WO2016170565A1 - 無人飛翔体及びそのための制御装置 - Google Patents
無人飛翔体及びそのための制御装置 Download PDFInfo
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- WO2016170565A1 WO2016170565A1 PCT/JP2015/061918 JP2015061918W WO2016170565A1 WO 2016170565 A1 WO2016170565 A1 WO 2016170565A1 JP 2015061918 W JP2015061918 W JP 2015061918W WO 2016170565 A1 WO2016170565 A1 WO 2016170565A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/54—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement
- B64C27/56—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement characterised by the control initiating means, e.g. manually actuated
- B64C27/57—Mechanisms for controlling blade adjustment or movement relative to rotor head, e.g. lag-lead movement characterised by the control initiating means, e.g. manually actuated automatic or condition responsive, e.g. responsive to rotor speed, torque or thrust
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- 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
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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
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/182—Level alarms, e.g. alarms responsive to variables exceeding a threshold
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D2045/0085—Devices for aircraft health monitoring, e.g. monitoring flutter or vibration
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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
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- 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
- the present invention relates to a control device for a rotor blade motor and an unmanned flying object including the control device and the rotor blade.
- a typical unmanned flying vehicle includes a multicopter having a plurality of rotor blades.
- an unmanned flying object having a plurality of rotor blades arranged radially via a shaft can be mentioned.
- a plurality of rotor blades are simultaneously rotated in a well-balanced manner to fly.
- ascending / descending is performed by, for example, increasing / decreasing the rotational speed of the rotary wing, and forward / backward movement can be achieved by tilting the aircraft through increasing / decreasing the rotational speed of the rotating wing.
- fixed-pitch rotor blades are often used, and counterclockwise counteracts have been counteracted by alternating clockwise and counterclockwise ones.
- the balance of a plurality of rotor blades is normally controlled by a device called a flight controller provided in one unmanned flying object.
- the flight controller determines the rotation speed and rotation direction of each rotor blade, and the determined rotation speed and rotation direction are transmitted to each rotor blade.
- Each of the rotor blades is provided with a control device that supplies electric power to the motor of one rotor blade.
- a command for the number of rotations and the direction of rotation of each rotor blade determined by the flight controller is input to a control device provided alongside the rotor blade, and the power supplied to the rotor blade is determined so as to realize the command.
- a command related to rotation is issued from the flight controller to each rotor blade, and the issued command is supplied to each rotor blade by a control device attached to each rotor blade. Converted to.
- each rotor In an unmanned flying vehicle, the operation of each rotor may become unstable, resulting in an unexpected crash or loss of control. In order to further improve the unmanned flying vehicle, it is necessary to grasp the cause of such a defective state and take measures. In addition, in order to minimize the damage to people and property due to the crash, early detection is possible when a minor failure occurs, and it is also possible to automatically perform actions that avoid the crash as much as possible. preferable. In view of these, it is an object of the present invention to provide a control device having a function that can later elucidate the cause of equipment failure and preferably prevent a crash, and an unmanned flying vehicle having such a control device. .
- a control device for a rotor blade motor provided in an unmanned flying object having a plurality of rotor blades, the control device for controlling one rotor blade motor, and the control device is an arithmetic device.
- the control contents for the rotor blade motor to be controlled are received from outside the control device, the power for realizing the control contents is supplied to the rotor blade motor, and the information on the supplied power is stored in the storage device.
- the storage device is configured to store the power information and the voltage information received from the arithmetic device
- the data output device is configured to output the information from the arithmetic device to the outside of the control device.
- an abnormality display device is provided, and the arithmetic device is set to the abnormality display device so that the abnormality display device performs an abnormality display when the voltage information received from the voltage detection device matches a predetermined abnormality condition.
- the control device according to [1], configured to issue a signal.
- the arithmetic device ignores the control content received in the above (A) and supplies the predetermined power to the rotor blade motor.
- the control device configured to supply.
- it has a current detection device, and the current detection device is configured to acquire the drive current of the rotor blade motor every predetermined time and send the data of the drive current to the calculation device.
- the drive current data received from the current detection device is stored in a storage device, and the drive display data received from the current detection device is displayed abnormally when the drive current data meets a predetermined abnormal condition.
