JPH0810451A - Remote control apparatus for helicopter - Google Patents
Remote control apparatus for helicopterInfo
- Publication number
- JPH0810451A JPH0810451A JP17192894A JP17192894A JPH0810451A JP H0810451 A JPH0810451 A JP H0810451A JP 17192894 A JP17192894 A JP 17192894A JP 17192894 A JP17192894 A JP 17192894A JP H0810451 A JPH0810451 A JP H0810451A
- Authority
- JP
- Japan
- Prior art keywords
- helicopter
- transmitter
- sensor
- automatically
- altitude
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 abstract description 7
- 206010016173 Fall Diseases 0.000 abstract 1
- 239000000575 pesticide Substances 0.000 description 7
- 238000005507 spraying Methods 0.000 description 6
- 210000003813 thumb Anatomy 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 210000004247 hand Anatomy 0.000 description 3
- 239000003814 drug Substances 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 1
- 239000003905 agrochemical Substances 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003811 finger Anatomy 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Landscapes
- Toys (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は例えば圃場の薬剤散布ま
たは航空写真撮影などに使用するヘリコプタの遠隔操縦
装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control device for a helicopter used for spraying chemicals in fields or taking aerial photographs.
【０００２】[0002]
【従来の技術】従来、特開平５−２８５２７６号公報に
示す如く、ヘリコプタの高度を略一定に制御する技術が
あった。また特開平４−４６８９８号公報に示す如く、
対地距離センサをヘリコプタに設ける技術があった。2. Description of the Related Art Conventionally, as disclosed in Japanese Patent Laid-Open No. 5-285276, there has been a technique for controlling the altitude of a helicopter to be substantially constant. Further, as shown in Japanese Patent Laid-Open No. 4-46898,
There was a technology to install a ground distance sensor in a helicopter.
【０００３】[0003]
【発明が解決しようとする課題】前記従来技術は、ヘリ
コプタを遠隔操縦する送信機を操縦者が手に持って操作
していたが、操縦者の転倒などのアクシデントにより送
信機の操作部材から操縦者の手が離れると、ヘリコプタ
が非操縦状態で飛行して落下し、ヘリコプタを破損させ
る等の問題があった。In the above-mentioned prior art, the operator operates the transmitter for remotely controlling the helicopter by holding it in his / her hand. However, due to an accident such as a fall of the operator, the transmitter is operated from the operating member of the transmitter. When the person's hand is released, there is a problem that the helicopter flies in an uncontrolled state and falls, damaging the helicopter.
【０００４】[0004]
【課題を解決するための手段】然るに、本発明は、送信
機の制御信号に基づきヘリコプタを遠隔操縦すると共
に、空中の１個所でヘリコプタが羽ばたくホバリング動
作を自動制御により行うヘリコプタの遠隔操縦装置にお
いて、前記送信機の操作部材から操縦者の手が離れたこ
とを検出する操縦中止センサを送信機に設け、該センサ
の操縦中止検出によりホバリング動作自動制御を自動的
に行わせるように構成したもので、操縦者の転倒などの
アクシデントにより送信機の操作部材から操縦者の手が
離れて操縦が中止されることにより、前記操縦中止セン
サの検出結果に基づきホバリング動作自動制御が自動的
に開始されるから、ホバリング状態にヘリコプタが強制
的に保持され、ホバリング動作によりヘリコプタの飛行
を継続させ得、操縦者側のアクシデントによりヘリコプ
タが非操縦状態となって落下するのを容易に防止し得る
と共に、操縦者の交替または移動時に操縦を一時的に中
断してもヘリコプタをホバリング動作状態で待機させ
得、安全性の向上並びに取扱い操作性の向上などを容易
に行い得るものである。SUMMARY OF THE INVENTION However, the present invention provides a remote control device for a helicopter that remotely controls a helicopter based on a control signal from a transmitter and automatically controls a hovering operation in which the helicopter flaps at one location in the air. A transmitter provided with a steering stop sensor for detecting that the operator's hand is separated from the operating member of the transmitter, and the hovering operation automatic control is automatically performed by detecting the steering stop of the sensor. Then, due to an accident such as a fall of the operator, the operator's hand is separated from the operating member of the transmitter and the operation is stopped, and the automatic hovering operation control is automatically started based on the detection result of the operation stop sensor. Therefore, the helicopter is forcibly held in the hovering state, and the helicopter can continue the flight by the hovering operation, It is possible to easily prevent the helicopter from falling due to an accident on the other side in a non-maneuvering state, and it is possible to make the helicopter stand by in the hovering operation state even if the maneuver is temporarily interrupted when the driver is replaced or moved, which is safe. It is possible to easily improve the property and the handling operability.
