Patent Publication Number: US-9849397-B2

Title: Communication device and steered device

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims priority under 35 U.S.C. §119 to Japanese Patent Application 2014-179157 filed Sep. 3, 2014, the disclosure of which is incorporated herein by reference in its entirety. 
     BACKGROUND 
     Technical Field 
     The present invention relates to a technical field concerning a communication device provided in a steered device such as the so-called radio control model, which is remote steered on the basis of a steering signal from a steering wireless device, and the steered device. 
     Related Art 
     Steered devices functioning as various radio control devices imitating, for example, an airplane, a helicopter, an automobile, a ship, a robot, and so forth are known. When making these steered devices fly or travel, a steering person operates an operation stick provided in a steering wireless device. The steering wireless device generates a steering signal corresponding to an operation amount of the operation stick, and transmits the steering signal to the steered device. In the steered device, a receiver unit receives the transmitted steering signal and the receiver unit supplies the steering signal to actuator devices such as, for example, servo motors, which controls respective units in the steered device. As a result, the steering person can execute remote steering of the steered device by operating the operation stick. 
     As for related prior techniques, JP 10-230083 A and JP 2013-67279 A can be mentioned. 
     SUMMARY 
     In steered devices imitating, for example, an air plane, there is a steered device in which a main plane unit can be attached to/detached from a body unit (main body unit), considering easiness of conveyance and so forth. A servomotor for driving a flap for an aileron (aileron servomotor) is mounted on the main plane unit. Furthermore, a receiver unit is mounted on the body unit to supply the steering signal received from the steering wireless device to respective servomotors. Usually, therefore, a connector for connecting the receiver unit to the aileron servomotor is also detached when detaching the main plane unit from the body unit at the time of conveyance or the like. 
     In the steered device in which the main plane unit can be detached as described above, however, there is a possibility described below. That is, the steering person might forget to connect wiring lines between the actuator devices side functioning as the aileron servomotor and the receiver unit side, when attaching the main plane unit to the body unit at the time of flight. If the flight is started in this state as it is, a danger such as a crash is brought about in the worst case. 
     In preventing forgetting to connect the actuator devices, it is conceivable to provide a terminal for confirming conduction on each of the receiver unit side and the actuator devices side and give an error notice to the steering wireless device side in a case where conduction via the conduction confirmation terminals is not confirmed on the receiver unit side. 
     In this technique, however, it is necessary to add a terminal on each of the receiver unit side and the actuator devices side newly. Furthermore, a user such as a steering person cannot use existing actuator devices having no conduction confirmation terminal as it is, when enjoying the connection error notifying function described above. The user is forced to have a burden of purchasing actuator devices newly. 
     Therefore, it is an object of the present invention to overcome the above-described problem and implement a wireless steering system capable of notifying forgetting of connection of actuator devices without additionally providing a terminal for conduction confirmation. 
     First, a communication device according to the present invention includes a first terminal unit connected to actuator devices having sensors. Transmission of a steering signal transmitted from a steering wireless device to the actuator devices, and transmission of detected signal detected by the sensors in the actuator devices are conducted via the first terminal unit. The communication device according to the present invention further includes a control unit. The control unit is configured to conduct processing to generate a connection error signal representing that the actuator devices are not connected on the basis of a result of determination whether the detected signal is acquired from the actuator devices via the first terminal unit, and transmit the connection error signal to the steering wireless device side. 
     As a result, confirmation of connection of the actuator devices is conducted on the basis of whether the sensor-detected signal is acquired via the terminal unit for transmitting the steering signal or the sensor-detected signal with the actuator devices. 
     Secondly, it is desirable that the communication device according to the present invention includes a second terminal unit connected to a receiver unit side including a communication unit configured to conduct wireless communication with the steering wireless device. 
     The communication device is inserted between the receiver unit and the actuator devices and used as represented by the telemetry adapter  18  described later (see, for example,  FIG. 3 ). 
     Thirdly, it is desirable that the communication device according to the present invention includes a communication unit configured to conduct wireless communication with the steering wireless device. 
     The communication device is equivalent to the receiver unit including the communication unit, which conducts wireless communication with the steering wireless device. 