- the control device according to [2], wherein the control device is configured to issue a signal to the abnormality display device.
- the arithmetic device ignores the control content received in the above (A) when the drive current data received from the current detection device matches the predetermined abnormal condition, and supplies the predetermined power to the rotor blade.
- the control device configured to supply to the motor.
- the temperature detection device is configured to acquire the temperature of the outside air and / or the temperature in the vicinity of the calculation device every predetermined time, and send the temperature data to the calculation device
- the arithmetic device is configured to issue a signal to the abnormality display device so that the abnormality display device displays an abnormality when the temperature data received from the temperature detection device matches a predetermined abnormality condition [ 2] to [5].
- the arithmetic device ignores the control content received in the above (A) when the temperature data received from the temperature detection device matches the predetermined abnormal condition, and generates a predetermined power.
- the control device according to claim 6, wherein the control device is configured to supply the motor.
- the computing device further accumulates (D) the accumulated usage time of the control device, and when the accumulated usage time exceeds a predetermined time in supplying power to the stopped rotating blade motor.
- the control device according to [1] to [7], which is configured not to supply electric power to the rotor blade motor.
- An unmanned flying object including a plurality of rotor blades and a control device of [1] to [8] connected to each of the rotor blades.
- each data passing through the arithmetic device is stored in the storage device, it is useful for later analysis of failure modes and the like, and external data analysis means such as a personal computer via the data output device. It is easy to retrieve data from
- the abnormality when an abnormality occurs in each data, the abnormality is promptly displayed by promptly displaying the abnormality, and according to a further preferred embodiment, the output of a specific rotor blade is entirely displayed at the time of abnormality.
- the total usage time of the control device is recorded and is configured such that no new flight is possible when the control device is nearing its end of life, so that the life of the control device during flight is reduced. Concerns about running out are significantly reduced.
- FIG. 1 is a schematic diagram of an example of the unmanned flying vehicle of the present invention.
- the unmanned flying object of the present invention is configured to fly by a remote operation without a human being boarded, and has at least two rotating wings.
- the power source of the rotor blade is assumed to be electric power.
- the electric power is a storage battery (not shown) provided near each rotor blade.
- the unmanned flying vehicle of FIG. 1 includes four shafts 30 extending radially from the center, a rotary blade 20 provided at the tip of each shaft 30, a control device 10 provided in each rotary blade 20, and a center. And a flight controller 40 provided. As long as it has a plurality of rotor blades, the structure of the unmanned flying object is not particularly limited. The number of shafts and flying objects is preferably 4-10.
- the flight controller 40 determines the rotation speed and rotation direction of each rotor blade 20 from time to time.
- the rotation speed and rotation direction of the rotor blade 20 are calculated by the flight controller 40 in accordance with the traveling direction and speed desired for the unmanned flying object.
- the rotation speed and rotation direction of each rotor blade calculated by the flight controller 40 are transmitted to each rotor blade 20 every moment. The transmission is made via the control device 10.
- the rotation speed and the rotation direction command calculated by the flight controller 40 are mainly supplied to the power supplied to the drive motor (not shown) of the rotor blade 20. Is converted.
- the exchange between the flight controller 40 and the operator can be performed by remote operation using radio waves such as radio waves.
- control device 10 and the rotor blade 20 typically correspond one-to-one.
- one control device 10 is provided to control one rotor blade 20.
- the connection between the control device 10 and the flight controller 40 and the connection between the control device 10 and the rotor blade 20 are not particularly limited, and a communication cable or the like can be used, and depiction is omitted in the drawings.
- FIG. 2 is a schematic explanatory diagram of the control device 10 of the present invention.
- the control apparatus of the present invention has an arithmetic device.
- the CPU / IC 11 is assumed as the arithmetic device.
- the configuration of the arithmetic device is not particularly limited as long as it is configured to have the following functions, and examples thereof include a CPU, an IC, an FPGA, and an ASIC.
- One of the functions to be performed by the arithmetic device is (A) receiving control contents for the rotor blade motor to be controlled from the outside of the control device 10 and supplying electric power for realizing the control contents to the rotor blade motor. , Storing the supplied power information in a storage device.
- the “rotary blade motor to be controlled” is a motor for driving the rotor blade 20 to be controlled.
