Abstract:
A system and method for controlling a trajectory of a vehicle includes a crew seat with first and second inceptors mounted to a portion of the crew seat; a processor with memory having instructions stored thereon that cause the system to: receive signals indicative of a trajectory for the vehicle; receive signals indicative of a deviation in a trajectory of the vehicle; and transmit signals for controlling a flight path of the vehicle. A second inceptor is configured for selecting one or more menus on a user display and being configured to interact with a fly-by-wire control system for transmitting signals indicative of movement of flight surface of the vehicle. The crew seat is configured to be located on the vehicle, in a control station remotely located from the vehicle, or in a second vehicle remotely located from the vehicle.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    This application claims the benefit of U.S. provisional patent application serial No. 61/987,836, filed May 2, 2014, the entire contents of which are incorporated herein by reference. 
     
    
     BACKGROUND 
       [0002]    The subject matter disclosed herein relates generally to the field of vehicle controls and to a crew seat with an integral inceptor system for controlling a trajectory of an aircraft. 
       DESCRIPTION OF RELATED ART 
       [0003]    When in flight, an aircraft may be oriented about a plurality of axes. The aircraft&#39;s orientation may also be referred to as aircraft state. In both fixed wing and rotary wing aircrafts, it is common for the pilot to use a variety of positionable controls including sticks, levers, collective, and rudder pedals to control aircraft state including attitude, altitude, speed, and the like. Commonly referred to as “sticks”, these inceptors can be used to adjust control surfaces of the aircraft. As highly augmented optionally piloted aircraft emerge, a new way to interact with these aircraft is needed to perform mission goals. Existing fly-by-wire systems that use traditional control sticks, collective sticks, and rudder pedals are no longer sufficient to perform mission goals and control aircraft trajectory. An integral crew seat inceptor system for controlling aircraft trajectory would be well received in the art. 
       BRIEF SUMMARY 
       [0004]    According to an aspect of the invention, a system for controlling a trajectory of a vehicle includes a crew seat with an inceptor mounted to a portion of the crew seat, the inceptor being movable about at least a first axis; a processor with memory having instructions stored thereon that, when executed by the processor, cause the system to: receive signals indicative of a trajectory for the vehicle; receive signals indicative of a deviation in a trajectory of the vehicle; and transmit signals for controlling a flight path of the vehicle in response to the receiving of the deviation signals. 
         [0005]    In addition to one or more of the features described above, or as an alternative, further embodiments could include an inceptor with a spherical body having a plurality of controls that are configured for inputting the deviation signals for the vehicle. 
         [0006]    In addition to one or more of the features described above, or as an alternative, further embodiments could include an inceptor that is configured to rotate along a rotational axis, translate along a linear axis, or a combination of rotation and translation. 
         [0007]    In addition to one or more of the features described above, or as an alternative, further embodiments could include an inceptor that emanates from a front end of a seat arm of the crew seat, the inceptor being configured to be held in a hand of an operator hand as a forearm of the operator rests on the seat arm. 
         [0008]    In addition to one or more of the features described above, or as an alternative, further embodiments could include an inceptor with a tracking ball configured for determining a time period for controlling the flight path of the vehicle. 
         [0009]    In addition to one or more of the features described above, or as an alternative, further embodiments could include a crew seat that is configured to be located on the vehicle, in a control station remotely located from the vehicle, or in a second vehicle remotely located from the vehicle. 
         [0010]    In addition to one or more of the features described above, or as an alternative, further embodiments could include a second inceptor that is configured for selecting one or more menus on a user display. 
         [0011]    In addition to one or more of the features described above, or as an alternative, further embodiments could include a second inceptor that is configured to interact with a fly-by-wire control system for transmitting signals indicative of movement of flight surface of the vehicle. 
         [0012]    In addition to one or more of the features described above, or as an alternative, further embodiments could include an inceptor that includes a thumb wheel configured to navigate through menus that are displayed on a graphical user interface. 
         [0013]    According to another aspect of the invention, a method for controlling a trajectory of a vehicle includes receiving, with a processor, signals indicative of a trajectory for the vehicle; and receiving, with the processor, signals indicative of a deviation in a trajectory of the vehicle; and transmitting, with the processor, signals for controlling a flight path of the vehicle in response to the receiving of the deviation signals. 
