JP2719944B2 - Unmanned helicopter - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an unmanned helicopter provided with a microwave distance detecting device using an electromagnetic horn.

[Prior Art] A microwave distance detecting device using a microwave is provided in various devices, and this device irradiates an electromagnetic wave to a target object and receives and measures the reflected wave. .

Conventionally, microwave distance detection devices have been used in aircraft as electromagnetic altimeters using microwaves.Because aircraft have a large body and few restrictions on the mounting position, reflections from their own structures due to electromagnetic waves cause large There was no measurement error.

In addition, it is also used for a generally used radar for distance measurement or the like. In this case, since it is used by being attached to the tip thereof, reflection by electromagnetic waves does not cause much problem.

[Problems to be Solved by the Invention] By the way, in a microwave distance detecting device, for example, when an unmanned helicopter used for spraying pesticides and aerial photography is used, landing legs and pesticide spraying of the unmanned helicopter, aerial photographing device, etc. Thus, the mountable position of the microwave distance detecting device is limited.

In addition, when equipped in an unmanned helicopter or the like, it is necessary to use a small parabolic antenna because of the necessity of small weighing, and it is difficult to use a parabolic antenna with sharp directivity. However, there is a problem that a large measurement error is caused by reflection on a structure such as a landing leg of the airframe.

The present invention has been made in order to solve the above-described conventional problems, and has a microwave distance detecting device that can be mounted even when the mounting space is small and that can reduce the influence of reflection by a structure. It is an object of the present invention to provide an unmanned helicopter that prevents the microwave distance detection device from interfering with an obstacle.

Means for Solving the Problems In order to solve the problems and achieve the object, the invention according to claim 1 is based on “the lower surface of the fuselage and the landing portion of the leg when viewed from the side of the fuselage. A microwave distance detection device is disposed in the enclosed space, the landing portion is formed of a pair of left and right members extending in the longitudinal direction of the fuselage, fixed to the lower surface of the fuselage via a support portion, and the support portion is The landing area is fixed to a lower end of the lower surface of the airframe, and the microwave distance detection device includes an electromagnetic horn for transmission and an electromagnetic horn for reception. The horn and the electromagnetic horn for reception are arranged side by side in the longitudinal direction of the fuselage, and the electromagnetic horn for transmission and the electromagnetic horn for reception are opened toward the lower part of the fuselage. The microwave distance detection An unmanned helicopter, comprising a device, and arranging the transmitting electromagnetic horn and the receiving electromagnetic horn such that magnetic field vibration directions of the electromagnetic horn are directed toward a landing portion. In the microwave distance detecting device, since the electromagnetic horn is small, it is easy to secure a mounting space. In addition, the electromagnetic horn has a stronger directivity in the direction of the magnetic field vibration than in the direction of the electrolytic vibration, but directs the direction of the strong magnetic field to the structure side of an unmanned helicopter that becomes an obstacle to electromagnetic waves. With such arrangement, it is possible to reduce detection errors due to the influence of the structure.

In addition, since the microwave distance detecting device is disposed between the leg provided below the center of gravity of the body and the lower surface of the body, the microwave distance detecting device can be used in various ways when the center of gravity of the body, that is, the posture of the body is in the air. When it changes, it will be located near the place where the displacement with respect to the ground surface is the least in the fuselage, and stable detection can be performed.

Further, the microwave distance detection device is protected by being surrounded by the body and the landing portion, and is prevented from interfering with an obstacle such as a standing tree during handling or flying.

[Embodiment of the Invention] Hereinafter, an embodiment of an unmanned helicopter of the present invention will be described in detail with reference to the drawings. 1 is a perspective view of a remote-controlled unmanned helicopter, FIG. 2 is a side view of the same, FIG. 3 is a view of the remote-controlled unmanned helicopter viewed from behind, FIG.
The figure is an enlarged view of the main part, and FIG. 5 is a view showing the directivity of the electromagnetic horn.

