System and method for autonomous control of an override device

Abstract

The present invention relates to systems and methods for autonomous control of overrunning devices. In an example, a system is described that includes a control lever for controlling operation of a device, a first actuator coupled to the control lever via a rod, and a resettable frangible link coupling a second actuator to the control lever via the rod. Based on a force applied to the rod by the first actuator, the resettable frangible link enables decoupling of the second actuator from the control lever.

Description

Technical Field

[0001] This disclosure generally relates to a method for autonomous control of an override device, and more specifically, to a resettable, easily breakable link capable of physically separating an autonomous control actuator from a control lever based on an applied force. Background Technology

[0002] Control systems are typically directed by automated actuators (in autonomous mode) or by an operator (in manual mode). In some cases, the operator wishes to override the automated actuators and therefore needs to regain control of the inputs to the control system. In some situations, the control system comprises two separate controls: one for the human operator and another for the autonomous control system.

[0003] In such an example, it would be preferable for the human operator to have the ability to go beyond autonomous control, and to be able to return the control system to autonomous control once any human interaction ends. Summary of the Invention

[0004] In one example, a system is described that includes a control lever for controlling the operation of a control device, a first actuator coupled to the control lever via a rod, and a resettable, breakable link that couples a second actuator to the control lever via the rod. Based on the force applied to the rod by the first actuator, the resettable, breakable link allows the coupling between the second actuator and the control lever to be disengaged.

[0005] In another example, the aircraft is described as including an engine and a system coupled to the engine. The system includes a control stick for controlling engine operation, a first actuator coupled to the control stick via a bar, and a resettable breakable link that couples a second actuator to the control stick via the bar. Based on the force applied to the bar by the first actuator, the resettable breakable link allows the coupling of the second actuator to the control stick to be disengaged. During the engine's autonomous operation mode, the second actuator is used to control the engine's control stick. During the engine's manual operation mode, the operator uses the first actuator to control the engine's control stick. Entering manual operation mode, the operator receives the force applied by the first actuator via the bar, causing the resettable breakable link to disengage the second actuator from the bar.

[0006] In another example, a method for autonomous control of a device is described. The method includes controlling a control lever of the device via a first actuator during the device's manual operation mode. The first actuator is coupled to the control lever via a rod. The method also includes controlling the control lever of the device via a second actuator during the device's autonomous operation mode. A resettable, breakable link couples the second actuator to the control lever via the rod. The method further includes disengaging the second actuator from the rod via the resettable, breakable link by receiving a force applied via the first actuator on the rod, thereby entering the manual operation mode.

[0007] The features, functionalities, and advantages already discussed can be implemented independently in various examples or combined in others. See the following descriptions and accompanying figures for more details on the examples. Attached Figure Description

[0008] The appended claims set forth novel features that are considered to be features of the illustrative example. However, the illustrative example, its preferred mode of use, further objectives, and description will be best understood by referring to the following detailed description of the illustrative example of this disclosure when read in conjunction with the accompanying drawings, wherein:

[0009] Figure 1 An aircraft according to an exemplary embodiment is illustrated.

[0010] Figure 2 A block diagram illustrating an example of a system according to an exemplary implementation is shown.

[0011] Figure 3 The illustration shows a side view of an example of a system according to an exemplary implementation.

[0012] Figure 4 The illustration shows a front view of an example system according to an exemplary implementation.

[0013] Figure 5 The illustration shows a front view of another example of a system according to an exemplary implementation.

[0014] Figure 6 A flowchart illustrating an example of a method 200 for autonomous control of an overtaking device according to an exemplary embodiment is shown.

[0015] Figure 7 An example of a computing device according to an exemplary embodiment is illustrated. Detailed Implementation

[0016] Examples of the disclosure will now be described more fully below with reference to the accompanying drawings, which illustrate some, but not all, of the disclosed examples. In fact, several different examples are described and should not be construed as limiting to the examples set forth herein. Rather, these examples are described to make this disclosure thorough and complete, and to fully convey the scope of this disclosure to those skilled in the art.

[0017] The example describes a mechanically destructible control actuator and system. This system allows for the use of two separate control actuators for a single controlled device, a scenario often seen in redundant (primary and secondary) backup control mechanisms. For example, an aircraft throttle has a control stick for the pilot to control the throttle, and another control stick is computer-controlled for autonomous flight. In this example, when there are two independent control mechanisms, the ability of one control to override the other is required (e.g., the pilot can override computer control when needed). The example in this paper allows for the disconnection (or temporary disabling) of one control actuator at various angles and the easy reconnection or reset of that control actuator.

