Autonomous control system apparatus and program for a small, unmanned helicopter
First Claim
1. In a system that allows the autonomous control of a small unmanned helicopter, an autonomous control system for a small unmanned helicopter comprising:
- sensors that detect a current position, an attitude angle, an altitude relative to the ground, and an absolute azimuth of a nose of said small unmanned helicopter;
a primary computational unit that calculates optimal control reference values for driving a servo motors that move five rudders on the helicopter from target position or velocity values that are set by a ground station and the aforementioned current position and attitude angle of the small unmanned helicopter that are detected by the aforementioned sensors; and
a secondary computational unit that converts a data collected by said sensors and the computational results as numeric values that are output by said primary computational unit into pulse signals that can be accepted by servo motors, wherein said sensors, said primary computational unit, and said secondary computational unit are assembled into a small frame box, thereby achieving both size and weight reductions that permit the mounting of the frame box on said small unmanned helicopter.
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Abstract
An objective of the invention, focusing on these issues involved in the use of a small, hobby-type, unmanned helicopter, is to develop an autonomous control system comprising autonomous control systems for a small unmanned helicopter, to be mounted on said small unmanned helicopter; a servo pulse mixing/switching unit; a radio-controlled pulse generator; and autonomous control algorithms that are appropriate for the autonomous control of the aforementioned small unmanned helicopter, thereby providing an autonomous control system that provides autonomous control on the helicopter toward target values.
- The autonomous control system for a small unmanned helicopter of the present invention comprises:
- Sensors that detect the current position, the attitude angle, the altitude relative to the ground, and the absolute azimuth of the nose of the aforementioned small unmanned helicopter;
- A primary computational unit that calculates optimal control reference values for driving the servo motors that move five rudders on the helicopter from the target position or velocity values that are set by the ground station and the aforementioned current position and attitude angle of the small unmanned helicopter that are detected by the aforementioned sensors;
- An autonomous control system equipped with a secondary computational unit that converts the data collected by said sensors and the computational results as numeric values that are output by said primary computational unit into pulse signals that can be accepted by the servo motors,
- Such that these components are assembled into a small frame box, thereby achieving both size and weight reductions.
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Citations
26 Claims
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1. In a system that allows the autonomous control of a small unmanned helicopter, an autonomous control system for a small unmanned helicopter comprising:
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sensors that detect a current position, an attitude angle, an altitude relative to the ground, and an absolute azimuth of a nose of said small unmanned helicopter; a primary computational unit that calculates optimal control reference values for driving a servo motors that move five rudders on the helicopter from target position or velocity values that are set by a ground station and the aforementioned current position and attitude angle of the small unmanned helicopter that are detected by the aforementioned sensors; and a secondary computational unit that converts a data collected by said sensors and the computational results as numeric values that are output by said primary computational unit into pulse signals that can be accepted by servo motors, wherein said sensors, said primary computational unit, and said secondary computational unit are assembled into a small frame box, thereby achieving both size and weight reductions that permit the mounting of the frame box on said small unmanned helicopter. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 26)
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25. A computer-readable medium recording an autonomous control program for a small unmanned helicopter, wherein the program causes a computational unit for the autonomous control system for the small unmanned helicopter to execute the following steps and causes it to compute optimal control reference values in order to drive a servo motors for said small unmanned helicopter:
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a step that receives detection signals from sensors that detect a current position, attitude angle, ground altitude, and absolute nose azimuth of the small unmanned helicopter; a step that receives position or speed target values that are transmitted from a ground station; a step that determines optimal control reference values for driving the servo motors that move a plurality of rudders for said small unmanned helicopter from the current position and attitude angle for said small unmanned helicopter that are detected by said sensors; and a step that causes translational motion control and tri-axis attitude control on the small unmanned helicopter based upon the results of said computational processing, wherein said sensors and said computational unit are assembled into a small frame box, thereby achieving both size and weight reductions that permit the mounting of the frame box on said small unmanned helicopter.
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Specification