JPH10108984A - Control switching method of unmanned helicopter and unmanned helicopter - Google Patents
Control switching method of unmanned helicopter and unmanned helicopterInfo
- Publication number
- JPH10108984A JPH10108984A JP8282974A JP28297496A JPH10108984A JP H10108984 A JPH10108984 A JP H10108984A JP 8282974 A JP8282974 A JP 8282974A JP 28297496 A JP28297496 A JP 28297496A JP H10108984 A JPH10108984 A JP H10108984A
- Authority
- JP
- Japan
- Prior art keywords
- control
- unmanned helicopter
- transmitter
- switching
- light source
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
(57)【要約】
【課題】 所定のタイミングで確実に操縦の切換を行う
ことができる無人ヘリコプターの操縦切換方法を提供す
る。
【解決手段】 第１の操縦用送信機２からの操縦電波に
より無人ヘリコプター１を操縦した後、第２の操縦用送
信機３からの操縦電波により前記無人ヘリコプター１を
操縦する場合の、前記第１の操縦用送信機２から第２の
操縦用送信機３への操縦の切換を行う方法において、前
記無人ヘリコプター１にストロボフラッシャー６を設け
る一方、該ストロボフラッシャー６を点灯又は点滅させ
る切換用光源スイッチ２ｃ，３ｃを前記各操縦用送信機
２，３に設け、操縦の切換位置にて、前記第１の操縦用
送信機２の切換用光源スイッチ２ｃを操作して前記スト
ロボフラッシャー６を点灯又は点滅させ、該点灯又は点
滅を認識して前記第２の操縦用送信機３からの操縦電波
の発信を開始し、前記第１の操縦用送信機２からの操縦
電波の発信を停止して操縦を切り換えるようにした。
(57) [Problem] To provide a control switching method for an unmanned helicopter, which can reliably switch control at a predetermined timing. SOLUTION: After maneuvering an unmanned helicopter 1 by a maneuvering radio wave from a first manipulating transmitter 2, the maneuvering maneuver 1 is operated by a maneuvering radio wave from a second manipulating transmitter 3. In the method of switching the control from the first control transmitter 2 to the second control transmitter 3, a switching light source for turning on or off the strobe flasher 6 while providing the strobe flasher 6 in the unmanned helicopter 1 is provided. Switches 2c and 3c are provided in each of the control transmitters 2 and 3, and the strobe flasher 6 is turned on or off by operating the switching light source switch 2c of the first control transmitter 2 at the control switching position. Blinking, recognizing the lighting or blinking, starts transmission of the control radio wave from the second control transmitter 3, and stops transmission of the control radio wave from the first control transmitter 2. I changed the control.
Description
【０００１】[0001]
【発明の属する技術分野】この発明は、複数の操縦用送
信機を切り換えながら無人ヘリコプターを操縦する場合
における操縦切換方法及び、この切換方法に適した無人
ヘリコプターに関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control switching method for controlling an unmanned helicopter while switching a plurality of control transmitters, and an unmanned helicopter suitable for the switching method.
【０００２】[0002]
【従来の技術】従来から長距離に渡って無人ヘリコプタ
ーを飛行させる場合には、その飛行経路に沿って一定間
隔毎に、その無人ヘリコプターを操縦するための操縦用
送信機を持った複数の操縦者が配備する。そして、ある
操縦者が操縦用送信機から操縦電波を発信して無人ヘリ
コプターを一定距離操縦した後、切換位置にて、いまま
で操縦していた操縦用送信機からの操縦電波の発信を停
止させる一方、次の操縦者の操縦用送信機からの操縦電
波の発信を開始して、操縦を切り換えるようにしてい
る。2. Description of the Related Art Conventionally, when flying an unmanned helicopter over a long distance, a plurality of maneuvers having a maneuvering transmitter for maneuvering the unmanned helicopter at regular intervals along the flight path. To deploy. Then, after a certain pilot transmits a control radio wave from the control transmitter and controls the unmanned helicopter by a certain distance, at the switching position, the transmission of the control radio wave from the control transmitter which has been controlled so far is stopped. On the other hand, the transmission of the control radio wave from the control transmitter of the next driver is started to switch the control.