[0018] Now refer to the attached diagram, Figure 1 An aircraft 100 according to an exemplary embodiment is illustrated. The aircraft 100 includes a nose 102, wings 104a-b, a fuselage 106, a tail 108, engines 110a-b, and a system 120 coupled to the engines 110a-b. In this example, system 120 is used to override autonomous control of one or more of the engines 110a-b. Although Figure 1 An example of a commercial passenger aircraft is illustrated, but other types of aircraft are also used with the examples described in this article. Furthermore, depending on the type of aircraft, there may be fewer or more engines.

[0019] Figure 2 A block diagram of an example of a system 120 according to an exemplary embodiment is shown. System 120 includes a control lever 122 for operating a control device 124, a first actuator 126 coupled to the control lever 122 via a rod 128, and a resettable, breakable link 130 coupling a second actuator 132 to the control lever 122 via the rod 128. Based on the force applied to the rod 128 by the first actuator 126, the resettable, breakable link 130 allows the coupling of the second actuator 132 to the control lever 122 to be disengaged.

[0020] In one example, the control lever 122 uses a bell-crank motion to control the operation of the device 124. Therefore, the control lever 122 is mechanically connected to the device 124, and rotation of the control lever 122 controls the operation of the device 124. In this example, the device 124 includes any type of machine that operates in this manner.

[0021] In the example application, control lever 122 may include, for example, the throttle lever of aircraft 100, and device 124 may be an engine coupled to the throttle lever. In this example, operation of the first actuator 126 or the second actuator 132 controls the operation of the engine. For example, the first actuator 126 is a control stick used by the pilot to control the throttle lever, while the second actuator 132 is another control stick controlled by computing device 134 for autonomous operation.

[0022] In another example operation, joystick 122 controls other aircraft flight controls, such as pitch, roll, and yaw.

[0023] A first actuator 126 is permanently attached to a control lever 122 via a rod 128. A second actuator 132 is removably attached to the control lever 122 via a resettable, breakable link 130. Each of the first and second actuators 126 has the ability to independently control the control lever 122, and the first actuator 126 overrides the second actuator 132 based on the force applied by the first actuator 126 to the rod 128. When the first actuator 126 overrides the second actuator 132, the second actuator 132 is disconnected from the control lever 122. The first actuator 126 is always mechanically connected to the control lever 122, and therefore the operator always has the opportunity to take over control of the device 124.

[0024] The resettable, breakable link 130 allows the coupling between the second actuator 132 and the control lever 122 to be disengaged in any rotational orientation of the control lever 122 relative to the device 124.

[0025] In the example, during the autonomous operation mode of device 124, the second actuator 132 is used to control the control lever 122 of device 124, and during the manual operation mode of device 124, the first actuator 126 is used by the operator to control the control lever 122 of device 124. Receiving a force applied by the first actuator 126 via rod 128 causes the resettable breakable link 130 to disengage the second actuator 132 from rod 128, thus entering the manual operation mode.

[0026] Typically, the second actuator 132 controls the operation of the device 124 via the movement of the control lever 122 according to programmed operations instructed by the computing device 134. The second actuator 132 achieves autonomous control of the device 124. In some cases, the second actuator 132 can enter a fault state, in which case the operator can regain control of the device 124 using the first actuator 126. However, for this to be done, the second actuator 132 will need to be disconnected from the control lever 122 so that the second actuator 132 no longer has the ability to control the control lever 122. The system 120 is configured such that applying a force to the first actuator 126 causes the rod 128 to disengage from the second actuator 132. The break point in the system 120 is a resettable, easily broken link 130 that disengages the second actuator 132 from the rod 128 and disconnects it, mechanically disconnecting the second actuator 132 from the control lever 122, so that the first actuator 126 is used as the sole actuator connected to the control lever 122 to control the device 124.

[0027] Fracture characteristics can be strictly controlled to prevent accidental melting during normal operation and ensure complete melting when necessary at any control input position. System 120 is not prone to early fatigue failure, will not interfere with other systems when melting, and can be reset once the fault has been cleared.

