WO2016027544A1 - 遠隔操縦装置 - Google Patents
遠隔操縦装置 Download PDFInfo
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- WO2016027544A1 WO2016027544A1 PCT/JP2015/065432 JP2015065432W WO2016027544A1 WO 2016027544 A1 WO2016027544 A1 WO 2016027544A1 JP 2015065432 W JP2015065432 W JP 2015065432W WO 2016027544 A1 WO2016027544 A1 WO 2016027544A1
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- unmanned helicopter
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Images
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
- B64C13/20—Initiating means actuated automatically, e.g. responsive to gust detectors using radiated signals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/52—Determining velocity
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0033—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0202—Control of position or course in two dimensions specially adapted to aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/17—Helicopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U40/00—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration
- B64U40/10—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration for adjusting control surfaces or rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Definitions
- This invention relates to a remote control device, and more particularly to a remote control device for an unmanned helicopter.
- Patent Document 1 An example of this type of prior art is disclosed in Patent Document 1.
- the absolute position (latitude and longitude) of a GPS receiver at each point of the flight area is moved at the end of the flight area while moving around the periphery of the flight area scheduled for flight.
- a flight planning device capable of setting flight area data by registering the indicated position) and altitude is disclosed.
- a main object of the present invention is to provide a remote control device that enables a desired flight of an unmanned helicopter without requiring time and effort for preparation and setting regardless of the landform of the flight area.
- the remote control device for an unmanned helicopter includes an azimuth detection unit that detects a flight direction of the unmanned helicopter, a speed information detection unit that detects speed information of the unmanned helicopter, and a speed information.
- a distance detector that integrates and detects the flight distance of an unmanned helicopter, a storage unit that stores information at an updatable base point of the unmanned helicopter, a flight direction of the unmanned helicopter, and an unmanned helicopter obtained by integrating speed information
- a remote control device is provided that includes a position detection unit that detects a relative position indicating the position of the unmanned helicopter with respect to a base point based on the flight distance, and a control unit that controls the flight of the unmanned helicopter based on the relative position.
- the relative position indicating the position of the unmanned helicopter with respect to the base point is detected based on the flight direction of the unmanned helicopter and the flight distance of the unmanned helicopter obtained by integrating the speed information regardless of the topography of the flight area.
- the unmanned helicopter flies based on the relative position. Therefore, even when it is necessary to fly over the various terrain sequentially, it is possible to easily and flexibly cope with the preparation and setting in advance. That is, it is possible to perform a desired flight of an unmanned helicopter without taking time and effort for preparation and setting regardless of the terrain of the flight area.
- the control unit stores the flight direction of the unmanned helicopter at a certain time when the unmanned helicopter is flying in the storage unit as information on the base point, and sets the flight path on which the unmanned helicopter flies based on the flight direction at the base point
- the flight of the unmanned helicopter is controlled so that the relative position is along the flight path.
- the position of the unmanned helicopter at a certain point in time when the unmanned helicopter is flying is set as the base point
- the flight path for the unmanned helicopter to fly is set based on the flight direction of the unmanned helicopter at the base point
- the relative position follows the flight path.
- the unmanned helicopter flies Therefore, there is no need to set the flight path in advance, and the operator can fly the unmanned helicopter along the flight path simply by performing an operation to determine an appropriate position based on the unmanned helicopter in flight. Can do.
- it further includes an instruction unit for instructing start of turn assist of the unmanned helicopter in which the unmanned helicopter is set in the flight operation for automatically changing the traveling direction, and the first outbound route, the return route, the end point of the first outbound route, and the return route
- the control unit determines the position and flight direction of the unmanned helicopter at the time of instructing the start of turn assist by the instruction unit at the base point.
- the information is stored in the storage unit, and the unmanned helicopter is caused to fly along the flight direction at the base point in the first outbound route, the flight direction of the unmanned helicopter at the base point or the first outbound route in the first U-turn route, and the first outbound route and the return route
- the starting point of the return path is detected on the basis of the first interval information indicating the interval between and the unmanned helicopter from the end point of the first outbound path to the starting point of the return path Moving the data, the return path, the flight orientation in the base or first forward to fly the unmanned helicopter in the opposite direction.
- the unmanned helicopter when the unmanned helicopter flies along the flight path including the first forward path, the return path, and the first U-turn path connecting the both paths, the position of the unmanned helicopter at the time when the start of the turn assist by the instruction unit is instructed In the first forward path, the unmanned helicopter is caused to fly along the flight direction at the base point, and in the first U-turn path, the starting point of the return path is determined based on the flight direction of the unmanned helicopter in the base point or the first forward path and the first interval information.
- the unmanned helicopter is detected and moved from the end point of the first forward path to the start point of the return path.
- the unmanned helicopter On the return path, the unmanned helicopter is caused to fly in the direction opposite to the flight direction at the base point or the first outbound path. Therefore, when the instruction unit instructs the start of turn assist, the unmanned helicopter can be easily reciprocated so that the first forward path and the backward path are parallel to each other with the interval indicated by the first interval information.
- the control unit detects the start point of the return path based on the flight direction of the unmanned helicopter at the end point of the first forward path and the first interval information, and starts the return path from the end point of the first forward path.
- the unmanned helicopter is moved to the start point, and on the return path, the unmanned helicopter is caused to fly in the direction opposite to the flight direction at the end point of the first forward path.
- the unmanned helicopter since the unmanned helicopter is caused to fly based on the flight direction at the end point of the nearest first forward path on the first U-turn path and the return path, the unmanned helicopter can be caused to fly so that the first forward path and the return path become more parallel. it can.
- the flight path further includes a second forward path and a second U-turn path connecting the end point of the return path and the start point of the second forward path
- the control unit is the base point, the first outbound path or the return path in the second U-turn path.
- the start point of the second forward path is detected based on the flight direction of the unmanned helicopter and the second interval information indicating the distance between the return path and the second forward path, and the unmanned helicopter is moved from the end point of the return path to the start point of the second forward path.
- the unmanned helicopter is caused to fly along the flight direction in the base point or the first forward path, or the unmanned helicopter is caused to fly in the direction opposite to the flight direction in the return path.
- the size of the flight area can be easily accommodated by repeating the flight from the first forward path to the second forward path as necessary.
- the control unit detects the start point of the second forward path based on the flight direction of the unmanned helicopter at the end point of the return path and the second interval information on the second U-turn path, and starts from the end point of the return path to the second forward path.
- the unmanned helicopter is moved to the start point, and the unmanned helicopter is caused to fly in the direction opposite to the flight direction at the end point of the return path on the second forward path.
- the unmanned helicopter since the unmanned helicopter is caused to fly based on the flight direction at the end point of the nearest return path on the second U-turn path and the second outbound path, the unmanned helicopter can be caused to fly so that the return path and the second outbound path become more parallel. it can.
- it further includes an end point instructing unit for instructing an end point of the first outbound path and an end point of the inbound path
- the control unit is the flight direction and first interval information of the unmanned helicopter at the end point of the first outbound path instructed by the end point instructing unit
- the end point of the first forward path and the end point of the return path can be instructed by the end point indicating unit, and the distance from the start point to the end point of the first forward path and the distance from the start point to the end point of the return path can be arbitrarily set. That is, the timing of the reverse turn of the unmanned helicopter can be set by an instruction from the operator. Therefore, it is possible to easily cope with various topography (depth) of the flight area.
- the unmanned helicopter is used for spraying the sprayed material
- the remote control device further includes a spraying instruction unit for instructing start and end of spraying of the sprayed material
- the spraying instruction unit is an end point indicating unit.
- the control unit starts spraying the sprayed material according to the spraying start instruction from the spraying instruction unit, finishes spraying the sprayed material according to the spraying end instruction from the spraying instruction unit, and starts the return path start point and the 2 Start point of forward path is detected.
- the spray instruction unit also serves as the end point instruction unit, it is not necessary to provide an end point instruction unit separately from the spray instruction unit.
- the spraying of the scattered material from the unmanned helicopter is started according to the spraying start instruction from the spraying instruction unit, and the spraying of the sprayed material from the unmanned helicopter is ended according to the spraying end instruction from the spraying instruction unit. Therefore, it is not necessary to store the spraying distance in advance, and the operator can flexibly start / stop spraying at an appropriate position according to an instruction from the operator while looking at the position of the unmanned helicopter flying.
