Apparatus, method and system for remote or onboard control of flight

Abstract

The present disclosure relates generally to control systems, and in particular to devices, methods, and systems for controlling flight remotely or on-board a vehicle. More specifically, the present disclosure describes embodiments of control systems that allow a user to control the motion of a control target in or along one or more degrees of freedom using a single controller.

Description

[0001] Related applications

[0002] This application claims priority and benefits to U.S. Provisional Patent Application No. 62 / 945,339, filed December 9, 2019, and U.S. Non-Provisional Patent Application No. 17 / 110,576, filed December 3, 2020, the disclosures of which are incorporated herein by reference in their entirety. Technical Field

[0003] This disclosure generally relates to control systems, and more particularly to apparatus, methods, and systems for controlling the flight of unmanned aerial systems (UAS) and airborne piloted aircraft. Some embodiments disclose a controller that includes an interface for controlling the thrust of a control target, such as a flying object. The controller may also have a feedback system configured to warn the pilot of obstacles sensed by the flying object in its flight path. Attached Figure Description

[0004] Figure 1 This is an example schematic diagram of a control system for remote or airborne control of flight, according to an embodiment.

[0005] Figure 2A This illustrates a method including, according to one embodiment Figure 1 A side view of the controller of the control system.

[0006] Figure 2B This illustrates an embodiment. Figure 1 A view of the control system.

[0007] Figure 2C This illustrates an embodiment. Figure 2A The front view of the controller.

[0008] Figure 2D This illustrates a method including, according to one embodiment Figure 1 A side view of the controller of the control system.

[0009] Figure 2E This illustrates an embodiment. Figure 2D A cross-sectional side view of the universal joint mechanism of the controller.

[0010] Figure 3A This is a schematic diagram of a controller with a feedback system according to one embodiment, the feedback system being configured to communicate with a control target to receive feedback from the control target.

[0011] Figure 3B According to one embodiment Figure 3A A top-view cross-section of the controller's feedback system.

[0012] Figure 3C is a schematic side view of a controller of the user manipulation Figure 3A of FIG. 1, according to one embodiment. DETAILED DESCRIPTION

[0013] The present disclosure describes embodiments of control systems that allow a user to control the motion of a control target in or along one or more degrees of freedom (DoF) using a single controller. For example, a unified hand controller can allow a user to control the motion of a target in one or more DoF, including three rotational DoF (e.g., pitch, yaw, and roll) and three translational DoF (e.g., movement along x, y, and z axes). For example, a unified hand controller can allow a user to control the motion of a target in three rotational DoF (e.g., pitch, yaw, and roll) and one translational DoF (e.g., movement along a z axis). The control system can also be configured to allow a user to control the movement of a control target in a virtual setting, such as but not limited to a gaming environment. In some embodiments, the control system can also allow a user to receive feedback from a control target based on sensory inputs or measurements obtained by the control target, whether in a real environment or in a virtual environment.

[0014] Reference Figure 1FIG. 1 illustrates an example schematic diagram of a control system 100 including a controller 102 coupled to a signal conversion system 104, which is further coupled (e.g., remotely) to a control target 106, in accordance with some embodiments. The control target 106 can be a physical or virtual object, such as a remotely controlled object (e.g., a drone, an aircraft, a fixed-wing aircraft, a helicopter, a robot, an end effector (e.g., the end of a robotic tongs, a robotic arm end effector), etc.), a camera field of view (e.g., including a camera center field of view and zoom), a vehicle speed vector, etc. In some embodiments, the controller 102 can be loaded on the control target 106, rather than being controlled remotely. In such embodiments, for example, an operator, pilot, etc. can be carried on the control target 106 (e.g., piloted / manned flight). Other examples of control targets, whether remotely controlled or otherwise, include electric, hybrid, and / or combustion powered aircraft, remotely operated vehicles (ROVs), manned submersibles, spacecraft, and virtual aircraft (e.g., operable in a three-dimensional virtual world). In some embodiments, the controller 102 and the signal conversion system 104 can be combined into a single system, while in other embodiments, the controller 102 and the signal conversion system 104 can be separate (e.g., physically distinct, in separate housings, etc.) systems. In some implementations, the controller 102 includes a plurality of control members 102a-102n. For example, the controller 102 can include a first control member 102a, which in turn can include or incorporate the remainder of the control members 102b-102n, i.e., the remainder of the control members 102b-102n can be located on the first control member 102a, which in turn is part of the controller 102. A controller processor 108a is coupled with each of the control members 102a-102n. In one embodiment, the controller processor 108a can be a central processing unit, a programmable logic controller, and / or various other processors. The controller processor 108a can also be coupled to each of a rotation module 108b, a translation module 108c, and a transceiver 108d. In some implementations, there can be one or more connections and / or couplings (e.g., wired or wireless) between the plurality of control members 102a-102n, the controller processor 108a, the rotation module 108b, the translation module 108c, and the transceiver 108d.

[0015] The signal conversion system 104 in the control system 100 includes a transceiver 104a that can be coupled to the transceiver 108d in the controller 102 through a wired connection, a wireless connection, and / or various other connections. A conversion processor 104b is coupled to the transceiver 104a, a control module 104c, and configuration parameters 104d that can be included on a memory, storage device, and / or other computer readable medium. In one embodiment, the conversion processor 104b can be a central processing unit, a programmable logic controller, and / or various other processors. In some implementations, there can be connections and / or couplings (e.g., wired or wireless) between the transceiver 104a, the conversion processor 104b, the control module 104c, and the configuration parameters 104d. The control module 104c can be coupled to the control target 106 through a wired connection, a wireless connection, and / or various other connections.

