CN107128480B - Aircraft foot stool control system and method - Google Patents
Aircraft foot stool control system and method Download PDFInfo
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- CN107128480B CN107128480B CN201610121438.4A CN201610121438A CN107128480B CN 107128480 B CN107128480 B CN 107128480B CN 201610121438 A CN201610121438 A CN 201610121438A CN 107128480 B CN107128480 B CN 107128480B
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- 238000000034 method Methods 0.000 title claims abstract description 58
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 238000011084 recovery Methods 0.000 claims description 36
- 230000007246 mechanism Effects 0.000 claims description 27
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 25
- 238000004064 recycling Methods 0.000 claims description 18
- 230000001960 triggered effect Effects 0.000 claims description 6
- 239000000126 substance Substances 0.000 claims description 5
- 230000008569 process Effects 0.000 abstract description 2
- 230000002452 interceptive effect Effects 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/24—Operating mechanisms electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/26—Control or locking systems therefor
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- Aviation & Aerospace Engineering (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
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Abstract
The invention discloses an aircraft foot stool control method and system. The method comprises the following steps: the foot rest control module controls the foot rest driving motor to drive the foot rest of the aircraft to unfold, and when the foot rest of the aircraft unfolds to a supporting position, the foot rest control module controls the foot rest driving motor to stop driving the foot rest of the aircraft to unfold continuously; the foot rest control module controls the foot rest driving motor to drive the aircraft foot rest to be recovered, and when the aircraft foot rest is recovered to the folding position, the foot rest control module controls the foot rest driving motor to stop driving the aircraft foot rest to continue to be recovered. The invention realizes that the foot rest of the aircraft can be stored and stored conveniently when not used, and can be automatically recovered in the flying process, thereby not interfering the work of the aircraft such as the nodding detection and the like. The aircraft foot rest can be automatically unfolded to the supporting position in time before landing by combining the height feedback of the height detection module or the remote control of the remote controller, and then reliable guarantee is provided for the stable support of the aircraft on the landing surface.
Description
Technical Field
The invention relates to an aircraft manufacturing technology, in particular to an aircraft foot stool control method and system capable of controlling unfolding and folding of an aircraft foot stool.
Background
At present, an aircraft or an unmanned aerial vehicle is widely applied to social life, close-range observation is carried out on places where people are difficult to reach, or overhead shooting is carried out, and convenience is provided for observation and shooting.
The existing aircraft is often composed of an aircraft body and a horn extending outwards from the aircraft body, wherein the outer end part of the horn is provided with a motor and a propeller so as to drive the aircraft to fly, and the lower part of the aircraft is also provided with a foot rest so as to facilitate landing of the aircraft.
However, in the existing aircraft, the extended arms and the foot rests are fixedly connected with the fuselage, and after the aircraft is used, the arms are expanded greatly, so that the aircraft has high requirements on storage space.
Therefore, it has become an important research direction to design an aircraft that is easy to store when not in use. Meanwhile, in order to realize such an aircraft, for example, a framework mechanism of the aircraft, an arm locking driving mechanism of the aircraft, which enables the arm of the aircraft to be unfolded and retracted, an arm of the aircraft, and a foot stool driving mechanism of the aircraft, which enables the foot stool of the aircraft to be unfolded and retracted, need to be newly developed.
Disclosure of Invention
In view of the above, the invention provides a method and a system for controlling an aircraft foot rest, so as to realize automatic opening and closing of the aircraft foot rest and solve the problems of inconvenient storage, inconvenient flight control and the like caused by the existing aircraft foot rest which cannot be opened and closed.
The technical scheme of the invention is realized as follows:
an aircraft foot stool control method comprises an aircraft foot stool unfolding method and an aircraft foot stool recycling method, wherein the aircraft foot stool unfolding method comprises the following steps:
the unfolding method of the aircraft foot rest comprises the following steps:
the foot rest control module controls the aircraft foot rest driving motor to unfold the aircraft foot rest after receiving the foot rest unfolding instruction;
when the aircraft foot rest is unfolded to the supporting position, the foot rest control module controls the aircraft foot rest driving motor to stop unfolding the aircraft foot rest;
the aircraft foot stool recovery method comprises the following steps:
after receiving a foot stool recovery instruction, the foot stool control module controls the aircraft foot stool driving motor to recover the aircraft foot stool;
when the aircraft foot rest is recovered to the furling position, the foot rest control module controls the aircraft foot rest driving motor to stop recovering the aircraft foot rest.
Further, in the unfolding method of the aircraft foot rest, after the unfolding of the aircraft foot rest is stopped, the unfolding method of the aircraft foot rest further includes:
the foot stand control module controls the aircraft foot stand locking motor to drive the aircraft foot stand locking mechanism to lock the aircraft foot stand in the supporting state.
Further, in the aircraft foot stool recovery method, after the foot stool control module receives the foot stool recovery instruction and before controlling the aircraft foot stool driving motor to recover the aircraft foot stool, the aircraft foot stool recovery method further includes:
the foot rest control module controls the aircraft foot rest locking motor to drive the aircraft foot rest locking mechanism to unlock the aircraft foot rest.
