JPH0833772A - Radio-controlled small plane - Google Patents

Abstract

(57) [Summary] [Purpose] Stable flight at low speed is possible, shooting, observation, and work are easy, and it is excellent in self-supporting navigation, easy to maneuver, and can be made small and lightweight. Provided is a radio-controlled small-sized aircraft that can prevent the camera from taking a picture even when it comes into contact with or collide with it without causing serious injury or damage and can fly at low altitude even in bad weather or terrain. [Structure] A film-like kite wing 6 is attached above a body 1 in which a head 2 and a vertical tail 4 are connected by an elongated body 3 at a required angle with respect to the body, and between the kite wing 6 and the body 3. A propeller 7 is installed in the vehicle, a camera device 9 is housed in the head 2, and a machine body control unit 10 and a camera control unit 12 that wirelessly control the machine body 1 are provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a radio-controlled small-sized airplane that is operated by radio waves from the ground side.
It is used for shooting, observing, searching, wireless relaying, etc. at the scene of the sea topography, landscape and traffic conditions, fire, eruption, water damage, distress, etc. It is also used for topographical survey of power transmission line work, extension of pilot rope, and transportation of small articles. Furthermore, it relates to a radio-controlled small airplane used as a hobby airplane.

[0002]

2. Description of the Related Art Conventionally, as a plane for shooting, observing, and working, a manned plane or helicopter is used, and a propeller is attached to the front and extends horizontally horizontally from the fuselage as a main wing. Unmanned radio-controlled small aircraft or radio-controlled small helicopters may be used. In the former manned airplane and helicopter, the size of the airplane is large because it is manned, and it takes off and landing from the airfield, and the cost of flying, photographing, observing, and working at the site is considerably high. Further, when the weather is bad, it is difficult to fly at low altitude, and it is often difficult to observe and photograph the site in detail. In addition, an airplane accident resulted in a personal injury resulting in major damage and damage. Next, in the latter case of a radio-controlled small aircraft that uses the forward propeller to propel the aircraft, lift is obtained with a rigid main wing that extends horizontally from the fuselage horizontally to the left and right. Can't float to. Due to the high flight speed, clear images and certain areas cannot be observed, which is insufficient for shooting, observation, and construction. Since shooting and working at low altitudes are not easy to control because of the high flight speed, it is also difficult to shoot and work. Since the propeller is in front of the fuselage, it may cause personal injury or serious damage due to contact or collision with people or buildings. Furthermore, it was easy to be affected by the wind and so on, it was easy to bank, and it was difficult to maintain stable level flight.
In addition, a radio-controlled small helicopter is difficult to operate, requires skill, and is apt to cause a fall accident or a contact accident due to an operation error. When a contact, a drop, or a collision occurs, a large rotating rotor causes a large personal injury or damage. Further, there is a problem that the vibration of the rotor is severe and it is difficult to perform accurate photography and work.

[0003]

The problem to be solved by the present invention is to solve these problems of the prior art, to enable stable flight at low speed, and to facilitate shooting, observation and work. It is self-sustaining and easy to maneuver, it can be made small and lightweight, and it can prevent camera shooting even if the aircraft is banked, and it does not cause serious personal injury or damage even if there is contact or collision, which is bad. It is to provide a radio-controlled small airplane that can fly low even in weather and terrain.

[0004]

Means for Solving the Problems The constitution of the present invention which has solved the above problems is as follows: 1) A membranous kite wing is provided above a fuselage in which a head, a vertical tail and a horizontal tail are connected by an elongated fuselage. On the other hand, a small radio-controlled airplane equipped with a propeller installed between the kite wing and the fuselage at a required angle 2) A head is provided with an accommodation space for accommodating photographing / working equipment. The radio-controlled small aircraft according to the above 1) in which the parts are detachably attached to the body 3) The radio-controlled small aircraft according to the above 1) detachably connected to the head, the body, the kite wings, and the tail portion so as to be disassembled. Airplane 4) The radio-controlled small aircraft described in 2), in which the bottom and top of the head are opened so as to communicate with the accommodation space, and a detachable lid is attached to the opening of the top. 5) The head and torso are air Bullets to form a small gap that becomes a passage The radio-controlled small-sized airplane according to 4) described above, which is detachably connected with the body sandwiched. 6) A camera device for viewing downward from the bottom opening of the head is provided in the accommodation space of the head, and the camera device is provided in the longitudinal direction of the body. And a radio-controlled small airplane according to the above 4) or 5), which is rotatable about two horizontal axes that are perpendicular to the horizontal axis and has a rotating means for rotating the camera device around the two horizontal axes. An angle sensor is provided, and an automatic bank correction circuit is provided to control the rotating means so as to input the bank angle signal of the bank angle sensor and rotate the camera device around the horizontal axis of the fuselage longitudinal direction by the bank angle of the machine. 6)
It is on the radio-controlled small airplane described.