[0016] In one embodiment, the controller 102 is configured to receive input from a user through one or more of the plurality of control members 102a-102n and send signals based on the input. For example, the controller 102 can be provided as a “joystick” or control stick that is configured for navigation in a virtual environment (e.g., in a video game, on a real-world simulator, in a virtual reality environment, in an augmented reality environment, as part of a remote control virtual / real-world control system, and / or in various other virtual environments). In another example, the controller 102 can be provided as a control stick for controlling a vehicle, which can be manned or unmanned, such as but not limited to an aircraft, a submersible, a spacecraft, a boat, and / or the like. That is, the controller 102 can be provided as a control stick for controlling a flying object, such as but not limited to an unmanned or remotely controlled vehicle (e.g., a “drone”); a manned, unmanned, or remotely controlled vehicle and a land vehicle; a manned, unmanned, or remotely controlled aircraft (e.g., a fixed-wing aircraft); a manned, unmanned, or remotely controlled boat; a manned, unmanned, or remotely controlled submersible; a manned, unmanned, or remotely controlled spacecraft, rocket, satellite, and / or the like. In some implementations, the controller 102 can be provided as a control stick for controlling an electrically powered manned aircraft, such as a piloted multi-rotor drone often referred to as an electrically vertical take-off and landing (e-VTOL) aircraft. In another example, the controller 102 can be provided as a control stick for controlling a robot or other non-vehicle device (e.g., a surgical device, an assembly device, and / or the like). Figures 2A-2E An exemplary schematic implementation of the controller 102 (or 202) is shown.

[0017] Rotational inputs using the first control member 102a can be detected and / or measured using a rotation module 108b. For example, the rotation module 108b can include displacement detectors for detecting displacement of the first control member 102a from a starting position as one or more of the pitch, yaw, and roll inputs discussed above. The displacement detectors can include photodetectors for detecting a beam of light, rotary and / or linear potentiometers, inductively coupled coils, physical actuators, gyroscopes, switches, transducers, and / or various other displacement detectors. In some embodiments, the rotation module 108b can include accelerometers for detecting displacement of the first control member 102a from a starting position in space. For example, the accelerometers can each measure an appropriate acceleration of the first control member 102a relative to an inertial frame of reference.

[0018] In some embodiments, inputs using the first control member 102a can be detected and / or measured using interrupt switches, transducers, and / or direct switches for each of the three ranges of motion of the first control member 102a (e.g., forward and backward, left and right, and rotation about the longitudinal axis). For example, the interrupt switches can be used to detect when the first control member 102a initially moves from a zero position of each range of rotation (e.g., from about 0.5 degrees to about 5 degrees, from about 1 degree to about 3 degrees, angular displacements in a range of about 2 degrees, including values and subranges therebetween); the transducers can provide a signal proportional to displacement of the first control member 102a within each range of motion, and the direct switches can detect when the first control member 102a further moves from the zero position of each range of motion (e.g., from about 10 degrees to about 15 degrees, from about 11 degrees to about 13 degrees, angular displacements in a range of about 12 degrees, including values and subranges therebetween). The interrupt switches and direct switches can also allow for detection of acceleration of the first control member 102a. In one embodiment, redundant detectors and / or switches can be provided in the controller 102 to ensure that the control system 100 is fault-tolerant.

[0019] Translation inputs using the second control member 102b can be detected and / or measured using a translation module 108c. For example, the translation module 108c can include displacement detectors for detecting displacement of the second control member 102b from a starting position as the z-axis (i.e., vertical motion) input discussed above. As an illustrative example, the second control member 102b can be a joystick as Figure 2A- C the wheel in question (e.g., a knurled wheel), and the translation module 108c can be configured to detect rotation of the wheel as input related to z-axis movement of the control target 106. The translation detector can include a physical actuator, a translation accelerometer, and / or various other translation detectors (e.g., the detectors and switches discussed above for detecting and / or measuring rotational input can be repurposed to detect and / or measure translational input). In some embodiments, the second control member 102b can be spring biased and configured to be pushed down by a user (e.g., toward a surface of the first control member 102a from which the second control member extends) and pulled up by a user (e.g., away from a surface of the first control member 102a from which the second control member extends), for example, to provide Z-axis movement or control of the control target 205 (e.g., pushing down causes movement in the negative Z direction, and pulling up causes movement in the positive Z direction).

[0020] In embodiments, the controller processor 108a of the controller 102 is configured to generate control signals to be transmitted by the transceiver 108d. As discussed above, the controller processor 108a can be configured to generate control signals based on one or more rotational inputs detected and / or measured by the rotation module 108b and / or one or more translational inputs detected and / or measured by the translation module 108c. Those control signals generated by the controller processor 108a can include parameters defining movement output signals for one or more of the 4-DOF (i.e., pitch, yaw, roll, movement along the z-axis). In several embodiments, for each discrete predetermined movement for which a discrete control signal is generated (e.g., first control member 102a movement for providing a pitch input, first control member 102a movement for providing a yaw input, first control member 102a movement for providing a roll input, and second control member 102b movement for providing a z-axis input), a discrete control signal type is generated (e.g., a yaw output signal, a pitch output signal, a roll output signal, and a z-axis movement output signal). In addition to 4-DOF control, discrete features such as on / off, adjustment, and other multi-function commands can be transmitted to the control target 106. Conversely, data or feedback can be received on the controller 102 (e.g., an indicator such as an LED can light up green to indicate that the controller 102 is on).

[0021] In one embodiment, the transceiver 108d of the controller 102 is configured to transmit the control signals over a wired or wireless connection. For example, the control signals can be one or more of a radio frequency (“RF”) signal, an infrared (“IR”) signal, a visible light signal, and / or various other control signals. In some embodiments, the transceiver 108d can be a transmitter configured to transmit the control signals as RF signals according to a Bluetooth® protocol. In some embodiments, the transceiver 108d can be a transmitter configured to transmit the control signals as RF signals according to a Bluetooth® protocol. In some embodiments, the transceiver 108d can be a transmitter configured to transmit the control signals as RF signals according to a Bluetooth® protocol.

[0022] In one embodiment, the transceiver 104a of the signal conversion system 104 is configured to receive the control signals sent by the transceiver 108d of the controller 102 over a wired or wireless connection as described above, and to provide the received control signals to the conversion processor 104b of the signal conversion system 104. In some implementations, the transceiver 108d can be configured to receive signals (e.g., from the transceiver 104a).

