JP5997338B1 - Multicopter controller and multicopter control method - Google Patents

Abstract

The present invention provides a controller for a multicopter and a control method for the multicopter capable of obtaining the pleasure of maneuvering while reducing the complexity of maneuvering of the multicopter. A controller for maneuvering an unmanned multi-copter, a main body housing, a wheel portion provided in the main body housing and operated to rotate, and a trigger portion provided in the main body housing and operated to advance and retreat with a finger And a reciprocating switch section provided in the main body casing, and a transmission section provided in the main body casing. The transmission unit is a first control signal for controlling either the yaw or the roll of the multicopter according to the operation of the wheel unit, and a second control signal for controlling the pitch of the multicopter according to the operation of the trigger unit And the 3rd control signal for controlling the height of a multicopter according to operation of a reciprocating switch part is transmitted. [Selection] Figure 1

Description

  The present invention relates to a multicopter controller and a multicopter control method used when manipulating a multicopter.

  A multicopter that performs unmanned flight with a plurality of rotor blades can fly in various postures by controlling the output (for example, the number of rotations) of each rotor blade. For example, in a quadcopter having four rotor blades, the attitude is controlled by the respective output balances of the two front and left rotor blades and the rear left and right rotor blades around the airframe.

  Specifically, the pitch direction is controlled by adjusting the output balance between the two front rotor blades and the two rear rotor blades, and the flying attitude in the front-rear direction is controlled. In addition, the roll direction is controlled by adjusting the output balance between the left two rotor blades and the right two rotor blades, and the flight posture in the left-right direction is controlled. Furthermore, the yaw direction is controlled by adjusting the output balance between the two front left and right rear rotor blades and the two right front and left rear rotor blades, and the flying attitude in the rotational direction is controlled. When flying such a multicopter, the operator operates the controller to select various flight postures and fly the multicopter in a desired direction.

  Patent Document 1 discloses a technology that uses a terminal having a touch screen as a multicopter controller. The pilot selects the flight position of the multicopter by tilting the touch screen or touching the touch screen with a finger.

JP 2012-198883 A

  When flying a multicopter, the pilot needs to control at least one of the yaw, pitch and roll of the multicopter using a controller. To fly the multicopter as you wish, you must control these flight attitudes instantly according to the situation. For example, if the multicopter is to be turned while flying forward, the pilot needs to control the pitch and synchronize the yaw and roll controls to draw the desired arc. Such an operation is very complicated and takes a lot of time to learn.

  Patent Document 1 describes a mode in which a flight is easily drawn using a terminal having a touch screen. In this mode, the pitch, roll and yaw of the multicopter are calculated so as to draw a circle with an instantaneous radius of curvature of the turn, and the posture is automatically controlled so as to follow a desired curved path.

  However, in such posture control that follows a desired curved path, control is automatically performed so as to fly on the path of the turn radius calculated from the operation amount performed by the operator. In other words, when the pilot tilts the touch screen terminal in a predetermined direction during the flight of the multicopter, the turn radius is set from the tilt amount, and the posture is automatically set so as not to deviate from the path of the circle that becomes the turn radius. To be controlled. Although such control is easy for the operator, there is a problem that it lacks the real pleasure of manipulating the multicopter.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a multicopter controller and a multicopter control method capable of obtaining the joy of maneuvering while reducing the complexity of maneuvering of the multicopter.

  In order to solve the above problems, the present invention is a controller for maneuvering a multicopter that is unmannedly flying by a plurality of rotor blades, and includes a main body housing, a wheel portion that is provided in the main body housing and is operated to rotate. A trigger unit that is provided in the main body case and is operated to be advanced and retracted with a finger, a reciprocating switch unit provided in the main body case, and a transmission unit provided in the main body case. The transmission unit is a first control signal for controlling either the yaw or the roll of the multicopter according to the operation of the wheel unit, and a second control signal for controlling the pitch of the multicopter according to the operation of the trigger unit And the 3rd control signal for controlling the height of a multicopter according to operation of a reciprocating switch part is transmitted.

  With such a configuration, the pilot can control the yaw or roll of the multicopter by rotating the wheel portion of the controller, and can control the pitch of the multicopter by moving the trigger portion forward and backward with a finger. it can. That is, the operator can control the turn of the multicopter at intervals of operating the steering of the automobile, and can control the flight speed in the front-rear direction of the multicopter by the advancement / retraction operation of the trigger unit.

  In the multicopter controller of the present invention, the first control signal is one of a yaw control signal for controlling yaw and a roll control signal for controlling roll according to the operation of the wheel unit, When the wheel unit is operated, either the yaw control signal or the roll control signal may be transmitted according to the operation amount of the trigger unit at that time.

  According to such a configuration, when the operator tries to control the turn of the multicopter by operating the wheel unit, either roll or yaw is selected as the control target by the operation of the wheel unit according to the operation amount of the trigger unit. Is done. Thereby, even if it is operation of one wheel part, a pilot can switch and control either operation of a yaw and a roll according to the operation amount of a trigger part.

  In the multicopter controller of the present invention, the first region, the second region, and the third region are provided according to the operation amount of the trigger unit, and the transmission unit is configured such that the operation amount of the trigger unit is the first region. When the roll control signal is transmitted and the operation amount of the trigger portion is in the second region, the yaw control signal is transmitted. When the operation amount of the trigger portion is in the third region, the second control signal and the yaw control signal are transmitted. May be sent.

  According to such a configuration, the operator can transmit three roll control signals according to the operation amount of the wheel unit, transmission of the yaw control signal, transmission of the second control signal and the yaw control signal according to the operation amount of the trigger unit. Control can be selected.

  In the multicopter controller of the present invention, the control amount of yaw included in the yaw control signal may be a value calculated by a predetermined function from the rotation angle of the wheel unit. Thereby, the control amount of yaw can be determined by the value calculated by the predetermined function from the rotation angle of the wheel unit.

  In the multicopter controller of the present invention, the transmission unit transmits the second control signal and the yaw control signal, the first speed that is the speed in the traveling direction of the multicopter at the first sampling time, and the first sampling time. A roll correction signal for correcting the control amount of the roll according to the difference from the second speed that is the speed component in the traveling direction of the multicopter at the second sampling time after a predetermined time has elapsed is transmitted. Also good.

