KR20010035471A - A robot device to automatically maintain the altitude in a micro-light fixed pitch coaxial helicopter - Google Patents

Abstract

PURPOSE: An automatically altitude maintaining robot device for a fixed-pitch inversed rotor type small-sized helicopter is provided to automatically maintain altitude uniformly without any manipulation of a throttle control lever by a user. CONSTITUTION: An automatically altitude maintaining robot device includes an altitude sensing gyro sensor for outputting signals corresponding with the change of altitude, a throttle control lever for manual handling, a button(25) for selecting the automatic or manual maintaining of altitude, a servo motor(31) for the vertical control of the throttle control lever in case of the automatic maintaining of altitude, a solenoid(35) for contacting the servo motor to the throttle control lever, and a controller(32) for controlling the servo motor, wherein the servo motor is driven in the positive direction when a current altitude is decreased than a set altitude and in the negative direction in the other case, and the throttle control lever is continuously controlled and interlocked with the operation of the servo motor, so that the engine RPM and rotor RPM are continuously controlled to automatically maintaining altitude uniformly.

Description

A robot device to automatically maintain the altitude in a micro-light fixed pitch coaxial helicopter

The present invention is a robot device for setting a desired current altitude during hoovering or forward and backward flight in a small helicopter of a fixed-reverse rotor type with a fixed pitch, and maintaining the altitude constantly automatically. Only possible. This manual operation is a continuous adjustment of the throttle that raises the throttle when the altitude is lowered and lowers the throttle as the altitude rises, so that the pilot is completely dependent on the pilot's intuition and skill. It is very inconvenient to fly while maintaining a certain altitude because the hand cannot be freely released from the control pad of the car.

The present invention aims to eliminate the conventional inconvenience of the pilot having to adjust the throttle control continuously finely in order to maintain a constant altitude as described above.

Another object of the present invention is to allow the pilot to freely perform other tasks while the helicopter is flying at a constant altitude from the steering wheel of the throat.

Another object of the present invention is to implement a semi-automatic navigation system installed in an expensive helicopter as a simple and inexpensive robot device, and to apply it to a fixed-pitch inverted rotor-type helicopter.

1 is a display of the overall structure of the helicopter and automatic altitude maintenance robot device

Figure 2 is an altitude automatic maintenance robot and the engine and other equipment connected thereto

3 is an internal structure of the automatic altitude maintenance robot device

4 is a control control device built in the robot

5 is an operation sequence of the robot apparatus

<Explanation of symbols for main parts of drawing>

01: Throttle Control Rod 02: Automatic Altitude Maintenance Robot Device

03: Throttle Connection Bar

11: engine 12: rotor

13: engine pulley 14: belt

15: rotor rotation shaft

21: engine throat 22: speed sensor

23: gyro altitude sensor 24: satellite positioning device (G.S)

25: Automatic, manual switch button

31: servo motor 32: control control device

33: drive gear 34: servo motor pulley

35: Solenoid for Servo Motor

41: servo motor control module 42: power supply module

43: input module 44: control module

In order to achieve the above object, the highly automatic robot control device 02 proposed in the present invention has a connection bar 03 for adjusting the throttle from the device and the engine 11 and the engine 11 as shown in FIG. It is configured to work in conjunction with the sensor 22 for measuring the number of revolutions of the hair 21, the rotor 12.

If the pilot wants to raise or lower the helicopter's altitude, pulling or pushing the throttle adjustment bar (01) moves the bar (03) connected thereto to open or close the throttle (21) of the engine (11). . As a result, the engine speed increases or decreases as the output of the engine 11 increases or decreases, which is transmitted to the rotor shaft 15 as the belt 14 through the pulley 13 of the engine and the rotor shaft 15 The rotation speed of the rotor 12 is determined while this rotation is performed. In this way, the rotation speed of the rotor 12 interlocked with the engine 11 is read by the rotation speed sensor 22 attached thereto.

The automatic altitude maintenance robot device 02 of the present invention has a throttle control section 01 and a button 25 for converting the altitude to an automatic maintenance state, which are necessary for manual operation as shown in FIG. Servo motor 31 responsible for the up and down adjustment of the throttle steering wheel 01, a control device for controlling the solenoid 35 and the servo motor 31 for bringing the servo motor 31 into close contact with the throttle steering wheel 01 ( 32). In addition, the control device 32 is input from the automatic, manual switching button 25, the rotation speed sensor 22 of the rotor, the gyro altitude sensor 23, the satellite positioning device (G.PS) 24 It consists of an input module 43 for receiving signals, a control control module 44 for analyzing and controlling various input signals, a power supply module 42, and a servomotor control module 41.

