ACTIVE-INCEPTOR TACTILE-CUEING HANDS-OFF RATE-LIMIT

• US 20090234518A1
• Filed: 03/11/2008
• Published: 09/17/2009
• Est. Priority Date: 03/11/2008
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Miller, David G., Irwin, Joseph G. III, Einthoven, Pieter G., Spano, Mark S.
• Granted Patent: US 9,156,546 B2
• Time in Patent Office: Days
• US Class Current: 701/4
• CPC Class Codes: B64C 13/345 with artificial feel
• CPC Class Codes: B64C 27/56 characterised by the control initiating means, e.g. manually actuated

Abstract

The system contains the active inceptor having mobility in a first direction. A feedback mechanism is in communication with the active inceptor. The mechanism provides a variable level of force to the active inceptor in the first direction. A programmable device communicates with the feedback mechanism. The programmable device controls the level of force provided to the active inceptor from the feedback mechanism. The programmable device is capable of recognizing and distinguishing between regimes wherein the operator is physically engaging the inceptor (“hands-on” state) and when the operator is “hands-off” the inceptor. The programmable device limits the maximum rate of displacement of an active inceptor to a specified safe and effective value regardless of changes in forces applied by the variable force feel feedback mechanism. The limit on rate of change of active inceptor position is varied based on the recognized “hands-on” or “hands-off” state and the type of tactile cue to satisfy otherwise conflicting requirements for failure robustness and effective tactile cueing during highly dynamic operations.

Claims

1. A system for rate limiting force feedback on an active inceptor, the system comprising:

the active inceptor having mobility in a first direction;

a feedback mechanism in communication with the active inceptor, wherein the feedback mechanism provides a variable level of force to the active inceptor in the first direction; and

a programmable device in communication with the feedback mechanism, wherein the programmable device controls the level of force provided to the active inceptor from the feedback mechanism and wherein a rate at which the level of force provided to the active inceptor is changed is limited by the programmable device.

2. The system of claim 1, further comprising a first sensor in communication with the active inceptor and the programmable device, wherein the first sensor detects whether a user is engaging the active inceptor or “

hands-on”

state.

3. The system of claim 2, wherein the rate limited by the programmable device is variable, whereby the rate is not limited if the first sensor detects the user engaging the active inceptor and a first rate if the first sensor detects the user is not engaging the active inceptor.

4. The system of claim 1, further comprising:

a second sensor in communication with the active inceptor and the programmable device, wherein the second sensor detects a position of the active inceptor relative to the first direction; and

a memory in communication with the programmable device, wherein the memory stores at least one tactile-cue position of the active inceptor, wherein the programmable device determines from information communicated by the second sensor and the memory whether the position of the active inceptor is one of the stored tactile-cue positions.

5. The system of claim 4, wherein the rate limited by the programmable device is variable, whereby the rate limit is a first rate limit if the programmable device determines, from the information communicated by the second sensor and the memory, that the position of the active inceptor is at least proximate to one of the stored tactile-cue positions and a second rate limit if the programmable device determines, from the information communicated by the second sensor and the memory, that the position of the active inceptor is not proximate to at least one of the stored tactile-cue positions.

6. The system of claim 5, wherein the memory further stores a plurality of tactile-cue positions of varying significance and wherein, if the programmable device determines the position of the active inceptor is at least proximate to one of the stored tactile-cue positions, the rate limit is varied respective of the significance of the tactile-cue position.

7. A method for rate limiting force feedback on an active inceptor having mobility in a first direction, the method comprising the steps of:

providing a variable level of force from a feedback mechanism to the active inceptor in the first direction;

communicating a first signal from a programmable device to the feedback mechanism, wherein the first signal controls the level of force provided to the active inceptor from the feedback mechanism;

communicating a second signal from the programmable device to the feedback mechanism, wherein the second signal changes the level of force provided to the active inceptor from the feedback mechanism; and

limiting a rate at which the level of force provided to the active inceptor is changed.

8. The method of claim 7, further comprising detecting whether a user is engaging the active inceptor or “

hands-on”

state.

9. The method of claim 8, further comprising reconfiguring the limited rate dependent on whether the user is engaging the active inceptor or “

hands-on”

state.

10. The method of claim 7, further comprising:

detecting a position of the active inceptor relative to the first direction;

storing in a memory at least one tactile-cue position of the active inceptor; and

determining from the detected position and tactile-cue position stored in the memory whether the detected position of the active inceptor is one of the stored tactile-cue positions.

11. The method of claim 10, wherein the rate limit is variable, wherein limiting the rate at which the level of force provided to the active inceptor is changed further comprises limiting the rate to a first rate if the detected position of the active inceptor is at least proximate to one of the stored tactile-cue positions and limiting the rate to a second rate if the detected position of the active inceptor is not at least proximate to one of the stored tactile-cue positions.

12. The method of claim 11, further comprising storing a plurality of tactile-cue positions in memory and assigning each of the tactile-cue positions a varying level of significance, wherein if the detected position of the active inceptor is one of the stored tactile-cue positions, the first rate is varied respective of the level of significance of the tactile-cue position.

13. The method of claim 11, further comprising detecting whether a user is engaging the active inceptor or “

hands-on”

state.

14. The method of claim 11, further comprising reconfiguring the limited rate dependent on whether the user is engaging the active inceptor or “

hands-on”

state.

15. A method for rate limiting an active inceptor, the method comprising:

sensing active inceptor input;

setting a rate limit based on the sensed input; and

limiting motion of the active inceptor based on the rate limit set.

16. The method of claim 15, further comprising detecting whether a user is engaging the active inceptor or “

hands-on”

state.

17. The method of claim 16, further comprising reconfiguring the rate limit dependent on whether the user is engaging the active inceptor or “

hands-on”

state.

18. The method of claim 15, further comprising:

detecting a position of the active inceptor;

storing in a memory at least one tactile-cue position of the active inceptor; and

determining from the detected position and tactile-cue position stored in the memory whether the detected position of the active inceptor is one of the stored tactile-cue positions.

19. The method of claim 18, wherein the rate limit is variable, wherein setting the rate limit further comprises setting the rate limit to a first rate if the detected position of the active inceptor is one of the stored tactile-cue positions and limiting the rate to a second rate if the detected position of the active inceptor is not one of the stored tactile-cue positions.

20. The method of claim 19, further comprising storing a plurality of tactile-cue positions in memory and assigning each of the tactile-cue positions a varying level of significance, wherein if the detected position of the active inceptor is at least proximate to one of the stored tactile-cue positions, the first rate is varied respective of the level of significance of the tactile-cue position.