[0023] In one embodiment, the conversion processor 104b is configured to process the control signals received from the controller 102. For example, the conversion processor 104b can be coupled to a computer-readable medium comprising instructions that, when executed by the conversion processor 104b, cause the conversion processor 104b to provide a control program configured to convert the control signals into movement commands and to control the control target 106 in accordance with the movement commands using the control module 104c of the signal conversion system 104. In one embodiment, the conversion processor 104b can convert the control signals into movement commands for a virtual three-dimensional (“3D”) environment (e.g., a virtual representation of a surgical patient, a video game, a simulator, a virtual reality (VR) environment, an augmented virtual reality (AVR) environment, and / or various other virtual 3D environments). Thus, the control target 106 can exist in a virtual space, and can provide a user with a viewpoint or virtual representation of the virtual environment from a viewpoint inside the control target (i.e., the control system 100 can include a display that provides a user with a viewpoint from the control target in the virtual environment). In another example, the control target 106 can be a physical device, such as a robot, an end effector, a surgical tool, a lifting system, and / or various other steerable mechanical devices, including but not limited to vehicles, such as unmanned or remotely controlled vehicles (e.g., “drones”); manned, unmanned, or remotely controlled vehicles and land vehicles; manned, unmanned, or remotely controlled aircraft (e.g., fixed-wing aircraft); manned, unmanned, or remotely controlled watercraft; manned, unmanned, or remotely controlled submersibles; and manned, unmanned, or remotely controlled spacecraft, rockets, satellites, and the like.

[0024] In one embodiment, the control module 104c of the signal conversion system 104 is configured to control movement of the control target 106 based on movement commands provided from a control program in the signal conversion system 104. In some embodiments, if the control target 106 is in a virtual environment, the control module 104c can include an application programming interface (API) for moving a virtual representation or point of view within the virtual environment. The API can also provide feedback from the virtual environment to the control module 104c, such as, for example, collision feedback. In some embodiments, feedback from the control target 106 can allow the control module 104c to automatically adjust movement of the control target to, for example, avoid collisions with designated areas (e.g., objects in a real or virtual environment, critical areas of a real or virtual patient, etc.). In other embodiments, if the control target 106 is a physical device, the control module 104c can include one or more controllers for controlling movement of the physical device. For example, the signal conversion system 104 can be loaded on a vehicle, and the control module 104c can include various physical controllers for controlling various propulsion and / or steering mechanisms of the vehicle.

[0025] In one embodiment, the signal conversion system 104 includes operational parameters 104d that are used by the conversion processor 104b when generating movement commands using signals from the controller 102. Operational parameters can include, but are not limited to, gain (i.e., sensitivity), rate of onset (i.e., hysteresis), deadband (i.e., neutral zone), limits (i.e., maximum angular displacement), and / or the like. In one embodiment, the gain of the first control member 102a and the second control member 102b can be independently defined by a user. In this example, the second control member 102b can have increased sensitivity as compared to the first control member 102a to compensate for, for example, the second control member 102b having a smaller range of motion than the first control member 102a. Similarly, the rate of onset of the first control member 102a and the second control member 102b can be independently defined to determine the amount of time (i.e., hysteresis) that should elapse before repositioning of the first control member 102a and the second control member 102b should be converted into actual movement of the control target 106. The limits and deadband of the first control member 102a and the second control member 102b can also be independently defined by calibrating the neutral zone and maximum positions of each control member.

[0026] In one embodiment, the operational parameters can also define how signals transmitted from the controller 102 in response to different movements of the first control member 102a and the second control member 102b are converted into movement commands that are transmitted to the control target. As described above, certain movements of the first control member 102a can produce pitch, yaw, and roll rotational movement output signals, while certain movements of the second control member 102b can produce z-axis (i.e., vertical) translational movement output signals. In one embodiment, the operational parameters can define which movement commands are transmitted to the control target 106 in response to movements from the first control member 102a and the second control member 102b and the resulting movement output signals.

[0027] In some embodiments, the operational parameters 104d can be received from an external computing device (not shown) operated by a user. For example, the external computing device can be preconfigured with software for interfacing with the controller 102 and / or the signal conversion system 104. In other embodiments, the operational parameters 104d can be directly input by a user using a display screen included in the controller 102 or the signal conversion system 104. For example, the first control member 102a and / or the second control member 102b can be used to navigate a configuration menu for defining the operational parameters 104d.

[0028] Reference is made to Figures 2A-2E In some embodiments, the controller 202 includes a control stick 202a as the first control member 102a that is configured to be repositioned by a user relative to the base 208. Repositioning of the control stick 202a allows the user to use the first control member 102a to provide rotational inputs (e.g., three degrees of freedom) including a pitch input, a yaw input, and a roll input, and cause the controller processor 108a to output rotational movement output signals including a pitch movement output signal, a yaw movement output signal, and a roll movement output signal. In particular, tilting the control stick 202a forward and backward relative to the base 208 along an axis "A" (i.e., tilting the control stick 202a about the coupling joint 207 forward and backward) Figure 2A ) can provide the pitch input that produces the pitch movement output signal, rotating the control stick 202a about its longitudinal axis left and right relative to the base 208 (i.e., rotating about the coupling joint 207 along a line "B" Figure 2AThe control lever 202a can provide a yaw input that generates a yaw movement output signal, and tilting the control lever 202a left or right relative to the base 208 along axis "C" (i.e., tilting the control lever 202a left or right about the coupling connector 207) can provide a roll input that generates a roll movement output signal. In some embodiments, the movement output signal generated by the repositioning of the first control member 102a can be reconfigured according to the above discussion so that similar movements of the first control member 102a as discussed above generate different inputs and movement output signals (e.g., tilting the control lever 202a left or right relative to the base 208 along axis "C" can be configured to provide a yaw input that generates a yaw movement output signal, while rotating the control lever 202a about its longitudinal axis can be configured to provide a roll input that generates a roll movement output signal).

[0029] In some embodiments, the control lever 202a includes a wheel 202b (e.g., a knurled wheel) as one of a plurality of control members 202b-202n. For example, the wheel 202b may be a second control member 102b, which is configured to be controlled by a user of the controller 202 along line E ( Figure 2A ) around axis "D" ( Figure 2A and 2C The rotation of the second control member 102b allows the user to provide translational movement input to the controller using the second control member 102b, and causes the controller processor 108a to output a translational movement output signal including a vertical or z-axis movement output signal. The translational movement input may include inputs related to the throttle thrust of the second control member 102b (e.g., when the controlled target is a fixed-wing aircraft) and direction. For example, the user of the controller 102 may apply a force to the wheel 202b to rotate the wheel 202b along line E and about or relative to axis "D" in a forward or backward direction. The translational movement input may include the throttle setting of the wheel 202b after the force is applied (e.g., the thrust corresponding to the throttle) and / or the direction of the force (e.g., the direction corresponding to the throttle), and the translational movement output signal generated by the controller processor 108a as a result of the input may include output signals related to the speed of the controlled target 205 and / or the direction of movement of the controlled target 205 (e.g., up (+z-axis) or down (-z-axis) direction).