  According to such a configuration, when a turn of the multicopter is started and a change in the speed component in the traveling direction occurs, a roll correction signal is transmitted according to the change of the speed component, and the roll amount of the multicopter is corrected. Is done. Thereby, the change of the speed component by a turn can be suppressed.

  In the multicopter controller of the present invention, the reciprocating switch unit has a function of being held in the neutral position without being operated, and the transmitting unit is a time from the operation of the reciprocating switch unit in a predetermined direction to the return to the neutral position. Is within a predetermined time, a third control signal for controlling the multicopter to a predetermined height may be transmitted. As a result, the operator can control the multicopter to a certain height simply by operating the reciprocating switch unit.

  The present invention relates to a first control signal for controlling a yaw or a roll of a multicopter from a controller operated by a pilot to a multicopter that is unmannedly flying by a plurality of rotor blades, for controlling the pitch of the multicopter. A method for controlling a multicopter by transmitting a second control signal and a third control signal for controlling the height of the multicopter, wherein the first control signal is transmitted from the controller when the first control signal is transmitted. According to the second operation amount included in the second control signal, either yaw or roll is selected as the control according to the first operation amount included in the first control signal.

  According to such a configuration, when the pilot operates the controller to control the turn of the multicopter, the first control signal is controlled by the operation amount (second operation amount) of the second control signal for controlling the pitch. The operation target based on the operation amount (first operation amount) is selected as either roll or yaw. Thereby, even if it is the 1st operation amount which is one operation which the operator performed, either operation of a roll and a yaw can be switched and controlled according to a 2nd operation amount.

  In the multicopter control method of the present invention, when the first region, the second region, and the third region are provided according to the second operation amount, and the second operation amount is the first region, the first operation amount If the second operation amount is in the second region, the yaw is controlled in accordance with the first operation amount. If the second operation amount is in the third region, the second operation amount is controlled. The pitch may be controlled in accordance with the yaw, and the yaw may be controlled in accordance with the first operation amount.

  According to such a configuration, it is possible to select three controls of roll control, yaw control, pitch control, and yaw control corresponding to the first operation amount by the second operation amount by the operator.

  In the multicopter control method of the present invention, when the yaw is controlled according to the first operation amount, the yaw may be controlled by a value calculated from the first operation amount by a predetermined function. Thereby, the control amount of yaw can be determined by the value calculated by the predetermined function from the first operation amount.

  In the multicopter control method of the present invention, when the yaw is controlled according to the first operation amount, the roll may be controlled according to the first operation amount. Thereby, both yaw control and roll control can be performed simultaneously by the first operation amount.

  In the multicopter control method of the present invention, while controlling the pitch according to the second operation amount and controlling the yaw according to the first operation amount, the speed component of the multicopter in the reference traveling direction at the first sampling time The amount of roll is corrected according to the difference between the first speed and the second speed which is the speed component in the reference traveling direction of the multicopter at the second sampling after a predetermined time has elapsed since the first sampling. You may do it.

  According to such a configuration, when the turn of the multicopter is started and a change in the speed component in the traveling direction occurs, the roll amount of the multicopter is corrected according to the change in the speed component. Thereby, the change of the speed component by a turn can be suppressed.

  In the multicopter control method of the present invention, when the third control signal has a predetermined pattern, the multicopter may be controlled to a predetermined height. Thereby, the multicopter can be controlled to a certain height by a predetermined pattern of the third control signal.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide the controller for multicopter and the control method of a multicopter which can obtain the pleasure of manipulating, reducing the complexity of maneuvering of a multicopter.

(A) And (b) is a schematic diagram which illustrates the controller for multicopters concerning embodiment. It is a block diagram which illustrates the composition of a controller. It is a block diagram which illustrates the composition of a multicopter. (A)-(d) is a schematic diagram which illustrates the attitude | position of a multicopter. (A) And (b) is a schematic diagram which illustrates the control of a raise / lower of a multicopter. (A)-(c) is a mimetic diagram which illustrates control of advance and retreat of a multicopter. (A) And (b) is a schematic diagram which illustrates the left-right control of a multicopter. (A)-(c) is a schematic diagram which illustrates the turn control of a multicopter. (A)-(d) is the schematic diagram illustrated about the turn of a multicopter. (A)-(c) is a schematic diagram explaining control of a turn. (A) And (b) is a figure illustrated about determination of the angular velocity of the yaw of a multicopter. (A)-(c) is a figure illustrated about control of the yaw and roll of a multicopter. (A) And (b) is a figure which illustrates roll correction | amendment. (A) And (b) is a figure explaining the example of other control switching.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same members are denoted by the same reference numerals, and the description of the members once described is omitted as appropriate.

(Configuration of multi-copter controller)
1A and 1B are schematic views illustrating a multicopter controller according to an embodiment. FIG. 1A shows how the multicopter 100 is operated, and FIG. 1B shows a multicopter controller (hereinafter simply referred to as “controller”) 1.

  As shown in FIG. 1A, the multicopter 100 is an unmanned aerial vehicle in which a plurality of rotor blades 120 are provided on an airframe 110. For example, a quadcopter having four rotor blades 120 may take off and land, hover, forward and backward flight, and left and right flight depending on the output balance of two rotor blades 120 on the front left and right of the fuselage 110 and two rotor blades 120 on the left and right. Various flight postures such as rotation, turn, etc. can be taken.

  Such a multicopter 100 is controlled by the operation of the controller 1 by the operator 200. That is, when the operator 200 operates the controller 1, the control signal CS is transmitted to the multicopter 100 by wireless communication. The multicopter 100 is provided with a receiving unit 20, and the control unit CS is received by the receiving unit 20 of the multicopter 100, so that the multicopter 100 is controlled to the flight posture instructed by the pilot 200.

  As shown in FIG. 1B, the controller 1 according to this embodiment includes a main body housing 10, a wheel unit 11, a trigger unit 12, a reciprocating switch unit 13, and a transmission unit 14. The controller 1 is a so-called wheel type controller. Such a controller 1 allows the operator 200 to operate the multicopter 100 as if it were a radio-controlled vehicle.

