Systems and methods for inertially controlling a hovering unmanned aerial vehicles

• US 8,089,225 B2
• Filed: 10/29/2008
• Issued: 01/03/2012
• Est. Priority Date: 10/29/2008
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Goossen, Emray R.
• Primary Examiner(s): Ip, Paul
• Application Number:
  US12/260,799
• Publication Number:
  US 20110301783A1
• Time in Patent Office: 1,161 Days
• Field of Search: 318/16, 318/587, 318/568.13, 345/156, 345/158, 345/163, 345/166, 463/38
• US Class Current: 318/16
• 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 1/0033 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 1/0858 specially adapted for vertical take-off of aircraft

Abstract

Systems and methods for inertially controlling a hovering unmanned aerial vehicle (HUAV) are provided. One inertial controller includes a frame and a sensor for detecting a change in an orientation and/or motion of the frame with respect to a predetermined neutral position. The inertial controller also includes a processor for generating commands to the HUAV to modify its current orientation and/or motion in accordance with the change. A system includes the above inertial controller and a sensor for determining a second change for an orientation and/or motion for the HUAV based on the change, and a processor for generating a signal commanding an HUAV control system to orient and/or move the HUAV in accordance with the second change. One method includes detecting a change in an orientation and/or motion of an inertial controller frame and commanding the HUAV to modify its current orientation and/or motion in accordance with the change.

Claims

1. An inertial controller for a hovering unmanned aerial vehicle (HUAV), comprising:

a frame;

a sensor coupled to the frame and configured to detect at least two degrees of freedom of motion in free space of the frame with respect to a predetermined neutral free space position of the frame;

a processor coupled to the sensor and configured to generate a first control signal representative of the change; and

a transmitter coupled to the processor and configured to transmit the first control signal to the HUAV, the first control signal commanding the HUAV to modify its current orientation, current motion, or both in accordance with the change in the orientation, the motion, or the orientation and the motion, respectively.

2. The inertial controller of claim 1, wherein the sensor comprises a two-axis accelerometer.

3. The inertial controller of claim 1, wherein the sensor comprises a three-axis accelerometer configured to detect at least three degrees of freedom of motion.

4. The inertial controller of claim 1, wherein the sensor comprises a three axis inertial measurement unit (IMU) configured to provide six degrees of freedom of motion.

5. The inertial controller of claim 1, further comprising an actuator coupled to the processor and configured to receive a thrust input from a user, wherein the processor is further configured to command the HUAV to modify an amount of thrust in accordance with the thrust input in response thereto.

6. The inertial controller of claim 1, further comprising an actuator coupled to the processor and configured to receive a hold input from a user, wherein the processor is further configured to command the HUAV to hold its current orientation in response thereto.

7. The inertial controller of claim 1, further comprising an actuator coupled to the processor and configured to receive a shift input from a user, wherein the processor is further configured to command the HUAV to shift its current orientation by a predetermined amount in a predetermined direction in response thereto.

8. A system for controlling an inertial hovering unmanned aerial vehicle (HUAV) including a control system, comprising:

an inertial controller comprising;

a frame,

a first sensor coupled to the frame and configured to detect a first change in a first orientation, a first motion, or both of the frame with respect to a predetermined neutral position of the frame, and

a first processor coupled to the first sensor and configured to generate a first control signal representative of the first change;

a second sensor in communication with the first processor, the second sensor configured to receive the first control signal, determine a second change for a second orientation, a second motion, or both for the HUAV based on the first change, and generate a second signal representative of the second change; and

a second processor configured to be coupled to the control system and coupled to the second sensor, the second processor further configured to receive the second signal and generate a third signal commanding the control system to orient, move, or orient and move the HUAV in accordance with the second change.

9. The system of claim 8, wherein the first and second sensors each comprise a two axis accelerometer configured to provide two degrees of freedom of motion.

10. The system of claim 8, wherein the first and second sensors each comprise a three axis accelerometer configured to provide three degrees of freedom of motion.

11. The system of claim 8, wherein the first and second sensors each comprise a three axis inertial measurement unit (IMU) configured to provide six degrees of freedom of motion.

12. The system of claim 8, wherein the inertial controller further comprises an actuator coupled to the first processor and configured to receive a thrust input from a user, the first processor being further configured to generate a fourth signal representative of the thrust input, and

wherein the second processor is configured to receive the fourth signal and generate a fifth signal commanding the control system to modify an amount of thrust for the HUAV in accordance with the thrust input.

13. The system of claim 8, wherein the inertial controller further comprises an actuator coupled to the first processor and configured to receive a hold input from a user, the first processor being further configured to generate a fourth signal representative of the hold input, and

wherein the second processor is configured to receive the fourth signal and generate a fifth signal commanding the control system to hold a current orientation of the HUAV.

14. The system of claim 8, wherein the inertial controller further comprises an actuator coupled to the first processor and configured to receive a shift input from a user, the first processor being further configured to generate a fourth signal representative of the shift input, and

wherein the second processor is configured to receive the fourth signal and generate a fifth signal commanding the control system to shift a current orientation of the HUAV by a predetermined amount in a predetermined direction.

15. A method for inertially controlling a hovering unmanned aerial vehicle (HUAV), comprising the steps of:

detecting a change in a first orientation, a first motion, or both of a controller frame with respect to a predetermined neutral free space position of the controller frame; and

commanding the HUAV to modify its current orientation, current motion, or both in accordance with the change in the first orientation, first motion, or both the first orientation and the first motion, respectively.

16. The method of claim 15, further comprising the steps of:

receiving a thrust input from a user; and

commanding the HUAV to modify an amount of thrust in accordance with the thrust input.

17. The method of claim 15, further comprising the steps of:

receiving a hold input from a user; and

commanding the HUAV to hold its current orientation.

18. The method of claim 15, further comprising the steps of:

receiving a shift input from a user; and

commanding the HUAV to shift its current orientation by a predetermined amount in a predetermined direction.

19. A system, comprising:

A hovering unmanned aerial vehicle (HUAV), comprising;

a control system for controlling movement of the HUAV,

a signal receiver, and

a first processor coupled to the control system and the signal receiver, and transmit first control signals to the control system based on received control signals; and

an inertial controller configured to transmit second control signals to the signal receiver, the controller comprising;

a frame,

an inertial measurement unit (IMU) coupled to the frame and configured to detect a change in six degrees of freedom of motion of the frame with respect to a predetermined neutral position of the frame,

a second processor coupled to the IMU and configured to generate the second control signals, the second control signals representative of the change, and

a signal transmitter coupled to the second processor and in communication with the signal transmitter, the signal transmitter configured to transmit the second control signals to the signal receiver, the second control signals commanding the HUAV to modify its current orientation, current motion, or both in accordance with the change in the six degrees of freedom of motion in free space of the frame.