USING HANDHELD DEVICE TO CONTROL FLYING OBJECT

• US 20140008496A1
• Filed: 07/05/2012
• Published: 01/09/2014
• Est. Priority Date: 07/05/2012
• Status: Abandoned Application

• Current Assignee: CyWee Group Ltd.
• Original Assignee: CyWee Group Ltd.
• Inventors: Ye, Zhou, Lu, Ying-Ko
• Application Number:
  US13/541,766
• Publication Number:
  US 20140008496A1
• Time in Patent Office: Days
• US Class Current: 244/190
• CPC Class Codes: A63H 27/02 Model aircraft
• CPC Class Codes: A63H 30/04 using wireless transmission
• CPC Class Codes: B64C 13/20 using radiated signals
• CPC Class Codes: B64C 2203/00 Flying model aircraft, flying toy aircraft
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/17 Helicopters flying platforms B64U10/13
• CPC Class Codes: B64U 10/25 Fixed-wing aircraft VTOL aircraft B64U10/20
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246

Abstract

Method and system for remote control of a drone helicopter and RC plane using a handheld device is disclosed. Piloting commands and actions are performed using the handheld device, which includes a motion sensor module, with gyro-sensor and g-sensor for controlling roll, yaw and pitch of flying object under relative or absolute coordinate system. The gyro-sensor controls both heading and rotation of flying object in place around its yaw by rotating handheld device around its yaw axis; g-sensor controls pitch and roll by rotating handheld device around its pitch axis and roll axes. Upon determining free falling of flying object, throttle is thereby adjusted so as to land it safely. Flying object further has a camera, and video images are transferred wireless to be displayed on touch screen, and image zoom-in and zoom-out are provided via multi-touch of touch screen. RF and IR capability is included for wireless communication.

Claims

1. A method of implementing remote-control of a flying object using a handheld device, the method comprising:

activating the flying object to inspect status of the flying object when an operator uses one or two hands to hold the handheld device;

establishing a wireless communication link between the flying object and the handheld device in response to the activating;

detecting an operator input to a motion sensor module of the handheld device wherein the motion sensor module comprises a gyro-sensor and a g-sensor;

generating one or more piloting commands from the operator through moving and/or touching gestures for the handheld device in response to the detecting; and

executing one or more piloting actions based on the piloting commands for controlling the flying object from the handheld device;

wherein the one or more piloting actions are processed to maintain an orientation of the flying object, and the orientation is indicative of at least one of a roll, yaw and pitch angles, and translation thereof during flight;

wherein the gyro-sensor of the handheld device is provided to transmit its one or more motion signals in response to the operator input to the gyro-sensor of the motion sensor module so as to control a flight heading of the flying object around its yaw axis while the handheld device is rotated by the operator around its yaw axis; and

wherein the g-sensor of the handheld device is provided to transmit its one or more motion signals so as to control a flight translation of the flying object or the pitch and roll angles thereof, by tilting the handheld device around at least one of its pitch and roll axes.

2. The method of implementing remote-control of the flying object as claimed in claim 1, wherein the flying object is a remote-control helicopter aircraft or jet aircraft flying to a designated elevation and hovering in place while maintaining substantial positional and rotational stability.

3. The method of implementing remote-control of the flying object as claimed in claim 1, wherein the gyro-sensor of the motion sensor module comprises at least one axis, and the g-sensor of the motion sensor module comprises at least two axes.

4. The method of implementing remote-control of the flying object as claimed in claim 3, wherein the motion sensor module further comprises a three-axis magnetic-sensor to measure one or more motion data in acceleration, angular speed and magnetic flux.

5. The method of implementing remote-control of the flying object as claimed in claim 2, wherein the flying object comprises an g-sensor and one or more motors or engines for driving one or more propellers or jets, respectively, and upon determining that the flying object is free falling from the air when a zero value of Gsum is obtained by performing a square root operation on the following expression:

(Gx̂

2+Gŷ

2+Gẑ

2), where Gx, Gy and Gz are measured values respectively from each of three gravity-acceleration along x-axis, y-axis and z-axis of the g-sensor of the flying object; and

the throttle of the one or more motors or engines is thereby increasingly driven to rotate the corresponding one or more propellers or jets based on the zero value of Gsum.

6. The method of implementing remote-control of the flying object as claimed in claim 2, wherein the flying object comprises one or more motors for driving one or more propellers, and upon determining that the flying object is free falling from air by detecting at least a preset rate of pressure change using a pressure sensor disposed on the flying object, the throttle of the one or more motors is thereby increasingly driven to rotate the one or more propellers.

7. The method of implementing remote-control of the flying object as claimed in claim 3, wherein the motion signal indicates three-dimensional movements of the handheld device detected by the motion sensor module for each of a plurality of corresponding output parameters from the motion sensor module representing acceleration, angular speed, so as to calculate an orientation value, gravity changes and linear accelerations of the flying object.

8. The method of implementing remote-control of the flying object as claimed in claim 4, wherein the motion signal indicates three-dimensional movements of the handheld device detected by the motion sensor module for each of a plurality of corresponding output parameters from the motion sensor module representing acceleration, angular speed, magnetic flux, so as to calculate orientation values, gravity changes and linear accelerations of the flying object.

