Spatial navigation system and method for programmable flying objects
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
A63H-027/127
A63H-027/00
출원번호
US-0033219
(2005-01-10)
등록번호
US-7407424
(2008-08-05)
발명자
/ 주소
Choi,Kei Fung
출원인 / 주소
Silverlit Toys Manufactory, Ltd.
대리인 / 주소
Greenberg Traurig, LLP
인용정보
피인용 횟수 :
5인용 특허 :
20
초록▼
A flying toy can determine its orientation and position in a space by calculating the distance to three reference points on the ground. The flying toy uses three ultrasonic transmitters as the three reference points. The distance to each ultrasonic transmitter is calculated by a microprocessor int
A flying toy can determine its orientation and position in a space by calculating the distance to three reference points on the ground. The flying toy uses three ultrasonic transmitters as the three reference points. The distance to each ultrasonic transmitter is calculated by a microprocessor integrated in the flying toy which records the time it takes for the ultrasonic signal to travel from each of the ultrasonic transmitters to the flying toy. Once the distances to each of the ultrasonic transmitters are known, the microcontroller in the flying toy determines the position in space of the flying toy using trilateration methods. The flying toy can fly on autopilot according to predetermined regions, and prevent crashes by using is positioning data.
대표청구항▼
I claim: 1. A method of determining the position of a moving flying object in a space, comprising: determining a first distance from a first sonic receiver mounted on the moving object to a first sonic transmitter located at a ground station unit, wherein the step of determining the first distance
I claim: 1. A method of determining the position of a moving flying object in a space, comprising: determining a first distance from a first sonic receiver mounted on the moving object to a first sonic transmitter located at a ground station unit, wherein the step of determining the first distance comprises: emitting a first infrared light signal from the moving object to a first infrared light receiver located at the ground station unit; initiating a time counter upon transmitting the infrared light signal; receiving a first sonic signal from the first sonic transmitter; stopping the time counter upon receiving the first sonic signal; and multiplying a predetermined speed constant by a time indicated by the time counter; determining a second distance from the sonic receiver mounted on the moving object to a second sonic transmitter located at the ground station unit, the second sonic transmitter being located at a spaced distance from the first sonic transmitter; determining a third distance from the sonic receiver mounted on the moving object to a third sonic transmitter located at the ground station unit, and the third sonic transmitter being located at a spaced distance from the first and second sonic transmitter; utilizing the first distance, the second distance and the third distance to determine the position of the moving object in relation to the ground station unit; controlling through a remote control system using radio frequency modulation with signals corresponding to user input at least one of the yaw, roll, pitch motion, and also the throttle of the flying object space unit, and the control is through moving navigation keys and a control stick to convey control signals to a microprocessor, the microprocessor in turn emits signals to the flying object space unit through radio frequency signals from a radio transmitter and antenna; and wherein the first sonic transmitter, the second sonic transmitter and the third sonic transmitter are located relative to each other such that lines between them form a triangular configuration, and the moving flying object includes a propeller operable by a motive system, the propeller being arranged to be in a horizontal plane when the object is flying, and the propeller periphery is encircled with a protective circumferential outer structure, and including a gyro-stabilizing system for controlling the speed of the propeller thereby to control the movement of the object. 2. The method of claim 1 wherein the step of determining the second distance comprises: emitting a second infrared light signal from the moving object to the infrared light receiver located at the ground station unit, the second infrared signal being at a different time to the emission of the first infrared signal; reinitiating the time counter upon transmitting the second infrared light signal; receiving a second sonic signal from the second sonic transmitter; stopping the time counter upon receiving the second sonic signal; and multiplying the predetermined speed constant by the time indicated by the time counter. 3. The method of claim 2, wherein the step of determining the third distance comprises: emitting a third infrared light signal from the moving object to the infrared light receiver located at the ground station unit; the third infrared signal being at a different time to the emission of the first and the infrared signals; reinitiating the time counter upon transmitting the third infrared light signal; receiving a third sonic signal from the third sonic transmitter; stopping the time counter upon receiving the third sonic signal at the sonic receiver; and multiplying the predetermined speed constant by the time indicated by the time counter. 4. The method of claim 1, wherein the step of determining the second distance comprises: reinitiating a time counter after a predetermined amount of time; receiving a second sonic signal from the second sonic transmitter, the second sonic signal being sent after the predetermined amount of time passed since the first sonic signal was received; stopping the time counter upon receiving the second sonic signal at the sonic receiver; and multiplying a predetermined speed constant by the time indicated by the time counter. 5. The method of claim 4, wherein the step of determining the third distance comprises: reinitiating a time counter after a predetermined amount of time; receiving a third sonic signal from the third sonic transmitter, the third sonic signal being sent after the predetermined amount of time passed since the second sonic signal was received; stopping the time counter upon receiving the third sonic signal at the sonic receiver; and multiplying a predetermined speed constant by the time indicated by the time counter. 6. The method of claim 2, wherein the first sonic signal, the second sonic signal, and the third sonic signal have different sonic frequencies from each other. 7. The method of claim 1, wherein the step of determining the position of the moving object in relation to the ground station unit is performed by trilateration. 