  The main body housing 10 of the controller 1 is provided with a grip portion 10G for supporting the main body housing 10 when the operator 200 holds it with one hand. Normally, the grip part 10G is gripped with the left hand, and the wheel part 11 is operated with the right hand. In addition, it can also be set as the specification which grips the grip part 10G with a right hand and operates the wheel part 11 with a left hand by reversing the arrangement | positioning of the wheel part 11 right and left.

  The wheel unit 11 is, for example, a cylindrical rotation switch, and is provided so that the operator 200 can rotate left and right. The operator 200 can control the rotation system of the multicopter 100 by selecting the rotation operation of the wheel unit 11. In the present embodiment, it is configured such that either the yaw or the roll of the multicopter 100 can be controlled in accordance with the rotation operation of the wheel unit 11.

  The wheel unit 11 may be provided with a function of returning to the neutral position by a spring action when the wheel unit 11 is not operated (for example, when the hand is released). In the operation of the wheel unit 11, the left rotation operation amount is referred to as M11, and the right rotation operation amount is referred to as M12.

  The trigger unit 12 is a lever type switch that can be moved forward and backward with a finger. The pilot 200 can move the trigger portion 12 forward and backward with a finger (for example, an index finger) of a hand gripping the grip portion 10G. The trigger unit 12 may be provided with a function of returning to the neutral position by a spring action in a state where the trigger unit 12 is not operated (for example, a state where the hand is released). In the operation of the trigger unit 12, the operation amount when pulled forward is referred to as M21, and the operation amount when pressed first is referred to as M22.

  The reciprocating switch unit 13 is a switch that can be reciprocated in one direction and the other direction. The reciprocating switch unit 13 is disposed, for example, above the grip unit 10G, and can be operated with a finger (for example, a thumb) of a hand holding the grip unit 10G.

  The reciprocating switch unit 13 may be a type that operates with reference to an intermediate position or a type that operates with a predetermined reference position (for example, the uppermost or lowermost position) as a reference. Further, the reciprocating switch unit 13 may be provided with a function of returning to the neutral position by a spring action when the reciprocating switch unit 13 is not operated (for example, when the hand is released). An operation amount in one direction of the reciprocating switch unit 13 is referred to as M31, and an operation amount in the other direction is referred to as M32.

  The transmission unit 14 is a part that transmits a control signal CS corresponding to the operation of the pilot 200 to the multicopter 100 by wireless communication. The control signal CS is transmitted to the multicopter 100, for example, by radio waves emitted from an antenna, for example.

  The control signal CS transmitted from the transmission unit 14 includes a first control signal CS1, a second control signal CS2, and a third control signal CS3. The first control signal CS <b> 1 is a signal for controlling either the yaw or the roll of the multicopter 100 according to the operation of the wheel unit 11. The second control signal CS <b> 2 is a signal for controlling the pitch of the multicopter 100 according to the operation of the trigger unit 12. The third control signal CS <b> 3 is a signal for controlling the height of the multicopter 100 according to the operation of the reciprocating switch unit 13.

  Among these, the first control signal CS1 includes either a yaw control signal CSY for controlling the yaw of the multicopter 100 according to an operation of the wheel unit 11 or a roll control signal CSR for controlling the roll.

  In the controller 1 according to the present embodiment, either the yaw control signal CSY or the roll control signal CSR is selected and transmitted according to the operation amounts M21 and M22 of the trigger unit 12. That is, when the wheel unit 11 is operated by the operator 200, the transmission unit 14 transmits either the yaw control signal CSY or the roll control signal CSR according to the operation amounts M21 and M22 of the trigger unit 12 at that time. .

  As an example, when the trigger unit 12 is not operated when the wheel unit 11 is operated (when the operation amounts M21 and M22 are zero), the transmission unit 14 responds to the operation amounts M11 and M12 of the wheel unit 11. The roll control signal CSR is transmitted. Further, when the trigger unit 12 is operated when the wheel unit 11 is operated (when the operation amounts M21 and M22 are not zero), the transmission unit 14 performs yaw according to the operation amounts M11 and M12 of the wheel unit 11. A control signal CSY is transmitted. Accordingly, the roll of the multicopter 100 can be controlled by the wheel unit 11 when the trigger unit 12 is not operated, and the yaw of the multicopter 100 can be controlled by the wheel unit 11 when the trigger unit 12 is operated. .

  As another example, the first area, the second area, and the third area are provided according to the operation amount (for example, the operation amount M21) of the trigger unit 12, and the transmission unit 14 has the first operation amount of the trigger unit 12. Control signal CS is transmitted according to which of the region, the second region, and the third region.

  For example, when the operation amount M21 of the trigger unit 12 is the first region, the transmission unit 14 transmits the roll control signal CSR, and when the operation amount M21 of the trigger unit 12 is the second region, the yaw control signal CSY is transmitted. When the operation amount M21 of the trigger unit 12 is the third region, the second control signal CS2 and the yaw control signal CSY are transmitted. Thereby, different control can be performed according to the operation amount (for example, pulling amount) of the trigger unit 12.

  Here, as a control amount of yaw included in the yaw control signal CSY from the transmission unit 14, a value calculated by a predetermined function from the rotation angle of the wheel unit 11 may be used. By setting this function, the relationship between the rotation angle of the wheel unit 11 and the control amount of yaw is determined.

  The transmission unit 14 transmits a roll correction signal for correcting the control amount of the roll of the multicopter 100 while transmitting the second control signal CS2 and the yaw control signal CSY, and the multicopter 100 generated by yaw and roll. It is also possible to compensate for this speed change. At this time, the controller 1 receives information on the speed transmitted from the multicopter 100 and applies feedback when compensating for the speed change. Details of the roll correction signal will be described later.

  Further, when the reciprocating switch unit 13 has a neutral position, the transmission unit 14 determines that the multicopter 100 is operated when the time from the operation of the reciprocating switch unit 13 in a predetermined direction to the return to the neutral position is within a predetermined time. The third control signal CS3 for controlling the signal to a predetermined height may be transmitted. Details of this operation will be described later.

  With such a controller 1, the operator 200 controls the speed in the traveling direction of the multicopter 100 by the pulling condition of the trigger unit 12, and controls the left / right turn of the multicopter 100 by the left / right rotation operation of the wheel unit 11. Can do. That is, even the flying multicopter 100 can enjoy the maneuvering as if it were a radio-controlled car.