Further, in the unfolding method of the aircraft foot stand:
the foot rest control module determines that the aircraft foot rest is unfolded to the supporting position by using feedback of a first micro switch triggered when the aircraft foot rest is unfolded to the supporting position.
Further, in the aircraft foot stool recovery method:
the foot rest control module determines that the aircraft foot rest is recovered to the furling position by using feedback of a microswitch triggered when the aircraft foot rest is recovered to the furling position.
Further, the foot rest control module determines that the aircraft foot rest is unfolded to a supporting position or retracted to a furling position by using a signal fed back by a potentiometer, wherein a knob is coaxial with a crankshaft of the aircraft foot rest driving motor and synchronously rotates along with the crankshaft.
Further, the aircraft foot stool control method further comprises the following steps:
detecting the flight height of the aircraft;
when the flying height of the aircraft is lower than the preset height, sending a foot stand unfolding instruction to the foot stand control module;
and when the flying height of the aircraft is higher than the preset height, sending a foot stool recovery instruction to the foot stool control module.
An aircraft foot rest control system comprising:
the foot rest control module is used for controlling the aircraft foot rest driving motor to unfold the aircraft foot rest after receiving a foot rest unfolding instruction, and controlling the aircraft foot rest driving motor to stop unfolding the aircraft foot rest when the aircraft foot rest is unfolded to a supporting position; after receiving the foot stool recovery instruction, controlling an aircraft foot stool driving motor to recover the aircraft foot stool, and when the aircraft foot stool is recovered to a furling position, controlling the aircraft foot stool driving motor to stop recovering the aircraft foot stool;
the aircraft foot stool driving motor is installed on a framework of the aircraft and used for unfolding or recycling the aircraft foot stool under the control of the foot stool control module.
Further, the aircraft foot rest control system also comprises an aircraft foot rest locking motor and an aircraft foot rest locking mechanism; wherein the content of the first and second substances,
the foot rest control module is also used for controlling the aircraft foot rest locking motor to drive the aircraft foot rest locking mechanism to lock the aircraft foot rest in the supporting state after the aircraft foot rest is stopped to be unfolded;
the aircraft foot stand locking motor is used for driving the aircraft foot stand locking mechanism to lock the aircraft foot stand in the supporting state under the control of the foot stand control module.
The foot rest control module is further used for controlling the aircraft foot rest locking motor to drive the aircraft foot rest locking mechanism to unlock the aircraft foot rest after receiving the foot rest recovery instruction and before controlling the aircraft foot rest driving motor to recover the aircraft foot rest;
the aircraft foot rest locking motor is also used for driving the aircraft foot rest locking mechanism to unlock the aircraft foot rest under the control of the foot rest control module.
Further, the aircraft foot rest control system further comprises a first microswitch; wherein the content of the first and second substances,
the first microswitch is arranged on a framework of the aircraft and is electrically connected to the foot rest control module, and when the aircraft foot rest is unfolded to a supporting position, the aircraft foot rest triggers the first microswitch, so that the first microswitch sends a first feedback signal to the foot rest control module;
and after receiving the first feedback signal, the foot stand control module determines that the aircraft foot stand is unfolded to the supporting position.
Further, the aircraft foot rest control system further comprises a second microswitch; wherein the content of the first and second substances,
the second microswitch is arranged on a framework of the aircraft and is electrically connected to the foot rest control module, and when the aircraft foot rest is recovered to a furled position, the aircraft foot rest triggers the second microswitch, so that the second microswitch sends a second feedback signal to the foot rest control module;
and after receiving the second feedback signal, the foot rest control module determines that the aircraft foot rest is recovered to a furling position.
Further, the aircraft foot rest control system further comprises:
the potentiometer is arranged on a framework of an aircraft, a knob of the potentiometer is coaxial with a crankshaft of the aircraft foot rest driving motor and rotates synchronously with the crankshaft, and is used for sending a third feedback signal to the foot rest control module when the aircraft foot rest is unfolded to a supporting position and sending a fourth feedback signal to the foot rest control module when the aircraft foot rest is recovered to a furled position;
and the foot rest control module determines that the aircraft foot rest is unfolded to a supporting position after receiving the third feedback signal, and determines that the aircraft foot rest is recovered to a furling position after receiving the fourth feedback signal.
Further, the foot rest unfolding instruction and the foot rest recycling instruction are sent out by a flight control module of the aircraft;
the aircraft foot rest control system further comprises:
the height detection module is used for measuring the flying height of the aircraft and sending the flying height of the aircraft to the flying control module;
the flight control module judges the flight height of the aircraft, when the flight height of the aircraft is lower than a preset height, the flight control module sends a foot rest unfolding instruction to the foot rest control module, and when the flight height of the aircraft is higher than the preset height, the flight control module sends a foot rest recycling instruction to the foot rest control module.
Further, the foot rest unfolding instruction and the foot rest recycling instruction are sent out by a flight control module of the aircraft;
the aircraft foot rest control system further comprises:
the foot stool remote control module is used for remotely sending a foot stool unfolding command and a foot stool recycling command to the flight control module;
after the flight control module receives a foot stand unfolding command, sending a foot stand unfolding instruction to the foot stand control module; and after the flight control module receives a foot stand recovery command, sending a foot stand recovery command to the foot stand control module.
