(12) United States Patent
`Lee
`
`(10) Patent NO.:
`(45) Date of Patent:
`
`US 7,584,071 B2
`Sep. 1,2009
`
`(54) REMOTE-CONTROLLED MOTION
`APPARATUS WITH SENSING TERRESTRIAL
`MAGNETISM AND REMOTE CONTROL
`APPARATUS THEREFOR
`
`(76)
`
`Inventor: Yu-Tuan Lee, 10F-A, No. 148, Sec 2,
`Fu-Hsing S Rd, Taipei 106 (TW)
`
`( * ) Notice:
`
`Subject to any disclaimer, the term of this
`patent is extended or adjusted under 35
`U.S.C. 154(b) by 0 days.
`
`(21) Appl. No.: 121051,662
`
`(22) Filed:
`
`Mar. 19,2008
`
`(65)
`
`Prior Publication Data
`US 200810234971 A1
`Sep. 25,2008
`
`Foreign Application Priority Data
`(30)
`(TW) .............................. 961 10077 A
`Mar. 23, 2007
`
`(51) Int. C1.
`G06F 19/00
`(2006.01)
`(52) U.S. C1. ....................................... 7021150; 7021188
`(58) Field of Classification Search ................... 701126;
`7021150, 188
`See application file for complete search history.
`
`(56)
`
`References Cited
`U.S. PATENT DOCUMENTS
`6,351,698 B1 * 212002 Kubota et al. ................. 701151
`
`200510171637 A1 *
`200610173577 A1 *
`
`812005 Tani et al. ................... 7001245
`812006 Takeda et al. ............... 7001245
`
`* cited bv examiner
`Primary Examiner-Edward R Cosimano
`Assistant Examiner-Douglas N Washbum
`(74) Attornq, Agent, or Firm-Birch, Stewart, Kolach &
`Birch, LLP
`
`(57)
`
`ABSTRACT
`
`A remote-controlled motion apparatus is controlled by a
`remote control apparatus. The remote control apparatus trans-
`mits a target motion signal by radio. The remote-controlled
`motion apparatus includes a communication module, a ter-
`restrial magnetism sensing module, a processing module and
`a driving module. The communication module receives the
`target motion signal from the remote control apparatus. The
`terrestrial magnetism sensing module senses a terrestrial
`magnetism of the remote-controlled motion apparatus to out-
`put a terrestrial magnetism sensing signal. The processing
`module is coupled with the terrestrial magnetism sensing
`module and the communication module, and processes the
`terrestrial magnetism sensing signal and the target motion
`signal to output a driving control signal. The driving module
`is coupled with the processing module to receive the driving
`control signal, and adjusts the driving of the remote-con-
`trolled motion apparatus according to the driving control
`signal.
`
`15 Claims, 5 Drawing Sheets
`
`,
`remote control 1 er
`
`,,-3 1
`lerrestri a1
`lnagne t i sm
`: sens i ng modu 1 e
`
`SI;
`
`<
`
`rerno le-control led device
`42
`terrestrial
`magnet i sru
`sensing n~dule
`
`/ 44
`
`driving
`mcdu 1 e
`
`1
`
`r 3 3
`comnunicat ion
`modu 1 e
`
`-
`
`S TAR
`
`Icommunicat ion,
`- ,inodule
`
`4 I
`
`Parrot Ex. 1001
`
`

`
`U.S. Patent
`
`Sep. 1,2009
`
`Sheet 1 of 5
`
`US 7,584,071 B2
`
`remote
`controller
`r 11
`rnanual input
`lloodu 1 e
`
`I I
`
`remote-control led
`~r~odel airplane
`,22
`
`con lro 1 1 er
`
`/23
`
`[not or
`
`FIG. l(PR1OR ART)
`
`i
`
`remote controller
`
`/-31
`lerrestr i a1
`lnagne t i srn
`sens ing module
`
`remote-control led device
`terrestrial
`magnet i sru
`
