JPH1193812A - Engine starter of unmanned helicopter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve starting operability by detecting a start of engine starting operation by pressing operation of a start switch, sending out a command value of an easily starting fuel quantity, and stabilizing rotation by reducing a fuel supply quantity by sending out the next command value after a start of an engine is confirmed by detecting an engine speed of the engine. SOLUTION: An engine start switch 11 is connected to an arithmetic unit 70 composed of a control circuit of a microcomputer, and when an operation signal of the start switch 11 is inputted to the arithmetic unit 70, the fact that starting operation of an engine is started is detected. An engine rotation sensor 71 and an opening-closing detecting sensor 72 of a decompression opening-closing valve are also connected to the arithmetic unit 70. The arithmetic unit 70 is connected to an engine control servomotor composed of a throttle operating servo 22, and sends a command value of throttle opening to a throttle operating servo 22 according to a program. The throttle operating servo 22 is connected to a carburetor 17 through a wire, and controls its throttle opening. A noise and useless fuel consumption can be prevented.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remotely operated industrial unmanned helicopter engine starter for spraying agrochemicals, crop seeds and the like in the air.

[0002]

2. Description of the Related Art An unmanned helicopter is equipped with, for example, a two-cycle two-cylinder engine, and after starting a cell motor to start the engine by operating a main switch (power switch) and a start switch on an operation panel provided on the body. By operating a remote control transmitter, the engine throttle and the pitch angle of the rotor are controlled to remotely control the aircraft.

FIG. 14 is an external view of such a remote control transmitter, and FIG. 15 is an explanatory diagram of remote control by the transmitter. As shown in FIG.
1 and includes a rudder and elevator stick 52 and a throttle and aileron stick 53 protruding from the operation surface. The transmitter further includes a rudder trim lever 54, an elevator trim lever 55, a throttle trim lever 56, and an aileron trim lever 57.
Is provided to adjust the reference position of each stick 52, 53.

[0005] As shown in FIG. 15, the sticks 52 and 53 of the transmitter 50 are tilted in the directions of arrows 1 to 3 so that the bodies are correspondingly indicated by the same numbers (a) to (e). Posture changes. That is, as shown in (b), the arrow indicates ladder control in which the tail rotor rotates the body in the left-right direction to control the left-right traveling direction.
(A) and (e) indicate elevator control for rotating the main rotor in the front-rear direction to move the fuselage forward and backward, and arrows indicate the main rotor as shown in (c) and (d). This is aileron control for rotating the body in the left-right direction by rotating in the left-right direction, and as shown in (b), the arrow indicates throttle control for controlling the engine speed to raise and lower the body.

When starting the engine of a remote-controlled unmanned helicopter using such a transmitter, the operator stands on the side of the fuselage, holds the main rotor aside, and holds one hand while not rotating. Hold the transmitter and press the start switch on the control panel of the aircraft with the other hand. When the engine stably rotates without the clutch connected, the pilot moves away from the fuselage, and from a remote position, increases the throttle opening by using the transmitter to increase the rotation speed, connects the clutch, and rotates the main rotor. Raise the aircraft.

[0006]

However, in order to easily start the engine, it is necessary to perform an operation of pressing the start switch with one hand and slightly opening the throttle with the other hand in starting the engine. is there.
After the engine is started and the rotation is stabilized, it is necessary to return the throttle to a fully closed (idle) state. As described above, it is very difficult to fine-tune the throttle with one hand while operating the start switch with the other hand, and the operability is poor, the starting operation is troublesome, the operation takes time, and the fuel consumption is wasted. I was

SUMMARY OF THE INVENTION The present invention has been made in consideration of the above points, and has as its object to provide an engine starting apparatus for an unmanned helicopter capable of improving the operability of starting an engine and easily starting the engine. I do.

