on command data received from the remote control device and based on the motion data, wherein the command data corresponds to a user command in a first coordinate system from a perspective of the remote control device and the command data is transformed into control data in a second coordinate system that is from a perspective of the RC aircraft, 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;

wherein the user command includes a lift command that indicates a hovering state, and wherein controlling the RC aircraft includes controlling the RC aircraft to the hovering state in response to the lift command.

16. The method of claim 15, further comprising determining a first position of the RC aircraft at a first time and determining a second position of the RC aircraft at a second time, wherein the RC aircraft is further controlled based on the first position and the second position.

17. The method of claim 15, wherein the remote control device comprises a plurality of spring-loaded interface devices, each spring-loaded interface device of the plurality of spring-loaded interface devices configured to return to a center position, and wherein the command data includes a hover command when the plurality of spring-loaded interface devices are at the center position.

18. The method of claim 15, wherein the command data includes roll-axis command data and pitch-axis command data, wherein the motion data includes yaw-axis motion data, wherein the control data includes roll-axis control data generated as a function of the roll-axis command data, the pitch-axis command data, and the yaw-axis motion data, and wherein the control data further includes pitch-axis control data generated as a function of the roll-axis command data, the pitch-axis command data, and the yaw-axis motion data.

19. The method of claim 15, wherein the command data includes roll-axis command data and pitch-axis command data, wherein the motion data includes yaw-axis motion data, and wherein the control data includes pitch-axis control data generated as a function of the roll-axis command data, the pitch-axis command data, and the yaw-axis motion data.

20. A method comprising:

receiving a radio frequency (RF) signal from a remote control device, the RF signal to control motion of an aircraft;

generating motion data from at least one sensor of the aircraft;

controlling the aircraft based on command data indicated by the RF signal and based on the motion data, wherein a user command indicated by the RF signal includes a lift command that indicates a hovering state, wherein controlling the aircraft includes controlling the aircraft to the hovering state in response to the lift command, and wherein the command data corresponds to a user command in a first coordinate system from a perspective of the remote control device;

wherein, in a first mode of operation, the command data includes a mode selection indicator that indicates a mode of operation associated with the user command;

the user command is transformed into a transformed command in a second coordinate system that is from a perspective of the aircraft by transforming the command data into control data, 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

the aircraft is controlled based on the transformed command; and

wherein, in a second mode of operation;

the aircraft is controlled directly based on the user command.

21. The method of claim 20, wherein the motion data is distinct from the command data.

22. The method of claim 20, wherein the mode selection indicator comprises a binary indicator that indicates one of the first mode of operation or the second mode of operation.

23. A remote 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 related to a first coordinate system, wherein the first coordinate system is from a perspective of a user of the remote control device;

a motion sensor configured to generate data indicative of a detected motion of the RC vehicle;

a processor coupled to the receiver and to the motion sensor, the processor configured to;

generate first position data indicating a first position of the RC vehicle at a first time;

generate second position data indicating a second position of the RC vehicle at a second time;

transform the command data into control data based on the data indicative of the detected motion of the RC vehicle, the first position data, and the second position 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.

24. The RC vehicle of claim 23, wherein the first position is different than the second position.

25. The RC vehicle of claim 23, wherein the command data further indicates an operation to determine an initial position of the RC vehicle.

26. The RC vehicle of claim 25, wherein the first position is the initial position.

27. The RC vehicle of claim 23, wherein the remote control device comprises a plurality of spring-loaded interface devices, each spring-loaded interface device of the plurality of spring-loaded interface devices configured to return to a center position, and wherein the command data includes a hover command based on the plurality of spring-loaded interface devices being at the center position.

28. The RC vehicle of claim 23, wherein the RC vehicle comprises a helicopter.

29. The RC vehicle of claim 28, wherein the helicopter includes a single vertical-axis rotor.