JPH0220497A - Remote control type helicopter - Google Patents

Abstract

PURPOSE:To improve the efficiency in spraying by linking a plane body on the ground by the wire regulating a flight zone and simultaneously arranging the spray nozzle of a spray device on the line in the same direction of the wire. CONSTITUTION:For spraying an agricultural chemical by a helicopter 1 a wire 8 is delivered by a certain amt. by rotating a reel 10 by the driving motor 11 of a wire driving device 9, a pilot controls the flight position of the helicopter 1 in the right and left, upper and lower directions on the circular arc with the wire length as the radius and a spray device is actuated in this state. A chemical liquid is then sprayed in the arrangement width of a spray nozzle 15 along the circular arc with the wire as the radius. In this case, the wire 8 is extended again when the helicopter 1 flies from the left end to the right end and the agricultural chemical is sprayed with flying again in the reverse direction. At this time, the spray nozzle 15 is arranged in about orthogonal direction with a flight direction B, so the spray of each arrangement width of a nozzle can be realized on each one flight and the spraying efficiency is improved.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a helicopter that is remotely operated by radio control or the like, and particularly relates to a helicopter that is remotely operated by radio control or the like, and in particular connects the helicopter to the ground with a wire that regulates the flight area, and
Concerns the importance of spraying efficiency when used for spraying fertilizers, paints, fire extinguishers, etc.

[Conventional technology]

2. Description of the Related Art Conventionally, remote-controlled helicopters have been used for spraying agricultural chemicals, for example. In this case, it is important to spray efficiently without leaving undefeated areas. Conventionally, the 6th type of helicopter was used for
In Figure 0, which is generally shown in Figure 0, 31 is a remote-controlled unmanned helicopter for collection and distribution, and its spraying device consists of a main spraying pipe connected to a chemical pump, a nozzle header 33 at C, and a nozzle header 33 at the fuselage 32. Spraying nozzles 34 are disposed at a predetermined pitch on the lower side of the nozzle header 33 in a direction perpendicular to the axis of the fuselage.

In this helicopter 31, the spray nozzle 34 is in the pickling direction (
Since a large number of nozzles are arranged on a line perpendicular to arrow A), spraying can be performed over the width of the nozzle in -1 flight, resulting in high spraying efficiency.

[Problem that the invention seeks to solve]

By the way, when spraying pesticides using an unmanned helicopter as mentioned above, the flight area is quite wide and the helicopter flies far away from the pilot, so it is difficult to accurately control the helicopter's flight position by remote control. is extremely difficult.

Therefore, the present inventors have developed an unmanned helicopter in which the rear part of the aircraft body is connected to the ground via a wire that regulates the flight area, as a helicopter that can facilitate the above-mentioned remote control.

However, although it is easy to control the flight area of this unmanned helicopter, there is a concern that the spraying efficiency will decrease if the conventional spraying device mentioned above is installed as is.

An object of the present invention is to provide a remotely controlled helicopter that can improve flight area control accuracy and spraying efficiency when the helicopter developed above is used for spraying chemicals and the like.

[Means for solving problems]

The present invention relates to a remotely controlled helicopter in which the rear part of the fuselage is connected to the ground by wires that regulate the flight area, and is equipped with a spraying device, in which a spraying nozzle for discharging a spraying agent is installed below the main rotor, and It is characterized in that it is arranged on a line in approximately the same direction as the wire described above.

Here, in the present invention, arranging the spray nozzle approximately in the direction of the wire means that the helicopter of the present invention flies in a circular arc having the radius of the wire, that is, in a direction perpendicular to the wire. The purpose is to arrange the nozzles at Therefore, it does not necessarily have to be arranged parallel to the wire, but also includes the case where it is arranged on a line that makes a certain angle (for example, 45 degrees or less) with the wire direction.

[Effect]

In the present invention, since the fuselage is connected to the ground using a regulation wire,
Since the helicopter is regulated in the longitudinal direction along an arc with the radius of this regulation wire, the operator only has to pay attention to the bottom and left and right directions of the helicopter.
Therefore, compared to the conventional case of controlling vertically, horizontally, and longitudinally, maneuvering is easier and the control accuracy of the flight area is improved.
Two.

