JP2008206668A - Wireless remote-control model - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a wireless remote-control model capable of securing the safety of an operator (a user) as well as the safety of the wireless remote-control model itself. <P>SOLUTION: A wireless remote-control model includes a safety management part 312 mounted in a central control unit 3 and having a determining part 314. The determining part 314 feeds a first pattern buzzer signal command indicating that the battery is connected to a buzzer control part 313 if a battery 27 is correctly connected, feeds a second pattern buzzer signal command indicating the start operation to the buzzer control part 313 in a checking period in which a start button is pressed while the battery is correctly connected, and feeds a third pattern buzzer signal command to notify the buzzer control part 313 that a power motor 7 is in the stand-by state in which the power motor can be driven if it is determined that the wireless remote-control model is normal as the result of the checking. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to control of a radio control model, and more particularly to a radio control model for ensuring the safety of a radio control model handler using an electric motor as a power source and improving the safety of the radio control model itself.

  Remotely controlled radio control models such as helicopters and vehicles are also called radio control models or simply radio control models, and are widely used not only in the hobby world but also in many industrial fields. In particular, a radio control model (electric radio control model) using an electric motor for power is used to control flight or traveling, such as a receiver, a servo motor, a speed controller, a gyro, a steering control device, and a battery as a power source. Control equipment and control devices are installed.

  FIG. 5 is a diagram for explaining a control form of the radio-controlled model. FIG. 6 is a diagram for explaining a configuration example of a control module mounted on the radio-controlled model shown in FIG. Here, a radio control helicopter using an electric motor as a power source will be described as an example of the radio control model. In FIG. 5, the radio controlled helicopter 100 is controlled by the transmitter 1. The radio control helicopter 100 is equipped with a receiver 2, a control module 3, a battery 27, an electric motor, a servo motor, and the like (not shown).

  As shown in FIG. 6, the receiver 2 has a receiving unit 2A and a decoder 2B, and the control module 3 includes a control unit 31, a memory 32 for storing control parameters and the like, and steering servo motors 8 and 9. Have. Then, based on the steering command signal from the transmitter 1 received by the receiving antenna 17, the servo motors 8, 9,... For controlling the power motor 7, the collecting pitch, the ladder, the aileron, and the like are driven. The servo motors 8 and 9 control the steering units 18 and 19 to cause the radio controlled helicopter to fly, ascend and turn.

  The transmitter 1 includes sticks 20 and 21, a display 22 that visually displays operation information and displays setting characteristics of mounted devices, a transmission antenna 304, channel changeover switches 307 and 308, other switches 24 and 25, and the like. Is equipped. Steering information transmitted from the transmitter 1 is received by the receiver 1, RF amplified and detected by the receiver 2A, and decoded by the decoder 2B. The decoded steering information (steering control command) is processed by the control module 3 with the control parameters (steering characteristic parameters) stored in the memory 32 to steer the power motor 7, collective pitch, ladder, aileron, etc. The servo motors 8, 9... For controlling the units 18, 19 are driven.

A radio-controlled model using an electric motor as a power source is disclosed in Patent Document 1. Further, although the industrial field is different, Patent Document 2 discloses a radio control device that prevents the engine from starting when a predetermined condition is not satisfied.
Japanese Patent Laid-Open No. 10-290888 JP 11-124295 A

  With the spread of radio control models using an electric motor as a power source and the performance improvement, the output of the electric motor has increased and the energy density of the battery has also increased. On the other hand, the number of users (operators, etc.) who are inexperienced in the knowledge and handling of radio control models has increased, and there is a demand for ensuring safety in the safe operation of large output electric motors and batteries with large energy density. In addition, when a malfunction occurs in the control device or its control device mounted on the radio control model, a serious failure may be caused by flying or running with the malfunction.

  An object of the present invention is to provide a radio control model that secures the safety of a pilot (handler) and the like and also realizes the safety of the radio control model itself.

  The radio control model of the present invention includes a receiver, a sensor unit, a control module, a power motor, a servo motor, a battery, a start button, and a buzzer. The receiver includes a receiving circuit that receives a steering command signal transmitted on radio waves from a transmitter operated by a pilot, and a decoder that decodes the steering command signal from the received signal. The sensor unit includes a current sensor for detecting the current, voltage and temperature of the on-board battery, a voltage sensor and a temperature sensor, a rotation sensor for detecting the rotation of the power motor, an angular velocity sensor for detecting the rotation angle of the servo motor and the angular velocity of the airframe, including.

