Dynamic stabilization system and methods for a RC vehicle

Patent metadata

Field	Value
Publication number	US-9320977-B2
Application number	US-201414292307-A
Country	US
Kind code	B2
Filing date	May 30, 2014
Priority date	Oct 2, 2013
Publication date	Apr 26, 2016
Grant date	Apr 26, 2016

Abstract

Systems and methods for stabilizing the steering and throttle of a radio-controlled (RC) vehicle are described herein. More specifically, sensors and circuitry are configured to control the wheel speed and wheel direction of a RC vehicle based on rotational information. In operation, one or more sensors may be configured to receive angular rotational information associated with a rotation of the RC vehicle. The rotational information may define a rotation of the RC vehicle around one or more axes of the RC vehicle. The circuitry may be configured to receive the angular rotation information associated with the rotation of the RC vehicle from the one or more sensors, and control a wheel speed and/or a wheel direction of at least one wheel of the RC vehicle based at least in part on (i) command data received from a controller associated with the RC vehicle and (ii) the received angular rotation information.

First claim

We claim:

1. A radio-controlled (RC) vehicle comprising:
an inertial measurement unit comprising:
one or more accelerometers configured to output angular acceleration data associated with acceleration of the RC vehicle about one or more axes; and
one or more angular rate sensors configured to output angular rotation data associated with rotation of the RC vehicle about the one or more axes;

and circuitry configured to:
receive the angular acceleration data and angular rotation data associated with the acceleration and rotation of the RC vehicle from the inertial measurement unit;
receive command data from a controller associated with the RC vehicle, wherein the command data indicates whether the RC vehicle has been instructed to operate in a heading hold mode; and
wherein operation in the heading hold mode comprises, in response to receiving (i) the command data, (ii) the angular rotation data, and (iii) the angular acceleration data, controlling a wheel direction of at least one wheel of the RC vehicle to maintain a heading of the RC vehicle.

2. The RC vehicle of claim 1 , wherein the circuitry is further configured to control the wheel direction based at least in part on a steering threshold intervention.

3. The RC vehicle of claim 1 , wherein the circuitry is further configured to control the wheel direction based at least in part on a steering function.

4. The RC vehicle of claim 3 , wherein the steering function comprises inputs that include a steering command, a rate gain, and a heading gain.

5. The RC vehicle of claim 1 , wherein the circuitry is further configured to, in response to receiving (i) command data from a controller associated with the RC vehicle, (ii) the received angular rotation information, and (iii) the received angular acceleration information, control a wheel speed of at least one wheel of the RC vehicle.

6. The RC vehicle of claim 5 , wherein circuitry is further configured to:
determine whether a yaw rate exceeds a yaw rate threshold based on the determined angular rotation information; and
in response to determining that the yaw rate exceeds the yaw rate threshold, reduce the wheel speed.

7. A radio-cot d (RC) vehicle comprising:
an inertial measurement nit comprising:
one or more accelerometers configured to output angular acceleration data associated with acceleration of the RC vehicle about one or more axes; and
one or more angular rate sensors configured to output angular rotation data associated with rotation of the RC vehicle about the one or more axes;

and a receiver configured to:
receive the angular acceleration data and angular rotation data associated with the acceleration and rotation of the RC vehicle from the inertial measurement unit;
receive command data from a controller associated with the RC vehicle, wherein the command data indicates whether the RC vehicle has been instructed to operate in a heading hold mode; and
wherein operation in the heading hold mode comprises; in response to receiving (i) the command data, (ii) the angular rotation data, and (iii) the angular acceleration data, controlling a wheel direction of at least one wheel of the RC vehicle to maintain a heading of the RC vehicle.

8. The RC vehicle of claim 7 , wherein the RC vehicle is further configured to control the wheel direction based at least in part on a steering threshold intervention.

9. The RC vehicle of claim 7 , wherein the RC vehicle is further configured to control the wheel direction based at least in part on a steering function.

10. The RC vehicle of claim 9 , wherein the steering function comprises inputs that include a steering command, a rate gain, and a heading gain.

11. The RC vehicle of claim 7 , wherein the RC vehicle is further configured to, in response to receiving (i) command data from a controller associated with the RC vehicle, (ii) the received angular rotation information, and (iii) the received angular acceleration information, control a wheel speed of at least one wheel of the RC vehicle.

12. The RC vehicle of claim 11 , wherein the RC vehicle is further configured to:
determine whether a yaw rate exceeds a yaw rate threshold based on the determined angular rotation information; and
in response to determining that the yaw rate exceeds the yaw rate threshold, reduce the wheel speed.

13. An inertial measurement unit for use in a radio-controlled (RC) vehicle, the inertial measurement unit comprising:
one or more accelerometers configured to output angular acceleration data associated acceleration of the RC vehicle about one or more axes; and
one or more angular rate sensors configured to output angular rotation data associated with rotation of the RC vehicle about the one or more axes;
and circuitry configured to:
receive the angular acceleration data and angular rotation data associated with the acceleration and rotation of the RC vehicle from the inertial measurement unit;
receive command data from a controller associated with the RC vehicle, wherein the command data indicates whether the RC vehicle has been instructed to operate in a heading hold mode; and
wherein operation in the heading hold mode comprises, in response to receiving (i) the command data, (ii) the angular rotation data, and (iii) the angular acceleration data, controlling a wheel direction of at least one wheel of the RC vehicle to maintain a heading of the RC vehicle.

14. The inertial measurement unit of claim 13 , wherein circuitry is further configured to control the wheel direction based at least in part on a steering threshold intervention.

15. The inertial measurement unit of claim 14 , wherein circuitry is further configured to control the wheel direction based at least in part on a steeling function.

16. The inertial measurement unit of claim 15 , wherein the steering function comprises inputs that include a steering command, a rate gain, and a heading gain.

17. The inertial measurement unit of claim 13 , wherein circuitry is further configured to, in response to receiving (i) command data from a controller associated with the RC vehicle, (ii) the received angular rotation information, and (iii) the received angular acceleration information, control a wheel speed of at least one wheel of the RC vehicle.

18. The inertial measurement unit of claim 17 , wherein circuitry is further configured to:
determine whether a yaw rate exceeds a yaw rate threshold based on the determined angular rotation information; and
in response to determining that the yaw rate exceeds the yaw rate threshold, reduce the wheel speed.

Assignees

• Horizon Hobby Llc

Inventors

• Beard Paul
• Steenari Jukka
• Adams John

Classifications

• G01P15/02

  by making use of inertia forces {using solid seismic masses}(G01P15/14 takes precedence) · CPC title

• A63H30/04

  using wireless transmission · CPC title

• A63H17/36 Primary

  Steering-mechanisms for toy vehicles · CPC title

• A63H17/395 Primary

  steered by program · CPC title

• G05D1/028 Primary

  using a RF signal · CPC title