         [0014]    In addition to one or more of the features described above, or as an alternative, further embodiments could include receiving the deviation signals from an inceptor integrated into a crew seat, the inceptor comprising a spherical body with a plurality of controls that is configured for inputting the trajectory for the vehicle. 
         [0015]    In addition to one or more of the features described above, or as an alternative, further embodiments could include determining a time period for controlling the flight path of the vehicle with a tracking ball. 
         [0016]    In addition to one or more of the features described above, or as an alternative, further embodiments could include locating the crew seat on the vehicle, in a control station remotely located from the vehicle, or in a second vehicle remotely located from the vehicle. 
         [0017]    In addition to one or more of the features described above, or as an alternative, further embodiments could include selecting one or more menus on a user display with a second inceptor. 
         [0018]    In addition to one or more of the features described above, or as an alternative, further embodiments could include a second inceptor that is configured for interacting with a fly-by-wire control system for transmitting signals indicative of movement of flight surface of the vehicle. 
         [0019]    Technical effects of the invention include controlling a trajectory of a vehicle in an optionally piloted vehicle and, specifically, by removing a human pilot from a vehicle control loop and allowing a pilot to become a mission operator through manipulation of control inceptors integrated with a crew seat. The invention may be implemented in an aircraft whose trajectory is being controlled, in a ground control station to control a trajectory of an aircraft in flight, or in a second aircraft that is controlling a trajectory of a first aircraft. 
         [0020]    Other aspects, features, and techniques of the invention will become more apparent from the following description taken in conjunction with the drawings. 
     
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS 
         [0021]    The subject matter, which is regarded as the invention, is particularly pointed out and distinctly claimed in the claims at the conclusion of the specification. The foregoing and other features, and advantages of the invention are apparent from the following detailed description taken in conjunction with the accompanying drawings in which like elements are numbered alike in the several FIGURES: 
           [0022]      FIG. 1  is a schematic view of an example vehicle according to an embodiment of the invention; 
           [0023]      FIG. 2  is a schematic view of an example computing system according to an embodiment of the invention; 
           [0024]      FIG. 3A  is a right side view of a crew seat having an integral inceptor system according to an embodiment of the invention; 
           [0025]      FIG. 3B  is a perspective view of a detail of an inceptor of  FIG. 3A  according to an embodiment of the invention; 
           [0026]      FIG. 3C  is a left side view of a crew seat having an integral inceptor system according to an embodiment of the invention; and 
           [0027]      FIG. 3D  is a front view of a detail of an inceptor of  FIG. 3C  according to an embodiment of the invention. 
       
    
    
     DETAILED DESCRIPTION 
       [0028]    Referring now to the drawings,  FIG. 1  illustrates a general perspective view of an exemplary vehicle in the form of a vertical takeoff and landing (VTOL) rotary-wing aircraft  100  for use with a crew seat integral inceptor system  210  ( FIG. 2 ) according to an embodiment of the invention. In an embodiment, aircraft  100  is an optionally piloted vehicle and can autonomously determine aircraft states as it traverses a flight plan. A crew seat integral inceptor system  210  (hereinafter “integral inceptor system  210 ”) can be used to adjust the trajectory or flight path of aircraft  100  in real-time through one or more controls integrated into a crew seat. Aircraft  100  includes an airframe  102  having a main rotor  104  and an extending tail  106  which mounts an anti-torque system, such as a tail rotor  108 . In embodiments, the anti-torque system may include a translational thrust system, a pusher propeller, a rotor propulsion system, or similar. The main rotor  104  includes a plurality of rotor blades  110  mounted to a rotor hub  112  that rotates about rotor axis A, while tail rotor  108  includes a plurality of rotor blades  116  that rotates about axis B. Main rotor  104  is connected to a conventional swashplate  114  which is driven by one or more control servos to move and/or tilt the swashplate  114  with respect to the rotor axis A. For example, the swashplate  114  may be commanded to move along rotor axis A so as to cause the blades  110  to vary pitch collectively relative to a blade axis C. Also, tilting of the swashplate  114  either longitudinally or laterally relative to the axis A will cause the blades  110  to pitch cyclically in respective longitudinal or lateral directions relative to the blade axis C. Main rotor  104  and tail rotor  108  are driven to rotate by one or more engines  118  through one or more gearboxes (not shown). Although a particular helicopter is illustrated and described in the disclosed embodiment, it will be appreciated that other configurations and/or machines include autonomous and optionally piloted aircraft that may operate in land or water including fixed-wing aircraft, rotary-wing aircraft, and land vehicles (e.g., trucks, cars, etc.) may also benefit from embodiments disclosed. 