  The control module includes a central control unit and a memory having a control parameter storage area. The central control unit processes the steering command signal decoded by the decoder using the detection signal detected by the sensor unit and the control parameter stored in the memory, generates a steering control signal, and gives it to the power motor and the servo motor. An integrated control unit that controls steering, a safety management unit that determines normality / abnormality of the power motor, servo motor, and battery based on the detection signal detected by the sensor unit, and a buzzer according to the determination result of the safety management unit And a buzzer controller for supplying a plurality of patterns of sound signals.

  When the battery is properly connected, the safety management unit supplies the first pattern ringing signal command indicating that the battery is connected to the buzzer control unit, and the start button is pressed while the battery is correctly connected. During the check period, the second pattern ringing signal command indicating that the start operation is being performed is supplied to the buzzer control unit, and when it is determined to be normal by the check, the buzzer control unit is in a standby state in which the power motor can be driven. A determination unit for supplying a third pattern ringing signal command to notify

  The buzzer emits a first pattern sound, a second pattern sound, and a third pattern sound according to each pattern sound signal from the determination unit of the safety management unit.

  In the present invention, the first pattern ringing sound is a gentle continuous sound, the second pattern ringing sound is an engine starter pseudo sound, and the third pattern ringing sound is an engine idling pseudo sound. Handling with the same feel as a radio controlled model improves the safety of the radio controlled model using an electric motor that is quietly powered.

  In addition, by having a history storage area in the memory and recording the result determined by the safety management unit in this area, it is possible to realize parts replacement of the radio control model and easy maintenance.

  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below in detail with reference to the drawings of examples in which the present invention is applied to a radio control helicopter.

  FIG. 1 is a block diagram illustrating a configuration example of a control system for a radio-controlled model according to the present invention. In FIG. 1, reference numeral 1 is a transmitter, 2 is a receiver, 2A is a receiver (RF amplification, detection, etc.), 2B is a decoder, 3 is a control module, 31 is a central controller, 311 is an integrated controller, 312 Is a safety management unit, 313 is a buzzer control unit, 314 is a determination unit, 32 is a memory, 321 is a set value storage unit, and 322 is a history storage unit. The sensor unit 4 includes a current sensor 41, a voltage sensor 42, a temperature sensor 43, a rotation sensor 44, a rotation angle sensor 45, and an angular velocity sensor 46. In addition, an appropriate sensor such as an acoustic radar or a radio wave radar can be mounted.

  The control module 3 is connected to a power motor 7, servo motors 8, 9, 10 that control the steering unit, and a battery 27. 5 is a start switch, and 6 is a buzzer. The start switch 5 is a main switch for bringing the radio control helicopter into a maneuverable state. When the start switch 5 is pressed, the device is locked in an on state, power is supplied to the mounted device, and each part is checked by the safety management unit 312 and normality / abnormality is determined by the determination unit 314. The buzzer 6 emits the first pattern sound, the second pattern sound, and the third pattern sound based on the determination by the determination unit 314.

  In this embodiment, the current sensor 41, the voltage sensor 42, and the temperature sensor 43 are installed as sensors that detect the current, voltage, and temperature of the battery. The rotation sensor 44 detects the rotation of the output shaft of the power motor. The rotation angle sensor 25 and the angular velocity sensor are sensors that detect the rotation angle of the steering angle operated by the servo motor and the angular velocity of the airframe, but may be calculated from the number of driving pulses and the pulse width of the cybo motor. Servo motors are installed in parts that perform flight control such as collective pitch, ladder, and aileron.

  The control parameter setting values changed and adjusted by the personal computer (PC) 200 before or after the flight of the radio control helicopter 100 are stored in the setting value storage unit 321 of the memory 32 mounted on the radio control helicopter 100. In this operation, a cable is connected to the connector 33 and transferred from the personal computer 200, and driving characteristics of the power motor, collective pitch, ladder, aileron, and other operation characteristics are set in the memory 32 as control parameters.