`sensing n l d u 1 e Ud2
`
`1 1
`
`driving
`lnodu 1 c
`
`cormnun i cat ion
`modu 1 e
`
`',
`
`! commun i cat ion
`tnodu 1 e
`
`FIG. 2
`
`

`
`U.S. Patent
`
`Sep. 1,2009
`
`Sheet 2 of 5
`
`12
`tel-restr i a 1
`magne i i sm
`sens i ng modu 1 e
`
`S
`
`I
`
`driving inodule
`441
`
`444
`
`servo
`
`: main wing
`
`S A C , 7 4 3
`-
`SURW
`processing
`inadu 1 e -
`
`modu 1 e
`
`horizontal
`stabi 1 izer
`
`servo
`
`vertical
`stabi 1 izer
`
`FIG. 3
`
`42
`
`driving module
`
`terrestrial
`inagne t r sln
`sensing nodu l e
`s,\
`
`(447
`
`(--- 449
`
`SDRY~
`
`servo
`
`main rotor
`
`processing
`modu 1 e
`
`- SDR,
`
`
`
`r d l
`co~nrntin i cat ion
`modu 1 e
`
`FIG. 4
`
`

`
`U.S. Patent
`
`Sep. 1,2009
`
`Sheet 3 of 5
`
`/--5
`remote contro 11 er
`r5 1
`terrestri a1
`magnet i sin
`sensingmodule
`
`manua 1 i nput
`lnodule
`
`/4
`
`54
`
`remote-control led
`device
`
`configuration + communi cation
`1nodu 1 e
`s\v i tch modu 1 e
`
`S T ~ K Z
`
`52
`
`53
`
`FIG. 5
`
`

`
`U.S. Patent
`
`Sep. 1,2009
`
`Sheet 4 of 5
`
`elevation
`54 - angle 90"
`
`angle -90'
`
`FIG. 6
`
`downward '
`
`FIG. 7
`
`

`
`U.S. Patent
`
`Sep. 1,2009
`
`Sheet 5 of 5
`
`remote controller
`
`64
`
`manual input
`module
`
`S cwr
`
`- corn~nun i cat i on
`module
`
`-
`
`configuration
`switch !nodule
`.
`
`,
`
`remote-control 1 ed
`device
`
`FIG. 8
`
`

`
`1
`REMOTE-CONTROLLED MOTION
`APPARATUS WITH SENSING TERRESTRIAL
`MAGNETISM AND REMOTE CONTROL
`APPARATUS THEREFOR
`
`CROSS REFERENCE TO RELATED
`APPLICATIONS
`
`BACKGROUND OF THE INVENTION
`
`SUMMARY OF THE INVENTION
`
`US 7,584,071 B2
`
`u
`
`2
`remote controller to control the remote-controlled device's
`motion with a terrestrial mametism self-sense canabilitv.
`According to the invention, the remote-controlled device is
`- controlled by a remote controller. The remote controller
`' transmits a target motion signal to the remote-controlled
`device. The remote-controlled device comprises a communi-
`-
`-
`cation module, a terrestrial magnetism sensing module, a
`processing module and a driving module. The communica-
`This Non-provisional application claims priority under 35
`9(a) on patent application Ser, Nos, 096 10077 l o tion module receives the target motion signal from the remote
`U,S,C,
`controller, the terrestrial magnetism sensing module detects
`filed in Taiwan, Republic of China on Mar, 23, 2007, the
`the terrestrial magnetism of the remote-controlled device and
`entire contents of which are hereby incorporated by refer-
`outputs an terrestrial magnetism sensing signal, the process-
`ence.
`ing module connects to the terrestrial magnetism sensing
`15 module and the communication module, and compares the
`terrestrial magnetism sensing signal and the target motion
`signal to output a driving control signal, the driving module
`1. Field of Invention
`connects to the processing module and receives the driving
`This invention relates to a remote-controlled motion appa-
`control signal, and adjusts the motion drivers of the remote-
`ratus which includes a remote-controlled device and a remote
`20 controlled device according to the driver control signal.
