throbber
(12) United States Patent
`Lee
`
`(10) Patent NO.:
`(45) Date of Patent:
`
`US 8,106,748 B2
`*Jan. 31,2012
`
`(54) REMOTE-CONTROLLED MOTION
`APPARATUS WITH ACCELERATION
`SELF-SENSE AND REMOTE CONTROL
`APPARATUS THEREFOR
`
`(76)
`
`Inventor: Yu-Tuan Lee, Taipei (TW)
`
`( * )
`
`any
`Subject
`this
`the term
`patent is extended or adjusted under 35
`U.S.C. 154(b) by 987 days.
`This patent is subject to a terminal dis-
`claimer.
`
`(21) Appl. No.: 121051,683
`
`(22) Filed:
`
`Mar. 19,2008
`
`(65)
`, ,
`
`Prior Publication Data
`US 200810231465 A1
`Sep. 25,2008
`
`(30)
`
`Foreign Application Priority Data
`
`Mar.23,2007
`
`(TW) ............................... 96110076A
`
`(51) Int. C1.
`G05B 11/01
`(2006.01)
`H04L 17/02
`(2006.01)
`A63H 29/00
`(2006.01)
`B64C 13/20
`(2006.01)
`G09G 5/00
`(2006.01)
`G06F 3/033
`(2006.01)
`(52) U.S. C1. ..................... 340112.22; 3411176; 4461429;
`2441190; 3451156; 3451157; 3451158
`(58) Field of Classification Search .................. 3411176;
`3451156-158; 3401825.72
`See application file for complete search history.
`
`(56)
`
`References Cited
`
`U.S. PATENT DOCUMENTS
`5,033,694 A * 711991 Sato ............................. 244178.1
`6,072,467 A * 612000 Walker .......................... 3451157
`
`6,3 15,667 Bl * 1112001 Steinhart ......................... 463139
`6,751,529 B1 * 612004 Fouche ............................. 70113
`6,980,589 Bl * 1212005 Babb et al. .................... 3751222
`7,219,861 B1 * 512007 Barr .............................. 2441190
`7,650,699 B2 *
`112010 Yamamoto ...................... 331334
`7.885.732 B2 * 212011 Trovet al. ......................... 70112
`200510200325 A1 * 912005 ~ i ; et al. ................ 3181568.12
`200510243061 A1 * 1112005 Liberty et al. ................ 3451158
`200610092133 A1 * 512006 ~ o u m a et al. ................. 3451158
`200710049374 A1 * 312007 Ikeda et al. ..................... 463130
`200710050597 A1 * 312007 Ikeda ................................ 71211
`.....................
`200710060391 A1 * 312007 Ikeda et al.
`463146
`OTHER PUBLICATIONS
`
`M q h , Darren, Willmote+RC car=authentic Excite Tmck, Dec.
`2006, Retrieved
`from http://www.engadget.com/2006/12121/
`wiimote-rc-car-authentic-excite-truck.*
`* cited by examiner
`
`Primary Examiner - Daniel Wu
`Assistant Examiner - Kam Ma
`(74) Attornq, Agent, or Firm - Birch, Stewart, Kolasch &
`Birch, LLP
`
`ABSTRACT
`(57)
`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, an
`acceleration sensing module, a processing module and a driv-
`ing module. The communication module receives the target
`motion signal from the remote control apparatus. The accel-
`eration sensing module senses an acceleration of the remote-
`controlled motion apparatus to output an acceleration sensing
`signal. The processing module is coupled with the accelera-
`tion sensing module and the communication module, and
`processes the acceleration 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-
`controlled motion apparatus according to the driving control
`signal.
`
`12 Claims, 5 Drawing Sheets
`
`remote control ler
`
`sensing module
`
`u n i t
`
`configuration
`switch module
`
`I
`
`I remote-control led I
`
`device
`
`Parrot Ex. 1001
`
`