[0005]

In the present invention, the propulsion propeller is used to obtain propulsion power, and the kite wing is used to generate lift to enable flight. Here, by using a film-like kite wing as a wing that generates lift, compared to the conventional elongated main wing that horizontally extends from the fuselage, it is possible to obtain a large lift while being lightweight, The weight of the fuselage was reduced and the payload payload allowed was increased. In addition, since high lift can be obtained even at low speeds, low speed flight of about 15 KM / h can be performed stably. Also, by arranging the propulsion propeller between the kite wing and the fuselage, even if the airplane comes into contact with or collides with a human, building, etc., the kite wing and the fuselage prevent direct contact with the human, building, etc., and rotate. It reduces the damage to people and buildings with the propellers. Since the kite wing is used, even if the aircraft is banked, a strong recovery moment is generated in the kite wing, it returns to the horizontal, and it has excellent stability. Furthermore, when the airframe is banked, the bank angle sensor works to rotate the camera in the opposite direction, return the camera to a predetermined posture, and make the direction of the field of view of the camera constant, which enables easy and accurate shooting and observation.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. 1 is a side view of the embodiment, FIG. 2 is a plan view of the embodiment,
3 is a front view of the embodiment, FIG. 4 is an explanatory view showing a vertical stabilizer of the embodiment, FIG. 5 is an explanatory view showing a horizontal stabilizer of the embodiment, FIG. 6 is a vertical side view of a head of the embodiment, FIG. Is a vertical sectional front view of the head of the embodiment, FIG. 8 is an explanatory view showing an exploded state of the embodiment, and FIG. 9 is a circuit block diagram showing a control system of the embodiment.

In the figure, 1 is a body, 2 is a head, 3 is a body, 4
Is a vertical tail provided at the rear end of the body 3, 5 is a horizontal tail called an elevator whose elevation angle can be changed, 6 is a kite wing, 7 is a propeller, 8 is a prime mover for rotating the propeller, 9 is a camera device, 10 is a rotating device for rotating the camera device,
Reference numeral 11 is an aircraft body control unit, 12 is an aircraft camera control unit, 13 is a ground operation control unit, and 14 is a ground camera control unit. Further, in the drawing, 2a is a device housing space inside the head 2, 2b is an opening at the bottom of the head 2, 2c is a removable inspection lid on the upper surface of the head 2, 2d is an opening edge for attachment to the body 3, Two
e is a connecting pin attached to the edge of the attachment opening. 3a is a device housing space in the front part of the body 3, 3b is an opening edge at the front end of the body 3 which is connected to a mounting opening edge 2d of the head 2, and 3c is a metal fitting for a connecting pin 2e attached to the opening edge. 3d is a wheel attached to the body 3, 3e is a cushion rubber attached around the connecting pin 2e, and 3f is an air passage in a gap between the head 2 and the body 3. Reference numeral 4a denotes a fixed vertical tail of the vertical tail 4, 4b denotes a movable vertical tail called a ladder which is swingably mounted above and behind the fixed vertical tail, and 4c has the movable vertical tail 4b swingably mounted. Hinges, 4
Reference numeral d denotes a rod for moving the movable vertical stabilizer 4b, 4e denotes a fitting for the rod, and 4f denotes a servomotor for moving the rod 4d. Reference numeral 5a is a pivot axis of the horizontal stabilizer 5, 5b is an arm attached to one end of the horizontal stabilizer 5, 5c is a link, 5d
Is a rod and 5e is a servomotor for moving the rod. 6a is a diamond-shaped main wing sheet of a plane shape of the kite wing 6, 6
b is a central main girder that bends upward at the front and extends rearward in a substantially straight line to the leading edge of the fixed vertical stabilizer 4a, 6c is a side girder that holds the leading edge of the kite wing 6, and 6d is a left and right side girder 6c. A beam 6e is a strut that supports the beam on the body 3.

