JPH1149099A - Remote control helicopter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate the proper flight of a helicopter and the proper scattering of a medicine by providing an engine revolution display device for displaying the number of revolutions of an engine on the outside of a machine body to accurately confirm the number of the revolutions of the engine from a control position far separated from the helicopter. SOLUTION: When an engine starting switch is turned on at the beginning of work, a sel-motor is driven to drive an engine 9 without operators approach to the helicopter for its operation, and in addition, when the number of revolutions of the engine 9 is kept at the proper number of revolutions during a flight process, a pilot lamp 16a is continuously turned on to notify a remote pilot of proper revolutions. On the other hand, in the case where the revolutions are less than set number of revolutions, the T1 hour lighting one time and T2 hour light-out one time are repeated, and in the case where the revolutions are more than set number of revolutions, T one hour lighting twice and T two hours light-out one time are repeated to notify the abnormality of the number of revolutions to the remote pilot on the ground at a glance. Thus the proper flight of the helicopter and the proper scattering of medicine becomes possible.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned remote-controlled helicopter used, for example, for spraying a drug from the air onto a field.

[0002]

In such a remote-controlled helicopter, the flight performance depends on the engine speed, so it is important to properly control the engine speed. It is difficult to see when the engine speed is displayed on the screen. Therefore, it is troublesome to measure the rotation of the rotor at the speed at hand each time.

[0003]

SUMMARY OF THE INVENTION Accordingly, the present invention provides a remote-controlled helicopter used for spraying medicines in the air, etc., in which an engine speed display device for displaying the engine speed is provided on the outside of the fuselage so as to be distant from the helicopter. The purpose of the present invention is to accurately check the engine speed also from the maneuvering position to enable proper flight of the helicopter and proper spraying of medicine.

In addition, an engine rotation display device is formed by a pilot lamp, and when the engine speed is out of a specified range, the pilot lamp blinks to inform the operator of the helicopter engine rotation status in flight at a glance. It is.

[0005] Further, the blinking pattern is changed between the specified rotation speed and the rotation speed above and below the specified rotation speed, so that the operator can reliably determine whether the engine rotation speed of the helicopter in flight is above or below the specified rotation speed.

[0006]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is an explanatory view of the operation of a helicopter, FIG.
Is a front view of a helicopter, and shows a main rotor (1).
And a stabilizer (2) is provided above the helicopter fuselage (3), and the legs (4) are fixed below the fuselage (3). Also, a tail rotor (6) is provided at the rear end of the tail boom (5) on the rear side of the fuselage (3), and a spraying chemical tank (7) is fixed below the fuselage (3). Fertilizers or chemicals are sprayed in the air.

An engine (9) and a transmission case (10) are mounted inside the body (3) via a main frame (8), and a muffler (11) and a fuel tank (12) are provided. (13) The engine (9) is started by (see FIG. 5), the main rotor (1) and the tail rotor (6) are driven by the engine (9), and the radio control transmitter (14) is operated by the operator. Is designed to be operated at hand and fly.
In FIG. 2, reference numeral (15) denotes a helicopter control receiver, and (16) denotes a monitor display device including a pilot lamp (16a).

Further, as shown in FIG. 3, the leg (4)
The receiving frames (18) and (19) are bolted and fixed to the joint between the leaf spring supporting columns (17) and (17) and the main frame (8), and the control frame (20) is fixed to the front receiving frame (18). Then, the control pumps (21) and (21) are mounted on the lower surface side of the control frame (20), and the front and rear receiving frames (18) and (19) are connected to the front and rear portions of the spraying agent tank (7) of the sprayer. In addition, openable and closable caps (22) and (22) are provided symmetrically at the left and right inlets of the spraying agent tank (7).

Further, a square tubular base frame (23) is fixed to the front receiving frame (18), and the base frame (2) is fixed.
The arm substrate (24) is rotatably connected to the arm substrate (3) via a fulcrum shaft, and the arm substrate (2) is connected to the arm substrate (2) via a long hole and a set screw.
Atomizer (26) of a spraying machine for spraying a liquid agent by attaching 4) to freely change the angle and fixing a base end of a round pipe type atomizer arm (25) to an arm substrate (24).
Is attached to the tip of the atomizer arm (25) via a stop bolt so that the angle can be freely changed.