[0030] As a non-restrictive illustrative example, see [reference]. Figure 2BIn some embodiments, the responsiveness of the second control member 102b to the force applied by the user can be adjusted by another control member (e.g., one or more of the control members 102c-102n). For example, the responsiveness of the wheel 202b to the amount of force applied on the wheel 202b when changing the throttle setting of the wheel 202b can be adjusted by a tension tuner 202c configured to change the friction experienced by the wheel 202b when the wheel 202b is rotated under the influence of the force. That is, the throttle setting of the wheel 202b can be adjusted by the tension tuner 202c. In this way, the amount of force that must be applied to the wheel 202b in order to produce a given amount of control target speed can be changed using the tension tuner 202c. For example, the tension tuner 202c can have a range of settings (e.g., values or modes), and when the tension tuner 202c is set at different values or modes, the user can have to apply different amounts of force to the wheel 202b to produce the same control target speed.

[0031] In some embodiments, the responsiveness of the second control member 102b to the force applied by the user can be adjusted by another control member (e.g., one or more of the control members 102c-102n). For example, the responsiveness of the wheel 202b to the amount of force applied on the wheel 202b when changing the throttle setting of the wheel 202b can be adjusted by a tension tuner 202c configured to change the friction experienced by the wheel 202b when the wheel 202b is rotated under the influence of the force. That is, the throttle setting of the wheel 202b can be adjusted by the tension tuner 202c. In this way, the amount of force that must be applied to the wheel 202b in order to produce a given amount of control target speed can be changed using the tension tuner 202c. For example, the tension tuner 202c can have a range of settings (e.g., values or modes), and when the tension tuner 202c is set at different values or modes, the user can have to apply different amounts of force to the wheel 202b to produce the same control target speed.

[0032] In some embodiments, the controller 102 can include a safety mechanism 202d configured to prevent unintended rotation of the wheel 202b, and unintended changes to the throttle setting of the wheel 202b, which can correspond to unintended changes to the maneuver state of the control target 205. For example, the safety mechanism 202d can be one of the plurality of control members 102a-102n, and can be configured to prevent the wheel 202b from rotating along line E (i.e., about or relative to axis “D”) (e.g., even when a user applies a force) unless the safety mechanism is deactivated (e.g., a prior or simultaneous action is taken relative to the safety mechanism 202d). For example, the safety mechanism 202d can include a ball that must be depressed for the wheel 202b to rotate when a user applies a force on the wheel 202b. In some implementations, the throttle setting of the wheel 202b can not be changed unless the safety mechanism 102d is deactivated. In other implementations, a first set of throttle settings of the wheel 202b can not be changed to a second set of throttle settings unless the safety mechanism 202d is deactivated, while other changes can occur without deactivating the safety mechanism 202d. For example, the safety mechanism 202d can be configured such that a change in the throttle setting from “idle” to “off” is not allowed unless the safety mechanism 202d is deactivated (e.g., the ball is depressed), thereby preventing unintended rotation of the wheel 202b, and thus also unintended changes to the maneuver state of the control target 106 from “idle” to “off”.

[0033] In some embodiments, in addition to the joystick 202a, the wheel 202b, the tension tuner 202c, and / or the safety mechanism 202d, the plurality of control members 102a-102n include other control members configured to allow a user to provide input to the controller 202, and cause the controller processor 108a to generate output signals for transmission to the control target 205. In some implementations, the other control members can also be configured to receive data from the control target 205 and / or an external device (not shown), and display the data (or a representation thereof) at a user interface (not shown) of the controller 202. For example, the other control members can include a radio communication interface (e.g., a push-to-talk radio button), a control member for steering a front wheel of the control target 205, a control member for reversing the thrust, etc.

[0034] As another example, other control members can include a trim control 202e configured to allow user input settings of the DoFs of the control target 205 controlled by the controller 202. For example, the trim control 202e can be configured to allow user input command settings for one or more of the three rotational DoFs of the control target 205, i.e., one or more of the pitch, yaw, and roll of the control target 205. In some implementations, the trim control 202e can be configured to allow user input command settings for one translational DoF of the control target 205 (e.g., movement along the z-axis). For example, the trim control 202e can be in the form of a trim button that allows user input command settings for guiding the control target during its motion (e.g., rotational parameters for the pitch, yaw, and / or roll of the control target 205). The trim control 202e (e.g., a set of trim buttons for pitch, yaw, and / or roll) can be configured to be separate from the control stick 202a. For example, the control stick 202a can include a button (e.g., a push button) configured to, when engaged (e.g., pushed), cause the trim control 202e to be released or decoupled from the control stick 202a.

[0035] In some embodiments, the control target 205 can be powered by multiple power sources, and the controller 202 can be configured to allow a user to control movement of a control target 205 in one or more DoFs (e.g., three rotational DoFs (e.g., pitch, yaw, and roll) and one translational DoF (e.g., longitudinal movement along the x-axis, e.g., thrust of a fixed-wing aircraft)) by individually controlling the individual power sources as discussed throughout this specification. For example, the control target 205 can be a multi-engine flying object, and the control stick 202a can include multiple wheels 204, where each of the multiple wheels 204 is configured to control one engine of the multi-engine control target 205 (e.g., a multi-engine commercial jet aircraft, such as a B737, etc.). Where each of the multiple wheels 204 is configured to control an engine of the multi-engine control target 205, one of the wheels can be manipulated to shut down one of the engines, while another wheel can be manipulated to control another engine. In such examples, the safety mechanism 206 can also include at least as many safety mechanism elements as there are wheels of the multiple wheels 204, and each safety mechanism element can be configured to prevent unintentional rotation of a respective wheel of the multiple wheels 204. In some implementations, the safety mechanism 206 can be configured to prevent sudden shutdown of a motor, engine, rotor, etc. associated with the control target. More specifically, when the safety mechanism 206 is engaged, the safety mechanism 206 can prevent movement of one or more wheels 204 from an “idle” position to a “shutdown” position, and when the safety mechanism 206 is disengaged, movement from the “idle” position to the “shutdown” position is allowed. In this way, at least two actions are required to transition from “idle” to “shutdown,” including disengagement of the safety mechanism 206 and manipulation of one or more wheels 204. In some implementations, the multiple wheels 204 can be synchronized with one another, such that when a user of the controller 202 exerts a force on one of the multiple wheels 204 to cause rotation of that wheel, the other wheel(s) of the multiple wheels 204 can also rotate in a substantially similar manner to that wheel. In other implementations, the multiple wheels 204 can be unsynchronized, and a user can individually engage the multiple wheels 204 to individually control the multiple power sources of the control target 205. For example, a user can use one of the multiple wheels 204 to idle or shut down one engine of a multi-engine control target 205 (e.g., by aligning the throttle of that one wheel to the indicator 212 of the controller 202 to “idle” or “shutdown,” respectively), while the other engine is running. Synchronization or unsynchronization of the multiple wheels 204 can be controlled by a synchronization control element (e.g., a tab) (not shown) located on the controller 202 and configured to allow substantially precise adjustment of the throttle settings of the multiple wheels 204 by one hand of the user, while the other hand is placed on the control stick 202a.

