JPH0630690B2 - Radio control transmitter - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to a radio control transmitter for operating a steered device such as a radio control airplane (hereinafter simply referred to as “airplane”).

(b) Conventional Technology A general radio control transmitter has a stick lever and a trim lever. An element such as a variable resistor for detecting the operation amount of the stick lever is connected to the stick lever, and has a function of generating and transmitting control data correlated with the operation amount of the stick lever. The operator operates this stick lever to control the state of the steered device.
When the controlled device is an airplane, the operator operates the stick lever to control flaps and throttles to make the airplane fly horizontally, and sometimes perform some acrobatic flight such as somersault and back flight.

(c) Problems to be Solved by the Invention By the way, in such aerobatics, since the operation of the stick lever is complicated, it cannot be done unless the operator is skilled in the operation, and even the experienced one is required to repeat the operation. It was difficult to do. On the other hand, if you store this stick lever operation in memory and read it out and send it as control data, you can control the airplane at any time, but conditions such as the flight environment and the condition of the aircraft are not always constant. However, since the required stick lever operation is also slightly different depending on this condition, even if a continuous pattern of control data stored in advance was transmitted to the airplane, it hardly operated normally.

In view of the above situation, an object of the present invention is to provide a radio control transmitter which solves the above-mentioned problems by allowing automatic pilot data to be simply corrected by operating a stick lever.

(d) Means for Solving the Problems The present invention provides a radio control transmitter that generates control data in correlation with an operation amount of a stick lever, and transmits the control data to a steered device. When the autopilot mode is set by the storage means for storing the control data string as the autopilot data when operating in the procedure of 1), the autopilot mode setting means for receiving the setting input of the autopilot mode and the autopilot mode setting means And a control data adding means for reading the autopilot data from the storage means and adding the control data constituting the autopilot data and the control data correlated to the current operation amount of the stick lever. Characterize.

(e) Action In the radio control transmitter of the present invention, when the autopilot mode is set, the autopilot data stored in the storage means is read out, and the control data that constitutes this autopilot data contains the data at that time. The control data correlated with the operation amount of the stick lever is added and transmitted to the steered device. Therefore, when a slight shift occurs in the operation of the steered device during automatic piloting, the pilot can correct this shift by operating the stick lever. The stick lever is operated by the operator during normal remote control of the controlled device.Since it can be used to correct momentum and minute corrections, basic control is performed using autopilot data, and Only can be done by operating the stick lever.

(f) Embodiment FIG. 1 is an external view of a radio control transmitter according to an embodiment of the present invention. This radio control transmitter 1
Is a device for flying an airplane. The front of the device has two steering stick levers 2 and 3, and the stick levers 2 and 3 are operated up and down or left and right to control the attitude of the airplane. The operator operates the stick lever to transmit predetermined control data, and the airplane that receives the control data controls each operation unit (throttle, elevator, rudder, etc.) to a state corresponding to the control data. As a result, state control such as ascending / descending, left / right turning, and acceleration / deceleration can be performed. Stick levers 2 and 3 are
It is designed to return to the neutral position when not operated. When the stick lever is in the neutral position, the radio control transmitter transmits control data (reference value) so that the airplane is in a steady state (a rudder state in which the aircraft horizontally moves at a constant speed). However, since the reference value differs depending on the condition of each operating part, the stick levers 2, 3
The trim lever 2 for finely adjusting the reference values of the stick levers 2 and 3 in the left and right directions and the up and down directions on the lower side and the lateral side.
1, 22 and trim levers 23, 24 are provided. The operator adjusts any of these trim levers when the aircraft motion is not in a steady state in the neutral position. An autopilot switch 4 is provided on the right upper surface. This switch is operated by the index finger of the right hand, and when this switch is pressed, the device sends autopilot data.