     Furthermore, first, a steered device according to the present invention includes actuator devices having sensors. The steered device according to the present invention further includes a communication device. The communication device includes a first terminal unit connected to actuator devices having sensors. Transmission of a steering signal transmitted from a steering wireless device to the actuator devices, and transmission of detected signal detected by the sensors in the actuator devices are conducted via the first terminal unit. The communication device further includes a control unit. The control unit is configured to conduct processing to generate a connection error signal representing that the actuator devices are not connected on the basis of a result of determination whether the detected signal is acquired from the actuator devices via the first terminal unit, and transmit the connection error signal to the steering wireless device side. 
     In such a steered device as well, confirmation of connection of the actuator devices is conducted on the basis of whether the sensor-detected signal is acquired via the terminal unit for transmitting the steering signal or the sensor-detected signal with the actuator devices, in the same way as the communication device. 
     Secondly, in the steered device according to the present invention, it is desirable that a portion is configured to be capable of attached to and detached from a main body unit, and the actuator devices are disposed in the portion, whereas the communication device is disposed in the main body unit. 
     As a result, it is made possible to give a notice that connection of the actuator devices disposed in the portion of the steered device to the main body unit side is forgotten. 
     According to the present invention, it is possible to implement a wireless steering system capable of giving a notice that connection of the actuator devices is forgotten without providing terminals for conduction confirmation additionally. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a diagram illustrating a configuration example of a wireless steering system of a radio control model in an embodiment of the present invention; 
         FIG. 2  is a perspective top view illustrating a configuration of a steered device in the embodiment; 
         FIG. 3  is a block diagram illustrating a circuit configuration of the steered device and a steering wireless device in the embodiment; 
         FIG. 4  is a flow chart illustrating processing concerning a function of giving a notice that connection of actuator devices is forgotten, included in processing executed in a wireless steering system in the embodiment; 
         FIG. 5  is a block diagram illustrating a circuit configuration of a steered device and a steering wireless device as a modification; and 
         FIG. 6  is a flow chart illustrating processing concerning a function of giving a notice that connection of actuator devices is forgotten, included in processing executed in a wireless steering system as a modification. 
     
    
    
     DETAILED DESCRIPTION 
     Hereafter, embodiments of the present invention will be described. 
       FIG. 1  illustrates a configuration example of a wireless steering system of a radio control model including a steered device  1  and a steering wireless device  2  in an embodiment. 
     In  FIG. 1 , the steered device  1  is configured as a radio control model that imitates an airplane. An operation stick is provided in the steering wireless device  2  for a steering person to exercise remote steering on the steered device  1 . The steering wireless device  2  transmits a steering signal depending upon an operation amount of the operation stick to the steered device  1 . Furthermore, the steering wireless device  2  in the present embodiment is made capable of receiving a signal (for example, a signal indicating a state of the steered device  1 ) transmitted from a receiver unit  10  (described later with reference to  FIG. 3 ), which is mounted on the steered device  1 . 
     As described later, a display unit  23  is provided on the steering wireless device  2 . The steering wireless device  2  is made capable of exhibiting visually information depending upon a signal received from the steered device  1  to the steering person via the display unit  23 . 
     In a case of the present example, two operation sticks are provided on the steering wireless device  2 . The steering person can operate these operation sticks vertically and laterally, respectively. The steering wireless device  2  is made capable of outputting steering signals of four channels in total corresponding to vertical operation and lateral operation of a first operation stick and vertical operation and lateral operation of a second operation stick. 
       FIG. 2  is a perspective top view illustrating a configuration of the steered device  1  schematically. 
     The steered device  1  includes a main body unit  1   a  and a main plane unit  1   b . The main body unit  1   a  includes a body unit mounting the receiver unit  10  and an engine, and a tail unit. The main plane unit  1   b  is made capable of being attached to and detached from the body unit in the main body unit  1   a . Furthermore, the steered device  1  includes flaps for an elevator and a ladder in the tail unit and includes flaps for aileron in the main plane unit  1   b . In addition, the steered device  1  includes a throttle servomotor  14 , a first elevator servomotor  15 - 1 , a second elevator servomotor  15 - 2 , a ladder servomotor  16 , a first aileron servomotor  17 - 1 , and a second aileron servomotor  17 - 2  as actuator devices for driving the flaps and engine throttles. 