[0028] System 120 allows for the safe disengagement of a faulty device (e.g., an engine or flight control actuator of an autonomous vehicle). In an exemplary use, a single-engine aircraft includes a single operator throttle cable attached to the throttle lever of the engine. During autonomous operation mode, the throttle actuator controls the throttle lever on the engine, thereby reversing the throttle cable and control lever in the aircraft cabin. During flight mode, the pilot drives the throttle cable with a lever in the cabin, and the actuator is reversibly driven. In the event of a stuck throttle actuator or failure to release control upon request, the pilot can command the throttle to move via the cable, thereby disengaging the throttle actuator. Attaching a second actuator 132 (e.g., an autonomous throttle actuator) to a resettable, breakable link 130 of the engine-mounted throttle lever (e.g., control lever 122) will allow for safe throttle operation in either mode and will disengage in the event of a failure of the autonomous throttle actuator and the need for the pilot to move the throttle. Once the fault has been cleared, the resettable breakable link 130 can also be reset.

[0029] System 120 therefore provides two separate controls for the aircraft. One control is performed by a human pilot (e.g., the first actuator 126), while the other is autonomous control (e.g., the second actuator 132). The first actuator 126 and the second actuator 132 work together during autonomous control. The first actuator 126 has the capability to transcend autonomous control and can return to autonomous control once the situation has returned to normal.

[0030] Figure 3 A side view of an example of a system 120 according to an exemplary embodiment is illustrated. A first actuator 126 and a second actuator 132 operate in a linear motion to cause rotation of a control lever 122, as shown, for rotational input to a device 124.

[0031] Figure 4 The illustration shows a front view of an example of system 120 according to an exemplary implementation. Figure 4 Further details of the resettable breakable link 130 and rod 128 are illustrated. In the example, the resettable breakable link 130 includes a magnetically or mechanically breakable control rod link.

[0032] exist Figure 4 In this design, the resettable breakable link 130 includes a magnetic coupler having a first half 136 and a second half 138 to couple a second actuator 132 to a control lever 122 via a rod 128. The first half 136 includes a base 140 for engaging with a fitting 142 of the second actuator 132. The base 140 may include a ball quick-attach fitting, and the fitting 142 may include a recess into which the ball quick-attach fitting is inserted. The first half 136 also includes a magnet 144 positioned within the base 140. The second half 138 includes a bracket 146 attached to the rod 128 and a pole piece 148 positioned within the bracket 146. The magnet 144 is magnetically connected to the pole piece 148. The bracket 146 includes a threaded portion for attachment to a corresponding thread on the rod 128, and the pole piece 148 is attached to the bracket 146 using, for example, a screw attachment.

[0033] During operation, when both the first actuator 126 and the second actuator 132 pull the control lever 122, the resettable breakable link 130 will break under the induced bending load. For example, the magnetic force between the magnet 144 and the pole piece 148 will be overcome by the induced bending load. The second actuator 132 then disconnects from the control lever 122 and operates the device 124 using the first actuator 126.

[0034] The base 140 is shown as an ellipse to allow it to break with different forces (or magnitudes) depending on the angle. At higher angles (e.g., when the fitting 142 is tilted relative to the base 140), the breaking force can be lower. The control lever 122 moves through an arc with a large rotation angle (e.g., 90 degrees or greater), and the therefore resettable breakable link 130 allows the second actuator 132 to break in any orientation and with the same magnitude of applied force.

[0035] In other examples, the base 140 includes a footprint shape such that the breaking force varies with the output shaft angle and generates a constant force perpendicular to the action of the control lever 122, thus helping to ensure a constant output shaft torque regardless of the shaft angle position. For example, for a circular base 140, the fracturing force for breaking is always the same.

[0036] The resettable breakable link 130 does not need to be aligned with the rod 128 (axially or in a plane). This allows for a variety of hardware options and can be achieved through a base 140 constructed for a ball-and-socket configuration, in which the base 140 is circular and the mating surface of the fitting 142 is a matching circular hole. Connection using a magnet 144 allows for easy disconnection and quick reset of the resettable breakable link 130. The contours of the magnet 144 and the base 140 also allow for precise control of the break point load. The shape of the base 140 can also be changed from circular to adjust the break point load.

[0037] Therefore, system 120 is resettable and configured to fracture within a specified applied force. The fracture force is predictable and consistent. The fracture force is also sudden, thus not reaching an intermediate fracture position. Therefore, either the first actuator 126 or the second actuator 132 controls the control lever 122. There is no situation where both the first actuator 126 and the second actuator 132 control the control lever 122. Once the fracture force is achieved, the second actuator 132 abruptly disconnects.

[0038] The magnet 144 enables the resettable breakable link 130 to break uniformly with the same torque and can be easily reset by realigning the magnet 144 with the magnetic pole piece 148.

[0039] In some examples, magnet 144 is a permanent magnet.