[0008]

In order to achieve the above object, the present invention provides a fuel supply means, a fuel supply drive means for driving the fuel supply means in accordance with a fuel supply amount, and a fuel supply drive means. In an unmanned helicopter having a fuel supply control unit for sending a command value corresponding to a fuel supply amount, a start operation start detection unit for detecting a start of an operation for starting an engine and a start confirmation for confirming start of the engine The fuel supply control means sends a first command value to the fuel supply drive means in response to a detection signal of the start operation start detection means, and outputs a first command value to the engine start signal from the start confirmation means. In response, the fuel supply control means sets a second preset value smaller than the first command value.
Is sent to the fuel supply driving means, and after the second command value is sent, after a predetermined time elapses, the fuel supply control means sets a predetermined second value smaller than the second command value. 3. An engine starting device for an unmanned helicopter, wherein the command value is sent to the fuel supply driving means.

According to this configuration, for example, the fuel supply driving means such as a throttle operation servo motor for driving the fuel supply means such as a carburetor is supplied from the fuel supply control means comprising a control circuit such as a microcomputer to the command value of the supplied fuel. For example, when the start of the engine start operation is detected by pressing the start switch, the first command value of the preset easy-to-start fuel amount is automatically transmitted in response to this,
When the start of the engine is confirmed by detecting the engine speed or the like, the second command value is automatically sent to reduce the fuel supply amount, and when the rotation is stabilized after a predetermined time, the fuel supply amount is further reduced. Then, for example, a third command value for setting the fuel supply amount in the idle state is automatically transmitted. This eliminates the need for the operator to adjust the fuel supply driving means such as the throttle at the time of starting, and the engine can be easily started only by operating the start switch.

[0010]

FIG. 1 is a top view showing an engine starting operation state of an unmanned helicopter according to an embodiment of the present invention. The body 1 is almost entirely covered with a resin body cover 2 and a tail cover 3, and houses an engine (not shown) inside the body cover 2. A radiator 4 is provided at the front of the fuselage, and a tail rotor 5 is provided at the rear. A main rotor 7 and a stabilizer 8 are attached to the main mast 6. An operation panel 9 is provided on the upper surface of the center of the body, and a main switch 10 and a start switch 11 are provided on the operation panel 9. Main switch 1
Numeral 0 is a switch for switching the knob to three positions of an off position, a start position, and a flight position by rotating the knob, for example, by turning the knob from the off position to the start position (start mode), thereby turning on the power to enable the start. Become.

In this start position, the engine speed is always suppressed to a value equal to or lower than the connection speed of the centrifugal clutch by the ignition cut control. Therefore, even if the throttle opening is increased, the clutch is not connected. The rotor 5 does not rotate. When switching to the flight position after start-up, the ignition cut is stopped and the clutch is in a connectable state. A choke lever 12 connected to a throttle of a carburetor and a decompression operator 1 for opening a decompression opening / closing valve described later are provided in an engine accommodating portion of the airframe 1.
3 is provided so as to be exposed from the main body cover 2. An operator who stands on the right side of the body 1 holds the main rotor 7 on the right side so as not to rotate, holds the transmitter 50 with the right hand, and operates the switch of the operation panel 9 with the left hand.

FIG. 2 is an internal configuration diagram of the fuselage 1 of the unmanned helicopter shown in FIG. A fan 14 is mounted below the radiator 4 at the front of the body 1 to allow the radiator 4 to pass wind. The radiator 4 has a cooling water pipe 1 connected to the engine 15.
6a and 16b are connected to cool the engine via a water jacket (not shown) in the engine. The engine 15 is a two-cylinder 2 in which cylinders 26 are horizontally opposed.
It is a cycle engine. A carburetor 17 is provided above the engine 15, and supplies a mixture to the crank chamber of the engine 15 through an intake manifold 18. Vaporizer 1
An air cleaner 19 is provided on the rear side of 7.

A throttle lever 20 connected to a throttle of the carburetor 17 is connected to a throttle operation servomotor 22 via a wire 21 to control the throttle opening during flight by remote control of a transmitter, and to be described later. Then, the throttle opening at the start is automatically controlled. 23 is a fuel tank.

