JP5178348B2 - Model radio control device - Google Patents

Description

  The present invention relates to a model radio control apparatus, and more particularly, to a model radio control apparatus in which reliability of wireless communication is improved by combining a directional receiving unit.

  Conventionally, in a transmission / reception apparatus for wireless operation for controlling a flight model body such as an airplane or a helicopter, the reliability of the communication is emphasized. Communication is not allowed to be interrupted regardless of the posture of the model body or the surrounding radio wave conditions.

However, the antenna of the transmission / reception apparatus for normal radio operation has directivity, and there is a null point where the radio wave reception sensitivity becomes zero with respect to the direction of the antenna.
A communication failure occurs at the null point, and there is a possibility that an accident such as a crash of the model body may occur because the control of the model body becomes impossible.

  As a method for solving such a problem, there is an antenna diversity type receiving apparatus including a plurality of antennas and a receiving unit. (See Patent Document 1)

  FIG. 9 is a block diagram showing an example of a receiving apparatus using a conventional antenna diversity system. An example of a conventional antenna diversity system will be described with reference to FIG. In this example, a pulse code modulation (hereinafter referred to as PCM) system is adopted for wireless communication.

  The antenna 71 of the receiving unit 70a receives radio waves output from a transmission device (not shown). The radio wave received by the antenna 71 is output to the high frequency circuit 72. The radio wave is subjected to frequency conversion and signal amplification by the high frequency circuit 72 and finally demodulated into a PCM signal.

  The PCM system signal is input to the decoding circuit 73, and the operation signal of each channel for controlling the servo device 40 is decoded and output to the switching processing unit 74. Further, the decoding circuit 73 generates an error check signal from the demodulated PCM signal and outputs the error check signal to the switching processing unit 74.

  Further, the antenna 71, the high frequency circuit 72, and the decoding circuit 73 of the receiving unit 70b perform the same processing as that of the receiving unit 70a.

  The switching processing unit 74 discriminates error check signals output from the receiving unit 70a and the receiving unit 70b, selects a receiving unit in which no error has occurred, outputs an operation signal of the receiving unit to the servo device 40, and performs servo control. The device 40 is controlled.

  In this way, a plurality of antennas and a receiving unit are used, and the directivity of the antenna is supplemented, and the signal of the receiving unit having no error is used for control of the servo device, so that no communication failure occurs.

JP-A-3-32197

FIG. 10 shows the operation signals output from the receiving units 70a and 70b of the receiving apparatus of FIG. 9 to the switching processing unit 74 and the operation signals output from the switching processing unit 74 to the servo device 40. (A) There is no error in the operation signals of the receiving units 70a and 70b, (b) there is no error in the operation signal of the receiving unit 70a, there is an error in the operation signal of the receiving unit 70b, and (c) there is an error in the operation signal of the receiving unit 70a. None and there is a delay, and the operation signal of the receiving unit 70b represents an error-free state.
The delay difference when the operation signal is output from the receiving unit to the switching processing unit is caused by the difference in radio wave propagation reaching the antenna, the influence of the internal circuit until the radio wave is decoded, and the like.

Processing in the conventional switching processing unit 74 will be described. As shown in FIG. 10A, when either receiving unit outputs a normal operation signal, one of the receiving units is preferentially selected. In this example, the switching processing unit 74 selects the signal from the receiving unit 70a. In the case of FIG. 10B, the switching processing unit 74 selects the operation signal of the receiving unit 70a without error. As shown in FIGS. 10A and 10B, no problem occurs in the processing of the switching processing unit 74. However, when the state becomes as shown in FIG. 10C, the problem occurs. There is a case.
In the case of FIG. 10C, only the operation signal of the receiving unit 70b is input to the switching processing unit 74 at first, and the switching processing unit 74 selects the operation signal of the receiving unit b. When an operation signal of the receiving unit 70a without error is input after the operation signal of the receiving unit 70b, the output signal of the switching processing unit 74 is switched to the operation signal of the receiving unit 70a, and the two operation signals interfere with each other. It is possible that a correct operation signal cannot be output to the servo device 40.