  Further, even when the operator 200 is operating one wheel unit 11, the operator 200 can switch and control either yaw or roll operation according to the operation amount of the trigger unit 12. That is, the operator 200 can switch the operation target (switching between yaw and roll) in the wheel unit 11 according to the operation of the trigger unit 12 with respect to the operation of the rotation system of the multicopter 100. Thereby, the attitude control of the multicopter 100 is simplified, and the complexity of the maneuvering is reduced.

(Block configuration of controller and multicopter)
FIG. 2 is a block diagram illustrating the configuration of the controller.
FIG. 3 is a block diagram illustrating the configuration of the multicopter.
As shown in FIG. 2, inside the main body housing 10 of the controller 1, there are a transmission unit 14, a central processing unit (CPU) 15, variable resistance units (VR) 111, 121 and 131, an analog / digital conversion unit (A / D) 112, 122 and 132 are provided. The controller 1 is also provided with a battery, a power switch, an adjustment trigger, an indicator, a display panel, etc. (not shown).

  When the wheel unit 11 is operated to rotate, the resistance value of the variable resistor unit 111 changes according to the operation amounts M11 and M12 by the rotating operation. This resistance value is converted into a digital signal by the analog-digital converter 112 and sent to the CPU 15.

  When the trigger unit 12 is advanced or retracted, the resistance value of the variable resistor 121 changes according to the operation amounts M21 and M22 resulting from the advance / retreat operation. This resistance value is converted into a digital signal by the analog-digital converter 122 and sent to the CPU 15.

  When the reciprocating switch unit 13 is reciprocated, the resistance value of the variable resistance unit 131 changes according to the operation amounts M31 and M32 due to the reciprocating operation. This resistance value is converted into a digital signal by the analog-digital converter 132 and sent to the CPU 15.

  The CPU 15 controls each part according to a predetermined program and performs signal processing. For example, the CPU 15 combines the digital signals sent from the analog / digital conversion units 112, 122, and 132 to generate the control signal CS.

  The transmission unit 14 modulates the control signal CS processed by the CPU 15 and transmits it to the multicopter 100 by radio waves. The transmission unit 14 transmits the modulated control signal CS using, for example, a 2.4 GHz band radio wave, a short-range wireless communication standard, and infrared rays.

  As shown in FIG. 3, the airframe 110 of the multicopter 100 includes a receiving unit 20, a central processing unit (CPU) 25, sensors 26, 27 and 28, motor drivers (M / D) 231, 232, 233, and 234 is provided. Note that the body 110 is also provided with a battery, a power switch, an indicator, and the like (not shown). A camera (not shown) may be mounted on the body 110.

  The receiving unit 20 receives the radio wave transmitted from the transmitting unit 14 of the controller 1 and demodulates it to the control signal CS. The demodulated control signal CS is sent to the CPU 25. The sensor 26 is, for example, a 6-axis gyro sensor. The sensor 27 is, for example, a barometric pressure sensor. The sensor 28 is an ultrasonic sensor, for example. The detection signals of the sensors 26, 27, and 28 are sent to the CPU 25 and used for calculation of attitude control (for example, autonomous control) of the multicopter 100. The sensors 26, 27 and 28 are not limited to the above.

  The CPU 25 uses the control signal CS sent from the receiver 20 and the detection signals sent from the sensors 26, 27 and 28 to control values (motor control signals) for controlling the outputs of the motors M1, M2, M3 and M4. ) Is calculated.

  The motor control signal calculated by the CPU 25 is sent to motor drivers (M / D) 231, 232, 233 and 234. Each motor driver (M / D) 231, 232, 233 and 234 receives signals (current, voltage and frequency) given to each motor M 1, M 2, M 3 and M 4 connected to each based on a motor control signal sent from the CPU 25. At least one of).

  By adjusting the outputs of the motors M1, M2, M3, and M4, the balance of the output of the rotating blades 120 rotated by the motors M1, M2, M3, and M4 is adjusted, and the flight attitude of the multicopter 100 is controlled. The Further, the multicopter 100 performs autonomous control of posture based on detection signals of the sensors 26, 27, and 28.

  As described above, in the controller 1 according to the present embodiment, either the yaw control signal CSY or the roll control signal CSR of the first control signal CS1 according to the operation amounts M21, M22 of the trigger unit 12 is transmitted by the transmission unit 14. Will be sent. The yaw control signal CSY and the roll control signal CSR are selected by a program process of the CPU 15, and the selected yaw control signal CSY or roll control signal CSR is combined with other signals to obtain a control signal CS. The transmission unit 14 transmits one of the yaw control signal CSY and the roll control signal CSR selected according to the operation amounts M21 and M22 of the trigger unit 12 as a signal included in the first control signal CS1 of the control signal CS. become.

  In this case, the CPU 15 performs a process of including in the control signal CS an identification signal indicating which of the yaw control signal CSY and the roll control signal CSR is associated with the operation amounts M11 and M12 of the wheel unit 11. Thereby, even if it is the operation amount M11 and M12 of the same wheel part 11, it can be discriminate | determined whether a yaw is controlled as a control object, or a roll is controlled.

  In addition, the control signal CS does not include the identification signal, and includes the first control signal CS1 corresponding to the operation amounts M11 and M12 of the wheel unit 11 in the control signal CS and transmits the control signal CS to the multicopter 100. Depending on the program executed by the CPU 25, it may be determined whether to control the yaw or the roll.

  In this case, the transmission unit 14 of the controller 1 only needs to have a function of transmitting the first control signal CS1 corresponding to the operation amount of the wheel unit 11 without distinguishing between the yaw control signal CSY and the roll control signal CSR. .

  Then, the CPU 25 of the multicopter 100 determines whether the wheel unit 11 included in the first control signal CS1 corresponds to the operation amounts M21 and M22 of the trigger unit 12 included in the second control signal CS2 included in the received control signal CS. It is determined whether the yaw is controlled or the roll is controlled by a signal corresponding to the operation amounts M11 and M12.

