[특허]Ground vehicle-like control for remote control aircraft

Ground vehicle-like control for remote control aircraft 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G05D-001/00 G05D-003/00 G06F-007/00 G06F-017/00 B64C-039/02 G05D-001/04 G05D-001/08
출원번호	US-0174935 (2016-06-06)
등록번호	US-10059446 (2018-08-28)
발명자 / 주소	Erhart, Wesley Ronald Schmitz, Scott Rollin Michael Kawamura, Thomas Michael Hohnholt, Richard Douglas Poteet, Kent
출원인 / 주소	Traxxas LP
대리인 / 주소	Wright, Darryl R.
인용정보	피인용 횟수 : 0 인용 특허 : 27

초록

A hand-held radio transmit controller for remotely controlling an aircraft, and a method for controlling a remote control aircraft offering ground vehicle-like control.

대표청구항 ▼

1. A method for a remote control aircraft offering ground vehicle-like control, the method comprising: receiving an altitude command from a transmitter controller;receiving at least one steering angle control input from a transmitter controller;an electronic state estimation process, executed by a processor, comprising estimating an attitude, an acceleration, and a velocity of the aircraft;an electronic steering control process, executed by a processor, comprising:mapping a model of a ground vehicle, the ground vehicle including a wheel base, comprising mapping the at least one steering angle control input to steering of the model of the ground vehicle; andutilizing the mapping of the model of the ground vehicle, the aircraft velocity estimate, and the at least one steering angle control input to command at least an aircraft yaw rate, an aircraft bank angle, and an aircraft pitch angle; andan electronic flight control process, executed by a processor, comprising controlling the aircraft to the aircraft yaw rate, aircraft bank angle, the aircraft pitch angle and the aircraft pitch rate commanded by the electronic steering control process and maintaining an altitude set by the altitude command. 2. The method of claim 1, wherein the electronic flight control process controls the aircraft to follow the contour of a terrain over which it flies, and maintain a constant altitude above the ground. 3. The method of claim 1, wherein the electronic flight control process of the aircraft increases altitude in response to an obstacle in its path. 4. The method of claim 1, wherein the electronic flight control process controls the aircraft to follow the contour of a terrain over which it flies, and follow a trajectory as the contour of the terrain rises and falls. 5. The method of claim 4, wherein the electronic flight control process controls the aircraft to perform tricks while following said trajectory, the tricks comprising flips, rolls, spins and combinations thereof. 6. The method of claim 1, wherein the method further comprises the electronic flight control process: estimating aberrant conditions; andadjusting the state of the model of the ground vehicle to account for the aberrant conditions;wherein the aircraft mimics the behavior of the ground vehicle under the aberrant conditions. 7. The method of claim 6, wherein the aberrant conditions may comprise one or more of the following: oversteer/understeer behavior; road traction corresponding to road conditions; and inertial delay effects. 8. The method of claim 1, further comprising the steps of: receiving a braking command from the transmitter controller;the electronic flight control process controlling the aircraft to reduce speed to zero;wherein the electronic flight control process maintains zero speed until a forward speed command is received. 9. The method of claim 1, further comprising the steps of; receiving a speed command that goes from non-zero speed to zero speed;in the absence of a braking command, the electronic flight control process maintaining forward motion while gradually and continuously reducing speed. 10. The method of claim 1, further comprising the step of: the electronic steering control process controlling pitch angle and pitch rate in response to the at least one steering angle control input. 11. The method of claim 1, wherein the electronic flight control process further comprises: entering a hover mode while forward speed is zero, wherein the at least one steering angle control input controls the aircraft bank angle; andexiting the hover mode upon receipt of a non-zero forward speed command.

이 특허에 인용된 특허 (27)

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Paul, Andrew E.; Kane, David M., Electrooptical sensor technology with actively controllable optics, for imaging.
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McConville, Michael J., Flight control system for a model aircraft.
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Erhart, Wesley Ronald; Schmitz, Scott Rollin Michael; Kawamura, Thomas Michael; Hohnholt, Richard Douglas; Poteet, Kent, Ground vehicle-like control for remote control aircraft.
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Erhart, Wesley Ronald; Schmitz, Scott Rollin Michael; Kawamura, Tom; Hohnholt, Richard Douglas; Poteet, Kent, Ground vehicle-like control for remote control aircraft.
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Skonieczny Joseph P. (Madison CT) Fogler ; Jr. Donald L. (Milford CT) Gold Phillip J. (Shelton CT) Keller James F. (Media PA) Dryfoos James B. (Wallingford PA), High speed turn coordination for rotary wing aircraft.
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Pedersen, Brad; Spirov, Peter, Homeostatic flying hovercraft.
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Baarman, David W.; Bylsma, Richard B.; Nguyen, Hai D.; Taylor, Joshua B.; Stoner, Jr., William T., Inductive toy vehicle.
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Beard, Paul; Adams, John; Lee, Mathew; Meyers, Eric, Method and system for controlling radio controlled devices.
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Beard, Paul; Adams, John; Lee, Mathew; Meyers, Eric, Method and system for controlling radio controlled devices.
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Young, Neil; Kovach, II, Louis G.; Ricks, Mark E.; Ricks, John T., Model train control system.
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Greeley, Daniel; Fourie, Daniel; Lee, Bryce; Kozlenko, Yevgeniy; Wilkinson, David; Townsend, William T., Pistol-grip for intuitive control of a robotic or virtual hand.
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Stuckman, Katherine C.; Reynolds, Michael D., Radio controlled aircraft, remote controller and methods for use therewith.
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Hayashigawa Larry, Reactive ride simulator apparatus and method.
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Condon, John Paul; Fairman, James Edward; Pedersen, Bradley Dean; KraMer, Thomas Edward; Melanson, Scott Andrew, Remote-control flying copter and method.
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Kojima, Satoru, Roll angle control device for remote-controlled two-wheeled vehicle.
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Iida, Hiroyuki; Suzuki, Masahide, Steering control system for radio control vehicle and a radio controlled car comprising the same.
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Troy, James J.; Erignac, Charles A.; Murray, Paul, Systems and methods for haptics-enabled teleoperation of vehicles and other devices.
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Kanai, Kazunori; Oiwa, Ken, Vehicular behavior determination device and vehicular behavior determination method.
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Morris, Stephen, Vertical take off aircraft.
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Seo, Kee Hong, Walking robot and method for controlling posture thereof.
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Ground vehicle-like control for remote control aircraft 원문보기

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Ground vehicle-like control for remote control aircraft 원문보기

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