In the figure, reference numeral 1 denotes a radio-controlled unmanned helicopter for spraying agrochemicals, and a body 2 of the unmanned helicopter 1 is provided with a leg 3 for landing. The support portion 3a of the leg portion 3 is curved to both sides from the body 2 and extends downward, and the landing portion 3b is attached to the support portion 3a. The landing portion 3b extends in the front-rear direction of the fuselage 2.

An engine, a receiver (not shown),
A control device, a servo mechanism, and the like are arranged. A main rotor 5 is attached to an output shaft 4 extending substantially vertically upward from the engine.
Is attached. The tail rotor 6 is for canceling the reversing torque by the main rotor 5,
It is provided rearward of the body 2 via a rotating shaft 7 extending leftward in the horizontal direction and in the traveling direction.

A tail wing 8 is provided below the body of the body 2 between the main rotor 5 and the tail rotor 6.

A mooring body (not shown) formed of a wire, a rope, or the like is fixed to a rear position of the body 2, and the other end of the mooring body is connected to a rope winding device (not shown) provided on the ground.

A microwave distance detecting device 9 is provided below the body 2 and between the legs 3. This microwave distance detecting device 9
Has a cone-shaped electromagnetic horn 10, for example, the front electromagnetic horn 10 is for transmitting, the rear electromagnetic horn 10 is for receiving, and the electromagnetic horn 10 Indicates the direction of the magnetic field oscillation, the body 2 which is a part of the moving body.
Are arranged so as to face the leg 3 side, which is a structure that becomes an obstacle to electromagnetic waves.

As described above, when viewed from the side of the body, the microwave distance detecting device 9 is disposed in a space surrounded by the lower surface of the body and the landing portion 3b of the leg 3. The landing portion 3b is composed of a pair of left and right members extending in the longitudinal direction of the fuselage, is fixed to the lower surface of the fuselage via the support portion 3a, and the support portion 3a extends downward and obliquely outward from the lower surface of the fuselage, and has a lower end portion. The landing section 3b is fixed to the second section.

The microwave distance detection device 9 includes an electromagnetic horn for transmission and an electromagnetic horn for reception, and the electromagnetic horn for transmission and the electromagnetic horn for reception are juxtaposed in the longitudinal direction of the fuselage. It opens toward the lower part of the fuselage. The microwave distance detection device 9 is disposed at the center position in the width direction of the fuselage when viewed from the rear side of the fuselage, and the transmission electromagnetic horn and the reception electromagnetic horn are arranged so that the magnetic field vibration directions are directed to the landing portion side.

Although the microwave distance detecting device 9 is arranged in this way, the electromagnetic horn is small, so that it is easy to secure a mounting space. In addition, the electromagnetic horn has a stronger directivity in the direction of the magnetic field oscillation than in the direction of the electric field oscillation, but the direction of the strong magnetic field oscillation is directed toward a structure that becomes an obstacle to electromagnetic waves in a part of the unmanned helicopter. With such arrangement, it is possible to reduce detection errors due to the influence of the structure.

Further, since the microwave distance detecting device 9 is provided between the leg 3 provided below the center of gravity of the body 2 and the lower surface of the body, the microwave distance detecting device 9 is provided with the center of gravity of the body 2, that is, the body 2 When the attitude changes variously in the air, it is arranged near the place where the displacement with respect to the ground surface is the least in the body, and stable detection can be performed.

Further, the microwave distance detection device 9 is protected by being surrounded by the body 2 and the landing portion 3b, and is prevented from interfering with an obstacle such as a standing tree during handling or flying.

The electromagnetic horn 10 of the microwave distance detecting device 9 has directivity as shown in FIGS. 5 (a) and 5 (b).
The directivity of the main beam and the sub beam of the electromagnetic horn 10 is different, and these beams are also different in the direction of electric field oscillation and the direction of magnetic field oscillation, and the level difference is large in the direction of magnetic field oscillation.

5 (a) and 5 (b) that the directivity of the electromagnetic horn 10 including not only the main beam but also the sub beam is stronger in the direction of magnetic field oscillation than in the direction of electric field oscillation. The case where this sub-beam hits a part of the fuselage 2 and is reflected also causes a detection error.

