JPH0292800A - Pilot device for remotely controlled helicopter - Google Patents

Abstract

PURPOSE:To facilitate learning pilot technique by providing two or more transmitters of different transmitting frequency and two or more receivers, mounted to an airframe, and enabling the connection to be switched of two or more actuators, driving each attitude control part of the airframe, to each receiver. CONSTITUTION:Transmitters 20A, 20B of respectively different transmitting frequency are provided with the one transmitter 20A for trainer use and the other transmitter 20B for beginner use. While a helicopter provides even in its airframe 1 two receivers 30A, 30B with the one receiver 30A for trainer use and the other receiver 30B for beginner use. While the ariframe 1 provides each servomotor M1 to M4 for an elevator in its up-down control, aileron in its right and left control, rudder in its right and left control and an air conditioner for its high-low control, and connectors 41 to 44, provided in a terminal part of signal lines 31 to 34 from each servomotor M1 to M4, can be plugged in any of the trainer-use receiver 30A and the beginner-use receiver 30B.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a control device for a remote-controlled helicopter developed especially for training beginners.

(Technical Background) The present applicant has developed a remotely controlled unmanned helicopter that is used for purposes such as spraying pesticides and taking aerial photographs, and the helicopter is operated on the ground using a transmitter. That is, the signal emitted from the transmitter is received by a receiver mounted on the helicopter body, and this signal controls the drive of multiple actuators such as servo motors, and these actuators drive each attitude control section of the helicopter. The attitude of the aircraft is controlled and the required maneuvers are performed.

By the way, the attitude control of the helicopter is performed using, for example, the transmission Jl! shown in FIG. Two states 21 provided at 120,
22 in the direction of the arrows ■ to ■, respectively, or the attitude change of the helicopter body L corresponding to the operation of the sticks 21 and 22 in the directions of the arrows ■ to ■ is shown in Figures (a) to (e). ) The same arrow numbers ■～(indicated by Φ).

The arrows ■ and ■ are for the left and right of the rudder, the arrows ■ and ■ are for down and up of the elevator, and the arrows ■ and ■ are for the left and right of the aileron.

Arrows ■ and ■ indicate the high and low operating directions and attitude changes of the encoder, respectively. In addition, the throttle and torque are also operated in conjunction with the engine controller.

(Invention or Problem to be Solved) As described above, it is extremely difficult for beginners to fly a helicopter at will by operating the two sticks of the transmitter, so we developed a control device for training beginners. or desired. Also, since it is not easy to operate even if you are not a beginner, it would be convenient if even experienced operators could share the operation.

The present invention has been made in view of the above circumstances, and its purpose is to enable one-on-one instruction for beginners, and to change the complexity of the operation according to the beginner's level of skill in operation. To provide a remote control helicopter control device which is convenient and allows beginners to easily and reliably learn operating techniques.

(Means for Solving the Problems) In order to achieve the above object, the present invention includes a plurality of transmitters having different transmission frequencies, a plurality of receivers mounted on an aircraft body to receive signals from each of the transmitters, and a plurality of receivers having different transmission frequencies. A control device for a remote-controlled helicopter includes a plurality of actuators that drive each attitude control section of the aircraft body in response to signals from a receiver, and a switching means that switches the connection of the actuators to the receiver. It is characterized by

(Function) If one transmitter and the corresponding receiver are used for trainers, and the other is used for beginners, and the connection of the actuator to the receiver for trainers and the receiver for beginners is switched by the switching means, Trainers are able to teach piloting techniques to beginners one-on-one while also being able to pilot the aircraft themselves. If you increase the number of actuators connected to the beginner's receiver as the beginner's maneuvering skills improve, the beginner can progress from simple operations to complex operations and easily and reliably acquire the maneuvering technique. I can do something. In addition, even in the case of an experienced person, it is possible to share the operation in accordance with this.

(Example) Embodiments of the present invention will be described below based on the accompanying drawings.

FIG. 1 is a configuration diagram of a control device according to the present invention, and FIG. 2 is a perspective view of a remotely controlled helicopter for training purposes operated by the same control device.