In this case, since the spraying nozzle is placed approximately on a line in the direction of the wire, the helicopter flies with the wire as a radius, so the spraying width is equal to the width of the spraying nozzle for each flight. The same spraying efficiency as in the conventional case can be ensured.

〔Example〕

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1 to 3 are diagrams for explaining one embodiment of the present invention.

In the figure, l is a remote-controlled unmanned helicopter for spraying agricultural chemicals, and legs 3 are attached to the front lower surface of the fuselage 2 of the helicopter l to support it, and an engine and a receiver are installed in the front part. , flight-control equipment.

It is equipped with a servo mechanism, etc. A main rotor 4 is attached to a drive shaft extending substantially vertically upward from the engine. In addition, a tail rotor 5 is attached to the 11t end of the fuselage 2, which acts on the reverse torque generated by the main rotor 4. I”4 is for the first time.In addition,
6 is the tail.

Further, a support bracket 7 extending behind the tail rotor 5 is fixed to the rear of the fuselage 2, and the rear end of the support bracket 7 is connected to a wire drive device 9 on the ground by a wire 8. [9 mainly refers to the wire 8
a reel 10 for winding up or feeding out, a reel 11 for rotating the reel in forward and reverse directions, and an encoder 12 as a wire length detector for detecting and instructing the distance of the wire 8 to the helicopter 1. It is composed of.

A sprayer 13, which is a brush sprayer, is disposed in the leg portion 3 of the body 2. This spraying 113 is constructed by attaching spraying nozzles 15 to a nozzle header 14 at predetermined intervals. This nozzle header I5 forms an angle of about 25 degrees toward the rear side of the tail rotor 5 with respect to the axis of the fuselage 2. The reason why it is shifted toward the back side of the tail rotor 5 is to prevent the atomized chemical from the spray nozzle 15 from being sucked into the tail rotor 5.

Further, although not shown, the nozzle header I4 is connected to a chemical liquid pump mounted within the body 2. Furthermore, a dispersion control device [16, barometric pressure sensor 17] is installed inside the aircraft 2, and this dispersion control device 16 calculates the flight altitude based on the mountain pressure measured by the barometric pressure sensor 17r and the atmospheric pressure at the ground. is calculated, and the chemical liquid pump is configured to be stopped when the altitude exceeds a reference altitude. This is to prevent the sprayed chemicals from being blown away outside the spraying area by the wind if the altitude is too high.

Next, the effects of this embodiment will be explained.

To spray JI medicine using the helicopter 1 of this embodiment, the reel 10 is rotated by the drive motor 11 of the wire drive device 9 to send out a certain amount of the wire 8, and the wire 8 is spread on a circular arc with the radius of the wire length. A person in charge controls the spraying position of the helicopter 1 in the horizontal and vertical directions, and operates the spraying device in this state.

Then, the chemical solution is sprayed in a circular arc having a radius of the wire with a width of 10 and the width of the spray nozzle 15.

In this case, when the helicopter 1 flies, for example, from the left end to the right end, the wire 8 is extended again, and the a-drug is sprayed before flying in the opposite direction again. At this time, the flight direction (arrow B)
Since the spray nozzle 15 is arranged in a direction substantially perpendicular to the
- Spraying can be achieved by varying the nozzle arrangement width for each flight, improving spraying efficiency.

In addition, the tail rotor 5 rotates around a horizontal axis, and the air is reflected from its front side (lower side in Figure 1) to its rear side (upper side in Figure 1).
Discharge to. Therefore, when spraying nozzles are arranged in the longitudinal direction of the aircraft body, there is a risk that the atomized chemical from the spraying nozzle arranged near the tail rotor will be disturbed by the air flow and be swept to the rear side of the rotor. On the other hand, in this embodiment, as shown in FIG. The above-mentioned squirt is far away on the rear side! s Drug disturbance problems rarely arise.

Note that various modifications can be considered for the method of separating the spray nozzle 15 from the tail rotor 5 described above. For example, as shown by the two-dot chain line in FIG.
deviating the side portion 14a to the rear side of the tail rotor 5,
As shown by the broken line and the two-dot a line in Figure 2, the flange 1 is inserted into the nozzle.
By bending only the rear portion 141) of the rudder 14 diagonally or in steps, or by moving the entire rudder 14 downward toward the nozzle and separating it from the tail rotor 5, as shown by the dashed line in the figure. can also be achieved.