- the control unit detects the start point of the first forward path in response to a turn assist start instruction from the instruction unit, and determines the end point of the first forward path based on the start point of the first forward path and preset distance information. And detecting the start point of the return path based on the flight direction of the unmanned helicopter at the end point of the first forward path and the first interval information, and the control unit further detects the return path based on the start point of the return path and preset distance information. , Detecting the start point of the second forward path based on the flight direction of the unmanned helicopter at the end point of the return path and the second interval information, and detecting the start point of the second forward path and the distance information set in advance. 2 The end point of the forward path is detected. In this case, if the instruction unit instructs the start of turn assist, then the unmanned helicopter can automatically fly.
- the unmanned helicopter is used for spraying the sprayed material, and the control unit starts spraying the sprayed material at the start point of each of the first outbound route, the return route, and the second outbound route, and the first outbound route, the return route, and the first route.
- the spraying of the sprayed material is finished at the end points of the two forward paths. In this case, since the start and end of spraying can be automatically performed, it is not necessary for the operator to instruct the start and end of spraying.
- the information processing apparatus further includes an end point instruction unit for instructing an end point of the first forward path, and the control unit detects a start point of the first forward path in response to a turn assist start instruction by the instruction unit, and indicates a start point and an end point instruction of the first forward path.
- an end point instruction unit for instructing an end point of the first forward path
- the control unit detects a start point of the first forward path in response to a turn assist start instruction by the instruction unit, and indicates a start point and an end point instruction of the first forward path.
- the distance information is detected based on the end point of the first forward path instructed by the unit, the starting point of the return path is detected based on the flight direction of the unmanned helicopter at the end point of the first forward path and the first interval information, Furthermore, the end point of the return path is detected based on the start point of the return path and the detected distance information, the start point of the second forward path is detected based on the flight direction of the unmanned helicopter at the end point of the return path and the second interval information, The end point of the second forward path is detected based on the starting point of the two forward paths and the detected distance information.
- the end point indicating unit by indicating the end point of the first forward path by the end point indicating unit, the distance from the start point to the end point of the first forward path, the distance from the start point to the end point of the return path, and the distance from the start point to the end point of the second forward path, That is, it is possible to set (change) the timing of the turn of the unmanned helicopter and easily cope with various terrains (depths) in the flight area.
- the unmanned helicopter is used for spraying the sprayed material
- the control unit starts spraying the sprayed material at the start point of each of the first outbound route, the return route, and the second outbound route, and the first outbound route, the return route, and the first route.
- the spraying of the sprayed material is finished at the end points of the two forward paths.
- the distance information is detected, and the end point of the return path and the end point of the second forward path are also detected based on the distance information. Therefore, it is possible to easily set (change) the distance (timing to stop spraying) the sprayed material in the first forward path, the return path, and the second forward path according to an instruction from the operator.
- the first forward path is located on the opposite side to the second forward path with respect to the return path, and the distance between the first forward path and the return path and the distance between the return path and the second forward path are set to be approximately equal.
- the unmanned helicopter can be easily reciprocated so that the outbound path and the inbound path are substantially equidistant and parallel.
- control unit further includes a steering unit that steers the unmanned helicopter, and the control unit adjusts the flight state of the unmanned helicopter if the operation amount of the steering unit is within a threshold after the start of turn assist is instructed. If the amount of operation exceeds the threshold, turn assist is terminated.
- the operator can fine-tune the flight state (flight trajectory) while looking at the unmanned helicopter, and immediately if it is significantly different from the flight state desired by the operator, and Flight along the flight path can be easily terminated.
- a remote control device 10 is a remote control device of an unmanned helicopter 1.
- the unmanned helicopter 1 includes a body 2, a mast 3, a main rotor 4 and a tail rotor 5.
- the mast 3 is rotatably provided so as to protrude upward from the body 2.
- the main rotor 4 is fixed to the upper end portion of the mast 3.
- the tail rotor 5 is rotatably provided at the rear end portion of the body 2.
- the main rotor 4 and the tail rotor 5 are rotated based on a driving force from a driving source (not shown) provided in the body 2.
- the unmanned helicopter 1 is provided with a spraying device (not shown) for spraying sprays such as medicines.
- the remote control device 10 includes a transmitter 12 that transmits a signal toward the unmanned helicopter 1 and a device 14 that is mounted on the unmanned helicopter 1.
- the transmitter 12 includes a first stick member 16a, a second stick member 16b, a signal generator 18, a CPU 20, a high frequency unit 22, a transmission antenna 24, a turn assist start switch 26, and a turn direction switch.
- a switch 28 and a spray switch 30 are included.
- the first stick-like member 16 a and the second stick-like member 16 b correspond to a steering unit that steers the unmanned helicopter 1.
- a motor 48 (described later) is controlled, the vertical angle of the nose during flight is changed, and the unmanned helicopter 1 is accelerated or decelerated ( Forward or backward).
- the nose is lowered and the unmanned helicopter 1 is accelerated (advanced), and when the first stick-like member 16a is operated in the b direction, the nose is raised and the unmanned helicopter 1 is decelerated. Fly backwards.
- the nose By operating the first stick-like member 16a in the cd direction (left-right direction), the nose is swung in the left-right direction.
- the second stick-like member 16b By operating the second stick-like member 16b in the ef direction (front-rear direction), the machine body is raised or lowered.
- the second stick-like member 16b By operating the second stick-like member 16b in the gh direction (left-right direction), the machine body is tilted in the left-right direction.
- the first stick-like member 16a and the second stick-like member 16b are provided so as to be movable (inclined) from front to back and left and right from the reference position SP (neutral position).
- the control unit 34 (described later) of the device 14 determines the reference positions of the first stick member 16a and the second stick member 16b. If the operation amount (operation angle X) from the SP is within the threshold T, the flight state (flight trajectory) of the unmanned helicopter 1 is adjusted according to the magnitude of the operation amount, and the first stick-like member 16a and the second stick If the operation amount of the member 16b exceeds the threshold value T, the turn assist is finished.
- Analog operation information corresponding to the operation amount from the reference position SP of the first stick-like member 16a and / or the second stick-like member 16b is generated by the signal generation unit 18 of the transmitter 12, and given by the CPU 20
- the analog operation information is converted into digital operation information and sent to the high frequency unit 22.
- the turn assist start switch 26 of the transmitter 12 corresponds to an instruction unit that instructs the start of turn assist of the unmanned helicopter 1.
- the turn assist means that the flight operation is set to automatically change the traveling direction.
- a semi-automatic flight operation, a fully automatic flight operation, and an incomplete fully automatic flight operation will be described later.
- the control unit 34 of the device 14 is instructed to start turn assist, and a memory 34b (described later) of the control unit 34 has a nose direction (a direction in which the nose is facing) of the unmanned helicopter 1 or
- the traveling azimuth (moving direction) is stored as the flight azimuth, and the unmanned helicopter 1 automatically starts to accelerate toward the flight azimuth.
- the turn assist start switch 26 is turned off, the turn assist is forcibly terminated, the spraying of the spatter is terminated, and the unmanned helicopter 1 is put in a hovering state.
- the turn direction changeover switch 28 is a ternary (middle, right, left) changeover switch that is set to a mode in which turn assist is not performed at the center position, set to the right turn mode at the right position, and set to the left turn mode at the left position. Set to When switching from the right position or the left position to the center position during the turn assist, the turn assist is terminated and the unmanned helicopter 1 is put in a hovering state.
- spraying switch 30 When spraying switch 30 is turned on, spraying is started, and when spraying switch 30 is turned off, spraying is stopped. Further, the spray switch 30 can also serve as a trigger for starting the turn. In this case, when the spray switch 30 is turned off, the turn is started after the spraying is stopped.
- the transmitter 12 may further include a turn switch 32.
- the turn switch 32 is used when performing a full auto flight operation or an incomplete full auto flight operation described later.
- the turn switch 32 is in the on state, the full automatic flight operation is set.
- the turn switch 32 is in the off state, the incomplete full automatic flight operation is set.
- the turn switch 32 is turned on from the off state, a reverse turn is performed.
- the turn switch 32 is turned off, the turn preparation speed is decelerated (turning position is adjusted).
- Signals from these switches are given to the CPU 20, and the given signals are converted into digital operation information by the CPU 20 and sent to the high frequency unit 22.
- the high frequency unit 22 modulates the digital operation information and transmits the obtained radio signal from the transmission antenna 24.
