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公开(公告)号：JP2004359002A
公开(公告)日：2004-12-24
申请号：JP2003156902
申请日：2003-06-02
Applicant: Tamagawa Seiki Co Ltd , 多摩川精機株式会社
Inventor： OGUE KOJI
Abstract: PROBLEM TO BE SOLVED: To perform a self-control of a high accuracy by performing a hybrid calculation using a GPS speed and positional data, and data from respective sensors such as an acceleration.
SOLUTION: In this self-controlling method and the device for an unmanned helicopter, an attitude angle (20), a speed (21), an azimuth angle (53) and a position (63) are calculated by the hybrid calculation using GPS speed data (12a) and GPS positional data (12b) from a GPS device (12), and the self-control having a smaller error is performed by this constitution and the method. By the hybrid calculation using the GPS speed data and the GPS positional data from the GPS device, the attitude angle, the speed, the azimuth angle and the position are calculated, and a momentary speed error caused by an error of the GPS data does not occur as well, and the higher-accurate self-control of the unmanned helicopter can be performed.
COPYRIGHT: (C)2005,JPO&NCIPI-
公开(公告)号：JP2004268737A
公开(公告)日：2004-09-30
申请号：JP2003062526
申请日：2003-03-07
Applicant: Yamaha Motor Co Ltd , ヤマハ発動機株式会社
Inventor： SATO AKIRA
Abstract: PROBLEM TO BE SOLVED: To provide a GPS control method for an unmanned helicopter which continues and stops flying in a safe and stable status without causing sudden acceleration or the like, when a reception failure of a GPS sensor occurs during a flight.
SOLUTION: In this GPS control method of the unmanned helicopter which performs speed control utilizing a control program, the control program includes a calculation step (F5) for flying speed and a storage step (F6) for calculation result, and a determination step (F4) for determining whether or not GPS control is possible. If the GPS control is not available, flying is controlled on the basis of such a control amount as to cancel flying speed calculated in the calculation step of flying speed immediately before the flying speed.
COPYRIGHT: (C)2004,JPO&NCIPI-
公开(公告)号：JP2004268730A
公开(公告)日：2004-09-30
申请号：JP2003062329
申请日：2003-03-07
Applicant: Yamaha Motor Co Ltd , ヤマハ発動機株式会社
Inventor： SATO AKIRA
Abstract: PROBLEM TO BE SOLVED: To provide an attitude control method for an unmanned helicopter which stability controls the attitude even if an attitude angle is changed by a pay load and disturbance of wind despite of a flight state.
SOLUTION: This attitude control method for unmanned helicopter is used for an acceleration data (an acceleration sensor output) outputted from a gyro sensor and an attitude data (a gyro attitude output). The acceleration data is turned to an inertia acceleration of an earth coordinate system by changing coordinates. The inertia acceleration data is inputted into a low-pass filter 56. The attitude data is inputted in to a high-pass filter 57. A hybrid attitude angle is generated by mixing the output of the low-pass filter 56 and the output of the high-pass filter 57. The attitude control of an airframe is performed based on the hybrid attitude angle.
COPYRIGHT: (C)2004,JPO&NCIPI-
公开(公告)号：JP2004249942A
公开(公告)日：2004-09-09
申请号：JP2003044967
申请日：2003-02-21
Applicant: Yamaha Motor Co Ltd , ヤマハ発動機株式会社
Inventor： SAKAMOTO OSAMU
Abstract: PROBLEM TO BE SOLVED: To provide an unmanned helicopter capable of satisfying receiving performance of an electric wave for actuation of a sprinkling device without giving influence to the receiving performance of an electric wave for operation of a frame body.
SOLUTION: This unmanned helicopter 1 has the frame body 2 having a front body on which an engine to be a driving source of main rotors 15a, 15b, and a tail body 4 to extend toward the rear from a rear end part of this front body 3, and the front body 3 is furnished with the sprinkling device A. Additionally, the front body 3 is furnished with an antenna 50 for actuation of the sprinkling device to receive the electric wave for actuation of the sprinkling device, and the tail body 4 is furnished with an antenna 60 for operation of the frame body to receive the electric wave for operation of the frame body.
