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

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