- the device 14 includes a control unit 34, a reception antenna 36, a high frequency unit 38, a GPS antenna 40, a GPS reception unit 42, an orientation sensor 44, a motor drive unit 46 and a motor 48.
- the radio signal transmitted from the transmission antenna 24 of the transmitter 12 is received by the reception antenna 36, demodulated into digital operation information corresponding to the operation amount by the high frequency unit 38, and given to the control unit 34.
- a GPS signal regarding the helicopter 1 from the GPS satellite 50 is received by the GPS antenna 40 and given to the GPS receiver 42.
- speed information indicating the current speed of the unmanned helicopter 1 is extracted from the given GPS signal, and the speed information is provided to the control unit 34.
- the direction sensor 44 detects the flight direction of the unmanned helicopter 1, and the direction detection signal is given to the control unit 34.
- the control unit 34 includes a CPU 34a and a memory 34b.
- the CPU 34a (control unit 34) executes a program stored in the memory 34b, gives an instruction to each component, and controls the helicopter 1.
- the CPU 34 a (control unit 34) generates control information based on the given operation information and speed information, controls the motor drive unit 46, and the motor 48 is driven by the motor drive unit 46.
- the motor 48 By driving the motor 48, the angle of the main rotor 4 is changed, the angle of the nose of the unmanned helicopter 1 during flight is adjusted, and the flight state is controlled.
- the CPU 34a (the control unit 34) detects the flight distance of the unmanned helicopter 1 by integrating the given speed information.
- the CPU 34a detects a relative position indicating the position of the unmanned helicopter 1 with respect to the base point based on the flight direction of the unmanned helicopter 1 and the flight distance of the unmanned helicopter 1 obtained by integrating the speed information.
- the flight of the unmanned helicopter 1 is controlled based on the relative position. Specifically, the relative direction from the base point is detected on the basis of the flight direction at the base point and the flight distance after a predetermined time from the base point by detecting the flight direction and the flight distance every predetermined time from the base point.
- the position moved from the relative position is detected based on the flight direction at the relative position and the flight distance after a certain time from the relative position, and the position moved from the relative position to the relative position from the base point is set to a certain level.
- the relative position with respect to the base point is detected (updated) by sequentially integrating each time. For example, to keep the flight altitude of the unmanned helicopter 1 constant, assuming the first base point as the origin (0, 0), assuming two-dimensional coordinates with the east-west direction as the X axis and the north-south direction as the Y axis, the flight direction Based on the flight distance, the relative position may be expressed by coordinates (x, y).
- the relative position may be expressed by coordinates (x, y, z).
- the memory 34b stores information on the updatable base point of the unmanned helicopter 1 and the like.
- the field 52 has a rectangular shape.
- the end point of the first forward path X1 and the start point of the return path Y are connected by the first U-turn path Z1
- the end point of the return path Y and the start point of the second forward path X2 are connected by the second U-turn path Z2.
- An interval (spreading width) W between adjacent forward and return paths is set to be substantially constant.
- interval W can be changed as needed.
- the start point and the end point of each forward path and return path are set to be the ends of the field 52, respectively. Therefore, typically, the drug is sprayed from the start point to the end point of the forward path and the return path, and the drug is not sprayed on the U-turn path.
- the unmanned helicopter 1 when the unmanned helicopter 1 goes straight in the direction in which the unmanned helicopter 1 wants to travel straight and reaches the start point of the first forward path X1, the unmanned helicopter 1 moves from the start point to the end point of the first forward path X1 (from one end line of the field 52 to the other end). (Up to the end line) The drug is sprayed while moving straight at a constant height.
- the unmanned helicopter 1 is reversely turned through the first U-turn path Z1 to the start point of the next return target Y, and the drug is moved straight from the start point of the return path Y to the end point at a constant height. Be sprayed.
- the unmanned helicopter 1 is reversely turned through the second U-turn path Z2 to the start point of the second forward path X2, which is the next spreading target, and the unmanned helicopter 1 goes straight at a constant height from the start point of the second forward path X2 to the end point.
- the medicine is sprayed while letting go. Thereafter, the same operation is repeated.
- the medicine is sprayed from the start point to the end point of the forward path and the return path (from the end to the end of the field 52), but is not limited thereto.
- the spraying of the medicine may be started after entering the field 52 further than the starting point on the forward path and / or the return path.
- the direction sensor 44 corresponds to the direction detection unit.
- the GPS antenna 40 and the GPS receiving unit 42 correspond to a speed information detecting unit.
- the CPU 34a control unit 34
- the memory 34b corresponds to the storage unit.
- the first stick-like member 16a and the second stick-like member 16b correspond to the steering unit.
- the spraying switch 30 corresponds to the spraying instruction unit. In the semi-automatic flight operation, the spray switch 30 also serves as an end point instruction unit. In the incomplete full auto flight operation, the turn switch 32 also serves as an end point indicating unit.
- the distance W corresponds to the first interval information and the second interval information.
- the black circle ( ⁇ ) indicates the position of the unmanned helicopter 1 when the operator performs a switch operation.
- the operator operates the turn direction changeover switch 28 on the ground to set the left position or the right position, and determines the reverse turn direction of the unmanned helicopter 1 (step S1).
- the turn direction selector switch 28 is set to the right position.
- the unmanned helicopter 1 is taken off by operating the transmitter 12, and normal flight control is performed (step S3).
- the unmanned helicopter 1 is caused to fly in a hovering state with its nose directed in a direction in which it is desired to be sprayed, or in a direction in which spraying is scheduled, and waits until the turn assist start switch 26 is turned on by the operator ( Step S5). For example, when the turn assist start switch 26 is turned on at the position A shown in FIG.
- step S7 it is determined whether or not the unmanned helicopter 1 is in the hovering state. If the unmanned helicopter 1 is in a hovering state, the nose direction is stored in the memory 34b as the “flying direction” together with the position A (step S9). On the other hand, if the unmanned helicopter 1 is moving, the heading direction proceeds along with the position A. The azimuth is stored in the memory 34b as "flying azimuth" (step S11). Thus, the position A and the “flying direction” are stored in the memory 34b as information at the base point. In this embodiment, as shown in FIG.
- the “flying direction” is indicated by an angle with respect to the north direction, and the angle ⁇ 1 is stored in the memory 34b as the “flying direction” at the base point.
- a flight path including the left dotted arrow (first forward path X1) in FIG. 6) passing through the position A along the “flying direction” is set linearly, and from the position A, the unmanned helicopter 1 ”And automatically accelerates to a“ spreading speed ”set in advance, and reaches“ spreading speed ”(step S13).
- the velocity information vertical direction
- step S15 it is determined whether or not the operator has turned on the spraying switch 30 (step S15).
- the unmanned helicopter 1 continues to fly at the “spreading speed” until the operator turns on the spray switch 30. For example, when the spray switch 30 is turned on at the position B shown in FIG. The spraying of the drug is started. Thereafter, it is determined whether or not the operator has turned off the spraying switch 30 (step S17).
- the spraying of the medicine is continued until the spraying switch 30 is turned off. For example, when the spraying switch 30 is turned off at the position C shown in FIG. 6, the spraying of the medicine is stopped and the position C is moved to the first forward path X1. Is the end point.
- the flight of the unmanned helicopter 1 is controlled so that the relative position with respect to the base point (position A) from the position B to the position C is along the flight path, and the “dispersion speed” and the flight altitude are kept constant. Further, when the spray switch 30 is turned off, the traveling direction at the position C is stored in the memory 34b as the “flying direction” together with the relative position with respect to the base point (position A) at the position C (end point of the first forward path X1) ( Step S19). As the “flying direction”, the angle ⁇ 2 is stored in the memory 34b. Therefore, the position C becomes the latest base point.
- step S21 the reverse turn of the unmanned helicopter 1 in the turn direction set in step S1 is started (step S21).
- the unmanned helicopter 1 turns and draws the position D (starting point of the return path Y) shown in FIG. 6 without changing the nose direction until the position D is reached. Is automatically controlled so as to be “spreading speed” (step S23).
- the position D is a target position that is separated from the position C by a predetermined distance (interval W) in a direction perpendicular to the “flying direction” at the position C.
- the unmanned helicopter 1 reaches the target position D (start point of the return path Y) (step S25)
- the position D is 180 ° opposite to the “flight direction” at the position C stored in the memory 34b.
