JP5854348B2 - Remote control method and remote control system - Google Patents

Description

  The present invention relates to a remote control method and a remote control system, for example, a remote control method and a remote control system for manipulating a moving body such as a radio controlled airplane, a radio controlled ship, and a radio controlled vehicle by radio control from a distance.

  Conventionally, in a field of hobbies or a practical field such as agrochemical spraying / aerial photography, it is often performed to remotely control a moving body such as a radio-controlled airplane, a radio-controlled ship, and a radio-controlled vehicle by radio control. As an example, when operating a radio controlled helicopter, a pilot on the ground has a radio operating control device, and by operating a stick that sticks out, a radio airplane flying in the air can be moved back and forth, left and right or up and down it can.

  By the way, in general, a radio-controlled helicopter moves forward if a stick protruding from the control device is tilted forward, moves backward if tilted backward, moves left if tilted left, and moves right if tilted right. . That is, it can be said that a pilot who wants to fly the radio controlled helicopter in a desired direction needs to always grasp the posture. However, in order to control the radio control helicopter while observing the radio control helicopter from the ground, when the radio control helicopter flies far away or when the radio control helicopter is blocked by a low cloud etc. May not know the attitude of the radio control helicopter and may become impossible to control. Also, depending on the shape of the radio-controlled helicopter, there are some which are symmetrical in the front-rear and left-right directions, and it may be difficult to grasp the front in the traveling direction even at a short distance.

  On the other hand, Patent Document 1 discloses a maneuvering system comprising a microcomputer, a PWM signal reading circuit, a PWM signal generating circuit, a PWM signal switching circuit, and various sensors between a receiver and a servo motor of an existing unmanned radio control helicopter. By inserting a support device, if there is a pilot's operation, give priority to that operation, operate the servo motor as usual, or interpret the operation amount as a target value and perform control to follow it. There is disclosed a technique that supports maneuvering at the time of performing work such as aerial photography by automatically maintaining level and maintaining a predetermined direction and altitude when there is no image.

JP 2009-96369 A

  However, the technique of Patent Document 1 requires a circuit for performing calculations to maintain the specified azimuth and altitude using various sensors. However, the calculation takes time and increases costs. There is. In particular, in the case of a radio-controlled helicopter or the like, it can be said that it is desirable not to mount an expensive sensor, CPU, or the like as much as possible in consideration of the possibility of damage due to a crash or a collision.

  The present invention has been made in view of such problems, and it is an object of the present invention to provide a remote control method and a remote control system capable of intuitively maneuvering a moving body even under invisible conditions without incurring high costs. And

The remote control method according to claim 1 uses a control device that can be operated by a pilot to control a moving body that moves in an arbitrary direction away from the pilot by a control signal transmitted from the control device. In the remote control method,
The steering device transmits a first azimuth detection sensor for detecting a direction of the steering device, a azimuth signal corresponding to the direction of the steering device detected by the first azimuth detection sensor, and a first steering signal. 1 communication means, the mobile body has a second communication means for receiving the azimuth signal and the steering signal, and a second azimuth detection sensor for detecting the orientation of the mobile body,
When the mobile body receives the azimuth signal and the steering signal, the mobile body uses the direction detected by the second azimuth detection sensor based on the direction of the steering device and the steering signal. It is characterized in that the moving direction of the is determined.

  According to the present invention, the steering device has a first orientation detection sensor that detects the orientation of the steering device, an orientation signal corresponding to the orientation of the steering device detected by the first orientation detection sensor, and the steering First communication means for transmitting a signal, wherein the mobile body includes second communication means for receiving the azimuth signal and the steering signal, and a second azimuth detection sensor for detecting the orientation of the mobile body. And when the moving body receives the azimuth signal and the steering signal, using the direction of the steering device and the steering signal as a reference, using the direction detected by the second azimuth detection sensor, Since the moving direction of the moving body is determined, it is as if the driver is riding on the moving body even in a situation where it is difficult to see the moving body while the driver is simple and low-cost. Sense the direction of the moving body A can grasp, it is possible to perform the maneuver intuitive.

  A remote control method according to a second aspect is the first aspect of the invention according to the first aspect, wherein the control device is the first azimuth detection sensor and detects a position of the control device in a predetermined three-dimensional coordinate system. A position detection unit; a distance measurement unit that measures the distance to the target with the control device facing the target; and a posture detection unit that detects a posture of the control device at the time of distance measurement. Is a second azimuth detection sensor and has second position detection means for detecting the position of the moving body in the predetermined three-dimensional coordinate system, the detection result by the first position detection means, and the posture detection means Target position calculation means for determining the position of the target in the predetermined three-dimensional coordinate system based on the detection result by the distance measurement means and the distance measurement result by the distance measurement means is provided in the control device or the moving body. , When the control device is directed to a specific target and the distance from the control device to the specific target is detected by the distance measuring means, the second communication means of the moving body is configured to When the control signal is received via one communication means, from the moving body to the specific target based on the detection result by the second position detection means and the calculation result by the target position calculation means The direction and distance are determined. Accordingly, by determining a specific target from the control device and outputting a distance signal, the moving body can be moved toward the specific target without being accurately controlled by the driver.

  According to a third aspect of the present invention, in the remote control method according to the first or second aspect of the present invention, the moving body includes an obstacle detection device that detects the presence or absence of an obstacle present in the moving direction of the moving body. The control device has a warning device for warning the operator, and when the obstacle detection device detects an obstacle, transmits an obstacle detection signal via the second communication means, When receiving the obstacle detection signal via the first communication means, the device issues a warning by the warning device. As a result, even in situations where the driver cannot see the obstacle, it is possible to grasp that the driver is heading for the obstacle as if the driver is riding on the moving object. You can take

  A remote control method according to a fourth aspect of the invention is characterized in that, in the invention according to any one of the first to third aspects, the moving body is a wireless flying object having a rotating wing or a wireless automobile.