`

`U.S. Patent
`
`Jan. 31,2012
`
`Sheet 1 of 5
`
`manua 1
`input nradule
`
`1
`
`--
`
`-
`
`-
`
`remote-control led
`madel airplane
`
`22
`
`23
`
`motor
`
`control 1 er
`A
`
`co~lhnunun i cat i on fl rear
`
`FIG. l(PRI0R ART)
`
`

`

`U.S. Patent
`
`Jan. 31,2012
`
`Sheet 2 of 5
`
`US 8,106,748 B2
`
`/-3
`remote control 1 er
`
`I
`
`--
`
`remote-controlleddevice
`
`acceleration
`
`sensing module
`
`modu l e
`
`modu 1 e
`
`commiln i cat ion
`
`module I
`
`FIG. 2
`
`4 2
`
`driving mudulc
`
`acceleration
`sensing module
`
`+ SIWI
`
`{q-fi main wing
`1 -, fak, ~ 4 4 ;
`- Servo - horizonta 1
`
`,
`
`processing - S m
`
`f "2
`-
`
`d u l e
`
`~ m i ~ ; ~ l
`S D R ~ A
`
`coinmun icat i on
`modu l e
`
`
`
`servo
`
`PIG. 3
`
`~ 4 4 5
`
`stabilizer -
`
`
`vertical
`stabi 1 izer
`
`

`

`U.S. Patent
`
`Jan. 31,2012
`
`Sheet 3 of 5
`
`S D R V ~ ,-
`
`s tlRV5
`
`acceleration
`sensing modu 1 e
`
`processing
`modu 1 e
`
`commun i cat ion
`modu 1 e
`
`driving module
`
`servo
`
`main rotor
`
`tail rotor
`
`+ Z - l - r I
`
`FIG. 4
`
`r
`
`/
`5 4
`remote controller
`manual input module
`direction control
`_ uni t
`
`35
`
`/
`
`r 5 1
`acce 1 erat i on
`sensing modu 1 e
`s G
`
`l
`switch module -
`
`5 2
`
`con f i gurat i on
`
`S CNT
`
`remote-control 1 ed
`devi ce
`
` STAR^ -
`
`L L~~
`STARI ;_
`commun i cat ion
`S W R ~
`-
`m0du 1 e
`
`

`

`U.S. Patent
`
`Jan. 31,2012
`
`Sheet 4 of 5
`
`54 -
`
`elevation
`angle 90"
`
`elevation
`angle -90"
`
`1
`
`FIG. 6
`
`54 -
`
`upward
`
`lef tuard v r igh twar d
`
`downward
`
`I
`
`FIG. 7
`
`

`

`U.S. Patent
`
`Jan. 31,2012
`
`Sheet 5 of 5
`
`r 6
`
`remote control ler
`
`/ 64
`manual
`input ~nadule
`
`f-4
`
`Sm
`
`ren~ote-control 1 ed
`device
`/ 63
`-k
`canfigwurstion , canmunication
`modu 1 e
`S m r -
`switch module
`
`I - <62
`
`FIG. 8
`
`