According to the scheme, the aircraft foot rest control method and the aircraft foot rest control system achieve automatic opening and closing of the aircraft foot rest, on one hand, the aircraft foot rest can be automatically opened and closed, and further the aircraft foot rest can be stored and stored conveniently when not in use, the problem that the existing aircraft cannot be opened and closed due to the fact that the foot rest is fixed is solved, on the other hand, the aircraft foot rest can be automatically recovered in the air when the aircraft flies, and further the recovered aircraft foot rest cannot be supported outside an aircraft body to further cause interference to work such as overhead shooting and detection of the aircraft. In addition, the aircraft foot rest can be automatically opened, and then the aircraft foot rest can be automatically unfolded to the supporting position in time before the aircraft lands by combining the height feedback of the height detection module or the remote control of the remote controller, so that the reliable guarantee is provided for the stable support of the aircraft on the landing surface.
Drawings
FIG. 1 is a schematic illustration of an aircraft utilized in an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a foot rest driving mechanism of an aircraft according to an embodiment of the present invention;
FIG. 3 is a schematic view of a foot rest structure of an aircraft according to an embodiment of the present invention;
FIG. 4 is a flow chart of an aircraft foot rest control method of the present invention;
FIG. 5 is a schematic view of a first embodiment of an aircraft foot rest control system according to an embodiment of the invention;
FIG. 6 is a schematic view of a second embodiment of an aircraft foot rest control system according to an embodiment of the invention;
FIG. 7 is a schematic diagram of an embodiment of the invention corresponding to one specific application of FIG. 5;
fig. 8 is a schematic diagram of an embodiment of the invention corresponding to a specific application of fig. 6.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and examples.
Fig. 1 shows an aircraft with a foot rest control device used in an embodiment of the present invention, the aircraft deploys the horn and the foot rest to perform flight operations and landing support when in use, the horn and the foot rest are accommodated in the housing of the horn when not in use, and the entire housing, together with the horn cover plate and the foot rest cover plate exposed after the horn and the foot rest are accommodated, form an ellipsoid shape, thereby protecting the internal devices, the horn and the foot rest of the aircraft when not in use, facilitating the placement of the aircraft after the horn and the foot rest are accommodated, and saving the placement space of the aircraft.
The aircraft comprises a shell 1, an aircraft foot rest 2, an arm 3 and a framework 4. The shell 1 is fixedly installed on the framework 4, the shell 1 is provided with an outer envelope surface in a closed curved surface shape, and the shell 1 is provided with a foot rest open slot and a machine arm open slot. The aircraft foot rest 2 is rotatably installed on the framework 4 at the foot rest opening groove, and the aircraft foot rest 2 has the freedom degree of extending out of the shell 1 from the foot rest opening groove or retracting into the shell 1. The horn 3 is rotatably mounted to the frame 4 at the horn opening groove, and the horn 3 has a degree of freedom extending from the horn opening groove to the outside of the housing 1 or retracting to the inside of the housing 1.
In the embodiment of the invention, the number of the foot rests 2 and the foot rest open grooves of the aircraft and the number of the horn 3 and the horn open grooves are multiple. The aircraft foot rest 2 and the horn 3 are alternately arranged, and the foot rest open slot and the horn open slot are alternately arranged. Further, the number of the aircraft foot rests 2 is the same as that of the horn 3, and the number of the foot rest open grooves is the same as that of the horn open grooves. Further, the number of the aircraft foot rest 2, the aircraft arm 3, the foot rest open slot and the aircraft arm open slot is four.
Fig. 2 shows a foot rest drive mechanism of the aircraft in the present invention. The foot stool driving mechanism 71 includes a steering gear 711 and a gear group 712. The steering engine 711 is fixed to the framework 4 of the aircraft through a foot stand mounting seat. The gear group 712 is installed between the crankshaft of the steering gear 711 and the rotating shaft 21 of the aircraft foot stand to control the extension and the retraction of the aircraft foot stand 2 under the action of the steering gear 711.
Wherein the gear set 712 includes a first drive gear 7121 and a second drive gear 7122. The first transmission gear 7121 is installed on a crankshaft of the steering gear 711, and rotates along with the rotation of the crankshaft of the steering gear 711. The second transmission gear 7122 is installed on an aircraft foot stool rotating shaft 21, the second transmission gear 7122 is meshed with the first transmission gear 7121, and the first transmission gear 7121 rotates to drive the second transmission gear 7122 to rotate, so that the unfolding and the recovery of the aircraft foot stool 2 are controlled.
Fig. 3 is a schematic structural view of the aircraft foot rest 2 according to the present invention, as shown in fig. 3 and fig. 2, the aircraft foot rest rotating shaft 21 is provided with a limiting surface 211, and the second transmission gear 7122 limits the relative rotation between the second transmission gear 7122 and the aircraft foot rest rotating shaft 21 through the limiting surface 211, so that the aircraft foot rest 2 can be unfolded and retracted along with the rotation of the second transmission gear 7122.