The remote control system according to claim 5 is a remote control system having a control device that can be operated by a pilot, and a moving body that is controlled by a control signal transmitted from the control device and moves away from the pilot. ,
The steering device transmits a first azimuth detection sensor for detecting a direction of the steering device, a azimuth signal corresponding to the direction of the steering device detected by the first azimuth detection sensor, and a first steering signal. 1 communication means,
The mobile body has second communication means for receiving the azimuth signal and the steering signal, and a second azimuth detection sensor for detecting the orientation of the mobile body,
When the moving body receives the heading signal and the steering signal via the second communication means, the moving body is detected by the second heading detection sensor on the basis of the direction of the steering device and the steering signal. The moving direction of the moving body is determined using the determined direction.

  According to the present invention, the steering device has a first orientation detection sensor that detects the orientation of the steering device, an orientation signal corresponding to the orientation of the steering device detected by the first orientation detection sensor, and the steering First communication means for transmitting a signal, wherein the mobile body includes second communication means for receiving the azimuth signal and the steering signal, and a second azimuth detection sensor for detecting the orientation of the mobile body. And when the moving body receives the azimuth signal and the steering signal, using the direction of the steering device and the steering signal as a reference, using the direction detected by the second azimuth detection sensor, Since the moving direction of the moving body is determined, it is as if the driver is riding on the moving body even in a situation where it is difficult to see the moving body while the driver is simple and low-cost. Sense the direction of the moving body A can grasp, it is possible to perform the maneuver intuitive.

  A remote control system according to a sixth aspect of the present invention is the remote control system according to the fifth aspect, wherein the steering device is the first azimuth detection sensor and detects a position of the steering device in a predetermined three-dimensional coordinate system. A position detection unit; a distance measurement unit that measures the distance to the target with the control device facing the target; and a posture detection unit that detects a posture of the control device at the time of distance measurement. Is a second azimuth detection sensor and has second position detection means for detecting the position of the moving body in the predetermined three-dimensional coordinate system, the detection result by the first position detection means, and the posture detection means Target position calculation means for obtaining the position of the target in the predetermined three-dimensional coordinate system based on the detection result by the distance measurement means and the distance measurement result by the distance measurement means is provided in the control device or the moving body. When the distance from the piloting device to the specific target is detected by the distance measuring unit with the pilot device pointing at the specific target, the second communication unit of the mobile body When the control signal is received via the first communication means, the specific target is obtained from the moving body based on the detection result by the second position detection means and the calculation result by the target position calculation means. The direction and distance up to are determined. Accordingly, by determining a specific target from the control device and outputting a distance signal, the moving body can be moved toward the specific target without the pilot accurately maneuvering. Can do.

  A remote control system according to a seventh aspect of the present invention is the remote control system according to the fifth or sixth aspect, wherein the moving body includes an obstacle detection device that detects whether or not an obstacle exists in a moving direction of the moving body. The control device has a warning device for warning the operator, and when the obstacle detection device detects an obstacle, transmits an obstacle detection signal via the second communication means, When receiving the obstacle detection signal via the first communication means, the device issues a warning by the warning device. As a result, even in situations where the driver cannot see the obstacle, it is possible to grasp that the driver is heading for the obstacle as if the driver is riding on the moving object. You can take

  A remote control system according to an eighth aspect of the present invention is the invention according to any one of the fifth to seventh aspects, wherein the moving body is a wireless flying body having a rotating wing or a wireless automobile.

  In this specification, a GNSS device (Global Navigation Satellite System) is a concept that includes a GPS device, and is not limited to this, for example, radio waves from satellites do not reach. A device or the like that emits a GPS signal from a transmitter installed on the ground or the like at a place to realize a positioning function equivalent to GPS may be used.

  The direction detection sensor is a device having a function of measuring at least the direction of a steering device or a moving body, and various devices such as a magnetic compass and a gyrocompass can be used. A positioning device is a function that can measure at least the latitude, longitude, altitude, and azimuth of a control device or moving object using, for example, radio from a reference base, radio waves from a satellite, or with a wireless LAN. A device including a GPS device and the like. The azimuth detection sensor and positioning device are of the type arranged on the steering device or moving body, and are separate from the steering device or moving body, and communicate wirelessly (including light) with the steering device or moving body. , And the type that measures the position and orientation of the control device and the moving body. A distance measuring device is a device that measures the distance to a measurement object using sound waves, laser light, or the like. A GPS device is a device having the ability to receive radio waves from a satellite and measure at least the position and orientation of the device using the position of the satellite. The control circuit is a computer or the like and includes software for calculating a direction (including height) and a relative position. The obstacle measuring device projects sound waves and laser light in the traveling direction, and discriminates obstacles according to its reflection mode. A mobile object is a wireless airplane, a wireless rotorcraft such as a wireless helicopter, a wireless airship, a wireless submarine, a wireless passenger ship, a wireless automobile, a wireless robot, etc. While moving in the direction desired by the operator at the desired speed. The drive source of the moving body uses a motor that wirelessly controls the rotation direction and speed, such as a drive wheel (motor drive), a propeller, a screw, a jet engine, a linear motor, etc., or directly uses a propulsive force. And everything that goes on. The remote control may be wireless or wired.

  According to the present invention, it is possible to provide a remote control method and a remote control system capable of intuitively maneuvering a moving body even in a situation where it cannot be visually observed without incurring high costs.