【０００３】このような切換時においては、両者からの
操縦電波が同時に長時間重複して発信されていると、無
人ヘリコプターは妨害電波が発信されていると判断し
て、降下するように制御され、又、反対に、両者からの
操縦電波の発信停止と発信開始との間に時間的間隔が開
くと、無人ヘリコプターは操縦電波が受信されず降下す
るように制御される。At the time of such switching, if the control radio waves from both are transmitted simultaneously and for a long time, the unmanned helicopter determines that jamming radio waves are being transmitted and is controlled to descend. On the other hand, if a time interval is left between the transmission stop and the start of the transmission of the control radio waves from both, the unmanned helicopter is controlled so that the control radio waves are not received and descend.
【０００４】従って、従来では、各操縦者が持っている
通話無線機にて交信を行うことにより、操縦電波の発信
停止と発信開始とのタイミングを図り、この時期が同時
となるようにしている。[0004] Therefore, conventionally, communication is performed by a radio communication device held by each pilot, so that the timing of transmission stoppage and the start of transmission of the control radio wave are intended to be simultaneous. .
【０００５】[0005]
【発明が解決しようとする課題】しかしながら、このよ
うな従来例にあっては、通話無線機の交信により操縦切
換のタイミングを図るようにしているため、妨害電波等
によりお互いの声が聞き取れない場合があり、タイミン
グが合わない場合がある。また、音声圧力スイッチで送
信切換が行われる通話無線機を使用している場合等にお
いては、風や騒音などでスイッチが入り合図が伝わらな
い場合があった。However, in such a conventional example, since the timing of the switching operation is controlled by the communication of the communication radio, when the mutual voices cannot be heard due to jamming radio waves or the like. And the timing may not match. In addition, when a call wireless device in which transmission is switched by a voice pressure switch is used, the switch is turned on due to wind or noise, and a signal may not be transmitted.
【０００６】そこで、この発明は、所定のタイミングで
確実に操縦の切換を行うことができる無人ヘリコプター
の操縦切換方法を提供することを課題としている。SUMMARY OF THE INVENTION It is an object of the present invention to provide a method for switching operation of an unmanned helicopter that can reliably switch operation at a predetermined timing.
【０００７】[0007]
【課題を解決するための手段】かかる課題を達成するた
めに、請求項１に記載の発明は、第１の操縦用送信機か
らの操縦電波により無人ヘリコプターを操縦した後、第
２の操縦用送信機からの操縦電波により前記無人ヘリコ
プターを操縦する場合の、前記第１の操縦用送信機から
第２の操縦用送信機への操縦の切換を行う方法におい
て、前記無人ヘリコプターに切換用光源を設ける一方、
該切換用光源を点灯又は点滅させる切換用光源スイッチ
を前記各操縦用送信機に設け、操縦の切換位置にて、前
記第１の操縦用送信機の切換用光源スイッチを操作して
前記切換用光源を点灯又は点滅させ、該点灯又は点滅を
認識して前記第２の操縦用送信機からの操縦電波の発信
を開始し、前記第１の操縦用送信機からの操縦電波の発
信を停止して操縦を切り換える無人ヘリコプターの操縦
切換方法としたことを特徴とする。In order to achieve the above object, an invention according to claim 1 is to control an unmanned helicopter by a control radio wave from a first control transmitter and then to control a second control signal by a second control device. In the case where the unmanned helicopter is steered by a steering radio wave from a transmitter, in the method of switching the steering from the first steering transmitter to the second steering transmitter, a switching light source is provided to the unmanned helicopter. While providing
A switching light source switch for turning on or off the switching light source is provided in each of the control transmitters. At a control switching position, the control light source switch of the first control transmitter is operated to switch the control light source. Lighting or blinking the light source, recognizing the lighting or blinking, starting transmission of the control radio wave from the second control transmitter, and stopping transmission of the control radio wave from the first control transmitter. A method of switching operation of an unmanned helicopter in which the operation is switched.