  An object of the present invention is to provide a radio control device for a model that prevents interference of an operation signal and correctly outputs an operation signal to a servo device in a receiving device that uses an antenna diversity system to solve the above problems. And

  The model radio control apparatus according to claim 1, wherein the model radio control apparatus uses a pulse code modulation method and includes a transmission apparatus including an encoder that generates transmission data, an antenna that receives a radio wave transmitted from the transmission apparatus, and a received radio wave. Model radio comprising a first receiver, a second receiver, and a receiver comprising a signal line connecting the first receiver and the second receiver, each having a high-frequency circuit for demodulation In the control device, the first receiving unit includes a first decoding circuit that decodes the first demodulated data and transmits the first demodulated data to the model drive control means, and the second receiving unit decodes the second demodulated data. The second decoding circuit includes a data output unit that outputs the second demodulated data as transfer data to the first receiving unit, and the data output unit is connected via the signal line. Transfer data Communication from the data output section of the second decoding circuit to the first decoding circuit, wherein the first decoding circuit discriminates errors between the first demodulated data and transfer data, and the first demodulated data and / or the transfer A signal discriminating unit that forms and outputs an operation signal for performing drive control of the model from data, and a signal updating unit that decodes the operation signal output from the signal discriminating unit are provided.

  The model radio control device according to claim 2 is the model radio control device according to claim 1, wherein the signal discrimination unit discriminates an error check signal included in the first demodulated data, and the first demodulated data. If it is confirmed that there is no error, an operation signal for controlling the driving of the model in the first demodulated data is output to the signal update unit. If an error is confirmed, an error check included in the transfer data is checked. If there is no error, the operation signal in the transfer data is output to the signal update unit. If there is an error in the transfer data, a predetermined operation is performed on the drive control means stored in the signal update unit. An auxiliary operation signal to be executed is output to the model drive control means.

  The model radio control device according to claim 3 uses a pulse code modulation method, a transmission device including an encoder that generates transmission data, an antenna that receives a radio wave transmitted from the transmission device, and a received radio wave. In a model radio control apparatus including a plurality of receiving units each including a high-frequency circuit for demodulation and a receiving device including a signal line connecting the plurality of receiving units to each other, the receiving unit decodes demodulated data A decoding circuit for transmitting to the model drive control means is provided, the decoding circuit being input from the data output unit for outputting the demodulated data as transfer data to the other receiving unit via the signal line, and from the demodulated data and the other receiving unit. A signal judgment is made by determining an error in the transferred data and forming and outputting an operation signal for controlling the driving of the model from the demodulated data and / or the transferred data. And parts, is characterized by comprising a signal updating unit for decoding the operation signal output from the signal determination portion.

  The model radio control device according to claim 4 is the model radio control device according to claim 3, wherein the signal discrimination unit discriminates an error check signal included in the demodulated data, and the demodulated data has no error. If the error is confirmed, an operation signal for controlling the driving of the model in the demodulated data is output to the signal update unit, and if an error is confirmed, an error included in the transfer data input from another receiving unit is output. The check signal is determined, and if there is no error, the operation signal in the transfer data is output to the signal update unit. If there is an error in the transfer data, the drive control means stored in the signal update unit stores a predetermined signal. An auxiliary operation signal for executing the above operation is output to the model drive control means.

The model radio control device according to claim 5 is the model radio control device according to any one of claims 1 to 4, wherein the transmission data and the demodulated data include an identification code indicating an operated channel; An operation signal of each channel for giving an instruction to the drive control means; and an error check signal for discriminating a communication error. The transfer data includes an update code indicating the operated channel, an operation signal, and an error check signal. The signal discriminating unit outputs an operation signal of a channel corresponding to the identification code or the update code when outputting the operation signal of the demodulated data or the operation signal of the transfer data to the signal update unit.