- the control content is an instruction on how to drive the driving motor, and specifically, the rotational speed and rotational direction of the rotary blade 20.
- the control content is received from the flight controller 40 in the example of FIG.
- the meaning of “from outside the control device 10” means that the flight controller 40 exists outside the control device 10. It should be noted that the control content, which may change from moment to moment, such as the number of rotations and the direction of rotation of the rotor blade 20 into the power supplied to the drive motor, is calculated using conventional techniques such as motor control. Reference can be made as appropriate.
- information on the power supplied to the drive motor for the rotor blade 20 is stored in the storage device.
- the “power information” may be time-dependent changes in the current and voltage values supplied to the drive motor, or may be information on the number of rotations and the direction of rotation of the rotor blade 20. These pieces of information are preferably stored in a storage device to be described later every predetermined time, for example, every 1 to 5 seconds.
- Another function to be performed by the arithmetic device is (B) receiving voltage information from the voltage detection device and storing the information in the storage device.
- This function is mainly to monitor the voltage of the battery 50 (mainly a storage battery) that is a power source of the rotor blade 20.
- the voltage detection device can be connected to a power supply apparatus (battery 50 or the like) outside the control apparatus 10, acquires voltage information from the power supply apparatus (voltage detection 14), and supplies the acquired voltage information to the arithmetic device.
- the supply of voltage information is preferably performed every predetermined time, for example, every 1 to 5 seconds.
- the detected voltage value is preferably stored in a storage device described later.
- the battery 50 With the power consumption of the battery 50, a drop in the voltage value is confirmed, and the remaining amount of the battery 50 can be estimated.
- the battery 50 is composed of an assembly of a plurality of cell units, when one or more cell units fail, the voltage value drops rapidly. Therefore, a sudden drop in the voltage value is strongly inferred from a cell unit failure at that time.
- the voltage information data is useful for knowing the time at which the cell unit failed when verifying the defect of the unmanned flying vehicle later.
- known techniques such as a voltage measuring device can be referred to as appropriate.
- Another one of the functions to be performed by the arithmetic device is (C) operating the output device to output any information stored in the storage device to the outside of the control device.
- various types of information are stored in the storage device including the nonvolatile memory 15 and the like.
- One of the functions that the arithmetic device should fulfill is that these pieces of information can be extracted from a data output terminal such as a USB terminal and can be supplied to an external terminal 60 such as a personal computer.
- One of the preferable functions in the arithmetic device is (D) accumulating the accumulated usage time of the control device 10 and exceeding the predetermined usage time when supplying electric power to the rotating blade motor stopped. If this is the case, no power is supplied to the rotor motor. In short, if the lifetime of the control device 10 is exceeded, the start of a new flight is prohibited. Various electronic parts are mounted on the control device, and they have a lifetime. It is dangerous for the control device 10 to reach the end of its life while the unmanned flying object is flying.
- the “predetermined time” for the cumulative usage time of the control device 10 is preferably, for example, a time obtained by subtracting one flightable time from the life of the control device 10.
- the cumulative usage time exceeds the time set as such, the start of a new flight is prohibited. Specifically, power is not supplied to the stopped rotor motor. Even if the unmanned flying object reaches the “predetermined time” during the flight, it is inappropriate to immediately stop the power supply because it causes the unmanned flying object to crash.
- Known techniques relating to circuit design techniques can be referred to as appropriate for accumulation of accumulated usage time, determination circuit for cutting off power supply, and the like.
- the control device 10 has a storage device.
- the nonvolatile memory 15 corresponds to a storage device.
- the storage device is configured to store the power information and voltage information received from the computing device.
- the memory technology and the like can be referred to as appropriate for the specific configuration of the storage device.
- Power information is information on the power supplied to the rotor blade motor, and this information may be converted into information on the number of rotations and the direction of rotation of the rotor blade 20. This information is preferably stored as data at predetermined time intervals (eg every 1 to 5 seconds). By referring to this data later, the actual state of power supply to the rotor blade 20 at a specific flight time or at a specific time can be grasped, which is useful for analysis of a failure mode, for example.
- Voltage information is information on the voltage value obtained by the voltage detection 14 of the battery 50.
- the voltage value is also preferably stored as data at predetermined time intervals (eg, every 1 to 5 seconds). By referring to this data later, it is possible to grasp the state (particularly, the failure state) of the battery 50 at a specific flight time or a specific time.