(Multicopter control method)
Next, a control method of the multicopter 100 according to the present embodiment will be described.
4A to 4D are schematic views illustrating the posture of the multicopter.
In describing the control method of the multicopter 100 according to the present embodiment, the posture of the multicopter 100 is represented by the schematic diagrams shown in FIGS. That is, as shown in FIG. 4A, the airframe 110 of the multicopter 100 is represented by a pentagon with an acute front, and the plurality of rotor blades 120 are represented by two-dot chain lines. Further, the front-rear direction of the multicopter 100 is defined as an X-axis direction, the left-right direction is defined as a Y-axis direction, and the vertical direction is defined as a Z-axis direction. Accordingly, the pitch of the multicopter 100 is rotation about the Y axis, yaw is rotation about the Z axis, and the roll is rotation about the X axis.

  When representing a state where the multicopter 100 is viewed from above along the Z axis, it is represented by a schematic diagram shown in FIG. In order to show the front of the airframe 110, the front part 110a of the airframe 110 is shown in black. When the multicopter 100 is viewed from behind along the X axis, it is represented by the schematic diagram shown in FIG. When representing the state in which the airframe 110 is viewed from the side along the Y-axis, it is represented by the schematic diagram shown in FIG.

(Up / down control)
FIGS. 5A and 5B are schematic views illustrating the control of the rise and fall of the multicopter.
To raise and lower the multicopter 100, the reciprocating switch unit 13 of the controller 1 shown in FIG. 5A is operated to send the third control signal CS3 from the transmission unit 14 to the multicopter 100.

  For example, when the reciprocating switch unit 13 is pushed upward, the multicopter 100 rises as shown in FIG. On the other hand, when the reciprocating switch unit 13 is pushed downward, the multicopter 100 is lowered as shown in FIG.

  The amount of ascent of the multicopter 100 is determined according to the operation amount M31 in which the reciprocating switch unit 13 is pushed up, and the amount of descent is determined according to the operation amount M32 in which the reciprocating switch unit 13 is pushed down.

  When the reciprocating switch unit 13 has a neutral position, control is performed so that the multicopter 100 continues to rise while the reciprocating switch unit 13 is pushed upward, and the multicopter 100 continues to descend while being pushed downward. Also good. When the reciprocating switch unit 13 returns to the neutral position, the raising and lowering are stopped.

  Alternatively, the reciprocating switch unit 13 may be controlled by an operation (hereinafter referred to as “click operation”) in which the time required to operate the reciprocating switch unit 13 in one direction from the neutral position and return to the neutral position is within a predetermined time.

  For example, a predetermined height may be raised each time the reciprocating switch unit 13 is clicked upward once, or a predetermined height may be lowered every time the reciprocating switch unit 13 is clicked downward. Furthermore, when the reciprocating switch unit 13 is clicked once, for example, while the multicopter 100 is landing, it may be automatically taken off to a predetermined height and hovered. In addition, when the multicopter 100 is flying or hovering, the reciprocating switch unit 13 may be automatically landed by clicking once, for example, downward.

(Forward / backward control)
FIGS. 6A to 6C are schematic views illustrating the control of the forward and backward movements of the multicopter.
In order to move the multicopter 100 forward and backward, the trigger unit 12 of the controller 1 shown in FIG. 6A is operated to send the second control signal CS2 from the transmitter 14 to the multicopter 100.

  For example, when the trigger unit 12 is pulled forward, the multicopter 100 is pitched so as to lower the front part 110a and moves forward as shown in FIG. 6B. On the other hand, when the trigger part 12 is pushed, as shown in FIG.6 (c), the multicopter 100 pitches so that the front part 110a may go up, and it reverse | retreats.

  The forward movement amount (pitch angle) of the multicopter 100 is determined according to the operation amount M21 obtained by pulling the trigger portion 12, and the backward movement amount (pitch angle) is determined according to the operation amount M22 when the trigger portion 12 is pressed. Is done. As the manipulated variables M21 and M22 increase, the pitch angle increases, and the forward and backward speeds of the multicopter 100 increase.

(Left / Right control)
FIGS. 7A and 7B are schematic views illustrating the left and right control of the multicopter.
In order to perform the left-right control of the multicopter 100, the first control signal CS1 (roll control signal CSR) is sent from the transmission unit 14 to the multicopter 100 by operating the wheel unit 11 of the controller 1 shown in FIG. .

  For example, when the wheel unit 11 is rotated left or right while the multicopter 100 is hovering, the multicopter 100 rolls left or right and moves in the left-right direction as shown in FIG. 7B. To do. That is, when the wheel unit 11 is rotated to the left, the multicopter 100 rolls to the left and proceeds to the left. On the other hand, when the wheel unit 11 is rotated to the right, the multicopter 100 rolls downward to the right and proceeds in the right direction.

  The amount of the multicopter 100 that moves to the left and right (roll angle) is determined according to the operation amounts M11 and M12 that rotate the wheel unit 11. As the operation amounts M11 and M12 increase, the roll angle increases and the moving speed of the multicopter 100 in the left-right direction increases.

(Turn control)
FIG. 8A to FIG. 8C are schematic views illustrating multicopter turn control.
In order to perform the turn control of the multicopter 100, the first control signal CS1 (yaw control signal CSY) and the second control are operated by operating both the wheel unit 11 and the trigger unit 12 of the controller 1 shown in FIG. The signal CS2 is sent from the transmission unit 14 to the multicopter 100.

  For example, when the trigger unit 12 is pulled forward while the multicopter 100 is hovering, the multicopter 100 moves forward by pitching the lower part 110a downward as shown in FIG. 8B. Then, when the wheel portion 11 is rotated to the left or right in the forward flight state, the multicopter 100 is yaw-rotated to either the left or right as shown in FIG.

  That is, when the trigger unit 12 is not operated when the wheel unit 11 is rotated, a roll is generated according to the rotation of the wheel unit 11 as shown in FIG. 7, but the trigger unit 12 is operated. In this case, the control is switched so as to generate yaw according to the rotation of the wheel unit 11.

  In addition, when generating yaw during the flight of the multicopter 100, the CPU 25 of the multicopter 100 performs a program process for automatically generating a roll according to the yaw. Thus, while the multicopter 100 is flying forward, a roll is generated together with the yaw by the operation of the wheel unit 11, whereby the multicopter 100 is turned to draw an arc while banking.