7a is a propeller guide of a propeller, 7b is a propeller shaft, 8a is a fuel tank, 8b is a mounting arm for mounting the fuel tank 8a on the body 3, 9a is a device frame of the camera device 9, 9b is a camera lens, 10a is a head. A square-shaped swing frame 10b is swingably mounted in the equipment housing space 2a above the opening 2b of the portion 2 and is a device frame 9
a for pivotably attaching a to the rocking frame 10a in a swingable manner,
10c is a link for rotating the device frame 9a around the pivot 10b, and 10d is a servomotor for moving the link,
10e is a link for rotating the swing frame 10a, 10f
Is a servomotor for moving the same link, and 10g is a fixed frame. 11a is a GPS circuit, 11b is a barometric altimeter,
11c is an anti-airspeed meter, 11d is a magnetic compass, 11e is a bank angle sensor, 11f is a modem, 11g is a transmitter that sends flight information by radio waves, 11h is a throttle servo that changes the output of the prime mover 8, 11i is trim, 11j is Receiver, 12
a is a CCD camera for control, 12b is a transmitter for transmitting image information of the CCD camera by radio waves, and 12c is ON / OFF
Servo, 12d is a zoom servo, and 12e is a signal receiver. 13a is a receiver of the ground-side control unit 13, 13b
Is a modem, 13c is a personal computer, 13d is an airframe control controller that generates control signals for a flight control throttle, ladder, and elevator, 13e is a signal transmitter,
13f is a position display display showing the position of the airplane, 1
Reference numeral 3g is a flight image display for outputting an image from the control CCD camera 12a, and 13h is an observer. Reference numeral 14a denotes a radio wave receiver of the ground-side camera control unit 14, 14b denotes a work video display for outputting the video of the camera device 9, and 14c.
Is a recording video device, 14d is a signal transmitter, 14e is a camera pilot, and 14f is a camera operation control unit.

The operation of this embodiment will be described below.
In the present embodiment, the camera device 9 is mounted in the equipment housing space 2a of the head 2 for surveying and designing the route for the construction of the power transmission line, and the camera of the camera device 9 is attached to the opening 2 at the bottom of the head 2.
From b toward the ground below. Place it on the ground where you can glide and hold the machine body 1 by hand to operate the prime mover 8
The propeller 7 is rotated at a predetermined number of revolutions, and when sufficient propeller thrust is generated, the hand is released from the aircraft 1, or the propeller thrust causes the wheel 3d to slide on the ground, and the kite blade 6 generates lift to raise it. . Since the kite wing 6 is formed of the film-shaped main wing sheet 6a, the kite wing 6 is lightweight and has a large area, so that a large lift force can be obtained with a light weight, and a lift force for floating the airframe 1 can be generated at a low speed, so that the lift speed is increased. However, it can sail at low speed. Further, when the horizontal stabilizer 5 is rotated counterclockwise about its pivot axis 5a, the angle of attack is reduced, the lift of the horizontal stabilizer 5 is reduced, a pitching moment for raising the nose is generated, and the nose is raised. The lift force of the kite wing 6 is greatly increased, and the airframe 1 is lifted.

When the body 1 is turned, the movable vertical tail 4b is rotated to generate a turning moment in the movable vertical tail 4b to turn the body 1. With respect to the bank of the airframe 1, the kite wings 6 are tilted to generate a restoring moment, so that the airframe 1 recovers horizontally and stable level flight can be performed. If a bank occurs in the machine body 1, the bank angle sensor 11e detects the bank angle, and the bank angle automatic correction circuit 1
0h is input, and the servo motor 10d is operated so as to rotate the camera device 9 in the opposite direction by the changed bank angle. As a result, the same ground location can be photographed even if the aircraft 1 is banked.