[0036] In some embodiments, with reference to Figure 2D , the controller 202 has (a) a first control member 202a, a joystick-like structure having three independent degrees of movement, intended to be grasped by a user's hand, and (b) a second control member 202b mounted on the first control member 202a for manipulation by a thumb or other finger on the user's hand grasping the first control member 202a, which enables the user to generate four independent control inputs for commanding the vehicle to move in four DoFs. The proximal end of the first control member 202a is pivotally connected to the base 208 so that the first control member 202a can be independently pivoted along the x-axis and independently pivoted along the y-axis. In this example, the base 208 is configured to be supported by the user (e.g., held by the user's hand or otherwise carried on the user's body, such as by an arm brace, a harness, etc.). The base supported by the user provides a consistent, known frame of reference that can be used for inspection, security, and cinematic drone missions, even while moving, e.g., walking, skiing, running, driving.

[0037] In some embodiments, a resilient member such as, for example, a spring, can be positioned between the first control member 202a and the base 208 so as to provide resilient movement up or down along the longitudinal axis of the first control member 202a. In some embodiments, such up or down movement along the longitudinal axis of the first control member relative to the base 208 can be configured to produce Z-axis movement (up or down, vertical movement) of the control target. In some embodiments, forward or rearward movement relative to the longitudinal axis of the first control member relative to the base 208 can be configured to produce X-axis movement (forward or rearward, longitudinal movement) of the control target (e.g., a fixed-wing aircraft).

[0038] In some embodiments, with reference to Figure 2E , the controller 202 can include a two-axis gimbal 230, which can be used as part of the input device for generating control inputs to command a camera or sensor steering system. The two-axis gimbal 230 can be used to simultaneously support the measurement of angular displacement and angular displacement in two DoFs, but can be adapted to support the first control member 202a for displacement in a single DoF by locking one DoF (e.g., as shown in Figure 2D . The gimbal can be mounted in a base, e.g., the base 208. Its column 222 can couple the gimbal 230 to the first control member 202a. The first control member 202a causes the column 222 to pivot about two orthogonal axes intersecting at the center of the gimbal. One axis remains fixed relative to the base, while the other axis rotates about the fixed axis. The two-axis gimbal 230 is a representative example of a two-axis gimbal adapted to produce haptic feedback when the first control member 202a exits and reenters a predetermined null position of each of the two rotational axes.

[0039] Furthermore, in alternative embodiments in which the gimbal can be locked or prevented from rotating about one axis to allow rotation about only one axis, the detents for producing force feedback for rotation about the locked or prevented axis can be omitted.

[0040] The gimbal can be composed of two members: a first member 232 held fixed relative to the base 236 and a second member 228 constrained by the first member 232 to rotate about a single axis or about each of two orthogonal axes and otherwise limit relative rotation of the first member 232 and the second member 228 about any other axis. A post 222 is coupled to the second member 228 to pivot about each of the two orthogonal axes. If the second member 228 is limited to rotate about only one of the two orthogonal axes, the post 222 is coupled with the second member 228 so that it can pivot about the second axis without rotating the second member 228.

[0041] In this particular implementation, intended to be representative, the ball (i.e., second member) 228 is mounted within a socket (i.e., first member) 232. An extension 234 of the post 222 fits within a complementary opening formed in the ball 228 so that angular displacement or pivoting of the post 222 also rotates the ball 228. In this example, the ball 228 is held within the socket 232 so that it can freely rotate within the socket 232 about each of two axes that are mutually orthogonal to each other, with one of the two axes held fixed relative to the base 236 of the gimbal 230, in two DoF. Optionally, it can be allowed to rotate about a third mutually orthogonal axis that extends through the post 222. The base 236 is representative of a structure for mounting the gimbal to the base 208 against which the first control member 202a can react.

[0042] A cap 238 connected with the post 222 extends over the spherical outer surface of the socket 232 and has a complementary spherical inner surface. Pivoting of the post 222 moves the cap relative to the socket.

[0043] Although the inner surface of the socket 232 can be complementary to the ball 228 and support rotation of the ball 228, in alternative embodiments the ball 228 can be supported for rotation about one or two mutually orthogonal axes of rotation in other ways and by other components, including by one or more shafts or axles that support rotation of the ball 228 relative to the socket 232. In such alternative embodiments, the ball 228 and the inner surface of the socket 232 need not be spherical or complementary.

[0044] In some embodiments, the controller 202 can be configured to control a manned aerial vehicle with distributed electric propulsion (utilizing power supplied by batteries and / or hybrid systems), e.g., a piloted multicopter drone with or without wings to generate additional lift. In such embodiments, the first control member 202a can include a spring centering mechanism, as described in further detail herein, to provide translational control (e.g., fine translation) along the X, Y, and Z axes as well as rotational control (e.g., yaw), as described in various embodiments herein. Further, in some implementations, each wheel 204 can control a separate thrusting component (e.g., a pusher propeller behind the piloted multicopter drone). For example, once a safe cruising altitude is reached, one thrusting component can provide hovering and orientation, while a second thrusting component can provide speed (e.g., “fast forward”) control.