Further, in the above embodiment, an example of a helicopter having a tail rotor was explained, but the helicopter according to the present invention does not necessarily need to be provided with a tail rotor. 2. In Figure 0 showing the third embodiment, the same reference numerals as in Figures 1 to 3 indicate the same or corresponding parts.

In FIG. 4 showing the second embodiment, a rod-shaped bracket member 2a is fixed to the rear end of the fuselage 2, and this extends to an area outside the rotation of the rotor 4. Therefore, in this embodiment, the stripe connecting the rotating shaft 4a of the rotor 4 and this bracket 2a is aligned with the body axis.

Further, a regulation wire 8 is attached to the rear end of the bracket member 2a.
is connected.

Further, in this embodiment, the nozzle header 14, which is the main pipe for spraying the medicine, is arranged in a direction substantially parallel to the wire 8. Therefore, the nozzle 15 attached to the nozzle header 14 is arranged on a straight line forming approximately θ with respect to the machine axis y-.

The helicopter of this embodiment flies in balance with the body axis and the wire 8 forming an angle θ. That is, at the connection point between the wire 5 and the bracket member 2a, a component of the wire tension S in the direction perpendicular to the body axis 5o=SX
sin θ is generated, and the torque due to the acid component force So balances the reversal torque T of the rotor 4, so that the tail rotor can be abolished. Note that l is the distance between the rotor 4 and the wire connection point.

As described above, in this embodiment, the helicopter 1 moves on a circular arc with the radius of the wire 8 in a direction substantially perpendicular to the wire 8 (arrow B).
Therefore, as the helicopter 1 flies, the spray is spread by the width of the spray nozzle 15, and as a result, the spraying efficiency is improved.

Furthermore, in this example, since the tail rotor is eliminated, there is no problem that the sprayed brush particles are spread due to the air flow caused by the rotor, and the spraying efficiency is improved from this point as well.

The third embodiment (fifth example) is an example in which a connecting bracket member 2C is extended diagonally rearward in the width direction from the rear part 2b of the fuselage 2, and a wire 8 is connected to the extended end of the member 2C. The spray nozzle 15 is located on a straight line substantially parallel to the wire 8. In this example as well, the helicopter 1 flies on a circular arc with the radius of the wire 8, and the chemical is sprayed by the width of the nozzle 15 each time it flies, and the chemical is not disturbed by the tail rotor. Can improve efficiency.

In addition, in the above embodiment, the spraying of pesticides was explained, but it goes without saying that the present invention is not limited to spraying pesticides.
For example, it can be applied to spraying seeds, fertilizers, fire extinguishers, etc.

〔Effect of the invention〕

As described above, according to the remote-controlled helicopter of the present invention, the aircraft body is connected to the ground by the wire that regulates the flight area, and the spraying nozzle of the spraying device is connected to the Since the spraying nozzle is arranged in a radius of 1, the spraying nozzle can spray by Wlt11 per flight with the radius of the wire, and the spraying efficiency can be improved.

[Brief explanation of the drawing]

1 to 3 are diagrams for explaining a remotely controlled helicopter according to a first embodiment of the present invention, in which FIG. 1 is a plan view thereof, FIG. 2 is a side view thereof, and FIG. Perspective view,
FIG. 4 is a plan view showing a second embodiment of the invention, FIG. 5 is a plan view illustrating a third embodiment of the invention, and FIG. 6 is a plan view showing a conventional helicopter. In the figure, l is the helicopter, 2 is the fuselage, 4 is the main rotor, 7 is the support bracket (rear of the fuselage), 8 is the wire A.
, 13 is a sprayer (spraying device), and 15 is a spray nozzle. Patent applicant: Yamaha Motor Co., Ltd. agent, patent attorney Tsutomu Tsutomu, Figure 4, Figure 5, Figure 6.

Claims (1)

[Claims] (1) A remote-controlled helicopter whose rear part is connected to the ground by wires that regulate the flight area, and which is equipped with a spraying device that sprays a spraying agent such as agricultural chemicals, and a spraying nozzle that discharges the spraying agent, A remotely controlled helicopter, characterized in that it is disposed below the main rotor and on a line in approximately the same direction as the wire.