[0040] In some examples, the magnet is an electromagnet, and system 120 further includes a control system 150 coupled to the electromagnet for controlling the magnetic attraction force of the electromagnet. Figure 4In the diagram, the control system 150 is shown as a base coupled to the first actuator 126, and wiring coupled to the magnet 144 and / or the pole piece 148 is inside the first actuator 126. The first actuator 126 is always connected to the rod 128, and therefore the electrical connection between the magnet 144 and the control system 150 is always in place.

[0041] The control system 150 includes a processor, a memory, and instructions stored in the memory that can be executed by the processor to perform functions. For example, the control system 150 can be programmed to change the magnetic attraction of the electromagnet based on the operating conditions of the device 124. The control system 150 can change the magnetic force to alter the desired separation or breaking force. In the case where the device 124 is an engine on an aircraft, turbulence can be high during landing approach, and therefore, in this case, the control system 150 changes the magnetic force to be stronger to prevent undesirable breakage caused by turbulence. Thus, the flight phase can serve as the basis for the control system 150 to change the magnetic force of the magnet 144 by increasing, decreasing, or otherwise altering the amount of power supplied to the electromagnet.

[0042] In another example, control system 150 modulates the magnetic force of the electromagnet based on weather conditions during the operation of device 124. Control system 150 can also be programmed to modify the magnetic force of the electromagnet based on any combination of factors described herein.

[0043] In another example, the control system 150 alters the magnetic force of the electromagnet to customize a positionally angular breaking force. In this example, a sensor 152 is included to detect the angle of the resettable, easily broken link 130 relative to the second actuator 132, and the control system 150 alters the magnetic attraction force based on this angle. The control system 150 and the electromagnet can thus generate a customized breaking force with respect to angle, as sensed by the position sensor, which outputs a signal in a feedback loop to the control system 150 to control the force in terms of position and time.

[0044] Figure 5 A front view of another example of system 120 according to an exemplary implementation is illustrated. Figure 5 In this configuration, the resettable breakable link 130 has a mechanically breakable control bar 154 for coupling the second actuator 132 to the control bar 122 via a bar 128. The first half 136 still includes a base 140 for engaging with a fitting 142 of the second actuator 132, and the second half 138 includes a bracket 146 attached to the bar 128. The mechanically breakable control bar 154 connects the first half 136 to the second half 138.

[0045] The mechanically breakable control rod 154 has a first end 156 and a second end 158, and each of the first end 156 and the second end 158 is threaded such that the first end 156 is attached to the base 140 and the second end 158 is attached to the bracket 146.

[0046] During operation, when the first actuator 126 applies force to the rod 128, the mechanically fragile control rod 154 will break based on the force being higher than a threshold amount, and the second actuator 132 will then disconnect from the control rod 122.

[0047] In one example, the mechanically breakable control rod 154 is a tension element. The mechanically breakable control rod 154 has a predetermined preload and will break under a certain applied pressure. To reset the resettable breakable link 130, the broken fragments of the mechanically breakable control rod are unscrewed from both sides (e.g., from the base 140 and from the bracket 146) and a new tension element is inserted.

[0048] Figure 6 A flowchart illustrating an example of a method 200 for autonomous control of a transcendental device 124 according to an exemplary embodiment is shown. For example, Figure 6 The method 200 shown presents a method that can be used with Figure 1 The aircraft 100 shown, and Figure 2-5 The system 120 shown or with Figure 7 An example of a method used in conjunction with the computing device 134 shown. Furthermore, the device or system is used or configured to perform... Figure 6 The logical functions presented herein. In some cases, components of the device and / or system are configured to perform functions, such that the components are actually configured and structured (through hardware and / or software) to achieve such performance. In other examples, components of the device and / or system are arranged to be suitable, capable of, or adapted to perform functions, for example, when operated in a particular manner. Method 200 includes one or more operations, functions, or actions as shown in one or more of blocks 202-206. Although these blocks are shown in a sequential order, these blocks may also be executed in parallel, and / or in a different order than those described herein. Moreover, various blocks may be combined into fewer blocks, divided into additional blocks, and / or removed based on desired implementation methods.