Fig. 4 shows a flowchart of an aircraft foot stool control method in the embodiment of the invention, and as shown in fig. 4, the aircraft foot stool control method of the invention includes:
step 1, the foot stool control module waits for receiving an instruction, and enters step 2 or step 2' according to the received instruction;
step 2 ', after the foot stool control module receives a foot stool recovery instruction, controlling an aircraft foot stool driving motor to recover the aircraft foot stool, and then entering step 3';
and 3', when the aircraft foot stool is recovered to a furling position, the foot stool control module controls the aircraft foot stool driving motor to stop recovering the aircraft foot stool, and then the step 1 is returned.
In the aircraft foot stool control method, the steps 2 to 3 are an unfolding method of the aircraft foot stool, and the steps 2 'to 3' are a recovery method of the aircraft foot stool.
Wherein, in the unfolding method of the aircraft foot rest, after the unfolding of the aircraft foot rest is stopped, namely after step 3 is completed and before step 1 is returned, the unfolding method of the aircraft foot rest further comprises the following steps:
and 4, controlling an aircraft foot stand locking motor by a foot stand control module to drive an aircraft foot stand locking mechanism to lock the aircraft foot stand in the supporting state, and then returning to the step 1.
In the aircraft foot stool recycling method, after the foot stool control module receives the foot stool recycling instruction and before the foot stool control module controls the aircraft foot stool driving motor to recycle the aircraft foot stool (i.e., in step 2', after the foot stool control module receives the foot stool recycling instruction and before the aircraft foot stool driving motor is controlled to recycle the aircraft foot stool), the aircraft foot stool recycling method further includes:
the foot rest control module controls the aircraft foot rest locking motor to drive the aircraft foot rest locking mechanism to unlock the aircraft foot rest.
In a specific embodiment of the invention, the final stop position of the unfolding and the folding of the aircraft foot rest is controlled by a microswitch arranged on the framework of the aircraft, when the aircraft foot rest is unfolded to the supporting position or folded to the folding position, the corresponding microswitch is just touched, and then the touched microswitch feeds back a corresponding signal to the foot rest control module to indicate that the aircraft foot rest is unfolded to the supporting position or folded to the folding position, and further triggers the foot rest control module to send a stop signal to the aircraft foot rest driving motor.
Specifically, in the embodiment of the aircraft foot stool control method of the invention: in the unfolding method of the aircraft foot rest, the foot rest control module determines that the aircraft foot rest is unfolded to the supporting position by using the feedback of a first microswitch triggered when the aircraft foot rest is unfolded to the supporting position; in the aircraft foot stool recovery method: the foot rest control module determines that the aircraft foot rest is recovered to the furling position by using feedback of a microswitch triggered when the aircraft foot rest is recovered to the furling position.
In another embodiment of the invention, the final stop position for the deployment and recovery of the aircraft foot rests can be determined by a potentiometer provided with a knob coaxial with the crankshaft of the aircraft foot rest drive motor and rotating synchronously with said crankshaft. Because the change of the rotation angle of the knob of the potentiometer can lead to the change of the output voltage of the potentiometer, when the foot rest of the aircraft is at the supporting position, at the furling position and at the state between the furling position and the furling position, the output voltage of the potentiometer is different, and then whether the aircraft is unfolded to the supporting position or whether the aircraft is recovered to the furling position can be judged by judging the size of the output voltage of the potentiometer.
Specifically, in the embodiment of the aircraft foot stool control method of the invention: in the unfolding method of the aircraft foot rest, the foot rest control module determines that the aircraft foot rest is unfolded to the supporting position by using the feedback of the potentiometer when the aircraft foot rest is unfolded to the supporting position; in the aircraft foot stool recovery method: the foot rest control module determines that the aircraft foot rest is recovered to the furling position by using the feedback of the potentiometer when the aircraft foot rest is recovered to the furling position.
In addition, in order to realize the automatic control of the unfolding and the recovery of the aircraft foot rest in the flying process of the aircraft, the aircraft foot rest control method further comprises the following steps:
step a, detecting the flight height of an aircraft;
b, when the flying height of the aircraft is lower than a preset height, sending a foot stand unfolding instruction to the foot stand control module;
and c, when the flying height of the aircraft is higher than the preset height, sending a foot stand recovery instruction to the foot stand control module.
The preset height range may be set to any height value between 0.5 m and 5 m, for example, 0.5 m, 1 m, 1.5 m, 2 m, 2.5 m, 3 m, 3.5 m, 4 m, 4.5 m, 5 m, etc.
The invention also provides an aircraft foot rest control system, as shown in fig. 5, comprising a foot rest control module 51 and an aircraft foot rest drive motor 52. The foot stand control module 51 is used for controlling the aircraft foot stand driving motor 52 to unfold the aircraft foot stand 2 after receiving a foot stand unfolding instruction; when the aircraft foot stand 2 is unfolded to the supporting position, controlling an aircraft foot stand driving motor 52 to stop unfolding the aircraft foot stand 2; and after receiving the foot stool recovery instruction, the foot stool control module 51 controls the aircraft foot stool driving motor 52 to recover the aircraft foot stool 2, and when the aircraft foot stool 2 is recovered to the furled position, controls the aircraft foot stool driving motor 52 to stop recovering the aircraft foot stool 2. The aircraft foot stool driving motor 52 is installed on the framework of the aircraft and used for unfolding or recycling the aircraft foot stool 2 under the control of the foot stool control module 51. For the aircraft foot stool driving motor 52, for example, the steering engine 711 shown in fig. 2, and specifically, the steering engine 711 is used to drive the aircraft foot stool 2, as shown in fig. 2 and described above.