【０００８】請求項２に記載された発明は、請求項１に
記載の無人ヘリコプターの切換用光源は、無人ヘリコプ
ター本体の両側で側方に延びる棒の先端部に設けられた
ことを特徴とする。According to a second aspect of the present invention, the switching light source for the unmanned helicopter according to the first aspect is provided at a tip of a rod extending laterally on both sides of the unmanned helicopter body. .
【０００９】[0009]
【発明の実施の形態】以下、この発明の実施の形態につ
いて説明する。Embodiments of the present invention will be described below.
【００１０】図１及び図２には、この発明の実施の形態
を示す。FIGS. 1 and 2 show an embodiment of the present invention.
【００１１】まず構成について説明すると、図２中符号
１は無人ヘリコプター１、符号２，３はそれぞれ無人ヘ
リコプター１を操縦するための操縦用送信機である。First, the structure will be described. In FIG. 2, reference numeral 1 denotes an unmanned helicopter 1, and reference numerals 2 and 3 denote steering transmitters for operating the unmanned helicopter 1, respectively.
【００１２】その無人ヘリコプター１には、無人ヘリコ
プター本体４の両側に、側方に延びる一対の棒５が設け
られ、これらの棒５の先端部に「切換用光源」としての
ストロボフラッシャー６が配設されている。The unmanned helicopter 1 is provided with a pair of laterally extending rods 5 on both sides of an unmanned helicopter main body 4, and a strobe flasher 6 as a “switching light source” is disposed at the tip of these rods 5. Has been established.
【００１３】一方、操縦用送信機２，３には、それぞれ
一対の操縦レバー２ａ，３ａ,２ｂ，３ｂが設けられ、
これらを両手の親指等で操作することにより、無人ヘリ
コプター１が操縦されるようになっている。そして、こ
れらレバー２ａ…を操作しながらＯＮ・ＯＦＦできる位
置に切換用光源スイッチ２ｃ，３ｃが設けられている。
このスイッチ２ｃ，３ｃをＯＮすることにより、無人ヘ
リコプター１のストロボフラッシャー６が点滅されるよ
うになっている。また、符号２ｄ，３ｄは、これら操縦
用送信機２，３自体をＯＮ・ＯＦＦさせるスイッチであ
る。On the other hand, the control transmitters 2 and 3 are provided with a pair of control levers 2a, 3a, 2b and 3b, respectively.
By operating these with the thumbs of both hands, the unmanned helicopter 1 is operated. Switching light source switches 2c and 3c are provided at positions where these levers 2a can be turned on and off while operating.
By turning on the switches 2c and 3c, the strobe flasher 6 of the unmanned helicopter 1 blinks. Reference numerals 2d and 3d are switches for turning ON / OFF the control transmitters 2 and 3 themselves.
【００１４】次に、かかる無人ヘリコプター１の操縦切
換方法について説明する。Next, a method for switching the operation of the unmanned helicopter 1 will be described.
【００１５】図１に示すように、一方の鉄塔８から他方
の鉄塔９まで無人ヘリコプター１を飛行させる場合、こ
の一方の鉄塔８に操縦用送信機２を持った操縦者Ａが登
り、他方の鉄塔９に操縦用送信機３を持った操縦者Ｂが
登る。As shown in FIG. 1, when flying an unmanned helicopter 1 from one tower 8 to another tower 9, a pilot A having a control transmitter 2 climbs up one of the towers 8 and the other one. A pilot B having the control transmitter 3 climbs the tower 9.
【００１６】そして、まず、操縦者Ａが操縦用送信機２
のスイッチ２ｄをＯＮさせて操縦電波の発信を開始し、
操縦レバー２ａ，２ｂを操作することにより、無人ヘリ
コプター１を操縦して、他方の鉄塔９に向けて飛行させ
る。[0016] First, the pilot A operates the control transmitter 2.
Turn on the switch 2d to start transmitting the control radio wave,
By operating the control levers 2a and 2b, the unmanned helicopter 1 is controlled to fly toward the other tower 9.
【００１７】そして、適当な位置（切換位置）まで飛行
した段階で、一方の操縦者Ａから他方の操縦者Ｂに無人
ヘリコプター１の操縦を以下のようにして切り換える。Then, at the stage of flying to an appropriate position (switching position), the operation of the unmanned helicopter 1 is switched from one operator A to the other operator B as follows.
