JP4116476B2 - Display device for unmanned helicopter and method of using the same - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a GPS-controlled unmanned helicopter display device and a method of using the same.
[0002]
[Prior art]
GPS control is performed for speed control and position control of the unmanned helicopter (see, for example, Patent Document 1). Regarding the display of the operation status of the GPS control, there has conventionally been only a simple display such as only being in operation, and the status of the GPS control corresponding to GPS reception failure, sensor abnormality, or on / off of the GPS control switch. It was not displayed. For this reason, detailed information on the GPS control cannot be obtained, and there is a case where it is not possible to quickly cope with the situation.
[0003]
On the other hand, a display device for an unmanned helicopter is described in Patent Document 2. The display device described in Patent Document 2 displays a warning of an abnormal state of the aircraft using a single indicator lamp, and cannot display various types of situations including the GPS control state. In particular, with respect to GPS control, if there is an abnormality such as poor GPS reception, the position and speed cannot be controlled, and the maneuvering performance will change greatly. Therefore, it is preferable to always display detailed information about the GPS control state to the driver together with the warning display while avoiding confusion with other warning displays.
[0004]
[Patent Document 1]
JP-A-5-19854 [Patent Document 2]
JP-A-8-248894 gazette
[Problems to be solved by the invention]
The present invention takes the above-mentioned prior art into consideration, and provides a detailed display of the GPS control status together with a warning of aircraft abnormalities, and is easy to identify for the pilot on the ground, and can be recognized simultaneously while avoiding confusion. An object of the present invention is to provide a helicopter display device and a method of using the same.
[0006]
[Means for Solving the Problems]
To achieve the above object, the present invention, in a display apparatus comprising a lamp provided on the body of the GPS controllable unmanned helicopter, the lamp is composed of an inner lamp and outer lamps surrounding the outside, a separate pieces each The lamp can be turned on, flashed, and turned off. The lamp has two lamps: a GPS indicator that displays the status of GPS control and a warning lamp that displays the abnormal state of the aircraft. The GPS indicator lamp changes the lighting state of the inner lamp and the outer lamp according to the state of GPS control, and the warning lamp has the lighting state of the inner lamp and the outer lamp respectively according to the state of the aircraft. A display device for an unmanned helicopter characterized by being changed .
[0007]
According to this configuration, it is possible to light up the inner ramp and outside ramp to another number, respectively, by displaying the different states according to the combination flashing on and off, performed without confusing the display of various types Also, two lamps are provided for GPS display and warning display, and these are provided in the same direction, so that the GPS state and the abnormal state of the aircraft can be recognized simultaneously without confusion.
[0008]
A preferred configuration example is characterized in that the display colors of the GPS indicator light and the warning light are changed.
[0009]
According to this configuration, since the display colors of the GPS indicator light and the warning light are different, the GPS reception state and the abnormal state of the aircraft can be distinguished and recognized even when the aircraft is far away.
[0010]
The present invention further uses the display device of the present invention to display a different state for each combination of lighting, blinking, and extinguishing of the inner lamp and the outer lamp, and a method for using the display device for an unmanned helicopter I will provide a.
[0011]
According to this configuration, it is possible to perform inside the lamp and outer lamp lighting to another number, respectively, by displaying the different states according to the combination flashing on and off, without confusing the display of various types .
[0012]
In a preferred configuration example, another state is displayed by the combination before and after starting the engine.
[0013]
According to this configuration, since the state before the flight on the ground before starting the engine and the state during the flight after starting the engine are distinguished and displayed, detailed information can be displayed. For example, on the ground, it is possible to identify before flight whether the GPS sensor and the direction sensor used for GPS control are normal, whether the GPS signal has been received normally, and whether the GPS control switch is operating normally. Further, during flight, it is identified whether the GPS signal has been normally received, whether the speed control is normal, whether a state in which GPS control cannot be performed, or the like has occurred. As a result, information such as the flight state required by the operator can be obtained only by displaying the lamp when necessary.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a configuration diagram of an unmanned helicopter according to an embodiment of the present invention.
The airframe 1 has a main rotor 2 and a ladder rotor 3, and is equipped with an engine 4 and its ignition system 5. A reception antenna 6 is provided in the vicinity of the ladder rotor 3 and is connected to a receiver 8 formed on a printed board in a reception box 7 in the body. The reception box 7 is further provided with a controller 9 formed on another printed circuit board. A GPS sensor 10 is provided below the rear tail 27 of the airframe 1. The GPS sensor 10 measures the position from the GPS signal received by the GPS antenna 13. The rear end of the GPS sensor 10 is provided with a GPS indicator lamp 11 for displaying the operating state and reception state of GPS during flight and a warning lamp 26 for displaying an abnormality of the aircraft. The GPS indicator lamp 11 and the warning lamp 26 are actually arranged in parallel on the left and right.