- a forward flight path (center dotted arrow in FIG. 6 (corresponding to the return path Y)) is set, and the flight of the unmanned helicopter 1 is automatically controlled along the flight path.
- the flight path is changed by 180 ° (step S27), and the process returns to step S15.
- step 15 for example, when the spraying switch 30 is turned on at a position E shown in FIG. 6, spraying of the medicine from the unmanned helicopter 1 is started from the position E. Note that the timing of spraying the medicine may be before reaching the position D or at the same time as the position D. Thereafter, it is determined whether or not the operator has turned off the spraying switch 30 (step S17). The spraying of the medicine is continued until the spraying switch 30 is turned off. For example, when the spraying switch 30 is turned off at the position F shown in FIG. 6, the spraying of the medicine is stopped and the position F becomes the end point of the return path Y.
- the traveling azimuth at the position F is stored in the memory 34b as the “flying azimuth” together with the relative position with respect to the previous base point (position C) at the position F (end point of the return path Y) (step S19).
- the angle ⁇ 3 is stored in the memory 34b. Therefore, the position F becomes the latest base point.
- the relative position with respect to the base point immediately before the position F (position C) and the “flying direction” are overwritten in the memory 34b. Then, the reverse turn of the unmanned helicopter 1 in the turn direction set in step S1 is started (step S21).
- the unmanned helicopter 1 turns so as to draw an arc toward the position G (starting point of the second forward path X2) shown in FIG. It is automatically controlled so as to accelerate until reaching the “spreading speed” (step S23).
- the position G is a target position separated from the position F by a predetermined distance (interval W) in a direction perpendicular to the “flight direction” at the position F.
- the unmanned helicopter 1 arrives at the target position G (starting point of the second forward path X2) (step S25)
- the position G is 180 ° opposite to the “flight direction” at the position F stored in the memory 34b.
- a flight path (right dotted arrow in FIG. 6) that travels in the direction is set, and the flight of the unmanned helicopter 1 is automatically controlled along the flight path.
- the flight path is changed by 180 ° (step S27), and the process returns to step S15.
- step S15 when the operator turns off the turn assist start switch 26, the semi-automatic flight operation is forcibly terminated (step S29), the spraying of the medicine is terminated, and the unmanned helicopter 1 waits in the hovering state (step S31). Return to step S3.
- the distance from the base point is determined based on the flight direction of the unmanned helicopter 1 and the flight distance of the unmanned helicopter 1 obtained by integrating speed information.
- a relative position indicating the position of the unmanned helicopter 1 is detected, and the unmanned helicopter 1 flies based on the relative position. Therefore, even when it is necessary to fly over the various terrain sequentially, it is possible to easily and flexibly cope with the preparation and setting in advance.
- the position of the unmanned helicopter 1 at a certain point in time when the unmanned helicopter 1 is flying is set as a base point, a flight path for the unmanned helicopter 1 to fly is set based on the flight direction of the unmanned helicopter 1 at the base point, and the relative position follows the flight path.
- the unmanned helicopter 1 flies. Therefore, it is not necessary to set the flight path in advance, and the operator can fly the unmanned helicopter 1 along the flight path simply by performing an operation to determine an appropriate position as a base point while looking at the unmanned helicopter 1 in flight. Can be made.
- the unmanned helicopter 1 When the unmanned helicopter 1 is caused to fly along the flight path including the first forward path X1 and the return path Y and the first U-turn path Z1 connecting the both paths, the unmanned helicopter at the time when the turn assist start switch 26 is instructed to start the turn assist With the position of 1 as the base point, the unmanned helicopter 1 is caused to fly along the flight direction at the base point on the first forward route X1, and the flight direction and the interval W of the unmanned helicopter 1 at the end point of the first forward route X1 on the first U-turn route Z1. And the unmanned helicopter 1 is moved from the end point of the first forward route X1 to the start point of the return route Y. On the return route Y, the flight direction at the end point of the first forward route X1 is opposite.
- the unmanned helicopter 1 is caused to fly. Accordingly, when the turn assist start switch 26 instructs the start of turn assist, the unmanned helicopter 1 can be easily reciprocated so that the first forward path X1 and the return path Y are spaced apart and parallel to each other. Further, since the unmanned helicopter 1 is caused to fly on the first U-turn route Z1 and the return route Y based on the flight direction at the end point of the nearest first forward route X1, the unmanned helicopter is set so that the first forward route X1 and the return route Y become more parallel. 1 can fly.
- the start point of the second forward path X2 is detected based on the flight direction and the interval W of the unmanned helicopter 1 at the end point of the return path Y, and the unmanned helicopter 1 from the end point of the return path Y to the start point of the second forward path X2
- the unmanned helicopter 1 is caused to fly in the direction opposite to the flight direction at the end point of the return path Y. Accordingly, the size of the flight area can be easily accommodated by repeating the flight from the first forward route X1 to the second forward route X2 as necessary.
- the unmanned helicopter 1 since the unmanned helicopter 1 is caused to fly based on the flight direction at the end point of the return path Y in the second U-turn path Z2 and the second outbound path X2, the unmanned helicopter 1 is set so that the return path Y and the second outbound path X2 are more parallel. You can fly.
- the first forward route X1 is located on the opposite side of the return route Y from the second forward route X2, and the interval W between the first forward route X1 and the return route Y and the interval W between the return route Y and the second forward route X2 are substantially equal. Since it is set, the unmanned helicopter 1 can be easily reciprocated so that the forward path and the return path Y are substantially equidistant and parallel to each other.
- the turn assist is finished. Therefore, while flying along the flight path, the operator can fine-tune the flight state (flight trajectory) while looking at the unmanned helicopter 1, and immediately when the flight state is significantly different from the flight state desired by the operator, and Flight along the flight path can be easily terminated.
- the spraying quality and spraying efficiency are improved.
- the spraying chemicals from a specific height to a specified range for tall crops pine, sugarcane, dent corn, etc.
- the turn assist function improves spraying quality and spraying efficiency and improves workability.
- speed information indicating the current speed of the unmanned helicopter 1 is extracted from the GPS signal, and a relative position indicating the position of the unmanned helicopter 1 with respect to the base point is obtained based on the flight distance and the flight direction obtained by integrating the speed information. Since it is detected, position information with higher accuracy than position information obtained directly from the GPS signal can be obtained.
- the start point of the return path Y is detected based on the flight direction and the interval W of the unmanned helicopter 1 at the end point of the first forward path X1 instructed by the spraying switch 30 that also serves as the end point indicating unit, Based on the flight direction and the interval W of the unmanned helicopter 1 at the end point of the return path Y indicated by the switch 30, the start point of the second forward path X2 is detected. Therefore, the end point of the first forward path X1 and the end point of the return path Y can be instructed by the spreading switch 30, and the distance from the start point to the end point of the first forward path X1 and the distance from the start point to the end point of the return path Y can be arbitrarily set. That is, the turn timing of the unmanned helicopter 1 can be set by an instruction from the operator. Therefore, it is possible to easily cope with various topography (depth) of the flight area.
- the spraying switch 30 serves as a spraying instruction unit and an end point instructing unit.
- the spraying switch 30 starts spraying the drug according to the spraying start instruction from the spraying switch 30 and ends the spraying of the drug according to the spraying end instruction from the spraying switch 30.
- the start point of the return path Y and the start point of the second forward path X2 are detected.
- the spraying switch 30 also serves as an end point instruction unit, it is not necessary to provide an end point instruction unit separately from the spraying switch 30.
- the spraying of the medicine from the unmanned helicopter 1 is started in response to the spraying start instruction from the spraying switch 30, and the spraying of the medicine from the unmanned helicopter 1 is ended in response to the spraying end instruction from the spraying switch 30.
- the spraying distance can be changed by the operation of the operator, even when the medicine is sprayed on the field 52 of various shapes, it can be easily and flexibly handled.
- the number of turns and the total travel distance only in the horizontal direction are limited. If the limit is exceeded, the semi-automatic flight operation is automatically terminated, and if the hovering state is entered, control by the operator You can prevent mistakes.
- the operator operates the turn direction switch 28 on the ground to set the left position or the right position, determines the direction of the reverse turn of the unmanned helicopter 1, turns on the turn switch 32, and selects the fully automatic flight operation.
- Step S101 the turn direction switch 28 is set to the right position.