[0045] With reference to Figure 3A In some embodiments, such as but not limited to, a control target 306 of a remotely controlled aerial vehicle (e.g., a “drone”), a land vehicle, an aerial vehicle (e.g., a fixed-wing aircraft), a boat, a submersible, a spacecraft, a rocket, a satellite, a surgical device, an assembly or industrial device, etc. can be equipped with a detector configured to sense objects 304 in the vicinity of the control target 306 and / or obstacles along a travel path of the control target 306. The detector can be configured to detect stationary as well as moving objects that pose a risk of collision with the control target 306. For example, the detector can be configured to detect stationary objects within a specified radius of the control target 306. As another example, the detector can be configured to detect moving objects within a specified radius of the control target and traveling at a speed greater than a given speed. Examples of such detectors include Light Detection and Ranging (LIDAR) systems, radar, GPS (with reference to a MAP), ADS-B (for avoiding other aerial vehicles), video (and associated video analysis).

[0046] In some implementations, to avoid collision with a sensed object or obstacle 304, the control target 306 can provide feedback to a controller 302 controlling the control target 306 regarding the presence and status of the sensed object or obstacle 304. A detector and / or other communication system operably coupled to the control target 306 can send data to the controller 302 (e.g., to a transceiver 104a of the controller 302) including sensed object information such as, but not limited to, a distance of the sensed object 304 from the control target 306, an angular displacement of the sensed object 304 from the control target 306, a velocity of the sensed object 304 (if the sensed object is in motion), etc.

[0047] In some embodiments, the controller 302 can include a control module (not shown) (e.g., such as the control module 104c) configured to analyze the received data and generate a signal configured to trigger a user feedback system located within the controller 302 based on the results of the analysis. For example, the received data can include continuous data including position information of the sensed object 304, and the analysis can determine the speed and direction of the sensed object or obstacle 304 approaching the control target 306. As another example, the received data can already include information related to the speed and direction of the approach of the sensed object or obstacle 304. In such an example, the control module can trigger the feedback system of the controller 302 in a manner that informs the user of the controller 302 of the direction in which the sensed object or obstacle 304 is located (e.g., from the perspective of the control target 306) or the direction from which the sensed object or obstacle 304 is approaching and / or the rate at which the sensed object or obstacle 304 is approaching the control target 306.

[0048] The manner in which the feedback system informs the user of the controller 302 of information related to the sensed object or obstacle 304 by the control target 306 can depend on the feedback elements of the controller 302. In some implementations, the feedback can be in the form of haptic feedback, and the feedback elements of the controller 302 can be one or more vibrotactile motors 308a-308n (e.g., two, three, four, five, six, seven, eight, etc. vibrotactile motors 308a-308n) located on or in the controller 302. In such implementations, the control module of the controller 302 can generate a signal configured to cause the vibrotactile motors 308a-308n of the controller to vibrate according to a predefined relationship between the vibration pattern of the vibrotactile motors 308a-308n and the information related to the sensed object or obstacle 304. For example, the rate of vibration of the vibrotactile motors 308a-308n can be related to the distance of the sensed object or obstacle 304. In this way, for a sensed object or obstacle 304 that is in motion and approaching the control target 306, the control module can generate a signal that increases the rate of vibration of the vibrotactile motors 308a-308n (e.g., this can occur in real-time or near real-time as the data is continuously or substantially continuously transmitted from the control target 306 to the controller 302). As another example, the predetermined relationship between the vibration pattern of the vibrotactile motors 308a-308n and the information related to the sensed object or obstacle 304 can inform which of the vibrotactile motors 308a-308n can vibrate according to the information. For example, if the information indicates that the sensed object or obstacle 304 is approaching the control target 306 from the right side of the control target 306, the control module can generate a signal that causes the vibrotactile motor located on the right side of the controller to vibrate.Figure 3B A top cross-sectional view showing an exemplary distribution of vibrotactile motors 308a-308n within the controller 302 is shown. In such embodiments, the "right" vibrotactile motor (e.g., 308a) closest to the palm of the user's hand manipulating the controller can vibrate, indicating or informing the user that an object or obstacle is approaching the control target 306 from the right side of the control target 306. Figure 3C

[0049] As noted above, the vibrotactile motors 308a-308n can be located within the controller 302. In some implementations, one or more of the vibrotactile motors 308a-308n can be part of or integrated with other features of the controller 302. For example, the controller 302 can include a thumb saddle 310 for placement of the user's thumb manipulating the controller (e.g., 308b), and one or more of the vibrotactile motors 308a-308n can be integrated with the thumb saddle 310. As another example, the controller 302 can include a control button 312 (e.g., such as but not limited to trim control 202e), and one or more of the vibrotactile motors 308a-308n can be integrated with the control button 312. Figure 3C

[0050] In some embodiments, each of the vibrotactile motors 308a-308n can be vibrationally isolated with vibration absorbing materials, allowing discrete vibration signals to be transmitted to the handle of the controller 302. In this way, the pilot or operator is given spatially distinct feedback, e.g., approaching an aircraft on the left, etc.

[0051] ​​In some embodiments, instead of or in addition to vibrational feedback, the feedback can include visual feedback, and the feedback element of the controller 302 can be one or more light sources (not shown), such as but not limited to LEDs and the like, located on the controller 302 and configured to be illuminated in response to a signal from the control module. For example, the control module of the controller 302 can generate a signal configured to cause the light sources to be illuminated according to a predefined relationship between a pattern of illumination of the light sources and information about the sensed object or obstacle 304. For example, the pattern, intensity, and / or order of illumination of the light sources can be related to the distance of the sensed object or obstacle 304 and / or the rate at which the sensed object or obstacle 304 is approaching the control target 306. As an illustrative example, for a sensed object or obstacle 304 that is in motion and approaching the control target 306, the control module can generate a signal that causes the light sources to increase in intensity or their rate of illumination and / or flashing (e.g., this can occur in real-time or near real-time as data is continuously or substantially continuously transmitted from the control target 306 to the controller 302). As another example, the predefined relationship between the pattern of illumination of the light sources and information related to the sensed object or obstacle 304 can inform which of the light sources can vibrate according to the information. For example, if the information indicates that the sensed object or obstacle 304 is approaching the control target 306 from the left side of the control target 306, the control module can generate a signal that causes the light sources on the left side of the controller to be illuminated while the light sources in the middle and on the right side are turned off.