First, the schematic configuration of a remotely controlled helicopter will be explained based on FIG. 2. In the figure, l is the aircraft body,
Engine 2, which is the driving source, is installed in the front of the
A muffler 4 exposed outside the fuselage 1 is connected to an exhaust pipe 3 leading out from the engine 2. And engine 2
A radiator 5 is placed in front of the car.

Furthermore, a main rotor plate 6 and a stabilizer blade 7 are rotatably arranged at the front upper part of the fuselage l, and a tail rotor plate 8 is rotatably arranged at the rear end of the fuselage l, and each of these blades 6 .7.8 is the engine 2
Rotationally driven by. In FIG. 2, 9 is a horizontal stabilizer, 10 is a vertical stabilizer, and 11 is a fuel tank.

By the way, since the helicopter according to this embodiment is especially used for training, two runners 1 on the left and right are installed at the lower front of the fuselage l via shock absorbers 12, two on each side.
3.13 are supported parallel to each other, each runner 1
Wheels 14.14 with casters are attached to the front and rear ends of 3. In particular, in order to prevent the aircraft body 1 from falling over, the runners 13 and 13 are made long and are spaced widely apart. Also, shock absorber 12
By using wheels 14 with casters, consideration is given so that the aircraft 1 will not be damaged even if the helicopter falls from a high place, and furthermore, by using wheels 14 with casters, the aircraft 1 will not be damaged if the helicopter falls from a height. Care has been taken to prevent it from falling over.

Next, the configuration of the control device of the helicopter will be explained based on FIG. 1. In the figure, 20A and 20B are transmitters with different transmission frequencies, one transmitter 20A is for the trainer, the other The transmitter 20B is for beginners, and these transmitters 20A and 20B are provided with two sticks 21 and 22 for maneuvering.

In addition, in the figure, 30A and 30B are receivers mounted on the fuselage l of the helicopter shown in FIG.
is for trainers and receives only the signal from transmitter 20A for trainers, and the other receiver 30B is for beginners and receives only signals from transmitter 20B for beginners. .

Furthermore, in FIG. 1, M+, Me, Mx, and M4 receive control signals from the receiver 30A or 30B to control the aircraft l.
A servo motor that drives each posture control section (not shown) of the servo motor (see FIG. 2), which servo motors Ml,
Mt, M, and M4 are for elevator down and up, aileron left, Furukawa, rudder left, Furukawa, and engine high and low, respectively, and 4.8V battery 4.
Driven by 0. Although not shown in the figure, the receiver 30B is also equipped with a similar battery 40.

Thus, each of the above servo motors Mr, Me.

Signal lines 31, 32, 33.3 from M 3 and M 4
4 lead out, and connectors 41°42.4 are connected to these ends.
3.44 are attached, but these can be inserted into either the receiver for trainers 30A or the receiver for beginners 30B.

Therefore, when training beginners by a trainer, for example, as shown in the figure, only the connector 41 is inserted into the receiver 30B for beginners, and the servo motor M1 is connected to the receiver 93.
0B, insert the remaining three connectors 42, 43, and 44 into the receiver 30A side for the trainer, and connect the servo motors M2゜M, , M, to the receiver 30A, and the trainer itself can control the aileron, rudder, Uke has three types of engine operations, so beginners can be trained to only operate elevators up and down, and beginners can easily and surely learn operating techniques by working one-on-one with a trainer. can.

Similarly, if only the connector 42 is inserted into the receiver 30B for beginners, the aileron and only the connector 43 are inserted into the same receiver 930B.
If you insert the rudder into the same receiver 30, connect only the connector 44.
If you insert it into B, you can practice only operating the engine.

If the number of connectors inserted into the receiver 30B for beginners is increased as the beginner's piloting skills improve, the beginner can receive pilot training that combines various operations, allowing the beginner to move from simple to complex operations. You can move forward and definitely learn the maneuvering techniques.

