JP2617985B2 - Radio control transmitter - Google Patents

Description

The present invention relates to a radio control transmitter for remotely controlling a steered device such as an airplane, a helicopter, and a vehicle, and more particularly, to an operation amount of a stick lever and an operation of a servo. The present invention relates to a radio control transmitter capable of easily recognizing a relationship with a quantity.

(B) Conventional Technique A radio control transmitter is provided with a stick lever, and control data having contents correlated with the operation amount of the stick lever is transmitted to the steered device.
The steered device operates the servo in accordance with the transmitted control data. For example, in the case of an airplane, the steered device opens and closes a throttle and operates an aileron, an elevator, and a rudder. The operation amount of the stick lever is detected by the volume, and control data corresponding to the detected amount is transmitted. In other words, the servo operation amount is determined according to the lever operation amount. The relationship between the lever operation amount and the servo operation amount is as shown in FIG. 7, and the dual rate 71 or the exponential curve
Take one of the 72 relationships.

However, if the relationship between the lever operation amount and the servo operation amount is uniquely determined by the device, a case may occur in which the operation does not match the operator's operation feeling. Therefore, in a conventional radio control transmitter, there is a radio control transmitter capable of changing a correlation between a lever operation amount and a servo operation amount. Thus, the inclination of the dual-rate diagram 71 shown in FIG. 7 or the curvature of the exponential curve is changed so that the operator can set the servo operation amount with respect to the stick lever operation amount.

(C) Problems to be Solved by the Invention However, there is no conventional radio control transmitter that displays the relationship between the operation amount of the stick lever and the operation amount of the servo, and it is necessary to confirm the setting state. Therefore, it was difficult to operate the stick lever according to the setting state.

An object of the present invention is to display the correlation between the operation amount of the stick lever and the operation amount of the servo, so that the operator can easily grasp the setting state and easily operate the stick lever according to the setting state. It is to provide a radio control transmitter that can be performed.

(D) Means for Solving the Problems A radio control transmitter according to the present invention is a radio control transmitter for transmitting, to a steered device, a servo operation amount having a content correlated with an operation amount of a stick lever. And a display means for simultaneously displaying the operation amount and the servo operation amount of the steered device on a linear scale.

(E) Effect In the present invention, the operation amount of the stick lever and the servo operation amount of the steered device are simultaneously displayed by the display means. The operation amount of the stick lever is an input value by the operator, and the operation amount of the servo is an output value to the steered device. A predetermined correlation is established between the input value and the output value, and a servo operation amount according to the operation amount of the stick lever is transmitted as an output value according to a preset correlation. Therefore, the operator can recognize the correlation between the operation amount of the stick lever and the operation amount of the servo by the display on the display means, and also compares the operation amount of the stick lever with the operation of the steered device to obtain the actual operation amount of the servo. An operation suitable for can be performed.

(F) Embodiment FIG. 1 is an external view of a radio control transmitter according to an embodiment of the present invention.

Stick levers 22 and 23 are provided in front of the radio control transmitter 21. This stick lever 22,
Each of 23 can be moved up and down and left and right, and the operation amount is respectively detected by volumes V1 to V4 (not shown). Further, switches S1, S2 and volumes V7, V8 are provided above the stick levers 22, 23. Further, on both sides of the radio control transmitter 21, volumes V5 and V6 are provided, and switches S3 and S4 are provided on the upper surface together with buttons B1 and B2. Further, a display 24 and keys 25 to 29 are provided at a lower portion of the front. The display 24 is constituted by an LCD, and displays the contents inputted by operating the keys 25 to 29.

FIG. 2 is a block diagram of the radio control transmitter.

The operation amounts of the stick levers 22 and 23 in the vertical and horizontal directions are electrically detected by the built-in volumes V1 to V4. A constant voltage is applied to both ends of the volumes V1 to V4, and a voltage value corresponding to the operation amount of the stick levers 22, 23 is detected from the intermediate tap. The voltage value detected when the stick levers 22 and 23 are in the neutral position is 2.5 V, and the voltage is 2-3 V by operating the stick levers.
Vary between. The A / D conversion circuit 11 digitally converts a value obtained by subtracting 2.5 V from the voltage values input from the volumes V1 to V4 (that is, how much the voltage rises or falls around 2.5V) as operation amount data. The manipulated variable data converted by the A / D conversion circuit 11 is input to the adder 12 via the switch 19. The adder 12 calculates the control data by adding the operation amount data to the reference value. The control data is converted again into an analog value by the D / A conversion circuit 13, is PCM-modulated by the PCM transmitter 14, and is transmitted to the steered device.

The reference value register 18 is connected to the adder 12. A reference value is set in the reference value register 18 in advance. The buffer register 16 is connected to the reference value register 18 via a gate 17. The buffer register 16 receives data from the controller 15 and outputs data to the gate 17 and the switch 19. The controller 15 is constituted by a microcomputer.

FIG. 3 is a block diagram of a controller of the radio control transmitter.