`controller.
`2. Related Art
`According to the invention, a remote controller controls a
`remote-controlled device, the remote controller comprises a
`Conventional remote control system uses a remote control-
`ler and a remote-controlled device, the user operates the
`terrestrial magnetism sensing module and a communication
`remote controller to control the motion of the remote-con- 25 module, the terrestrial magnetism sensing module detects the
`trolled device. AS shown in the FIG. 1 a remote controller 1
`terrestrial magnetism of the remote controller and outputs a
`includes a manual input module 11 and a communication
`terrestrial magnetism sensing signal, the communication
`module 12, the manual input module 11 includes a stick and
`module connects to the terrestrial magnetism sensing module
`a variable resistor, the user uses the stick to move the variable
`and, in a first operating mode, the remote controller transmits
`resistor and change its resistance, and to generate different 30 a first target motion signal according to the terrestrial mag-
`Output for every different stick positions. The Output
`netism sensing signal, and the remote-controlled device,
`voltage, which is called the control signal ScNn uses different
`which detects its own terrestrial magnetism, refers to its own
`voltage levels to represent different input data, the commu-
`terrestrial magnetism sensing signal to adjust and keep its
`nication module 12 connects to the input module 11's output
`detected terrestrial magnetism to align with the first target
`and transmits the control signal S,
`35 motion signal. The communication module, in a second
`A remote-controlled model airplane 2 includes a commu-
`operation mode, transmits a second target motion signal
`nication module 21, a controller 22, a motor 23 and a rear fin
`according to the terrestrial magnetism sensing signal, and the
`24, the communication module 21 receives the control signal
`remote-controlled device, which detects its own terrestrial
`which is transmitted from the remote controller
`the
`S,
`to the communication module 21 and 40 magnetism, refers to its own terrestrial magnetism sensing
`controller 22
`signal to adjust and keep its moving velocity in the direction
`controls the motor 23 (or servo) according to the received
`of motion to align with the first target motion signal.
`control signal ScNn the motor 23 connects to the rear fin 24
`and changes the angle of the rear fin 24, as a result the model
`According to the invention, a remote controller controls a
`airplane 2's flying attitude is controlled and changed. In most
`remote-controlled device, the remote controller comprises a
`designs, the rear fin's angle is synchronized to the stick posi- 45 manual input module and a communication module, the
`tion of the remote controller 1, that is, the rear fin's angle is
`manual input module comprises at least one direction control
`controlled by the voltage level of the control signal S,
`unit to output a direction control signal, the communication
`module connects to the manual input module and, in a first
`Generally the remote controller uses a stick to control a
`switch or change a variable resistor's resistance to generate
`operation mode, transmits a first target motion signal accord-
`control signals, these kinds of controlling methods can only 50 ing to the direction control signal, and the remote-controlled
`One hand, if a
`and
`axes
`device, which detects its own terrestrial magnetism, refers to
`generate
`3-D X,Y a d z axes control is needed, two hands are required
`its own terrestrial magnetism sensing signal to adjust and
`for control or extra switches are needed to switch the control,
`keep its detected terrestrial magnetism to align with the first
`it requires two hands to control simultaneously and it's not an
`target motion signal, The communicationmodule, in a second
`easy task at all. And since the stick is used to control the rear 55 operation mode, transmits a second target motion signal
`fin, which means the larger angle of the stick generates the
`larger angle at the rear fin, this kind of control method
`requires the user to use their own eyes to identify the resulting
`motion of the controlled aircraft and adjust the angle imme-
`diately, which makes it even more difficult to control.
`
`according to the terrestrial magnetism sensing signal, and the
`remote-controlled device, which detects its own terrestrial
`magnetism, refers to its own terrestrial magnetism sensing
`signal to adjust and keep its moving velocity in the direction
`60 of motion to align with the first target motion signal.