COPYRIGHT: (C)2004,JPO&NCIPI-
公开(公告)号：JP2004098832A
公开(公告)日：2004-04-02
申请号：JP2002262968
申请日：2002-09-09
Applicant: Fuji Heavy Ind Ltd , 富士重工業株式会社
Inventor： NODA TAMEMASA
Abstract: PROBLEM TO BE SOLVED: To provide an alighting gear for a rotor craft for effectively absorbing great impact energy during emergency landing.
SOLUTION: The alighting gear 1 for the rotor craft comprises a pair of right and left skid tubes 10 extending approximately parallel to a body shaft. A damper 30 arranged between the skid tubes 10 gives the skid tubes 10 resisting force proportional to the speed of side-to-side displacement of the kid tubes 10 to absorb great impact energy during emergency landing. A coil spring 40 arranged between the skid tubes 10 converts the side-to-side displacement of the skid tubes 10 into distortional energy to absorb impact energy during normal landing.
COPYRIGHT: (C)2004,JPO-
Patent Agency Ranking
公开(公告)号：JP2003534987A
公开(公告)日：2003-11-25
申请号：JP2002500188
申请日：2001-05-25
Applicant: ハネウェル・インターナショナル・インコーポレーテッド
Inventor： イシハラ，ヤスオ
CPC classification number: B64D45/04 , G01C5/005 , G05D1/0646 , G05D1/0858
Abstract: (57)【要約】 地形および地形警報を回転翼航空機のパイロットに表示するための装置、方法およびコンピュータ・プログラム製品が、このような航空機の性能能力に適合する地形表示を提供する。
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公开(公告)号：JP2003303329A
公开(公告)日：2003-10-24
申请号：JP2002105773
申请日：2002-04-08
Applicant: Honda Motor Co Ltd , 本田技研工業株式会社
Inventor： UEDA YUGO , TSUJINO KOJI
Abstract: PROBLEM TO BE SOLVED: To provide a highly reliable control device having a small amount of calculation required for learning or actual controlling wherein inappropriate output is prevented even when an unlearned input is made. SOLUTION: A distribution unit 122 classifies a pair of an learning input pattern vector input by an input unit 120 and a target output into one of a plurality of classes based on the target output. Only within a distributed class, a learning unit 124 learns a corresponding relationship between the learning input pattern vector and the target output. After completing learning, a second distribution unit 126 classifies a newly prepared input pattern vector into one of the classes. According to the learning result within the class, an output processing unit 128 calculates an output value. Accordingly, output other than an output corresponding to the classified class is not made, so that the inappropriate output is prevented even when the unlearned input value is input. As a result, reliability of the control system improves. COPYRIGHT: (C)2004,JPO
Abstract translation: 要解决的问题：为了提供具有学习或实际控制所需的少量计算的高度可靠的控制装置，即使在未进行输入的情况下也防止不适当的输出。 解决方案：分发单元122基于目标输出将由输入单元120输入的一对学习输入模式矢量和目标输出分类为多个类中的一个。 只有在分布式类中，学习单元124学习学习输入模式矢量和目标输出之间的对应关系。 在完成学习之后，第二分发单元126将新准备的输入模式矢量分类为其中一个类。 根据课堂内的学习结果，输出处理单元128计算输出值。 因此，不进行与分类的类别对应的输出以外的输出，从而即使输入了未输入的输入值也能够防止不适当的输出。 结果，控制系统的可靠性提高。 版权所有（C）2004，JPO
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99.发明专利
公开(公告)号：JP2003154998A
公开(公告)日：2003-05-27
申请号：JP2001353572
申请日：2001-11-19
Applicant: TAMAGAWA SEIKI CO LTD
Inventor： ARAI AKIFUMI
Abstract: PROBLEM TO BE SOLVED: To automatically guide a helicopter to a specified position in the same route after passing the specified position when the specified position in an aerial image of a display device inside of the helicopter is appointed. SOLUTION: This method of automatically guiding return of a helicopter in a helicopter image transmitter/receiver device automatically guides the helicopter 1 to approach the specified position 30, through which the helicopter passed before, by touching to appoint the specified position 30 of the aerial image displayed in the touch panel type display device 2 inside of the helicopter 1.
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