Abstract:
A system for receiving feedback in a flight plan of a vehicle includes a haptic-enabled device comprising a crew seat with an inceptor mounted thereto; and a processor with memory having instructions stored thereon that, when executed by the processor, cause the system to: receive signals indicative of the flight plan for the vehicle; receive deviation signals indicative of a proposed deviation in a trajectory for the flight plan; and transmit signals to the haptic-enabled device representing trajectory constraints in the proposed deviation in response to the receiving of the deviation signals.

Description:
CROSS-REFERENCE TO PRIOR APPLICATIONS 
       [0001]    The present application is a 371 National Stage of International Application No. PCT/US15/50172, filed on Sep. 15, 2015, which claims priority to U.S. Provisional Application No. 62/053,359, filed on Sep. 22, 2014, the contents of which are incorporated by reference herein in their entirety. 
     
    
     BACKGROUND 
       [0002]    The subject matter disclosed herein relates generally to the field of vehicle controls and to a system for providing haptic-enabled cues on real-time trajectory constrains for a vehicle. 
       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 interfaces are no longer sufficient to perform mission goals and allow human operators to manipulate aircraft trajectory and cue an operator for potential trajectory limitations. A system for manipulating aircraft trajectory and providing haptic feedback to the operator would be well received in the art. 
       BRIEF SUMMARY 
       [0004]    According to an aspect of the invention, a system for receiving feedback in a flight plan of a vehicle includes a haptic-enabled device comprising a crew seat with an inceptor mounted thereto; and a processor with memory having instructions stored thereon that, when executed by the processor, cause the system to: receive signals indicative of the flight plan for the vehicle; receive deviation signals indicative of a proposed deviation in a trajectory for the flight plan; and transmit signals to the haptic-enabled device representing trajectory constraints in the proposed deviation 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 the processor configured to receive information related to one or more trajectories in the flight plan. 
         [0006]    In addition to one or more of the features described above, or as an alternative, further embodiments could include the haptic-enabled device configured to receive haptic-force feedback in response to the proposed deviation in the trajectory. 
         [0007]    In addition to one or more of the features described above, or as an alternative, further embodiments could include the haptic-force feedback include audible signals or force signals to the inceptor. 
         [0008]    In addition to one or more of the features described above, or as an alternative, further embodiments could include wherein the haptic-enabled device is configured to receive haptic-force feedback in response to the proposed deviation based on one or more of a trajectory constraint and obstacles in an environment for the vehicle. 
         [0009]    In addition to one or more of the features described above, or as an alternative, further embodiments could include the trajectory constraints include soft constraints and hard constraints. 
         [0010]    In addition to one or more of the features described above, or as an alternative, further embodiments could include the soft constraints includes fuel efficiency and time for a mission. 
         [0011]    According to another aspect of the invention a method for receiving feedback on a flight plan of a vehicle includes receiving, with a processor, signals indicative of the flight plan for the vehicle; receiving, with the processor, deviation signals indicative of a proposed deviation in a trajectory for the flight plan; and transmitting, with the processor, signals to the haptic-enabled device representing trajectory constraints in the proposed deviation in response to the receiving of the deviation signals. 
         [0012]    In addition to one or more of the features described above, or as an alternative, further embodiments could include receiving information related to one or more trajectories in the flight plan. 
         [0013]    In addition to one or more of the features described above, or as an alternative, further embodiments could include the processor configured to provide haptic-force feedback to the haptic-enabled device in response to the proposed deviation in the trajectory. 
         [0014]    In addition to one or more of the features described above, or as an alternative, further embodiments could include the processor configured to provide the haptic-force feedback as audible signals or force signals. 
         [0015]    In addition to one or more of the features described above, or as an alternative, further embodiments could include the processor configured to provide the haptic-force feedback in response to the proposed deviation based on one or more of a trajectory constraint and obstacles in an environment for the vehicle. 
         [0016]    In addition to one or more of the features described above, or as an alternative, further embodiments could include the trajectory constraints include soft constraints and hard constraints. 
         [0017]    In addition to one or more of the features described above, or as an alternative, further embodiments could include the soft constraints include fuel efficiency and time for a mission. 