【０００５】[0005]
【実施例】以下、本発明の実施例を図面に基づいて詳述
する。図１は送信制御回路図、図２はヘリコプタ及び送
信機の説明図であり、図中（１）は無人飛行用のヘリコ
プタであり、メインロータ（２）と、テールロータ
（３）と、脚体（４）を機体（５）に装設させると共
に、各ロータ（２）（３）を駆動するエンジン（６）
と、各ロータ（２）（３）のピッチ角並びにエンジン
（６）回転数などを制御する受信コントローラ（７）
を、前記機体（５）に内設させている。また、前記機体
（５）の脚体（４）取付部に薬剤タンク（８）を搭載さ
せ、該タンク（８）の農薬を繰出部（９）を介して散布
口（１０）から送出させると共に、超音波発射部及び受
信部を有する超音波距離計で形成する高度センサ（１
１）を機体（５）の前部下面に固定させ、前記センサ
（１１）から地上に向けて超音波を発射させ、地上から
反射する超音波を指向性の前記センサ（１１）受信部で
検出させ、ヘリコプタ（１）と地上との距離（高度）を
測定させるように構成している。なお、前記センサ（１
１）は、指向性が広く、ヘリコプタ（１）の対地傾斜に
殆んど影響されずに高度検出が行えるように構成してい
る。Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 is a transmission control circuit diagram, and FIG. 2 is an explanatory diagram of a helicopter and a transmitter. In the figure, (1) is a helicopter for unmanned flight, a main rotor (2), a tail rotor (3), and legs. An engine (6) for mounting the body (4) on the body (5) and driving each rotor (2) (3)
And a receiving controller (7) for controlling the pitch angles of the rotors (2) and (3) as well as the engine (6) rotation speed.
Is internally provided in the machine body (5). In addition, the medicine tank (8) is mounted on the leg (4) mounting portion of the machine body (5), and the pesticide in the tank (8) is delivered from the spraying port (10) through the feeding portion (9). , An altitude sensor formed by an ultrasonic range finder having an ultrasonic wave emitting section and a receiving section (1
1) is fixed to the front lower surface of the body (5), ultrasonic waves are emitted from the sensor (11) toward the ground, and ultrasonic waves reflected from the ground are detected by the directional sensor (11) reception unit. Then, the distance (altitude) between the helicopter (1) and the ground is measured. The sensor (1
In 1), the directivity is wide, and the altitude can be detected without being substantially affected by the ground inclination of the helicopter (1).
【０００６】さらに、図中（１２）は送信機であり、操
縦者が両手で持つ四角箱形ケース（１３）に、操作部材
である左右スティック（１４）（１５）並びに液晶ディ
スプレー（１６）などを取付けると共に、スティック
（１４）（１５）に載せる親指の指圧を感知する圧電素
子またはコンデンサなどで形成する操縦中止センサであ
る左右接触センサ（１７）（１８）を備え、図３に示す
如く、左右スティック（１４）（１５）上端に左右接触
センサ（１７）（１８）を取付け、操縦者が親指をステ
ィック（１４）（１５）に載せた操縦状態であるか否か
を接触センサ（１７）（１８）によって検出させるもの
で、前記送信機（１２）の操作部材であるスティック
（１４）（１５）から操縦者の手が離れたことを検出す
る操縦中止センサである接触センサ（１７）（１８）を
送信機（１２）に設け、操縦者の転倒などのアクシデン
トが発生時、また操縦者が交替時または移動時、操縦者
の親指がスティック（１４）（１５）から離れてヘリコ
プタ（１）が非操縦状態になったとき、ヘリコプタ
（１）の非操縦状態を前記接触センサ（１７）（１８）
によって検出させるように構成している。Further, reference numeral (12) in the drawing denotes a transmitter, which is a rectangular box-shaped case (13) held by the operator with both hands, and left and right sticks (14) and (15) and liquid crystal displays (16) which are operation members. As shown in FIG. 3, the left and right contact sensors (17) and (18), which are steering stop sensors formed by a piezoelectric element or a capacitor that senses finger pressure of the thumb placed on the sticks (14) and (15), are attached. The left and right contact sensors (17) and (18) are attached to the upper ends of the left and right sticks (14) and (15), and the contact sensor (17) indicates whether or not the operator puts his thumb on the sticks (14) and (15). (18) A sensor for canceling operation, which detects that the operator's hand is separated from the stick (14) (15) which is the operation member of the transmitter (12). The contact sensor (17) (18) is provided in the transmitter (12) so that the operator's thumb sticks (14) (15) when an accident such as a fall of the operator occurs or when the operator changes or moves. When the helicopter (1) is in the non-steered state away from the contact sensor, the helicopter (1) is in the non-steered state by the contact sensor (17) (18).