With continued reference to fig. 5, the aircraft foot stand control system further includes an aircraft foot stand locking motor 53 and an aircraft foot stand locking mechanism 54. The foot stand control module 51 is further configured to control the aircraft foot stand locking motor 53 to drive the aircraft foot stand locking mechanism 54 to lock the aircraft foot stand 2 in the supporting state after the unfolding of the aircraft foot stand 2 is stopped. The aircraft foot stand locking motor 53 is used for driving the aircraft foot stand locking mechanism 54 to lock the aircraft foot stand 2 in the supporting state under the control of the foot stand control module 51.
The foot stand control module 51 is further configured to control the aircraft foot stand locking motor 53 to drive the aircraft foot stand locking mechanism 54 to unlock the aircraft foot stand 2 after receiving the foot stand recovery instruction and before controlling the aircraft foot stand driving motor 52 to recover the aircraft foot stand 2. The aircraft foot stand locking motor 53 is further configured to drive the aircraft foot stand locking mechanism 54 to unlock the aircraft foot stand 2 under the control of the foot stand control module 51.
With continued reference to fig. 5, the aircraft foot stand control system further includes a first microswitch 55. The first microswitch 55 is mounted on the framework of the aircraft and electrically connected to the foot rest control module 51, and when the aircraft foot rest is unfolded to the supporting position, the aircraft foot rest triggers the first microswitch 55, so that the first microswitch 55 sends a first feedback signal to the foot rest control module 51. After receiving the first feedback signal, the foot stand control module 51 determines that the aircraft foot stand is unfolded to the supporting position, and then sends an unfolding stop signal to the aircraft foot stand driving motor 52.
The aircraft foot stand control system also includes a second microswitch 56. The second microswitch 56 is mounted on the framework of the aircraft and electrically connected to the foot rest control module 51, and when the aircraft foot rest is retracted to the stowed position, the aircraft foot rest triggers the second microswitch 56, so that the second microswitch 56 sends a second feedback signal to the foot rest control module 51. After receiving the second feedback signal, the foot rest control module 51 determines that the aircraft foot rest is recovered to the furled position, and then sends a recovery stop signal to the aircraft foot rest driving motor 52.
In the embodiment of the invention, with continued reference to fig. 5, the foot stand deployment command and the foot stand retraction command are issued by a flight control module 6 of the aircraft. In the embodiment of the present invention, the aircraft foot stool control system further includes a height detection module 57. The altitude detection module 57 is configured to measure the flying altitude of the aircraft and send the flying altitude of the aircraft to the flight control module 6. The flight control module 6 determines the flight height of the aircraft, and when the flight height of the aircraft is lower than a preset height, the flight control module 6 sends a foot rest unfolding instruction to the foot rest control module 51, and when the flight height of the aircraft is higher than the preset height, the flight control module 6 sends a foot rest recycling instruction to the foot rest control module 51.
In addition, in the embodiment of the present invention, the aircraft foot stool control system further includes a foot stool remote control module 58. The foot stand remote control module 58 is configured to remotely issue a foot stand unfolding command and a foot stand retrieving command to the flight control module 6, where the foot stand unfolding command and the foot stand retrieving command cannot be issued simultaneously. After receiving a foot stand unfolding command, the flight control module 6 sends a foot stand unfolding instruction to the foot stand control module 51; after receiving the foot stand recovery command, the flight control module 6 sends a foot stand recovery command to the foot stand control module 51.
Fig. 6 shows a schematic structural diagram of another embodiment of the foot stool control device of the invention. In the embodiment shown in fig. 6, a potentiometer 59 is used to replace the first microswitch 55 and the second microswitch 56 for signal feedback to determine whether the aircraft foot rest 2 is unfolded to the supporting position or retracted to the folded position. Specifically, the potentiometer 59 is installed on a framework of an aircraft, a knob of the potentiometer 59 is coaxial with a crankshaft of the aircraft foot stool driving motor 52 and rotates synchronously with the crankshaft, and the potentiometer 59 is used for sending a third feedback signal to the foot stool control module 51 when the aircraft foot stool 2 is unfolded to a supporting position and sending a fourth feedback signal to the foot stool control module 51 when the aircraft foot stool 2 is retracted to a retracted position. The foot rest control module 51 determines that the aircraft foot rest 2 is unfolded to the supporting position after receiving the third feedback signal, and determines that the aircraft foot rest 2 is recovered to the furling position after receiving the fourth feedback signal.
Of course, besides the above determination of unfolding the aircraft foot rest 2 to the supporting position and the aircraft foot rest 2 to the furling position by using the micro switch or the potentiometer, other methods may be used to determine whether the aircraft foot rest 2 is in the supporting position or the furling position, for example, hall elements, gratings, etc.
Fig. 7 is a schematic structural diagram showing an embodiment of a specific application of the foot rest control device of the invention, which is applied to the aircraft shown in fig. 1, and the aircraft is provided with four aircraft foot rests (namely an aircraft foot rest 2).