`

`US 8,106,748 B2
`
`CROSS REFERENCE TO RELATED
`APPLICATIONS
`
`BACKGROUND OF THE INVENTION
`
`1
`REMOTE-CONTROLLED MOTION
`APPARATUS WITH ACCELERATION
`SELF-SENSE AND REMOTE CONTROL
`APPARATUS THEREFOR
`
`2
`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, an acceleration sensing module, a processing
`module and a driving module. The communication module
`receives the target motion signal from the remote controller,
`the acceleration sensing module detects the acceleration of
`the remote-controlled device and outputs an acceleration
`priority under 35
`This NOn-~rOvisiOnal
`sensing signal, the processing module connects to the accel-
`U.S.C. 19(a) onPatentA~~licationNo(s). 0961 10076 filed l o eration sensing module and the communication module, and
`in Taiwan, Republic of China on Mar. 23, 2007, the entire
`compares the acceleration sensing signal and the target
`contents of which are hereby incorporated by reference.
`motion signal to output a driving control signal, the driving
`module connects to the process&g module &d receives thi
`driving control signal, and adjusts the motion drivers of the
`l5 remote-controlleddevice according to the driver control sig-
`nal.
`1. Field of Invention
`This invention relates to a remote-controlled motion appa-
`According to the invention, a remote controller controls a
`remote-controlled device, the remote controller comprises an
`ratus which includes a remote-controlled device and a remote
`acceleration sensing module and a communication module,
`controller.
`20 the acceleration sensing module detects the acceleration of
`2. Related Art
`the remote controller and outputs an a~celeration sensing
`Conventional remote control systemuses a remote control-
`signal, the communication module connects to the accelera-
`ler and a remote-controlled device, the user operates the
`remote controller to control the motion of the remote-con-
`tion sensing module and, in a first operating mode, the remote
`controller transmits a first target motion signal according to
`shown in the FIG, 1 a remote controller 1
`trolled device,
`includes a manual input module 11 and a communication 25 the acceleration sensing signal, and the remote-controlled
`module 12, the manual input module 11 includes a stick and
`device, which detects its own acceleration, refers to its own
`acceleration sensing signal to adjust and keep its acceleration
`a variable resistor, the user uses the stick to move the variable
`of motion to align with the first target motion signal. The
`resistor and change its resistance, and to generate different
`communication module, in a second operation mode, trans-
`Output for every different stick positions. The Output
`mits a second target motion signal according to the accelera-
`voltage, which is called the control signal ScNn uses different 30 tion sensing signal, and the remote-controlled device, which
`data, the cornmu-
`levels
`represent different
`detects its own acceleration, refers to its own acceleration
`nication module 12 connects to the input module 11's output
`sensing signal to adjust and keep its moving velocity in the
`and transmits the control signal S,
`direction of acceleration to align with the first target motion
`A remote-controlled model airplane 2 includes a commu-
`signal.
`nication module 21, a controller 22, a motor 23 and a rear fin 35 According to the invention, a remote controller controls a
`24, the communication module 21 receives the control signal
`remote-controlled device, the remote controller comprises a
`which is transmitted from the remote controller 1, the
`S,
`manual input module and a communication module, the
`controller 22 connects to the communication module 21 and
`manual input module comprises at least one direction control
`controls the motor 23 (or servo) according to the received
`unit to output a direction control signal, the communication
`control signal ScND the motor 23 connects to the rear fin 24 40 module connects to the manual input module and, in a first
`and changes the angle of the rear fin 24, as a result the model
`operation mode, transmits a first target motion signal accord-
`airplane 2's flying attitude is controlled and changed. In most
`ing to the direction control signal, and the remote-controlled
`designs, the rear fin's angle is synchronized to the stickposi-
`device, which detects its own acceleration, refers to its own
`tion of the remote controller 1, that is, the rear fin's angle is
`acceleration sensing signal to adjust and keep its acceleration
`45 of motion to align with the first target motion signal. The
`controlled by the voltage level of the control signal S,
`Generally the remote controller uses a stick to control a
`communication module, in a second operation mode, trans-
`switch or change a variable resistor's resistance to generate
`mits a second target motion signal according to the accelera-
`control signals, these kinds of controlling methods can only
`tion sensing signal, and the remote-controlled device, which
`generate two X andY axes control signals by one hand, if a
`detects its own acceleration, refers to its own acceleration
`3-D X,Y and Z axes control is needed, two hands are required 50 sensing signal to adjust and keep its moving velocity in the
`for control or extra switches are needed to switch the control,
`direction of acceleration to align with the first target motion
`it requires two hands to control simultaneously and it's not an
`signal.
`In summarv. in the invention. the remote-controlled device
`easv task at all. And since the stick is used to control the rear
`fin, which means the larger angle of the stick generates the
`detects its own acceleration and uses the acceleration data as
`larger angle at the rear fin, this kind of control method 55 a controlling feedback, and by synchronizing its acceleration
`requires the user to use their own eyes to identify the resulting
`of motion with the target motion signal from the remote
`motion of the controlled aircraft and adjust the angle imme-
`controller, the motion of the remote-controlled device is syn-
`diatelv. which makes it even more difficult to control.
`chronized with the motion of the remote controller. The
`inventionmakes the remote control operation become an easy
`60 task, and greatly reduces the risk of out of control situation.
`
`a ,
`
`a ,
`
`SUMMARY OF THE INVENTION
`
`Regarding the above-mentioned problems, it is an objec-
`tive of the invention to provide an acceleration self-sensed
`The present invention can be more fully understood by
`control apparatus for a remote-controlled device and a remote
`controller. With the invention, the user can use the remote 65 reading the subsequent detailed description and examples
`controller to control the remote-controlled device's motion
`with references made to the accompanying drawings,
`with an acceleration self-sense capability.
`wherein:
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`
`