Therefore, the reflected energy can be reduced by adjusting the direction of the magnetic field vibration to the direction in which the reflecting object such as the leg 3 exists.

Here, as shown in FIG. 4, a is the width dimension in the magnetic field vibration direction, λ is the wavelength of the electromagnetic wave to be used, and θ is the right angle between the line connecting the structure and the electromagnetic horn 10 and the radiation direction. If the values of θ and a are set so as to satisfy, the influence of the structure can be further reduced.

More specifically, in an example in which a microwave distance detecting device 9 having an electromagnetic horn 10 for transmission and reception is attached to an industrial unmanned helicopter, as shown in FIG. Is set as a mounting position of the microwave distance detecting device 9 and a certain distance d from the ground surface at the time of landing.
Is required. The unmanned helicopter 1 for industrial use cannot always take off and land on the ground leveled according to its use, and the electromagnetic horn 10 must not collide with the convex portion of the ground.

Here, d is 10 cm, and l is 30 cm in this embodiment.

From this, the angle θ from the electromagnetic horn 10 to the landing portion 3b of the leg 3 is Becomes

Here, the electromagnetic horn 10 is arranged so that the magnetic field vibrations are gathered in the leg direction, and the value 2.3π at which the characteristic of the sub-beam becomes minimum is read from the graph of FIG. 5 (b). Where λ is 1 0.525 GHz, which is approved for use in wireless rating services.
With, And determines the shape of the electromagnetic horn.

[Effects of the Invention] As described above, in the present invention, since the electromagnetic horn of the microwave distance detecting device is small, it is easy to secure a mounting space. In addition, the electromagnetic horn has a stronger directivity in the direction of the magnetic field oscillation than in the direction of the electric field oscillation, but the direction of the strong magnetic field oscillation is directed toward a structure that becomes an obstacle to electromagnetic waves in a part of the unmanned helicopter. With such arrangement, it is possible to reduce detection errors due to the influence of the structure.

In addition, since the microwave distance detecting device is disposed between the leg provided below the center of gravity of the body and the lower surface of the body, the microwave distance detecting device can be used in various ways when the center of gravity of the body, that is, the posture of the body is in the air. When it changes, it will be located near the place where the displacement with respect to the ground surface is the least in the fuselage, and stable detection can be performed.

Further, the microwave distance detection device is protected by being surrounded by the body and the landing portion, and is prevented from interfering with an obstacle such as a standing tree during handling or flying.

[Brief description of the drawings]

FIG. 1 is a perspective view of a remote-controlled unmanned helicopter, FIG. 2 is a side view of the same, FIG. 3 is a view of the remote-controlled unmanned helicopter viewed from behind, FIG. FIG. 5 is a diagram showing the directivity of the electromagnetic horn. In the figure, reference numeral 1 denotes a helicopter, 2 denotes an airframe, 3 denotes a leg, 9 denotes a microwave distance detecting device, and 10 denotes an electromagnetic horn.

Claims (1)

(57) [Claims] 1. A microwave distance detecting device is provided in a space surrounded by a lower surface of a fuselage and a landing portion of a leg when viewed from a side of the fuselage. The micro unit includes a pair of members, and is fixed to the lower surface of the fuselage via a support unit, and the support unit extends downward and obliquely outward from the lower surface of the fuselage, and the landing unit is fixed to a lower end of the lower unit. The wave distance detection device includes a transmission electromagnetic horn and a reception electromagnetic horn, and the transmission electromagnetic horn and the reception electromagnetic horn are arranged side by side in the longitudinal direction of the fuselage, and the transmission electromagnetic horn and the reception electromagnetic horn are arranged side by side. The horn is opened toward the lower part of the fuselage, and the microwave distance detecting device is disposed at a central position in the width direction of the fuselage when viewed from the rear side of the fuselage, and the direction of the magnetic field oscillation of the transmitting electromagnetic horn and the receiving electromagnetic horn is changed. To landing area side Unmanned helicopter, characterized in that arranged kicking manner.