Multi-mode unmanned and manned vehicle systems and methods

• US 8,052,096 B2
• Filed: 07/23/2010
• Issued: 11/08/2011
• Est. Priority Date: 03/22/2006
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Cerchie, Dino A., Dockter, Gregory E., Hardesty, William Mark
• Primary Examiner(s): Dinh; Tien
• Assistant Examiner(s): KREINER, MICHAEL B
• Application Number:
  US12/842,916
• Publication Number:
  US 20100286847A1
• Time in Patent Office: 473 Days
• Field of Search: 244/17.11, 244/17.13, 244/75.1, 244/76.R, 244/189, 244/190, 244/194, 244/196, 244/197, 244/229
• US Class Current: 244/197
• CPC Class Codes: B64C 13/22 readily revertible to personal control
• CPC Class Codes: B64C 13/341 having duplication or stand-by provisions
• CPC Class Codes: B64C 13/343 overriding of personal controls; with automatic return to inoperative position
• CPC Class Codes: B64C 13/505 having duplication or stand-by provisions
• CPC Class Codes: B64C 13/506 overriding of personal controls; with automatic return to inoperative position
• CPC Class Codes: B64C 13/507 with artificial feel
• 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: G05D 1/0044 by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps maps used for automatic navigation G05D1/0274; flight directors G01C23/005

Abstract

An apparatus for converting a manned aircraft of a type including at least one pilot control capable of manipulation to affect operation of the aircraft for unmanned flight operations includes first and second actuators, each configured to selectively provide movement or resistance to movement in a first manner including linear or rotational motion, first and second clutches, each configured to selectively couple movement of the associated actuator to or from the pilot control during flight, and a vehicle controller capable of being selectively enabled during flight to operate the pilot control actuators and clutches and thereby provide unmanned operation of the aircraft, or of being disabled, thereby providing for manned operation of the aircraft. The first actuator has a first scope describing a first amount of allowable movement, while the second actuator has a second scope larger than the first scope.

Claims

1. A method of piloting an aircraft, the method comprising:

providing an unmodified aircraft having at least one pilot control configured for operation by a pilot for manned operation;

retrofitting the aircraft so as to include a vehicle controller and at least two pilot control actuators arranged in a dual actuator configuration, wherein the vehicle controller is capable of being selectably enabled or disabled during flight of the aircraft to operate the at least two pilot control actuators, and the at least two pilot control actuators are each capable of being selectably coupled to or from the at least one pilot control during flight of the aircraft by an associated, independently controllable clutch and operative to provide an enhanced bandwidth capability;

flying the retrofitted aircraft;

detecting without pilot input whether the vehicle controller is enabled;

and when the vehicle controller is enabled;

sensing at least one aircraft property;

computing a vehicle controller response based on the sensed property; and

piloting the modified aircraft using the vehicle controller by operating the at least two pilot control actuators according to the vehicle controller response.

2. The method of claim 1, further comprising piloting the retrofitted aircraft using a human pilot when the vehicle controller is not enabled.

3. The method of claim 2, wherein a pilot select transition time between when the vehicle controller is enabled to provide unmanned operation of the retrofitted vehicle and when the vehicle controller is disabled to provide manned operation of the retrofitted vehicle is less than about one second.

4. The method of claim 2, further comprising:

sensing a condition of the pilot;

detecting an impaired condition of the pilot;

enabling the vehicle controller; and

piloting the retrofitted aircraft using the vehicle controller.

5. The method of claim 4, wherein the piloting of the retrofitted aircraft using the vehicle controller comprises piloting the aircraft using an onboard computer.

6. The method of claim 4, wherein the piloting of the retrofitted aircraft using the vehicle controller comprises piloting the aircraft from a remote location.

7. The method of claim 2, further comprising:

sensing aircraft ambient conditions;

detecting a threat to the aircraft;

enabling the vehicle controller; and

piloting the retrofitted aircraft using the vehicle controller so as to avoid the threat.

8. The method of claim 1, wherein the computing of a vehicle controller response based on the sensed property further comprises:

comparing a current vehicle state to a desired vehicle state to determine a vehicle state difference;

calculating a change in one or more positions of the at least one pilot control based on the vehicle state difference;

calculating a change in one or more positions of the at least two actuators corresponding to the calculated change in the one or more positions of the at least one pilot control, and

commanding the calculated change in the one or more positions of the at least two actuators.

9. The method of claim 8, wherein the piloting of the retrofitted aircraft using the vehicle controller by operating the at least two pilot control actuators when the commanded change in the position of at least one of the at least two actuators will exceed an actuator travel limit further comprises:

decoupling the at least one actuator from the at least one pilot control;

positioning the at least one actuator to a center of travel; and

re-coupling the at least one actuator to the at least one pilot control.

10. The method of claim 1, wherein one of the at least two pilot control actuators is included in the unmodified aircraft.