FIG. 2 is a block diagram of the radio control transmitter. The operation amount of the stick levers 2 and 3 in the vertical and horizontal directions is electrically detected by the built-in variable resistor 18. Four variable resistors are provided for detecting the operation amounts of the stick levers 2 and 3 in the vertical and horizontal directions, respectively, and the variable resistor 18 is one of them. Variable resistor 18
A constant voltage is applied to both ends of the voltage sensor, and the voltage value corresponding to the operation amount of the stick lever is detected from the intermediate tap. The voltage value detected when the stick lever is in the neutral position is 2.5V, and changes between 2 and 3V by operating the stick lever. The A / D conversion circuit 12 calculates 2.5 from the voltage value input from the variable resistor 18.
A value obtained by subtracting V (that is, how much it goes up and down around 2.5 V) is digitally converted as the manipulated variable data. The manipulated variable data converted by the A / D conversion circuit 12 is input to the adder 13. The adder 13 adds the manipulated variable data to a reference value to calculate control data. Since the manipulated variable data at the neutral position is 0, the reference value is calculated as the control data at the neutral position. This control data is converted into an analog value again by the D / A conversion circuit 14, PCM-modulated by the PCM transmitter 15 and transmitted to the airplane.

On the other hand, the operation amount of the trim levers 21, 22, 31 and 32 is electrically detected by the built-in variable resistor 19. Four variable resistors are provided for each of the trim levers 21, 22, 31 and 32 for detecting the manipulated variable, and the variable resistor 19 is one of them. A constant voltage is applied to both ends of the variable resistor 19, and the voltage value corresponding to the operation amount of the trim lever is detected from the intermediate tap. A
The / D conversion circuit 16 digitally converts the voltage value input from the variable resistor 19. The A / D conversion circuit 16 is the CPU 1
0, and the CPU 10 reads this value and inputs it to the reference value register 17. This reference value register 1
7 is connected to the adder 13.

The CPU 10 has the automatic pilot switch 4 and the memory 1
1 is connected. The memory 11 stores autopilot data for performing a predetermined operation such as "somersault". The autopilot data is a control data string that is continuous at 40 ms intervals, and has four channels to correspond to the vertical and horizontal operation amounts of the stick levers 2 and 3, respectively.
About 4 seconds of autopilot data is stored in a 4KB memory area. When the autopilot switch 4 is pressed, the autopilot data is read in order from the beginning, added with the trim lever data (voltage value), and then input to the reference value register 17. Generation of control data based on the operation amount of the stick levers 2, 3 → A / D conversion circuit 1 for transmission
2 to C, because it is processed by the electronic circuit of the PCM transmitter 15.
The PU 10 operates to read the operation amount of the trim lever and read the autopilot data.

FIG. 3 is a flowchart showing the operation of the CPU 10. First, at n1, it is determined whether or not the autopilot switch 4 has been pressed. While it is not pressed, the operation amount of the trim lever is read (n2), and the data is read as the reference value register 17
(N3). This operation is repeated.

When the autopilot switch 4 is pressed, the stored contents of the memory 11 are read out frame by frame from the beginning (n
4). Next, read the operation amount of the trim lever (n5),
These amounts are added (n6). This amount is input to the reference value register 17 (n17). This operation is continued until the autopilot data ends (n8).

Since the autopilot data is input to the reference value register 17, the adder 13 can generate control data based on a change in the autopilot data and perform autopilot even if the stick lever is not operated.

The memory 11 corresponds to the storage means of the present invention, the autopilot switch 4 also corresponds to the autopilot mode setting means, and n
The processes of 4 to n8 together with the adder 13 correspond to adding means.

(g) Effect of the Invention As described above, according to the present invention, the standard autopilot data can be automatically piloted while correcting the data with the stick lever. In addition to being able to easily maneuver, even if various conditions are different, it can be easily corrected with the stick lever, so it is possible to adapt the autopilot data to the conditions of the driven device at that time. But you can autopilot.

[Brief description of drawings]

FIG. 1 is an external view of a radio control transmitter according to an embodiment of the present invention, FIG. 2 is a block diagram of a control unit of the radio control transmitter, and FIG. 3 is a flow chart showing an operation of a CPU of the control unit. is there. 2, 3 ... Stick lever, 11 ... Memory.

Claims (1)

[Claims] 1. A radio control transmitter for generating control data in correlation with an operation amount of a stick lever and transmitting the control data to a steered device, wherein the control data when the stick lever is operated in a specific procedure. Storage means for storing the row as autopilot data, autopilot mode setting means for accepting the setting input of the autopilot mode, and autopilot data from the storage means when the autopilot mode is set by the autopilot mode setting means And a control data addition means for adding the control data constituting the autopilot data and the control data correlated with the current operation amount of the stick lever, and a radio control transmitter.