The embodiment of fig. 7 is an embodiment illustration corresponding to a specific application of fig. 5, in the embodiment of fig. 7, four aircraft foot stand driving motors 52 are provided, namely, a first aircraft foot stand driving motor 521, a second aircraft foot stand driving motor 522, a third aircraft foot stand driving motor 523 and a fourth aircraft foot stand driving motor 524, the four aircraft foot stand driving motors 52 and four aircraft foot stands (a first aircraft foot stand 22, a second aircraft foot stand 23, a third aircraft foot stand 24 and a fourth aircraft foot stand 25) are in one-to-one correspondence to respectively control the folding and unfolding of the four aircraft foot stands, namely, the first aircraft foot stand driving motor 521 corresponds to the first aircraft foot stand 22 to control the folding and unfolding of the first aircraft foot stand 22, the second aircraft foot stand driving motor 522 corresponds to the second aircraft foot stand 23 to control the folding and unfolding of the second aircraft foot stand 23, a third aircraft foot stand drive motor 523 corresponds to the third aircraft foot stand 24 to control the retraction of the third aircraft foot stand 24, and a fourth aircraft foot stand drive motor 524 corresponds to the fourth aircraft foot stand 25 to control the retraction of the fourth aircraft foot stand 25.
In the embodiment of fig. 7, there are four first micro switches 55, which are a first micro switch a551, a first micro switch B552, a first micro switch C553, and a first micro switch D554, where the four first micro switches 55 are all installed on the framework of the aircraft and electrically connected to the foot rest control module 51, the four first micro switches 55 are in one-to-one correspondence with the four aircraft foot rests 2, when any one of the aircraft foot rests 2 is unfolded to the supporting position, it only touches the corresponding first micro switch 55, and then feeds back the touch signal to the foot rest control module 51 through the first micro switch 55, and then the foot rest control module 51 determines that the aircraft foot rest 2 is unfolded to the supporting position, and further sends an unfolding stop signal to the aircraft foot rest driving motor 52 corresponding to the aircraft foot rest 2.
In the embodiment of fig. 7, the number of the second micro switches 56 is four, which are respectively the second micro switch a561, the second micro switch B562, the second micro switch C563, and the second micro switch D564, the four second micro switches 56 are all installed on the framework of the aircraft and electrically connected to the foot rest control module 51, the four second micro switches 56 are in one-to-one correspondence with the four aircraft foot rests 2, when any one aircraft foot rest 2 is recovered to the furled position, only the second micro switch 56 corresponding thereto is touched by the any one of the aircraft foot rests 2, and then the any one of the aircraft foot rests is fed back to the foot rest control module 51 through the second micro switch 56, and then the foot rest control module 51 determines that the aircraft foot rest is recovered to the furled position, and further sends a recovery stop signal to the aircraft foot rest driving motor 52 corresponding to the aircraft foot rest 2.
Fig. 8 is a schematic structural diagram of another specific application example of the foot stand control device of the invention, and in the same way as fig. 7, the embodiment of fig. 8 is applied to the aircraft shown in fig. 1, and the aircraft is provided with four aircraft foot stands (namely aircraft foot stands 2). The embodiment of fig. 8 is a schematic diagram of an embodiment corresponding to a specific application of fig. 6, and is different from the embodiment of fig. 7 in that the embodiment of fig. 8 utilizes a potentiometer 59 to replace the first microswitch 55 and the second microswitch 56 for signal feedback to determine whether the aircraft foot stand 2 is unfolded to the supporting position or retracted to the folded position. In fig. 8, four potentiometers 59 are provided, namely a first potentiometer 591, a second potentiometer 592, a third potentiometer 593 and a fourth potentiometer 594, and the four potentiometers 59 correspond to the four aircraft foot rests 2 one by one, namely the first potentiometer 591 corresponds to the first aircraft foot rest 22, the second potentiometer 592 corresponds to the second aircraft foot rest 23, the third potentiometer 593 corresponds to the third aircraft foot rest 24 and the fourth potentiometer 594 corresponds to the fourth aircraft foot rest 25.
The embodiment of the invention also provides an aircraft, and the aircraft adopts the aircraft foot stool control system of the embodiment.