It is the schematic of the control apparatus 10 of the remote control system concerning 1st Embodiment. It is the schematic of the motor vehicle 20 as a moving body of the remote control system concerning 1st Embodiment. It is a figure which shows operation | movement of a remote control method or a system. It is a flowchart which shows the automatic orientation control operation | movement of a remote control method or a system. It is a flowchart which shows the control action in the modification of the remote control system concerning 1st Embodiment. It is a top view of the 4 blade helicopter 30 as a moving body of the remote control system concerning 2nd Embodiment. 4 is a schematic diagram showing a control-related device of the four-blade helicopter 30. FIG. It is a figure which shows operation | movement of the remote control method or system concerning this Embodiment. It is a flowchart which shows the automatic attitude | position control operation | movement of a remote control method or a system. It is a flowchart which shows the control action in the modification of the remote control system concerning 2nd Embodiment. It is the schematic of the control apparatus 10 'of the remote control system concerning 3rd Embodiment. It is the schematic which shows the apparatus regarding the control of 4 blade helicopter 30 'concerning 3rd Embodiment. It is a figure which shows the automatic flight control operation | movement of a remote control system. It is a flowchart which shows the automatic flight control operation | movement of a remote control system.

(First embodiment)
A first embodiment according to the present invention will be described below with reference to the drawings. FIG. 1 is a schematic diagram of a control device 10 of a remote control system according to a first embodiment. In FIG. 1, a control device 10 is used to control a vehicle (wireless vehicle) 20 as a moving body, and has an appearance and a size like a normal radio control device. More specifically, the control device 10 includes a first stick 11 that is an operation member for performing forward and backward advancement, a second stick 12 that is a steering member for performing left and right steering, and a first stick 11. And the operation amount detection means 13 for independently detecting the operation amount of the second stick 12 and the relative angle of the direction of the control device 10 (for example, the direction of the mark 18 attached to the case of the control device 10 with respect to the magnetic north N). ), A first azimuth detection sensor 14 composed of a small magnetic sensor, an accelerometer, a gyroscope, and the like, a transmission means 15 including an antenna 17, and a control device 16 for controlling these. Although not shown, in addition to the above, a battery for supplying power to each unit is also provided. Control information (signal) from the control device 10 can be transmitted from the transmission means 15 to the automobile 20 to be operated along with the measurement result of the first azimuth detection sensor 14.

  FIG. 2 is a schematic diagram of an automobile 20 as a moving body of the remote control system according to the first embodiment. In FIG. 2, an automobile 20 includes a power motor 21, drive wheels 22 and 22 driven by the power motor 21, a steering servo mechanism 23, steering wheels 24 and 24 steered by the steering servo mechanism 23, A second azimuth detection sensor 25 that can be configured by a magnetic sensor, an accelerometer, a gyro, or the like similar to the control device 10 that detects the forward direction of the automobile 20 (for example, the relative angle of the forward direction with respect to the magnetic north N). , A receiving means 27 including an antenna 26 and a control circuit 28 for controlling them. The receiving means 27 can receive the control information from the control device 10 and the measurement result of the first azimuth detection sensor 14. The driving wheels 22 and 22 may be driven by an internal combustion engine.

  FIG. 3 is a diagram illustrating the operation of the remote control method or system. First, when maneuvering the automobile 20 using the control device 10, when the operator HM operates the first stick 11 and the second stick 12 of the control device 10, the operation amount detection means 13 detects the operation amount and controls it. Under the control of the device 16, the transmission means 15 transmits a signal (maneuvering signal) corresponding to the operation amount via the antenna 17. More specifically, if the first stick 11 that can be operated only in the front-rear direction is tilted forward, the automobile 20 is advanced at a speed corresponding to the inclination, and if it is tilted backward, the automobile is driven at a speed corresponding to the inclination. A signal is generated to reverse 20. On the other hand, if the second stick 12 that can be operated only in the left-right direction is tilted to the left, the steering wheel of the automobile 20 is directed leftward at an angle corresponding to the tilt, and if the second stick 12 is tilted to the right, the tilt is tilted. A signal is generated so that the steering wheel of the automobile 20 turns to the right at an angle corresponding to.

  In response to the transmission from the control device 10, the receiving unit 27 receives a signal corresponding to the transmitted operation amount via the antenna 26 on the side of the automobile 20, and the control circuit 28 receiving this receives the signal from the power motor 21. The drive wheels 22 and 22 are driven to advance or reverse, or the steering wheels 24 and 24 are steered via the steering servo mechanism 23. As a result, the operator HM can move the automobile 20 to a desired position as if the operator HM is riding on the automobile 20. Although not shown, the automobile 20 includes obstacle detection means (such as an ultrasonic sensor) that detects an obstacle in the traveling direction. When the obstacle detection means detects the obstacle, A detection signal is transmitted wirelessly to the control device 10, and the control device 10 that receives the detection signal issues an alarm such as a buzzer sound or blinking of a light.

  FIG. 4 is a flowchart showing an automatic orientation control operation of the remote control method or system. Here, it is assumed that the line-of-sight direction of the operator HM is matched with the direction (reference direction) of the control device 10. When the automatic orientation control operation is set, this can be notified to the operator HM, for example, by a lamp or buzzer (not shown). First, when the operator HM returns the first stick 11 to the neutral position (position where neither forward nor reverse), the automobile 20 stops and the automatic orientation control mode starts. When the automatic orientation control mode is started, the first orientation detection sensor 14 measures the orientation (azimuth angle γ) of the steering device 10 with respect to the magnetic north N in step S101 of FIG. Next, in step S102, a signal corresponding to the azimuth angle γ measured from the control device 10 side is transmitted.

  On the other hand, on the vehicle 20 side, in step S103, the transmitted signal corresponding to the azimuth angle γ of the control device 10 is received. The direction of 20 (azimuth angle γ ′) is measured. Thereafter, in step S105, the control circuit 28 determines whether or not the azimuth angle γ of the control device 10 and the azimuth angle γ ′ of the automobile 20 match. Here, if it is determined that the azimuth angle γ of the control device 10 and the azimuth angle γ ′ of the automobile 20 coincide with each other, the process proceeds to step S106, and the control circuit 28 causes the power motor to stand by on the spot. A command is issued to 21.