- “scattering distance” distance from position B to position D, distance from position E to position G in FIG. 8A
- number of turns as distance information are set in advance. Note that the “spreading distance” and the number of turns may be set at this time, or the previous values may be used.
- the unmanned helicopter 1 is taken off by operating the transmitter 12, and normal flight control is performed (step S103). At this time, the unmanned helicopter 1 is caused to fly in a hovering state with its nose directed in a direction in which it is desired to be sprayed, or in a direction in which spraying is scheduled, and waits until the turn assist start switch 26 is turned on by the operator ( Step S105). For example, when the turn assist start switch 26 is turned on at the position A shown in FIG. 8A, it is determined whether or not the unmanned helicopter 1 is in the hovering state (step S107). If the unmanned helicopter 1 is in the hovering state, the nose direction is stored in the memory 34b as the “flying direction” together with the position A (step S109).
- the heading direction proceeds along with the position A.
- the azimuth is stored in the memory 34b as "flying azimuth” (step S111).
- the position A and the “flying direction” are stored in the memory 34b as information at the base point.
- the angle ⁇ 1 is stored in the memory 34b as the “flying direction” at the base point. Then, the flight route (including the left dotted arrow (first outgoing route X1) in FIG.
- step S113 using the velocity information (vertical direction) from the GPS satellite 50, control for maintaining the flight altitude at this point is started.
- step S115 when the speed of the unmanned helicopter 1 reaches the “spreading speed” at the position B shown in FIG. 8A, the unmanned helicopter 1 automatically starts spraying the medicine from the position B (starting point of the first forward path X1), Fly while calculating the movement distance from position B (step S115). Thereafter, it is determined whether or not the turn switch 32 is in an on state (step S117). In step S101, since the turn switch 32 is set to the on state, it is determined that the turn switch 32 is in the on state in the first forward path X1, and the process proceeds to step S119, where the unmanned helicopter 1 is set (from the position B It is determined whether or not it has moved by (spreading distance-turn preparation distance). The turn preparation distance is set in advance.
- the unmanned helicopter 1 will continue to fly at “spreading speed” until it travels (set spraying distance-turn preparation distance), and if it travels that distance, the unmanned helicopter 1 will turn preparation speed in preparation for the reverse turn. (Step S121). Thus, even if the operator does not operate, if the unmanned helicopter 1 moves from position B to position C shown in FIG.
- the spraying of the medicine is stopped (step S123), and the position D (first)
- the traveling azimuth at position D is stored in memory 34b as the “flying azimuth” together with the relative position with respect to the base point (position A) at the end point of one forward route X1 (step S125).
- the angle ⁇ 2 is stored in the memory 34b. Therefore, the position D becomes the latest base point.
- the relative position with respect to the immediately preceding base point (position A) at the position D and the “flying direction” are overwritten in the memory 34b.
- step S127 the reverse turn of the unmanned helicopter 1 in the turn direction set in step S101 is started (step S127).
- the medicine is continuously sprayed to the position D (end point of the first forward path X1) shown in FIG. 8A, and the reverse turn is started.
- the reverse turn of the unmanned helicopter 1 is the same as that of the semi-automatic flight operation described above. That is, in the subsequent reverse turn on the first U-turn path Z1, the unmanned helicopter 1 turns so as to draw an arc toward the position E (start point of the return path Y) shown in FIG. 8A without changing the nose direction. Then, it is automatically controlled to accelerate to reach the “spreading speed” until it reaches position E (step S129).
- the position E is a target position that is separated from the position D by a predetermined distance (interval W) in a direction perpendicular to the “flight direction” at the position D.
- the position E is 180 ° opposite to the “flight direction” at the position D stored in the memory 34b.
- a forward flight path (a center dotted arrow (corresponding to the return path Y) in FIG. 8A) is set, and the flight of the unmanned helicopter 1 is automatically controlled along the flight path. In this way, the flight path is changed by 180 ° (step S133), and the process returns to step S115.
- step S115 the unmanned helicopter 1 automatically starts spraying the medicine from the position E shown in FIG. 8A, and flies while calculating the movement distance from the position E. Thereafter, it is determined whether or not the turn switch 32 is in the on state (step S117). If it is in the on state, whether or not the unmanned helicopter 1 has moved from the position E by (the set spraying distance ⁇ turn preparation distance). Is determined (step S119). Continue to fly at “spreading speed” until the unmanned helicopter 1 moves by (set spraying distance-turn preparation distance), and if it moves by that distance, it decelerates to the turn preparation speed to prepare for the reverse turn ( Step S121). Thus, even if an operator does not operate, if unmanned helicopter 1 moves from position E to position F shown in Drawing 8 (a), it will decelerate to turn preparation speed.
- the spraying of the medicine is stopped (step S123), and the position G (return path)
- the traveling direction at the position G is stored in the memory 34b as the “flying direction” together with the relative position to the immediately preceding base point (position D) at the end point of Y) (step S125).
- the angle ⁇ 3 is stored in the memory 34b. Therefore, the position G becomes the latest base point.
- the relative position with respect to the base point (position D) immediately before the position G and the “flying direction” are overwritten in the memory 34b.
- step S127 the reverse turn of the unmanned helicopter 1 in the turn direction set in step S101 is started (step S127).
- the medicine is continuously sprayed to the position G (end point of the return path Y) shown in FIG. 8A, and the reverse turn is started.
- the unmanned helicopter 1 turns so as to draw an arc toward the position H (starting point of the second forward path X2) in FIG. 8A without changing the direction of the nose. Then, it is automatically controlled to reach the “spreading speed” by accelerating until reaching the position H (step S129).
- the position H is a target position that is separated from the position G by a predetermined distance (interval W) in a direction perpendicular to the “flight direction” at the position G.
- the unmanned helicopter 1 reaches the target position H (starting point of the second forward path X2) (step S131)
- the position H is 180 ° opposite to the “flight direction” at the position G stored in the memory 34b.
- a flight path (right dotted arrow in FIG. 8A) that advances in the direction is set, and the flight of the unmanned helicopter 1 is automatically controlled along the flight path. In this way, the flight path is changed by 180 ° (step S133), and the process returns to step S115. Thereafter, the end point of the second forward path X2 is detected in the same manner as described above.
- step S115 If the “spreading distance” is not changed, the above-described processing from step S115 to step S133 is repeated “number of turns”.
- step S117 when changing the “dispersion distance” in the second forward path X2, if the turn switch 32 is turned off at the position I in step S117, preparation for a turn is made in preparation for a reverse turn. The speed is decelerated (step S135). Thereafter, unless the turn switch 32 is returned to the on state (NO in step S137), the unmanned helicopter 1 continues to fly at the turn preparation speed. For example, when the turn switch 32 is turned on at position J (YES in step S137). Then, the process proceeds to step S123, and the spraying of the medicine is stopped.
- the position J becomes the end point of the second forward path X2, and the traveling direction at the position J is stored in the memory 34b as the “flying direction” along with the relative position with respect to the previous base point (position G) at the position J (end point of the second forward path X2).
- the angle ⁇ 4 is stored in the memory 34b. Therefore, the position J becomes the latest base point.
- the relative position with respect to the immediately previous base point (position G) at the position J and the “flying direction” are overwritten in the memory 34b.
- the changed “dispersion distance” distance from position H to position J
- the reverse turn of the unmanned helicopter 1 in the turn direction set in step S101 is started (step S127). In this way, the “spreading distance”, that is, the turn position is adjusted.
- Step S139 when the operator turns off the turn assist start switch 26, the fully automatic flight operation is forcibly terminated (Step S139), the spraying of the medicine is terminated, and the unmanned helicopter 1 waits in the hovering state (Step S139). S141), the process returns to step S103.
- the unmanned helicopter 1 performs the reverse turn by “the number of turns”, the spraying of the medicine is finished, and the unmanned helicopter 1 enters the hovering state.
- the start point of the first forward path X1 is detected in response to the turn assist start instruction by the turn assist start switch 26, and the start point of the first forward path X1 is set in advance as “dispersion”.
- the end point of the first forward route X1 is detected based on the “distance”, and the starting point of the return route Y is detected based on the flight direction and the interval W of the unmanned helicopter 1 at the end point of the first forward route X1.
- the end point of the return path Y is detected based on the start point of the return path Y and the “scattering distance”
- the start point of the second forward path X2 is detected based on the flight direction and the interval W of the unmanned helicopter 1 at the end point of the return path Y.