The operation of flight direction, turning, speed, and ascent / descent of the aircraft 1 is performed by operating the aircraft controller 13d while the ground observer 13h is watching the position display 13f and the flight image display 13g. Is transmitted as a radio wave by the signal transmitter 13e, is received by the receiver 11J on the airplane side, operates the throttle servo 11h, the servomotor 4f, and the servomotor 5e through the trim 11i to move the rods 4d and 5d, The movable vertical stabilizer 4b is rotated right and left around the hinge fitting 4c by a required angle, and the horizontal stabilizer 5 is rotated around the rotation pivot 5a.
Make the required angle of attack. Further, the GPS position information from the airframe 1 is obtained from the GPS circuit 11a, the altitude information of the airframe 1 is obtained from the barometric altimeter 11b, the airspeed of the airframe 1 is obtained from the airspeed meter 11c, and the direction of the airframe 1 is measured by the magnetic azimuth meter 11d. And is sent to the ground side as a radio wave by the transmitter 11g via the modem 11f. The camera is operated by the ground camera pilot 14e.
Operates the camera operation control unit 14f while looking at the work video display 14b, and moves the camera vertically and horizontally.
The servo ON / OFF and zoom control signals are generated, and these signals are transmitted by radio waves from the signal transmitter 14d.
Signal receiver 12g of, the servo motor 10d of the camera device 9 of the machine body 1, the servo motor 10f, ON / OF
The F servo 12e and the zoom servo 12f are operated to set the camera to a desired state. In addition, the camera device 9 of the machine body 1,
The video data of the CCD camera for control 12a is the transmitter 12b.
Is transmitted by radio waves, received by the receiver 14a on the ground side, processed by a computer by a personal computer 13c, and displayed as a flight image display 13g and a position display 13f.
Is output to Further, the ground image from the camera device 9 is transmitted by radio waves to the camera control unit 14 on the ground side by the transmitter 12b, received by the receiver 14a of the camera control unit 14, output to the work image display 14b, and if necessary. The recording is performed by the recording video device 14c.

Next, the radio control method of this embodiment will be described. Each part of the aircraft body control unit 11 uses a computer, a memory, and an electronic circuit to servo motors 4f, 5
e, 10d, 10f, which controls the camera 9 and the like, and the information such as the target point to fly before the flight, the flight order of the flight target, the weather, the terrain, the dangerous ground laying, and the no-fly zone are on the ground side. Input to the computer memory. The computer on the side of the airplane calculates the optimum flight route to the destination and the flight speed / altitude / azimuth on that route and decides in advance. After that, information about the battery, fuel status, flight route, etc. of the airplane is transmitted from the airplane to the ground.

When the function of the base on the ground side is normal, the ground side continues to send a normal signal containing the identification information of the base on the ground. The airplane continues to send the information of the current position of the airplane calculated by the GPS circuit 11a, the battery condition, the fuel condition, the flight speed calculated by the airspeed meter 11c, and the altitude of the barometric altimeter 11b to the ground side by radio waves. Also, flight path information is stored in memory over time. If the normal signal from the ground side cannot be received by the airplane, the airplane calls the latest position information from the memory out of the route position information calculated by the GPS circuit 11a, estimates the current position, and reverses the progress. Automatically controls to return to the start point of the takeoff point, and performs a standby flight above the takeoff point. If the function of the base on the ground is restored, a restart or new instruction will be given from the ground side. Otherwise, land on the ground. When the GPS circuit 11a cannot be used due to a failure or obstacle, it waits for the magnetic azimuth meter 11d, returns to the starting point, and waits above the ground. The above-mentioned state is performed even when the radio wave received by the airplane does not include identification information, and is not guided by radio wave interference / error radio waves.

[0014]

As described above, according to the present invention, by using the film-like kite wing as the main wing, it is possible to generate a large lift force with a light weight, and by using the kite wing, it is possible to reduce the bank angle. Great recovery and stable level flight. This enables stable flight at low speed, facilitates maneuvering, and facilitates low-altitude flight, enabling accurate and efficient shooting and construction. Moreover, since the propeller propeller is located between the kite wing and the fuselage, the propeller is less likely to come into direct contact with people or objects, and accidents and personal injury caused by collision or drop can be reduced. With respect to the bank angle of the machine, the bank angle sensor and the automatic bank correction circuit operate to automatically return the tilt of the camera device to the original predetermined angle, so do not remove the shooting location of the camera device Enables stable shooting. Also, if the machine body is a head, body, kite wings, and tail wings that can be disassembled, it is easy to carry and manufacture.