         [0018]    Technical function of the one or more claims described above include providing a rapid way to provide information to an operator on a trajectory for a vehicle in response to various trajectory constraints, reduces the reliance on display technology and provides a more intuitive interface. The invention may be implemented in an aircraft whose trajectory is being monitored, in a ground control station to monitor a trajectory of an aircraft in flight, or in a second aircraft that is monitoring a trajectory of a first aircraft. 
         [0019]    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 
         [0020]    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: 
           [0021]      FIG. 1  is a schematic view of an example vehicle in accordance with an embodiment of the invention; 
           [0022]      FIG. 2  is a schematic view of an example computing system in accordance with an embodiment of the invention; and 
           [0023]      FIG. 3  is a schematic view of a control system for providing haptic-force feedback of a trajectory in accordance with an embodiment of the invention. 
       
    
    
     DETAILED DESCRIPTION 
       [0024]    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 helicopter or aircraft  100  for use with a haptic feedback subsystem ( FIG. 3 ) in accordance with 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 haptic-enabled device  312  ( FIG. 3 ) can be used as a haptic-force feedback interface to receive haptic cues on a deviation in a trajectory for flight path of aircraft  100  in real-time based on aircraft constraints associated with the deviation in trajectory. 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, 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 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. 
         [0025]      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 providing haptic-force feedback to an operator of a haptic-enabled device  312  ( FIG. 3 ) based on manipulation of a trajectory point that is associated with a flight plan for aircraft  100  for a present aircraft location or at an aircraft location at a future time. A flight plan, which supports the mission goals, has a plurality of waypoints and includes a trajectory between the plurality of waypoints. Control system  200  includes a computing system such as an aircraft computer  202  having one or more processors and memory to implement algorithm  204  of aircraft  100 . 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, including a central processing unit (“CPU”), a graphics processing unit (“GPU”), a general purpose processor, a digital signal processor, a microcontroller, an application specific integrated circuit (“ASIC”), a field programmable gate array (“FPGA”), 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 . 
         [0026]    Aircraft  100  includes a perception system  210  having one or more sensors associated with one or more acquisition devices for capturing state information or positional information for aircraft  100 . In embodiments, perception system  210  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. 
         [0027]    Aircraft  100  includes input/output devices (“I/O”)  210 . The I/O devices  210  may include haptic-enabled device  312  ( FIG. 3 ), a display device or screen, audio speakers, a graphical user interface (“GUI”), etc. In embodiments, I/O devices  210  can be used to control a trajectory of an aircraft, e.g., aircraft  100 , and may 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 embodiments could include controlling trajectories for piloted vehicles or optionally piloted vehicles. In some embodiments, the I/O devices  210  may be used to enter or adjust a linking between data or sets of data. It is to be appreciated that the system  100  is illustrative. In some embodiments, additional components or entities not shown in  FIG. 2  may be included. In some embodiments, one or more of the components or entities may be optional. In some embodiments, the components or entities of the system  100  may be arranged or configured differently from what is shown in  FIG. 3 . 
         [0028]      FIG. 3  illustrates a schematic view of a control system  300  for implementing algorithm  204  ( FIG. 2 ) that provides haptic-force feedback of a trajectory of aircraft  100  in accordance with an embodiment of the invention. Algorithm  204  ( FIG. 2 ) is implemented by processor  206  ( FIG. 2 ) and, as such,  FIG. 2  is also referenced in the description of control system  300 . 
         [0029]    As illustrated in  FIG. 3 , sensor data associated with a perception subsystem  302  is received by aircraft computer  202 . In an embodiment, perception subsystem  302  is related to one or more sensors in perception system  210  of  FIG. 2 , which acquires information related to an environment of aircraft  100 . The sensor data acquired by perception system  210  may be low-quality due to variations in lighting, distance, and may be processed by image enhancement algorithms such as edge preserving de-noising, contrast enhancement, and sharpening before further processing by processor  206 . Aircraft computer  202  also receives information related to a flight plan in a mission for aircraft  100  from mission executor  304 . Information for the mission may include traversing between a number of waypoints in a series of mission locations, e.g., locations A, B, and C, in a mission space. Information for the mission may be pre-loaded into aircraft  100  or can be received from a ground control station and/or from a field user or operator in communication with aircraft  100 . Information from perception subsystem  302  and mission executor  304  is received by path planner  306  for determination of an optimal trajectory. The optimal trajectory may be based on in-flight configurations and/or constraints or obstacles of aircraft  100 . Exemplary in-flight configurations can include minimizing fuel, minimizing time, or the like. Exemplary constraints or obstacles can include local threats or obstacles such as, e.g., no-fly zone areas, obstacles, or threats in a mission space of aircraft  100 . 