  The model radio control device receiving device according to claim 6 uses a pulse code modulation method, and demodulates the received radio wave and the antenna that receives the radio wave transmitted from the transmitting device including an encoder that generates transmission data. In a receiving device of a model radio control device having a plurality of receiving units each including a high-frequency circuit and a signal line connecting the plurality of receiving units, the receiving unit decodes demodulated data and drives a model drive A decoding circuit for transmitting to the data receiving section, the decoding circuit outputting demodulated data as transfer data to another receiving section via the signal line, and an error in the demodulated data and transfer data input from the other receiving section. A signal discriminating unit that forms and outputs an operation signal for performing model drive control from the demodulated data and / or the transfer data, and a signal discriminating unit It is characterized by having a signal updating unit for decoding an et outputted the operation signal.

  8. The receiving device for a model radio control apparatus according to claim 7, wherein the signal determining unit determines an error check signal included in demodulated data, and the demodulation unit receives the demodulation signal. When it is confirmed that there is no error in the data, an operation signal for controlling the driving of the model in the demodulated data is output to the signal update unit. When an error is confirmed, it is input from another receiving unit. The error check signal included in the transfer data is determined, and if there is no error, the operation signal in the transfer data is output to the signal update unit, and if there is an error in the transfer data, it is stored in the signal update unit. An auxiliary operation signal for causing the drive control means to execute a predetermined operation is output to the model drive control means.

  The receiving device of the model radio control device according to claim 8 is the receiving device of the model radio control device according to claim 6 or 7, wherein the transmission data and the demodulated data include an identification code indicating an operated channel, An operation signal of each channel for giving an instruction to the drive control means; and an error check signal for discriminating a communication error. The transfer data includes an update code indicating the operated channel, an operation signal, and an error check signal. The signal discriminating unit outputs an operation signal of a channel corresponding to the identification code or the update code when outputting the operation signal of the demodulated data or the operation signal of the transfer data to the signal update unit.

As described above, the model radio control apparatus of the present invention improves the reliability of communication by two or more receiving units, and further the error of demodulated data and transfer data by the signal discriminating unit in the decoding circuit of the receiving unit. Thus, the signal update unit updates the operation signal, thereby preventing signal interference when the operation signal is output to the servo device and preventing the servo device from malfunctioning.
In addition, by using an identification code or an update code for determining which channel's operation signal has been updated, the operation of the servo device is made more reliable.

  The model radio control apparatus of the present invention will be specifically described below with reference to the drawings.

First, a first embodiment of the transmission / reception apparatus according to the present invention will be described with reference to FIGS. However, the same components as those in the conventional example are denoted by the same reference numerals and description thereof is omitted.
Note that the PCM method is used for wireless communication.

  FIG. 1 is a block diagram showing a configuration example of a transmission apparatus according to the present invention. The transmission device 1 includes a plurality of operators 2, an encoder 3, a modulation circuit 4, and a power amplification circuit 5. An antenna 6 is connected to the transmission device 1.

FIG. 2 is a block diagram showing a configuration example of the receiving apparatus of the present invention. An antenna 7 is connected to each of the first receiver 10 and the second receiver 20. Further, the first receiving unit 10 is connected to a drive control means such as a servo device 40 for controlling the driving of the model body via a connection line.
Further, the first receiving unit 10 and the second receiving unit 20 include a high frequency circuit 8 and decoding circuits 11 and 21, respectively. The first decoding circuit 11 includes a signal determination unit 12 and a signal update unit 13, and the second decoding circuit 21 includes a data output unit 22. The first receiving unit 10 and the second receiving unit 20 are connected by a signal line 30.

FIG. 3 shows a configuration example of the high-frequency circuit 8 of this embodiment. The high-frequency circuit 8 uses a double superheterodyne system that converts the frequency twice.
The high frequency circuit 8 includes a high frequency amplifier circuit 51, a first intermediate frequency amplifier circuit 54, and a second intermediate frequency amplifier circuit 57 that amplify the input signal, a first frequency conversion circuit 52 that converts the frequency of the signal, and a second frequency. A conversion circuit 55, a first local transmission circuit 53 that generates a reference signal, a second local transmission circuit 56, and a demodulation circuit 58 that demodulates the signal are provided.