It is configured to be detected by.
【０００７】さらに、図１に示す如く、右スティック
（１５）の縦方向操作量に基づきエンジン（６）出力並
びにメインロータ（２）の集合ピッチ調節を行う高度操
作（垂直昇降）信号を出力させるエンコンボリューム
（１９）と、右スティック（１５）の横方向操作量に基
づきメインロータ（２）の横周期ピッチ調節を行う左右
方向飛行信号を出力させるエルロンボリューム（２０）
と、左スティック（１４）の縦方向操作量に基づきメイ
ンロータ（２）の縦周期ピッチ調節を行う前後方向飛行
信号を出力させるエレベータボリューム（２１）と、左
スティック（１４）の横方向操作量に基づきテールロー
タ（３）のピッチ調節を行う機体方向操作信号を出力さ
せるラダーボリューム（２２）を備え、マイクロコンピ
ュータで形成する送信機（１２）の送信コントローラ
（２３）に前記ディスプレー（１６）及び前記各ボリュ
ーム（１９）〜（２２）を接続させると共に、前記の左
右接触センサ（１７）（１８）を送信コントローラ（２
３）に接続させ、前記各センサ（１７）（１８）出力並
びに前記各ボリューム（１９）〜（２２）出力をヘリコ
プタ（１）の受信コントローラ（７）に送信するように
構成している。なお、図１において、（２４）は電源バ
ッテリ、（２５）はメインスイッチ、（２６）は電圧メ
ータ、（２７）は送信用アンテナ、（２８）（２９）
（３０）（３１）（３２）はモード切換スイッチ、（３
３）はメインロータ（２）のピッチ調節の基準値を設定
するピッチトリム、（３４）はヘリコプタ（１）のホバ
リング動作高度を設定するホバリングエンコントリムで
ある。Further, as shown in FIG. 1, an engine (6) output and an altitude operation (vertical lift) signal for adjusting the collective pitch of the main rotor (2) are output based on the vertical operation amount of the right stick (15). Aileron volume (20) for outputting a lateral flight signal for adjusting the horizontal cycle pitch of the main rotor (2) based on the lateral direction operation amount of the encon volume (19) and the right stick (15).
And an elevator volume (21) for outputting a longitudinal flight signal for adjusting the vertical cycle pitch of the main rotor (2) based on the vertical operation amount of the left stick (14), and the horizontal operation amount of the left stick (14). A ladder volume (22) for outputting a body direction operation signal for adjusting the pitch of the tail rotor (3) based on the above is provided, and the display (16) and the transmitter controller (23) of the transmitter (12) formed by a microcomputer are provided. Each of the volumes (19) to (22) is connected, and the left and right contact sensors (17) and (18) are transmitted to the transmission controller (2
3), and outputs the outputs of the sensors (17) and (18) and the outputs of the volumes (19) to (22) to the reception controller (7) of the helicopter (1). In FIG. 1, (24) is a power battery, (25) is a main switch, (26) is a voltage meter, (27) is a transmitting antenna, (28) and (29).