The controller 15 is configured by connecting a ROM 32 and a RAM 33 to a CPU 31. The contents of the function storage means 81 shown in FIG. 8 are stored in the ROM 32. These contents are functions to be defined for the volumes V1 to V8, switches S1 to S4, and buttons B1 and B2 provided in the radio control transmitter 21. Each volume V1 is stored in the memory area M1 of the RAM 33.
To V8, switches S1 to S4, and buttons B1 and B2. The function assigned by the function setting means 82 is stored in this empty area. Further, as shown in FIG. 4, the memory areas M2 to M5 of the battery 33 backed up by the battery are vacant areas of the volumes V1 to V8, respectively. This memory area
M2 to M5 store data to be described later for each mode.
A display driver 35 to which the display 24 is connected and keys 25 to 29 are connected to the CPU 31 via an I / O interface 34.

FIGS. 5A and 5B are flowcharts showing the processing procedure of the controller of the radio control transmitter.

When the power of the radio control transmitter 21 is turned on,
It is checked whether a specific terminal P is grounded (n1). If this particular terminal P is grounded,
By operating a zero-point switch (not shown), the outputs of the volumes V1 to V4 at that time are set to outputs corresponding to intermediate values of the control data (n2, n3). Thereby, the detection errors of the volumes V1 to V4 and the mounting errors of the stick levers 22, 23 can be absorbed.

When the terminal P is not grounded, a basic screen is displayed on the display 24. On this basic screen, the type and model number of the airplane, helicopter, and vehicle of the steered device are displayed. Thereafter, it is determined whether or not the input by the keys 25 to 29 is prohibited (n5). In the locked state where the key input is prohibited, it is checked whether or not both the cursor keys 26 and 27 are continuously operated five times within a predetermined time (n6 to n10). When the cursor keys 26 and 27 are continuously operated five times within a predetermined time of about 30 seconds, the locked state is released, and data input by keys 25 to 29 is accepted (n8
→ n11). In this way, by enabling data input after a predetermined procedure, data input by anyone other than the owner can be prevented.

Data input is first performed from the definition of each operation member.
That is, each function is assigned to each operation member. This displays the contents shown in FIG. 6 (A) on the display 24, and assigns the channels CH1 to CH4, the upper and lower end points (EPU, EPD) and the balance (BAL) to the volumes V1 to V8. In the display screen shown in FIG. 6 (A), one of the lower tiers is bordered, and this border can be moved right and left by operating one of the left and right cursor keys 26, 27. In the initial state, the channel CH1 is displayed in the lower row, and the contents to be set are switched by operating the up and down keys 28 and 29. That is, volume V2
To assign channel CH2 to, use the right key 27 to move the cursor to the lower row of volume V2, and then use the up key 28
Is operated to switch to channel CH2. Then, when the enter key 25 is operated, the memory area M of the RAM 33 is operated.
The channel CH2 is stored in the volume V2 allocated to one predetermined area. Similarly, volume V1
The contents stored in the function storage means are set for all of .about.V8.

Then, when the left and right keys 26 and 27 are operated simultaneously, the switch S
Move on to setting of 1 to S4 and buttons B1 and B2. Here is the display
24 displays the screen shown in FIG. 6 (B),
The functions of the switches S1 to S4 and the buttons B1 and B2 displayed in the upper row are set in the lower row by using 26 and 27 and the up and down keys 28 and 29. In the screen shown in FIG.
.About.S4 are assigned to ON / OFF of respective operation modes of states ST1, ST2, ST4 and ST3, and buttons B1 and B2 are assigned to a snap roll button and an auto trim button, respectively. Therefore,
When the switch S2 is turned on, the steered device is controlled with the contents set in the operation mode in the state ST2. When the button B1 is operated, the airplane as the steered device performs a snap roll flight.

When the left and right keys 26 and 27 are simultaneously operated while the screen shown in FIG. 6 (B) is displayed, the screen shifts to a screen for setting the priorities of the switches S1 to S4 and the buttons B1 and B2. Here, a screen shown in FIG. 6 (C) is displayed on the display 24, the cursor is moved by the left and right keys 26 and 27, and the priorities of the switches S1 to S4 and the buttons B1 and B2 are changed by the up and down keys 28 and 29. Set. When the contents shown in FIG. 6 (C) are set, when the switches S2 and S4 are simultaneously turned on, the operation mode of the state ST3 assigned to the switch S4 is preferentially executed. You. Also, switch S4 and button B1
Are turned on at the same time, the process of the operation mode of the snap roll set to the button B1 is preferentially executed, and the airplane performs the snap roll flight.

Next, when the left and right keys 26 and 27 are simultaneously operated, a screen relating to execution of the auto trim is displayed. The auto trim is a function for resetting the output of the volume when the auto trim button is operated to the reference value. In the screen shown in FIG. The volume number for detecting the operation amount and the operation amount are displayed. Here stick lever 22,23
If is in the neutral position before auto-trim, it is displayed as 50%, and this value decreases as it is operated left or down, and increases as it is operated right or up.