The crankshaft of the engine 15 (not shown)
A centrifugal clutch device 29 is connected to the main mast 6 and a clutch is connected when the rotation speed exceeds a predetermined number of rotations. The centrifugal clutch device 29 is connected to the main rotor 7 and the tail rotor 5 (FIG. 1) of the main mast 6 via a transmission mechanism (not shown) such as a bevel gear. Transmit engine rotation. The main mast 6 has three rods 2 for pitch operation.
4 are connected, and drive control by the motor of the motor drive cylinder mechanism 25 is performed as described with reference to FIG.
The attitude of the body 1 is controlled by tilting the main rotor 7 in the front-back, left-right directions by the stick operation of the transmitter.

A ring gear 27 for starting is mounted on the end of the crankshaft of the engine 15. This ring gear 27
Is rotated by a starter motor 28 at the time of starting. The exhaust manifold 3 is installed in the cylinder 26 of the engine 15.
An exhaust pipe 30 is connected through 6 to discharge exhaust gas through a muffler 31 and a silencer 32. A pair of left and right landing skids 34 are attached to the lower part of the body 1 via support legs 33.

FIG. 3 is a detailed view of an engine portion of the unmanned helicopter, and FIG. 4 is a sectional view of a cylinder portion thereof. As shown in FIG. 3, a decompression on-off valve 46 is mounted on the upper part of the horizontally arranged cylinder 26. In order to operate the decompression on-off valve 46 from outside the body cover 2 of the body, decompression operators 13 are provided near the left and right sides of the body corresponding to each cylinder (see FIG. 1). When the engine is started, by pushing the decompression operator 13 from the outside of the fuselage, the decompression opening / closing valve 46 is pushed down,
As will be described later, the opening of the decomp opens to release the pressure in the combustion chamber and reduce the engine rotation. The decompression operator 13 is urged by a spring (not shown) to always return upward.

As shown in FIG.
Numeral 6 is composed of a cylinder body 26a and a cylinder head 26b, each of which has a water jacket 37 formed therein, and circulates cooling water through the above-described radiator 4 (see FIG. 2). A common crank chamber 38 is formed in the center of both cylinders (only the right cylinder is shown in the figure), and a crank shaft 39 is mounted. A piston 41 is connected to the crankshaft 39 via a connecting rod 40 of each cylinder. A combustion chamber 42 is formed surrounded by the piston 41, the cylinder bore 47, and the inner wall of the cylinder head 26b. The ignition plug 35 faces the combustion chamber 42. A decompression hole 48 is opened in the cylinder bore 47 facing the combustion chamber 42. A decom opening / closing valve 46 is mounted to open and close the hole 48. 43 is an intake port, 44 is a scavenging passage, and 45 is an exhaust port.

FIG. 5 is a detailed view of the decompression on-off valve.
(A) shows a state where the decompression is closed, and (B) shows a state where the decompression is opened. The decompression opening / closing valve 46 has a mounting portion 46 on which a screw for screwing to the cylinder body is formed.
a, a valve body 46b sliding in the mounting portion 46a, an operation portion 46c integrally connected to the valve body 46b, and an operation portion 4
A leaf spring 46d attached to the lower end of the leaf spring 6c;
6d and a connecting portion 46e integral with the mounting portion 46a.

During normal operation other than when starting the engine,
As shown in (A), the tip of the valve body 46b is
The opening 46h of a is closed and the decomp is closed. At this time, the locking projection 46g formed inside the lower end of the leaf spring 46d is above the annular projection 46f formed on the outer periphery of the upper part of the connecting portion 46e. In this state, the combustion chamber 42
Hole 48 (FIG. 4) is closed and the explosion pressure is not released.

