WO2018009431A1

WO2018009431A1 - Unmanned vehicle control over a wireless connection

Info

Publication number: WO2018009431A1
Application number: PCT/US2017/040201
Authority: WO
Inventors: Nicholas ADDONISIO; Ezra Green; William Frank SILHAN
Original assignee: Stealth Air Corp
Priority date: 2016-07-05
Filing date: 2017-06-30
Publication date: 2018-01-11

Abstract

Disclosed are systems and methods for unmanned vehicle control over a wireless connection. In the system and methods, a radio-controlled controller receives a command from a user, converts the command for an unmanned vehicle into an audio control signal and transmits the audio control signal to the unmanned vehicle over an audio channel. The unmanned vehicle receives the audio control signal over the audio channel, converts the audio control signal back to the command, and executes the command.

Description

UNMANNED VEHICLE CONTROL OVER A WIRELESS CONNECTION

REFERENCE TO PRIOR APPLICATION

[0001] This application claims the benefit of U.S. Provisional Application No. 62/358,228, filed July 5, 2016, the entire contents of which are incorporated herein by reference.

TECHNICAL FIELD

[0002] The present invention relates to unmanned vehicles, and more particularly to a system for wirelcssly controlling unmanned aerial vehicles (UAVs).

BACKGROUND

[0003] Currently, unmanned vehicle actions are commanded by a nearby operator. For example, in the case of UAVs, a radio controlled (RC) controller is utilized to perform basic or advanced features using pulse width modulation (PWM) and/or Pulse Position Modulation (PPM) techniques which are interpreted by the autopilot. The autopilot receives PWM and/or PPM signals and commands actuators (motors) to spin at an appropriate rate. Furthermore, these commands are segregated by channel. Channel control may be illustrated as shown in FIG. 1.

[0004] Each "stick" 101/102 on the RC controller 100 may have one or more functions which dictate channel commands outputted by the vehicle's autopilot or control module. For example, in FIG. 1, stick 101 controls both throttle and yaw on channel 3 and 4, respectively. When the operator raises the throttle stick 101 a PWM and/or PPM signal of a specific value is transmitted over a wireless radio frequency and is received by the vehicle. The vehicle's autopilot converts the signal value and assigns it to the appropriate channel. In this case the higher the throttle stick is raised, the larger the PWM or PPM value will be received and the expected outcome is faster spinning motors.

[0005] There are several implications with the utilization of radio signals for controlling an unmanned vehicle. First, radio frequency requires line-of-sight presence from the vehicle transmitter to the nearby operator receiver to perform optimally. Exercising control of an unmanned vehicle over a radio frequency connection with obstructions is possible but more challenging and less reliable due to the possibility of signal degradation or loss. Second, radio frequency is a relatively short-range technology. Radio transmission will only work reliably when a transmitter has the power, antenna type and environment will allow such a broadcast over an intended distance. In contrast, a cellular signal for example would allow for data transmission over indefinite distances assuming such a cellular infrastructure is available in the intended area of operation. Third, conventional systems that utilize such radio controlled methods reduce the practicality of an autonomous system because a human operator needs to be relatively close to the unmanned vehicle to leverage radio frequency control systems due to operational range of radio signals.

[0006] The present invention solves these and other problems in the prior art.

SUMMARY

[0007] The system and method for unmanned vehicle control over a wireless connection provides unmanned vehicle operators with the ability to control a vehicle from a remote location using a wireless connection. The method involves using a wireless channel to transmit "signals" or commands to the vehicle without the need of conventional, line-of-sight methods that involve radio channel signals, WLAN communication, or similar protocols. [0008] According to first aspect of the disclosure, provided is a system for unmanned vehicle control over a wireless connection, comprising: a radio-controlled controller, comprising: a memory, for storing data and programming for operating the radio-controlled controller; an input device, for generating a control command for the unmanned vehicle; a processor, for receiving the control command, and converting the control command to an audio control signal; and a transmitter for transmitting the audio control command; and an unmanned vehicle, comprising: a memory, for storing data and programming for operating the unmanned vehicle; a receiver, for receiving the audio control signal; a processor, for receiving the audio control signal, converting the audio control signal back into the control command; and at least one of an autopilot and at least one peripheral device being controlled by the control command.