- the control device 10 has a data output device.
- the data output device may be a data output terminal 16 exemplified by a USB terminal, for example.
- the data output device is configured to output information from the arithmetic device to the outside of the control device 10.
- “outside of the control device 10” includes an external terminal 60 such as a personal computer.
- the data output device may be wired or wireless. Through the data output device, various data acquired by the control device 10 and various data stored in the storage device can be taken out and used for verification when a defect occurs.
- the control device 10 preferably has an abnormality display device.
- the arithmetic device issues a signal to the abnormality display device so that the abnormality display device displays an abnormality when the voltage information received from the voltage detection device matches a predetermined abnormality condition.
- the “predetermined abnormal condition” is, for example, a voltage value close to the life of the battery 50, or, for example, data indicating that one or more of a plurality of cells are broken, that is, a rapid change in a short time. When a significant voltage drop is observed.
- Examples of the abnormality display device include, but are not limited to, lighting of an LED or the like.
- the calculation device forcibly reduces the power supply to the rotor blade motor.
- the minimum electric power that does not cause a crash is supplied to the rotor blade motor and the state is observed for a while.
- the control device received from the flight controller 40 ignores the control content and supplies predetermined power to the rotor blade motor.
- the “predetermined power” is assumed to be, for example, power for performing a minimum drive that does not cause the rotor blade 20 to crash.
- the control device 10 preferably has a current detection device.
- the current detection device acquires the driving current of the rotor blade motor every predetermined time, for example, every 1 to 5 seconds.
- the acquired drive current data is sent to the arithmetic device.
- the current detection device includes, for example, a detection circuit 13 and detects a drive current to the rotor blade motor.
- the computing device operates to store the data of the drive current received from the current detection device in the storage device.
- the arithmetic device issues a signal to the abnormality display device so that the abnormality display device performs an abnormality display when the drive current data received from the current detection device matches a predetermined abnormality condition.
- the “predetermined abnormal condition” includes, for example, an abnormal current value that may occur when a part of the rotor motor is lost. Alternatively, when the average load current increases or decreases abnormally, it may be incorporated as a “predetermined abnormal condition”.
- the abnormality display device may be shared with the abnormality display device for indicating the abnormality of the battery 50 described above, or another device may be used.
- the arithmetic device forcibly reduce the power supply to the rotor blade motor.
- the minimum power level that does not cause a crash is supplied to the rotor blade motor and the state is observed for a while.
- the control device received from the flight controller 40 ignores the control content and supplies predetermined power to the rotor blade motor.
- the “predetermined power” is assumed to be, for example, power for performing a minimum drive that does not cause the rotor blade 20 to crash.
- the control device 10 preferably has a temperature detection device 17.
- the temperature detection device 17 acquires one or both of the temperature of the outside air and the temperature in the vicinity of the device every predetermined time, for example, every 1 to 5 seconds.
- the acquired temperature data is sent to the computing device.
- known techniques of temperature observation means can be referred to as appropriate.
- the “temperature near the device” is intended to monitor the thermal runaway of the CPU and motor control circuit that make up the device, and it is important to measure the temperature in the vicinity to meet that purpose. Examples of the temperature include the temperature of a CPU and a motor control circuit.
- the computing device preferably operates to accumulate temperature data received from the temperature sensing device 17 in the storage device.
- the arithmetic device issues a signal to the abnormality display device so that the abnormality display device displays an abnormality when the temperature data received from the temperature detection device 17 matches a predetermined abnormality condition.
- the “predetermined abnormal condition” includes, for example, an abnormal high or low value of the outside air temperature, or a high temperature at which a failure of the computing device is expected in the vicinity of the computing device.
- the abnormality display device may be shared with the abnormality display device used to indicate abnormality of other information (current, voltage, etc.) described above, or another device may be used.
- the arithmetic device forcibly reduces the power supply to the rotor blade motor.
- the minimum power that does not cause a crash is supplied to the rotor motor and the situation is observed for a while.
- the control device received from the flight controller 40 ignores the control content and supplies predetermined power to the rotor blade motor.
- the “predetermined power” is assumed to be, for example, power for performing a minimum drive that does not cause the rotor blade 20 to crash.