         [0029]      FIG. 2  illustrates a schematic block diagram of a control system  200  (for aircraft  100 ) according to an exemplary embodiment. As illustrated, control system  200  executes one or more algorithms  204  for adjusting a trajectory for aircraft  100 . Control system  200  includes a computing system such as an aircraft computer  202  having one or more processors and memory to implement a trajectory for aircraft  100  in support of a flight plan and mission goals. A flight plan, which supports the mission goals, has a plurality of waypoints and includes a trajectory between the plurality of waypoints. The trajectory may be determined during flight or be pre-loaded on aircraft  100 . The computer  202  is configured to process data received from a crew seat integral inceptor system  210  in order to adjust the trajectory for aircraft  100  for a present aircraft location or at an aircraft location at a future time. Aircraft computer  202  includes a memory  208 . Memory  208  stores algorithm  204  as executable instructions that is executed by processor  206 . The instructions may be stored or organized in any manner and at any level of abstraction, such as in connection with the execution of algorithm  204 . Processor  206  may be any type of processor (CPU), including a general purpose processor, a digital signal processor, a microcontroller, an application specific integrated circuit, a field programmable gate array, or the like. Also, in embodiments, memory  208  may include random access memory (RAM), read only memory (ROM), or other electronic, optical, magnetic, or any other computer readable medium onto which is stored algorithm  204 . 
         [0030]    Aircraft  100  includes a perception system  212  having sensors associated with one or more acquisition devices for capturing state information or positional information for aircraft  100 . In embodiments, perception system  212  can be a navigation system such as, for example, a Global Positioning System (GPS) or an Inertial Measurement unit (IMU) that can be used to acquire positional data and trajectory information related to a current location and acceleration of aircraft  100  and can be used to determine a geographic location of aircraft  100  including a change from the initial position of aircraft  100 , sensors associated with a vision system such as cameras, LIght Detection and Ranging scanner (LIDAR), LAser Detection and Ranging scanner (LADAR), and radio communications such as air data scanner, instrument landing system (ILS) and radio navigation, or the like. 
         [0031]      FIGS. 3A-3D  illustrate views of a crew seat integral inceptor system  210  according to an embodiment of the invention. In embodiments, integral inceptor system  210  is used to control a trajectory of an aircraft and can be located within the aircraft whose trajectory is being controlled, either in the cockpit or cabin; can be located in a ground control station to control a trajectory of an aircraft in flight; or can be located in an aircraft in flight to control a trajectory of another independent aircraft also in flight such as, for example, between aircraft in a coordinated mission. In addition to the embodiments above, or as an alternative, further embodiment could include controlling trajectories for piloted vehicles or optionally piloted vehicles. 
         [0032]    As illustrated in  FIGS. 3A-3B , integral inceptor system  210  includes a crew seat  302  with an integrated inceptor  304  for controlling aircraft trajectory. Inceptor  302  is configured to be mounted to be accessible from a top surface  316  of a right seat arm  306  of crew seat  302 . Seat arm  306  is configured to support a person&#39;s forearm when operating inceptor  304 , and in particular when grasping inceptor  304 . Additionally, seat arm  306  can be pivoted relative to seat back  308  about a pivot point  310  in order for an operator to ingress or egress crew seat  302 . In an embodiment, inceptor  304  is in the form of an elongated “T-shaped” controller (e.g., a conventional joystick and is contoured to fit in an operator&#39;s hand when grasping inceptor  304 . Inceptor  304  can also include a plurality of buttons  312 ,  314 . Buttons  312 ,  314  are configured to provide feedback or acknowledgement to control system  200  when depressed by an operator. Also, inceptor  304  can move in multiple axes or degrees of movement in response to an input force applied from an operator of inceptor  304 . Particularly, inceptor  304  can move vertically along direction of axis A, laterally along direction of axis B, as well as along directional axes C and D. Inceptor  302  may be implemented as an active inceptor or as a passive inceptor. In embodiment where the inceptor is active, inceptor  304  provides dynamic feedback to operator through tactile information. This tactile information includes at least one feedback component such as a servo or actuator positioned within seat arm  306 . 