[0049] It should be understood that, for the processes and methods disclosed herein, the flowchart illustrates the function and operation of one possible implementation of this example. In this regard, each block or portions of each block may represent a program code module, a program code segment, or a portion of program code, comprising one or more processor-executable instructions for implementing a specific logical function or step in the process. The program code is stored on any type of computer-readable medium or data storage device, such as a storage device including a disk or hard disk drive. Furthermore, the program code may be encoded in a machine-readable format on a computer-readable storage medium or on other non-transitory media or articles of art. Computer-readable media may include non-transitory computer-readable media or memories, such as computer-readable media that store short-term data, such as register memory, processor cache, and random access memory (RAM). Computer-readable media may also include non-transitory media, such as secondary or persistent long-term storage devices, such as read-only memory (ROM), optical disks or magnetic disks, and optical disc read-only memory (CD-ROM). Computer-readable media may also be any other volatile or non-volatile storage system. For example, a computer-readable medium may be considered a tangible computer-readable storage medium.

[0050] also, Figure 6 Each box or multiple portions of each box, as well as other processes and methods disclosed herein, may represent circuitry wired to perform a specific logical function of the process. Alternative implementations are included within the scope of the examples in this disclosure, wherein functions may be performed in a different order than that shown or discussed (including substantially concurrent or in reverse order, depending on the functions involved), as will be understood by those skilled in the art.

[0051] In block 202, method 200 includes controlling a control lever 122 of device 124 via a first actuator 126 during manual operation mode of device 124, and the first actuator 126 is coupled to the control lever 122 via a rod 128.

[0052] In block 204, method 200 includes controlling a control lever 122 of device 124 via a second actuator 132 during autonomous operation mode of device 124, and a resettable breakable link 130 couples the second actuator 132 to the control lever 122 via a rod 128.

[0053] In block 206, method 200 includes receiving a force applied by the first actuator 126 via bar 128 to cause a resettable, breakable link 130 to disengage the second actuator 132 from bar 128 to enter a manual operation mode.

[0054] In one example, the resettable breakable link 130 includes a magnetic coupler having a first half 136 and a second half 138 to couple the second actuator 132 to the control lever 122 via the rod 128, and method 200 further includes realigning the first half 136 and the second half 138 of the magnetic coupler, resulting in magnetic attachment of the first half 136 and the second half 138 to reattach the second actuator 132 to the rod 128 to re-enter the autonomous operating mode of the device 124. In one example, realignment is performed by manual attachment. In another example, realignment occurs by magnetic reattachment of the magnet 144 to the pole piece 148.

[0055] exist Figure 2-5 In this example, system 120 is shown to include computing device 134. In this example, control system 150 also takes the form of a computing device. Figure 7 An example of a computing device 134 according to an exemplary embodiment is illustrated.

[0056] To perform the described functions, the computing device 134 includes one or more processors 160, instructions 162 stored on a non-transitory computer-readable medium 164, a communication interface 166, an output interface 168, and each component of the computing device 134 is connected to a communication bus 170. The computing device 134 also includes hardware to enable communication within the computing device 134 and between the computing device 134 and other devices (not shown). For example, the hardware may include a transmitter, a receiver, and an antenna.

[0057] In the example, communication interface 166 is a wireless interface and / or one or more wired interfaces that allow short-range and long-range communication to one or more networks or to one or more remote devices. Such a wireless interface provides communication under one or more wireless communication protocols, Bluetooth, WiFi (e.g., the IEEE 802.11 protocol), Long Term Evolution (LTE), cellular communication, Near Field Communication (NFC), and / or other wireless communication protocols. Such wired interfaces include Ethernet interfaces, Universal Serial Bus (USB) interfaces, or similar interfaces that communicate with a wired network via wires, twisted pairs, coaxial cables, optical links, fiber optic links, or other physical connections. Therefore, in the example, communication interface 166 is configured to receive input data from one or more devices and is also configured to send output data to other devices.

[0058] Non-transitory computer-readable medium 164 includes or takes the form of memory, such as one or more computer-readable storage media that can be read or accessed by one or more processors 160. The computer-readable storage medium may include volatile and / or non-volatile storage components, such as optical, magnetic, organic, or other memory or disk storage, which may be integrated wholly or partially with one or more processors 160. Non-transitory computer-readable medium 164 is considered a non-transitory computer-readable medium. In some examples, non-transitory computer-readable medium 164 may be implemented using a single physical device (e.g., a single optical, magnetic, organic, or other memory or disk storage unit), while in other examples, non-transitory computer-readable medium 164 may be implemented using two or more physical devices.

[0059] The non-transitory computer-readable medium 164 is therefore a computer-readable medium, and instructions 162 are stored thereon. Instructions 162 include computer-executable code.