FIG. 4 is a configuration example of one frame of transmission data generated by the encoder 3 of the transmission apparatus 1 of the present embodiment having drive control means such as twelve servo apparatuses.
The transmission data includes a synchronization code SYNC for synchronizing communication, operation signals CDa, CDb,..., Which are drive data for each servo device, and identification codes C0, C1 for identifying which channel the operation signal is data of. ,..., Error check signals CRCA and CRCB based on CRC (cyclic redundancy check) codes for checking data errors, and a control code for enabling a fail-safe function for safely operating the servo device in the event of a communication failure It is composed of CNTA and CNTB.

In addition, if the transmission data is to be transmitted for all 12 channels in one frame, the data transfer time becomes longer, which causes the response speed of the servo device 40 to be affected.
Therefore, an operation code for two channels is assigned to an operation signal area for one channel (hereinafter referred to as a time slot), and an identification code is assigned. Specifically, channels 1 and 7 are assigned to the time slot of the operation signal CDa, and the identification code C0 includes data for identifying which channel the operation signal is on in the time slot. I have to.
When data is transmitted, one of the channels assigned to the time slot is always operated, and the other is rarely operated. Normally, when data is transmitted, a channel that is always operated is assigned to the time slot. Change the assignment only once when it is manipulated or sent several times. In this way, in this embodiment, the transmission time of transmission data is shortened to almost half as compared with the case where data of all 12 channels is transmitted with little effect on the operation responsiveness in actual use. I can do it.

  FIG. 5 is a configuration example of transfer data generated by the data output unit 22 of the second receiving unit 20. The transfer data includes a synchronization code HD, operation signals CD0, CD1,... For each channel, an error check signal ERD, and update codes BLK, CF0, CF1, and CF2 indicating which channel operation signals have been updated. It is.

  FIG. 6 is a diagram illustrating timing for outputting the transfer data to the first receiving unit.

  FIG. 7 is a flowchart showing a flow of processing from reception of radio waves by the first receiving unit 10 to drive control of the servo device 40. Hereinafter, the flow of processing according to the present embodiment centering on the processing in FIG. 7 will be described.

  When the operator operates the operation element 2 provided in the transmission apparatus 1, an operation signal for controlling the driving of the model is generated and input to the encoder 3. There are as many operation signals as the number of channels corresponding to the drive control means, and the operation signals of the respective channels are parallel signals that change simultaneously. The encoder 3 adds an error check signal or the like to the operation signal of each channel and converts it into transmission data that is a serial signal.

  The transmission data is modulated into a radio wave by the modulation circuit 4, and power amplification sufficient to radiate the radio wave in the air is performed by the power amplifier 5. Radio waves are radiated from the antenna 6.

The antennas 7 of the first receiver 10 and the second receiver 20 each receive radio waves (S1). The radio waves received by the antenna 7 are respectively input to the high frequency circuit 8 (S2). The radio wave is demodulated by the high frequency circuit 8 into first demodulated data in the first receiving unit and second demodulated data in the second receiving unit (S3).
The configuration of the first and second demodulated data is the same as the transmission data.

  In the first receiving unit 10, the first demodulated data is input to the first decoding circuit 11. At this time, one frame of the first demodulated data is divided by the error check signal CRCA, and when the error check signals CRCA and CRCB are respectively input to the signal determination unit 12 of the decoding circuit 11, the signal determination unit 12 The error check signal of the demodulated data of 1 is discriminated.

  When there is no error between the transmission data and the first demodulated data (S4, no error), an operation signal of a channel corresponding to the identification code is output from the signal determination unit 12 to the signal update unit 13. The signal update unit 13 holds operation signals for all channels, and the operation signals for the output channels are updated (S6), and the operation signals for all channels are decoded (S7). Then, an operation signal is output (S8), and the drive control means for the model body such as the servo device 40 is driven and controlled (S9). At this time, the operation signal of the channel that has not been updated is output as the operation signal immediately before being held in the signal update unit 13.

  In this embodiment, data for three channels is updated by one update, and data for six channels is updated by one frame of the first demodulated data. In this way, decoding delay is improved by dividing and updating one frame of demodulated data.