     The throttle servomotor  14  is disposed in the body unit in the main body unit  1   a  to drive an engine throttle disposed in the body unit. The first elevator servomotor  15 - 1  and the second elevator servomotor  15 - 2  are disposed in a horizontal tail unit in the main body unit  1   a  to drive respectively corresponding ones in one pair of left and right flaps for elevator provided in the horizontal tail unit. The ladder servomotor  16  is disposed in a vertical tail unit in the main body unit  1   a  to drive a flap for ladder provided in the vertical tail unit. The first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2  are disposed in the main plane unit  1   b  to drive respectively corresponding ones in one pair of left and right flaps for aileron provided in the main plane unit  1   b.    
     In the present embodiment, the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2  are made as actuator devices each having a sensor. As the sensors (sensors S 1  and S 2  described later) included in the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2 , for example, a temperature sensor using a thermistor, an operation position sensor, which detects a motor operation position, and so forth can be mentioned. 
     In the steered device  1  in the present embodiment, a telemetry adapter  18  is provided as a configuration for acquiring sensor-detected signals obtained by the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2  functioning as such actuator devices having sensors and transferring the sensor-detected signals to the receiver unit  10 . The telemetry adapter  18  is disposed in the body unit in the main body unit  1   a.    
     In the present example, the receiver unit  10 , the telemetry adapter  18 , and various servomotors included in the steered device  1  are made as devices corresponding to bus communication. In implementing bus communication, setting as to correspondence between the throttle, ladder, elevator, and aileron servomotors and channels of the steering signals is conducted previously. Such setting of channels to respective servomotors is implemented by, for example, operation of assigning channels to individual servomotors conducted by the steering person via the steering wireless device  2 . 
     By setting channels to respective servomotors, it is not necessary to divide wiring lines between the receiver unit  10  and the servomotors every channel, and servomotors can receive steering signals on respective corresponding channels. 
     As illustrated in  FIG. 2 , three three-forked hubs H are provided in the steered device  1  to collect wiring lines from servomotors corresponding to bus communication (three-forked hub H 1 , three-forked hub H 2 , and three-forked hub H 3 ). Bus wiring lines from the first elevator servomotor  15 - 1 , the second elevator servomotor  15 - 2 , and the ladder servomotor  16  are connected to the three-forked hub H 1 . Bus wiring lines from the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2  are connected to the three-forked hub H 2 . A bus wiring line from the three-forked hub H 2  is connected to the telemetry adapter  18  as illustrated in  FIG. 2 . 
     A bus wiring line from the throttle servomotor  14 , a bus wiring line from the three-forked hub H 1 , and a bus wiring line from the telemetry adapter  18  are connected to the three-forked hub H 3 . A bus wiring line from the three-forked hub H 3  is connected to the receiver unit  10 . 
     Besides the sensors included in the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2 , a sensor unit  13  is also provided in the steered device  1  to detect states of respective units in the steered device  1 . However, the sensor unit  13  is not illustrated in  FIG. 2 . 
     Furthermore, batteries for supplying operation power supplies to the receiver unit  10 , the telemetry adapter  18 , and the respective servomotors are also included in the steered device  1 . However, the batteries are not illustrated. 
     As for the connection form of the respective units using the three-forked hubs H, the form illustrated in  FIG. 2  is nothing but an example. It is a matter of course that other forms can be taken. 
       FIG. 3  is a block diagram illustrating a circuit configuration of the steered device  1  and the steering wireless device  2 . 
     The steering wireless device  2  includes a steering side control unit  20 , an operation unit  21 , a steering side communication unit  22 , a display unit  23 , and an antenna A 2 . The operation unit  21  and the steering side communication unit  22  are connected to the steering side control unit  20 . The antenna A 2  is connected to the steering side communication unit  22 . 
     Various operation elements such as the above-described operation sticks and operation are provided in the operation unit  21 . The steering side control unit  20  acquires a signal corresponding to an operation input conducted by a steering person by using these operation elements. 
     The steering side communication unit  22  is configured to be capable of conducting transmission and reception of signals by a predetermined wireless communication method with an external device (especially the steered device  1 ) via the antenna A 2 . 
     The display unit  23  is configured to include a display such as, for example, an LCD (Liquid Crystal Display) or an organic EL (Electro-Luminescence). The display unit  23  displays various kinds of information on the basis of control from the steering side control unit  20 . The display included in the display unit  23  is provided to exhibit a display screen unit to the outside. 