[Brief description of drawings]

FIG. 1 is a side view of an embodiment of the present invention.

FIG. 2 is a plan view of the embodiment.

FIG. 3 is a front view of the embodiment.

FIG. 4 is an explanatory diagram showing a vertical stabilizer of the embodiment.

FIG. 5 is an explanatory diagram showing a horizontal stabilizer of the embodiment.

FIG. 6 is a vertical sectional side view of the head of the embodiment.

FIG. 7 is a vertical sectional front view of the head of the embodiment.

FIG. 8 is an explanatory diagram showing a disassembled state of the example.

FIG. 9 is a circuit block diagram showing a control system of the embodiment.

[Explanation of symbols]

 1 Aircraft 2 Head 3 Fuselage 4 Vertical tail 5 Horizontal tail 6 Kite wing 7 Propeller 8 Motor 9 Camera device 10 Rotating device 11 Airframe control unit 12 Camera control unit 13 Control unit 14 Camera control unit 2a Equipment accommodation space 2b Opening 2c Inspection lid 2d Mounting opening edge 2e Connecting pin 3a Device housing space 3b Opening edge 3c Locking metal fitting 3d Wheel 3e Buffer rubber 3f Gap 4a Fixed vertical tail 4b Movable vertical tail 4c Hinge metal fitting 4d Rod 4e Mounting metal fitting 4f Servomotor 5a Rotating pivot 5b arm 5c link 5d rod 5e servo motor 6a wing sheet 6b central main girder 6c side girder 6d beam 6e prop 7a propeller guide 7b propeller shaft 8a fuel tank 8b mounting arm 9a device frame 9b camera lens 10a swing frame 10c pivot frame 10b 10d Servomotor 10e Link 10f Servomotor 10g Fixed frame 11a GPS circuit 11b Barometric altimeter 11c Anti-airspeed meter 11d Magnetic compass gauge 11e Bank angle sensor 11f Modem 11g Transmitter 11h Throttle servo 11i Trim 11j Receiver 12a CCD camera 12c ON transmitter・ OFF servo 12d Zoom servo 12e Signal receiver 13a Receiver 13b Modem 13c Personal computer 13d Airframe control controller 13e Signal transmitter 13f Position display display 13g Flight image display 13h Observer 14a Receiver 14b Working image display 14c Recording video device 14d Signal transmission Machine 14e Camera pilot 14f Camera operation control unit

Claims (7)

[Claims] 1. A membranous kite wing is attached above a body in which a head, a vertical tail and a horizontal tail are connected by an elongated body, and a propeller is installed between the kite and the body. A radio-controlled small-sized airplane characterized by being equipped with. 2. The radio-controlled small aircraft according to claim 1, wherein a head is provided with an accommodation space for accommodating a device for photographing and working, and the head is detachably attached to the body. 3. The radio-controlled small aircraft according to claim 1, wherein the head, the body, the kite wing, and the tail portion are detachably connected so as to be disassembled. 4. The radio-controlled small aircraft according to claim 2, wherein a bottom surface and an upper surface of the head portion are opened so as to communicate with the accommodation space, and a removable lid is attached to the upper surface opening. 5. The radio-controlled small aircraft according to claim 4, wherein the head portion and the body portion are detachably connected with an elastic body sandwiched therebetween so as to form a small gap serving as an air passage. 6. A camera device for viewing downward from the bottom opening of the head is provided in the accommodation space of the head, and the camera device is rotatable about the longitudinal direction of the body and two horizontal axes perpendicular to the longitudinal direction. The radio-controlled small aircraft according to claim 4 or 5, further comprising rotating means for rotating the camera device around the two horizontal axes. 7. A bank angle sensor is provided on the machine body, and a bank angle signal of the bank angle sensor is input to control the rotating means so as to rotate the camera device about the horizontal axis in the longitudinal direction of the body by the bank angle of the machine body. The radio-controlled small-sized aircraft according to claim 6, further comprising an automatic bank correction circuit.