- the end point of the second forward path X2 is detected based on the start point of the second forward path X2 and the “dispersion distance”. Therefore, if the turn assist start switch 26 indicates the start of turn assist, then the unmanned helicopter 1 can be made to fly automatically.
- the spraying of the medicine is started at the start point of each of the first forward path X1, the return path Y, and the second forward path X2, and the spraying of the medicine is terminated at the respective end points of the first forward path X1, the return path Y, and the second forward path X2. Since the start and end of spraying can be performed automatically, it is not necessary for the operator to instruct the start and end of spraying.
- the reverse turn, spray start / stop timing, and spray distance can be changed by operating the turn switch 32 by the operator.
- the spraying distance can be changed by the operation of the operator, even when the medicine is sprayed on the field 52 of various shapes, it can be handled easily and flexibly.
- the operator operates the turn direction changeover switch 28 on the ground to set it to the left position or the right position, determines the direction of the reverse turn of the unmanned helicopter 1, turns off the turn switch 32, and performs the incomplete fully automatic flight operation.
- Select step S201.
- the turn direction changeover switch 28 is set to the right position.
- the number of turns is set in advance. Note that the number of turns may be set at this time, or the previous value may be used.
- the unmanned helicopter 1 is taken off by operating the transmitter 12, and normal flight control is performed (step S203). At this time, the unmanned helicopter 1 is made to fly in the hovering state with the nose directed in the direction in which it is desired to be sprayed, or in the direction in which spraying is scheduled, and waits until the turn assist start switch 26 is turned on by the operator. (Step S205). For example, when the turn assist start switch 26 is turned on at the position A shown in FIG. 10, it is determined whether or not the unmanned helicopter 1 is in the hovering state (step S207). If the unmanned helicopter 1 is in the hovering state, the nose direction is stored in the memory 34b as the “flying direction” together with the position A (step S209).
- the heading direction proceeds along with the position A.
- the azimuth is stored in the memory 34b as "flying azimuth” (step S211).
- the position A and the “flying direction” are stored in the memory 34b as information at the base point.
- the angle ⁇ 1 is stored in the memory 34b as the “flying direction” at the base point. Then, the flight route (including the left dotted arrow (first outgoing route X1) in FIG.
- step S213 a preset “turn preparation speed” ( ⁇ “spreading speed”) (step S213).
- ⁇ “spreading speed” a preset “turn preparation speed”
- step S213 using the velocity information (vertical direction) from the GPS satellite 50, control for maintaining the flight altitude at this point is started.
- the reason why the “turn preparation speed” is smaller than the “spreading speed” is to start the reverse turn immediately in response to the reverse turn instruction.
- step S21 when the speed of the unmanned helicopter 1 reaches the “turn preparation speed” at the position B shown in FIG. 10A, the unmanned helicopter 1 automatically starts spraying the medicine from the position B (starting point of the first forward path X1). Then, the aircraft flies while calculating the moving distance from the position B (step S215). Thereafter, it is determined whether or not the turn switch 32 is in an on state (step S217). In step S201, since the turn switch 32 is set to the off state, it is determined that the turn switch 32 is in the off state in the first forward path X1, and the process proceeds to step S219 to continue the flight at the turn preparation speed. This state is continued unless the turn switch 32 is turned on (NO in step S221).
- step S223 the position C becomes the end point of the first forward path X1, and the traveling direction at the position C is stored as the “flying direction” together with the relative position with respect to the base point (position A) at the position C (end point of the first forward path X1). 34b (step S225).
- the angle ⁇ 2 is stored in the memory 34b. Therefore, the position C becomes the latest base point.
- the relative position and the “flying direction” with respect to the immediately previous base point (position A) at the position C are overwritten in the memory 34b.
- the reverse turn of the unmanned helicopter 1 in the turn direction set in step S201 is started (step S227).
- the “scattering distance” from the position B to the position C shown in FIG. 10A is stored in the memory 34b.
- the reverse turn of the unmanned helicopter 1 and the subsequent processing are the same as in the case of the fully automatic flight operation.
- the unmanned helicopter 1 turns so as to draw an arc aiming at a position D (start point of the return path Y) shown in FIG. 10A without changing the nose direction. Then, automatic control is performed so that the “spreading speed” is reached before the position D is reached (step S229).
- the position D is a target position that is separated from the position C by a predetermined distance (interval W) in a direction perpendicular to the “flying direction” at the position C.
- step S231 When the unmanned helicopter 1 reaches the target position D (starting point of the return path Y) (step S231), the position D is 180 ° opposite to the “flying direction” at the position C stored in the memory 34b.
- a forward flight path (a center dotted arrow (corresponding to the return path Y) in FIG. 10A) is set, and the flight of the unmanned helicopter 1 is automatically controlled along the flight path. In this way, the flight path is changed by 180 ° (step S233), and the process returns to step S215.
- step S215 the unmanned helicopter 1 starts spraying the medicine automatically from the position D shown in FIG. 10A, and flies while calculating the movement distance from the position D. Thereafter, it is determined whether or not the turn switch 32 is in the on state (step S217). If it is in the on state, whether or not the unmanned helicopter 1 has moved from the position D by (stored spraying distance ⁇ turn preparation distance). Is determined (step S235). The unmanned helicopter 1 continues to fly at the “spreading speed” until it moves by (stored spraying distance ⁇ turn preparation distance), and if it moves that distance, it decelerates to the turn preparation speed to prepare for the reverse turn ( Step S237). As described above, when the unmanned helicopter 1 moves from the position D to the position E shown in FIG.
- the spraying of the medicine is stopped (step S223), and the position F (return Y)
- the traveling direction at the position F is stored in the memory 34b as the “flying azimuth” together with the relative position with respect to the immediately preceding base point (position C) (step S225).
- the angle ⁇ 3 is stored in the memory 34b. Therefore, the position F becomes the latest base point.
- the relative position with respect to the base point immediately before the position F (position C) and the “flying direction” are overwritten in the memory 34b.
- step S227 the reverse turn of the unmanned helicopter 1 in the turn direction set in step S201 is started (step S227).
- the medicine is not moved from the position D (start point of the return path Y) to the position F (end point of the return path Y) shown in FIG. Scattering is continued and a reverse turn is started.
- the unmanned helicopter 1 turns so as to draw an arc toward the position G (starting point of the second forward path X2) in FIG. 10 (a) without changing the direction of the nose. Then, it is automatically controlled to reach the “spreading speed” by accelerating until reaching the position G (step S229).
- the position G is a target position separated from the position F by a predetermined distance (interval W) in a direction perpendicular to the “flight direction” at the position F.
- the unmanned helicopter 1 reaches the target position G (starting point of the second forward path X2) (step S231), the position G is 180 ° opposite to the “flight direction” at the position F stored in the memory 34b.
- a flight path (right dotted arrow in FIG. 10A) traveling in the direction is set, and the flight of the unmanned helicopter 1 is automatically controlled along the flight path. In this way, the flight path is changed by 180 ° (step S233), and the process returns to step S215. Thereafter, the end point of the second forward path X2 is detected in the same manner as described above.
- step S217 when changing the “dispersion distance” in the second forward path X2, if the turn switch 32 is turned off at the position H in step S217, a turn preparation is made to prepare for a reverse turn. The speed is decelerated (step S219). Thereafter, unless the turn switch 32 is returned to the on state (NO in step S221), the unmanned helicopter 1 continues to fly at the turn preparation speed. For example, when the turn switch 32 is turned on at the position I (YES in step S221). Then, the process proceeds to step S223, and the spraying of the medicine is stopped.
- the position I becomes the end point of the second forward path X2, and the traveling direction at the position I is stored in the memory 34b as the “flight direction” along with the relative position with respect to the immediately preceding base point (position F) at the position I (end point of the second forward path X2).
- the angle ⁇ 4 is stored in the memory 34b. Therefore, the position I becomes the latest base point.
- the relative position with respect to the immediately previous base point (position F) at the position I and the “flying direction” are overwritten in the memory 34b.
- the changed “dispersion distance” distance from position G to position I
- the reverse turn of the unmanned helicopter 1 in the turn direction set in step S201 is started (step S227). In this way, the “spreading distance”, that is, the turn position is adjusted.
- Step S239 the incomplete fully automatic flight operation is forcibly terminated
- the spraying of the medicine is terminated
- the unmanned helicopter 1 waits in the hovering state (Ste S241), returning to step S203.