(30), (31) and (32) are mode changeover switches, and (3
Reference numeral 3) is a pitch trim for setting a reference value for pitch adjustment of the main rotor (2), and reference numeral (34) is a hovering encon trim for setting a hovering operation altitude of the helicopter (1).
【０００８】さらに、図４に示す如く、３軸ジャイロで
形成する飛行安定装置用センサであるエルロン用ジャイ
ロ（３５）及びエレベータ用ジャイロ（３６）及びラダ
ー用ジャイロ（３７）をヘリコプタ（１）に備え、前記
高度センサ（１１）及び前記各ジャイロ（３５）〜（３
７）を受信コントローラ（７）に入力接続させると共
に、エンジン（６）出力並びにメインロータ（２）の集
合ピッチ調節を行ってヘリコプタ（１）を垂直昇降させ
るエンコン用サーボモータ（３８）と、メインロータ
（２）の横周期ピッチ調節を行ってヘリコプタ（１）を
左右方向に飛行させるエルロン用サーボモータ（３９）
と、メインロータ（２）の縦周期ピッチ調節を行ってヘ
リコプタ（１）を前後方向に飛行させるエレベータ用サ
ーボモータ（４０）と、テールロータ（３）のピッチ調
節を行ってヘリコプタ（１）の方向を変更させるラダー
用サーボモータ（４１）と、ピッチ用サーボモータ（４
２）に、前記受信コントローラ（７）を出力接続させる
もので、前記送信コントローラ（２３）からの遠隔操縦
信号、並びに各ジャイロ（３５）〜（３７）入力、並び
に高度センサ（１１）入力により、各サーボモータ（３
８）〜（４２）を作動させ、送信機（１２）の制御信号
に基づきヘリコプタ（１）を遠隔操縦すると共に、空中
の１個所でヘリコプタ（１）が羽ばたくホバリング動作
を自動制御により行い、また前記の左右接触センサ（１
７）（１８）の操縦中止検出によりホバリング動作自動
制御を自動的に行わせるように構成している。なお、図
４において、（４３）は電源バッテリ、（４４）はメイ
ンスイッチ、（４５）は受信用アンテナである。Further, as shown in FIG. 4, a helicopter (1) is provided with a gyro for aileron (35), a gyro for elevator (36) and a gyro for ladder (37) which are sensors for a flight stabilizer formed by a three-axis gyro. The altitude sensor (11) and the gyros (35) to (3) are provided.
7) is connected to the reception controller (7), and the output of the engine (6) and the collective pitch of the main rotor (2) are adjusted to vertically move the helicopter (1) up and down. A servomotor for aileron (39) for adjusting the horizontal pitch of the rotor (2) to fly the helicopter (1) left and right.
And the elevator servomotor (40) for adjusting the longitudinal pitch of the main rotor (2) to fly the helicopter (1) forward and backward, and the pitch of the tail rotor (3) for adjusting the helicopter (1). The ladder servo motor (41) for changing the direction and the pitch servo motor (4
The receiving controller (7) is output-connected to 2), and by the remote control signal from the transmitting controller (23), each gyro (35) to (37) input, and the altitude sensor (11) input, Each servo motor (3
8) to (42) are operated, the helicopter (1) is remotely controlled based on the control signal of the transmitter (12), and the helicopter (1) flaps at one place in the air by automatic control. The left and right contact sensors (1
7) The hovering operation automatic control is automatically performed by the detection of the operation stop in (18). In FIG. 4, (43) is a power battery, (44) is a main switch, and (45) is a receiving antenna.
【０００９】本実施例は上記の如く構成するもので、送
信機（１２）を操縦者が両手で持って両手の親指を左右
スティック（１４）（１５）上端部に載せ、左右スティ
ック（１４）（１５）を縦方向及び横方向に傾倒させて
ヘリコプタ（１）を遠隔操縦して飛行させるもので、図
５のフローチャートに示す如く、スティック（１４）
（１５）に載せた親指を接触センサ（１７）（１８）に
より検出し、遠隔操縦状態であることを入力させると共
に、送信コントローラ（２３）の各ボリューム（１９）
〜（２２）入力並びに各ジャイロ（３５）〜（３７）入
力により各サーボモータ（３８）〜（４２）を作動さ
せ、遠隔操縦により飛行制御動作を行わせ、操縦者の遠
隔操作によってヘリコプタ（１）を飛行させ、薬剤タン
ク（８）の農薬を散布口（１０）から圃場に放出させ
る。This embodiment is constructed as described above. The operator holds the transmitter (12) with both hands and puts the thumbs of both hands on the upper ends of the left and right sticks (14) and (15), and then the left and right sticks (14). The helicopter (1) is remotely controlled to fly by tilting (15) vertically and horizontally, and as shown in the flowchart of FIG.