The aircraft foot rest control method and the aircraft foot rest control system realize automatic opening and closing of the aircraft foot rest, on one hand, the aircraft foot rest can be automatically opened and closed, so that the aircraft foot rest can be stored and stored when not in use, the problem that the existing aircraft cannot be opened and closed due to the fixed foot rest is solved, on the other hand, the aircraft foot rest can be automatically recovered in the air when the aircraft flies, and further, the recovered aircraft foot rest cannot be supported outside an aircraft body, so that interference on operations such as nodding and detection of the aircraft can be avoided. In addition, the aircraft foot rest can be automatically opened by the invention, and then the aircraft foot rest can be automatically unfolded to the supporting position in time before the aircraft lands by combining the height feedback of the height detection module or the remote control of the remote controller, so that the reliable guarantee is provided for the stable support of the aircraft on the landing surface.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (13)
1. An aircraft foot stool control method comprises an aircraft foot stool unfolding method and an aircraft foot stool recycling method, wherein the aircraft foot stool unfolding method comprises the following steps:
the unfolding method of the aircraft foot rest comprises the following steps:
the foot rest control module controls the aircraft foot rest driving motor to unfold the aircraft foot rest after receiving the foot rest unfolding instruction;
when the aircraft foot rest is unfolded to the supporting position, the foot rest control module controls the aircraft foot rest driving motor to stop unfolding the aircraft foot rest;
the aircraft foot stool recovery method comprises the following steps:
after receiving a foot stool recovery instruction, the foot stool control module controls the aircraft foot stool driving motor to recover the aircraft foot stool;
when the aircraft foot rest is recovered to the furling position, the foot rest control module controls the aircraft foot rest driving motor to stop recovering the aircraft foot rest;
wherein, in the unfolding method of the aircraft foot rest:
the foot rest control module determines that the aircraft foot rest is unfolded to the supporting position by using feedback of a first micro switch triggered when the aircraft foot rest is unfolded to the supporting position;
the first microswitch is arranged on a framework of the aircraft and electrically connected to the foot rest control module, and when the aircraft foot rest is unfolded to a supporting position, the aircraft foot rest triggers the first microswitch, so that the first microswitch sends a first feedback signal to the foot rest control module, and after the foot rest control module receives the first feedback signal, the foot rest control module determines that the aircraft foot rest is unfolded to the supporting position, and then sends an unfolding stop signal to the aircraft foot rest driving motor;
the aircraft comprises a shell, an aircraft foot rest, an arm and a framework; the shell is fixedly arranged on the framework, has an outer envelope surface in a closed curved surface shape, and is provided with a foot rest open slot and a machine arm open slot; the aircraft foot rest is rotatably installed on the framework at the foot rest opening groove and has a degree of freedom extending out of the shell from the foot rest opening groove or retracting into the shell; the horn is rotatably mounted to the framework at the horn opening slot, and the horn has a degree of freedom that extends from the horn opening slot to outside the housing or that is retracted to inside the housing; the aircraft is used for unfolding the arms and the foot stool to perform flying operation and landing support, the arms and the foot stool are contained in the shell when not used, and the whole shell, the arm covering plate and the foot stool covering plate exposed after the arms and the foot stool are contained form an ellipsoid shape together.
2. The aircraft foot rest control method according to claim 1, wherein in the deployment method of the aircraft foot rest, after the deployment of the aircraft foot rest is stopped, the deployment method of the aircraft foot rest further comprises:
the foot rest control module controls an aircraft foot rest locking motor to drive an aircraft foot rest locking mechanism to lock the aircraft foot rest in a supporting position state.
3. The aircraft foot stool control method according to claim 1, wherein in the aircraft foot stool recovery method, after the foot stool control module receives a foot stool recovery command and before controlling the aircraft foot stool drive motor to recover the aircraft foot stool, the aircraft foot stool recovery method further comprises:
the foot rest control module controls the aircraft foot rest locking motor to drive the aircraft foot rest locking mechanism to unlock the aircraft foot rest.
4. An aircraft foot stand control method according to claim 1, characterized in that in the aircraft foot stand recovery method:
the foot rest control module determines that the aircraft foot rest is recovered to the furling position by using feedback of a microswitch triggered when the aircraft foot rest is recovered to the furling position.
5. An aircraft foot rest control method according to claim 1, characterized in that:
the foot rest control module determines that the aircraft foot rest is unfolded to a supporting position or recovered to a furling position by utilizing a signal fed back by a potentiometer, wherein a knob is coaxial with a crankshaft of the aircraft foot rest driving motor and synchronously rotates along with the crankshaft.
6. The aircraft foot rest control method according to claim 1, further comprising:
detecting the flight height of the aircraft;
when the flying height of the aircraft is lower than the preset height, sending a foot stand unfolding instruction to the foot stand control module;
and when the flying height of the aircraft is higher than the preset height, sending a foot stool recovery instruction to the foot stool control module.
7. An aircraft foot rest control system, comprising:
the foot rest control module is used for controlling the aircraft foot rest driving motor to unfold the aircraft foot rest after receiving a foot rest unfolding instruction, and controlling the aircraft foot rest driving motor to stop unfolding the aircraft foot rest when the aircraft foot rest is unfolded to a supporting position; after receiving the foot stool recovery instruction, controlling an aircraft foot stool driving motor to recover the aircraft foot stool, and when the aircraft foot stool is recovered to a furling position, controlling the aircraft foot stool driving motor to stop recovering the aircraft foot stool;
the aircraft foot stool driving motor is mounted on a framework of an aircraft and used for unfolding or recycling the aircraft foot stool under the control of the foot stool control module; and
the first microswitch is arranged on a framework of the aircraft and is electrically connected to the foot rest control module, and when the foot rest of the aircraft is unfolded to a supporting position, the foot rest of the aircraft triggers the first microswitch, so that the first microswitch sends a first feedback signal to the foot rest control module;
after receiving the first feedback signal, the foot rest control module determines that the aircraft foot rest is unfolded to a supporting position, and then sends an unfolding stop signal to the aircraft foot rest driving motor;
the aircraft comprises a shell, an aircraft foot rest, an arm and a framework; the shell is fixedly arranged on the framework, has an outer envelope surface in a closed curved surface shape, and is provided with a foot rest open slot and a machine arm open slot; the aircraft foot rest is rotatably installed on the framework at the foot rest open slot and has a degree of freedom of extending from the foot rest open slot to the outside of the shell or retracting to the inside of the shell; the horn is rotatably mounted to the framework at the horn opening slot, and the horn has a degree of freedom that extends from the horn opening slot to outside the housing or that is retracted to inside the housing; the aircraft is used for unfolding the arms and the foot stool to perform flying operation and landing support, the arms and the foot stool are contained in the shell when not used, and the whole shell, the arm covering plate and the foot stool covering plate exposed after the arms and the foot stool are contained form an ellipsoid shape together.