[0015]
The aircraft 1 above the tail 27 at the rear of the aircraft is provided with a panel display unit 25 for displaying the initial state of the aircraft before flight. An attitude sensor 12 made of a gyro is provided near the center of gravity of the airframe 1. 14 is an azimuth sensor for detecting geomagnetism, and 15 is an engine rotation sensor.
[0016]
The machine body 1 includes five servo motors 16 to 20 that are driven and controlled by the controller 9. Reference numeral 16 is a left aileron servomotor, 17 is a right aileron servomotor, 18 is an elevator servomotor, 19 is a throttle servomotor, and 20 is a ladder servomotor.
[0017]
Reference numeral 21 denotes a transmitter on the ground side. The transmitter 21 includes a stick-shaped first operator 22 and a second operator 23.
[0018]
The first operator 22 is for elevator operation and ladder operation. The elevator servo motor 18 is controlled by operating the first operating element 22 in the ab direction, and the nose is lowered to fly forward (a direction operation) or the nose is raised to fly backward (b direction operation). By operating the first operating element 22 in the cd direction, the ladder servo motor 20 is controlled to adjust the horizontal direction toward the front of the fuselage 1, and the nose is swung to the left (c direction operation) or right ( d direction operation).
[0019]
The second operation element 23 is an engine operation element for adjusting the engine speed and the main rotor load at the same time, for throttle operation and aileron operation. By operating the second operation element 23 in the ef direction, the machine body is raised (operation in the e direction) or lowered (operation in the f direction) while maintaining a horizontal posture. That is, the throttle servomotor 19 is controlled by the operation of the second operation element 23 in the ef direction, the engine throttle opening is adjusted, and the left and right aileron servomotors 16 and 17 and the elevator servomotor 18 are simultaneously driven. . As a result, the aircraft rises or descends in a horizontal posture.
[0020]
By operating the second operation element 23 in the gh direction, the left and right aileron servomotors 16 and 17 are controlled, and the body 1 is tilted to the left to move left (g direction operation) or to the right to move right ( h direction operation).
[0021]
FIG. 2 is a control system block diagram of the unmanned helicopter according to the present invention. FIG. 3 is a flowchart of control calculation processing by the controller.
[0022]
A steering command signal generated by the operation of the transmitter 21 on the ground side is received by the receiver 8 on the fuselage side and sent to the controller 9 for signal processing. The controller 9 performs the calculation process of the flow shown in FIG. 3 according to a control program preset in the internal control circuit 28.
[0023]
First, an operation state flag or the like is set to an initial value (step A1). Subsequently, the input signal processing unit 29 performs input signal processing (step A2). This is to check whether the reception state is normal and whether various sensors are normal based on input signals such as command signals and detection signals of various sensors.
[0024]
Next, engine rotation control calculation is performed (step A3). In this case, the engine rotation control calculation unit 30 controls the throttle opening based on the engine control servo command from the engine control 23 (FIG. 1) of the transmitter 21 so as to fly at a predetermined engine speed. .
[0025]
Next, attitude control calculation is performed (step A4). This is a posture control calculation unit 31 for controlling the inclination of the airframe in the front-rear and left-right directions based on a signal from the posture sensor 12.
[0026]
Next, GPS control calculation is performed (step A5). This is a GPS control calculation unit 32 for controlling the flight position and the flight speed based on the signal from the GPS sensor 10.
[0027]
Next, after performing these input signal processing and each control calculation processing, a processing result is output from the output signal processing unit 33 (step A6). The output signal drives the engine ignition system to drive the engine based on the commanded engine speed, and also drives the servo motors 16 to 20 to control the direction and attitude.
[0028]
These routines of Steps A1 to A6 are controlled while updating data by being repeated, for example, about every 20 ms during the flight.
[0029]
FIG. 4 is a front view of the display device according to the present invention.
The GPS indicator lamp 11 and the warning lamp 26 are mounted on the same mounting frame 46 in the same direction (front). The GPS indicator lamp 11 and the warning lamp 26 are both lamps composed of a plurality (30 in this example) of LEDs 49. The LED of the GPS indicator lamp 11 is yellow, and the LED of the warning lamp 26 is red. Both the GPS indicator lamp 11 and the warning lamp 26 are formed by an inner lamp 47 composed of 12 inner LEDs and an outer lamp 48 composed of 18 LEDs on the outer side. Inner ramp 47 and outer ramp 48, turned to a different number each, by the combination patterns become flashing or off state, various states are displayed as described in FIGS. 5 to 7 below.
[0030]
The arrangement pattern of the LEDs 49 is not limited to the illustrated rectangle, and may be arranged in a circular shape or other shapes and divided into an inner side and an outer side.
[0031]
FIG. 5 shows an example of a warning light display pattern. White circles are on, black circles are off, and half-black circles are blinking.
[0032]
(A) is a full lighting pattern, and when the “setting” display is blinking, it indicates that control is being set. When any of the indicators is lit, it indicates a failure at the location indicated by the indicator.