  The carrier modulated by each control signal that constitutes the operation command signal transmitted from the transmitter 1 during the period from the start of rotation of the power motor 7 of the radio control helicopter 100 to the levitation, flight, and landing is a receiver mounted on the radio control helicopter 100. 2 is received. The received carrier wave is detected in the receiver, decoded by the decoder 3, and reproduced as various operation command signals. The reproduced operation command signal is processed by the integrated control circuit 311 according to the setting value (control parameter: setting characteristic) stored in the setting value storage unit 321 of the memory 32.

  FIG. 2 is a flowchart for explaining control including normal / abnormal determination procedures in the control system shown in FIG. This procedure begins with the installation of the battery. As described above, the start button must be pressed until a determination is made. The time required to determine normality / abnormality is determined by the operating speed / processing speed of the installed sensor and central control unit (CPU: microcomputer). In fact, as will be described later, it is determined that all necessary sensors are normal. Sufficient time to be used. Details of this procedure will be described below.

  First, when the battery is mounted on the radio control helicopter and connected to the electrical system (process 1, hereinafter referred to as P-1), the safety management unit 312 detects this connection and instructs the buzzer control unit 313 to ring. To do. The buzzer 6 sounds with the first pattern sound (P-2). The first pattern ringing sound informs the operator that the battery is connected and the steering system is energized. The ringing sound is preferably a gentle continuous sound. However, depending on the surrounding noise environment, the sound may be a continuous sound having a good hearing sensitivity, for example, about 1 kHz. However, it is not limited to this. The buzzer volume can be made variable. In addition to the buzzer, the amount of information can be increased by using a speaker or using an LED lamp together.

  When the start switch 5 is pressed and ON is locked, the buzzer 6 is switched to the second pattern sound (P-4). When the start switch 5 is turned on, each part is checked based on a detection signal of a required sensor in the sensor part 4 (P-5). The check time depends on the number of sensor items (n), the processing time of the safety management unit 312 and the determination unit 314. While executing the check, the buzzer 6 continues to output the second pattern sound. The second pattern ringing sound is preferably an engine starter simulated sound. That is, it gives a feeling of tension by giving the operator the same feeling as a radio-controlled model powered by an internal combustion engine. Note that this abnormality determination information can be configured by providing the history storage unit 322 in the memory 32 shown in FIG. The second pattern ringing sound is not limited to this, and may be other appropriate ringing sounds.

  If an abnormality (for example, when the voltage of the battery is lower than a predetermined value) is determined during the execution of the check (P-6), the subsequent check is stopped (P-7). At this time, the buzzer 6 rings back to the first pattern ringing sound. The buzzer 6 continues the second pattern ringing sound until it is determined that there is no abnormality. Instead of canceling the above check, after completing all the checks, the sound may be returned to the first pattern sound so as to notify that there is any abnormality.

  The check items are sequentially advanced (+1), and when there is no abnormality in the check of the predetermined number of items (n) and the required check is completed (P-8), the buzzer 6 is switched to the third pattern sound (P-9). It is desirable that the third pattern ringing sound is an idling pseudo sound of a radio-controlled model powered by an internal combustion engine. That is, when a flight start signal is received from the transmitter, it becomes an alarm signal notifying that the power motor is in a state where it can start rotating at any time (standby state).

  In this standby state, the start of flight, that is, the start signal of the power motor is transmitted from the transmitter, so that the flight is started as follows, or the start signal of the power motor is turned off and the flight is stopped, and the start button is restarted. Press to return when the battery is installed. FIG. 3 is a flowchart for explaining an outline of a maneuver procedure including flying and stopping of the radio control helicopter. The transmitter start switch is turned on (P-10). The safety management unit 312 determines that it is in the standby state described in FIG. 2 (P-11). The power motor 7 starts rotating and the buzzer 6 is turned off (P-12). The radio controlled helicopter is lifted by a lift-up command signal from the transmitter (or a signal for increasing the number of revolutions of the power motor 7), and various flights are performed by various control signals from the transmitter (P-13).

  The radio controlled helicopter is landed by the landing command signal from the transmitter, and the power motor 7 is stopped by the rotation stop command of the power motor 7 (P-14). As the power motor 7 stops, the buzzer 6 resumes ringing in the standby state, that is, with the third pattern ringing sound (P-15). If it is decided to fly again while outputting the third pattern sound, the transmitter start switch is turned on (P-10), and the same procedure is followed. On the other hand, if it is determined in (P-15) not to fly again, the start button is turned off. At this time, the buzzer 6 returns to the first pattern ringing. Furthermore, the buzzer 6 stops ringing by removing the battery. When the start button is not turned off at a predetermined time, the power supply is automatically cut off.