[0010] Further, left and right sticks (28) and (29) and a liquid crystal display (30) are provided in a square box-shaped case (27) of the transmitter (14), and a right stick (29) as shown in FIG. An engine control (31) for outputting an altitude operation (vertical up / down) signal for adjusting the output of the engine (9) and the collective pitch of the main rotor (1) based on the vertical operation amount of the engine, and the lateral operation of the right stick (29) An aileron volume (32) for outputting a horizontal flight signal for adjusting the horizontal cycle pitch of the main rotor (1) based on the amount, and a vertical cycle pitch of the main rotor (1) based on the amount of vertical operation of the left stick (28). An elevator volume (33) for outputting a forward / backward flight signal for adjustment and a tail row based on the amount of lateral operation of the left stick (28). Comprising a ladder volume for outputting the aircraft direction operation signal for pitch adjustment of (6) (34), said display (30) to the transmission controller (35) of the transmitter to form a microcomputer (14)
And connecting the respective volumes (31) to (34),
The outputs of the respective volumes (31) to (34) are transmitted to a reception controller (36) of the helicopter (A). Further, in FIG. 4, (37) is a power supply battery, (38) is a main switch, (39) is a voltage meter, (40) is a transmitting antenna, (41) and (42).
(43), (44) and (45) are mode changeover switches, and (4)
6) is an engine start switch for driving the starter motor (13), (47) is a multilayer disc rotary switch for driving the multilayer disc of the atomizer (26), and (48) is a drive for the control pump (21). Drug delivery switch, (4
Reference numeral 9) denotes a constant speed forward / reverse changeover switch for causing the aircraft to fly forward or backward at a constant speed optimal for spraying.

As shown in FIG. 5, a helicopter (A) is provided with a gyro for aileron (50), a gyro for an elevator (51), and a gyro for a rudder (52), which are sensors for a flight stabilizer formed of a three-axis gyro. The gyro (50) to (52) are provided with a reception controller (3).
6), the servo motor (53) for the engine control that vertically moves the helicopter (A) by adjusting the output of the engine (9) and the collective pitch of the main rotor (1), and the side of the main rotor (1). An aileron servomotor (54) for adjusting the periodic pitch to fly the helicopter (A) in the left-right direction, and an elevator for adjusting the longitudinal pitch of the main rotor (1) to fly the helicopter (A) in the longitudinal direction. Helicopter (A) by adjusting the pitch of servo motor (55) and tail rotor (6)
A ladder servomotor (56) for changing the direction of
Servo motor for pitch (57) and cell motor (13)
And a motor (58) for a multilayer disc for spraying the medicine, a control pump (21), and a pilot lamp (16a).
The receiving controller (36) is connected for output, and according to a remote control signal from the transmitting controller (35) and the input of each gyro (50) to (52),
The servo motors (53) to (57) are operated to remotely control the helicopter (A) based on a control signal of the transmitter (14).

Further, in FIG. 5, (59) is a power supply battery, (60) is a main switch, (61) is a receiving antenna, (62) is an engine rotation sensor for detecting the rotation of the engine (9), Reference numeral 63) denotes a GPS receiver which receives a GPS (Global Positioning System) signal and detects the current position of the helicopter (A).

As shown in FIG. 6, when the engine start switch (46) is turned on at the start of work,
The cell motor (13) is driven to drive the engine (9) without the operator approaching and operating the helicopter (A), and the rotation speed of the engine (9) is maintained at an appropriate rotation speed during flight work. When the pilot lamp (1
6a) is continuously lit to convey proper rotation to the remote operator, while when the rotation is equal to or less than the set rotation, one light is turned on for T1 time (for example, 0.5 second) and one light is turned off for T2 time (for example, 2 seconds). The rotation is repeated twice, and when the rotation is equal to or more than the set rotation, the lighting for the time T1 is repeated twice, and the lighting for the time T2 is repeated once, so that the abnormal rotation speed is conveyed at a glance to a distant ground operator.

Further, as shown in FIG. 7, during the flight, when the right stick (29) is tilted horizontally and horizontally, the body is controlled to move left and right (aileron operation), and the left stick (28) is moved vertically and vertically. When tilting, the aircraft is controlled to move back and forth (elevator operation), and when the left stick (28) is tilted left and right, the nose is controlled to move left and right (ladder operation), and furthermore, the right stick is controlled. When the (29) is tilted up and down, the engine output is controlled to shift the ascending and descending speed of the body (encon operation), and the constant speed forward / reverse switch (constant speed switch) (49) is operated. When tilting forward, the aircraft automatically advances based on the GPS signal at a constant speed (approximately 15 km / hr) optimal for spraying, and a changeover switch (constant speed switch) (49) When tilting backward, the aircraft automatically reverses at a constant speed (approximately 15 km / hr) based on GPS signals, and performs a flight optimal for spraying work with a simple operation using one switch (49). Things.

As shown in FIG. 8, when the spraying operation is started at a certain flight height or higher, first, the multilayer disc rotation switch (47) of the sprayer is turned on to rotate the multilayer disc, and then the medicine is supplied. The switch (48) is turned on to enable the supply of the medicine, thereby eliminating the inconvenience that the drug remaining on the multilayer disc is released at one time when the multilayer disc is rotated, and performing uniform spraying. is there. In the above description, the configuration has been described in which the medicine is supplied after the rotation of the multilayer disc on the circuit. However, as shown in FIG. 9, a single switch for rotating the multilayer disc and for supplying the medicine (64). Are provided so that they can be switched between three positions. When the first position is set, both the multi-layer disc and the medicine are turned off. When switching from the first position to the second position, only the multi-layer disk is turned on. Alternatively, a configuration may be adopted in which both the medicine and the medicine are turned on, and the medicine is fed after the mechanical rotation of the multilayer disc.