The thumb placed on (15) is detected by the contact sensors (17) and (18) to input that the remote control state is entered, and each volume (19) of the transmission controller (23) is input.
-(22) input and each gyro (35)-(37) input operate each servo motor (38)-(42), the flight control operation is performed by remote control, and the helicopter (1 ) Is caused to fly, and the pesticide in the drug tank (8) is discharged to the field from the spray port (10).
【００１０】また、前記送信機（１２）を用いてヘリコ
プタ（１）を飛行させている途中で、操縦者が転倒する
アクシデントが発生したり、操縦者が交替時または移動
時、前記の左右スティック（１４）（１５）の少なくと
も一方から親指が離れ、または操縦者が送信機（１２）
を落下させ、ヘリコプタ（１）が非操縦状態で飛行する
とき、受信コントローラ（７）への接触センサ（１７）
（１８）入力が中断されると、自動ホバリング制御動作
が開始され、前記各ジャイロ（３５）〜（３７）入力に
基づきヘリコプタ（１）を空中の略一定位置で停止飛行
させるホバリング動作によりヘリコプタ（１）の飛行を
継続させ、操縦者側の非操縦状態によってヘリコプタ
（１）が落下するのを防いでいる。Further, while the helicopter (1) is flying using the transmitter (12), an accident occurs in which the operator falls, or when the operator changes or moves, the left and right sticks are (14) The thumb is removed from at least one of (15), or the operator sends the transmitter (12).
Contact sensor (17) to the reception controller (7) when the helicopter (1) flies in an unsteered state
(18) When the input is interrupted, the automatic hovering control operation is started, and the helicopter (1) is stopped by a hovering operation based on the input of each gyro (35) to (37) at a substantially constant position in the air. The flight of 1) is continued and the helicopter (1) is prevented from falling due to the non-steering state on the side of the operator.
【００１１】また、前記送信機（１２）を用いてヘリコ
プタ（１）を飛行させている途中で、ヘリコプタ（１）
の高度を変更する各ボリューム（１９）〜（２２）入力
がないとき、高度センサ（１１）入力によりヘリコプタ
（１）が農薬散布作業高度で飛行しているか否かを判断
し、初期設定した作業高度とヘリコプタ（１）の実際の
高度が異なる場合、例えば地上または地上の作物に対し
農薬散布に必要な高度よりも低くて地上の作物との接触
を回避可能な高度よりも高い設定高度以下になったと
き、自動ホバリング制御動作を自動的に行わせてヘリコ
プタ（１）を空中の定位置で停止飛行させ、この後で高
度センサ（１１）の高度検出に基づき所定の初期設定高
度にまでヘリコプタ（１）を自動的に上昇させ、操縦者
の誤操作または突風または送受信不良などによるヘリコ
プタ（１）の地上との接触などを防ぐ一方、前記の自動
ホバリング制御動作が行われる設定高度以上で初期設定
された作業高度よりも所定範囲以上に高度が高くなった
ときまたは低くなったとき、高度センサ（１１）の高度
検出に基づき所定の初期設定高度にまでヘリコプタ
（１）を自動的に下降または上昇させ、略一定の作業高
度を自動的に保ち乍らヘリコプタ（１）を飛行させ、風
またはヘリコプタ（１）重量変化（搭載農薬量変化）ま
たは操縦者の未熟操縦操作（高度目測誤認）などに対し
てヘリコプタ（１）を自動的に適正高度で飛行させ、農
薬散布精度及び安全性などを向上させている。Further, while the helicopter (1) is flying using the transmitter (12), the helicopter (1)
When there is no input for each volume (19) to (22) that changes the altitude, the altitude sensor (11) input is used to determine whether the helicopter (1) is flying at the pesticide spraying work altitude and the initial work If the altitude and the actual altitude of the helicopter (1) are different, for example, below the altitude required for pesticide spraying above ground or above-ground crops and above the altitude above which contact with above-ground crops can be avoided. Then, the automatic hovering control operation is automatically performed to stop the helicopter (1) at a fixed position in the air, and then the helicopter reaches a predetermined initial altitude based on the altitude detection of the altitude sensor (11). (1) is automatically raised to prevent the helicopter (1) from coming into contact with the ground due to an operator's erroneous operation, gusts, poor transmission / reception, etc., while the above automatic hovering control operation When the altitude becomes higher or lower than the work altitude initially set above the set altitude to be performed or becomes lower than a predetermined range, the helicopter (1 ) Is automatically lowered or raised, and the helicopter (1) is allowed to fly while automatically maintaining a substantially constant working altitude, and the wind or helicopter (1) changes in weight (changes in the amount of agricultural chemicals loaded) or the pilot's immature operation. The helicopter (1) is automatically made to fly at an appropriate altitude in response to operations (misidentification of altitude measurement), etc. to improve pesticide application accuracy and safety.