  On the other hand, when the azimuth angle γ of the control device 10 and the azimuth angle γ ′ of the automobile 20 do not match, the process proceeds to step S107, and the control circuit 28 causes the automobile 20 to match the azimuth angle γ ′. Move. Specifically, the steering wheels 24 and 24 are steered fully to the right or left via the steering servo mechanism 23, and the number of rotations of the driving wheels is made along the locus of the driving wheels drawn by the angle of the steering wheels. And the azimuth angle γ ′ = γ is calculated, the power motor 21 is rotationally driven at a rotation speed corresponding to the azimuth angle γ ′ = γ, and the drive wheels 22 and 22 are rotated forward or backward, and in step S104, The second azimuth detection sensor 25 measures the direction of the automobile 20 with respect to the magnetic north N (azimuth angle γ ′). Thereafter, in step S105, the control circuit 28 determines whether or not the azimuth angle γ of the control device 10 and the azimuth angle γ ′ of the automobile 20 match (or the difference between the two is equal to or less than a threshold value). The above calculation and determination may be performed on the control device 10 side. If the azimuths do not match, the flow of steps S107, S104, and S105 is repeated until they match, but when they match, the process moves to step S106 and the automobile 20 stops and enters a standby state. At this time, the fact that the automobile 20 has entered the standby state can be transmitted wirelessly to the control device 10, and the operator HM can be notified by a lighting buzzer (not shown).

  In the standby state, the automobile 20 always faces forward in parallel with the line-of-sight direction (reference direction) of the operator HM. For example, if the automobile 20 wants to proceed to the right at an angle δ with respect to the line-of-sight direction, The second stick 12 is tilted by the amount of steering that is required, and the first stick 11 is tilted forward. Thus, even when the automobile 20 is far from the operator HM and is difficult to view, the front-rear direction of the automobile 20 can be estimated, so that the operator HM can perform the maneuvering as intended. Furthermore, for example, in the case of a UFO type automobile, the front and rear, right and left are symmetrical, and the traveling direction cannot be grasped even at a short distance, so that the present invention is particularly effective. There is no need to chase the car 20 with a stick operation. Even when the automobile 20 is not visible at all, if the first stick 11 is tilted forward or backward, the automobile 20 appears at a position where it can be seen from the operator HM, which is convenient.

  FIG. 5 is a flowchart illustrating a control operation in a modification of the remote control system according to the first embodiment. In this modification, there is no setting of the automatic orientation control mode, and the automobile 20 recognizes the direction of the control device 10 as the reference direction, and determines the traveling direction relative thereto. Also during such a control operation, the operator HM can be notified by an unillustrated lamp buzzer or the like. Here, it is assumed that the line-of-sight direction of the operator HM matches the direction of the control device 10. First, in step S201 in FIG. 5, the first azimuth detection sensor 14 measures the direction (azimuth angle γ) of the control device 10 with respect to the magnetic north N. Next, in step S202, when the operator HM operates the first stick 11 and the second stick 12 by setting the right direction as the traveling direction by an angle γ from the line-of-sight direction, for example, the operation amount and measurement are performed in step S203. A signal corresponding to the azimuth angle γ is transmitted from the control device 10 side.

  On the other hand, on the side of the automobile 20, in step S204, a signal corresponding to the transmitted operation amount and the azimuth angle γ of the control device 10 is received. The direction (azimuth angle γ ′) of the automobile 20 with respect to N is measured. Thereafter, in step S206, the control circuit 28 calculates the difference between the azimuth angle γ of the control device 10 and the azimuth angle γ ′ of the vehicle 20, and in step S207, the calculated difference is combined with the transmitted operation amount (operation). Add or subtract amount). The calculation of the azimuth difference may be performed on the control device 10 side. In step 208, the control circuit 28 issues a command to the power motor 21 and the steering servo mechanism 23 with the synthesized operation amount. Thereby, it is possible to move forward or backward in a desired direction regardless of the current direction of the automobile 20 as if the driver is riding on the automobile 20.

(Second Embodiment)
FIG. 6 is a top view of a four-blade helicopter (wireless flying vehicle) 30 as a moving body of the remote control system according to the second embodiment. In FIG. 6, four arms 30b, 30c, 30d, and 30e protrude horizontally from the central housing 30a at intervals of 90 degrees, and motors 31A to 31D are arranged in the clockwise order in FIG. These are fixed with the rotation axis in the vertical direction of each piece of paper. Blades 32A to 32D having the same shape are attached to the rotation shafts of the motors 31A to 31D. A skid 30f is attached to the lower surface of the housing 30a.

  FIG. 7 is a schematic diagram showing a control-related device of the four-blade helicopter 30. The four-blade helicopter 30 includes motors 31A to 31D, blades 32A to 32D driven by the motors 31A to 31D, a battery 33 for driving the motors 31A to 31D, and a forward direction of the four-blade helicopter 30 (for example, A second azimuth detection sensor 34 that can be composed of a magnetic sensor, an accelerometer, a gyroscope, and the like similar to the control device 10 that detects a forward relative angle with respect to the magnetic north N) and a three-axis attitude, and an antenna 36. It includes a receiving means 35 including a control circuit 37 for controlling them. In addition to this, a barometer for measuring the flight height may be provided. The attitude of the four-blade helicopter 30 is determined by the inclination from the orthogonal three-axis coordinate system (three-dimensional coordinate system). For example, in the case of a three-axis coordinate system in which the horizontal plane is the east axis is the X axis, the horizontal plane is the north axis is the Y axis, and the vertical upward direction is the Z axis, the tilt from each coordinate axis, that is, X The posture is determined from three elements: a pitch that is a rotation angle around the axis, a roll that is a rotation angle around the Y axis, and a yaw that is a rotation angle around the Z axis. In general, the pitch is represented by ω (omega), the roll is represented by φ (phi), and the yaw is represented by κ (kappa).