[0060] In the example, one or more processors 160 are general-purpose processors or special-purpose processors (e.g., digital signal processors, application-specific integrated circuits, etc.). One or more processors 160 receive input from communication interface 166 and output from other sensors (e.g., sensor 152), and process them to generate output stored in non-transitory computer-readable medium 164. One or more processors 160 may be configured to execute instructions 162 (e.g., computer-readable program instructions) stored in non-transitory computer-readable medium 164 and executable to provide the functionality of the computing device 134 described herein.

[0061] Output interface 168 outputs information for reporting or storage, and therefore output interface 168 is similar to communication interface 166, and can also be a wireless interface (e.g., a transmitter) or a wired interface.

[0062] Note that although this disclosure describes the use of methods and systems on aircraft, the same functionality is equally applicable to the use of these methods and systems on any type of vehicle to switch from autonomous to manual operation. These methods and systems can also be used in non-vehicle or stationary areas to alter the operation of any type of machine.

[0063] The terms “substantially” and “approximately” as used herein mean that the feature, parameter, or value is not required to be precisely achieved, but rather that deviations or variations (including, for example, tolerances, measurement errors, measurement accuracy limitations, and other factors known to those skilled in the art) may occur in a quantity that does not preclude the effect that the feature is intended to provide.

[0064] The various examples of the systems, apparatuses, and methods disclosed herein include a wide range of components, features, and functions. It should be understood that the various examples of the systems, apparatuses, and methods disclosed herein include any components, features, and functions of any other example of the systems, apparatuses, and methods, combined in any combination or sub-combination, and all such possibilities are intended to fall within the scope of this disclosure.

[0065] Furthermore, this disclosure includes examples as described in accordance with the following terms:

[0066] Clause 1. A system (120) comprising:

[0067] A control lever (122) is used to operate the control device (124);

[0068] A first actuator (126) is coupled to the control lever (122) via a rod (128); and

[0069] A resettable breakable link (130) couples a second actuator (132) to the control lever (122) via the rod (128), wherein the resettable breakable link (130) allows the coupling between the second actuator (132) and the control lever (122) to be disengaged based on the force applied to the rod (128) by the first actuator (126).

[0070] Clause 2. The system according to Clause 1, wherein the control lever (122) uses a bell crank motion to control the operation of the device (124).

[0071] Clause 3. The system according to Clause 1 or 2, wherein the control lever (122) is a throttle lever and the device (124) is an engine (110a-b) coupled to the throttle lever, wherein the operation of the first actuator (126) or the second actuator (132) controls the operation of the engine.

[0072] Clause 4. The system according to any one of Clauses 1-3, wherein during the autonomous operation mode of the device (124), the second actuator (132) is used to control the control lever (122) of the device (124), and wherein during the manual operation mode of the device (124), the first actuator (126) is used by the operator to control the control lever (122) of the device (124), and

[0073] The manual operation mode is entered by the rod (128) receiving the force applied by the first actuator (126) to the resettable breakable link (130) separating the second actuator (132) from the rod (128).

[0074] Clause 5. The system according to any one of Clauses 1-4, wherein the resettable breakable link (130) enables the coupling of the second actuator (132) to the control lever (122) to be disengaged in any rotational orientation of the control lever (122) relative to the device (124).

[0075] Clause 6. The system according to any one of Clauses 1-5, wherein the control lever (122) is a throttle lever for an aircraft (100), the first actuator (126) is a control rod (128) for the pilot to control the throttle lever, and the second actuator (132) is another control rod (128) controlled by a computing device (134) for autonomous operation.

[0076] Clause 7. The system according to any one of Clauses 1-6, wherein the first actuator (126) is permanently attached to the control lever (122) via the rod (128).

[0077] Clause 8. The system according to any one of Clauses 1-7, wherein the first actuator (126) and the second actuator (132) each have the ability to independently control the control lever (122), wherein the first actuator (126) overrides the second actuator (132) based on the force applied to the lever (128) by the first actuator (126).

[0078] Clause 9. The system according to any one of Clauses 1-8, wherein the resettable breakable link (130) includes a mechanically breakable control rod (128) for coupling the second actuator (132) to the control rod (122) via the rod (128).

[0079] Clause 10. The system according to any one of Clauses 1-9, wherein the resettable breakable link (130) comprises:

[0080] A base (142) for engaging with a fitting of the second actuator (132);

[0081] A support (146) attached to the rod (128); and

[0082] A mechanically breakable control rod (154) has a first end (156) and a second end (158), and each of the first end and the second end is threaded such that the first end is attached to the base and the second end is attached to the bracket.