`

`20
`
`u
`
`DETAILED DESCRIPTION OF THE INVENTION
`
`FIG. 1 is a system diagram showing a remote control sys-
`tem of the prior art.
`FIG. 2 is a system diagram of a remote control system
`according to the preferred embodiment of the invention.
`FIG. 3 and FIG. 4 is a block diagram of the remote-con-
`trolled device in the FIG. 2.
`FIG. 5 is another system diagram of a remote control
`system according to the preferred embodiment of the inven-
`tion.
`FIG. 6 and FIG. 7 is a diagram of the manual input module
`in the FIG. 5.
`FIG. 8 is another system diagram of a remote control
`system according to the preferred embodiment of the inven-
`tion.
`
`the PCM coding technique). The user can even use only one
`hand to operate the remote controller 3 and generate the 3-D
`X, Y and Z axes target motion signal STAR.
`The acceleration sensing module 42 includes an acceler-
`5 ometer to detect the acceleration of the remote-controlled
`device 4 and outputs an acceleration sensing signal SAC,.
`Similar to the remote controller 3, the acceleration sensing
`module 42 can detect a change in the acceleration due to the
`motion of the remote-controlled device 4, and the processing
`l o module 43 compares the acceleration sensing signal SAC,
`with the target motion signal STAR and generates a driving
`to control the motors or servo units and
`control signal S,,
`makes the remote-controlled device 4 to generate a synchro-
`nized motion with the remote controller 3. For example, the
`15 acceleration sensing signal SAC, and the target motion signal
`STAR both include three data of voltage levels which represent
`the three acceleration values in X, Y and Z axes, and the
`processing module 43 can directly compare these data of
`Referring to FIG. 2, the remote controller 3 transmits a
`voltage levels to generate the driving control signal S,,
`target motion signal STAR to control the motion of remote-
`In the nreferred embodiment of the invention. the tamet u
`controlled device 4.
`motion signal S,
`includes the acceleration information of
`The remote-controlled device 4 consists of a communica-
`the remote controller 3, the acceleration information includes
`tion module 41, an acceleration sensing module 42, a pro-
`the earth gravity information in it. According to the accelera-
`cessing module 43 and a driving module 44. The communi-
`tion sensing signal SAC,, the processing module 43 can cal-
`from
`cationmodule 41 receives the target motion signal S,
`the remote controller 3. the acceleration sensing module 42 25 culate the motion direction of the remote-controlled device 4.
`detects the acceleration of the remote-controlled device 4 and
`The processing module 43 compares the acceleration sensing
`outputs an acceleration sensing signal SAC,, the processing
`signal SA,,and
`the target motion signal S,,
`calculates their
`module 43 connects to the acceleration sensing module 42
`acceleration differences, and uses the difference data to out-
`put the corresponding driving control signal s,,
`and the communication module 41, and outputs a driving
`control signal S,,
`after processing the acceleration sensing 30
`To reduce the acceleration differences, the driving control
`signal SAC, and the target motion signal STAR, the driving
`signal S,,
`is output to the driving module 44 to adjust the
`module44 connects to theprocessingmodule43 andreceives
`motion of the remote-controlled device 4, as a result the
`the driving control signal SDR, and controls themotionof the
`remote-controlled device 4's motion will be synchronized
`remote-controlled device 4 according to the driving control
`with the remote controller 3, which means the remote-con-
`signal S,,
`35 trolled device 4 has the ability of self-adjustment in the
`In the preferred embodiment of the invention, the remote