8. An aircraft foot rest control system according to claim 7, wherein:
the aircraft foot rest control system also comprises an aircraft foot rest locking motor and an aircraft foot rest locking mechanism; wherein the content of the first and second substances,
the foot rest control module is also used for controlling the aircraft foot rest locking motor to drive the aircraft foot rest locking mechanism to lock the aircraft foot rest in a supporting position after the aircraft foot rest is stopped to be unfolded;
the aircraft foot stand locking motor is used for driving the aircraft foot stand locking mechanism to lock the aircraft foot stand in the supporting position state under the control of the foot stand control module.
9. An aircraft foot rest control system according to claim 8, wherein:
the foot rest control module is also used for controlling the aircraft foot rest locking motor to drive the aircraft foot rest locking mechanism to unlock the aircraft foot rest after receiving the foot rest recovery instruction and before controlling the aircraft foot rest driving motor to recover the aircraft foot rest;
the aircraft foot rest locking motor is also used for driving the aircraft foot rest locking mechanism to unlock the aircraft foot rest under the control of the foot rest control module.
10. The aircraft foot rest control system of claim 7, further comprising a second micro switch; wherein the content of the first and second substances,
the second microswitch is arranged on a framework of the aircraft and is electrically connected to the foot rest control module, and when the aircraft foot rest is recovered to a furled position, the aircraft foot rest triggers the second microswitch, so that the second microswitch sends a second feedback signal to the foot rest control module;
and after receiving the second feedback signal, the foot rest control module determines that the aircraft foot rest is recovered to a furling position.
11. The aircraft foot rest control system of claim 7, further comprising:
the potentiometer is arranged on a framework of an aircraft, a knob of the potentiometer is coaxial with a crankshaft of the aircraft foot rest driving motor and rotates synchronously with the crankshaft, and is used for sending a third feedback signal to the foot rest control module when the aircraft foot rest is unfolded to a supporting position and sending a fourth feedback signal to the foot rest control module when the aircraft foot rest is recovered to a furled position;
and the foot rest control module determines that the aircraft foot rest is unfolded to a supporting position after receiving the third feedback signal, and determines that the aircraft foot rest is recovered to a furling position after receiving the fourth feedback signal.
12. An aircraft foot rest control system according to claim 7, wherein:
the foot rest unfolding instruction and the foot rest recycling instruction are sent out by a flight control module of the aircraft;
the aircraft foot rest control system further comprises:
the height detection module is used for measuring the flying height of the aircraft and sending the flying height of the aircraft to the flying control module;
the flight control module judges the flight height of the aircraft, when the flight height of the aircraft is lower than a preset height, the flight control module sends a foot rest unfolding instruction to the foot rest control module, and when the flight height of the aircraft is higher than the preset height, the flight control module sends a foot rest recycling instruction to the foot rest control module.
13. An aircraft foot rest control system according to claim 7, wherein:
the foot rest unfolding instruction and the foot rest recycling instruction are sent out by a flight control module of the aircraft;
the aircraft foot rest control system further comprises:
the foot rest remote control module is used for remotely sending a foot rest unfolding command and a foot rest recycling command to the flight control module;
after the flight control module receives a foot stand unfolding command, sending a foot stand unfolding instruction to the foot stand control module; and after the flight control module receives a foot stand recovery command, sending a foot stand recovery command to the foot stand control module.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610121438.4A CN107128480B (en) | 2016-03-03 | 2016-03-03 | Aircraft foot stool control system and method |
| PCT/CN2016/092978 WO2017107493A1 (en) | 2015-12-25 | 2016-08-02 | Aircraft support leg, aircraft and control method |
| US16/090,030 US20190193844A1 (en) | 2015-12-25 | 2016-08-02 | Aircraft support leg, aircraft and control method |
| EP16877305.9A EP3412564A4 (en) | 2015-12-25 | 2016-08-02 | Aircraft support leg, aircraft and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610121438.4A CN107128480B (en) | 2016-03-03 | 2016-03-03 | Aircraft foot stool control system and method |
Publications (2)
| Publication Number | Publication Date |
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| CN107128480A CN107128480A (en) | 2017-09-05 |
| CN107128480B true CN107128480B (en) | 2022-05-10 |
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| CN201610121438.4A Expired - Fee Related CN107128480B (en) | 2015-12-25 | 2016-03-03 | Aircraft foot stool control system and method |
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| CN (1) | CN107128480B (en) |
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| CN204660019U (en) * | 2015-05-08 | 2015-09-23 | 长安大学 | Based on the electric retractable control system of pint-sized airplane undercarriage |
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