`In summary, in the invention, the remote-controlled device
`detects its own terrestrial magnetism and uses the terrestrial
`magnetism data as a controlling feedback, and by s~nchro-
`Regarding the above-mentioned problems, it is an objec-
`tive of the invention to provide a terrestrial magnetism self- 65 nizing its detected terrestrial magnetism with the target
`sensed control apparatus for a remote-controlled device and a
`motion signal from the remote controller, the motion of the
`remote controller. With the invention, the user can use the
`remote-controlled device is synchronized with the motion of
`
`

`
`US 7,584,071 B2
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`
`5
`
`DETAILED DESCRIPTION OF THE INVENTION
`
`3
`theremote controller. The inventionmakes theremotecontrol
`operation become an easy task, and greatly reduces the risk of
`out of control situation.
`
`4
`module 31 will detect a change in the terrestrial magnetism
`since the remote controller body's angle or position to the
`ground has been changed, so the resulting terrestrial magne-
`tism sensing signal S, will be changed.
`In the user's operation, the user holds the remote controller
`3 and moves it or rotate it, the terrestrial magnetism sensing
`The present invention can be more fully understood by
`module 31 in the remote controller 3 will detect a change in
`reading the subsequent detailed description and examples
`terrestrial magnetism, and accordingly outputs an terrestrial
`with references made to the accompanying drawings,
`the terrestrial magnetism sens-
`magnetism sensing signal S,,
`wherein:
`l o ing signal S, provides the communication module 33 a ref-
`FIG. 1 is a system diagram showing a remote control sys-
`erence to transmit the target motion signal STAR to control the
`tem of the prior art.
`remote-controlled device 4. For example, the terrestrial mag-
`netism sensing signal s, contains three voltage levels to rep-
`FIG. 2 is a system diagram of a remote control system
`according to the preferred embodiment of the invention.
`resent the terrestrial magnetism of X, Y and Z axes, the three
`FIG. 3 and FIG. 4 is a block diagram of the remote-con- 1s voltage levels can be converted and transmitted by the com-
`trolled device in the FIG. 2.
`municationmodule 33 (such as using radio transmission with
`FIG. 5 is another system diagram of a remote control
`the PCM coding technique). The user can even use only one
`system according to the preferred embodiment of the inven-
`band to operate the remote controller 3 and generate the 3-D
`tion.
`X, Y and Z axes target notion signal S,.
`FIG. 6 and FIG. 7 is a diagram of the manual input module 20
`The terrestrial magnetism sensing module 42 includes a
`in the FIG. 5.
`magnetic sensor to detect the terrestrial magnetism of the
`FIG. 8 is another system diagram of a remote control
`remote-controlled device 4 and outputs a terrestrial magne-
`system according to the preferred embodiment of the inven-
`tism sensing signal SAC,. Similar to the remote controller 3,
`tion.
`the terrestrial magnetism sensing module 42 can detect a
`25 change in the terrestrial magnetism due to the motion of the
`remote-controlled device 4, and the processing module 43
`compares the terrestrial magnetism sensing signal SAC, with
`Referring to FIG. 2, the remote controller 3 transmits a
`the target motion signal STAR and generates a driving control
`target motion signal STAR to control the motion of remote-
`signal SDR,to control the motors or servo units andmakes the
`controlled device 4.