8. A method of determining the position of a flying toy moving object in a space, comprising: determining a first distance from a sonic receiver mounted on the moving object to a first sonic transmitter located at a ground station unit, wherein the step of determining the first distance comprises: emitting an infrared light signal from the moving object to an infrared light receiver located at the ground station unit; initiating a time counter upon transmitting the infrared light signal; receiving a first sonic signal from the first sonic transmitter; stopping the time counter upon receiving the first sonic signal; and multiplying a predetermined speed constant by a time indicated by the time counter; determining a second distance from the sonic receiver mounted on the moving object to a second sonic transmitter located at the ground station unit; determining a third distance from the sonic receiver mounted on the moving object to a third sonic transmitter located at the ground station unit; utilizing the first distance, the second distance and the third distance to determine the position of the moving object in relation to the ground station unit, controlling through a remote control system using radio frequency modulation with signals corresponding to user input at least one of the yaw, roll, pitch motion, and also the throttle of the flying space unit, and the control is through moving navigation keys and a control stick to convey control signals to a microprocessor, the microprocessor in turn emits signals to the flying space unit through radio frequency signals from a radio transmitter and antenna; and wherein the first sonic transmitter, the second sonic transmitter and the third sonic transmitter are located relative to each other such that lines between them form a triangular configuration, and the infrared light signal receiver is located in the triangle, the first, second, and third transmitters being mounted in a single housing, the moving object including a motive system, multiple propellers being operable by the motive system, and the propellers being arranged laterally relative to each other and being directed generally to be in a horizontal plane when the object is flying. 9. The method of claim 1, wherein the moving object is configured to reach a specific destination by using the position of the moving object in relation to the specific destination. 10. The method of claim 9, wherein the moving object is configure to follow a specific path defined by a plurality of specific destinations. 11. The method of claim 1, further comprising: determining a fourth distance from a second sonic receiver mounted on the moving object to the first sonic transmitter located at a ground station unit; determining a fifth distance from the second sonic receiver mounted on the moving object to the second sonic transmitter located at the ground station unit; determining a sixth distance from the second sonic receiver mounted on the moving object to the third sonic transmitter located at the ground station unit; and utilizing the first distance, the second distance, the third distance, the fourth distance, the fifth distance and the sixth distance to determine the position of the moving object in relation to the ground station unit. 12. The method of claim 11, further comprising utilizing the first distance, the second distance, the third distance, the fourth distance, the fifth distance and the sixth distance to determine the orientation of the moving object in relation to the ground station unit. 13. The method of claim 1 including controlling through the remote control system using radio frequency modulation with signals corresponding to user input at least two of the yaw, roll, pitch motion of the space unit. 14. The method of claim 1 including controlling through the remote control system using radio frequency modulation with signals corresponding to user input at least three of the yaw, roll, pitch motion of the space unit. 15. The method of claim 1 including having the remote control system receive from a user a specific destination in space for moving the space unit. 16. A method of determining the position of a moving flying object in a space, comprising: determining a first distance from an ultrasonic receiver mounted on the moving object to a first ultrasonic transmitter located at a ground station unit, wherein the step of determining the first distance comprises: emitting an infrared light signal from the moving object to an infrared light receiver located at the ground station unit; initiating a time counter upon transmitting the infrared light signal; receiving a first ultrasonic signal from the first ultrasonic transmitter; stopping the time counter upon receiving the first ultrasonic signal; and multiplying a predetermined speed constant by a time indicated by the time counter; determining a second distance from the ultrasonic receiver mounted on the moving object to a second ultrasonic transmitter located at the ground station unit; determining a third distance from the ultrasonic receiver mounted on the moving object to a third ultrasonic transmitter located at the ground station unit; utilizing the first distance, the second distance and the third distance to determine the position of the moving object in relation to the ground station unit; controlling through a remote control system using radio frequency modulation with signals corresponding to user input at least one of the yaw, roll, pitch motion, and also the throttle of the space unit, and the control is through moving navigation keys and a control stick to convey control signals to a microprocessor, the microprocessor in turn emits radio frequency signals to the space unit through a radio transmitter and antenna; and the first sonic transmitter, the second sonic transmitter and the third sonic transmitter are located relative to each other such that lines between them form an equilateral triangular configuration, and the infrared light signal receiver being located at the center of the triangle. 17. A method of determining the position of a moving flying toy object in a space, comprising: determining a first distance from an ultrasonic receiver mounted on the moving object to a first sonic transmitter located at a ground station unit, wherein the step of determining the first distance comprises: emitting an infrared light signal from the moving object to an infrared light receiver located at the ground station unit; initiating a time counter upon transmitting the infrared light signal; receiving a first sonic signal from the first sonic transmitter; stopping the time counter upon receiving the first sonic signal; and multiplying a predetermined speed constant by a time indicated by the time counter; determining a second distance from the sonic receiver mounted on the moving object to a second sonic transmitter located at the ground station unit; determining a third distance from the sonic receiver mounted on the moving object to a third sonic transmitter located at the ground station unit; utilizing the first distance, the second distance and the third distance to determine the position of the moving object in relation to the ground station unit, controlling through a remote control system using radio frequency modulation with signals corresponding to user input at least one of the yaw, roll, pitch motion, and also the throttle of the space unit, and the control is through moving navigation keys and a control stick to convey control signals to a microprocessor, the microprocessor in turn emits signals to the space unit through radio frequency signals from a radio transmitter and antenna; and wherein the first sonic transmitter, the second sonic transmitter and the third sonic transmitter are located relative to each other such that lines between them form an equilateral triangular configuration, and the infrared light signal receiver is located in the triangle, the first, second, and third transmitters being mounted in a single housing, and the moving object includes a motive system, the motive system having multiple propellers operable by the motive system, the propellers being arranged laterally relative to each other and being directed generally to be in a horizontal plane when the object is flying, and the propellers being surrounded by circumferentially protective rings.
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Couronne,Sylvie; Koehler,Stefan; Rohmer,Guenter; Von Der Gruen,Thomas; Bretz,Ingmar; Gerhaeuser,Heinz, System for determining the position of an object.
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