- control device 10 An unmanned flying vehicle including the control device 10 as described above is also an embodiment of the present invention.
- the control device 10 and the rotary blade 20 typically correspond one-to-one.
- one control device 10 is provided to control one rotor blade 20.
- the unmanned flying vehicle may be equipped with a GPS device.
- the unmanned flying vehicle may be provided with a “home function”.
- the “home function” is a function for predetermining the location of “home” and automatically heading to the location of “home” in response to a return instruction to “home”.
- Control device 20 Rotor blade 30: Shaft 40: Flight controller
Abstract
Description
[1]複数の回転翼をもつ無人飛翔体に備えられる回転翼モーター用の制御装置であって、当該制御装置は1つの回転翼モーターを制御するためのものであり、当該制御装置は演算デバイスと記憶デバイスとデータ出力デバイスと電圧検知デバイスとを有し、演算デバイスは、
(A)制御すべき回転翼モーターへの制御内容を当該制御装置外から受け取って前記制御内容を実現するための電力を回転翼モーターへ供給し、前記供給した電力の情報を記憶デバイスに蓄積させること、(B)電圧検知デバイスからの電圧情報を受けとって前記情報を記憶デバイスに蓄積させること、および(C)記憶デバイスに蓄積された任意の情報を当該制御装置外へ出力するために出力デバイスを作動させること、を成すよう構成されていて、
記憶デバイスは演算デバイスから受け取った上記電力の情報及び電圧情報を蓄積するよう構成されていて、データ出力デバイスは演算デバイスからの情報を当該制御装置外へ出力するよう構成されていて、電圧検知デバイスは当該制御装置外の電源装置と接続可能であって前記電源装置から電圧情報を取得して前記電圧情報を演算デバイスに供給するよう構成されている、前記制御装置。
[2]さらに、異常表示デバイスを有し、演算デバイスは、上記電圧検知デバイスから受けた電圧情報が予め定めた異常条件に合致したときに異常表示デバイスが異常表示を成すように異常表示デバイスへ信号を発出するよう構成されている[1]の制御装置。
[3]演算デバイスは、上記電圧検知デバイスから受けた電圧情報が予め定めた前記異常条件に合致したときには上述の(A)において受け取った制御内容を無視して予め定めた電力を回転翼モーターへ供給するよう構成されている[2]の制御装置。
[4]さらに、電流検知デバイスを有し、電流検知デバイスは回転翼モーターの駆動電流を所定時間毎に取得して前記駆動電流のデータを演算デバイスへ送るよう構成されていて、演算デバイスは、上記電流検知デバイスから受けた駆動電流のデータを記憶デバイスに蓄積させること、および、上記電流検知デバイスから受けた駆動電流のデータが予め定めた異常条件に合致したときに異常表示デバイスが異常表示を成すように異常表示デバイスへ信号を発出すること、を成すよう構成されている[2]の制御装置。
[5]演算デバイスは、上記電流検知デバイスから受けた駆動電流のデータが予め定めた前記異常条件に合致したときには上述の(A)において受け取った制御内容を無視して予め定めた電力を回転翼モーターへ供給するよう構成されている[4]の制御装置。
[6]さらに、温度検知デバイスを有し、温度検知デバイスは外気の温度及び/又は演算デバイス近傍の温度を所定時間毎に取得して前記温度のデータを演算デバイスへ送るよう構成されていて、演算デバイスは、上記温度検知デバイスから受けた前記温度のデータが予め定めた異常条件に合致したときに異常表示デバイスが異常表示を成すように異常表示デバイスへ信号を発出するよう構成されている[2]~[5]の制御装置。
[7]演算デバイスは、上記温度検知デバイスから受けた前記温度のデータが予め定めた前記異常条件に合致したときには上述の(A)において受け取った制御内容を無視して予め定めた電力を回転翼モーターへ供給するよう構成されている請求項6記載の制御装置。
