Abstract:
Systems and methods for inertially controlling a hovering unmanned aerial vehicle (HUAV) are provided. One inertial controller includes a frame and a sensor for detecting a change in an orientation and/or motion of the frame with respect to a predetermined neutral position. The inertial controller also includes a processor for generating commands to the HUAV to modify its current orientation and/or motion in accordance with the change. A system includes the above inertial controller and a sensor for determining a second change for an orientation and/or motion for the HUAV based on the change, and a processor for generating a signal commanding an HUAV control system to orient and/or move the HUAV in accordance with the second change. One method includes detecting a change in an orientation and/or motion of an inertial controller frame and commanding the HUAV to modify its current orientation and/or motion in accordance with the change.

Description:
FIELD OF THE INVENTION 
       [0001]    The present invention generally relates to controllers, and more particularly relates to systems and methods for inertially controlling hovering unmanned aerial vehicles. 
       BACKGROUND OF THE INVENTION 
       [0002]    Manual controls for current hovering unmanned aerial vehicles (HUAVs) are typically either a joystick or a stylus attached to a computing device in communication with an HUAV. Joystick controls are somewhat intuitive as the displacement of a joystick generally relates to the desired attitude change in the controlled vehicle. One drawback to current joystick controls for an HUAV is the fact that the control inputs are limited by the joystick platform. That is, joystick platforms typically enable controls to be input via one or more two dimensional controllers (e.g., a controller that receives inputs in the X direction and a second controller that receive inputs in the Y direction) and translates such inputs into three dimensional movement for the HUAV. 
         [0003]    Stylus controls are less intuitive than joystick controls as their primary purpose is for pre-planned missions as opposed to interactive manual control. The stylus controls attempt to be intuitive by abstracting vehicle controls to move forward, backward, up, down, left, right, etc., but because of their nature result in slow, tedious manual control of the vehicle. Furthermore, stylus controls typically result in a “heads down” approach to controlling a particular vehicle, which limits the situational awareness of the user and exposes the user to physical threats. 
         [0004]    Accordingly, it is desirable to provide systems and methods for controlling HUAVs using three-dimensional, free hand motion control inputs. Furthermore, other desirable features and characteristics of the present invention will become apparent from the subsequent detailed description of the invention and the appended claims, taken in conjunction with the accompanying drawings and this background of the invention. 
       BRIEF SUMMARY OF THE INVENTION 
       [0005]    Various embodiments provide inertial controllers for a hovering unmanned aerial vehicle (HUAV). One inertial controller comprises a frame and a sensor coupled to the frame and configured to detect a change in at least two degrees of freedom of motion in free space of the frame with respect to a predetermined neutral position of the frame. The controller further comprises a processor coupled to the sensor and configured to generate a first control signal representative of the change or current orientation, and a transmitter coupled to the processor and configured to transmit the first control signal to the HUAV, the first control signal commanding the HUAV to modify its current orientation, current motion, or both in accordance with the change in the orientation, the motion, or the orientation and the motion, respectively. 
         [0006]    Systems for controlling an HUAV including a control system are also provided. One system comprises a controller comprising a frame, a first sensor coupled to the frame and configured to detect a change in a first orientation, a first motion, or both of the frame with respect to a predetermined neutral position of the frame, and a first processor coupled to the first sensor and configured to generate a first control signal representative of the change. The system also comprises a second sensor in communication with the first processor, the second sensor configured to receive the first control signal, determine a second change for a second orientation, a second motion, or both for the HUAV based on the first change, and generate a second signal representative of the second change, and a second processor configured to be coupled to the control system and coupled to the second sensor, the second processor further configured to receive the second signal and generate a third signal commanding the control system to orient, move, or orient and move the HUAV in accordance with the second change. 
         [0007]    Another system comprises an HUAV and a controller in communication with one another. The HUAV comprises a control system for controlling movement of the HUAV, a signal receiver, a first processor coupled to the control system and the signal receiver, and transmit first control signals to the control system based on received control signals. The controller is configured to transmit second control signals to the signal receiver, and comprises a frame, an inertial measurement unit (IMU) coupled to the frame and configured to detect a change in six degrees of freedom of motion of the frame with respect to a predetermined neutral free space position and orientation of the frame, a second processor coupled to the IMU and configured to generate the second control signals, the second control signals representative of the change, and a signal transmitter coupled to the second processor and in communication with the signal transmitter. The signal transmitter is configured to transmit the second control signals to the signal receiver, the second control signals commanding the HUAV to modify its current orientation, current motion, or both in accordance with the change in the six degrees of freedom of motion of the frame. 
