JP2007106268A - Antenna for unmanned helicopter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an antenna for an unmanned helicopter by which a stable communication state can always be obtained. <P>SOLUTION: A plurality of antennas 18 and 71 are connected with a transmitter 27 which is loaded on the airframe through an antenna changer 74, and the antennas 18 and 71 are switched depending on a communication state. As an example, the antennas are provided in front and behind the skid which is provided on the lower section of the airframe. As another example, the antennas are provided on the right and the left on the external sides of the side surfaces of the airframe. As one more example, the antennas are integrally provided on the supporting legs of the right and left skids which are provided on the lower section of the airframe. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an antenna for an unmanned helicopter.

  The unmanned helicopter is used for spraying chemicals such as agricultural chemicals (for example, Patent Document 1) or for aerial photography. This unmanned helicopter can be remotely operated according to the flight state while a user looks at the aircraft from the ground with a radio pilot. Furthermore, in such an unmanned helicopter, autonomous flight control that automatically performs optimum flight control according to the operating state of the engine and the like has been put into practical use. When such autonomous flight control is performed, detection data of the driving state is sent from the aircraft side to the ground station as a digital signal, and a command signal necessary for autonomous flight is sent from the ground station side to the aircraft side as a digital signal. The airframe is equipped with an antenna for controlling flight data for autonomous flight.

  On the other hand, an unmanned helicopter equipped with a photography camera transmits analog data of a photographed image to the ground station. An image data antenna is provided in the aircraft for this image data communication.

  Further, the aircraft is equipped with a radio control receiving antenna and a GPS antenna for receiving a radio command from the ground station.

  In addition, a communication device for transmitting and receiving digital control data, analog image data, and the like is housed in the control box inside the aircraft or in the side of the aircraft.

  Skids that support the aircraft during takeoff and landing are provided on both the left and right sides of the center of the aircraft.

  Antennas other than the GPS antenna are usually provided at the lower part of the aircraft for communication with the ground. Skids are provided on the left and right sides of the lower part of the aircraft, so if the skid is positioned between the antenna and the ground station depending on the orientation and attitude of the aircraft, or the radio wave is distorted and the strength is reduced, it is stable and stable. May not be able to maintain the communication status.

JP 2002-166893 A

  The present invention has been made in consideration of the above prior art, and an object of the present invention is to provide an unmanned helicopter antenna capable of always obtaining a stable communication state.

  The invention of claim 1 provides an unmanned helicopter antenna characterized in that a plurality of antennas are connected to a communication device mounted on the fuselage via an antenna switching device, and the antenna is switched according to the communication state.

  The invention of claim 2 is characterized in that, in the invention of claim 1, the antenna is provided before and after a skid provided in the lower part of the fuselage.

  According to a third aspect of the present invention, in the first aspect of the present invention, the antenna is provided on the left and right sides outside the body side surface.

  The invention of claim 4 is characterized in that, in the invention of claim 1, the antenna is integrally provided on the support legs of the left and right skids provided in the lower part of the fuselage.

  According to the first aspect of the present invention, a plurality of antennas are connected to one communication device, that is, a plurality of antennas for radio waves in the same frequency band are used, and the antennas are switched according to the communication state. Data can be transmitted and received in a good communication state.

  According to the invention of claim 2, since the antennas are arranged before and after the skid, even if one antenna is electromagnetically shielded by the skid, it can be switched to the other antenna to maintain a good communication state.

  According to the invention of claim 3, since the antenna is arranged on each of the left and right sides outside the aircraft side surface, even if one antenna is electromagnetically shielded by the aircraft, it can be switched to the other antenna to maintain a good communication state. .

  According to the invention of claim 4, the antenna and the skid support leg are integrated with each other by attaching the antenna wire or the antenna film to the support leg of the skid. Other devices can be installed. In addition, the antenna itself is reinforced.

1 to 3 are a side view, a top view, and a front view, respectively, of an unmanned helicopter according to the present invention.
The unmanned helicopter 1 includes an airframe 4 including a main body 2 and a tail body 3. A main rotor 5 is provided at the top of the main body 2, and a tail rotor 6 is provided at the rear of the tail body 3. A radiator 7 is provided at the front portion of the main body 2, and skids 9 are provided at the left and right lower portions of the main body 2 in the substantially central portion of the airframe 4 via support legs 8.