Altitude automatic maintenance robot device 02 according to the present invention, if the pilot wants to automatically maintain the current flight altitude, by pressing the automatic, manual switching button 25 to switch to the automatic mode. Then, as shown in FIG. 3, the pulley 34 of the servomotor 31 is in close contact with the drive gear 33 at the end of the throttle control rod 01 by the solenoid 35 and the process in FIG. 5 is performed. The altitude autonomous robotic device is started to operate 52. At this time, when the switching button 25 is pressed again, the pulley 34 of the servo motor in close contact with the drive gear 33 is dropped from the drive gear 33 to enter the manual operation mode. Once the button 25 is pressed to enter the automatic mode (52), the input module 43 has various sensors, the rotor speed sensor 22, the gyro altitude sensor 23, and the satellite positioning device (G.PS) ( 24, the control unit 44 determines whether the current job is in the setting of the automatic mode (55), and if so, stores the values of these signals (56) and automatically If the altitude is lowered (57), the signal from the gyro altitude sensor (23) and the satellite positioning device (G.P.S.) 24 is compared with the signal value being stored (56). The rotor rotation speed is again compared with the rotation speed of the stored rotor (58). If the rotation speed of the rotor is low, the servo motor control module 41 adds a signal to operate the servomotor 31. As the pulley 34 of the servomotor 31 in close contact with the drive gear 33 at the other end of the throat control panel 01 rotates slowly, the throat control panel 01 is pulled out, and thus the connecting bar 03 The throat 21 of the engine 11 is opened while being pulled out. As a result, the rotation speed of the engine 11 increases and the rotation speed of the rotor 12 also increases, and the rotation speed is sensed by the sensor 22. The rotor speed is gradually increased until it is equal to the speed stored in the automatic mode setting (59), and the operation is stopped when the altitude is restored. If the altitude is lowered in the state that the rotation speed of the rotor is not lowered, the control module 44 determines the increase rate of the throttle compared to the altitude decrease rate to increase the throttle (61), and the servo motor control module (41). To control the servo motor 31. On the contrary, even when the altitude increases (62), the same process (63) is performed to increase and decrease the throat (64, 65) and the result is obtained through the pulley (34) of the servo motor (31). It is transmitted to 01) and it is a continuous pilot micropilot. In auto mode, the altitude is automatically maintained even if the pilot releases the pilot.

As described above, according to the present invention, the current altitude obtained by the gyro altitude sensor detects whether the helicopter is descending or rising from the current reference altitude and is also obtained from the satellite positioning device (G.PS). Using the signal together, when the altitude is lowered, the servo motor is operated to open the throttle to increase the rotational speed of the rotor, and when the altitude increases, the micro process is repeated to close the throttle through the servo motor to reduce the rotational speed of the rotor. This keeps the altitude automatic even without pilot intervention. Therefore, if you want to maintain a constant altitude, the pilot operates the high-altitude maintenance mode, so that the pilot can be free from the inconvenience of maneuvering the need to constantly fine tune the throat.

In addition, the pilot can be freely lifted from the throttle control with the help of the altitude autonomous robot device according to the present invention in the situation where one hand cannot be held between the cyclic control and the other hand between the throttle control. And other button manipulation operations.

In addition, the altitude automatic maintenance robot device according to the present invention is a simple device such as an altitude sensing gyro sensor, a satellite positioning device (G.PS), a control control device and a servo motor, and functions only existing in existing expensive and large helicopters. Can be implemented at low cost in small helicopters.

Claims (3)

Fixed pitch reversal rotor In small helicopters, the servomotor is controlled in a positive direction when the current altitude falls as compared with the altitude set to maintain a constant automatic signal using the signal from the altitude sensing gyro sensor. If the current altitude rises, the servo motor is driven in the negative direction to continuously adjust the throttle control meshed to it, so that the altitude is constantly and automatically adjusted by continuously adjusting or adjusting the engine speed and the rotor speed linked to the engine. Altitude automatic maintenance robot, characterized in that to maintain. The automatic altitude maintenance robot device according to claim 1, which receives a signal from a satellite positioning device (G.PS) and detects a change in the current altitude and uses the signal to control a servomotor. At the time of setting the altitude to be automatically maintained in claim 1, the rotor rotational speed at the time when there is a change in altitude based on the rotational speed of the rotor is compared, and the altitude is automatically fixed by adjusting the rotational speed of the rotor. Altitude automatic robot device, characterized in that to maintain