At the time of starting, as shown in FIG. 3B, the operating portion 46c is pressed as shown by an arrow, the valve body 46b is pushed down, and its tip projects from the tip of the mounting portion 46a.
Open h. At this time, the locking projection 46g of the leaf spring 46d rides over the annular projection 46f of the connecting portion 46e, and
The state is locked by the spring force of d. In this state, the hole 48 of the combustion chamber 42 is
6h and the outside through the communication hole 46j provided in the connection portion 46e, the pressure in the combustion chamber is released and weakened. By rotating the starter motor in this state at the time of starting, the engine can be rotated with a small load. When an explosion occurs in the combustion chamber, the explosion pressure pushes up the valve body 46b, and the locking projection 46g of the leaf spring 46d is moved to the annular projection 46g.
It is pushed back over f. This automatically returns to the closed state of (A), and the engine rotates due to the explosion of the engine itself regardless of the starter motor.

FIG. 6 is a basic configuration diagram of an engine starting device for an unmanned helicopter according to an embodiment of the present invention. The engine start switch 11 is connected to an arithmetic unit 70 including a control circuit such as a microcomputer.
Is input to the arithmetic unit 70. An operation signal from the start switch 11 detects that an engine start operation has been started. The arithmetic unit 70 further includes an engine rotation sensor 71 and a decom
6 open / close detection sensors 72 are connected.

The arithmetic unit 70 is connected to an engine control servomotor (encon servo) comprising the above-described throttle operation servo 22 and sends a predetermined command value for the throttle opening to the throttle operation servo 22 according to a predetermined program. Throttle operation servo 2
2 is connected to the carburetor (carburetor) 17 through the wire 21 as described above, and controls the throttle opening.

FIG. 7 is a flowchart of the engine start control using the engine starter of FIG. FIG.
Is a time chart showing the throttle opening according to this flowchart. The horizontal axis indicates time, and the vertical axis indicates the command value of the throttle opening to the encon servo.

First, in step S1, it is determined whether or not the engine start switch 11 has been pressed. That is, the start switch 11 serves as a means for detecting the start of the engine start operation, and the flow of engine start is not performed unless the start switch is pressed. At time t0 (FIG. 8) when the start switch is pressed, X0
The first command value of the throttle opening is sent (step S
2). As a result, the throttle is automatically opened to the opening X0 to improve the startability. Here, the engine rotation detection sensor 7
It is determined from the signal from 1 whether the engine speed is greater than Y0 (step S3). This Y0 is a rotation speed for determining whether or not the engine has started, and is set to a value sufficiently higher than the rotation speed of the starter motor. Further, the first command value X0 is set so that the throttle opening required to obtain such a rotation speed Y0 is obtained.

At time t1 when the engine speed becomes greater than Y0, the timer is operated, and it is determined whether or not the time T0 has elapsed (step S4). At the time point t2 when the time T0 has elapsed, the command value is reduced to the second command value X1 and sent to the encon servo (step S5). The second command value X1 is a throttle opening at which the engine rotation can be stably maintained after the engine is started. The reason for providing the time T0 is that
If the throttle opening is reduced immediately after the engine speed reaches Y0, engine stall may occur.

Next, in step S6, it is determined whether or not the time T1 has elapsed from the time t2 when the command value X1 was issued. At the time point t3 when the time T1 has elapsed, a command value to be the fully-closed throttle, i.e., the idling air-fuel mixture supply amount, is sent to the Encon servo as a third command value (step S).
7). The time T1 is a warm-up operation time in a state where the throttle is slightly opened from the fully closed state (command value X1).
After 1 elapses, the engine is sufficiently warmed up and the engine rotates stably. Thus, the engine start operation in the start mode ends.

In the above embodiment, the throttle opening command value is changed stepwise (solid line A in FIG. 8), but as shown by B in FIG. 8, the characteristic of the command value with respect to a predetermined time (continuous The command value may be changed so as to decrease to the third command value in accordance with a typical linear graph or another curve graph.

The time point t0 at which the engine start operation is started is the time point at which the start switch is turned on in the above-described embodiment, but instead is the time point at which the main switch (power switch) is turned on. Is also good.