`30 remote-controlled device 4 to generate a synchronized
`The remote-controlled device 4 consists of a communica-
`motion with the remote controller 3. For example, the terres-
`tion module 41, a terrestrial magnetism sensing module 42, a
`trial magnetism sensing signal SAC, and the target motion
`processing module 43 and a driving module 44. The commu-
`both include three data of voltage levels which
`signal S,
`nication module 41 receives the target motion signal STAR
`represent the three terrestrial magnetism values in X,Y and Z
`from the remote controller 3, the terrestrial magnetism sens- 35 axes, and the processing module 43 can directly compare
`ing module 42 detects the terrestrial magnetism of the
`these data of voltage levels to generate the driving control
`remote-controlled device 4 and outputs an terrestrial magne-
`signal SDR,
`tism sensing signal SAC,, the processing module 43 connects
`In the preferred embodiment of the invention, the target
`to the terrestrial magnetism sensing module 42 and the com-
`motion signal S,
`includes the terrestrial magnetism infor-
`munication module 41, and outputs a driving control signal 40 mation of the remote controller 3, the terrestrial magnetism
`S,,
`after processing the terrestrial magnetism sensing sig-
`information includes the magnetism direction information in
`nal SAC, and the target motion signal STAR, the driving mod-
`it. According to the terrestrial magnetism sensing signal
`ule 44 connects to the processing module 43 and receives the
`SAC,, the processing module 43 can calculate the motion
`direction of the remote-controlled device 4. The processing
`driving control signal S D R , and controls the motion of the
`remote-controlled device 4 according to the driving control 45 module 43 compares the terrestrial magnetism sensing signal
`signal S,,
`SAC, and the target motion signal S,,
`calculates their ter-
`In the preferred embodiment of the invention, the remote
`restrial magnetism differences, anduses the difference data to
`controller 3 consists of a terrestrial magnetism sensing mod-
`output the corresponding driving control signal S,,
`ule 31 and a communication module 33, the terrestrial mag-
`To reduce the terrestrial magnetism differences, the driving
`netism module 31 detects the terrestrial magnetism of the 50 control signal S,,
`is output to the driving module 44 to
`remote controller 3 and outputs an terrestrial magnetism sens-
`adjust the motion of the remote-controlled device 4, as a result
`the communication module 33 connects to the
`the remote-controlled device 4's motion will be synchronized
`ing signal S,,
`terrestrial magnetism module 31 and transmits a target
`with the remote controller 3, which means the remote-con-
`trolled device 4 has the ability of self-adjustment in the
`motion signal STAR according to the terrestrial magnetism
`the target motion signal STAR is used to 55 motion and is controlled in a closed-loop real-time feedback
`sensing signal S,,
`control the remote-controlled device 4 to keep its detected
`mode, this makes the remote control aneasierjob than before.
`The communication module 41 comprises a receiver to
`terrestrial magnetism to align with the target motion signal
`receive the target signal from the remote controller 3, and
`S,.
`The terrestrial magnetism sensing signal S, is used to
`transfers the target signal into a base-band signal. The pro-
`represent the terrestrial magnetism information of the remote
`controller 3.
`60 cessing module comprises a microcontroller, or a micropro-
`The terrestrial magnetism sensing module 31 consists of a
`cessor, or a digital signal processor, or a comparator circuit. In
`magnetic sensor to detect the remote controller's terrestrial
`advance, the processing module can comprise a memory unit
`magnetism in the X, Y and Z axes. Since the terrestrial mag-
`to store a look-up table of the relationship between the ter-
`netism of the earth directs to a fixed direction parallel to the
`restrial magnetism and the motion, and the processing mod-
`horizontal ground surface, when the remote controller 3 is 65 ule can use the look-up table to calculate the motion of the
`remote-controlled device 4 from the input of the terrestrial
`held by the user and is moved with a motion related to the
`horizontal ground surface, the terrestrial magnetism sensing
`magnetism sensing signal SAC,.
`
`

`
`
`
`u
`
`u
`
`,
`
`3D control signal, and the remote-controlled device 4 can be
`The remote-controlled device 4 can be a remote-controlled
`automatically synchronized with the motion of the remote
`airplane (fixed-wing aircraft), or a remote-controlled helicop-
`controller 3, as a result the controlling of the remote-con-
`ter, or a remote-controlled car or a remote-controlled robot. In
`trolled device 4 becomes very easy and straight forward, and
`most cases the remote-controlled airplane comprises at least
`the risk of going into out of control situation is greatly
`one wing and at least one driving unit. The driving unit is 5
`reduced.
