Radio controlled aircraft, remote controller and methods for use therewith

• US 9,079,116 B2
• Filed: 12/11/2013
• Issued: 07/14/2015
• Est. Priority Date: 02/12/2008
• Status: Expired due to Fees

• Current Assignee: Drone-Control LLC
• Original Assignee: Katherine C. Stuckman, Michael D. Reynolds
• Inventors: Stuckman, Katherine C., Reynolds, Michael D.
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): HUYNH, LUAT T
• Application Number:
  US14/102,995
• Publication Number:
  US 20140207311A1
• Time in Patent Office: 580 Days
• Field of Search: 701/2, 701/3, 244/17.13, 244/190, 348/114, 348/144, 446/454
• US Class Current: 1/1
• 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 method for use with a radio controlled (RC) aircraft, the method comprising:

receiving an RF signal from a remote control device that includes command data to control motion of the RC aircraft;

generating motion data from at least one sensor of the RC aircraft based on motion of the RC aircraft; and

controlling the RC aircraft based on the command data and the motion data, wherein the command data correspond to user commands in a first coordinate system from a perspective of the remote control device and the command data are transformed into control data in a second coordinate system that is from a perspective of the RC aircraft.

2. The method of claim 1 wherein the user commands includes lift command data and controlling the RC aircraft includes controlling the RC aircraft to a hovering state in response to the lift command data.

3. The method of claim 1 wherein the command data includes roll-axis command data and pitch-axis command data, and the motion data includes yaw-axis motion data.

4. The method of claim 3 wherein the control data includes roll-axis control data generated as a function of the roll-axis command data, pitch-axis command data and the yaw-axis motion data.

5. The method of claim 3 wherein the control data includes pitch-axis control data generated as a function of the roll-axis command data, pitch-axis command data and the yaw-axis motion data.

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

receiving an RF signal from a remote control device that includes command data that indicates user commands to control motion of the RC aircraft;

generating motion data from at least one sensor of the RC aircraft that indicates motion of the RC aircraft;

controlling the RC aircraft based on the RF signal and the motion data, wherein the user commands to control the motion of the RC aircraft are in a first coordinate system from a perspective of the remote control device and,

in a first mode of operation;

the user commands indicated by the command data are transformed into transformed commands in a second coordinate system that is from a perspective of the RC aircraft; and

the RC aircraft is controlled based on the transformed commands; and

in a second mode of operation;

the RC aircraft is controlled directly based on the user commands indicated by the command data in the first coordinate system.

7. The method of claim 6 wherein the user commands includes lift command data and controlling the RC aircraft includes controlling the RC aircraft to a hovering state in response to the lift command data.

8. The method of claim 6 wherein the command data includes roll-axis command data and pitch-axis command data, and the motion data includes yaw-axis motion data.

9. The method of claim 8 wherein the transformed commands include roll-axis data generated as a function of the roll-axis command data, pitch-axis command data and the yaw-axis motion data.

10. The method of claim 8 wherein the transformed commands include pitch-axis data generated as a function of the roll-axis command data, pitch-axis command data and the yaw-axis motion data.

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

generating an RF signal from a remote control device that includes command data that indicates user commands to control motion of the RC aircraft, wherein the user commands to control the motion of the RC aircraft are in a first coordinate system from a perspective of the remote control device;

generating a mode control signal that indicates one of;

a first mode of operation and a second mode of operation;

wherein the RC aircraft is controlled based on the RF signal and motion data generated by at least one sensor of the RC aircraft that indicates motion of the RC aircraft, and wherein the control of the RC aircraft includes;

when the mode control signal indicates the first mode of operation;

the user commands indicated by the command data are transformed into transformed commands in a second coordinate system that is from a perspective of the RC aircraft; and

the RC aircraft is controlled based on the transformed commands; and

when the mode control signal indicates the second mode of operation;

the RC aircraft is controlled directly based on the user commands indicated by the command data in the first coordinate system.

12. The method of claim 11 wherein the user commands includes lift command data and controlling the RC aircraft includes controlling the RC aircraft to a hovering state in response to the lift command data.

13. The method of claim 11 wherein the command data includes roll-axis command data and pitch-axis command data, and the motion data includes yaw-axis motion data.

14. The method of claim 13 wherein the transformed commands include roll-axis data generated as a function of the roll-axis command data, pitch-axis command data and the yaw-axis motion data.

15. The method of claim 13 wherein the transformed commands include pitch-axis data generated as a function of the roll-axis command data, pitch-axis command data and the yaw-axis motion data.