The above description has been made regarding the case where the device of the present invention is used for training purposes for beginners.
It can also be used when the work is shared among people. In addition, when sharing control, it is not limited to two transmitters and two receivers each.
It is also possible to have two or more transmitters/receivers each, and to divide the transmitter/receiver over 2 Å or more.

Next, a modified embodiment of the present invention is shown in FIG. 3 and FIG. 4, respectively. In addition, FIGS. The same elements as shown in the figures are given the same reference numerals.

In the embodiment shown in FIG. 3, each servo motor M,...
M2, M, M4 are always connected to both the trainer receiver 30A and the beginner receiver 30B, and these servo motors M1. M2.

M3. The connection of M to the receivers 30A and 30B is switched using manual changeover switches S, , S, , S, interposed between the signals 1!31, 32, 33.34.

This is done by S4.

Therefore, in this embodiment as well, the same operations as in the above embodiment can be performed, and similar effects can be obtained.

Further, in the embodiment shown in FIG. 4, both receivers 30A,
30B and each servo motor M+, M2.

A switching unit 50 for switching and operating these connections is interposed between M, , M, and the receiver 30A.
A control section 60 that controls the switching operation of the switching section 50 is interposed between them.

Note that the switching section 50 and the control section 60 are composed of relays, servos, etc. if they are mechanical, and are composed of ICs if they are electrical.
Consists of etc.

In this embodiment, if a switching signal is issued on the ground using the trainer or transmitter 20A while the helicopter is in flight, this signal is received by the receiver 30A on the helicopter side and sent to the control unit 60. Then, the control BB60 drives the switching section 50 to perform the required switching operation. While the helicopter is flying like this, the servo motors M+ and M2
1Ms.

Since it is possible to switch the M4, for example, if some trouble occurs during piloting by a beginner, there is an advantage that the trainer can immediately take over the pilot.

(Effects of the Invention) As is clear from the above description, according to the present invention, there are provided a plurality of transmitters having different transmission frequencies, a plurality of receivers mounted on an aircraft body and receiving signals from each of the transmitters, and a plurality of receivers having different transmission frequencies. Since the control device for a remote-controlled helicopter is configured to include a plurality of actuators that drive each attitude control section of the aircraft in response to signals from the aircraft, and a switching means that switches the connection of the actuators to the receiver, it is difficult for beginners to It is possible to adopt a one-on-one method for piloting training, and by changing the complexity of the operation depending on the beginner's level of piloting proficiency, it is possible to have the effect that the beginner can acquire the piloting technique easily and reliably. . Further, even when piloting is shared between experts, the same method can be used, and the effect of facilitating the maneuvering can also be obtained.

[Brief explanation of drawings]

FIG. 1 is a block diagram of a control device according to the present invention, FIG. 2 is a perspective view of a remote-controlled helicopter, FIGS. 3 and 4 are block diagrams of a control device according to a modified embodiment of the present invention, and FIG. The figure is an explanatory diagram showing the relationship between piloting operations and attitude changes of the helicopter. ■...Airframe, 20A, 20B-...Transmitter, 30A. 30B... Receiver, 41, 42, 43.44... Connector, 50... Switching section, 60... Control section, M3. M2, Mx, M4... Servo motor (actuator), Sl, S2. S3. S4...Manual changeover switch. Figure 3 Patent applicant Yamaha Motor Co., Ltd.

Claims (4)

[Claims] (1) Multiple transmitters with different transmission frequencies, multiple receivers mounted on the aircraft that receive signals from each of the transmitters, and drive each attitude control unit of the aircraft in response to the signals from the receivers. 1. A control device for a remote-controlled helicopter, comprising: a plurality of actuators, and a switching means for switching connection of the actuators to the receiver. (2) The remote control helicopter control device according to claim 1, wherein the switching means replaces the connector portion of each of the actuators. (3) Claim 1, wherein the switching means comprises a manual changeover switch interposed between the receiver and the actuator.
A control device for the remote-controlled helicopter described above. (4) The switching means includes a switching section interposed between the receiver and the actuator, and a control section that receives a signal from the receiver and controls the switching operation of the switching section. A remote control helicopter control device according to claim 1.