`connected to the processing module to receive the driving
`In another preferred embodiment of the invention shown in
`control signal, and adjusts the pitch of the wing according to
`FIG. 5, a remote controller 5 comprises an terrestrial magne-
`the driving control signal. The wing could be a main wing, or
`tism sensing module 51, a communication module 53 and a
`a horizontal stabilizer or a vertical stabilizer. The remote-
`controlled helicopter comprises at least one rotor and at least l o manual input module 54. Different with the previous
`example, the remote controller 5 has three operation modes.
`one driving unit, the driving unit is connected to the process-
`ing module to receive the driving control signal, and adjusts
`The first operation mode is the same with the previous
`example, the terrestrial magnetism sensing module 51 detects
`the rotor's rotating speed or the pitch, the rotor is a horizontal
`the terrestrial magnetism of the remote controller 5 and out-
`rotor or a tail rotor. The driving unit could be a motor or a
`15 puts a terrestrial magnetism sensing signal s,,
`the commu-
`servo or the like.
`nication module 53 connects to the terrestrial magnetism
`The following descriptions use a remote-controlled air-
`sensing module 51 and transmits a first target motion signal
`plane and a remote-control helicopter as the examples.
`Referring to FIG. 3, the remote-controlled device 4 is a
`STAR, according to the terrestrial magnetism sensing signal
`remote-controlled airplane. The driving module 44 includes
`S,, the first target motion signal S,,
`controls the motion of
`three servos 441-443. a main winn 444. a horizontal stabi-
`20 the remote-controlled device 4 to alinn with the terrestrial
`lizer 445 and a vertical stabilizer 446. The processing module
`magnetism sensing signal S,. As so, the remote-controlled
`43 connects to the servos 441-443, the processing module 43
`device 4 detects its own terrestrial magnetism and receives the
`to align itself with the terres-
`first target motion signal S,,
`receives and calculates the differences of the terrestrial mag-
`netism sensing signal SAC, and the target motion signal STAR,
`trial magnetism sensing signal S,. The detailed operation is
`to con- 25 the same and can be found in the previous examples. In short,
`and outputs the driving control signals SDR,-S,,
`trol the servos 441-443 and adjust the main wing's ailerons
`the first operation mode uses the terrestrial magnetism sens-
`and the angles of thevertical and horizontal stabilizers, and so
`ing signal S, and the first target motion signal S,,
`to con-
`the motion of the remote-controlled device 4 is controlled.
`trol the motion of the remote-controlled device 4.
`As the remote controller 3 is held and moved with a motion
`In a second operation mode, the manual input module 54,
`in the roll or pitch direction, the processing module 4 will 30 which comprises at least one direction control unit, outputs a
`, SDR, and SDR ,,
`The communication module 53
`output the driving control signal S,,
`direction control signal S,
`which control the servos 441, 442 and 443 correspondingly,
`connects to the manual input module 54 and transmits a
`to change the ailerons of the main wing 444, the angle of the
`second target motion signal STAR, according to the direction
`horizontal stabilizer 445 and the vertical stabilizer 446. The
`control signal ScNT, and the second target motion signal
`roll andvitchmotion of the remote-controlled device 4 is thus 35 S,, ,, controls the motion of the remote-controlled device 4.
`adjusted and synchronized with the motion of the remote
`In short, the second operation mode uses the direction control
`controller 3.
`signal S,
`and the second target motion signal STAR, to
`When the remote-controlled device 4's motion is gradually
`control the motion of the remote-controlled device 4.