[0083] Clause 11. The system according to any one of claims 1-10, wherein the resettable breakable link (130) includes a magnetic (144) coupler having a first half and a second half to couple the second actuator (132) to the control lever (122) via the rod (128).

[0084] Clause 12. The system according to any one of Clauses 1-10, wherein the resettable breakable link (130) comprises:

[0085] A base (142) for engaging with a fitting of the second actuator (132);

[0086] A magnet (144) is positioned in the base;

[0087] A support (146) attached to the rod (128); and

[0088] A magnetic pole piece (148) is positioned in the bracket, wherein the magnet is magnetically connected to the magnetic pole piece.

[0089] Clause 13. The system according to Clause 12, wherein the support includes a threaded portion for attachment to a corresponding thread on the rod (128).

[0090] Clause 14. The system according to Clause 11, wherein the magnet is a permanent magnet.

[0091] Clause 15. The system according to any one of Clauses 1-10, wherein the resettable breakable link (130) comprises an electromagnet, and the system further comprises:

[0092] A control system (150) coupled to the electromagnet is used to control the magnetic attraction force of the electromagnet.

[0093] Clause 16. The system according to Clause 15, wherein the control system (150) changes the magnetic attraction based on the operating conditions of the device (124).

[0094] Clause 17. The system according to Clause 15 further includes a sensor (152) for detecting the angle of the resettable breakable link (130) relative to the second actuator (132), and wherein the control system changes the magnetic attraction based on the angle.

[0095] Clause 18. An aircraft (100) comprising:

[0096] Engine (110a-b);

[0097] A system (120) coupled to the engine, the system comprising:

[0098] A control lever (122) is used to control the operation of the engine;

[0099] The first actuator (126) is coupled to the control lever (122) via the rod (128); and

[0100] A resettable, breakable link (130) couples a second actuator (132) to a control lever (122) via the rod (128), wherein the resettable, breakable link (130) allows the coupling between the second actuator (132) and the control lever (122) to be disengaged based on the force applied to the rod (128) by the first actuator (126).

[0101] During the autonomous operation mode of the engine, the second actuator (132) is used to control the control lever (122) of the engine.

[0102] During the manual operation mode of the engine, the first actuator (126) is used by the operator to control the control lever (122) of the engine, and

[0103] The manual operation mode is entered by the rod (128) receiving the force applied by the first actuator (126) to the resettable breakable link (130) separating the second actuator (132) from the rod (128).

[0104] Clause 19. A method (200) for autonomous control of an overtaking device (124), the method comprising:

[0105] During the manual operation mode of the device (124), the control lever (122) of the device (124) is controlled (202) via a first actuator (126), wherein the first actuator (126) is coupled to the control lever (122) via a rod (128);

[0106] During the autonomous operation mode of the device (124), the control lever (122) of the device (124) is controlled (204) via a second actuator (132), wherein a resettable breakable link (130) couples the second actuator (132) to the control lever (122) via the rod (128); and

[0107] The rod (128) receives a force applied via the first actuator (126) to cause the resettable breakable link (130) to separate the second actuator (132) from the rod (128) and enter the manual operation mode (206).

[0108] Clause 20. The method according to Clause 19, wherein the resettable breakable link (130) includes a magnetic coupler having a first half and a second half to couple the second actuator (132) to the control lever (122) via the rod (128), the method further comprising:

[0109] The first and second halves of the magnetic coupler are realigned, resulting in magnetic attachment of the first and second halves, so that the second actuator (132) can be reattached to the rod (128) to re-enter the autonomous operation mode of the device (124).

[0110] Descriptions of various advantageous arrangements have been presented for illustrative and descriptive purposes, and such description is not intended to exhaustively list or limit the examples of the disclosed forms. Many modifications and variations will be apparent to those skilled in the art. Furthermore, different advantageous examples describe different advantages compared to other advantageous examples. The selection and description of one or more examples are intended to best explain the principles and practical applications of the examples, and to enable others skilled in the art to understand the disclosure of various examples with various modifications suitable for the particular purpose considered.

Claims

1. A system (120) for controlling a device (124), the system comprising: a control lever (122) for controlling operation of the device (124); a first actuator (126) coupled to the control lever (122) via a first control stick (128); and a resettable frangible linkage (130) coupling a second actuator (132) to the control lever (122) via the first control stick (128), wherein the resettable frangible linkage (130) enables decoupling of the second actuator (132) from the control lever (122) based on a force applied to the first control stick (128) by the first actuator (126).

2. The system of claim 1, wherein the control lever (122) controls operation of the device (124) using a bell crank motion.