FIG. 9 is a time chart of another embodiment of the present invention. In this example, the command value X0 is transmitted at time t0 when the start switch is turned on, and thereafter, the command value X0 is transmitted for a predetermined time T0.
The command value X1 is transmitted at time t4 when 2 has elapsed. That is, it is determined that the engine has been started when a predetermined time T2 has elapsed after the starter motor has been started, and the command value is changed from X0 to X1 without performing the rotation speed detection for confirming the start of the engine. Is to drop it.
In this example, the control circuit that stores the time T2 and the timer that measures the time constitute an engine start confirmation unit. Other configurations and operational effects are the same as those of the embodiment of FIG.

FIG. 10 is a time chart of still another embodiment of the present invention. In the example of FIG. 8, the command value is set to X1 after a lapse of time T0 from the time when the engine speed reaches Y0, whereas the command value X1 is set at time t5 when the engine speed reaches Y1 higher than Y0. Is sent. In this case, since the rotational speed is high, even if the command value is dropped from X0 to X1 immediately after Y1 is detected, there is no risk of engine stall, so that the time T0 is not provided as in the example of FIG. The other configuration and operation and effect are the same as those of the embodiment of FIG.

FIG. 11 is a time chart of still another embodiment of the present invention. In this example, the on / off of the start switch is detected, and the time t6 when the start switch is turned off
It is determined that the engine has been driven, and the command value is reduced from X0 to X1. Other configurations and operational effects are the same as those of the embodiment of FIG.

FIG. 12 is a time chart of still another embodiment of the present invention. This example is similar to the example of FIG.
The on / off state of the start switch is detected, and the command value is reduced from X0 to X1 after a lapse of time T3 from the time point t6 when the start switch is turned off. This time T
The reason why 3 is provided is to avoid engine stall, similarly to the time T0 in the example of FIG. Other configurations and operational effects are the same as those of the embodiment of FIG.

FIG. 13 is a time chart of still another embodiment of the present invention. In this example, an open / close detection sensor 72 for the decompression on-off valve is provided (see FIG. 6), and it is determined that the engine has been started at time t8 when all decompressions of each cylinder are closed.
From this point in time t8, further similar to the time T0 in the example of FIG.
After a lapse of time T4 for avoiding the possibility of engine stall, the throttle opening command value is reduced from X0 to X1. Other configurations and operational effects are the same as those of the embodiment of FIG.

In each of the above embodiments, an unmanned helicopter equipped with an engine starter motor in the body has been described. However, the present invention is not limited to this, and the present invention is not limited thereto. The present invention is also applicable to a helicopter having a configuration in which a start assist device is provided separately and the start assist device is connected to the engine from outside the body only when the engine is started to perform a start operation.

[0035]

As described above, according to the present invention, the start of the engine starting operation is detected by, for example, pressing a start switch or the like, and the first command for the easy-to-start fuel amount set in advance is detected accordingly. When the start of the engine is confirmed by, for example, detecting the engine speed or the like, the second command value is automatically sent to reduce the fuel supply amount, and after a predetermined time elapses, When the vehicle is stabilized, the third command value for further reducing the fuel supply amount and, for example, setting the fuel supply amount in an idle state is automatically transmitted, so that the pilot needs to adjust the fuel supply driving means such as the throttle at the time of starting. The fuel supply control of the throttle or the like is automatically performed only by pressing the start switch with one hand, and the engine can be easily started. At the same time, a stable idle state can be automatically established. As described above, since the throttle and the like are automatically closed to be in the idle state, the engine speed does not become high after the start, and noise and wasteful fuel consumption can be prevented.

[Brief description of the drawings]

FIG. 1 is a top view showing an operating state of an unmanned helicopter according to the present invention when starting an engine.

FIG. 2 is a configuration diagram of main parts inside the fuselage of the unmanned helicopter in FIG. 1;

FIG. 3 is a detailed view of an engine part of the unmanned helicopter in FIG. 1;

FIG. 4 is a sectional view of a cylinder part of the engine of FIG. 3;

FIG. 5 is a cross-sectional view of a decompression on-off valve device.

FIG. 6 is a basic configuration diagram of an engine starting device according to the present invention.