`motion and is controlled in a closed-loop real-time feedback
`controller 3 consists of an acceleration sensing module 31 and
`mode, this makes the remote control aneasierjob than before.
`a communication module 33, the acceleration module 31
`The communication module 41 comprises a receiver to
`detects the acceleration of the remote controller 3 and outputs
`receive the target signal from the remote controller 3, and
`the communication mod- 40 transfers the target signal into a base-band signal. The pro-
`an acceleration sensing signal S,,
`ule 33 connects to the accelerationmodule 31 and transmits a
`cessing module comprises a microcontroller, or a micropro-
`target motion signal STAR according to the acceleration sens-
`cessor, or a digital signal processor, or a comparator circuit. In
`the target motion signal STAR is used to control
`ing signal S,,
`advance, the processing module can comprise a memory unit
`the remote-controlled device 4 to keep its acceleration of
`to store a look-up table of the relationship between the accel-
`motion to align with the target motion signal STAR. The accel- 45 eration and the motion, and theprocessingmodule can use the
`eration sensing signal S, is used to represent the acceleration
`look-up table to calculate the motion of the remote-controlled
`information of the remote controller 3.
`device 4 from the input of the acceleration sensing signal
`SAC,.
`The acceleration sensing module 31 consists of an accel-
`erometer to detect the remote controller's acceleration in the
`The remote-controlled device 4 can be a remote-controlled
`X,Y and Z axes. Since the gravity of the earth is a constant and 50 airplane (fixed-wing aircraft), or a remote-controlled helicop-
`vertical to the ground surface, when the remote controller 3 is
`ter, or a remote-controlled car or a remote-controlled robot. In
`held by the user and is moved with a motion related to the
`most cases the remote-controlled airplane comprises at least
`ground surface, the acceleration sensing module 31 will
`one wing and at least one driving unit. The driving unit is
`detect a change in the acceleration since the remote controller
`connected to the processing module to receive the driving
`body's angle or position to the ground has been changed, so 55 control signal, and adjusts the pitch of the wing according to
`the resulting acceleration sensing signal S, will be changed.
`the driving control signal. The wing could be a main wing, or
`In the user's operation, the user holds theremote controller
`a horizontal stabilizer or a vertical stabilizer. The remote-
`3 andmoves it or rotate it, the acceleration sensing module 31
`controlled helicopter comprises at least one rotor and at least
`in the remote controller 3 will detect a change in acceleration,
`one driving unit, the driving unit is connected to the process-
`and accordingly outputs an acceleration sensing signal S,,
`60 ing module to receive the driving control signal, and adjusts
`the acceleration sensing signal S, provides the communica-
`the rotor's rotating speed or the pitch, the rotor is a horizontal
`tionmodule 33 a reference to transmit the target motion signal
`rotor or a tail rotor. The driving unit could be a motor or a
`S,
`to control the remote-controlled device 4. For example,
`servo or the like.
`the acceleration sensing signal S, contains three voltage lev-
`The following descriptions use a remote-controlled air-
`els to represent the accelerations of X,Y and Z axes, the three 65 plane and a remote-control helicopter as the examples.
`voltage levels can be converted and transmitted by the com-
`Referring to FIG. 3, the remote-controlled device 4 is a
`munication module 33 (such as using radio transmission with
`remote-controlled airplane. The driving module 44 includes
`
`