- the above-described processing is repeated and the unmanned helicopter 1 performs the reverse turn by “the number of turns”, the spraying of the medicine is finished, and the unmanned helicopter 1 enters the hovering state.
- the start point of the first forward path X1 is detected by the turn assist start instruction by the turn assist start switch 26, and the start point of the first forward path X1 and the turn switch 32 are instructed.
- the “scattering distance” is detected based on the end point of the first forward path X1
- the starting point of the return path Y is detected based on the flight direction and the interval W of the unmanned helicopter 1 at the end point of the first forward path X1.
- the end point of the return path Y is detected based on the start point of the return path Y and the detected “scattering distance”, and the start point of the second forward path X2 based on the flight direction and the interval W of the unmanned helicopter 1 at the end point of the return path Y. And the end point of the second forward path X2 is detected based on the starting point of the second forward path X2 and the detected “scattering distance”.
- the timing of the turn of the unmanned helicopter 1 can be set (changed), and various terrain (depth) of the field 52 can be easily handled.
- the medicine spraying is started at the start points of the first forward path X1, the return path Y, and the second forward path X2, and the medicine spraying is terminated at the end points of the first forward path X1, the return path Y, and the second forward path X2.
- the end point of the first forward path X1 is instructed by the turn switch 32, the “spreading distance” is detected, and the end point of the return path Y and the end point of the second forward path X2 are also detected based on the detected “spreading distance”.
- the reverse turn, spray start / stop timing, and spray distance can be changed by operating the turn switch 32 by the operator.
- the starting point of the return path Y is detected based on the flight direction and the interval W of the unmanned helicopter 1 at the end point of the first forward path X1, but the present invention is not limited to this.
- the starting point of the return path Y may be detected based on the flight direction and the interval W of the unmanned helicopter 1 at an arbitrary position on the base point or the first forward path X1.
- the start point of the second forward path X2 is detected based on the flight direction and the interval W of the unmanned helicopter 1 at the end point of the return path Y.
- the starting point of the second forward path X2 may be detected based on the base point or the flight direction and the interval W of the unmanned helicopter 1 at any position on the first forward path X1 or the return path Y.
- the unmanned helicopter 1 is caused to fly on the return path Y in the direction opposite to the flight direction at the end point of the first forward path X1, but the present invention is not limited to this.
- the unmanned helicopter 1 may be caused to fly in the direction opposite to the flight direction at the base point or at any position on the first forward path X1.
- the unmanned helicopter 1 is caused to fly in the direction opposite to the flight direction at the end point of the return path Y in the second forward path X2, but the present invention is not limited to this.
- the unmanned helicopter 1 may fly along the flight direction at an arbitrary position on the base point or the first outbound route X1, and the unmanned helicopter 1 is moved in the direction opposite to the flight orientation at an arbitrary location on the return route Y. You may fly.
- the spraying instruction unit also serves as the end point instruction unit
- the present invention is not limited to this.
- the spraying instruction unit and the end point instruction unit may be separate members.
- first forward path X1 is located on the opposite side to the second forward path X2 with respect to the return path Y
- present invention is not limited thereto.
- the first forward path X1 and the second forward path X2 may be located on the same side with respect to the return path Y.
- the interval between the second forward path X2 and the return path Y is set to approximately twice or approximately one half of the interval between the first path and the return path Y.
- the speed information of the unmanned helicopter 1 may be acquired by a speed sensor or a Pitot tube mounted on the unmanned helicopter 1.
- the speed information of the unmanned helicopter 1 may be acquired by integrating acceleration information obtained by a gyro sensor mounted on the unmanned helicopter 1. In these cases, desired information can be obtained without relying on the GPS satellite 50.
- the unmanned helicopter 1 may turn by changing the direction of the nose by 180 ° during the reversal turn.
- the spraying speed can be adjusted as necessary.
- the spread material is a drug, but is not limited thereto.
- the spread material may be fertilizer, seeds, or the like.
- the information at the base point is updated, and the relative position with respect to the base point at a certain point (for example, the end point of the forward path or the return path) is detected based on the updated information at the base point. It is not limited. Instead of updating the information at the first base point, the relative position with respect to the base point at a certain point may be detected based on the information at the first base point.