【００１８】すなわち、切換位置付近で、第１の操縦用
送信機２の切換用光源スイッチ２ｃをＯＮさせることに
より、ストロボフラッシャー６を点滅させる。他方の操
縦者Ｂはその点滅状態を視覚により確認することが出来
る。一方の操縦者Ａは、予め、決められた点滅回数を確
認した後、第１の操縦用送信機２のスイッチ２ｄをＯＦ
Ｆさせ、操縦電波の発信を停止する一方、他方の操縦者
Ｂは、反対に、予め、決められた点滅回数を確認した
後、第２の操縦用送信機３のスイッチ３ｄをＯＮさせ、
操縦電波の発信を開始する。That is, by turning on the switching light source switch 2c of the first steering transmitter 2 near the switching position, the strobe flasher 6 is turned on and off. The other driver B can visually confirm the blinking state. After confirming the predetermined number of blinks in advance, one of the pilots A turns off the switch 2d of the first control transmitter 2.
F to stop the transmission of the control radio wave, and on the other hand, the other driver B turns on the switch 3d of the second control transmitter 3 after confirming the predetermined number of blinks in advance,
Start transmitting the control signal.
【００１９】このようにストロボフラッシャー６を点滅
させて切換えを行うようにすることにより、従来のよう
に通話無線機を使用して切換えを行う場合と比較する
と、電波障害等の影響を受けることなく、確実に合図が
伝わることから、切換タイミングがズレるようなことが
なく、的確な切換を行うことが出来る。As described above, the switching is performed by blinking the strobe flasher 6 so that the switching is not affected by radio wave interference and the like as compared with the conventional case where the switching is performed by using the communication radio. Since the signal is transmitted without fail, the switching timing does not shift and accurate switching can be performed.
【００２０】その後は、操縦者Ｂが操縦用送信機３の操
縦レバー３ａ,３ｂを操作して無人ヘリコプター１を操
縦して所定の位置まで飛行させる。Thereafter, the pilot B operates the control levers 3a and 3b of the control transmitter 3 to control the unmanned helicopter 1 to fly to a predetermined position.
【００２１】また、ストロボフラッシャー６は無人ヘリ
コプター本体４の両側に設けられた棒５の先端部に設け
られているため、視認し易いと共に、この一定間隔を有
する両ストロボフラッシャー６の高さを比べることによ
り、無人ヘリコプター１の姿勢の確認を行うことが出来
る。Further, since the strobe flashers 6 are provided at the tips of the rods 5 provided on both sides of the unmanned helicopter body 4, the strobe flashers 6 are easy to visually recognize, and the heights of the two strobe flashers 6 having a certain interval are compared. Thereby, the posture of the unmanned helicopter 1 can be confirmed.
【００２２】さらに、切換用光源スイッチ２ｃ，３ｃ
は、各操作レバー２ａ，２ｂ，３ａ，３ｂを操作しなが
らＯＮ・ＯＦＦ出来る位置に配設されているため、各ス
イッチ２ｃ，３ｃを操作する場合でも、操縦操作に悪影
響を与えるようなことがない。Further, switching light source switches 2c, 3c
Is arranged at a position where it can be turned ON / OFF while operating each of the operation levers 2a, 2b, 3a, 3b. Therefore, even when each of the switches 2c, 3c is operated, the operation operation may be adversely affected. Absent.
【００２３】なお、上記実施の形態では、切換用光源と
してストロボフラッシャー６を設けているが、これに限
らず、他の光源でも良く、又、点滅させる代わりに点灯
させても良い。In the above embodiment, the strobe flasher 6 is provided as a switching light source. However, the present invention is not limited to this, and another light source may be used.
【００２４】[0024]
【発明の効果】請求項１に記載の発明によれば、通話無
線機による通話が電波障害等によりとぎれた場合でも、
切換用光源の点滅又は点灯状態を視覚により確認できる
ため、その点灯又は点滅を合図として操縦電波の切換え
を正確に行うことが出来、両操縦用送信機からの操縦信
号が長時間重複して発信されたり、又、いずれの操縦用
送信機からも操縦信号が発信されていないという事態を
防止できる。According to the first aspect of the present invention, even if the call by the call radio is interrupted due to radio wave interference or the like,
Since the blinking or lighting state of the switching light source can be visually checked, the switching of the control radio wave can be accurately performed by using the lighting or blinking as a signal, and the control signals from both the control transmitters are transmitted repeatedly for a long time. Or a control signal is not transmitted from any of the control transmitters.