[0009] According to second aspect of the disclosure, provided is a method for unmanned vehicle control over a wireless connection, comprising the steps of: receiving an unmanned aerial vehicle (UAV) control command by a processor of a remote-control device; converting by the processor of the remote-control device the control command to an audio control signal; wirelessly transmitting the audio control signal from the remote-control device; receiving by a receiver in the UAV the audio control signal; sending the received audio control signal to a processor of the UAV; converting by the processor of the UAV the audio control signal to the control command; and executing by the processor of the UAV the control command.

BRIEF DESCRIP TION OF THE DRAWINGS

[0010] The present disclosure will become more readily apparent from the specific description accompanied by the drawings.

[0011] FIG. 1 is a diagram of a radio controlled (RC) controller according to the present disclosure.

[0012] FIG. 2 is a block diagram of a radio controlled (RC) controller according to the present disclosure.

[0013] FIG, 3 is a block diagram of an unmanned aerial vehicle (UAV) according to the present disclosure.

[0014] FIG. 4 is a diagram of traditional Morse code.

[0015] FIG. 5 are signal diagrams illustrating (a) a channel selection code, (b) a command code, and (c) a combined channel selection and command code according to the present disclosure.

[0016] FIG. 6 is a flowchart illustrating the operation of a system and method for unmanned vehicle control over a wireless connection according to the present disclosure.

DETAILED DESCRIPTION

[0017] The present disclosure may be understood more readily by reference to the following detailed description of the disclosure taken in connection with the accompanying drawing figures, which form a part of this disclosure. It is to be understood that this disclosure is not limited to the specific devices, methods, conditions or parameters described and/or shown herein, and that the terminology used herein is for the purpose of describing particular embodiments by way of example only and is not intended to be limiting of the claimed disclosure .

[0018] Also, as used in the specification and including the appended claims, the singular forms "a," "an," and "the" include the plural, and reference to a particular numerical value includes at least that particular value, unless the context clearly dictates otherwise. Ranges may be expressed herein as from "about" or "approximately" one particular value and/or to "about" or

"approximately" another particular value. When such a range is expressed, another embodiment includes from the one particular value and/or to the other particular value. Similarly, when values arc expressed as approximations, by use of the antecedent "about," it will be understood that the particular value forms another embodiment. It is also understood that all spatial references, such as, for example, horizontal, vertical, top, upper, lower, bottom, left and right, are for illustrative purposes only and can be varied within the scope of the disclosure.

[00191 A wireless control system for unmanned vehicles is disclosed herein. Reference will now be made in detail to the exemplary embodiments of the present disclosure, which are illustrated in the accompanying figures.

[0020] Currently wireless audio channels are used for transmitting both audio and data. In the aviation industry pilots may approach an airport and use the radio to notify air traffic control or local traffic of their intentions by way of verbal communication. This is done via a push-to-talk method where the pilot holds down the radio button while broadcasting their verbal

announcement to all who are listening on that radio frequency. Using the same radio system, a pilot may turn on airport lighting by pulsing (pressing the radio button 3 times in a row) the push-to-talk button whereby the airport lighting system takes the action to turn on by "listening" and interpreting those audio commands.

[0021] Using a stand-alone audio channel connection or the existing audio channel that is paired with conventional video transmission, meaningful signals can be sent to a vehicle over a long distance or from a remote location. These signals can be interpreted to command vehicular functions including motion commands (pitch and roll in the case of an aircraft for example) or auxiliary functions (illuminate navigation lights on a boat or car for example).

[0022] According to the present disclosure, audio transmission of data is possible in the case where a vehicle is controlled from a remote location. A remote operator may communicate over

S an audio channel via a cellular data connection and send a signal which can encompass pulsing tones of specific frequencies and duration (similar to pulse width modulation) so that the receiving vehicle can interpret those tones and take action as commanded by the remote operator.

[0023] As shown in FIG. 2, an RC controller in a wireless control system for an unmanned aerial vehicle includes a processor 201 specially programmed to operate the remote-control device and convert the control commands to audio signals, a memory 202 for storing data and programming, a power source (not shown) including but not limited to a battery or multiple batteries, a transceiver 203 (transmitter/receiver) for sending and receiving control signals to/from a UAV, input(s) 204, and outputs 205. Transceiver 203 can include, but is not limited to, WiFi/WLAN, Radio Frequency, Zigbee, Xbee, Bluetooth, cellular, satellite, or other wireless communication. Inputs 204 can include flight control inputs (e.g. control inputs for throttle, yaw, roll, and/or pitch), peripherals inputs (e.g. control inputs for camera(s), microphones(s), light(s), deployment device(s), etc.). Outputs 205 can include visual signals (e.g. lights, LEDs), and audio signals (e.g. tones, beeps, other sounds from a speaker (not shown, but contemplated)).