(B) is a full light extinction pattern and shows a state without abnormality.
(C) is an outer blinking and inner extinguishing pattern, and shows a state in which the engine rotation is reduced due to a high load.
(D) is a blinking pattern on the inside and an extinguishing pattern on the outside, indicating a shortage of remaining fuel.
(E) is a pattern in which the outer side and the inner side are alternately turned on and off alternately, and shows a state in which the fail-safe control is activated because the control radio wave cannot be received.
[0033]
FIG. 6 shows an example of the display pattern of the GPS indicator lamp before the engine is started.
(A) is a full light extinction pattern, and indicates that GPS control settings are being prepared (waiting for the completion of other control settings).
(B) is an outer blinking and inner extinguishing pattern, which indicates that GPS control is being set.
(C) is an outer light-on / inner light-off pattern, which indicates that the setting of GPS control has been completed.
(D) is a full lighting pattern and indicates that the GPS control switch is on.
[0034]
FIG. 7 shows an example of the display pattern of the GPS indicator light after the engine is started.
(A) is an outer blinking and inner extinction pattern, and the reception state is good, but it is in a state in which GPS control cannot be used because it is in the landing state before takeoff or after landing, or in the manual mode. It shows that.
(B) is an outer lighting pattern and an inner lighting pattern, indicating that the reception state of the GPS signal is good and that the GPS control is not used. The GPS control can be used by turning on the GPS control switch.
(C) is a full lighting pattern, indicating that the GPS reception state is good and GPS control is being used.
(D) is a pattern in which the outside lighting, the inside lighting pattern → the outside lighting, the inside lighting pattern → the all lighting pattern is repeated, and shows a state in which the reception of the GPS signal deteriorates and the GPS control cannot be performed.
(E) is a full turn-off pattern, and indicates that GPS control cannot be used due to poor reception of GPS signals.
[0035]
【The invention's effect】
As described above, in the present invention, light the inner lamps and outer ramp to another number, respectively, by displaying the different states according to the combination flashing on and off, without confusing the display of various types In addition, since two lamps are provided for GPS display and warning display, and these are provided in the same direction, the GPS state and the abnormal state of the aircraft can be recognized without confusion at the same time.
[0036]
In this case, according to the configuration in which the display colors of the GPS indicator light and the warning light are changed, the display colors of the GPS indicator light and the warning light are different. Therefore, even when the aircraft is far away, the GPS reception status and the aircraft The abnormal state can be distinguished and recognized.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of an unmanned helicopter according to the present invention.
FIG. 2 is a control system block diagram of the unmanned helicopter according to the present invention.
FIG. 3 is a flowchart of control calculation processing by a controller.
FIG. 4 is a front view of a display device according to the present invention.
FIG. 5 is an explanatory diagram of a warning light display pattern according to the present invention.
FIG. 6 is an explanatory diagram of a display pattern before starting the engine of the GPS indicator lamp of the present invention.
FIG. 7 is an explanatory diagram of a display pattern after starting the engine of the GPS indicator lamp of the present invention.
[Explanation of symbols]
1: Airframe 2: Main rotor 3: Ladder 4: Engine 5: Ignition system
6: receiving antenna, 7: receiving box, 8: receiver, 9: controller,
10: GPS sensor, 11: GPS indicator lamp, 12: Attitude sensor,
13: GPS antenna, 14: Direction sensor, 15: Engine rotation sensor,
16: Right aileron servo motor, 17: Left aileron servo motor,
18: Elevation servo motor, 19: Encon servo motor,
20: Ladder servo motor, 21: Transmitter, 22: First operation element,
23: 2nd operation element, 25: Panel display part, 26: Warning light, 27: Tail,
28: control circuit, 46: mounting frame, 47: inner lamp, 48: outer lamp,
49: LED.

Claims (4)

In a display device comprising a lamp provided in the fuselage of an unmanned helicopter capable of GPS control,
The lamp consists of an inner lamp and outer lamps surrounding the outside, it turned to a different number each is capable flashing on and off,
The lamp comprises two lamps, a GPS indicator lamp that displays the status of GPS control and a warning lamp that displays the abnormal state of the aircraft, and these are provided in the same direction ,
The GPS indicator lamp changes the lighting state of the inner lamp and the outer lamp according to the state of GPS control,
An unmanned helicopter display device characterized in that the warning lamp changes the lighting state of the inner lamp and the outer lamp in accordance with the state of the fuselage .   2. The unmanned helicopter display device according to claim 1, wherein display colors of the GPS indicator light and the warning light are changed.   3. The method of using a display device for an unmanned helicopter according to claim 1 or 2, wherein a different state is displayed for each combination of lighting, blinking and extinguishing of the inner lamp and the outer lamp.   4. The method of using the display device for an unmanned helicopter according to claim 3, wherein another state is displayed by the combination before and after starting the engine.

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