  In measuring the posture, an inertial navigation device is usually used, and representative examples include an accelerometer, a gyroscope, an electronic compass, or an IMU (Internal Measurement Unit) using these. Of course, the posture measuring means is not limited to those exemplified here, and it goes without saying that conventionally used means can be used.

  The receiving unit 35 can receive the control information from the control device 10 and the measurement result of the first azimuth detection sensor 14. The blades 32A to 32D may be driven by an internal combustion engine. Although the four-blade helicopter 30 is symmetrical in the front-rear and left-right directions and is difficult to identify in appearance, there is a distinction between front-rear and left-right in the moving direction. By independently controlling the number of rotations of the four blades, it is possible to move up and down, rotate, and move back and forth and right and left.

  As the control device 10 used in the present embodiment, the control device 10 (see FIG. 1) shown in the above-described embodiment can be used. However, the first stick 11 is tilted in four directions, front, rear, left, and right. When the first stick 11 is tilted forward, the rotational speed of the motor on the rear side in the traveling direction increases, and the four-blade helicopter 30 moves forward. Tilt towards you and you will move forward. Similarly, when the first stick 11 is tilted backward, it moves backward, when it is tilted to the left, it moves left, and when it is tilted to the right, it moves right. Further, by adjusting the rotation speed of each motor, it can be rotated in a stationary state in the air. On the other hand, the second stick 12 falls in two front and rear directions, and the four-blade helicopter 30 rises when tilted forward, and descends when tilted backward. However, the first azimuth detection sensor 14 is posture detection means for detecting the posture of the control device 10 in the above-described three-axis coordinate system.

  FIG. 8 is a diagram showing the operation of the remote control method or system according to the present embodiment. First, when maneuvering the four-blade helicopter 30 using the control device 10, when the operator HM operates the first stick 11 and the second stick 12 of the control device 10, the operation amount detection means 13 detects the operation amount. Then, according to the control of the control device 16, the transmission unit 15 transmits a signal (maneuvering signal) corresponding to the operation amount via the antenna 17. Then, on the four-blade helicopter 30 side, the receiving means 35 receives a signal corresponding to the transmitted operation amount via the antenna 36, and the control circuit 37 receiving this receives the blades via the motors 31A to 31D. 32A to 32D are driven independently to rise to a desired height and travel in a desired direction. Although not shown, the four-blade helicopter 30 has obstacle detection means (such as an ultrasonic sensor) for detecting an obstacle in the traveling direction, and the obstacle detection means detects the obstacle. In some cases, a detection signal is transmitted to the control device 10 wirelessly, and the control device 10 that receives the detection signal issues an alarm such as a buzzer sound or a flashing light. Further, by changing the rotational speed of any blade of the four-blade helicopter 30 based on the signal corresponding to the posture transmitted from the control device 10, the posture is adjusted to the posture of the control device 10 (determined). You can also

  FIG. 9 is a flowchart showing the automatic attitude control operation of the remote control method or system. Here, it is assumed that the line-of-sight direction of the operator HM matches the direction of the control device 10. Further, it is assumed that the four-blade helicopter 30 is flying at any point from takeoff to landing. First, when the operator HM returns the first stick 11 to the neutral position (a state stationary in the air), the four-blade helicopter 30 stops in the air and the automatic attitude control mode starts. When the automatic attitude control mode is started, the first azimuth detection sensor 14 measures the direction (azimuth angle γ) of the control device 10 with respect to the magnetic north N in step S301 of FIG. Next, in step S302, a signal corresponding to the azimuth angle γ measured from the control device 10 side is transmitted.

  On the other hand, on the four-blade helicopter 30 side, in step S303, the signal corresponding to the transmitted azimuth angle γ of the control device 10 is received. In response to this, in step S304, the second azimuth detection sensor 34 detects the magnetic north. The direction (azimuth angle γ ′) and attitude of the four-blade helicopter 30 with respect to N are measured. Thereafter, in step S305, the control circuit 37 determines whether or not the azimuth angle γ of the control device 10 matches the azimuth angle γ ′ of the four-blade helicopter 30 (or the difference between the two is equal to or less than a threshold value). The determination may be made on the control device 10 side. Here, if it is determined that the azimuth angle γ of the control device 10 and the azimuth angle γ ′ of the four-blade helicopter 30 match (or the difference between them is equal to or less than the threshold value), the process proceeds to step S306, and control is performed. If the circuit 37 determines that the four-blade helicopter 30 is rotating, the circuit 37 stops the rotation in step S308. If the circuit 37 determines that the four-blade helicopter 30 is not rotating, the circuit 37 stands by on the spot in step S307. Therefore, the motors 31A to 31D are instructed to maintain the current rotational speed.

  On the other hand, when the azimuth angle γ of the control device 10 and the azimuth angle γ ′ of the four-blade helicopter 30 do not match (or the difference between the two exceeds the threshold value), the process proceeds to step S309, and the control is performed. The circuit 37 issues a command to the motors 31A to 31D to rotate the four-blade helicopter 30 (for example, in the direction of the arrow in FIG. 9) so that the azimuth angles γ ′ coincide (or the difference between the two becomes equal to or less than the threshold). . Accordingly, in step S304, the second azimuth detection sensor 25 measures the direction (azimuth angle γ ') of the four-blade helicopter 30 with respect to the magnetic north N. Thereafter, in step S305, the control circuit 37 determines whether or not the azimuth angle γ of the control device 10 matches the azimuth angle γ ′ of the four-blade helicopter 30 (or the difference between the two is equal to or less than a threshold value). This determination may be made on the control device 10 side. If the azimuths do not match (or if the difference between them is not less than the threshold), the flow of steps S309, S304, and S305 is repeated until they match, but they match (or the difference between the two is less than the threshold). At that time, the rotation is stopped in step S308, the process proceeds to step S307, and the four-blade helicopter 30 stops in the air and enters a standby state. At this time, the fact that the four-blade helicopter 30 has entered the standby state can be transmitted wirelessly to the control device 10, and the operator HM can be notified by a lighting buzzer of a lamp (not shown).