  FIG. 4 is an overall view of a radio control helicopter as an example of a radio control model to which the present invention is applied. The radio control helicopter 100 is equipped with a steering mechanism including a power motor 7, a battery 27, servo motors 8, 9, and 10, a receiver 2, a control module 3, a sensor unit 4, and a gyro in the body part.

  A main rotor 13, a landing gear 16, and the like are disposed on the body, and a till rotor 15 is attached by a shaft 14. The steering mechanism and the power motor are activated by the start button 5 and fly by controlling the steering mechanism with the steering command received by the antenna 17. As described above, the buzzer 6 rings with the first, second, and third pattern ringing sounds. Reference numeral 12 denotes a light emitting diode (pilot lamp), which lights up when the power is turned on to the mounted device.

  In this way, safe handling of the operator and the radio-controlled model can be realized. It goes without saying that the present invention is not limited to a radio control helicopter, but can be similarly applied to a fixed wing radio control aircraft, a radio control automobile, a radio control ship, and other various radio control models.

It is a block diagram explaining the structural example of the control system of the radio controlled model which concerns on this invention. It is a flowchart explaining the control including the determination procedure of normal / abnormal in the control system shown in FIG. It is a flowchart explaining the outline | summary of the control procedure including the flight and stop of a radio controlled helicopter. 1 is an overall view of a radio control helicopter as an example of a radio control model to which the present invention is applied. It is a figure explaining the control form of a radio controlled model. It is a figure explaining the structural example of the control module mounted in the radio control model shown in FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Transmitter, 2 ... Receiver, 3 ... Control module, 4 ... Sensor part, 5 ... Start switch (start button), 6 ... Buzzer, 7 ... Power Motor, 8 to 10 ... Servo motor for steering, 12 ... Light emitting diode, 13 ... Main rotor, 14 ... Shaft, 15 ... Rear rotor, 16 ... Landing gear, 17 ... Receiving antenna, 31 ... Central control device, 311 ... Integral control unit, 312 ... Safety management unit, 313 ... Buzzer control unit, 32 ... Memory, 321 ... Set value storage unit, 322: History storage unit, 27: Battery.

Claims (3)

A radio control model having a receiver, a sensor unit, a control module, a power motor, a servo motor, a battery, a start button, and a buzzer,
The receiver includes a receiving circuit that receives a steering command signal transmitted from a transmitter on radio waves, and a decoder that decodes the steering command signal from the received signal,
The sensor unit detects a current sensor, a voltage sensor, and a temperature sensor that detect current, voltage, and temperature of the battery, a rotation sensor that detects rotation of the power motor, and a rotation angle and an angular velocity of the servo motor. Having at least a rotation angle sensor;
The control module includes a central control device and a memory having a control parameter storage area;
The central controller is
Using the detection signal detected by the sensor unit and the control parameter stored in the memory, the steering command signal decoded by the decoder is processed to generate a steering control signal, which is applied to the power motor and the servo motor. And an integrated control unit for controlling the maneuvering,
A safety management unit that determines normality / abnormality of the power motor, servo motor, and battery based on a detection signal detected by the sensor unit;
According to the determination result of the safety management unit, a buzzer control unit that supplies the buzzer with a plurality of pattern sound signals;
Have
The safety management unit
When the battery is correctly connected, a first pattern ringing signal command indicating that the battery is connected to the buzzer control unit is supplied,
During a check period in which the start button is pressed while the battery is correctly connected, a second pattern ringing signal command indicating a start operation is supplied to the buzzer control unit,
When it is determined normal by the check, the buzzer control unit includes a determination unit that supplies a third pattern ringing signal command that notifies the buzzer control unit that the power motor is in a standby state that can be driven,
The buzzer emits a first pattern sound, a second pattern sound, and a third pattern sound according to the pattern sound from the determination unit of the safety management unit. In claim 1,
The radio control model, wherein the first pattern ringing sound is a gentle continuous sound, the second pattern ringing sound is an engine starter pseudo sound, and the third pattern ringing sound is an engine idling pseudo sound. In claim 1,
A history storage area in the memory;
A radio control model, wherein a result determined by the safety management unit is recorded in the history storage area.

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