`

`device 4 detects its own acceleration and receives the first
`three servos 441-443, a main wing 444, a horizontal stabi-
`lizer 445 and a vertical stabilizer 446. The processing module
`target motion signal STAR, to align itself with the acceleration
`43 connects to the servos 441-443, the processing module 43
`sensing signal S,. The detailed operation is the same and can
`receives and calculates the differences of the acceleration
`be found in the previous examples, In short, the first operation
`sensing signal SAC, and the target motion signal ST^, and 5 mode uses the acceleration sensing signal S, and the first
`outputs the driving control signals SDR~-SDR, to control
`target motion signal S,,
`to control the motion of the
`the servos 441-443 and adjust the main wing's ailerons and
`remote-controlled device 4,
`the angles of the vertical and horizontal stabilizers, and so the
`second operation mode, the manual input module 54,
`motion of the remote-controlled device 4 is controlled.
`which comprises at least one direction control unit 55, outputs
`As the remote controller 3 is held and moved with a motion l o a direction control signal S,
`The communication module
`in the roll or pitch direction, the processing module 4 will
`53 connects to the manual input module 54 and transmits a
`output the driving control signal S,,,
`and SDR,,
`S,,
`'TAR2 according to the direction
`second target motion
`which control the servos 441, 442 and 443 correspondingly,
`and the second target motion signa1
`COntrO1 Signa1 S c ~ ~ >
`to change the ailerons of the main wing 444, the angle of the
`the motion of the remote-contro11ed device 4.
`horizontal stabilizer 445 and the vertical stabilizer 446, The 15 S
`~
`~
`~
`z
`
`In short, the second operation mode uses the direction control
`roll and pitch motion ofthe remote-controlled device 4 is thus
`signal SCNT and the second target motion signal STAR, to
`adjusted and synchronized with the motion of the remote
`control the motion of the remote-controlled device 4.
`controller 3.
`In a third operation mode, the communication module 53
`When the remote-controlled device 4's motion is gradually
`aligned with the remote controller 3, the differences between 20 transmits a third target motion signal STAR3 according to the
`the received target motion signal STAR and the detected accel-
`acceleration sensing signal S, and the direction control signal
`eration sensing signal SAC, from the acceleration sensing
`ScNn the third target motion signal STAR, is used to control
`module 42 will become smaller or zero, the output driving
`the motion of the remote-controlled device 4 to align with
`control signal S,,,
`and S,,
`from the processing
`both the acceleration sensing signal S, and the direction
`S,,
`So the remote-controlled device 4 detects
`module will then be kept at a value to keep the motion aligned. 25 control signal S,
`its own acceleration and receives the third target motion sig-
`In the example, the acceleration sensing signal SAC, plays
`like a feedback signal for the processing module 43 to control
`nal STAR, to align itself with the motion of the remote con-
`the servos 441,442 and 443 to gradually adjust the ailerons of
`troller 5. In short, the third operation mode uses the accelera-
`the main wing 444 and the angles of the horizontal stabilizer
`tion sensing signal S,,
`the direction control signal S,
`and
`445 and vertical stabilizer 446, and finally aligns the roll and 30 the third target motion signal STAR, to control the motion of
`pitch motion of the remote-controlled device 4 with the
`the remote-controlled device 4.
`remote controller 3. The motion control is thus completed in
`Furthermore, the remote controller 5 comprises a configu-
`ration switchmodule 52. The configuration switchmodule 52