[0024] As shown in FIG. 3, a UAV 300 in a wireless control system for an unmanned aerial vehicle includes a processor 30! specially programmed to operate UAV 300 and capable of commanding an autopilot 304 or control board (not shown) capable of non-autopilot or control board functionality including but not limited to turning on/off system lights, sensors, or other onboard peripherals 305, a memory 302 for storing data and programming, and a transceiver 303 for communicating with transceiver 203 of RC controller 100. Processor 301 is specially programmed to receive audio control signals from RC controller 100, convert the audio control signals to control commands, and cause UAV to execute the control commands accordingly.

[0025] One benefit of controlling a UAV via audio channels is that an audio channel connection may be established over a long distance and does not require line-of-sight for operation. An audio channel might exist when a UAV already is equipped with a camera whereby the audio channel is treated as a different transmission channel than the existing video feed.

[0026] In the case of UAVs, the ability to transmit channel commands over a long distance allows the operator to exercise full or partial (autopilot assisted) control over the UAV. For example, if UAV 300 is loitering (hovering) in place over a point of interest, an operator may be remotely viewing video transmitted via a cellular or satellite channel over a cellular or satellite network. Using the audio channel that is associated with that video feed, the operator may choose to control the yaw (heading) of the vehicle to establish a new camera viewing angle of the area being surveyed. The operator may momentarily hold and release the channel 4 stick on RC controller 100 (or similar device) which processor 201 transmits to UAV 300 over a long distance cellular or satellite connection as a new PWM and/or PPM value to be commanded to channel 4 on UAV 300. This process allows the operator to rotate or change UAVs 300 heading from a remote location.

[0027] A video stream can be used to transmit both the audio and video through the use of a codec for low latency communication/transmission. The use of the codec will reduce the data footprint the stream will have on available bandwidth, allowing for maximized throughput/low latency. This stream can make use of left and right stereo audio channels. A codec can perform transmission using methods such as Pulse Code Modulation (PCM).

[0028] Ideally, the stream would be comprised of the two stereo audio channels to further reduce latency through the use of less bandwidth. The style of transmission would be User Datagram Protocol (UDP) since the onboard computers will not be responding or acknowledging that it has utilized the received commands, and acknowledging old commands could prove to be dangerous in many circumstances.

[0029] If an audio only channel is used to transmit either data or audio tones that will be translated, then it would act similar to a UDP stream. A UDP stream is like that of a car radio ~ when the car goes through a tunnel and comes out the other side, the car radio plays the latest data being broadcasted from the radio station and not where the data stream last left off before it lost signal.

[0030] An audio and video channel can be used to transmit either data or audio tones that will be translated. Similarly, a video data stream can be used for the same purpose (video data stream example would be like watching a web based video).

[0031] Similar to Morse code (See FIG. 4), a UAV's processor 301 or autopilot 304 may interpret sound pulses (tones). These pulses can vary in pulse length, pulse pitch, silent

(noiseless) periods, combinations of pulse, pitch and/or silent periods.

[0032] Remotely controlling a UAV using a similar audio technique over a long-range wireless communication protocol is similar to that of Morse code. Commands may be designated to a specific channel using a combination of pulse length, pitch and/or silent periods, while the desired PWM value can also be dictated by a different combination of pulse length, pitch and/or silent periods. For example, an audio control command that is desired for channel 4 may start with a channel component message such as shown in diagram (a) of FIG. 5.

[0033] This channel component could signify a PWM value of "1161" which denotes that a control component to channel 4 will immediately follow. In this example, each tone has a length of 2.5 milliseconds. Following this channel component, the desired UAV control component may be formatted as shown in diagram (b) of FIG. 5.

[0034] This control component could signify a PWM value of "1561" if the tones are defined as follows:

[0035] Loud tone - 1

[0036] No tone - 5

[0037] Soft tone 6

[0038] Loud tone - 1

[0039] The resulting audio control signal comprising a control command for channel 4 can be constructed as shown in diagram (c) of FIG. 5. Diagram (c) is a combination of diagrams (a) and (b).