  The amount of yaw (yaw angle) of the multicopter 100 is determined according to the operation amounts M11 and M12 obtained by rotating the wheel unit 11. As the manipulated variables M11 and M12 increase, the yaw angle increases and the multicopter 100 turns sharply. On the other hand, the yaw angle becomes smaller as the operation amounts M11 and M12 are smaller, and the multicopter 100 turns slowly.

  In addition, although the example which turns while making the multicopter 100 fly forward was shown in FIG. 8, turning while making the multicopter 100 fly backward by rotating the wheel part 11 while pushing the trigger part 12 first. Is also possible.

FIGS. 9A to 9D are schematic views illustrating the turn of the multicopter.
FIGS. 9A to 9D show a state in which the multicopter 100 turns leftward from a state where it is flying forward.
First, as shown in FIG. 9A, a pitch corresponding to the operation amount M21 is generated by pulling the trigger portion 12 of the controller 1, and the multicopter 100 flies forward.

  Next, in a state where the trigger portion 12 of the controller 1 is pulled (a state of forward flight), as shown in FIG. 9B, the wheel portion 11 is rotated to the left. At this time, since the trigger unit 12 is in an operated state, yaw corresponding to the operation amount M11 of the wheel unit 11 is generated, and the multicopter 100 rotates counterclockwise around the Z axis. At this time, the roll angle is calculated according to the generated yaw angle by the program processing by the CPU 25 of the multicopter 100, and the multicopter 100 also generates a roll. As a result, the multicopter 100 starts to turn left.

  Next, the operation amount M11 for rotating the wheel unit 11 of the controller 1 is adjusted. For example, as shown in FIG. 9C, when the operation amount M11 of the wheel unit 11 is increased, the yaw angle and the roll angle of the multicopter 100 are increased, and the turning radius is decreased.

  Then, when the desired turn is completed, the rotation of the wheel unit 11 is returned. Thereby, the turn of the multicopter 100 is completed as shown in FIG.

(Turn control)
Next, turn control will be described.
FIGS. 10A to 10C are schematic diagrams for explaining the turn control.
As shown in FIG. 10A, the turn of the multicopter 100 includes rotation about the Y axis (pitch angle θp), rotation about the Z axis (yaw angle θy), and rotation about the X axis (roll angle θr). It is executed by each control.

  As shown in FIG. 10B, by pulling the trigger portion 12 of the controller 1, a pitch angle θp corresponding to the operation amount M21 is generated in the multicopter 100. Further, as shown in FIG. 10C, the yaw angle θy corresponding to the operation amount M11 is generated in the multicopter 100 by rotating the wheel unit 11 while the trigger unit 12 is pulled. Here, the rotation angle of the wheel portion 11 is θw, and the angular velocity of the yaw is Vz.

FIGS. 11A and 11B are diagrams illustrating the determination of the angular velocity of the multicopter yaw.
FIG. 11A shows a function f1 indicating the relationship between the rotation angle θw of the wheel portion 11 and the angular velocity Vz of the yaw. By using this function f1, the angular velocity Vz of the yaw of the multicopter 100 is set corresponding to the rotation angle θw of the wheel unit 11. The function f1 shown in FIG. 11A is a linear function of the rotation angle θw of the wheel unit 11, but may be another function such as a quadratic function. The turn characteristic can be changed according to the characteristic of the function f1.

  FIG. 11B shows a function f2 indicating the relationship between the rotation angle θw of the wheel unit 11, the flight speed Vx of the multicopter 100, and the yaw angular speed Vz. By using this function f2, the angular velocity Vz of the yaw of the multicopter 100 is set corresponding to the rotation angle θw of the wheel unit 11 and the flight speed Vx of the multicopter 100. The turn characteristic can be changed according to the characteristic of the function f2.

(Yaw and roll control)
Next, yaw and roll control will be described.
FIGS. 12A to 12C are diagrams illustrating the control of the multicopter yaw and roll.
When the multicopter 100 is turned, the generation of yaw (yaw angle θy) as shown in FIG. 12A and the generation of roll as shown in FIG. 12B (roll angle θr) are linked. FIG. 12C shows a function f3 indicating the relationship between yaw and roll. By using the function f3, the roll angle θr of the multicopter 100 is set corresponding to the yaw angle θy. In this function f3, the yaw angle θy and the roll angle θr are in a proportional relationship.

  For example, since the yaw angle θy of the multicopter 100 is small at the start of the turn shown in FIG. 9B, the roll angle θr set based on the function f3 is also small. In the middle of the turn shown in FIG. 9C, the yaw angle θy increases because the turning radius is small. For this reason, the roll angle θr set based on the function f3 also increases.

  By such yaw and roll control, the pilot 200 can perform a desired turn only by rotating the wheel unit 11 left and right while the multicopter 100 is flying.

(Roll correction control)
Next, the roll correction control during the turn will be described.
When the turn of the multicopter 100 starts, a roll is generated together with the yaw. As described above, the roll angle θr during the turn is determined by, for example, the function f3 of the yaw angle θy. At this time, the airframe 110 is tilted to generate a speed difference in a speed component in a predetermined direction. Therefore, the roll angle θr may be corrected according to this speed difference.

  The roll correction signal for correcting the roll during the turn may be transmitted from the transmission unit 14 of the controller 1 toward the multicopter 100, or may be calculated by the CPU 25 of the multicopter 100. When a roll correction signal is transmitted from the transmission unit 14 of the controller 1, a function of transmitting information related to the speed detected by the multicopter 100 to the controller 1 and a function of receiving this information by the controller 1 are provided. Then, the controller 1 receives information on the speed transmitted from the multicopter 100, and the controller 1 performs feedback to transmit the roll correction signal from the transmitter 14.

FIGS. 13A and 13B are diagrams illustrating roll correction.
As shown in FIG. 13A, while the multicopter 100 is turning, the speed component of the multicopter 100 is detected every predetermined sampling time. Here, the speed in the traveling direction (turn tangent direction) D1 of the airframe 110 sampled at time t during the turn is defined as a first speed V1.