  In the standby state, the four-blade helicopter 30 is always facing forward in parallel with the line-of-sight direction (reference direction) of the operator HM, and thus, for example, when it is desired to travel in the direction of angle δ to the right with respect to the line-of-sight direction. Then, it is sufficient to defeat the first stick 11 by the steering amount corresponding to the steering amount. As a result, even if the flight altitude of the four-blade helicopter 30 is high and difficult to see from the operator HM, the orientation and posture of the four-blade helicopter 30 can be grasped as if the four-blade helicopter 30 is riding. Thus, it is possible to perform the operation as intended by the operator HM. In particular, since the four-blade helicopter 30 has a symmetrical shape in the front-rear and left-right directions, it is difficult to identify the front-rear and left-right directions not only from a distance but also at a short distance. 4 wing helicopter 30 in the standby state always moves forward or backward along the line of sight of the operator HM, and can be steered without considering the front, rear, left and right of the four wing helicopter 30 and is less susceptible to stress. . In addition, by providing a known mechanism for detecting an obstacle using a laser or the like, the four-blade helicopter 30 can fly so as to avoid the obstacle by itself.

  FIG. 10 is a flowchart showing a control operation in a modification of the remote control system according to the second embodiment. In this modification, there is no setting of the automatic attitude control mode, and the four-blade helicopter 30 recognizes the direction of the control device 10 as the reference direction and determines the traveling direction with respect to it. Here, it is assumed that the line-of-sight direction of the operator HM matches the direction of the control device 10. First, in step S401 in FIG. 10, the first azimuth detection sensor 14 measures the direction (azimuth angle γ) of the control device 10 with respect to the magnetic north N. Next, in step S402, when the operator HM operates the first stick 11 by setting the right direction as the traveling direction by an angle γ from the line-of-sight direction, for example, the operation amount and the measured azimuth angle γ are set in step S403. A corresponding signal is transmitted from the control device 10 side.

  On the other hand, on the four-blade helicopter 30 side, in step S404, a signal corresponding to the transmitted operation amount and the azimuth angle γ of the control device 10 is received, and in parallel with this, in step S405, the second azimuth detection sensor. 25 measures the orientation (azimuth angle γ ′) and attitude of the four-blade helicopter 30 with respect to magnetic north N. Thereafter, in step S406, the control circuit 37 calculates the difference between the azimuth angle γ of the control device 10 and the azimuth angle γ ′ of the four-blade helicopter 30, and in step S407, the calculated difference is combined with the transmitted operation amount. To do. Further, in step 408, the control circuit 37 issues a command to the motors 31A to 31D with the synthesized operation amount. As a result, the driver can travel in a desired direction at a desired speed regardless of the current direction of the four-blade helicopter 30 as if the operator is riding on the four-blade helicopter 30.

(Third embodiment)
FIG. 11 is a schematic diagram of a control apparatus 10 ′ of the remote control system according to the third embodiment. FIG. 12 is a schematic diagram showing a control-related device of the four-blade helicopter 30 ′ according to the third embodiment. In FIG. 11, in addition to (or instead of) the above-described embodiment, the steering device 10 ′ is a positioning device for measuring the position of the steering device in the above-described three-axis coordinate system as a first position detecting unit. 41 (GNSS receiver such as GPS) and a barometer 42 for accurately detecting the position in the height direction. Thereby, in addition to the measurement of the azimuth angle with the magnetic north N as the reference direction, the three-dimensional position of the control device at an arbitrary time can be measured. The control device 10 'further includes a distance measuring mechanism 43 such as a laser distance measuring device that measures the distance between the control device 10' and an arbitrary target as distance measuring means. In addition, the control unit 16 of the control device 10 ′ includes posture detection means for detecting the posture of the control device 10 ′. The attitude of the control device 10 ′ is determined by the inclination from the orthogonal three-axis coordinate system (three-dimensional coordinate system). For example, in the case of a three-axis coordinate system in which the horizontal plane is the east axis is the X axis, the horizontal plane is the north axis is the Y axis, and the vertical upward direction is the Z axis, the tilt from each coordinate axis, that is, X The posture is determined from three elements: a rotation angle (direction angle) around the axis, a rotation angle (direction angle) around the Y axis, and a rotation angle (direction angle) around the Z axis. Typical examples include an accelerometer, an electronic compass, or an IMU (Internal Measurement Unit) using these. Of course, the posture measuring means is not limited to those exemplified here, and it goes without saying that conventionally used means can be used. On the other hand, the four-blade helicopter 30 ′ is used to measure the position of the four-blade helicopter 30 ′ in the above-described three-axis coordinate system as the second position detection means in addition to (or instead of) the above-described embodiment. A positioning device 51 (GNSS receiver such as GPS) is provided.

  In the third embodiment, it is possible to perform automatic flight control that causes the four-blade helicopter 30 ′ to fly with respect to the target determined by the operator HM. Switching from normal maneuvering to automatic flight control utilizing the ranging function can be realized by providing a maneuvering mode changeover switch (not shown).