【００１２】なお、前記した作業高度及び設定高度は、
ピッチトリム（３３）またはホバリングエンコントリム
（３４）などのように、操縦者が作業開始前に無段階に
調節してもよく、また半固定的に予め設定入力させても
よい。The work altitude and the set altitude described above are
As in the case of the pitch trim (33) or the hovering encon trim (34), the operator may make stepless adjustments before starting work, or may preset and input semi-fixedly.
【００１３】また、前記した自動ホバリング制御動作
は、エルロン用及びエレベータ用の各ジャイロ（３５）
（３６）出口に基づき、エンコン用及びエルロン用及び
エレベータ用の各サーボモータ（３８）（３９）（４
０）を自動的に作動させて行わせると共に、ホバリング
動作が自動制御により行われていても、前記スティック
（１４）（１５）の手動遠隔操作が優先されて行われ
る。なお、高度センサ（１１）出力に基づいてエンコン
用及びピッチ用の各サーボモータ（３８）（４２）を自
動的に制御して所定高度に保つ動作を、スティック（１
４）（１５）の手動遠隔操作に対して、農薬散布作業
中、優先して行わせてもよく、また各サーボモータ（３
８）（４２）自動制御を優先させる手動切換用のモード
切換スイッチ（２８）を送信機（１２）に設けることに
より、ヘリコプタ（１）の自動高度制御を農薬散布作業
中に優先させ、ヘリコプタ（１）の手動遠隔操作による
高度調節を優先させてヘリコプタ（１）を離着陸させる
ことができる。Further, the above-mentioned automatic hovering control operation is performed by each gyro (35) for aileron and elevator.
(36) Based on the exit, servomotors (38) (39) (4) for encon, aileron and elevator
0) is automatically operated, and even if the hovering operation is automatically controlled, the manual remote operation of the sticks (14) and (15) is preferentially performed. The operation of automatically controlling the servomotors (38) and (42) for encon and pitch based on the output of the altitude sensor (11) to maintain a predetermined altitude is performed by the stick (1
4) The manual remote control of (15) may be preferentially performed during the pesticide spraying work, and each servo motor (3
8) (42) By providing the transmitter (12) with a mode changeover switch (28) for manual switching that prioritizes automatic control, the automatic altitude control of the helicopter (1) is prioritized during pesticide spraying work, and the helicopter ( It is possible to take off and land the helicopter (1) by prioritizing the altitude adjustment by the manual remote control of 1).