         [0033]    In operation, moving inceptor  304  along axes of movement A-D by an operator of integral inceptor system  210  translates to moving a cursor on a graphical user interface (not shown) such as, for example, a user display for selection of menus. Additionally, an operator can select commands and/or menus that are displayed on user display. Selectively depressing buttons  312 ,  314  translates to selecting menu items on the user display. In addition to the features described above, inceptor  304  can be used to maneuver aircraft  100  in an emergency. Particularly, during an emergency where a failure in the aircraft  100  prevents it from flying autonomously, operator of integral inceptor system  210  can use inceptor  304  to interface with a conventional fly-by-wire system on aircraft  100  to transmit inputs to the flight control computer. These inputs are translated instantaneously into, e.g., pitch, roll, and yaw commands that adjust directional surfaces and power on the aircraft  100  in order to maneuver the aircraft  100  during flight and/or to a safe landing. 
         [0034]    In addition to the features described above, another embodiment of integral inceptor system  210 , illustrated in  FIGS. 3C-3D , includes a crew seat  302  with an integrated inceptor  320  that emanates from a front end of seat arm  322 . Seat arm  322  is configured to support a person&#39;s forearm when operating inceptor  322 , and in particular when grasping inceptor  320 . Additionally, seat arm  322  can be pivoted relative to seat back  308  about a pivot point  324  (i.e., pivot point  324  is a centerpoint of a circle for a radius of length of seat arm  322 ) in order for an operator to ingress or egress crew seat  302 . In an embodiment, inceptor  320  has a generally spherical body  321  (e.g., shape of a conventional computer mouse) and is contoured to fit in an operator&#39;s hand when grasping inceptor body  321 . Inceptor  320  can include a set of five controls  324 - 332  positioned on a face of body  321 , with each control  324 - 332  having a group of buttons that can be selectively depressed by a user&#39;s finger immediately adjacent the control. As shown in  FIG. 3D , each control  324 - 332  includes a group of three buttons that can be selectively depressed by a user&#39;s finger from a graphical user interface. Body  321  can be selectively movable along several degrees of freedom, i.e., vertically, horizontally, or rotationally, in response to an input force applied from an operator. Particularly, body  321  can be selectively movable vertically along direction of axis E, laterally along direction of axis F, clockwise rotation along arcuate direction J, counter-clockwise rotation along arcuate direction J, and rotationally along directions of arcuate axes G and H. Inceptor  302  may be implemented as an active inceptor or as a passive inceptor. In embodiment where the inceptor is active, inceptor  320  can provide dynamic feedback to operator through tactile information. This tactile information includes at least one feedback component such as a servo or actuator positioned within left seat arm  322 . Information received from inceptor  302  may be transmitted to control system  200  for implementation on aircraft  100 . 
         [0035]    In an embodiment, inceptor  320  can optionally include a generally cylindrical thumb wheel  334  positioned at a generally central location of body  321 . Thumb wheel  334  can be configured to be rotated along longitudinal axis E in order to select a trajectory at a particular time period. A user can selectively determine when to apply a selected trajectory that is displayed on a graphical user interface by moving thumb wheel  334  to navigate menus. Moving thumbwheel  334  can implement the trajectory at a present location of aircraft  100  or can implement the trajectory at a future time, or when aircraft is at a waypoint in the future. 
         [0036]    In operation, moving body  321  of inceptor  320 , along vertical and horizontal directions E and F or movement along arcuate directions G, H, I, or J, by an operator of integral inceptor system  210  translates to selecting a trajectory, which can be displayed on a graphical user interface for aircraft  100 . Additional functionality for integral inceptor system  210  can be implemented through controls  324 - 332  for adjusting the trajectory of aircraft  100 . 
         [0037]    The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. While the description of the present invention has been presented for purposes of illustration and description, it is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications, variations, alterations, substitutions or equivalent arrangement not hereto described will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the invention. Additionally, while the various embodiments of the invention have been described, it is to be understood that aspects of the invention may include only some of the described embodiments. Accordingly, the invention is not to be seen as limited by the foregoing description, but is only limited by the scope of the appended claims.