FIG. 7 is a flowchart showing the operation of the engine starting device according to the present invention.

FIG. 8 is a time chart of an engine start operation according to the embodiment of the present invention.

FIG. 9 is a time chart of an engine start operation according to another embodiment of the present invention.

FIG. 10 is a time chart of an engine starting operation according to another embodiment of the present invention.

FIG. 11 is a time chart of an engine start operation according to another embodiment of the present invention.

FIG. 12 is a time chart of an engine start operation according to another embodiment of the present invention.

FIG. 13 is a time chart of an engine starting operation according to another embodiment of the present invention.

FIG. 14 is an external view of a transmitter of an unmanned helicopter to which the present invention is applied.

FIG. 15 is an explanatory diagram of attitude control of an unmanned helicopter to which the present invention is applied.

[Explanation of symbols]

1: body, 2: body cover, 3: tail cover, 4: radiator, 5: tail rotor, 6: main mast, 7:
Main rotor, 8: stabilizer, 9: operation panel, 1
0: Main switch, 11: Start switch, 12:
Choke lever, 13: decompression operator, 14: fan, 15: engine, 16a, 16b: cooling water pipe, 1
7: carburetor, 18: intake manifold, 19: air cleaner, 20: throttle lever, 21: wire, 22: throttle-operated servomotor (encon servo), 23:
Fuel tank, 24: rod, 25: cylinder mechanism, 2
6: cylinder, 27: ring gear, 28: starter motor, 29: centrifugal clutch, 30: exhaust pipe, 31: muffler, 32: silencer, 33: leg, 34: skid, 3
5: spark plug, 36: exhaust manifold, 37: water jacket, 38: crankcase, 39: crankshaft,
40: connecting rod, 41: piston, 42: combustion chamber, 4
3: intake port, 44: scavenging passage, 45: exhaust port,
46: decompression on-off valve, 47: cylinder bore, 48:
Hole, 50: transmitter, 51: antenna, 52, 53: stick.

──────────────────────────────────────────────────続 き Continued on front page (51) Int.Cl. ⁶ Identification code FI F02D 11/10 F02D 11/10 DG 13/08 13/08 A 29/00 29/00 A 29/02 29/02 H 41 / 06 310 41/06 310 330 330Z 41/20 310 41/20 310B F02N 11/08 F02N 11/08 U 17/00 17/00 AB

Claims (3)

[Claims] 1. A fuel supply means, a fuel supply drive means for driving the fuel supply means in accordance with a fuel supply amount, and a fuel supply means for sending a command value corresponding to the fuel supply amount to the fuel supply drive means. An unmanned helicopter having a control means and a start operation start detecting means for detecting the start of an operation for starting the engine and a start confirmation means for confirming the start of the engine. In response, the fuel supply control means sends a preset first command value to the fuel supply drive means, and in response to an engine start signal from the start confirmation means, the fuel supply control means A second predetermined command value smaller than the first command value is transmitted to the fuel supply driving means. After the second command value is transmitted, after a predetermined time elapses, the fuel supply driving means is controlled. An engine starting device for an unmanned helicopter, wherein the supply control means is configured to send a third command value set in advance smaller than the second command value to the fuel supply driving means. 2. The fuel supply means comprises a carburetor; the fuel supply drive means comprises a servomotor for changing a throttle opening of the carburetor; and the fuel supply control means calculates according to a predetermined program. 2. The control device according to claim 1, wherein the start operation start detecting unit includes an engine start switch or a power switch, and the start check unit includes an engine speed detection sensor. 3. Unmanned helicopter engine starter. 3. The engine includes a decompression opening / closing valve, wherein the first command value is set so that a pressure of a combustion chamber caused by combustion is sufficiently larger than a decompression release pressure, and the second command value is: The fuel supply amount is set so that the engine can continue to rotate stably at the time of starting, and the third command value is set so as to be a fuel supply amount when the engine is in an idle state. Or an engine starting device for an unmanned helicopter according to item 2.