[8]演算デバイスは、さらに、(D)当該制御装置の累積使用時間を蓄積し、停止している上記回転翼モーターへ電力を供給するにあたって前記累積使用時間が予め定めた時間を超えていたら上記回転翼モーターへ電力を供給しないよう構成されている[1]~[7]の制御装置。
[9]複数の回転翼と前記回転翼のそれぞれに対して1つずつ接続された[1]~[8]の制御装置とをもつ無人飛翔体。
本発明の制御装置は演算デバイスを有する。図2では演算デバイスはCPU・IC11が想定されている。演算デバイスは以下の機能を成すよう構成されていればその形態は特に限定は無く、CPUやICやFPGAやASICなどが挙げられる。
30:シャフト 40:フライトコントローラ
Claims (9)
- 複数の回転翼をもつ無人飛翔体に備えられる回転翼モーター用の制御装置であって、
当該制御装置は1つの回転翼モーターを制御するためのものであり、
当該制御装置は演算デバイスと記憶デバイスとデータ出力デバイスと電圧検知デバイスとを有し、
演算デバイスは、
(A)制御すべき回転翼モーターへの制御内容を当該制御装置外から受け取って前記制御内容を実現するための電力を回転翼モーターへ供給し、前記供給した電力の情報を記憶デバイスに蓄積させること、
(B)電圧検知デバイスからの電圧情報を受けとって前記情報を記憶デバイスに蓄積させること、および
(C)記憶デバイスに蓄積された任意の情報を当該制御装置外へ出力するために出力デバイスを作動させること、
を成すよう構成されていて、
記憶デバイスは演算デバイスから受け取った上記電力の情報及び電圧情報を蓄積するよう構成されていて、
データ出力デバイスは演算デバイスからの情報を当該制御装置外へ出力するよう構成されていて、
電圧検知デバイスは当該制御装置外の電源装置と接続可能であって前記電源装置から電圧情報を取得して前記電圧情報を演算デバイスに供給するよう構成されている、
前記制御装置。 - さらに、異常表示デバイスを有し、
演算デバイスは、上記電圧検知デバイスから受けた電圧情報が予め定めた異常条件に合致したときに異常表示デバイスが異常表示を成すように異常表示デバイスへ信号を発出するよう構成されている請求項1記載の制御装置。 - 演算デバイスは、上記電圧検知デバイスから受けた電圧情報が予め定めた前記異常条件に合致したときには上述の(A)において受け取った制御内容を無視して予め定めた電力を回転翼モーターへ供給するよう構成されている請求項2記載の制御装置。
- さらに、電流検知デバイスを有し、電流検知デバイスは回転翼モーターの駆動電流を所定時間毎に取得して前記駆動電流のデータを演算デバイスへ送るよう構成されていて、
演算デバイスは、上記電流検知デバイスから受けた駆動電流のデータを記憶デバイスに蓄積させること、および、上記電流検知デバイスから受けた駆動電流のデータが予め定めた異常条件に合致したときに異常表示デバイスが異常表示を成すように異常表示デバイスへ信号を発出すること、を成すよう構成されている請求項2記載の制御装置。 - 演算デバイスは、上記電流検知デバイスから受けた駆動電流のデータが予め定めた前記異常条件に合致したときには上述の(A)において受け取った制御内容を無視して予め定めた電力を回転翼モーターへ供給するよう構成されている請求項4記載の制御装置。
- さらに、温度検知デバイスを有し、温度検知デバイスは外気の温度及び/又は演算デバイス近傍の温度を所定時間毎に取得して前記温度のデータを演算デバイスへ送るよう構成されていて、
演算デバイスは、上記温度検知デバイスから受けた前記温度のデータが予め定めた異常条件に合致したときに異常表示デバイスが異常表示を成すように異常表示デバイスへ信号を発出するよう構成されている請求項2記載の制御装置。 - 演算デバイスは、上記温度検知デバイスから受けた前記温度のデータが予め定めた前記異常条件に合致したときには上述の(A)において受け取った制御内容を無視して予め定めた電力を回転翼モーターへ供給するよう構成されている請求項6記載の制御装置。
- 演算デバイスは、さらに、(D)当該制御装置の累積使用時間を蓄積し、停止している上記回転翼モーターへ電力を供給するにあたって前記累積使用時間が予め定めた時間を超えていたら上記回転翼モーターへ電力を供給しないよう構成されている請求項1記載の制御装置。
- 複数の回転翼と前記回転翼のそれぞれに対して1つずつ接続された請求項1~8のいずれか1項記載の制御装置とをもつ無人飛翔体。
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