  FIG. 13 is a diagram illustrating an automatic flight control operation of the remote control system. FIG. 14 is a flowchart showing an automatic flight control operation of the remote control system. As shown in FIG. 13, the operator HM stands so as to face an arbitrary target TG to which the four-blade helicopter 30 ′ is desired to approach, and directs the control device 10 ′ in the line-of-sight direction. At this time, in step S501 of FIG. 14, the position of the control device 10 ′ is measured by the positioning device 41, and the altitude of the control device 10 ′ is measured by the barometer 42 (the control device 10 in the three-axis coordinate system is thereby measured. The position of the steering device 10 'may be measured by the first direction detection sensor 14 as before.

  Next, the operator HM projects a laser beam or the like from the distance measuring mechanism 43 by pressing a “target setting” button (not shown) or the like when the piloting device 10 ′ is collimated to the target TG. The target TG is specified, and the linear distance from the control device 10 ′ to the target TG is also measured (step S502). At this time, the control device 10 ′ detects the posture of the control device 10 ′ with the built-in posture detection means, and the position of the control device 10 ′ in the three-axis coordinate system is known from the detection result of the positioning device 41. The target TG in the same 3-axis coordinate system is calculated from the distance from the control device 10 'to the target TG, the position of the control device 10' in the 3-axis coordinate system, and the attitude of the control device 10 'during distance measurement. The position of will also be obtained. Such calculation may be performed by the control device of the control device 10 'or the control device of the four-blade helicopter 30' as the target position detection means. Here, it is assumed that the four-blade helicopter 30 'side is used.

  Furthermore, in step S503, signals corresponding to the position coordinates (X, Y, Z), posture, direction, and target TG of the three-axis coordinate system of the control device 10 ′ from the control device 10 ′ are displayed in the control mode. Are transmitted to the four-blade helicopter 30 ′.

  In step S504, the four-blade helicopter 30 ′ receives the signal and information from the control device 10 ′ via the antenna 36 and the receiving means 35. In parallel with this, in step S505, the second azimuth detection sensor 25 is activated. Then, the position coordinate (x, y, z), orientation (azimuth angle γ ′) and orientation of the three-axis coordinate system of the four-blade helicopter 30 ′ with respect to the magnetic north N are measured. Thereafter, in step S506, the control circuit 37 obtains the position of the three-axis coordinate system of the target TG. Since the position of the three-axis coordinate system of the target object TG is known as the position coordinate (X, Y, Z), posture and direction of the three-axis coordinate system of the control apparatus 10 ′ and the distance to the target object TG, the control apparatus The control circuit 37 serving as target position calculating means for determining the relative position between the 10 ′ and the four-blade helicopter 30 ′ can be easily calculated.

  Next, since the current position of the four-blade helicopter 30 ′ is measured by the positioning device 51 mounted on the airframe, the position of the three-axis coordinate system of the four-blade helicopter 30 ′ obtained thereby and the target TG In step S508, position information in the three-axis coordinate system is compared and calculated to obtain a three-dimensional vector V (direction and distance) from the current position of the four-blade helicopter 30 ′ toward the target. The control circuit 37 can realize the movement of the four-blade helicopter 30 ′ to the target TG by transmitting a control signal corresponding to the vector V to the motors 31 </ b> A to 31 </ b> D.

  In addition, by installing a radar or laser distance meter as an obstacle detection means on the four-blade helicopter 30 ′, it is possible to detect an obstacle ahead of the aircraft in the traveling direction during movement. When an obstacle is detected, an obstacle detection signal is issued, and this is received by the control device. As a warning device to the operator, it is notified by flashing of a buzzer or a light, and in some cases, the movement is stopped. it can.

  According to the present embodiment, the distance from the pilot HM to the four-blade helicopter 30 ′ is very large, and the relative positional relationship between the flight target and the four-blade helicopter 30 ′ is sufficient from the pilot HM. Even when it is not visually recognized, the four-blade helicopter 30 ′ can be easily guided to the target point. In addition, since the obstacle detection function can be used, it is possible to more safely carry out wireless control from a distance.

  Incidentally, a home position button (not shown) is provided in the control device 10 ', and when the operator operates the home position button, the four-blade helicopter 30 is transmitted from the control device 10' via the communication as described above. The four-blade helicopter 30 ′ that has received the home position signal is transmitted to “from the relative position coordinates (x−X, y−Y, z−Z) to the control device 10 ′ determined by the calculation. The direction and distance to the device 10 ′ can also be determined, and the four-blade helicopter 30 ′ can be caused to fly toward the control device 10 ′ using the relative position coordinates.

  The present invention has been described above with reference to the embodiments. However, the present invention should not be construed as being limited to the above-described embodiments, and can be modified or improved as appropriate. For example, the mobile body can be applied to a normal type helicopter, an airplane, a ship, and the like in addition to those described above. Also, like a four-blade helicopter, a GNSS device or an attitude detection device may be provided in the automobile.

DESCRIPTION OF SYMBOLS 10, 10 'Steering device 11 1st stick 12 2nd stick 13 Operation amount detection means 14 1st azimuth | direction detection sensor 15 Transmission means 16 Control device 17 Antenna 18 Mark 20 Automobile 21 Power motor 22 Driving wheel 23 Steering servo mechanism 24 Steering Wheel 25 Second orientation detection sensor 26 Antenna 27 Receiving means 28 Control circuit 30, 30 ′ Four-blade helicopter 30a Housing 30b-30e Arm 30f Skid 31A-31D Motor 32A-32D Blade 33 Battery 34 Second orientation detection sensor 35 Reception Means 36 Antenna 37 Control circuit 41 Positioning device 42 Barometer 43 Distance measuring mechanism 51 Positioning device HM Pilot N Magnetic north TG Target

Claims (8)