`a closed-loop real time feedback 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- 35 acceleration sensing module 51 andor the manual input mod-
`prises two servos 447 and 448, a main rotor 449 and a tail rotor
`ule 54 as the input for the communication module 53.
`440, the servos 447 and 448 is connected to the processing
`And when the configuration switch module 52 switches the
`module 43 to receive the driving control signal SDR, and
`selection between the acceleration sensing module 51 and the
`and to adjust the pitch of the mainrotor 449 and the tail
`manual input module 54, the communication module 53 can
`S,,,
`rotor 440 to control the motion of the remote-controlled 40 transmit commands to inform the remote-controlled device 4
`device 4. The basic control theory is quite the same with the
`about the selection.
`Referring to FIG. 6 and FIG. 7, an example of the manual
`remote-controlled airplanes as described in the previous sec-
`input module 54 is shown. The manual input module 54 has a
`tions. The motion of the remote-controlled helicopter is thus
`direction control stick 541. Referring to FIG. 6, which is an
`controlled in a closed-loop real time feedback system.
`In the preferred embodiment, the remote controller 3 does 45 example for the remote-controlled airplane in the second
`operationmode, they direction offset of the control stick 541
`not need a complicated control stick system, the user can hold
`controls the remote-controlled airplane's pitch, and the X
`the remote controller 3 by only one hand and generate a real
`3D control signal, and the remote-controlled device 4 can be
`direction offset controls the remote-controlled airplane's roll.
`automatically synchronized with the motion of the remote When the control stick 541 is in its neutral center position, the
`controller 3. as a result the controllinsz of the remote-con- 50 remote-controlled aimlane is controlled at a flvinsz vosition
`trolled device 4 becomes very easy and straight forward, and
`parallel to the ground surface. When the user pushes the stick
`the risk of going into out of control situation is greatly
`backward, the airplane climbs up. When the user pushes the
`reduced.
`stick forward, the airplane dives. When the user pushes the
`In another preferred embodiment of the invention shown in
`stick left or right, the airplane rolls left or right.
`FIG. 5, a remote controller 5 comprises an acceleration sens- 55
`Referring to FIG. 7, which is an example for the remote-
`ing module 51, a communication module 53 and a manual
`controlled helicopter, the Y direction offset of the control
`input module 54. Different with the previous example, the
`stick 541 represents the desired pitch for the horizontal rotor,
`and the X direction offset represents the desired pitch for the
`remote controller 5 has three operation modes.
`The first operation mode is the same with the previous
`tail rotor. When the user pushes the stick backward, the heli-
`example, the acceleration sensing module 51 detects the 60 copter descends. When the user pushed the stick forward, the
`acceleration of the remote controller 5 and outputs an accel-
`helicopter ascends. When the user pushes the stick left or
`the communication module 53
`eration sensing signal S,,
`right, the helicopter turns left or right.
`connects to the acceleration sensing module 51 and transmits
`Referring to FIG. 8, in another preferred embodiment of
`the invention, the remote controller 6 comprises a manual
`a first target motion signal STAR, according to the acceleration
`sensing signal S,, the first target motion signal STAR, controls 65 input module 64, a configuration switch module 62 and a
`communication module 63, in different with the FIG. 5, the
`the motion of the remote-controlled device 4 to align with the
`remote controller 6 does not have the acceleration sensing
`acceleration sensing signal S,. As so, the remote-controlled
`
`'2.
`
`'2
`
`2
`
`