  In the second receiving unit 20, the second demodulated data demodulated by the high frequency circuit 8 is input to the data output unit 22 of the second decoding circuit 21 and converted into transfer data. The transfer data is input to the signal determination unit 12 of the first decoding circuit 11 of the first receiving unit 10 through the signal line 30 at the transfer data communication timing of FIG.

  When an error is found in the error check signal of the first demodulated data in the first receiving unit 10 (S4, there is an error), the signal discriminating unit 12 receives the error check signal of the transfer data input via the signal line 30. Discrimination is made.

  If there is no error in the transfer data error check signal (S5, no error), the signal update unit 13 updates the channel operation signal corresponding to the transfer data update code (S6). In addition, the channel that has not been updated at this time holds the operation signal up to that point.

  Thereafter, the operation signal is decoded and output (S7, S8), and the servo device 40 is driven and controlled (S9).

  If an error is also found in the transfer data error check signal (S5, there is an error), the signal update unit 13 does not update the operation signal, but updates the signal so as to maintain the operation state of the model body until then. Drive control is performed so that the servo device 40 is held by the operation signal held by the unit 13.

  If the communication state is not improved even after the hold state of the servo device 40 has elapsed (S10, the fixed time has elapsed), the auxiliary operation signal for fail-safe operation stored in the signal update unit 13 is used to The servo device 40 is drive-controlled so as to make a turning flight so that the body does not suddenly fall (S11, S9).

  In the present embodiment, a greater diversity effect can be obtained by directing the antennas of the receiving devices in different directions. In particular, the maximum diversity effect is exhibited by arranging the antennas to be orthogonal. As a result, even when one receiving unit has a communication failure, the probability that the other receiving unit can normally receive radio waves is greatly improved.

  In addition, the receiving apparatus according to the present embodiment can be implemented in any form, in which two receiving units are housed in one housing and in which each receiving unit is housed in a separate housing.

  Further, the configuration of the transfer data may not include all channel operation signals as in the embodiment, but may include only the update code and the operation signal of the channel corresponding to the update code.

  Next, a second embodiment of the transmission / reception apparatus of the present invention will be described with reference to FIG. However, components having the same configurations as those of the conventional example and the first embodiment are denoted by the same reference numerals and description thereof is omitted.

FIG. 8 is a block diagram of a receiving apparatus according to the second embodiment. Drive control means such as a servo device 40 for controlling the antenna 7 and the model body are connected to the two receiving units 60a and 60b, respectively.
The receiving unit 60a includes a high frequency circuit 8 and a decoding circuit 61a. The decoding circuit 61a includes a signal determination unit 62a, a data output unit 63a, and a signal update unit 64a. In addition, since the structure of the receiving part 60b is the same as the receiving part 60a, description is abbreviate | omitted. Further, the signal lines 31 are connected between the receiving units 60a and 60b.
Note that the PCM method is used for wireless communication.

From here, the process in the receiving part 60a is demonstrated in detail.
In the receiving unit 60 a, the antenna 7 receives the radio wave transmitted from the transmitting device 1 in FIG. 1 and inputs it to the high frequency circuit 8. The radio wave is demodulated by the high frequency circuit 8 into demodulated data a.
The configuration of the high-frequency circuit 8 is the same as that in FIG. 3 of the first embodiment. The configuration of the demodulated data a is the same as the configuration of the transmission data in FIG. 4 of the first embodiment.

  The demodulated data a demodulated by the high frequency circuit 8 of the receiving unit 60a is input to the signal discriminating unit 62a of the decoding circuit 61a, and the error check signal is discriminated.

  When there is no error between the transmission data and the demodulated data a, the operation signal of the channel corresponding to the identification code of the demodulated data a is updated among the operation signals held in the signal update unit 64a. Then, the signal update unit 64a decodes the operation signals of all channels. The signal update unit 64a outputs the decoded operation signal to the servo device 40 or the like connected to the reception unit 60a, and performs drive control of the model body.