[0052] While various inventive embodiments have been described and illustrated herein, those of ordinary skill in the art will readily envision a variety of other means and / or structures for performing the functions and / or obtaining the results and / or one or more of the advantages described herein, and each of such variations and / or modifications is deemed to be within the scope of the inventive embodiments described herein. More generally, those skilled in the art will readily appreciate that all parameters, dimensions, materials, and configurations described herein are meant to be exemplary and that the actual parameters, dimensions, materials, and / or configurations will depend upon the specific application or applications for which a inventive teaching is used. Those skilled in the art will recognize, or be able to ascertain using no more than routine experimentation, many equivalents to the specific inventive embodiments described herein. It is, therefore, to be understood that the foregoing embodiments are presented by way of example only and that, within the scope of the appended claims and equivalents thereto, inventive embodiments can be practiced otherwise. Inventive embodiments of the present disclosure are directed to each individual feature, system, article, material, kit, and / or method described herein. In addition, any combination of two or more such features, systems, articles, materials, kits, and / or methods, if such features, systems, articles, materials, kits, and / or methods are not mutually inconsistent, is included within the inventive scope of the present disclosure.

[0053] The above-described embodiments can be implemented in any of numerous ways. For example, embodiments of the technology can be implemented using hardware, firmware, software, or combinations thereof. When implemented in firmware and / or software, firmware and / or software code can be executed by any suitable processor or collection of processors, whether provided in a single device or distributed among multiple devices.

[0054] In this respect, various inventive concepts can be embodied as a computer readable storage medium (or multiple computer readable storage media) (e.g., a computer memory, one or more floppy discs, compact discs, optical discs, magnetic tapes, flash memories, circuit configurations in Field Programmable Gate Arrays or other semiconductor devices, or other non-transitory medium or tangible computer storage medium) encoded with one or more programs that, when executed on one or more computers or other processors, perform methods that implement the various embodiments of the application discussed above. The computer readable medium or media can be transportable, such that the program or programs stored thereon can be loaded onto one or more different computers or other processors to implement various aspects of the present application as discussed above.

[0055] The terms "program" or "software" are used herein in a generic sense to refer to any type of computer code or set of computer-executable instructions that can be employed to program a computer or other processor to implement various aspects of embodiments as discussed above. Additionally, it should be appreciated that according to one aspect, one or more computer programs that when executed perform methods of the present application need not reside on a single computer or processor, but can be distributed in a modular fashion amongst a number of different computers or processors to implement various aspects of the present application.

[0056] Computer-executable instructions can be in many forms, such as program modules, executed by one or more computers or other processors. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. Typically the functionality of the program modules can be combined or distributed as desired in various embodiments.

[0057] Also, data structures can be stored in computer-readable media in any suitable form. For simplicity of discussion, data structures can be illustrated as having fields that are related to one another. Such relationships can also be stored in computer-readable media by positioning the data structures to be thus related when they are stored such that, when access to a structure is sought from computer-readable media, the relationship is read from the structure stored in computer-readable media. However, any suitable mechanism can be used to establish a relationship between information in fields of a data structure, including through the use of pointers, tags or other mechanisms that establish a relationship between data elements.

[0058] Also, various inventive concepts can be embodied as one or more methods, of which an example has been provided. The acts performed as part of the method can be ordered in any suitable way. Accordingly, embodiments can be constructed in which acts are performed in an order different than illustrated, acts are performed concurrently, and / or acts are performed at different times, even to the point of performing acts of a method at the same time or overlapping at different times.

[0059] All definitions, as defined and used herein, should be understood to control over dictionary definitions, definitions in documents incorporated by reference, and / or ordinary meanings of the defined terms.

[0060] The indefinite articles "a" and "an," as used herein in the specification and in the claims, unless clearly indicated to the contrary, should be understood to mean "at least one."

[0061] The phrase "and / or," as used herein in the specification and in the claims, should be understood to mean "either or both" of the elements so conjoined, i.e., elements that are conjunctively present in some cases and disjunctively present in other cases. Multiple elements listed with "and / or" should be construed in the same fashion, i.e., "one or more" of the elements so conjoined. Other elements can optionally be present other than the elements specifically identified by the "and / or" clause, whether related or unrelated to those elements specifically identified. Thus, as a non-limiting example, a reference to "A and / or B" when used in conjunction with open-ended language such as "comprising" can refer, in one embodiment, to A only (optionally including elements other than B); in another embodiment, to B only (optionally including elements other than A); in yet another embodiment, to both A and B (optionally including additional elements); etc.

[0062] As used in the specification and claims, "or" should be understood to have the same meaning as "and / or" as defined above. For example, when used in either the in the alternative (e.g., A or B) or in the conjunctive form (e.g., A and / or B), "or" should be interpreted to have the same meaning as "and / or" in that it means either A or B or both A and B can be present. Only terms clearly indicated to the contrary, such as "only one of" or "exactly one of," or when used in the claims, "consisting of," will refer to the exclusion of one or more of the elements so conjoined. As used herein in the specification and in the claims, "or" should also be understood to have the same meaning as "and / or" as defined above, unless the context clearly indicates otherwise. For example, when used in the

[0063] As used in the specification and claims, the phrase "at least one" referring to a list of one or more elements should be understood to mean at least one element selected from any one or more elements in the list of elements, but not necessarily including at least one of each element specifically listed in the list of elements, and does not exclude any combination of elements in the list of elements. This definition also allows for the optional presence of elements other than those specifically indicated in the list of elements referred to by the phrase "at least one," whether related to or unrelated to those specifically indicated elements. Thus, as a non-limiting example, "at least one of A and B" (or equivalently, "at least one of A or B," or equivalently, "at least one of A and / or B") in one embodiment may refer to at least one (optionally including more than one) A, with no B (and optionally including elements other than B); in another embodiment, it refers to at least one (optionally including more than one) B, with no A (and optionally including elements other than A); in yet another embodiment, it refers to at least one (optionally including more than one) A, and at least one (optionally including more than one) B (and optionally including other elements); and so on.

[0064] In the claims and the description above, all transitional phrases such as “comprising,” “including,” “with,” “having,” “containing,” “involving,” “holding,” “comprising,” etc., should be understood as open-ended, meaning including but not limited to. As stated in Section 2111.03 of the Patent Examination Procedure Manual of the United States Patent and Trademark Office, only the transitional phrases “consisting of…” and “substantially consisting of…” should be closed or semi-closed transitional phrases, respectively.