`aligned with the remote controller 3, the differences between
`In a third operation mode, the communication module 53
`the received target motion signal STAR and the detected ter- 40 transmits a third target motion signal S,,
`according to the
`restrial magnetism sensing signal SAC, from the terrestrial
`terrestrial magnetism sensing signal S, and the direction con-
`trol signal s,,,
`magnetism sensing module 42 will become smaller or zero,
`the third target motion signal S,,
`is used to
`control the motion of the remote-controlled device 4 to align
`SDR, and S,,
`the output driving control signal S,,,
`with both the terrestrial magnetism sensing signal S, and the
`from the processing module will then be kept at a value to
`45 direction control signal S,
`So the remote-controlled
`keep the motion aligned. In the example, the terrestrial mag-
`device 4 detects its own terrestrial magnetism and receives the
`like a feedback signal for the
`netism sensing signal SA,,plays
`processing module 43 to control the servos 441,442 and 443
`third target motion signal STAR, to align itself with the motion
`to gradually adjust the ailerons of the main wing 444 and the
`of the remote controller 5. In short, the third operation mode
`angles of the horizontal stabilizer 445 and vertical stabilizer
`uses the terrestrial magnetism sensing signal S,, the direction
`446, and finally aligns the roll and pitchmotion of the remote-
`50 control signal S-andthe
`third target motion signal STAR, to
`controlled device 4 with the remote controller 3. The motion
`control the motion of the remote-controlled device 4.
`Furthermore, the remote controller 5 comprises a configu-
`control is thus completed in a closed-loop real time feedback
`ration switchmodule 52. The configuration switchmodule 52
`system.
`Referring to FIG. 4, the remote-controlled device 4 is a
`selects the mode of operation, which means it selects the
`remote-controlled helicopter, the driving module 44 com- 55
`terrestrial magnetism sensing module 51 andor the manual
`prises two servos 447 and 448, a main rotor 449 and a tail rotor
`input module 54 as the input for the communication module
`440, the servos 447 and 448 is connected to the processing
`53.
`module 43 to receive the driving control signal S,,
`And when the configuration switch module 52 switches the
`and
`andto adjust the pitchofthemain rotor 449 and the tail
`S,,,
`selection between the terrestrial magnetism sensing module
`rotor 440 to control the motion of the remote-controlled 60
`51 and the manual input module 54, the communication mod-
`device 4. The basic control theory is quite the same with the
`ule 53 can transmit commands to inform the remote-con-
`trolled device 4 about the selection.
`remote-controlled airplanes as described in the previous sec-
`Referring to FIG. 6 and FIG. 7, an example of the manual
`tions. The motion of the remote-controlled helicopter is thus
`input module 541 is shown. The manual input module 54 has
`controlled in a closed-loop real time feedback system.
`In the preferred embodiment, the remote controller 3 does 65 a direction control stick 541. Referring to FIG. 6, which is an
`not need a complicated control stick system, the user can hold
`example for the remote-controlled airplane in the second
`the remote controller 3 by only one hand and generate a real
`operationmode, they direction offset of the control stick 541
`
`L A A Z
`
`

`
`US 7,584,071 B2
`
`8
`7
`controls the remote-controlled airplane's pitch, and the X
`a first communication module, which connects to the
`motion detecting module and receives the motion
`direction offset controls the remote-controlled airplane's roll.
`When the control stick 541 is in its neutral center position, the
`detecting signal, and transmits a target motion signal
`according to the motion detecting signal; and
`remote-controlled airplane is controlled at a flying position
`parallel to the horizontal ground surface. When the user 5
`a remote-controlled device, which is controlled by the
`pushes the stick backward, the airplane climbs up. When the
`remote controller, comprising:
`user pushes the stick forward, the airplane dives. When the
`a second communication module, which receives the
`user pushes the stick left or right, the airplane rolls left or
`target motion signal from the remote controller;
`right.
`a terrestrial magnetism sensing module, which detects
`Referring to FIG. 7, which is an example for the remote- 10
`the remote-controlled device's terrestrial magnetism
`controlled helicopter, the Y direction offset of the control
`and outputs a terrestrial magnetism sensing signal;
`stick 541 represents the desired pitch for the horizontal rotor,
`aprocessing module, whichhas a first input connectedto
`and the X direction offset represents the desired pitch for the
`the terrestrial magnetism sensing module and
`tail rotor. When the user pushes the stick backward, the heli-
`receives the terrestrial magnetism sensing signal, and
`copter descends. When the user pushed the stick forward, the 15
`a second input connected to the second communica-
`helicopter ascends. When the user pushes the stick left or
`tionmodule and receives the target motion signal, and
`right, the helicopter turns left or right.