         [0008]    Various embodiments also provide methods for controlling an HUAV. One method comprises the steps of detecting a change in a first orientation, a first motion, or both of a controller frame with respect to a predetermined neutral position of the controller frame, and commanding the HUAV to modify its current orientation, current motion, or both in accordance with the change in the first orientation, first motion, or both the first orientation and the first motion, respectively. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0009]    The present invention will hereinafter be described in conjunction with the following drawing figures, wherein like numerals denote like elements, and 
           [0010]      FIG. 1  is a block diagram of one embodiment of an inertial controller for a hovering unmanned aerial vehicle (HUAV); 
           [0011]      FIG. 2  is a diagram illustrating one embodiment of a frame for the inertial controller of  FIG. 1 ; 
           [0012]      FIG. 3  is a block diagram illustrating one embodiment of an HUAV control system including the inertial controller of  FIG. 1 ; and 
           [0013]      FIG. 4  is a diagram illustrating two sensed reference frames for the inertial controller of  FIG. 1  and an HUAV in  FIG. 3 , and the control signal response of the HUAV to the computed error and subsequent closure of the error by a control system. 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0014]    The following detailed description of the invention is merely exemplary in nature and is not intended to limit the invention or the application and uses of the invention. Furthermore, there is no intention to be bound by any theory presented in the preceding background of the invention or the following detailed description of the invention. 
         [0015]    Various embodiments of the invention provide apparatus and systems for controlling inertial hovering unmanned aerial vehicles (HUAVs) using three-dimensional (3D) control inputs. Other embodiments provide methods for controlling inertial hovering HUAVs using 3D control inputs. 
         [0016]    Turning now to the figures,  FIG. 1  is a block diagram of one embodiment of a inertial controller  100  for an HUAV. Inertial controller  100  comprises a sensor  110 , one or more actuators  120 , a processor  130 , a transmitter  140 , and memory  150  coupled to and in communication with one another via a bus  160  (e.g., a wired and/or wireless bus). Inertial controller  100  further comprises a frame  200  (see  FIG. 2 ) that houses sensor  110 , actuator(s)  120 , processor  130 , transmitter  140 , memory  150 , and bus  160 . 
         [0017]    Sensor  110  may be any device, system, hardware (and software), or combination thereof capable of sensing the relative orientation (e.g., attitude) and/or relative motion (e.g., direction and angular rotation) of frame  200  with respect to a predetermined object (e.g., the Earth). That is, sensor  110  may be any device, system, hardware (and software), or combination thereof capable of sensing at least two degrees of freedom of motion of frame  200 . In one embodiment, sensor  110  is a three-axis inertial measurement unit (IMU) capable of sensing the six degrees of freedom of motion of frame  200 . In another embodiment, sensor  110  comprises a three-axis accelerometer capable of sensing at least three degrees of freedom of motion of frame  200 . In yet another embodiment, sensor  110  comprises a three-axis magnetometer capable of sensing the attitude of frame  200  relative to the magnetic filed of the Earth. In still another embodiment, sensor  110  comprises a two-axis accelerometer capable of sensing at least two degrees of freedom of motion of frame  200 . As sensor  110  senses the orientation and/or motion of frame  200  with respect to the predetermined object, sensor  110  transmits signals representing such sensed orientation and/or motion to processor  130  (discussed below). 
         [0018]    Each actuator  120  may be any type of actuator known in the art or developed in the future including, for example, a trigger, a button, a mouse, a lever, a switch, a joystick, a trackball, a knob, a dial, and the like actuators. Each actuator  120  is capable of receiving an input from a user according to the actuator type, generating a signal representing the user input, and transmitting the signal to processor  130  (discussed below). 
         [0019]    In one embodiment, inertial controller  100  includes an actuator  120  for developing thrust commands. In another embodiment, inertial controller  100  includes an actuator  120  for generating a “follow” command (discussed below). Inertial controller  100 , in yet another embodiment, includes an actuator  120  for generating a “hold” command (discussed below). In still another embodiment, inertial controller  100  includes an actuator  120  for generating a “shift” command (discussed below). In a further embodiment, inertial controller  100  includes an actuator  120  for generating an “angular offset” command (discussed below). In various embodiments, inertial controller  100  may include more than one actuator  120  such that inertial controller  100  is capable of generating more than one of the commands discussed above. As each actuator  120  generates a command, processor  130  interprets the command to the HUAV through transmitter  140 . 