  Of the speed of the airframe 110 sampled at the next time t + 1 during the turn, the speed component in the traveling direction D1 at the previous time t is defined as a second speed V2. As the turn of the multicopter 100 advances, the second speed V2 becomes slower than the first speed V1. The first speed V1−the second speed V2 is defined as a deceleration α. Since the deceleration α can be calculated at each sampling time, the deceleration at time t is αt, and the deceleration at time t + 1 is αt + 1. If the amount of change in deceleration between time t and time t + 1 is βt, then βt = (αt + 1) − (αt).

  FIG. 13B shows a function f4 indicating the relationship between the deceleration variation β and the corrected roll angle θr2. The function f4 is, for example, θr2 = −Aβt + θr. A is a predetermined coefficient. That is, when the change amount β of deceleration is zero (when there is no speed difference between the first speed V1 and the second speed V2), the roll angle remains θr. On the other hand, the roll angle is corrected so as to decrease as the change amount β increases. Thereby, it can suppress that a speed change generate | occur | produces rapidly with a turn.

  For example, when trying to make a sudden turn by rapidly rotating the wheel unit 11 at the start of the turn, the multicopter 100 may stall. Therefore, by performing the roll correction control as described above, a rapid speed change is suppressed, and it becomes possible to avoid a stall.

  In the control method of the multicopter 100 according to the present embodiment described above, when the player makes a turn, it is not an automatic control that follows a circle having a radius determined from the turn operation of the driver 200. The pitch and yaw amount (angle) are only sent to the multicopter 100 from the operation amount of the controller 1 of 200.

  The CPU 25 of the multicopter 100 determines the pitch angle θp and the yaw angle θy based on the control signal CS instructed from the controller 1, determines the roll angle θr from the yaw angle θy, and controls the output of each rotor blade 120.

  Therefore, depending on various situations (disturbances such as atmospheric pressure, wind speed, air current disturbance, individual differences in motor performance, battery status, etc.), the turn may not be executed with the same arc even with the same operation amount. Therefore, it is necessary for the pilot 200 to control the operation amount of the wheel unit 11 and the trigger unit 12 and draw a desired turn while constantly watching the flight state of the multicopter 100. As a result, the pilot 200 can enjoy the pleasure of maneuvering that cannot be obtained by automatic control.

(Trigger operation amount and control switching)
Next, an example of switching between the operation amount of the trigger unit 12 and control will be described.
FIGS. 14A and 14B are diagrams illustrating another example of control switching.
In this example of control switching, as shown in FIG. 14A, the first region R1, the second region R2, and the third region R3 are set in advance according to the operation amount of the trigger unit 12. The first region R1 is a region slightly pulled from the neutral position of the trigger portion 12. 2nd area | region R2 is an area | region which pulled the trigger part 12 more largely than 1st area | region R1. The third region R3 is a region where the trigger portion 12 is pulled larger than the second region R2.

  FIG. 14B shows the valid and invalid states of the control signal corresponding to each area. In FIG. 14B, “◯” marks are valid, and “X” marks are invalid. “Valid” means that a signal for control is transmitted from the transmission unit 14 or a signal for control is calculated by the CPU 25, and “invalid” means that a signal for control is transmitted This means that the CPU 25 does not calculate a signal to be transmitted or controlled from the unit 14.

  For example, when the operation amount of the trigger unit 12 is the first region R1, the second control signal CS2 for controlling the pitch and the yaw control signal CSY for controlling the yaw are invalid, and the roll for controlling the roll Only the control signal CSR is valid. That is, when the trigger unit 12 is not operated or the pulling amount is small, pitch and yaw are not generated, and only the roll can be controlled. Therefore, the multicopter 100 can be rolled and moved in the left-right direction by rotating the wheel portion 11. That is, when the operation amount of the trigger unit 12 is the first region R1, the rotation operation of the wheel unit 11 is used for roll control.

  Next, when the operation amount of the trigger unit 12 is the second region R2, the yaw control signal CSY is valid and the roll control signal CSR is invalid. The second control signal CS2 for controlling the pitch is determined to be valid or invalid depending on the specification.

  For example, in the specification in which the second control signal CS2 is invalid, no pitch is generated even when the trigger unit 12 is pulled, and only yaw can be controlled. Therefore, by rotating the wheel portion 11, the multicopter 100 can generate yaw and can be rotated around the Z axis. That is, when the operation amount of the trigger unit 12 is the second region R2 and the second control signal CS2 is invalid, the rotation operation of the wheel unit 11 is used for yaw control.

  On the other hand, in the specification in which the second control signal CS2 is valid, a pitch is generated according to the amount by which the trigger unit 12 is pulled. Therefore, a slight pitch is generated according to the amount pulled by the trigger unit 12, and the multicopter 100 moves forward, and yaw is generated according to the rotation operation of the wheel unit 11 and rotates around the Z axis. It will be. In other words, when the operation amount of the trigger unit 12 is the second region R2 and the second control signal CS2 is valid, the multicopter 100 moves about the Z axis according to the rotation operation of the wheel unit 11 while moving slowly forward. Will rotate.

  Next, when the operation amount of the trigger unit 12 is the third region R3, the second control signal CS2, the yaw control signal CSY, and the roll control signal CSR for controlling the pitch are all valid. That is, a pitch is generated according to the operation amount of the trigger unit 12, and yaw and roll are generated according to the operation amount of the wheel unit 11. Therefore, when the operation amount of the trigger unit 12 is the third region R3, the multicopter 100 moves forward according to the operation amount of the trigger unit 12, and generates yaw and roll according to the rotation operation of the wheel unit 11. You will turn while banking.

  In this way, by setting the control signal valid and invalid states depending on which of the first region R1, the second region R2, and the third region R3 the operation amount of the trigger unit 12 is, one wheel unit 11 It becomes possible to switch the control object by the rotation operation at. Therefore, complicated maneuvering operations by the pilot 200 are reduced.

  In the above example, the region in which the trigger portion 12 is pulled forward from the neutral position is divided into the first region R1, the second region R2, and the third region R3. However, the region that has been pushed first from the neutral position is divided. Also good. Moreover, you may divide | segment an area | region about the movable range of the trigger part 12 irrespective of this side and the front.

  As described above, according to the control method of the controller 1 and the multicopter 100 according to the embodiment, it is possible to obtain the pleasure of maneuvering while reducing the complexity of maneuvering of the multicopter 100.