  A muffler 61 provided in an exhaust pipe 60 connected to an engine (not shown) in the fuselage is disposed at the lower part of the fuselage above the front end of the skid 9.

  A control panel 10 is provided on the rear upper side of the main body 2, and an indicator lamp 11 is provided on the lower side. The control panel 10 displays check points before flight, self-check results, and the like. The display on the control panel 10 can also be confirmed at the ground station. The indicator lamp 11 displays a GPS control state, an abnormality warning of the aircraft, and the like.

  A camera device 12 accommodating an infrared camera (or a CCD camera) is attached to the lower side of the front part of the main body 2 via a camera head 13. The camera device 12 rotates about a pan axis (vertical axis) with respect to the camera head 13 and an internal camera (not shown) can rotate about a tilt axis (horizontal axis). Thereby, the camera can photograph all directions on the ground from the sky through the front window 14.

  An autonomous control box 15 is mounted on the left side of the main body 2. The autonomous control box 15 accommodates a GPS control device necessary for autonomous control, a data communication device and an image transmitter that communicate with the ground, a control board incorporating a control program, and the like. Autonomous control is based on flight data such as the position and speed of the aircraft, aircraft data such as the attitude and orientation of the aircraft, and operating state data such as engine speed and throttle opening, etc. Is selected automatically or in response to a command from the ground station, and optimal steering control is performed according to the driving state.

  The unmanned helicopter 1 can fly by such autonomous control and can be manually operated by a radio pilot based on the flight state and various operation state data transmitted from the aircraft while visually confirming the flight state. It is.

  An antenna support frame 16 is attached to the lower surface side of the main body 2. An inclined stay 17 is attached to the antenna support frame 16. A steering data antenna 18 for transmitting / receiving steering data (digital data) such as driving state data and flight command data necessary for the above-described autonomous control to and from the ground station is attached to the stay 17. The stay 17 is further provided with an image data antenna 19 for transmitting image data (analog data) captured by the camera device 12 to the ground station.

  An orientation sensor 20 based on geomagnetism is provided on the lower surface side of the tail body 3. The orientation sensor 20 detects the direction of the aircraft (east, west, north, and south). The main body 2 is further provided with a posture sensor (not shown) composed of a gyro device.

  A main GPS antenna 21 and a sub GPS antenna 22 are provided on the upper surface side of the tail body 3. The rear end portion of the tail body 3 is provided with a radio control receiving antenna 23 that receives a command signal from a radio control device.

  A second steering data antenna 71 and a second image data antenna 72 are provided on the lower surface of the front end of the body 4. The two steering data antennas 18 and 71 and the two image data antennas 19 and 72 are connected to the data communication device and the image communication device via an antenna switch as will be described later.

FIG. 4 is a block diagram of an unmanned helicopter according to the present invention.
The camera device 12 includes an infrared camera (or CCD camera) 24 mounted on the camera head 13.

  In the autonomous control box 15, an image control device 25 that receives video data from the camera 24, an image transmitter 26 that transmits image data to the ground station, and data necessary for autonomous control are transmitted and received between the ground station. A data communication device 27, a control board 28 including a microcomputer storing an autonomous control program, a main GPS receiver 29 connected to the main GPS antenna 21, and a sub-GPS connected to the sub-GPS antenna 22. The receiver 30 is accommodated.

  The airframe 4 includes an image data antenna 19 for sending analog image data to the ground station and control data for transmitting and receiving digital control data to and from the ground station from the image transmitter 26 and the data communication device 27 in the autonomous control box 15, respectively. The antenna 18 is provided on the lower surface side of the main body 2 (FIG. 1) as described above. The direction sensor 20 is connected to the control board 28 in the autonomous control box 15. In the body 4, an attitude sensor 31 composed of a gyro device or the like is provided and connected to a control box 32. The control box 32 drives the five servo motors 33 in data communication with the control board 28 in the autonomous control box 15. The three servo motors 33 control the main rotor to control the movement of the airframe in the front-rear, left-right, and vertical directions together with the servo motor for engine control, and the servo motor for tail rotor control controls the rotation of the airframe.

FIG. 5 is a block diagram of the ground station.
The ground station 53 that communicates with the unmanned helicopter 1 includes a GPS antenna 34 that receives signals from GPS satellites, a communication antenna 35 that performs data communication with the unmanned helicopter 1, and image data from the unmanned helicopter 1. The three image receiving antennas 36 are installed on the ground.