`processes the terrestrial magnetism sensing signal
`Referring to FIG. 8, in another preferred embodiment of
`and the target motion signal to output a driving control
`the invention, the remote controller 6 comprises a manual
`signal; and
`input module 64, a configuration switch module 62 and a 20
`a driving module, which connects to the processing
`communication module 63, in different with the FIG. 5, the
`remote controller 6 does not have the terrestrial magnetism
`module and receives the driving control signal, and
`sensing module, but simply use the manual input module 64
`adjusts
`the remote-controlled device's motion
`to provide two different operation modes.
`according to the driving control signal.
`In this example, the c~mmunicationmodule 63 COnnects to
`2. The remote control system of claim 1, wherein the pro-
`the manual input module 64, and in a first operation mode a 25 cessing module processes the terrestrial magnetism sensing
`is transmitted
`the
`first target
`signal and compares with the target motion signal, and uses
`'TAG1
`direction control signal ScNn the remote-controlled device 4
`the
`result to generate the driving control signal,
`detects its own terrestrial magnetism and compares with the
`3. The remote control system of claim 1, wherein the ter-
`received first target motion signal STAG,, and according to the
`magnetism sensing
`a
`comparison result to control its motion to keep aligned with 30
`sensor, the magnetic sensor detects the remote-controlled
`In this mode the target
`the direction control signal S,
`motion signal sTAG,
`device's terrestrial magnetism to output the terrestrial mag-
`is an absolute terrestrial magnetism
`netism sensing signa1.
`value to the remote-controlled device 4. In a second operation
`4. The remote control system of claim 1, wherein the pro-
`mode a second target motion signal STAG, is transmitted
`according to the direction control signal ScNn the remote- 35 cessing module uses the terrestrial magnetism sensing signal
`controlled device 4 takes the second target motion signal
`to calculate the current motion of the remote-controlled
`STAG, as a moving velocity to be fulfilled in the direction of
`device, and uses the calculated result to compare with the
`target motion signal to get the difference of motion between
`motion, as a result the remote-controlled device will continue
`its movement in the desired direction until the second target
`the remote-controlled device and the remote controller, and
`motion signal STAG, returns to a neutral or zero value. In this 40 according to the difference to output the driving control sig-
`mode the target motion signal STAG, is a relative terrestrial
`nal,
`magnetism value to the remote-controlled device 4. And the
`5, The remote control system of claim wherein the
`detailed operation of motion in the remote-controlled device
`remote-controlled device is a remote-controlled model air-
`4 is the same with the previous examples.
`plane, or a remote-controlled model helicopter, or a remote-
`According to the above descriptions, in the remote-con-
`trolled device with terrestrial magnetism self-sense ability 45 controlled model car, or a remote-controlled robot.
`6. The remote control system of claim 1, wherein the driv-
`and the remote controller of the invention, the remote-con-
`ing
`trolled device can detect its own terrestrial magnetism to form
`a wing of an airplane; and
`a closed-loop real-time feedback, and synchronize its motion
`with the target motion signal from the remote controller,
`a driving unit, which connects to the processing module
`which makes the operation of the remote controller becomes 50
`and receives the driving control signal to drive and adjust
`simple, straight forward and no need to count on the user's
`the pitch of the wing.
`visual feedback, and thus greatly reduces the risk of out of
`7, ~h~ remote control system of claim 6, wherein the wing
`control situation.
`is a main wing, or a horizontal stabilizer or a vertical stabilizer
`airplane,
`Although the invention has been described with reference
`of
`to specific embodiments, this description is not meant to be 55
`The remote control system of claim wherein the driv-
`constructed in a limiting sense. Various modifications of th