3. The system of claim 1, wherein the control lever (122) is a throttle lever and the device (124) is an engine (110a-b) coupled to the throttle lever, wherein operation of the first actuator (126) or the second actuator (132) controls operation of the engine.

4. The system of claim 1, wherein during an autonomous mode of operation of the device (124), the second actuator (132) is used to control the control lever (122) of the device (124), and wherein during a manual mode of operation of the device (124), the first actuator (126) is used by an operator to control the control lever (122) of the device (124), and wherein receiving the force applied by the first actuator (126) through the first control stick (128) causes the resettable frangible linkage (130) to decouple the second actuator (132) from the first control stick (128) into the manual mode of operation.

5. The system of claim 1, wherein the resettable frangible linkage (130) enables decoupling of the second actuator (132) from the control lever (122) in any rotational orientation of the control lever (122) relative to the device (124).

6. The system of claim 1, wherein the control lever (122) is a throttle lever for an aircraft (100), the first actuator (126) is a second control stick for a pilot to control the throttle lever, and the second actuator (132) is a third control stick controlled by a computing device (134) for autonomous operation.

7. The system of claim 1, wherein the first actuator (126) is permanently attached to the control lever (122) via the first control stick (128).

8. The system of claim 1, wherein the first actuator (126) and the second actuator (132) each have the ability to independently control the control lever (122), wherein the first actuator (126) overrides the second actuator (132) based on a force applied to the first control rod (128) by the first actuator (126).

9. The system of claim 1, wherein the resettable breakaway linkage (130) includes a mechanical breakaway control rod (154) to couple the second actuator (132) to the control lever (122) via the first control rod (128).

10. The system of claim 1, wherein the resettable breakaway linkage (130) includes: a base (142) to mate with a fitting of the second actuator (132); a bracket (146) attached to the first control rod (128); and a mechanical breakaway control rod (154) having a first end (156) and a second end (158), and each of the first end and the second end is threaded such that the first end is attached to the base and the second end is attached to the bracket.

11. The system of claim 1, wherein the resettable breakaway linkage (130) includes: a base (142) to mate with a fitting of the second actuator (132); a magnet (144) positioned in the base; a bracket (146) attached to the first control rod (128); and a pole piece (148) positioned in the bracket, wherein the magnet is magnetically connected to the pole piece.

12. The system of claim 1, wherein the resettable breakaway linkage (130) includes a magnet (144), and further comprising: a control system (150) coupled to the magnet for controlling a magnetic attraction of the magnet.

13. An aircraft (100) comprising: engines (110a-b); a system (120) coupled to the engines, the system comprising: a control lever (122) for controlling operation of the engines; a first actuator (126) coupled to the control lever (122) via a first control rod (128); and a resettable breakaway linkage (130) coupling a second actuator (132) to the control lever (122) via the first control rod (128), wherein the resettable breakaway linkage (130) enables decoupling of the second actuator (132) from the control lever (122) based on a force applied to the first control rod (128) by the first actuator (126), wherein during an autonomous mode of operation of the engines, the second actuator (132) is used to control the control lever (122) of the engines, wherein during a manual mode of operation of the engines, the first actuator (126) is used by an operator to control the control lever (122) of the engines, and wherein during the manual mode of operation of the engines, the second actuator (132) is decoupled from the control lever (122) by the resettable breakaway linkage (130). where receiving force through the first control rod (128) applied by the first actuator (126) causes the resettable breakable link (130) to decouple the second actuator (132) from the first control rod (128) into the manual mode of operation.

14. A method (200) for overriding autonomous control of a device (124), the method comprising: controlling a control lever (122) of the device (124) via a first actuator (126) during a manual mode of operation of the device (124), wherein the first actuator (126) is coupled to the control lever (122) via a first control rod (128); controlling the control lever (122) of the device (124) via a second actuator (132) during an autonomous mode of operation of the device (124), wherein a resettable breakable link (130) couples the second actuator (132) to the control lever (122) via the first control rod (128); and receiving force through the first control rod (128) applied by the first actuator (126) causes the resettable breakable link (130) to decouple the second actuator (132) from the first control rod (128) into the manual mode of operation.

15. The method of claim 14, wherein the resettable breakable link (130) comprises a magnetic coupler having a first half and a second half to couple the second actuator (132) to the control lever (122) via the first control rod (128), and the method further comprises: realigning the first half and the second half of the magnetic coupler such that the first half and the second half magnetically attach to reattach the second actuator (132) to the first control rod (128) to reenter the autonomous mode of operation of the device (124).

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