[0040] Commands may be continuous or discrete. Autopilot 304 (or other control module) is designed to handle multiple channel commands with the capability of dictating aggressive vehicle actions.

[0041] FIG. 6 is a flowchart illustrating a method of wirelessly transmitting control commands to a UAV. In this example, a remote operator is flying a multi-rotor aircraft via a cellular data or satellite data transmission.

[0042] In step 401, a UAV control command is generated by an operator of RC controller 100 and received by processor 201 of RC controller 100. The control command can be generated by any of the afore-mentioned inputs 204 (e.g., a joystick) to control UAV 300 autopilot 304 and/or peripherals 305.

[0043] In step 402, the control command is converted to an audio control command. The audio control signal includes the audio tones (or no tones) as described above. The audio control command can include a channel component and command component as described above.

[0044] In step 403, RC controller 100 transmits the audio control signal to UAV 300 via an audio channel. The audio channel may be a prcassigned channel or one that is assigned at the time of the transmission of the audio control signal. The audio channel may be set up for example on a cellular network or satellite network.

[0045] In step 404, UAV 300 receives the audio control signal via the audio channel. The audio control signal is transmitted to processor 301 for decoding.

[0046] In step 405, processor 301 converts the audio control signal back to the control command. The audio control signal can be converted into a PWM signal as described above.

[0047] In step 406, processor 301 causes UAV 300 to execute the control command.

[0048] Where this application has listed the steps of a method or procedure in a specific order, it may be possible, or even expedient in certain circumstances, to change the order in which some steps are performed, and it is intended that the particular steps of the method or procedure claim set forth here below not be construed as being order- specific unless such order specificity is expressly stated in the claim.

[0049] While the preferred embodiments of the devices and methods have been described in reference to the environment in which they were developed, they are merely illustrative of the principles of the inventions. Modification or combinations of the above-described assemblies, other embodiments, configurations, and methods for carrying out the invention, and variations of aspects of the invention that are obvious to those of skill in the art are intended to be within the scope of the claims.

Claims

WHAT IS CLAIMED IS:

1. A system for unmanned vehicle control over a wireless connection, comprising: a radio-controlled controller, comprising:

a memory, for storing data and programming for operating the radio-controlled controller;

an input device, for generating a control command for the unmanned vehicle; a processor, for receiving the control command, and converting the control command to an audio control signal; and

a transmitter for transmitting the audio control command; and

an unmanned vehicle, comprising:

a memory, for storing data and programming for operating the unmanned vehicle; a receiver, for receiving the audio control signal;

a processor, for receiving the audio control signal, converting the audio control signal back into the control command; and

at least one of an autopilot and at least one peripheral device being controlled by the control command.

2. The system of claim 1, wherein the audio control signal is wirelessly transmit over an audio channel.

3. The system of claim 2, wherein the audio channel is established on one of a cellular network or a satellite network.

4. The system of claim 1, wherein the audio control signal includes a channel component and a command component, the channel component including audio channel information, and the command component including the control command to execute.

5. The system of claim 1, wherein the audio control signal includes a plurality of time slots, each time slot including a tone or a no-tone.

6. The system of claim 5, wherein the tones can vary in at least one of length, pitch and volume.

7. A method for unmanned vehicle control over a wireless connection, comprising the steps of:

receiving an unmanned aerial vehicle (UAV) control command by a processor of a remote-control device;

converting by the processor of the remote-control device the control command to an audio control signal;

wirelessly transmitting the audio control signal from the remote-control device;

receiving by a receiver in the UAV the audio control signal;

sending the received audio control signal to a processor of the UAV;

converting by the processor of the UAV the audio control signal to the control command; and

executing by the processor of the UAV the control command.

8. The method of claim 7, wherein the audio control signal is wirelessly transmit over an audio channel.

9. The method of claim 8, wherein the audio channel is established on one of a cellular network or a satellite network.

10. The method of claim 7, wherein the audio control signal includes a channel component and a command component, the channel component including audio channel information, and the command component including the control command to execute.

11. The method of claim 7, wherein the audio control signal includes a plurality of time slots, each time slot including a tone or a no-tone.

12. The method of claim 11 , wherein the tones can vary in at least one of length, pitch and volume.