As shown in FIGS. 10 and 11, two-cycle oil used for engine fuel is stored in an oil tank (6).
5) is separately stored in a lubricating oil supply system of an oil separation type, and a ball is provided in an oil pipe (67) connecting between an oil tank (65) and a carburetor (66) of a gasoline engine (9). A valve (68) is interposed, and the ball valve (68) and the carburetor (66) are connected by a vacuum hose (69), and the ball valve (68) is fully opened by the negative pressure of idling rotation of the engine (9). Therefore, even when the throttle opening is small (such as a sudden descent or a turning operation), the entire amount of oil is always supplied to each lubricating unit (70). It is configured to prevent such a situation.

As shown in FIGS. 12 and 13, a hand-carriage type medicine injection device (71) for the medicine tank (7).
This shows a configuration in which a medicine and water injection port (73) is provided at an upper portion of an injection tank (72), and a discharge port (7) is provided at a lower portion.
4) has a dedicated on-off valve (75), a traveling wheel (76), a grip handle (77), a stirring handle (78), an air vent (79), and a guide arm (8).
0) etc. are provided in the injection tank (72). A guide hook (81) for engaging and holding the guide arm (80) and an air vent cap (8) are provided in the medicine tank (7).
2) and the on-off valve (75) provided in the inlet (83).
And a projecting opening operating body (84) for pushing and opening the injection device (7).
When the medicine in 1) is injected into the tank (7), the injection device (71) is manually moved to the position of the tank (7) as shown in FIG. 13, and is injected into the guide hook (81) of the tank (7). The injection device (71) is raised by engaging and guiding the guide arm (80) of (71), the discharge port (74) is made to face the injection port (83), and the on-off valve (75) is operated by the operating body (84). When pushed open, the medicine in the injection tank (72) is injected into the tank (7). In this configuration, the injection tank (72) is easily moved to the position of the tank (7) by hand without lifting, and the guide hook (8) is moved.
After engaging the guide arm (80) in 1), the injection device (71)
Injecting the medicine into the medicine tank (7) with good workability by a simple operation that only causes

[0018]

As is apparent from the above embodiments, the present invention is provided with an engine rotation display device (16) for displaying the engine speed in the remote control helicopter used for spraying medicines in the air, etc. Because
It is possible to accurately check the engine speed even from a steering position farther away from the helicopter (A), and to enable proper flight of the helicopter (A) and proper spraying of medicine.

Further, since the engine rotation display device (16) is formed by the pilot lamp (16a) and the pilot lamp (16a) is turned on and off when the engine speed is out of the specified range, the helicopter (A) in flight is operated. ) The engine rotation status can be accurately conveyed to the operator at a glance.

Further, since the blinking pattern is changed depending on whether the rotation speed is higher or lower than the specified rotation speed, the operator can reliably determine whether the engine rotation speed of the helicopter (A) in flight is higher than or lower than the specified rotation speed. Is what you can do.

[Brief description of the drawings]

FIG. 1 is an operation description of a helicopter.

FIG. 2 is an explanatory front view of the helicopter.

FIG. 3 is an explanatory side view of a medicine tank unit.

FIG. 4 is a transmission control circuit diagram.

FIG. 5 is a reception control circuit diagram.

FIG. 6 is a display control flow.

FIG. 7 is a steering control flow.

FIG. 8 is a distribution control flow.

FIG. 9 is an explanatory view of a multilayer disc rotation and medicine delivery switch.

FIG. 10 is an explanatory diagram of an oil separation type lubrication system.

FIG. 11 is an oil supply characteristic diagram.

FIG. 12 is an explanatory diagram of a medicine tank and a medicine injection device.

FIG. 13 is an explanatory view of injection of a drug injection device into a drug tank.

[Explanation of symbols]

 (16) Display device (16a) Pilot lamp

 ──────────────────────────────────────────────────の Continued on the front page (72) Inventor Takeo Tsutaki 1-32 Chayacho, Kita-ku, Osaka Yanmar Heli Service Co., Ltd.

Claims (3)

[Claims] 1. A remote-controlled helicopter for use in spraying medicines in the air, wherein an engine rotation display device for displaying an engine speed is provided outside the fuselage. 2. The remote-controlled helicopter according to claim 1, wherein an engine rotation display device is formed by a pilot lamp, and the pilot lamp is turned on and off when the engine speed is out of a specified range. 3. A remote-controlled helicopter, wherein a blinking pattern is changed between a predetermined rotation speed and a predetermined rotation speed.