     The steering side control unit  20  is formed of, for example, an information processing device such as a microcomputer including a CPU (Central Processing Unit) and a memory such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The steering side control unit  20  exercises general control of the steering wireless device  2  by conducting processing according to a program stored in the memory such as the ROM. 
     For example, the steering side control unit  20  causes the steering side communication unit  22  to transmit a steering signal depending upon an operation amount of an operation stick provided in the operation unit  21  together with information representing a channel of the steering signal to an external device via the antenna A 2 . 
     Furthermore, the steering side control unit  20  exercises control to cause the display unit  23  to display corresponding information on the basis of a signal (for example, the above-described signal indicating the state of the steered device  1 ) received from an external device functioning as the steered device  1  by the steering side communication unit  22 . 
     The steered device  1  includes the sensor unit  13  besides the respective units illustrated in  FIG. 2 . 
     The sensor unit  13  is a sensor for detecting the state of the steered device  1 . Sensors that can be provided as the sensor unit  13  are, for example, an altitude sensor (atmospheric pressure sensor) for detecting a flight altitude of the steered device  1 , and a GPS (Global Positioning System) sensor for detecting the current position. An optical rotation sensor for detecting the number of rotations of a propeller or the like driven by an engine, a voltage sensor (a type inserted into an arbitrary wiring line and used), and so forth can also be provided as the sensor unit  13 . 
     The sensor unit  13  is connected to the steered side control unit  12  in the receiver unit  10 . 
     The receiver unit  10  includes a steered side communication unit  11  and the steered side control unit  12 . An antenna A 1  is connected to the steered side communication unit  11 . 
     The steered side communication unit  11  is configured to be capable of transmit/receive signals to/from the steering wireless device  2  via the antenna A 1  according to a predetermined wireless communication method. 
     The steered side control unit  12  is formed of, for example, an information processing device such as a microcomputer including a CPU and a memory such as a ROM and a RAM. The steered side control unit  12  implements various operations conducted as the receiver unit  10  by conducting processing according to a program stored in the memory such as the ROM. 
     Although not illustrated, a terminal unit is provided in the receiver unit  10  to conduct bus communication with various servomotors. A bus wiring line from the three-forked hub H 3  is connected to the terminal unit. As a result, the steered side control unit  12  is made capable of conduct bus communication with each servomotor and the telemetry adapter  18 . The servomotor is included in the throttle servomotor  14 , the first elevator servomotor  15 - 1 , the second elevator servomotor  15 - 2 , the ladder servomotor  16 , the first aileron servomotor  17 - 1 , and the second aileron servomotor  17 - 2  connected together with the telemetry adapter  18  by bus wiring lines via the three-forked hub H 3 , the three-forked hub H 2 , and the three-forked hub H 1 . 
     Furthermore, the steered side control unit  12  causes the steered side communication unit  11  to transmit a detected signal from the sensor unit  13  to the steering wireless device  2  (the steering side control unit  20 ). 
     In the steering wireless device  2 , the steering side control unit  20  causes the display unit  23  to display information corresponding to the detected signal as occasion demands (for example, in response to an operation input of the steering person) on the basis of the transmitted detected signal. 
     A sensor S 1  is provided in the first aileron servomotor  17 - 1 . A sensor S 2  is provided in the second aileron servomotor  17 - 2 . As appreciated from the foregoing description, the sensor S 1  and the sensor S 2  are, for example, temperature sensors, operation position sensors, or the like. 
     The telemetry adapter  18  includes a first terminal unit  18   a , a control unit  18   b , and a second terminal unit  18   c . The first terminal unit  18   a  is connected to the servomotor side. The control unit  18   b  is formed of, for example, an information processing device such as a microcomputer including a CPU and a memory such as a ROM and a RAM. The second terminal unit  18   c  is connected to the receiver unit  10  side. 
     In the case of the present example corresponding to the bus communication, the first terminal unit  18   a  and the second terminal unit  18   c  are configured to be capable of connecting to bus wiring lines. A bus wiring line from the three-forked hub H 2  is connected to the first terminal unit  18   a . A bus wiring line connected to the second terminal unit  18   c  is connected to the three-forked hub H 3 . As a result, the control unit  18   b  in the telemetry adapter  18  is made capable of communicate with the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2  via the first terminal unit  18   a  and the three-forked hub H 2 . The control unit  18   b  in the telemetry adapter  18  is also made capable of communicate with the steered side control unit  12  in the receiver unit  10  via the second terminal unit  18   c  and the three-forked hub H 3 . 
