Dynamic stabilization system and methods for an RC vehicle

• US 10,528,060 B2
• Filed: 04/25/2016
• Issued: 01/07/2020
• Est. Priority Date: 10/02/2013
• Status: Active Grant

• Current Assignee: Horizon Hobby, Llc
• Original Assignee: Horizon Hobby, Llc
• Inventors: Beard, Paul, Steenari, Jukka, Adams, John
• Primary Examiner(s): Dager, Jonathan M
• Application Number:
  US15/137,938
• Publication Number:
  US 20160239022A1
• Time in Patent Office: 1,352 Days
• Field of Search: None
• CPC Class Codes: A63H 17/36 Steering-mechanisms for toy vehicles
• CPC Class Codes: A63H 17/395 steered by program
• CPC Class Codes: A63H 30/04 using wireless transmission
• CPC Class Codes: G01P 15/02 by making use of inertia forces using solid seismic massesG01P15/14 takes precedence
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: G05D 1/247 using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
• CPC Class Codes: G05D 1/646 Following a predefined trajectory, e.g. a line marked on the floor or a flight path

Abstract

Systems and methods for stabilizing the steering and throttle of a radio-controlled (RC) vehicle are described herein. More specifically, sensors and circuitry are configured to control the wheel speed and wheel direction of a RC vehicle based on rotational information. In operation, one or more sensors may be configured to receive angular rotational information associated with a rotation of the RC vehicle. The rotational information may define a rotation of the RC vehicle around one or more axes of the RC vehicle. The circuitry may be configured to receive the angular rotation information associated with the rotation of the RC vehicle from the one or more sensors, and control a wheel speed and/or a wheel direction of at least one wheel of the RC vehicle based at least in part on (i) command data received from a controller associated with the RC vehicle and (ii) the received angular rotation information.

Claims

1. A radio-controlled (RC) vehicle comprising:

an inertial measurement unit comprising;

one or more accelerometers configured to output angular acceleration data associated with acceleration of the RC vehicle about one or more axes; and

one or more angular rate sensors configured to output angular rotation data associated with rotation of the RC vehicle about the one or more axes; and

a receiver configured to;

receive the angular acceleration data and the angular rotation data from the inertial measurement unit;

receive command data from a controller associated with the RC vehicle, wherein the command data includes steering data and throttle data; and

in response to receiving the command data, the angular acceleration data, and the angular rotation data, control a wheel direction of at least one wheel of the RC vehicle.

2. The RC vehicle of claim 1, wherein, in response to receiving the command data, the angular acceleration data, and the angular rotation data, the receiver is further configured to control a wheel speed of at least one wheel of the RC vehicle.

3. The RC vehicle of claim 1, wherein the receiver is further configured to detect a reverse signal.

4. The RC vehicle of claim 3, wherein the reverse signal is detected based on a comparison of the command data to at least one expected reverse command.

5. The RC vehicle of claim 2, wherein the receiver is further configured to:

determine whether a yaw rate exceeds a yaw rate threshold based on the angular rotation data; and

in response to determining that the yaw rate exceeds the yaw rate threshold, reduce the wheel speed.

6. The RC vehicle of claim 1, wherein the receiver is further configured to:

determine whether a yaw rate exceeds a yaw rate threshold based on the angular rotation data; and

in response to determining that the yaw rate exceeds the yaw rate threshold, change the wheel direction.

7. The RC vehicle of claim 1, wherein the receiver controls the wheel direction based at least in part on a steering intervention function.

8. The RC vehicle of claim 7, wherein the steering intervention function is based at least in part on a throttle command, a steering threshold intervention, a steering function, and the steering data.

9. The RC vehicle of claim 2, wherein the receiver controls the wheel speed based at least in part on a throttle intervention function.

10. The RC vehicle of claim 9, wherein the throttle intervention function is based at least in part on a throttle command, a throttle threshold intervention, a throttle threshold intervention delayed, and a throttle proportional intervention.

11. The RC vehicle of claim 1, wherein the receiver is configured to control the wheel direction based at least in part on a varying steering priority.

12. The RC vehicle of claim 11, wherein the steering priority varies based on the steering data and the angular rotation information.

13. A radio-controlled (RC) vehicle comprising:

an inertial measurement unit comprising;

one or more accelerometers configured to output angular acceleration data associated with acceleration of the RC vehicle about one or more axes; and

one or more angular rate sensors configured to output angular rotation data associated with rotation of the RC vehicle about the one or more axes; and

circuitry configured to;

receive the angular acceleration data and the angular rotation data from the inertial measurement unit;

receive command data from a controller associated with the RC vehicle, wherein the command data includes steering data and throttle data; and

in response to receiving the steering data, the angular acceleration data, and the angular rotation data, control a wheel direction of at least one wheel of the RC vehicle.

14. The RC vehicle of claim 13, wherein, in response to receiving the throttle data, the angular acceleration data, and the angular rotation data, the circuitry is further configured to control a wheel speed of at least one wheel of the RC vehicle.

15. The RC vehicle of claim 13, wherein the circuitry is further configured to detect a reverse signal.

16. The RC vehicle of claim 15, wherein the reverse signal is detected based on a comparison of the command data to at least one expected reverse command.

17. An inertial measurement unit for use in a radio-controlled (RC) vehicle, the inertial measurement unit comprising:

one or more accelerometers configured to output angular acceleration data associated with acceleration of the RC vehicle about one or more axes; and

one or more angular rate sensors configured to output angular rotation data associated with rotation of the RC vehicle about the one or more axes; and

circuitry configured to;

receive the angular acceleration data and the angular rotation data from the inertial measurement unit;

receive command data from a controller associated with the RC vehicle, wherein the command data includes steering data and throttle data; and

in response to receiving the steering data, the angular acceleration data, and the angular rotation data, control a wheel direction of at least one wheel of the RC vehicle.

18. The inertial measurement unit of claim 17, wherein, in response to receiving the throttle data, the angular acceleration data, and the angular rotation data, the circuitry is further configured to control a wheel speed of at least one wheel of the RC vehicle.

19. The inertial measurement unit of claim 17, wherein the circuitry is further configured to detect a reverse signal.

20. The inertial measurement unit of claim 19, wherein the reverse signal is detected based on a comparison of the command data to at least one expected reverse command.