【００１４】[0014]
【発明の効果】以上実施例から明らかなように本発明
は、送信機（１２）の制御信号に基づきヘリコプタ
（１）を遠隔操縦すると共に、空中の１個所でヘリコプ
タ（１）が羽ばたくホバリング動作を自動制御により行
うヘリコプタの遠隔操縦装置において、前記送信機（１
２）の操作部材（１４）（１５）から操縦者の手が離れ
たことを検出する操縦中止センサ（１７）（１８）を送
信機（１２）に設け、該センサ（１７）（１８）の操縦
中止検出によりホバリング動作自動制御を自動的に行わ
せるように構成したもので、操縦者の転倒などのアクシ
デントにより送信機（１２）の操作部材（１４）（１
５）から操縦者の手が離れて操縦が中止されることによ
り、前記操縦中止センサ（１７）（１８）の検出結果に
基づきホバリング動作自動制御が自動的に開始されるか
ら、ホバリング状態にヘリコプタ（１）が強制的に保持
され、ホバリング動作によりヘリコプタ（１）の飛行を
継続させることができ、操縦者側のアクシデントにより
ヘリコプタ（１）が非操縦状態となって落下するのを容
易に防止できると共に、操縦者の交替または移動時に操
縦を一時的に中断してもヘリコプタ（１）をホバリング
動作状態で待機させることができ、安全性の向上並びに
取扱い操作性の向上などを容易に行うことができるもの
である。As is apparent from the above embodiments, the present invention remote-controls the helicopter (1) based on the control signal of the transmitter (12) and causes the helicopter (1) to fly at one point in the air. In the remote control device of the helicopter for automatically controlling the transmitter, the transmitter (1
The transmitter (12) is provided with a steering stop sensor (17) (18) for detecting that the operator's hand is separated from the operation member (14) (15) of 2), and the sensor (17) (18) The automatic hovering motion control is configured to be automatically detected upon detection of the operation stop, and the operation member (14) (1) of the transmitter (12) is controlled by an accident such as a fall of the operator.
When the operator's hand is released from 5) and the operation is stopped, the automatic hovering operation control is automatically started based on the detection result of the operation stop sensor (17) (18), so that the helicopter enters the hovering state. (1) is forcibly held and the flight of the helicopter (1) can be continued by hovering operation, and it is easy to prevent the helicopter (1) from falling due to an accident on the operator side in a non-steering state. In addition, it is possible to make the helicopter (1) stand by in the hovering operation state even if the operation is temporarily interrupted when the operator changes or moves, and it is possible to easily improve safety and handling operability. Is something that can be done.
【図１】送信制御回路図。FIG. 1 is a transmission control circuit diagram.
【図２】ヘリコプタ及び送信機の説明図。FIG. 2 is an explanatory diagram of a helicopter and a transmitter.
【図３】スティックの拡大図。FIG. 3 is an enlarged view of a stick.
【図４】受信制御回路図。FIG. 4 is a reception control circuit diagram.
【図５】前図のフローチャート。FIG. 5 is a flowchart of the previous figure.
（１） ヘリコプタ （１２） 送信機 （１４）（１５） スティック（操作部材） （１７）（１８） 接触センサ（操縦中止センサ） (1) Helicopter (12) Transmitter (14) (15) Stick (operating member) (17) (18) Contact sensor (control stop sensor)
Claims (1)
遠隔操縦すると共に、空中の１個所でヘリコプタが羽ば
たくホバリング動作を自動制御により行うヘリコプタの
遠隔操縦装置において、前記送信機の操作部材から操縦
者の手が離れたことを検出する操縦中止センサを送信機
に設け、該センサの操縦中止検出によりホバリング動作
自動制御を自動的に行わせるように構成したことを特徴
とするヘリコプタの遠隔操縦装置。1. A helicopter remote control device for remotely controlling a helicopter based on a control signal from a transmitter and automatically controlling a hovering operation in which the helicopter flaps at one location in the air. A remote control device for a helicopter, characterized in that the transmitter is provided with a steering stop sensor for detecting that the hand has been released, and the hovering operation automatic control is automatically performed by detecting the steering stop of the sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17192894A JP3297830B2 (en) | 1994-06-29 | 1994-06-29 | Helicopter remote control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17192894A JP3297830B2 (en) | 1994-06-29 | 1994-06-29 | Helicopter remote control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0810451A true JPH0810451A (en) | 1996-01-16 |
| JP3297830B2 JP3297830B2 (en) | 2002-07-02 |
Family
ID=15932443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP17192894A Expired - Fee Related JP3297830B2 (en) | 1994-06-29 | 1994-06-29 | Helicopter remote control |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3297830B2 (en) |
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|---|---|
| JP3297830B2 (en) | 2002-07-02 |
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