【００２５】請求項２に記載の発明によれば、切換用光
源を点滅又は点灯させることにより、無人ヘリコプター
の姿勢の確認を行うことが出来る、という実用上有益な
効果を発揮する。According to the second aspect of the present invention, it is possible to confirm the attitude of the unmanned helicopter by blinking or lighting the switching light source.
【図１】この発明の実施の形態に係る無人ヘリコプター
の操縦切換方法を示す概略図である。FIG. 1 is a schematic diagram showing a method for switching control of an unmanned helicopter according to an embodiment of the present invention.
【図２】同実施の形態に係る無人ヘリコプターと操縦用
送信機を示す斜視図である。FIG. 2 is a perspective view showing an unmanned helicopter and a control transmitter according to the embodiment.
１ 無人ヘリコプター ２ 第１の操縦用送信機 ３ 第２の操縦用送信機 2c,3c 切換用光源スイッチ ４ 無人ヘリコプター本体 ５ 棒 ６ ストロボフラッシャー（切換用光源） DESCRIPTION OF SYMBOLS 1 Unmanned helicopter 2 First control transmitter 3 Second control transmitter 2c, 3c Switching light source switch 4 Unmanned helicopter main body 5 Rod 6 Strobe flasher (switching light source)
Claims (2)
り無人ヘリコプターを操縦した後、第２の操縦用送信機
からの操縦電波により前記無人ヘリコプターを操縦する
場合の、前記第１の操縦用送信機から第２の操縦用送信
機への操縦の切換を行う方法において、 前記無人ヘリコプターに切換用光源を設ける一方、該切
換用光源を点灯又は点滅させる切換用光源スイッチを前
記各操縦用送信機に設け、操縦の切換位置にて、前記第
１の操縦用送信機の切換用光源スイッチを操作して前記
切換用光源を点灯又は点滅させ、該点灯又は点滅を認識
して前記第２の操縦用送信機からの操縦電波の発信を開
始し、前記第１の操縦用送信機からの操縦電波の発信を
停止して操縦を切り換えることを特徴とする無人ヘリコ
プターの操縦切換方法。2. The method according to claim 1, wherein the first control is performed when the unmanned helicopter is controlled by a control radio wave from a first control transmitter, and then the unmanned helicopter is controlled by a control radio wave from a second control transmitter. In the method of switching the control from the transmitter to the second control transmitter, a switching light source is provided for the unmanned helicopter, and a switching light source switch for turning on or off the switching light source is provided for each of the control devices. The switching light source switch of the first steering transmitter is turned on or blinks by operating the switching light source switch of the first steering transmitter at the steering switching position, and the second lighting is performed by recognizing the lighting or blinking. Starting transmission of a control radio wave from the control transmitter, and stopping control of transmission of the control radio wave from the first control transmitter to switch the control.
換用光源は、無人ヘリコプター本体の両側で側方に延び
る棒の先端部に設けられたことを特徴とする無人ヘリコ
プター。2. An unmanned helicopter according to claim 1, wherein the switching light source for the unmanned helicopter is provided at a tip of a rod extending laterally on both sides of the unmanned helicopter body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8282974A JPH10108984A (en) | 1996-10-04 | 1996-10-04 | Control switching method of unmanned helicopter and unmanned helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8282974A JPH10108984A (en) | 1996-10-04 | 1996-10-04 | Control switching method of unmanned helicopter and unmanned helicopter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH10108984A true JPH10108984A (en) | 1998-04-28 |
Family
ID=17659559
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8282974A Pending JPH10108984A (en) | 1996-10-04 | 1996-10-04 | Control switching method of unmanned helicopter and unmanned helicopter |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH10108984A (en) |
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1996
- 1996-10-04 JP JP8282974A patent/JPH10108984A/en active Pending
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