  On the other hand, simultaneously with the processing in the signal discriminating unit 62a, the demodulated data a is also input to the data output unit 63a and converted to transfer data a. The transfer data a generated by the data output unit 63a is output to the signal determination unit 61b via the signal line 31.

  When an error is found in the error check signal of the demodulated data a, the signal determination unit 62a determines the error check signal of the transfer data b received from the data output unit 63b via the signal line 31.

  When there is no error between the transmission data and the transfer data b, the signal update unit 64 updates the operation signal of the channel corresponding to the update code of the transfer data b. The operation signal is decoded and output to drive and control the servo device 40 connected to the receiving unit 60a.

When an error is found in the error check signal of the transfer data b in the signal discriminating unit 62a, the signal updating unit 64a outputs an operation signal so that the servo device 40 maintains the current operation state, and the servo device 40 is turned on. Control the drive of the model to hold. If the communication state is not improved even after a lapse of a certain time after entering the hold state, an auxiliary operation signal stored in the signal update unit 64a is output so that the model performs a fail-safe operation, and the servo device 40 is accordingly transmitted. Is controlled.
In addition, the receiving unit 60b performs the same processing as the receiving unit 60a, and thus the description thereof is omitted.

  As described above, when the two receiving units use each other's transfer data, both receiving units can have a diversity effect.

  In addition, since the servo device can be connected to each of the two receiving units, the installation location and wiring of the receiving unit and the servo device can be freely set. Further, if the servo device is connected to the same channel of each receiving unit, the same operation can be performed.

  Furthermore, in this embodiment, there are two receiving units, but three or more receiving units may be used. The receiving unit of this embodiment includes a terminal for outputting transfer data to another receiving unit and a terminal for receiving transfer data from the other receiving unit. A diversity effect can be obtained by connecting these terminals with signal lines.

  Further, the drive control means such as a servo device may be connected to an arbitrary receiving unit as necessary, and need not be connected to all receiving units.

It is a block diagram which shows the structure of the transmitter of this invention. It is a block diagram which shows the structure of the receiver of the 1st Embodiment of this invention. It is a block diagram which shows the structure of the high frequency circuit of this invention. It is a figure which shows the structure of the transmission data of this invention. It is a figure which shows the structure of the transfer data of this invention. It is a figure which shows the timing which outputs the transfer data of this invention from one receiving part to the other receiving part. It is a flowchart which shows the flow of a process in the receiver of this invention. It is a block diagram which shows the structure of the receiver of the 2nd Embodiment of this invention. It is a block diagram which shows the structure of the receiver by the conventional antenna diversity system. It is a figure which shows the mode of the operation signal input into the switching process part from the receiving part of the conventional receiver, and the operation signal output to a servo apparatus from a switching process part.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Transmission apparatus 8 High frequency circuit 10 1st receiving part 11, 21 Decoding circuit 12 Signal discrimination | determination part 13 Signal update part 20 2nd receiving part 22 Data output part 30 Signal line 40 Servo apparatus

Claims (8)