9. The method of implementing remote-control of the flying object as claimed in claim 8, wherein the motion signal is further processed via sensor fusion technology.

10. The method of implementing remote-control of the flying object as claimed in claim 1, further comprising executing a power saving action by detecting a value of the flying object'"'"'s height measured from the ground via one or more readings obtained from an altimeter or a pressure sensor disposed on the flying object to automatically adjust the rotating speed of the one or more propellers or jets, so as to prevent the flying object from crash.

11. The method of implementing remote-control of the flying object as claimed in claim 1, wherein the wireless communication link between the flying object and the handheld device is implemented via radio frequency (RF) or infrared (IR) or wireless local area network (WLAN).

12. The method of implementing remote-control of the flying object as claimed in claim 1, wherein the flying object is provided with a gyro-sensor and a g-sensor, the flying object further performing one or more flight corrections due to any abrupt changes in pitch and roll based upon data collected from continuous measurements by the g-sensor in the flying object;

and calibrating the flight corrections of the flying object determined upon offset data of the gyro-sensor inputted from the continuous measurements of the g-sensor at the flying object.

13. The method of implementing remote-control of the flying object as claimed in claim 1, wherein each of the piloting commands is activated by the operator'"'"'s one or more finger gestures on a touch screen of the handheld device at a specified icon or moving over the touch screen at one or more locations of a plurality of piloting symbols displayed on the touch screen.

14. The method of implementing remote-control of the flying object as claimed in claim 13, wherein the flying object further comprises a camera that captures a plurality of still images, and the still images are transferred to the handheld device and displayed on the touch screen;

and

wherein the camera captures one or more moving images, and the moving images are transferred to the handheld device for zoom-in/zoom-out operations of the displayed moving images, based on the camera'"'"'s zoom-focus via multi-touch de-pinch/pinch finger gestures on a particular portion of the touch screen.

15. The method of implementing remote-control of the flying object as claimed in claim 1, wherein the flight translation is indicative of forward, backward, leftward or rightward movement of the flying object.

16. A system for remote control of a flying object using a handheld device, comprising:

a flying object attached with a g-sensor for detecting an acceleration of a gravity direction of the flying object based on one or more measurements of the acceleration so as to prevent flying crash; and

a wireless communication unit for establishing a wireless communication link between the handheld device and the flying object via a plurality of infrared or radio-frequency signals, wherein the handheld device comprises;

a touch screen;

a motion sensor module having a gyro-sensor and a g-sensor for measuring roll, yaw and pitch angles, and translation of the handheld device;

a flight control and piloting interface for displaying one or more specified icons or piloting symbols to allow an operator'"'"'s touch gestures to interact with the touch screen; and

a flight control software program for receiving a plurality of piloting commands respectively from the flight control and piloting interface and the motion sensor module, so as to maintain an orientation of the flying object;

wherein the g-sensor of the motion sensor module is activated in response to an operator input to the g-sensor thereof;

wherein the plurality of piloting commands are interpreted by the flight control software program to generate a plurality of corresponding piloting actions so as to control roll, yaw and pitch angles and translation of the flying object through the wireless communication link between the handheld device and the flying object.

17. The system as claimed in claim 16, wherein the gyro-sensor of the handheld device is provided to control a heading of the flying object by rotating the handheld around its yaw axis, the g-sensor of the handheld device is provided to control the pitch and roll of the flying object by rotating the handheld device around its pitch axis and roll axes, and the flying object is a remote control helicopter aircraft or remote control jet aircraft.

18. A system for remote control of a flying object using a handheld device, comprising:

a flying object;

a wireless communication unit for establishing a wireless communication link between the handheld device and the flying object via a plurality of infrared or radio-frequency signals, wherein the handheld device comprises;

a touch screen;

a motion sensor module having a gyro-sensor and a g-sensor for measuring roll, yaw and pitch angles, and translation of the handheld device;

a flight control and piloting interface for displaying one or more specified icon or one or more piloting symbols to allow an operator'"'"'s touch gestures to interact with the touch screen; and

a flight control software program for residing in the handheld device and for receiving a plurality of piloting commands respectively from the flight control and piloting interface and the motion sensor module, so as to maintain an orientation of the flying object;

wherein the g-sensor of the motion sensor module is activated in response to an operator input to the g-sensor thereof;

wherein the plurality of piloting commands are interpreted by the flight control software program to generate a plurality of corresponding piloting actions so as to control roll, yaw and pitch angles and translation of the flying object through the wireless communication link between the handheld device and the flying object.

19. The system as claimed in claim 18, wherein the gyro-sensor of the handheld device is provided to control a heading of the flying object by rotating the handheld around its yaw axis, the g-sensor of the handheld device is provided to control the pitch and roll of the flying object by rotating the handheld device around its pitch axis and roll axes, and the flying object is a remote control helicopter aircraft or remote control jet aircraft.

20. The system as claimed in claim 19, wherein the flying object is attached with a g-sensor for detecting an acceleration of a gravity direction of the flying object based on one or more measurements of the acceleration so as to prevent flying crash.