  The ground station 53 includes a data processing unit 37, a monitoring operation unit 38, and a power supply unit 39.

The data processing unit 37 includes a GPS receiver 40, a data communication device 41, an image receiver 42, and a communication board 43 connected to the receiver 40, the communication device 41, and the receiver 42.

The monitoring operation unit 38 includes a manual controller (wireless control unit) 44, a base controller 45 that performs camera operation and aircraft operation adjustment, a backup power source 46, a personal computer 47 connected to the base controller 45, and a personal computer. Monitor 48 and an image monitor 49 connected to the base controller 45 for displaying image data.

  The power supply unit 39 includes a generator 50 and a backup battery 52 connected to the generator 50 via a battery booster 51. The backup battery 52 is connected to the fuselage and supplies a voltage of 12 V when the generator 50 is not operating, such as during a check before flight. During the flight, a voltage of 100 V is supplied from the generator 50 to the data processing unit 37 and the monitoring operation unit 38.

  As described above, the skid 9 is provided on the lower part of the machine body via the support legs 8. Two control data antennas 18 and a second control data antenna 71 connected to the same communication device are respectively provided before and after the skid 9, and two image data antennas 19 and 72 connected to another communication device are provided. Each is provided.

FIG. 6 is a block diagram of an antenna according to the present invention. This example shows an example of switching the antenna by determining the sensitivity of the received radio wave on the airframe side. The same applies to FIG. 7 described later.
Two control data antennas 18 and a second control data antenna 71 of the same frequency band are provided in the lower part of the aircraft. The two antennas 18 and 71 are connected to the data communication device 27 via the antenna switch 74. The data communicator 27 communicates with the ground station via one of the two antennas 18 and 71 selected by the antenna switch 74. The data communication device 27 is connected to the control board 28 (see FIG. 4). A sensitivity detector 75 is connected to the data communicator 27 to detect the sensitivity of the antenna from the communication state such as the intensity of communication data, noise, and ghost. The sensitivity detection unit 75 is connected to the sensitivity determination unit 73 and determines whether or not the detected antenna sensitivity is lower than a predetermined sensitivity. If the sensitivity is lower than the predetermined sensitivity, the antenna switch 74 is operated to switch the antenna.

FIG. 7 is a block diagram of another antenna according to the present invention.
The sensitivity of the communication data received via the antenna switch 74 is directly detected by the sensitivity detector 75. The sensitivity detection unit 75 is connected to the sensitivity determination unit 73 and determines whether or not the detected antenna sensitivity is lower than a predetermined sensitivity. If the sensitivity is lower than the predetermined sensitivity, the antenna switch 74 is operated to switch the antenna.

  FIG. 8 is a block diagram of another antenna according to the present invention. This example shows an example in which transmission data from the airframe is received by the ground station, the sensitivity of the received radio wave is determined by the ground station, and the antenna of the airframe is switched accordingly.

  As shown to (A), the camera 24 is mounted in the body side. The camera 24 is connected to the image transmitter 26 via the image control device 25 as described above (see FIG. 4). An image data antenna 19 and a second image data antenna 72 are connected to the image transmitter 26 via an antenna switch 74. The image transmitter 26 transmits image data to the ground station through one of the two antennas 19 and 72 selected by the antenna switch 74.

  In the ground station, as shown in (B), the image data from the machine body side is received by the image receiver 42 via the image receiving antenna 36 and sent to the communication board 43 (see FIG. 5). A sensitivity detection unit 75 is connected to the image communication device 42 to detect the sensitivity of the antenna on the airframe side from the received state of the received image data such as intensity, noise, and ghost. The sensitivity detection unit 75 is connected to the sensitivity determination unit 73 and determines whether or not the detected antenna sensitivity is lower than a predetermined sensitivity. Data of the determination result of the sensitivity determination unit 73 is transmitted from the data communication device 41 to the control board 28 on the machine body via the communication antenna 35. The control board 28 operates the antenna switch 74 to switch the antenna if the data of the determination result is data that is lower than the predetermined sensitivity.

FIG. 9 shows another arrangement example of the antenna.
In this example, the steering data antenna 18 and the image data antenna 19 are directly attached to the lower surface of the aircraft behind the skid 9 at the lower part of the aircraft, and the second steering data antenna 71 and the second data antenna 71 are installed on the lower surface of the front end of the aircraft as in the example of FIG. The two-image data antenna 72 is attached. Other configurations and operational effects are the same as those of the above-described embodiment.

