Intuitive Controller Device for UAV

Abstract

This device system is intended for improved manual control of Unmanned Vehicles.

In one embodiment, the device has a pistol grip controller form factor and is setup for single handed operation, outputting full proportional UAV control including pitch, roll, yaw & climb rate. This single handed controller, leaves the operator's other hand free for camera control or other tasks.

The controller design is also more intuitive for the operator to use than a traditional control sticks or virtual scroll type controls. This is essentially accomplished by the hand held controller using its own Euler Angles orientation, Heading & HAGL sensors to directly control the Drone's forward-lateral velocity rate, heading & climb rate (respectively). In effect, by changing the controller's orientation and position in space, translates to drone control.

Claims

1. An Unmanned Vehicle (UV) System comprising; a. an orientation sensor integrated as part of an Operator controller; b. a velocity command throttle sensor integrated as part of an Operator controller; c. a transmitter integrated as part of an Operator controller;

2. The Unmanned Vehicle (UV) System of claim 1, in which an Height Above Ground Level sensor is integrated as part of an Operator controller.

3. The Unmanned Vehicle (UV) System of claim 1, in which an orientation sensor is integrated as part of an UV and a control algorithm that calculates the control commands necessary to orient a UV velocity direction in relation to the Operator controller orientation, is integrated with the UV.

4. The UV Controller of claim 1, in which the a velocity command throttle sensor is of trigger type.

5. The UV Controller of claim 1, in which the velocity command throttle sensor is of non-contact type.

6. The UV Controller of claim 1, in which all Operator controller components are integrated with a smart phone.

7. The UV Controller of claim 1, in which all components are integrated with a smart phone except for a velocity command throttle sensor and Height Above Ground Level Sensor.

8. The UV Controller of claim 5, in which a velocity command throttle sensor transmits to the smart phone by a cable.

Description

EXEMPLARY EMBODIMENTS OF INVENTION

[0021] FIG. 1 is a perspective view showing the Operator Controller according to one embodiment of the present invention. This figure shows the Operator Controller orientation (superimposed Euler vector) in relation to the earth.

[0022] FIG. 2 is a perspective view of the Operator Controller and a Unmanned Vehicle UV according to one embodiment of the present invention. This figure shows the Operator Controller resultant Euler vector and the UV Velocity Vector. The relationship between the Operator Controller Orientation, Trigger displacement, HAGL and the UV Heading and Velocity are as described herein.

DETAILED DESCRIPTION OF THE INVENTION

[0023] While the present invention is susceptible of embodiment in various forms, there is shown in the drawings a presently preferred embodiment that are discussed in greater detail hereafter. It should be understood that the present disclosure is to be considered as an exemplification of the present invention, and is not intended to limit the invention to the specific embodiments illustrated. It should be further understood that the title of this section of this application (Detailed Description of the Invention) relates to a requirement of the United States Patent Office, and should not be found to limit the subject matter disclosed herein.

[0024] In some instances, structures and components that are well known to those skilled in the subject art, are shown in block form or diagram form in order to avoid obscuring the concepts of the subject technology. Like or identical components are labeled with identical element numbers for ease of understanding.

[0025] FIG. 1, is a perspective view of the Operator Controller 1, according to one embodiment of the present invention is shown. The Operator Controller Handle 12, can be held by the Drone Operator in order to point or orient the Operator Controller in Pitch 3, Roll 2 & Yaw 4, as shown in vector arrow 8, in relation to the earth coordinate system shown by arrows 6, 5 & 7. The Operator Controller determines it's orientation by using an Absolute Orientation IMU (as common with prior art, not shown). The Drone Operator ran raise or lower the Operator Controller in which changes the Operator Controller delta HAGL. This distance is sensed by HAGL Sensor 10, (such as an Ultrasonic Ranging Sensor, IR Ranging Sensor, Digital Camera or Cameras (Binocular vision) or Barometric Altimeter or a combination of these sensors). The UV Controller has a Velocity Proportional Trigger Sensor 9, (such as a trigger lever attached to a potentiometer) which is an additional Operator input for the UV for determining magnitude of the UV Velocity as shown as length of arrow 8, as described herein. The Velocity Proportional Trigger may alternatively be of non contact sensor type (such as an Ultrasonic Ranging Sensor, IR Ranging Sensor, Digital Camera or Cameras (Binocular vision) (sensor not shown). The Proportional Trigger non-contact sensor may be positioned to sense the distance between the sensor and the Drone Operator (such as head or body). The magnitude of change in the sensor data from the neutral point, may be used as manual control to the UV (such as open loop UV Velocity Control).

[0026] The Operator Controller also has a transmitter (not shown) which is used for sending controller sensor data and or direct control commands to a UV as described herein. The UV Controller may also incorporate a camera display 11 for UV first person view (FPV) from the UV. This camera display may also contain some or all of the sensors and components described herein.

[0027] FIG. 2, is a perspective view of the Operator Controller 1, with an Unmanned Vehicle (UV) 21 in flight. The Operator Controller numbered items are the same as described for FIG. 1.

[0028] The UV has a receiver (not shown), for receiving data from the Operator Controller. The UV also has a Absolute Orientation IMU (not shown) such that at least one axis (such as heading) of the UV flight path Velocity Vector 28, may be close loop controlled to maintain a parallel or proportional relation to the controller orientation, in the same Coordinate System shown by arrows 23, 22, 24, 26, 25 & 27, as the Operator Controller coordinate system. Note that the UV may also have other sensors (such as HAGL sensors, and speed sensors) in order to aid flight path control (as common with prior art, not shown).