A first reception device including a transmission device using an encoder that generates transmission data using a pulse code modulation method, an antenna that receives a radio wave transmitted from the transmission device, and a high-frequency circuit that demodulates the received radio wave. In a model radio control device comprising: a receiving unit comprising a signal line connecting the first receiving unit, the second receiving unit, the first receiving unit, and the second receiving unit;
The first receiving unit includes a first decoding circuit that decodes the first demodulated data and transmits the first demodulated data to the model drive control unit, and the second receiving unit decodes the second demodulated data. A decoding circuit, wherein the second decoding circuit includes a data output unit that outputs the second demodulated data to the first receiving unit as transfer data, and the data output unit outputs the transfer data via the signal line. Communication from the data output section of the second decoding circuit to the first decoding circuit, wherein the first decoding circuit discriminates errors between the first demodulated data and transfer data, and the first demodulated data and / or the transfer A radio control apparatus for a model, comprising: a signal discriminating unit that forms and outputs an operation signal for performing model drive control from data; and a signal update unit that decodes the operation signal output from the signal discriminating unit .   The signal discriminating unit discriminates an error check signal included in the first demodulated data, and when it is confirmed that there is no error in the first demodulated data, drive control of the model in the first demodulated data is performed. The operation signal to be performed is output to the signal update unit. If an error is confirmed, the error check signal included in the transfer data is determined. If there is no error, the operation signal in the transfer data is output to the signal update unit and transferred. The auxiliary operation signal for causing the drive control means stored in the signal update unit to execute a predetermined operation is output to the model drive control means when there is an error in the data. Radio control device for models. A plurality of reception units each including a transmission device using an encoder that generates transmission data using a pulse code modulation method, an antenna that receives a radio wave transmitted from the transmission device, and a high-frequency circuit that demodulates the received radio wave And a model radio control device comprising a receiving device comprising a signal line connecting the plurality of receiving units to each other,
The receiving unit includes a decoding circuit that decodes the demodulated data and transmits the demodulated data to the model drive control means, and the decoding circuit outputs the demodulated data to the other receiving unit as transfer data via the signal line; A signal discriminating unit for discriminating an error between demodulated data and transfer data input from another receiving unit and forming and outputting an operation signal for performing model drive control from the demodulated data and / or the transfer data; and a signal discriminating unit A radio control apparatus for a model, comprising a signal updating unit that decodes the operation signal output from the model.   The signal discriminating unit discriminates an error check signal included in the demodulated data, and when it is confirmed that the demodulated data has no error, an operation signal for controlling driving of the model in the demodulated data is transmitted to the signal updating unit. If an error is confirmed, an error check signal included in the transfer data input from another receiving unit is determined, and if there is no error, an operation signal in the transfer data is output to the signal update unit. When the transfer data has an error, an auxiliary operation signal for causing the drive control means stored in the signal updating unit to execute a predetermined operation is output to the model drive control means. Radio control device for 3 models. The transmission data and the demodulated data include an identification code indicating the operated channel, an operation signal of each channel that gives an instruction to the drive control means, and an error check signal for determining a communication error, and the transfer data is , Including an update code indicating the operated channel, an operation signal, and an error check signal,
The signal determination unit outputs an operation signal of a channel corresponding to an identification code or an update code when outputting an operation signal of demodulated data or an operation signal of transfer data to the signal update unit. 4. The model radio control device according to any one of 4 above. A plurality of reception units each including an antenna that receives radio waves transmitted from a transmission device that includes an encoder that generates transmission data using a pulse code modulation method, and a high-frequency circuit that demodulates the received radio waves, and the plurality of receptions In the receiving device of the model radio control device comprising a signal line connecting the parts,
The receiving unit includes a decoding circuit that decodes the demodulated data and transmits the demodulated data to the model drive control means, and the decoding circuit outputs the demodulated data to the other receiving unit as transfer data via the signal line; A signal discriminating unit that discriminates errors between demodulated data and transfer data input from another receiving unit, and forms and outputs an operation signal for performing model drive control from the demodulated data and / or the transfer data; and signal discrimination A model radio control device receiving apparatus, comprising: a signal updating unit that decodes the operation signal output from the unit.   The signal discriminating unit discriminates an error check signal included in the demodulated data, and when it is confirmed that the demodulated data has no error, an operation signal for controlling driving of the model in the demodulated data is transmitted to the signal updating unit. If an error is confirmed, an error check signal included in the transfer data input from another receiving unit is determined, and if there is no error, an operation signal in the transfer data is output to the signal update unit. When the transfer data has an error, an auxiliary operation signal for causing the drive control means stored in the signal updating unit to execute a predetermined operation is output to the model drive control means. 6. A receiving device for a radio control device for a model according to 6. The transmission data and the demodulated data include an identification code indicating the operated channel, an operation signal of each channel that gives an instruction to the drive control means, and an error check signal for determining a communication error, and the transfer data is , Including an update code indicating the operated channel, an operation signal, and an error check signal,
The signal determination unit outputs an operation signal of a channel corresponding to an identification code or an update code when outputting an operation signal of demodulated data or an operation signal of transfer data to the signal update unit. 8. A receiving device for a radio control device for a model according to 7.

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