FIG. 10 shows still another arrangement example of the antenna.
In this example, the steering data antenna 18 and the image data antenna 19 are attached to the right side of the aircraft, and the second steering data antenna 71 and the second image are attached to the left side. In this configuration, the data antenna 72 is attached while being dropped downward. Other configurations and operational effects are the same as those of the above-described embodiment.

11 and 12 are a side view and a plan view, respectively, of still another antenna according to the present invention.
This example shows an antenna integrated with the support leg 8 of the skid 9. Skids 9 are supported on the lower ends of the front and rear support legs 8 on the left and right sides of the lower part of the machine body. In this example, a steering data antenna 18 and an image data antenna 19 are integrally formed on the right side surfaces of the front and rear support legs 8, respectively. That is, these antennas 18 and 19 are in the form of a film or a wire, and are affixed to the surface of the support leg 8 or are integrally fixed to the support leg 8 by patterning or other methods. Similarly, a second image data antenna 72 and a second steering data antenna 71 are integrally formed on the front and back surfaces of the left and right support legs 8 respectively. Thus, by integrally forming the antennas 18, 19, 71, and 72 with the support legs 8, the structure of the lower part of the machine body is simplified, so that there is enough space and other devices can be mounted. In addition, the antenna itself is reinforced. Other configurations and operational effects are the same as those of the above-described embodiment.

  In the above embodiment, two steering data antennas 18 and two image data antennas 19 are provided. However, the main and sub GPS antennas 21 and 22 and the radio steering receiving antenna 23 are similarly two. It may be provided.

  The present invention is applicable not only to unmanned helicopters but also to unmanned airplanes having wings.

The side view of the unmanned helicopter concerning the present invention. The top view of the unmanned helicopter of FIG. The front view of the unmanned helicopter of FIG. The block block diagram of the unmanned helicopter concerning this invention. The block block diagram of a ground station. The antenna circuit diagram of this invention. FIG. 5 is another antenna circuit diagram of the present invention. FIG. 6 is still another antenna circuit diagram of the present invention. The side view of another antenna of this invention. The top view of another antenna of this invention. The side view of another antenna of this invention. The top view of the antenna of FIG.

Explanation of symbols

1: Unmanned helicopter, 2: Main body, 3: Tail body, 4: Airframe, 5: Main rotor, 6: Tail rotor, 7: Radiator, 8: Support leg, 9: Skid, 10: Control panel, 11: Display Light: 12: Camera device, 13: Head, 14: Window, 15: Autonomous control box, 16: Antenna support frame, 17: Stay, 18: Steering data antenna, 19: Image data antenna, 20: Direction sensor, 21 : Main GPS antenna, 22: Sub GPS antenna, 23: Receiving antenna for radio control, 24: Camera, 25: Image control device, 26: Image transmitter, 27: Data communication device, 28: Control board, 29: Main GPS Receiver: 30: Sub GPS receiver, 31: Attitude sensor, 32: Control box, 33: Servo motor, 34: GPS antenna, 3 : Communication antenna 36: Image reception antenna 37: Data processing unit 38: Monitoring operation unit 39: Power supply unit 40: GPS receiver 41: Data communication unit 42: Image receiver 43: Communication board 44: wireless controller, 45: base controller, 46: backup power supply, 47: personal computer, 48: monitor, 49: image monitor, 50: generator, 51: battery booster, 52: backup battery, 53: ground station, 56 : Stay support frame, 57: cushion material, 58, 59: bracket, 60: exhaust pipe, 61: muffler, 71: second steering data antenna, 72: second image data antenna, 73: sensitivity determination unit, 74: antenna Switcher, 75: Sensitivity detector

Claims (4)

  An unmanned helicopter antenna characterized in that a plurality of antennas are connected to a communication device mounted on the airframe via an antenna switching device, and the antennas are switched according to the communication state.   The unmanned helicopter antenna according to claim 1, wherein the antenna is provided before and after a skid provided in a lower part of the airframe.   The unmanned helicopter antenna according to claim 1, wherein the antenna is provided on the left and right sides outside the airframe side surface. The unmanned helicopter antenna according to claim 1, wherein the antenna is integrally provided on support legs of left and right skids provided in a lower part of the fuselage.

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