Radio controlled vehicle, remote controller and methods for use therewith

• US 8,649,918 B2
• Filed: 11/29/2012
• Issued: 02/11/2014
• Est. Priority Date: 02/12/2008
• Status: Active Grant

• Current Assignee: Drone-Control LLC
• Original Assignee: Katherine C. Stuckman, Michael D. Reynolds
• Inventors: Stuckman, Katherine C., Reynolds, Michael D.
• Primary Examiner(s): Frejd, Russell
• Assistant Examiner(s): HUYNH, LUAT T
• Application Number:
  US13/688,886
• Publication Number:
  US 20130096736A1
• Time in Patent Office: 439 Days
• Field of Search: 701/2, 701/3, 244/190, 244/17.13
• US Class Current: 701/2
• CPC Class Codes: A63H 27/004 Means for launching objects from aircraft, e.g. pilot, missiles
• CPC Class Codes: A63H 27/02 Model aircraft
• CPC Class Codes: A63H 27/12 Helicopters A63H27/04 takes precedence; Flying tops
• CPC Class Codes: A63H 30/04 using wireless transmission
• CPC Class Codes: A63H 31/10 Gearing mechanisms actuated by movable wires enclosed in flexible tubes
• CPC Class Codes: B64C 19/00 Aircraft control not otherwise provided for
• CPC Class Codes: B64C 27/57 automatic or condition responsive, e.g. responsive to rotor speed, torque or thrust
• 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: B64U 30/297 Tilting rotors
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• 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 1/0202 specially adapted to aircraft
• CPC Class Codes: G05D 1/0808 specially adapted for aircraft

Abstract

A radio controlled (RC) vehicle includes a receiver that is coupled to receive an RF signal from a remote control device, the RF signal containing command data in accordance with a first coordinate system, wherein the first coordinate system is from a perspective of the remote control device. A motion sensing module generates motion data based on the motion of the RC vehicle. A processing module transforms the command data into control data in accordance with a second coordinate system, wherein the second coordinate system is from a perspective of the RC vehicle. A plurality of control devices control the motion of the RC vehicle based on the control data.

Claims

1. A radio controlled (RC) vehicle comprising:

a receiver that is coupled to receive an RF signal from a remote control device, the RF signal containing command data in accordance with a first coordinate system, wherein the first coordinate system is from a perspective of a user of the remote control device;

a motion sensing module, that generates motion data based on the motion of the RC vehicle;

a processing module, coupled to the motion sensing module and the receiver, that transforms the command data into control data, based on the motion data, and in accordance with a second coordinate system, wherein the second coordinate system is from a perspective of the RC vehicle; and

a plurality of control devices, coupled to the processing module, that control the motion of the RC vehicle based on the control data.

2. The RC vehicle of claim 1 wherein the command data includes roll-axis command data and pitch-axis command data, the control data includes roll-axis control data and wherein the processor generates the roll-axis control data based on the roll-axis command data and pitch-axis command data.

3. The RC vehicle of claim 2 wherein the motion data includes yaw-axis motion data and the processor generates the roll-axis control data as a function of the roll-axis command data, pitch-axis command data and the yaw-axis motion data.

4. The RC vehicle of claim 1 wherein the command data includes roll-axis command data and pitch-axis command data, the control data includes pitch-axis control data and wherein the processor generates the pitch-axis control data based on the roll-axis command data and pitch-axis command data.

5. The RC vehicle of claim 4 wherein the motion data includes yaw-axis motion data and the processor generates the pitch-axis control data as a function of the roll-axis command data, pitch-axis command data and the yaw-axis motion data.

6. The RC vehicle of claim 1 wherein the RF signal includes mode data, wherein the processing module transforms the command data into control data in accordance with a second coordinate system when the mode data has a first value, and wherein the processing module generates the control data as proportional to the command data when the mode data has a second value.

7. The RC vehicle of claim 1 wherein the command data includes lift command data and the control data includes lift control data and wherein the processing module generates the lift control data based on a weight of the RC vehicle.

8. The RC vehicle of claim 1 wherein the command data includes yaw-velocity command data and the control data includes yaw-velocity control data and wherein the processing module generates the yaw-velocity control data as proportional to the yaw-velocity command data.

9. The RC vehicle of claim 1, wherein the command data includes launch data, the RC vehicle further comprising:

a launch module, coupled to the receiver, that launches an object from the RC vehicle in response to the launch data.

10. The RC vehicle of claim 9 wherein the object includes a parachute.

11. A method for use with a radio controlled (RC) vehicle, the method comprising:

receiving an RF signal from a remote control device, the RF signal containing command data in accordance with a first coordinate system, wherein the first coordinate system is from a perspective of a user of the remote control device;

generating motion data based on the motion of the RC vehicle;

transforming the command data into control data in accordance with a second coordinate system, wherein the second coordinate system is from a perspective of the RC vehicle; and

controlling the motion of the RC vehicle based on the control data.

12. The method of claim 11 wherein the command data includes roll-axis command data and pitch-axis command data, the control data includes roll-axis control data, and the motion data includes yaw-axis motion data, and wherein transforming the command data includes generating the roll-axis control data as a function of the roll-axis command data, pitch-axis command data and the yaw-axis motion data.

13. The method of claim 11 wherein the command data includes roll-axis command data and pitch-axis command data, the control data includes pitch-axis control data, and the motion data includes yaw-axis motion data, and wherein transforming the command data includes generating the pitch-axis control data as a function of the roll-axis command data, pitch-axis command data and the yaw-axis motion data.

14. The method of claim 11 wherein the RF signal includes mode data, and wherein, when the mode data has a first value, the step of transforming the command data is selectively bypassed and the control data generated in proportional to the command data.

15. The method of claim 11 wherein the command data includes lift command data and the control data includes lift control data and wherein the step of transforming the command data includes generating the lift control data based on a weight of the RC vehicle.

16. The method of claim 11 wherein the command data includes yaw-velocity command data and the control data includes yaw-velocity control data and wherein the step of transforming the command data includes generating yaw-velocity control data as a proportion of the yaw-velocity command data.

17. The method of claim 11, wherein the command data includes launch data, the RC vehicle further comprising:

launching an object from the RC vehicle in response to the launch data.

18. The method of claim 11 wherein the object includes a parachute.