When the left and right keys 26 and 27 are simultaneously operated, the setting of the correlation between the output of each volume and the servo operation amount starts according to the processing shown in FIG. 5 (B). When setting the correlation, either the dual rate or the exponential can be selected. The adjustment of the dual rate is to change the inclination of the diagram 71 shown in FIG. 7, and the adjustment of the exponential is to change the curvature of the diagram 72 shown in FIG. Further, the servo operation amount with respect to the operation amount of the stick levers 22 and 23 can be set by operating the stick levers 22 and 23. When the dual rate setting is selected, a screen shown in FIG. 6E is displayed (n21 → n2).
2). Here, the upper part shows the input state by the stick levers 22 and 23, and the lower part shows the output state to the servo of the steered device. That is, the operation amount of the stick levers 22 and 23 is displayed on the scale 61 at the upper center, and the servo operation amount at that time is displayed on the lower scale 62. The dual rate, which is the ratio of the amount of servo operation to the amount of operation of the stick levers 22 and 23,
The cursor moved by 8, 29 is positioned on the rate display section 63 and set by operating the stick levers 22, 23.
When the stick levers 22, 23 are operated rightward or leftward (n24), the ratio of the operation amount to the movable amount of the stick levers 22, 23 in that direction is displayed on the rate display unit 63 (n25, n26). Thereafter, when the enter key 25 is operated, this rate is stored in a predetermined memory area of the RAM 33 (n27, n28). The lower scale 62 has a length corresponding to the numerical value displayed on the rate display section 63 with respect to the upper scale 61. Further, the volume being determined is displayed on the volume display section 66, and the stage at the time of setting is displayed on the stage display section 64 at the upper right end. Therefore, move the cursor to the stage display section 64 and
By changing the stage number by the operation of 8,29,
You can change the dual rate for each volume at each stage.

When exponential is selected as the relationship between the operation amount of the stick levers 22 and 23 and the servo operation amount, the sixth
The screen of FIG. (F) is displayed on the display 24 (n21 → n23).
That is, a display indicating that the exponential curve is selected is displayed on the upper display section 65, and the stick levers 22 and 23 are moved to the right or left with the cursor positioned on the rate display section 63 as in the case of the dual rate. Move up to increase or decrease the rate and change the curvature of the exponential curve. At this time, the display of the lower scale 62 is fine at the center and coarse at both ends. As described above, since the dual rate and the exponential curve can be set to values according to the operation amounts of the stick levers 22 and 23,
The input of the rate can be made very easily. Also,
Servo operation amount scale when adjusting dual rate 62
Contracts according to the rate, and when adjusting the exponential curve, the center display is finely adjusted according to the rate. . In the above processing, n22 and n23 correspond to the display means of the present invention. Specifically, this is the display contents of the display screen shown in FIGS. 6 (E) and (F).

In the display screens shown in FIGS. 6 (E) and (F), the number of the volume being set is displayed on the leftmost volume display section 66 in the upper stage. Therefore, if the up and down and left and right movements of the stick lever 22 are respectively set as a throttle and an aileron, and the up and down and left and right movements of the stick lever 23 are set as an elevator and a rudder, respectively, a state ST1 specified by ON / OFF of switches S1 to S4
~ About each operation mode of ST4, throttle, aileron,
A servo operation amount with respect to an operation amount of a stick lever for an elevator and a rudder can be set. These contents are stored in the memory areas M2 to M5 of the RAM 33 as shown in FIG.

In this embodiment, the left and right keys 26 and 27 and the up and down keys 28,
Although the 29s are arranged in a straight line, they may be arranged in a cross shape to improve operability.

(G) Effects of the Invention According to the present invention, the operator can easily visually check the correlation between the operation amount of the stick lever and the operation amount of the servo by looking at the display on the display means. Therefore, the operator can know the actual amount of servo operation with respect to the current operation amount of the stick lever, can perform an operation according to the correlation between the two, and compare the operation with the operation of the steered device. A desired optimum correlation can be set.

[Brief description of the drawings]

FIG. 1 is a front view of a radio control transmitter according to an embodiment of the present invention, FIG. 2 is a block diagram of the radio control transmitter, and FIG. 3 is a block diagram of a controller constituting a part of the radio control transmitter. FIG. 4 is a memory map of a main part of a RAM constituting a part of the controller, and FIGS. 5A and 5B are flowcharts showing processing procedures of the controller. Fig. 6 (A)-
(F) is a diagram showing the display contents of the display unit of the radio control transmitter, FIG. 7 is a diagram showing the relationship between the stick lever operation amount and the servo operation amount in the radio control transmitter, and FIG. It is a functional block diagram of a control transmitter. 22,23 ... stick lever, 24 ... display.

Claims (1)

(57) [Claims] 1. A radio control transmitter for transmitting a servo operation amount having a content correlated to a stick lever operation amount to a steered device, wherein the stick lever operation amount and the servo operation amount of the steered device are determined. A radio control transmitter comprising a display means for simultaneously displaying on a linear scale.