Control system for communicating with and controlling operations of a vehicle

• US 9,804,595 B1
• Filed: 05/23/2016
• Issued: 10/31/2017
• Est. Priority Date: 06/19/2015
• Status: Active Grant

• Current Assignee: Samuel E. Denard
• Original Assignee: Samuel E. Denard
• Inventors: Denard, Samuel E.
• Primary Examiner(s): Patel, Shardul
• Application Number:
  US15/162,476
• Time in Patent Office: 526 Days
• Field of Search: 701 2
• CPC Class Codes: A63H 30/04 using wireless transmission
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 2201/20 Remote controls
• 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

Abstract

A control system for a vehicle using a primary three axis orientation sensor and a reference three axis orientation sensor spaced apart from the primary sensor. At least one auxiliary control can be used for thrust. A wearable processor can be configured to receive the primary sensor signal and the reference sensor signal. The reference sensor signal can use a conditioning formula and the wearable processor can filter the conditioned signals using a Kalman filter. The filtered signals can form merged signals and apply operator configurations on wrist reference locations to the merged signals. Operation commands can use the merged signals to control the vehicle with four channels of control to a transmitter that communicates with the vehicle.

Claims

1. A control system for communicating with and controlling operations of a vehicle that moves in three dimensions with four channels of control, the control system comprising:

a) a hand supported mounting system;

b) a primary three axis orientation sensor embedded within the hand supported mounting system generating a primary sensor signal;

c) a second mounting system spaced apart from the hand supported mounting system;

d) a reference three axis orientation sensor mounted to the second mounting system;

the reference three axis orientation sensor generating a reference sensor signal;

e) at least one auxiliary control mounted to the hand supported mounting system configured for finger operation by an operator, the at least one auxiliary control controlling thrust of the vehicle;

f) a wearable processor with a data storage mounted to the second mounting system, the wearable processor configured to;

(i) receive simultaneously the primary sensor signal and the reference sensor signal;

(ii) condition the primary sensor signal and the reference sensor signal using a conditioning formula forming conditioned signals;

(iii) filter the conditioned signals using a Kalman filter forming filtered signals;

(iv) merge the filtered signals forming merged signals;

(v) apply operator configurations on wrist reference locations to the merged signals;

(vi) apply vehicle customizations to the merged signals; and

(vii) generate operation commands using the merged signals to control the vehicle with four channels of control;

g) a wearable power supply in electrical connection with the wearable processor; and

h) a transmitter in communication with the wearable processor for receiving the operation commands and transferring the operation commands to the vehicle; and

wherein the control system is configured to provide simultaneously, resistance free three channels of control for orientation of pitch, roll, and yaw solely using a wrist of the operator and a fourth channel of control for thrust using fingers of the operator.

2. The control system of claim 1, wherein the transmitter further includes a power supply for providing electrical power to the transmitter.

3. The control system of claim 1, further comprising a cable interconnected between the primary three axis orientation sensor and the wearable processor.

4. The control system of claim 1, further comprising a wireless connection between the primary three axis orientation sensor, the reference three axis orientation sensor, the wearable processor, and the transmitter.

5. The control system of claim 1, wherein the at least on auxiliary control are finger operated buttons to provide throttle up, throttle down, power on and power off.

6. The control system of claim 1, wherein the primary three axis orientation sensor, the reference three axis orientation sensor, and the at least one auxiliary control are mechatronic devices.

7. The control system of claim 1, wherein the vehicle is an aircraft, a boat, a helicopter, a submarine, or another remotely operated vehicle.

8. The control system of claim 1, wherein the primary three axis orientation sensor comprises a micro-machined magnetometer, a micro-machined accelerometer;

and a micro-machined gyroscope, and wherein the primary three axis orientation sensor configured to exclusively measure wrist angles of the operator in three dimensions.

9. The control system of claim 1, wherein the reference three axis orientation sensor comprises a micro-machined magnetometer, a micro-machined accelerometer, and a micro-machined gyroscope, wherein the reference three axis orientation sensor is configured to measure wrist angles generated by operator movement other than wrist motion of a hand of the operator.

10. The control system of claim 1, wherein the at least one auxiliary control has at least one finger contact for increasing and decreasing thrust of the vehicle.

11. The control system of claim 1, wherein the at least one auxiliary control has at least one finger contact to control reverse and forward motion.

12. The control system of claim 1, wherein the second mounting system is secured to a forearm of the operator and the hand supported mounting system is held by a hand of the operator.

13. The control system of claim 1, wherein the data storage comprises:

a) computer instructions to instruct the wearable processor to receive simultaneously the primary sensor signal and the reference sensor signal;

b) the conditioning formula for removing noise from the merged signals;

c) computer instructions to instruct the wearable processor to condition the primary sensor signal and the reference sensor signal using the conditioning formula forming the conditioned signals;

d) the Kalman filter;

e) computer instructions to instruct the wearable processor to filter the conditioned signals using the Kalman filter forming the filtered signals;

f) computer instructions to instruct the wearable processor to merge the filtered signals forming the merged signals;

g) the operator configurations on the wrist reference locations to the conditioned signals;

h) computer instructions to instruct the wearable processor to apply the operator configurations on the wrist reference locations to the merged signals;

i) the vehicle customizations;

j) computer instructions to instruct the wearable processor to apply the vehicle customizations to the merged signals; and

k) computer instructions to instruct the wearable processor to generate the operation commands using the merged signals to control the vehicle with four channels of control.

14. The control system of claim 13, wherein the data storage further comprises computer instructions to instruct the wearable processor to perform a configuration set up for the vehicle using the vehicle customizations.

15. The control system of claim 13, wherein the data storage further comprises computer instructions to instruct the wearable processor to customize the control system for the operator using the operator configurations on the wrist reference locations, and using a specific rate of increase or decrease for the at least one auxiliary control and applying a programmable range of wrist motion.

16. The control system of claim 15, wherein the programmable range of wrist movement varies from +/−

45 degrees.