In a remote control method for controlling a moving body that moves in an arbitrary direction away from a pilot by a steering signal transmitted from the pilot, using a piloting device that can be operated by the pilot,
The steering device transmits a first azimuth detection sensor for detecting a direction of the steering device, a azimuth signal corresponding to the direction of the steering device detected by the first azimuth detection sensor, and a first steering signal. Communication means,
The mobile body has second communication means for receiving the azimuth signal and the steering signal, and a second azimuth detection sensor for detecting the orientation of the mobile body,
A step of determining whether or not an azimuth angle indicating the direction of the control device and an azimuth angle indicating the direction of the moving body are coincident with each other;
When the azimuth angle of the control device does not match the azimuth angle of the mobile body or when the difference between azimuth angles exceeds a predetermined threshold, the azimuth angle of the control device matches the azimuth angle of the mobile body or the difference between azimuth angles The control circuit moves the moving body so that is less than or equal to a predetermined threshold;
Transmitting the steering signal in a state where the azimuth angle of the steering device and the azimuth angle of the moving body are equal or the difference between the azimuth angles is a predetermined threshold value or less;
And a step of causing the control circuit to move the moving body based on the steering signal received by the moving body . In a remote control method for controlling a moving body that moves in an arbitrary direction away from a pilot by a steering signal transmitted from the pilot, using a piloting device that can be operated by the pilot,
The steering device includes a first azimuth detection sensor that detects a direction of the steering device, first position detection means that detects a position of the steering device in a predetermined three-dimensional coordinate system, and directs the steering device toward a target. Distance measuring means for measuring the distance to the target, attitude detecting means for detecting the attitude of the steering device during distance measurement, and the orientation of the steering device detected by the first azimuth detecting sensor. First communication means for transmitting an azimuth signal and the steering signal;
The moving body includes a second communication unit that receives the azimuth signal and the steering signal, a second azimuth detection sensor that detects a direction of the moving body, and a position of the moving body in the predetermined three-dimensional coordinate system. Second position detecting means for detecting,
A target for determining the position of the target in the predetermined three-dimensional coordinate system based on a detection result by the first position detection unit, a detection result by the posture detection unit, and a distance measurement result by the distance measurement unit. Position calculating means is provided in the control device or the moving body,
In the case where the distance from the piloting device to the specific target is detected by the distance measuring means with the pilot device directed to a specific target, the second communication unit of the mobile body is configured to When the control signal is received via one communication means, from the moving body to the specific target based on the detection result by the second position detection means and the calculation result by the target position calculation means A remote control method characterized in that a moving direction and a moving distance are determined.   The moving body has an obstacle detecting device that detects the presence or absence of an obstacle existing in the moving direction of the moving body, the control device has a warning device that warns the operator, and the obstacle detection When the device detects an obstacle, it transmits an obstacle detection signal via the second communication means, and when the control device receives the obstacle detection signal via the first communication means, The remote control method according to claim 1, wherein a warning is issued by the warning device.   The remote control method according to claim 1, wherein the moving body is a wireless flying object having a rotating wing or a wireless automobile. In a remote control system having a control device that can be operated by a pilot, and a moving body that is controlled by a control signal transmitted from the control device and moves away from the pilot,
The steering device transmits a first azimuth detection sensor for detecting a direction of the steering device, a azimuth signal corresponding to the direction of the steering device detected by the first azimuth detection sensor, and a first steering signal. Communication means,
The mobile body has second communication means for receiving the azimuth signal and the steering signal, and a second azimuth detection sensor for detecting the orientation of the mobile body,
A control circuit for moving the mobile body based on the steering signal received by the mobile body;
Further, the control circuit determines whether or not the azimuth angle indicating the direction of the control device and the azimuth angle indicating the direction of the moving body match,
When the azimuth angle of the control device does not match the azimuth angle of the mobile body or when the difference between azimuth angles exceeds a predetermined threshold, the azimuth angle of the control device matches the azimuth angle of the mobile body or the difference between azimuth angles The remote control system is characterized in that the control circuit moves the moving body so that is less than or equal to a predetermined threshold value . In a remote control system having a control device that can be operated by a pilot, and a moving body that is controlled by a control signal transmitted from the control device and moves away from the pilot,
The steering device includes a first azimuth detection sensor that detects a direction of the steering device, first position detection means that detects a position of the steering device in a predetermined three-dimensional coordinate system, and directs the steering device toward a target. Distance measuring means for measuring the distance to the target, attitude detecting means for detecting the attitude of the steering device during distance measurement, and the orientation of the steering device detected by the first azimuth detecting sensor. First communication means for transmitting an azimuth signal and the steering signal;
The moving body includes a second communication unit that receives the azimuth signal and the steering signal, a second azimuth detection sensor that detects a direction of the moving body, and a position of the moving body in the predetermined three-dimensional coordinate system. Second position detecting means for detecting,
A target for determining the position of the target in the predetermined three-dimensional coordinate system based on a detection result by the first position detection unit, a detection result by the posture detection unit, and a distance measurement result by the distance measurement unit. Position calculating means is provided in the control device or the moving body,
In the case where the distance from the piloting device to the specific target is detected by the distance measuring means with the pilot device directed to a specific target, the second communication unit of the mobile body is configured to When the control signal is received via one communication means, from the moving body to the specific target based on the detection result by the second position detection means and the calculation result by the target position calculation means The remote control system is characterized in that the moving direction and moving distance of the robot are determined.   The moving body has an obstacle detecting device that detects the presence or absence of an obstacle existing in the moving direction of the moving body, the control device has a warning device that warns the operator, and the obstacle detection When the device detects an obstacle, it transmits an obstacle detection signal via the second communication means, and when the control device receives the obstacle detection signal via the first communication means, The remote control system according to claim 5 or 6, wherein a warning is issued by the warning device.   The remote control system according to claim 5, wherein the moving body is a wireless flying body having a rotating wing or a wireless automobile.

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