- the base point includes not only the base point as position information but also the base point as time information.
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Abstract
Description
図1を参照して、この発明の一実施形態の遠隔操縦装置10は、無人ヘリコプタ1の遠隔操縦装置である。
そして、割り込み処理として、オペレータがターンアシスト開始スイッチ26をオフすると、セミオート飛行動作が強制終了され(ステップS29)、薬剤の散布が終了されて、無人ヘリコプタ1がホバリング状態で待機し(ステップS31)、ステップS3に戻る。
無人ヘリコプタ1の反転ターンは、上述したセミオート飛行動作の場合と同様である。すなわち、その後の第1Uターン路Z1における反転ターンでは、機首の方向を変えずに図8(a)に示す位置E(復路Yの始点)を目指して弧を描くように無人ヘリコプタ1はターンし、位置Eに達するまでに加速して「散布速度」になるように自動制御される(ステップS129)。ここで、位置Eは、位置Dから位置Dにおける「飛行方位」に対する直角方向に所定距離(間隔W)だけ離れた目標位置である。目標位置である位置E(復路Yの始点)に無人ヘリコプタ1が到達すると(ステップS131)、位置Eから、メモリ34bに記憶されている位置Dにおける「飛行方位」に対して180°反対方向に進む飛行経路(図8(a)中の中央点線矢印(復路Yに対応))が設定され、その飛行経路に沿うように無人ヘリコプタ1の飛行が自動制御される。このようにして、飛行経路が180°変更され(ステップS133)、ステップS115に戻る。
たとえば、図8(b)を参照して、第2往路X2において「散布距離」を変更する場合、ステップS117において、位置Iでターンスイッチ32がオフされると、反転ターン準備のためにターン準備速度まで減速される(ステップS135)。その後、ターンスイッチ32がオン状態に戻されない限り(ステップS137がNO)、無人ヘリコプタ1はターン準備速度で飛行を継続し、たとえば位置Jでターンスイッチ32がオンされると(ステップS137がYES)、ステップS123へ進み、薬剤の散布が停止される。そして、位置Jが第2往路X2の終点となり、位置J(第2往路X2の終点)における直前の基点(位置G)に対する相対位置とともに、位置Jにおける進行方位が「飛行方位」としてメモリ34bに記憶される(ステップS125)。「飛行方位」としては、角度θ4がメモリ34bに格納される。したがって、位置Jが最新の基点となる。このように基点における情報として、位置Jにおける直前の基点(位置G)に対する相対位置および「飛行方位」がメモリ34bに上書きされる。また、変更された「散布距離」(位置Hから位置Jまでの距離)がメモリ34bに上書きされる。そして、ステップS101で設定されたターン方向への無人ヘリコプタ1の反転ターンが開始される(ステップS127)。このようにして、「散布距離」すなわちターン位置が調整される。
たとえば、図10(b)を参照して、第2往路X2において「散布距離」を変更する場合、ステップS217において、位置Hでターンスイッチ32がオフされると、反転ターン準備のためにターン準備速度まで減速される(ステップS219)。その後、ターンスイッチ32がオン状態に戻されない限り(ステップS221がNO)、無人ヘリコプタ1はターン準備速度で飛行を継続し、たとえば位置Iでターンスイッチ32がオンされると(ステップS221がYES)、ステップS223へ進み、薬剤の散布が停止される。そして、位置Iが第2往路X2の終点となり、位置I(第2往路X2の終点)における直前の基点(位置F)に対する相対位置とともに、位置Iにおける進行方位が「飛行方位」としてメモリ34bに記憶される(ステップS225)。「飛行方位」としては、角度θ4がメモリ34bに格納される。したがって、位置Iが最新の基点となる。このように基点における情報として、位置Iにおける直前の基点(位置F)に対する相対位置および「飛行方位」がメモリ34bに上書きされる。また、変更された「散布距離」(位置Gから位置Iまでの距離)がメモリ34bに上書きされる。そして、ステップS201で設定されたターン方向への無人ヘリコプタ1の反転ターンが開始される(ステップS227)。このようにして、「散布距離」すなわちターン位置が調整される。
上述の実施形態では、散布物は薬剤であったが、これに限定されない。散布物は、肥料や種等であってもよい。
10 遠隔操縦装置
12 送信機
14 機器
16a 第1スティック状部材
16b 第2スティック状部材
18 信号生成部
20 CPU
22,38 高周波部
24 送信アンテナ
26 ターンアシスト開始スイッチ
28 ターン方向切替スイッチ
30 散布スイッチ
32 ターンスイッチ
34 制御部
34a CPU
34b メモリ
36 受信アンテナ
40 GPSアンテナ
42 GPS受信部
44 方位センサ
46 モータ駆動部
48 モータ
50 GPS衛星
T 閾値
SP 基準位置
W 間隔
X1 第1往路
X2 第2往路
Y 復路
Claims (14)
- 無人ヘリコプタの遠隔操縦装置であって、
前記無人ヘリコプタの飛行方位を検出する方位検出部と、
前記無人ヘリコプタの速度情報を検出する速度情報検出部と、
前記速度情報を積分して前記無人ヘリコプタの飛行距離を検出する距離検出部と、
前記無人ヘリコプタの更新可能な基点における情報を記憶する記憶部と、
前記無人ヘリコプタの飛行方位と、前記速度情報を積分して得られる前記無人ヘリコプタの飛行距離とに基づいて、前記基点に対する前記無人ヘリコプタの位置を示す相対位置を検出する位置検出部と、
前記相対位置に基づいて前記無人ヘリコプタの飛行を制御する制御部とを備える、遠隔操縦装置。 - 前記制御部は、前記無人ヘリコプタが飛行しているある時点における前記無人ヘリコプタの飛行方位を前記基点における情報として前記記憶部に記憶させ、前記基点における飛行方位に基づいて前記無人ヘリコプタが飛行する飛行経路を設定し、前記相対位置が前記飛行経路に沿うように前記無人ヘリコプタの飛行を制御する、請求項1に記載の遠隔操縦装置。
- 進行方向を自動で変更する飛行動作に前記無人ヘリコプタが設定される前記無人ヘリコプタのターンアシストの開始を指示する指示部をさらに含み、
第1往路と復路と前記第1往路の終点と前記復路の始点とを結ぶ第1Uターン路とを含む前記飛行経路に沿って前記無人ヘリコプタを飛行させるために、前記制御部は、
前記指示部によるターンアシストの開始を指示する時点における前記無人ヘリコプタの位置および飛行方位を前記基点における情報として前記記憶部に記憶させ、
前記第1往路では、前記基点における飛行方位に沿って前記無人ヘリコプタを飛行させ、
前記第1Uターン路では、前記基点または前記第1往路における前記無人ヘリコプタの飛行方位、および前記第1往路と前記復路との間隔を示す第1間隔情報に基づいて前記復路の始点を検出して、前記第1往路の終点から前記復路の始点まで前記無人ヘリコプタを移動させ、
前記復路では、前記基点または前記第1往路における飛行方位とは逆方向に前記無人ヘリコプタを飛行させる、請求項2に記載の遠隔操縦装置。 - 前記制御部は、
前記第1Uターン路では、前記第1往路の終点における前記無人ヘリコプタの飛行方位と前記第1間隔情報とに基づいて前記復路の始点を検出して、前記第1往路の終点から前記復路の始点まで前記無人ヘリコプタを移動させ、
前記復路では、前記第1往路の終点における飛行方位とは逆方向に前記無人ヘリコプタを飛行させる、請求項3に記載の遠隔操縦装置。 - 前記飛行経路は、第2往路と、前記復路の終点と前記第2往路の始点とを結ぶ第2Uターン路とをさらに含み、
前記制御部は、
前記第2Uターン路では、前記基点、前記第1往路または前記復路における前記無人ヘリコプタの飛行方位、および前記復路と前記第2往路との間隔を示す第2間隔情報に基づいて前記第2往路の始点を検出して、前記復路の終点から前記第2往路の始点まで前記無人ヘリコプタを移動させ、
前記第2往路では、前記基点もしくは前記第1往路における飛行方位に沿って前記無人ヘリコプタを飛行させる、または前記復路における飛行方位とは逆方向に前記無人ヘリコプタを飛行させる、請求項3または4に記載の遠隔操縦装置。 - 前記制御部は、
前記第2Uターン路では、前記復路の終点における前記無人ヘリコプタの飛行方位と前記第2間隔情報とに基づいて前記第2往路の始点を検出して、前記復路の終点から前記第2往路の始点まで前記無人ヘリコプタを移動させ、
前記第2往路では、前記復路の終点における飛行方位とは逆方向に前記無人ヘリコプタを飛行させる、請求項5に記載の遠隔操縦装置。 - 前記第1往路の終点および前記復路の終点を指示する終点指示部をさらに含み、
前記制御部は、前記終点指示部によって指示された前記第1往路の終点における前記無人ヘリコプタの飛行方位と前記第1間隔情報とに基づいて前記復路の始点を検出し、前記終点指示部によって指示された前記復路の終点における前記無人ヘリコプタの飛行方位と前記第2間隔情報とに基づいて前記第2往路の始点を検出する、請求項5または6に記載の遠隔操縦装置。 - 前記無人ヘリコプタは散布物を散布するために用いられ、
当該遠隔操縦装置は、前記散布物の散布の開始および終了を指示するための散布指示部をさらに含み、
前記散布指示部は、前記終点指示部を兼ね、
前記制御部は、前記散布指示部からの散布開始指示に応じて前記散布物の散布を開始し、前記散布指示部からの散布終了指示に応じて前記散布物の散布を終了するとともに前記復路の始点および前記第2往路の始点を検出する、請求項7に記載の遠隔操縦装置。 - 前記制御部は、前記指示部によるターンアシストの開始指示を契機として前記第1往路の始点を検出し、前記第1往路の始点と予め設定された距離情報とに基づいて前記第1往路の終点を検出し、前記第1往路の終点における前記無人ヘリコプタの飛行方位と前記第1間隔情報とに基づいて前記復路の始点を検出し、
前記制御部はさらに、前記復路の始点と前記予め設定された距離情報とに基づいて前記復路の終点を検出し、前記復路の終点における前記無人ヘリコプタの飛行方位と前記第2間隔情報とに基づいて前記第2往路の始点を検出し、前記第2往路の始点と前記予め設定された距離情報とに基づいて前記第2往路の終点を検出する、請求項5または6に記載の遠隔操縦装置。 - 前記無人ヘリコプタは散布物を散布するために用いられ、
前記制御部は、前記第1往路、前記復路および前記第2往路のそれぞれの始点で前記散布物の散布を開始し、前記第1往路、前記復路および前記第2往路のそれぞれの終点で前記散布物の散布を終了する、請求項9に記載の遠隔操縦装置。 - 前記第1往路の終点を指示する終点指示部をさらに含み、
前記制御部は、前記指示部によるターンアシストの開始指示を契機として前記第1往路の始点を検出し、前記第1往路の始点と前記終点指示部によって指示された前記第1往路の終点とに基づいて距離情報を検出し、前記第1往路の終点における前記無人ヘリコプタの飛行方位と前記第1間隔情報とに基づいて前記復路の始点を検出し、
前記制御部はさらに、前記復路の始点と前記検出された距離情報とに基づいて前記復路の終点を検出し、前記復路の終点における前記無人ヘリコプタの飛行方位と前記第2間隔情報とに基づいて前記第2往路の始点を検出し、前記第2往路の始点と前記検出された距離情報とに基づいて前記第2往路の終点を検出する、請求項5または6に記載の遠隔操縦装置。 - 前記無人ヘリコプタは散布物を散布するために用いられ、
前記制御部は、前記第1往路、前記復路および前記第2往路のそれぞれの始点で前記散布物の散布を開始し、前記第1往路、前記復路および前記第2往路のそれぞれの終点で前記散布物の散布を終了する、請求項11に記載の遠隔操縦装置。 - 前記第1往路は前記復路に対して前記第2往路とは逆側に位置し、
前記第1往路と前記復路との間隔と、前記復路と前記第2往路との間隔とは略等しく設定される、請求項5または6に記載の遠隔操縦装置。 - 前記無人ヘリコプタを操舵する操舵部をさらに含み、
前記制御部は、前記ターンアシストの開始が指示された後、前記操舵部の操作量が閾値以内であれば前記無人ヘリコプタの飛行状態を調整し、前記操舵部の操作量が前記閾値を超えれば前記ターンアシストを終了する、請求項3に記載の遠隔操縦装置。
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