         [0020]    Processor  130  may be any device, system, hardware (and software), or combinations thereof capable of receiving and processing the signals transmitted by sensor  110  and/or actuator(s)  120 , and transmitting a control signal to an HUAV commanding the HUAV to move and/or perform a function consistent with the signal(s) received from sensor  110  and/or actuator(s)  120 . In one embodiment, as processor  130  receives signals from sensor  110  representing a change in orientation and/or motion of frame  200  with respect to the predetermined object, processor  130  is configured to transmit control signals to the HUAV commanding the HUAV to mimic or copy the change in orientation and/or motion of frame  200 . Specifically, as processor  130  receives a signal from sensor  110  indicating that frame  200  is being tilted to the right, left, up, or down, processor  130  transmits a signal to the HUAV commanding the HUAV to move right, left, toward, or away, respectively, with respect to the position of inertial controller  100 . 
         [0021]    Processor  130  transmits the signal to the HUAV via transmitter  140 , which may be any device, system, hardware (or software) and combinations thereof capable of transmitting a control signal. In one embodiment, transmitter  140  may form a portion of a transceiver that is capable of transmitting and receiving signals from the HUAV. 
         [0022]    Memory  150  may be any system, device, hardware (and software) or combinations thereof capable of storing electronic data or instructions for execution by processor  130 . In one embodiment, memory  150  is configured to store one or more modules  155  for execution by processor  130 . 
         [0023]    Each module  155  is associated with a particular control function or command transmitted the HUAV. In one embodiment, module  155  is a navigation module configured to interpret the amount of right, left, up, or down in the signals generated by sensor  110  and/or the amount of thrust (to control altitude and/or speed) in the input signals received from a user via an actuator  120  (e.g., a “trigger” actuator). In another embodiment, module  155  is a “follow” module configured to activate inertial controller  100  when a signal is received from an associated actuator  120  such that the HUAV will follow the commands transmitted by inertial controller  100 . Module  155 , in yet another embodiment, is a “hold” module configured to command the HUAV to maintain (or hold) its current orientation and/or position when a signal is received from an associated actuator  120  until such hold command is withdrawn. In still another embodiment, module  155  is a “shift” module configured to command the HUAV to shift its current orientation by a predetermined amount (e.g., 5 degrees, 10 degrees, 20 degrees, 30 degrees, 45 degrees, 60 degrees, 90 degrees, etc.) and in a specified direction (e.g., right or left) when a signal is received from an associated actuator  120 . Module  155 , in a further embodiment, is an “angular offset” module configured to command the HUAV to modify the amount and/or direction of “tilt” in the HUAV when a signal is received from an associated actuator  120 . That is, an HUAV does not generally fly with a horizontal gait, but rather, tilts in the direction in which it is flying, and as such, module  155  is control to control the amount and direction of such tilt. 
         [0024]    Frame  200 , at least in the embodiment illustrated in  FIG. 2 , comprises a pistol-grip shape. In other embodiments, frame  200  may include any other shape and/or configuration that enables inertial controller  100  to function in the manner discussed above and include one or more actuators  120 . 
         [0025]      FIG. 3  is a block diagram illustrating one embodiment of a HUAV control system  300 . At least in the illustrated embodiment, system  300  includes inertial controller  100  (see  FIG. 1 ) comprising frame  200  (see  FIG. 2 ) in communication with an HUAV  310 . 
         [0026]    HUAV  310  may be any HUAV known in the art or developed in the future. HUAV  310 , at least in the embodiment illustrated in  FIG. 3 , comprises a sensor  311  (e.g., an IMU), a receiver  312 , a control system  314  coupled to and in communication with a processor  316  via a bus  318  (e.g., wired and/or wireless). 