  In addition, although this embodiment and its application example were demonstrated above, this invention is not limited to these examples. For example, in the present embodiment, a quad copter having four rotor blades 120 has been described as an example, but the present invention can also be applied to a multicopter 100 having rotor blades 120 other than four. When various functions f1 to f4 are used in the turn control, a plurality of sets of characteristics of the functions f1 to f4 may be prepared and switched according to the preference of the operator 200. Thereby, the setting of the turn characteristic of the multicopter 100 can be performed. Further, those in which the person skilled in the art appropriately added, deleted, or changed the design of each of the above-described embodiments or application examples thereof, or combinations of the features of each embodiment as appropriate are also included in the present invention. As long as the gist is provided, it is included in the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 ... Controller 10 ... Main body housing | casing 10G ... Grip part 11 ... Wheel part 12 ... Trigger part 13 ... Reciprocating switch part 14 ... Transmission part 15 ... CPU
20 ... Receiver 25 ... CPU
26, 27, 28 ... Sensor 100 ... Multicopter 110 ... Airframe 110a ... Front part 111, 121, 131 ... Variable resistance part 112, 122, 132 ... Analog-to-digital converter 120 ... Rotor blade 200 ... Pilots 231, 232, 233 , 234 ... Motor driver CS ... Control signal CS1 ... First control signal CS2 ... Second control signal CS3 ... Third control signal CSR ... Roll control signal CSY ... Yaw control signal D1 ... Traveling direction M1, M2, M3, M4 ... Motor M11, M12, M21, M22, M31, M32 ... manipulated variable R1 ... first area R2 ... second area R3 ... third area V1 ... first speed V2 ... second speed Vx ... flight speed Vz ... angular speed f1, f2, f3, f4, function α, deceleration β, change amount θp, pitch angle θr, θr2, roll angle θw, rotation angle θy, yaw angle.

Claims (11)

A controller for maneuvering a multicopter that is unmannedly flying by a plurality of rotor blades,
The main body housing,
A wheel unit provided in the main body casing and operated to rotate;
A trigger unit provided in the main body casing and operated to be advanced and retracted with a finger;
A reciprocating switch unit provided in the main body housing;
A transmitter provided in the main body housing;
With
The transmission unit controls a pitch of the multicopter according to an operation of the trigger unit, a first control signal for controlling either a yaw or a roll of the multicopter according to an operation of the wheel unit. The second control signal and a third control signal for controlling the height of the multicopter according to the operation of the reciprocating switch unit ,
The first control signal is one of a yaw control signal for controlling the yaw according to an operation of the wheel unit and a roll control signal for controlling the roll,
When the wheel unit is operated, the transmission unit transmits either the yaw control signal or the roll control signal according to an operation amount of the trigger unit at that time. . A first region, a second region, and a third region are provided according to the operation amount of the trigger unit,
The transmitter is
When the operation amount of the trigger portion is the first region, the roll control signal is transmitted,
When the operation amount of the trigger portion is the second region, the yaw control signal is transmitted,
If the operation amount of the trigger portion was the third region, and transmits the second control signal and the yaw control signal, multirotor controller of claim 1, wherein. The control amount of the yaw included in the yaw control signal, the a value calculated from the rotation angle by a predetermined function of the wheel unit, multirotor controller according to claim 1 or 2. While the transmission unit transmits the second control signal and the yaw control signal, a first speed that is a speed in a traveling direction of the multicopter at a first sampling time and a predetermined time elapses from the first sampling time. transmitting a roll correction signal for correcting the control amount of the roll in accordance with the difference between the second speed which is the traveling direction of the velocity component of the multirotor of the second sampling time after claims 1 to 3, The controller for multicopters as described in any one of these. A controller for maneuvering a multicopter that is unmannedly flying by a plurality of rotor blades,
The main body housing,
A wheel unit provided in the main body casing and operated to rotate;
A trigger unit provided in the main body casing and operated to be advanced and retracted with a finger;
A reciprocating switch unit provided in the main body housing;
A transmitter provided in the main body housing;
With
The transmission unit controls a pitch of the multicopter according to an operation of the trigger unit, a first control signal for controlling either a yaw or a roll of the multicopter according to an operation of the wheel unit. The second control signal and a third control signal for controlling the height of the multicopter according to the operation of the reciprocating switch unit,
The reciprocating switch portion has a function of being held in a neutral position without being operated,
The transmitter is configured to control the multicopter to a predetermined height when the time from the operation of the reciprocating switch unit in a predetermined direction to the return to the neutral position is within a predetermined time. multirotor controller, characterized by transmitting said third control signal. A first control signal for controlling the yaw or roll of the multicopter from a controller operated by a pilot to a multicopter that is unmannedly flying by a plurality of rotor blades, and a second control signal for controlling the pitch of the multicopter A method of controlling the multicopter by transmitting a control signal and a third control signal for controlling a height of the multicopter,
When the first control signal is transmitted from the controller, the control according to the first operation amount included in the first control signal is performed according to the second operation amount included in the second control signal at that time. A method of controlling a multicopter, wherein either yaw or the roll is selected. A first area, a second area, and a third area are provided according to the second operation amount,
When the second operation amount is the first region, the roll is controlled according to the first operation amount,
When the second operation amount is the second region, the yaw is controlled according to the first operation amount,
The multicopter according to claim 6 , wherein when the second operation amount is the third region, the pitch is controlled according to the second operation amount and the yaw is controlled according to the first operation amount. Control method. When controlling the yaw in response to the first manipulated variable, controlled by the calculated value by the predetermined function from the first operation amount, the control method of the multirotor according to claim 6 or 7. The multicopter control method according to any one of claims 6 to 8 , wherein when the yaw is controlled according to the first operation amount, the roll is controlled according to the first operation amount. While controlling the pitch according to the second operation amount and controlling the yaw according to the first operation amount, a first speed that is a speed component in the reference traveling direction of the multicopter at the time of the first sampling And correcting the amount of the roll according to the difference between the second speed which is the speed component in the reference traveling direction of the multicopter at the time of the second sampling after elapse of a predetermined time from the time of the first sampling, the method of multirotor according to any one of claims 6-9. The multicopter control method according to any one of claims 6 to 10 , wherein, when the third control signal has a predetermined pattern, the multicopter is controlled to a predetermined height.

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