     In the telemetry adapter  18 , a steering signal transmitted from the steering wireless device  2  is received by the control unit  18   b  via the receiver unit  10  and the second terminal unit  18   c . The control unit  18   b  outputs the received steering signal to the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2  side via the first terminal unit  18   a . When requesting detected signals of the sensors S 1  and S 2 , the steering wireless device  2  issues a sensor-detected signal request, which will be described later. The sensor-detected signal request is also received by the control unit  18   b  via the receiver unit  10  and the second terminal unit  18   c . The control unit  18   b  outputs the received sensor-detected signal request to the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2  side via the first terminal unit  18   a . In addition, in a case where the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2  output a sensor-detected signal in response to the sensor-detected signal request, the sensor-detected signal is transmitted to the control unit  18   b  via the first terminal unit  18   a.    
     In this way, via the first terminal unit  18   a , a steering signal and the sensor-detected signal request from the steering wireless device  2  are transmitted to the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2  connected via the first terminal unit  18   a . Via the first terminal unit  18   a , sensor-detected signals output by the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2  are also transmitted. 
     The first terminal unit  18   a  is formed in the same casing as that of the control unit  18   b . The first terminal unit  18   a  is an input/output unit of the telemetry adapter  18 , which outputs the received sensor-detected signal directly to the control unit  18   b.    
     The first terminal unit  18   a  is configured to facilitate attaching/detaching of the wiring line (in the present example, the bus wiring line). Connection and detaching between the telemetry adapter  18  and the three-forked hub H 2  (or servomotor) can be conducted easily. As a result, the main plane unit  1   b  can be attached to/detached from the main body unit  1   a  easily. 
       FIG. 4  is a flow chart illustrating processing concerning a function of giving a notice that connection of the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2  provided in the main plane unit  1   b  is forgotten, included in processing executed in the wireless steering system in the embodiment. 
     In  FIG. 4 , first, the steering side control unit  20  in the steering wireless device  2  issues a sensor-detected signal request to the steered side control unit  12  to request detected signals of the sensor S 1  and the sensor S 2  in step S 101 . The steering side control unit  20  issues the sensor-detected signal request repeatedly, for example, at predetermined time intervals. Or the steering side control unit  20  issues the sensor-detected signal request in response to, for example, an operation input (for example, an operation input commanding display of detected signals of the sensors S 1  and S 2 ) conducted by the steering person. 
     If the sensor-detected signal request issued in step S 101  is received by the steered side communication unit  11 , the steered side control unit  12  in the steered device  1  transfers the sensor-detected signal request to the control unit  18   b  in the telemetry adapter  18  in step S 102 . 
     Upon receiving the sensor-detected signal request transferred in step S 102  via the second terminal unit  18   c , the control unit  18   b  outputs the sensor-detected signal request via the first terminal unit  18   a  in step S 103 . As a result, the sensor-detected signal request is issued to the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2 . 
     In subsequent step S 104 , the control unit  18   b  determines whether sensor-detected signals from the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2  are acquired in response to the sensor-detected signal request output in step S 103 . For example, the determination processing in step S 104  is conducted by determining whether a sensor-detected signal is acquired within a predetermined time since the sensor-detected signal request is output in step S 103 . 
     In a case where it is determined in step S 104  that sensor-detected signals from the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2  are acquired, the control unit  18   b  proceeds to step S 105 , transmits the sensor-detected signals to the steered side control unit  12 , and finishes the processing illustrated in  FIG. 4 . 
     On the other hand, in a case where it is determined that sensor-detected signals from the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2  are not acquired, the control unit  18   b  proceeds to step S 106 . In step S 106 , the control unit  18   b  generates a connection error signal, which represents that the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2  are not connected to the main body unit  1   a , transmits the connection error signal to the steered side control unit  12 , and finishes the processing illustrated in  FIG. 4 . 