Claims

1. A controller comprising: a first control member configured to move back and forth within three consecutive and independent degrees of freedom to provide a corresponding set of three independent control inputs in response thereto; a second control member, which is a wheel and is positioned on the first control member, and is configured to rotate back and forth relative to the first control member in a single degree of freedom to provide a corresponding fourth control input in response thereto; and a controller processor configured to receive the set of three independent control inputs and the fourth control input and generate a set of first control signals and second control signals, respectively, the set of first control signals configured to control three independent rotational movements of a control target; and the second control signal configured to control a vertical movement of the control target; wherein the controller processor is configured to: receive feedback from the control target regarding presence and state of an object sensed by a detector, the feedback including a distance between the sensed object and the control target and an angular displacement of the sensed object relative to the control target; analyze the received feedback and generate a signal configured to trigger a user feedback system associated with the controller based on a result of the analysis, wherein the user feedback system includes a plurality of vibrotactile motors located within the controller and information related to the sensed object in the received feedback informs one or more of the plurality of vibrotactile motors to vibrate. the wheel includes at least a pair of throttle settings, the controller further comprising a safety mechanism configured to prevent the wheel from switching between the pair of throttle settings unless the safety mechanism is deactivated.

2. The controller of claim 1, wherein, 3. The controller of claim 1, further comprising a tension tuner configured to change a friction experienced by the wheel when rotated back and forth relative to the first control member to provide the corresponding fourth control input. the control target is a fixed-wing aircraft, an electric aircraft, a hybrid aircraft, and / or a combustion-powered aircraft, a remotely operated vehicle (ROV), a manned aircraft with distributed electric propulsion, a manned submersible, a spacecraft, or a virtual aircraft.

4. The controller of claim 1, wherein, 5. The controller of claim 1, further comprising a discrete control element configured to provide a discrete control input including a trim function.

6. The controller of claim 1, further comprising a safety mechanism configured to prevent a sudden cutoff of a motor, engine, or rotor associated with the control target.

7. The controller of claim 1, wherein: the control target is a manned aircraft with distributed electric propulsion; and the first control member includes a spring pair mechanism configured to provide translational control and rotational control. the first control member includes a plurality of wheels, each wheel configured to control one thrust component of the control target.

8. The controller of claim 1, wherein, ​ 9. The controller of claim 1, wherein at least one of the first control member and the second control member is in a spring pair and is configured to be pushed down and pulled up by a user to control Z-axis movement of the control target.

10. The controller of claim 1, wherein: the control target is a fixed-wing aircraft; and forward or rearward movement relative to a longitudinal axis of the first control member is configured to generate longitudinal movement of the control target.

11. The controller of claim 1, wherein: the control target includes a plurality of engines; and the first control member includes a plurality of wheels, each wheel configured to control one engine of the control target.

12. The controller of claim 1, wherein, the controller is loaded on the control target when controlling the control target.

13. The controller of claim 1, wherein, the controller controls the control target remotely.

14. A controller, comprising: a transceiver configured to receive data from a control target, the data including one or both of (a) information about a distance of an object near the control target from the control target, and (b) information about an angular displacement of the object from the control target; a controller processor configured to receive the data from the transceiver and generate a control signal to vibrate a vibrotactile motor of the controller; and a control member configured to be grasped by a hand of a user of the controller and included within the vibrotactile motor; wherein (a) a frequency of vibration of the vibrotactile motor is increased in intensity as the distance of the object from the control target decreases; or (b) the information about the angular displacement of the object from the control target informs which one or ones of a plurality of vibrotactile motors will vibrate.

15. The controller of claim 14, wherein, the control signal causes the vibrotactile motor to vibrate when the distance from the control target is less than a predetermined radius.

16. The controller of claim 14, wherein the control member includes a light source, the control signal causing the light source to illuminate when the distance from the control target is less than a predetermined radius.

17. The controller of claim 14, wherein the control member includes a light source, the control signal causing the light source to illuminate when the distance is less than a predetermined radius from the control target, an intensity of the illumination increasing as the distance of the object from the control target decreases and / or a pattern of the illumination changing as the distance of the object from the control target decreases.

18. The controller of claim 14, wherein, the control target is a drone.

19. A controller, comprising: a first control member configured to be grasped by a hand of a user of the controller, the controller controlling flight of a control target; a second control member positioned on the first control member and configured to rotate relative to the first control member at a rotational rate in response to a force applied by the user to provide, in response thereto, a corresponding control input configured to control vertical motion of the flight of the control target. a safety mechanism coupled to the second control member and configured to prevent accidental rotation of the second control member relative to the first control member during flight of the control target; and a tension tuner coupled to the second control member and configured to change a rate of rotation of the second control member when a user applies the applied force to the second control member; wherein the processor of the controller is configured to: receive feedback from the control target regarding presence and state of an object sensed by a detector, the feedback including a distance between the sensed object and the control target and an angular displacement of the sensed object relative to the control target; and analyze the received feedback and generate a signal configured to trigger a user feedback system associated with the controller based on a result of the analysis, wherein the user feedback system includes a plurality of vibrotactile motors located within the controller and information related to the sensed object in the received feedback informs one or more of the plurality of vibrotactile motors to vibrate.

20. The controller of claim 19, wherein, the control target is a fixed-wing aircraft, an electrically-powered aircraft, a hybrid-powered aircraft, and / or a combustion-powered aircraft, a remotely operated vehicle (ROV), a manned aircraft with distributed electric propulsion, a manned submersible, a spacecraft, or a virtual aircraft.

21. The controller of claim 19, further comprising a discrete control element configured to provide a discrete control input including trim functions.

22. The controller of claim 19, further comprising a safety mechanism configured to prevent sudden cutoff of a motor, engine, or rotor associated with the control target.

23. The controller of claim 19, wherein, the first control member includes a plurality of wheels, each wheel configured to control one thrust component of the control target.

24. The controller of claim 19, wherein: the control target includes a plurality of engines; and the first control member includes a plurality of wheels, each wheel configured to control one engine of the control target.

25. The controller of claim 19, wherein, the controller is loaded on the control target when controlling the control target.

26. The controller of claim 19, wherein, the controller controls the control target remotely.

Images