`

`US 8,106,748 B2
`
`8
`7
`module, but simply use the manual input module 64 to pro-
`a second acceleration sensing module, which detects the
`remote-controlled device's acceleration and outputs
`vide two different operation modes.
`In this example, the communicationmodule 63 connects to
`an acceleration sensing signal;
`the manual input module 64, and in a first operation mode a
`aprocessing module, whichhas a first input connectedto
`the second acceleration sensing module and receives
`first target motion signal STAG, is transmitted according to the 5
`direction control signal ScNn the remote-controlled device 4
`the acceleration sensing signal, and a second input
`connected to the second communication module and
`detects its own acceleration and compares with the received
`receives the target motion signal, and processes the
`first target motion signal STAG,, and according to the com-
`acceleration sensing signal and the target motion sig-
`parison result to control its motion to keep aligned with the
`nal to output a driving control signal; and
`direction control signal S,
`In this mode the target motion l o
`a driving module, which connects to the processing
`signal STAG, is an absolute acceleration value to the remote-
`controlled device 4. In a second operation mode a second
`module and receives the driving control signal, and
`adjusts
`the remote-controlled device's motion
`target motion signal STAG, is transmitted according to the
`direction control signal ScND the remote-controlled device 4
`according to the driving control signal.
`2. The remote control system of claim 1, wherein the pro-
`takes the second target motion signal STAG, as a moving 1s
`cessing module processes the acceleration sensing signal and
`velocity to be fulfilled in the direction of motion, as a result
`compares with the target motion signal, and uses the com-
`the remote-controlled device will continue its movement in
`parison result to generate the driving control signal.
`the desired direction until the second target motion signal
`3. The remote control system of claim 1, wherein the sec-
`STAG, returns to a neutral or zero value. In this mode the target
`motion signal STAG, is a relative acceleration value to the 20 ond acceleration sensing module comprises an accelerom-
`remote-controlled device 4. And the detailed operation of
`eter, the accelerometer detects theremote-controlleddevice's
`motion in the remote-controlled device 4 is the same with the
`acceleration to output the acceleration sensing signal.
`4. The remote control system of claim 1, wherein the pro-
`previous examples.
`According to the above descriptions, in the remote-con-
`cessing module uses the acceleration sensing signal to calcu-
`trolled device with acceleration self-sense ability and the 25 late the current motion of the remote-controlled device, and
`remote controller of the invention, the remote-controlled
`uses the calculated result to compare with the target motion
`device can detect its own acceleration to form a closed-loop
`signal to get the difference of motion between the remote-
`real-time feedback, and synchronize its motion with the target
`controlled device and the remote controller, and according to
`motion signal from the remote controller, which makes the
`the difference to output the driving control signal.
`5. The remote control system of claim 1, wherein the
`operation of the remote controller becomes simple, straight 30
`forward and no need to count on the user's visual feedback,
`remote-controlled device is a remote-controlled model air-
`and thus greatly reduces the risk of out of control situation.
`plane, or a remote-controlled model helicopter, or a remote-
`Although the invention has been described with reference
`controlled model car, or a remote-controlled robot.
`6. The remote control system of claim 1, wherein the driv-
`to specific embodiments, this description is not meant to be
`construed in a limiting sense. Various modifications of the 35 ing module comprising:
`disclosed embodiments as well as alternative embodiments,
`a wing of an airplane; and
`will be apparent to persons skilled in the art. It is, therefore,
`a driving unit, which connects to the processing module
`contemplated that the appended claims will cover all modifi-
`and receives the driving control signal to drive and adjust
`-
`cations that fall within the true scove of the invention.
`the vitch of the wing.
`7. The remote control system of claim 6, wherein the wing
`is a main wing, or a horizontal stabilizer or a vertical stabilizer
`of an airplane.
`8. The remote control system of claim 1, wherein the driv-
`ing module comprising:
`a rotor of a helicopter; and
`a driving unit, which connects to the processing module
`and receives the driving control signal to drive and adjust
`the rotation speed or the pitch of

This document is available on Docket Alarm but you must sign up to view it.


Or .

Accessing this document will incur an additional charge of $.

After purchase, you can access this document again without charge.

Accept $ Charge
throbber

Still Working On It

This document is taking longer than usual to download. This can happen if we need to contact the court directly to obtain the document and their servers are running slowly.

Give it another minute or two to complete, and then try the refresh button.

throbber

A few More Minutes ... Still Working

It can take up to 5 minutes for us to download a document if the court servers are running slowly.

Thank you for your continued patience.

This document could not be displayed.

We could not find this document within its docket. Please go back to the docket page and check the link. If that does not work, go back to the docket and refresh it to pull the newest information.

Your account does not support viewing this document.

You need a Paid Account to view this document. Click here to change your account type.

Your account does not support viewing this document.

Set your membership status to view this document.

With a Docket Alarm membership, you'll get a whole lot more, including:

  • Up-to-date information for this case.
  • Email alerts whenever there is an update.
  • Full text search for other cases.
  • Get email alerts whenever a new case matches your search.

Become a Member

One Moment Please

The filing “” is large (MB) and is being downloaded.

Please refresh this page in a few minutes to see if the filing has been downloaded. The filing will also be emailed to you when the download completes.

Your document is on its way!

If you do not receive the document in five minutes, contact support at support@docketalarm.com.

Sealed Document

We are unable to display this document, it may be under a court ordered seal.

If you have proper credentials to access the file, you may proceed directly to the court's system using your government issued username and password.


Access Government Site

We are redirecting you
to a mobile optimized page.





Document Unreadable or Corrupt

Refresh this Document
Go to the Docket

We are unable to display this document.

Refresh this Document
Go to the Docket