     In response to the transfer of the sensor-detected signal request to the telemetry adapter  18  in preceding step S 102 , the steered side control unit  12  waits for reception of a signal from the telemetry adapter  18  side (that is, reception of either the sensor-detected signal or the connection error signal) in step S 107 . In a case where a signal is received from the telemetry adapter  18  side, the steered side control unit  12  transmits the signal received in step S 108  to the steering side control unit  20 , and finishes the processing illustrated in  FIG. 4 . 
     In response to issuance of the sensor-detected signal request in preceding step S 101 , the steering side control unit  20  determines whether the sensor-detected signal is received from the steered side control unit  12  in step S 109 . In a case where the sensor-detected signal is received, the steering side control unit  20  proceeds to step S 110 , conducts the display control processing in the display unit  23  according to the sensor-detected signal, and finishes the processing illustrated in  FIG. 4 . 
     On the other hand, in a case where the sensor-detected signal is not received, the steering side control unit  20  proceeds to step S 111 , and determines whether the connection error signal is received from the steered side control unit  12 . In a case where the connection error signal is not received, the steering side control unit  20  finishes the processing illustrated in  FIG. 4 . 
     In a case where the connection error signal is received, the steering side control unit  20  proceeds to step S 112 , conducts connection error notice processing, and finishes the processing illustrated in  FIG. 4 . As the connection error notice processing in step S 112 , the steering side control unit  20  conducts, for example, processing of causing the display unit  23  to display predetermined information representing that the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2  are not connected. 
     In a case where the connection error signal is not received in step S 111 , the steering side control unit  20  may return to step S 101  after waiting for a predetermined time, and issue the sensor-detected signal request again. 
     The case where the telemetry adapter  18  performs the function of generating and transmitting the connection error signal in response to a result of determination whether the sensor-detected signal is acquired from the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2  has been described above as an example. As represented by a steered device  1 A illustrated in  FIG. 5 , however, the telemetry adapter  18  may be omitted and a receiver unit  10 A, which performs the function, may be provided instead of the receiver unit  10 . 
     In the steered device  1 A in this case, a bus wiring line from the three-forked hub H 2  is connected to the three-forked hub H 3  as illustrated in  FIG. 5 . In the receiver unit  10 A, a steered side control unit  12 A is provided instead of the steered side control unit  12 . In  FIG. 5 , a terminal unit for bus wiring line connection provided in the receiver unit  10 A is represented as first terminal unit  10 Aa. A bus wiring line from the three-forked hub H 3  is connected to the first terminal unit  10 Aa, and the steered side control unit  12 A is made capable of communicating with the servomotor side. 
     In this case, the steered side control unit  12 A conducts processing similar to the processing in the control unit  18   b  illustrated in  FIG. 4 . Specifically, as illustrated in a flow chart in  FIG. 6 , the steered side control unit  12 A executes processing similar to the processing in step S 103  to S 106  described earlier, in response to reception of sensor-detected signal request from the steering side control unit  101 . 
     In step S 103  in this case, the steered side control unit  12 A outputs the received sensor-detected signal request via the first terminal unit  10 Aa. In this case, a transmission destination of the sensor-detected signal and the connection error signal respectively in step S 105  and step S 106  becomes the steering side control unit  20 . 
     Processing (S 109  to S 112 ) executed by the steering side control unit  20  in response to issuance of the request in step S 101  becomes the same processing described earlier with reference to  FIG. 4 . Therefore, description will be omitted. 
     As described above, a communication device (the telemetry adapter  18  or the receiver unit  10 A) includes the first terminal unit (the first terminal unit  18   a  or the first terminal unit  10 Aa). The first terminal unit is connected to the actuator devices having sensors (the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2 ). Transmission of the steering signal transmitted from the steering wireless device (the steering wireless device  2 ) to the actuator devices, and transmission of detected signal detected by the sensors in the actuator devices are conducted via the first terminal unit 
     Furthermore, the communication device includes the control unit (the control unit  18   b  or the steered side control unit  12 A). The control unit conducts processing to generate the connection error signal representing that the actuator devices are not connected on the basis of a result of determination whether the detected signal is acquired from the actuator devices via the first terminal unit, and transmit the connection error signal to the steering wireless device side. 
     As a result, confirmation of connection of the actuator devices is conducted on the basis of whether the sensor-detected signal is acquired via the terminal unit for transmitting the steering signal or the sensor-detected signal with the actuator device. 
     Therefore, a wireless steering system capable of notifying that connection of the actuator devices is forgotten can be implemented without providing terminals for conduction confirmation additionally. 