         [0030]    Path planner  306  can autonomously determine an optimal/feasible trajectory for a flight plan based on mission and perception data received by aircraft computer  202 . The feasible trajectory may include flight instructions that instruct aircraft  100  to fly between a number of waypoints in the flight plan). For instance, a waypoint may be, without limitation, a location, a point of interest, a target, a specific set of coordinates (e.g., latitude and longitude) and/or a desired velocity and attitude of aircraft  100  at a specific set of coordinates. Vehicle agent  308  receives the optimal trajectory for aircraft  100  from path planner  306  and determines information related to flight controls for manipulation of servos and actuators in order to control aircraft  100  as it traverses the optimal trajectory. Vehicle agent  308  determines vehicle attitude commands based on the optimal trajectory and location of the aircraft  100  in relation to that optimal trajectory. The vehicle agent  308  determines actual flight control command signals, e.g., pitch, roll, and yaw commands that adjust directional surfaces and power on aircraft  100  in order to maneuver the aircraft  100  in order to stay on the optimal trajectory. In an example, vehicle agent  308  utilizes actual vehicle position, angular rate, and acceleration rate or the like together with the optimal trajectory in order to determine vehicle attitude commands required for flight augmentation of aircraft  100 . 
         [0031]    Haptic feedback subsystem  310  receives flight control data from vehicle agent  308  and signals from a haptic-enabled device  312  for controlling aircraft trajectory and can provide haptic-force feedback to an operator associated with haptic-enabled device  312 . Haptic-enabled device  312 , in an embodiment, can be styled as a crew seat with an integrated inceptor system for controlling aircraft trajectory between the plurality of waypoints at a present or future time period in the mission space. Inceptor system can include one or more inceptors  318  that is configured to be mounted on crew seat  314  and to be accessible from a seat arm  316  of crew seat  314 . Inceptor  318  may be movable through several degrees of freedom as the operator manipulates the inceptor  318  to revise a trajectory (or proposed deviation in a trajectory) of aircraft  100 . Inceptor  318  provides dynamic feedback to an operator through haptic-force feedback (i.e., tactile cues) representing trajectory constraints through one or more feedback components such as a servo or actuator positioned within seat arm  316 . In an embodiment, an operator of haptic-enabled device  312  can receive feedback in the form of trajectory constraints from haptic feedback subsystem  310  as the operator manipulates a trajectory for aircraft  100 . For example, as the operator moves a trajectory point to a new location, haptic feedback subsystem  310  can provide feedback cues, through haptic-enabled device  312 , to an operator as audio or tactile cues related to soft constraints, or hard constraints. Soft constraints include fuel efficiency, time, or the like for implementing a revised flight plan associated with a mission, and hard-constraints include threats, obstacles in an aircraft environment, and constraints in vehicle performance such as roll, pitch, and yaw. As the operator moves the trajectory point for the flight plan around in the mission space, haptic feedback subsystem  310  may provide haptic-force feedback as “soft-bumps”, force “chirps”, or other tactile cues to inceptor  318  in order to provide feedback to operator based on his/her manipulation of a trajectory. The operator may feel “soft bumps” or additional force on the inceptor  318  as he/she manipulates the trajectory that relates to soft constraints. However, operator may receive a “hard stop” of inceptor  318  for a hard constraint where the inceptor  318  may not be moved further in a particular direction representing associated limits for aircraft performance. In an embodiment, an operator may select a revised trajectory with inceptor  318 . Information for the revised trajectory may be received by path planner  306 , which recalculates a flight plan based on the revised trajectory. The path planner  306  may determine costs, e.g., additional fuel or time, associated with the revised trajectory and provide this information to haptic feedback subsystem  310 . 
         [0032]    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.