         [0027]    Sensor  311  may be any device, system, hardware (and software), or combination thereof capable of sensing the relative orientation (e.g., attitude) and/or relative motion (e.g., direction and angular rotation) of HUAV  310  with respect to a predetermined object (e.g., the Earth). That is, sensor  311  may be any device, system, hardware (and software), or combination thereof capable of sensing at least two degrees of freedom of motion of HUAV  310 . In one embodiment, sensor  311  is a three-axis inertial measurement unit (IMU) capable of sensing the six degrees of freedom of motion of HUAV  310 . In another embodiment, sensor  311  comprises a three-axis accelerometer capable of sensing at least three degrees of freedom of motion of HUAV  310 . In yet another embodiment, sensor  311  comprises a two-axis accelerometer capable of sensing at least two degrees of freedom of motion of HUAV  310 . In still another embodiment, sensor  311  comprises a three-axis magnetometer capable of sensing attitude relative to the magnetic filed of the Earth. 
         [0028]    Receiver  312  may be any device, system, hardware (or software) and combinations thereof capable of receiving a control signal from inertial controller  100  (e.g., transmitter  140  in  FIG. 1 ) and transmitting the received control signal to processor  314 . In one embodiment, receiver  312  may form a portion of a transceiver that is capable of receiving and transmitting signals to/from inertial controller  100 . 
         [0029]    Control system  314  may be any device and/or system capable of controlling the movement of HUAV  310 . Control system  314  comprises a power plant (e.g., an engine, motor, etc.) and mechanisms for influencing/controlling the direction and orientation of HUAV  310  during flight, which may include, for example, the use of surface effectors and/or engine controls. 
         [0030]    Processor  316  may be any device, system, hardware (and software), or combinations thereof capable of receiving and processing the signals transmitted by inertial controller  100 , and transmitting a control signal to control system  314  commanding control system  314  to move or orient HUAV  310  and/or perform a function consistent with the signal(s) received from inertial controller  100 . Specifically, as processor  316  receives signals from inertial controller  100  commanding HUAV  310  to move to the right, left, toward, or away from inertial controller  100 , increase/decrease speed, and/or increase/decrease altitude, processor  316  transmits signals to control system  314  commanding control system  314  to perform such commands. Similarly, as processor  316  receives signals from inertial controller  100  commanding HUAV  310  to “follow,” “hold,” “shift,” or perform an angular offset, processor  316  transmits a signal to control system  314  commanding control system  314  to perform such commands. 
         [0031]      FIG. 4  is a diagram illustrating two sensed reference frames for inertial controller  100  and HUAV  310 , and the control signal response of HUAV  310  to the computed error and subsequent closure of the error by a control system. In  FIG. 4 , reference axes  410  and  420  represent the current position and orientation of HUAV  310  and inertial controller  100 , respectively. As inertial controller  100  rotates and/or translates to a new position and/or orientation represented by reference axes  422 , transmitter  140  transmits a control signal  450  to receiver  312  indicating the new position and/or orientation. Processor  316 , which knows the current position and orientation (represented by reference axes  410 ) of HUAV  310  via sensor  311 , receives control signal  450  from receiver  312  and detects a difference between reference axes  410  and reference axes  422 , which difference is identified as a translation error  440  and/or a rotational error  442 . That is, processor  316  recognizes that the position and/or orientation of inertial controller  100  has changed to reference axes  422 , and commands control system  314  to make the proper adjustment to the position and/or orientation of HUAV  310  so that the position and orientation of HUAV matches reference axes  422 , which is represented by reference axes  412  (i.e., reference axes  412  equals reference axes  422 ). In other words, the position and/or orientation of HUAV  310  is changed until translation error  440  and rotational error  442  both equal zero. 
         [0032]    Notably, while the various embodiments have been discussed above with respect to an HUAV, the invention is not limited to HUAVs. That is, the various embodiments discussed above may be applied to other aerospace vehicles including, for example, a helicopter, an airplane, a satellite, a rocket, a missile, a space shuttle, and the like aerospace vehicles. Furthermore, the various embodiments of inertial controller  100  and HUAV control system  300 , which provide free space hand motion control of the various aerospace vehicles, enable the user to have “eyes-on” control of the aerospace vehicles. 
         [0033]    While at least one exemplary embodiment has been presented in the foregoing detailed description of the invention, it should be appreciated that a vast number of variations exist. It should also be appreciated that the exemplary embodiment or exemplary embodiments are only examples, and are not intended to limit the scope, applicability, or configuration of the invention in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient road map for implementing an exemplary embodiment of the invention, it being understood that various changes may be made in the function and arrangement of elements described in an exemplary embodiment without departing from the scope of the invention as set forth in the appended claims and their legal equivalents.