     Furthermore, it is possible to implement a wireless steering system capable of notifying that connection of the actuator devices is forgotten without forcing the user to purchase new actuator devices having terminals for conduction confirmation. 
     Furthermore, the communication device in the embodiment includes the second terminal unit (the second terminal unit  18   c ) connected to the receiver unit (the receiver unit  10 ) side including the communication unit (the steered side communication unit  11 ), which conducts wireless communication with the steering wireless device. 
     The communication device is inserted between the receiver unit and the actuator devices and used as represented by the telemetry adapter  18  illustrated in  FIG. 3 . 
     In implementing the wireless steering system capable of giving a notice that connection of the actuator devices is forgotten without providing terminals for conduction confirmation additionally, therefore, the existing receiver unit and actuator devices can be applied. In other words, it is possible to implement the wireless steering system capable of notifying that connection of the actuator devices is forgotten without providing terminals for conduction confirmation additionally, by only adding the communication device (telemetry adapter) in the existing wireless steering system. 
     In addition, the communication device includes the communication unit (the steered side communication unit  11 ), which conducts wireless communication with the steering wireless device. 
     The communication device is equivalent to a receiver unit having a communication unit to conduct wireless communication with the steering wireless device, such as the receiver unit  10 A illustrated in  FIG. 5 . 
     In implementing the wireless steering system capable of notifying that connection of the actuator devices is forgotten without providing a terminal for conduction confirmation additionally, therefore, it is not necessary to mount an additional device such as the telemetry adapter  18  on the steered device, resulting in reduction in the number of devices in the steered device and weight reduction. 
     Furthermore, the steered device (the steered device  1  or the steered device  1 A) includes actuator devices having sensors (the first aileron servomotor  17 - 1  and the second aileron servomotor  17 - 2 ). The steered device (the steered device  1  or the steered device  1 A) in the embodiments further includes the communication device. The communication device includes the first terminal unit (the first terminal unit  18   a  or the first terminal unit  10 Aa). The first terminal unit is connected to the actuator devices side. Transmission of the steering signal transmitted from the steering wireless device (the steering wireless device  2 ) to the actuator devices, and transmission of detected signal detected by the sensors in the actuator devices are conducted via the first terminal unit. The communication device further includes the control unit (the control unit  18   b  or the steered side control unit  12 A). The control unit conducts processing to generate the connection error signal representing that the actuator devices are not connected on the basis of a result of determination whether a detected signal is acquired from the actuator devices via the first terminal unit, and transmit the connection error signal to the steering wireless device side. 
     In such a steered device as well, confirmation of connection of the actuator devices is conducted on the basis of whether the sensor-detected signal is acquired via the terminal unit for transmitting the steering signal and the sensor-detected signal with the actuator devices, in the same way as the communication device described above. 
     Therefore, the same effects as those of the communication device described above can be obtained. 
     In addition, in the steered device, a portion (the main plane unit  1   b ) is made capable of being attached to/detached from the main body unit (the main body unit  1   a ). The actuator devices are disposed in the portion, and the communication device is disposed in the main body unit. 
     As a result, it is possible to notify that connection of the actuator devices disposed in the portion of the steered device to the main body unit side is forgotten. 
     Heretofore, embodiments according to the present invention have been described. However, the present invention should not be restricted to the above-describe concrete examples, but various modification are conceivable. 
     For example, the form of the steered device to which the present invention is applied is not restricted to the form of the airplane exemplified above, but it may be a form such as a helicopter, a vehicle, a ship or a robot. A concrete form is not especially restricted. 
     The actuator devices are not restricted to motor devices such as servomotors. The actuator devices may be devices having other actuators such as solenoids or piezoelectric elements. 
     In the foregoing description, the case where the communication device according to the present invention is set to be a device corresponding to bus communication (the case where the first terminal unit is set to be a terminal unit to which bus wiring lines can be connected) has been exemplified. However, correspondence to the bus communication is not indispensable. The present invention can also be suitably applied to a case where a communication method other than bus communication is adopted, such as a case where communication is conducted via wiring lines provided independently every channel of the steering signal. 
     In the foregoing description, the case where a notice of a connection error is given by display has been exemplified. However, the notice using a sound may be given by providing a voice output unit such as a speaker.