Helicopter outward opening type cargo hold door control device and method

Abstract

The invention provides a helicopter outward opening type cargo hold door control device. The device comprises a controller unit, and a display unit, an operation unit, a locking actuation system, a cabin door actuation system, a lock annunciator and a linear displacement sensor which are connected with the controller unit, meanwhile, the invention further provides a control method for the outward opening type cargo hold door of the helicopter. The cargo hold door can be electrically controlled, the situation that the cargo hold door is opened when an operator mistakenly touches the cargo hold door or does not know the flight state and the flight speed of an airplane, and the safety of personnel and a helicopter is endangered is avoided, the operation efficiency and the safety are higher, and various task requirements for opening the cargo hold door on the ground / in the air can be met.

Description

Technical Field

[0001] The present application belongs to the technical field of helicopter cabin doors, and in particular relates to a control device and method for an outward-opening cargo cabin door of a helicopter. Background Art

[0002] At present, the actuation system of the outward-opening cargo door of helicopters is mainly a hydraulic actuation system, which relies on manual operation of the solenoid valve to complete the opening and closing actions, and the opening angle of the door can only be determined by the operator's visual inspection. The operator must operate in a position where he can directly observe the opening of the tail door, or a special observer is required to command the operator in the cockpit to open and close the door, which is very inconvenient to use.

[0003] At the same time, opening the cargo door of a helicopter in the air has high requirements for the flight status and flight speed. The manual control of the solenoid valve is very likely to cause the operator to accidentally touch it or open the cargo door without understanding the flight status and flight speed of the aircraft. Once such a situation occurs, it will not only endanger the safety of people near the cargo door, but may even endanger the flight safety of the helicopter due to the large flight load disturbance caused by opening the tail door.

[0004] With the development of large transport helicopters, large outward-opening cargo doors are more widely used, and the task of opening cargo doors in the air is often required. If the visual manual control method of the solenoid valve is still used, not only the operating efficiency is low but also the operating safety is low, which is not suitable for the opening requirements of various ground / air missions. Summary of the invention

[0005] The purpose of the present invention is to provide a control device and method for a helicopter outward-opening cargo door, which solves the problem that the current outward-opening cargo door of a helicopter is inconvenient and unsafe to operate, and is particularly suitable for large outward-opening cargo doors of large transport helicopters.

[0006] In a first aspect, the present application provides a helicopter outward-opening cargo door control device, the device comprising a controller unit, and a display unit, an operating unit, a locking actuation system, a door actuation system, a lock signaler, and a linear displacement sensor connected to the controller unit;

[0007] Wherein, the display unit is used to receive and display in real time the locking mechanism status information and cargo door opening angle status information fed back by the controller unit;

[0008] The operating unit is provided with a control switch for operating the hatch, and the operating unit is capable of sending a cargo hatch door operating instruction to the controller unit;

[0009] The lock signaler is arranged at the locking position of the locking mechanism, and is used to monitor the locking state of the locking mechanism in real time and send the locking information to the controller unit;

[0010] The linear displacement sensor is arranged between the door frame and the cargo door. When the cargo door is lowered or retracted, the linear displacement sensor will produce a stroke change. The linear displacement sensor sends the stroke change information to the controller unit in real time.

[0011] Preferably, the controller unit is used to receive operating instructions from the operating unit control switch, the switch signal of the lock signal device, and the analog signal of the linear displacement sensor, and output electrical signal instructions for driving the cabin door and the locking mechanism to the cabin door actuation system and the locking actuation system respectively.

[0012] Preferably, the controller unit is also used to receive helicopter wheel-borne signals, flight mode and flight speed signals to assist in controlling the cargo door.

[0013] In a second aspect, the present application further provides a method for controlling an outward-opening cargo door of a helicopter, the method comprising:

[0014] Acquire a wheel-load signal; wherein the wheel-load signal represents the state of the aircraft, and the state of the aircraft includes a landing state;

[0015] When the control switch is in the "down" position, if the aircraft is in the landing state, upon receiving the door locking signal, the locking actuation system executes and completes the unlocking action;

[0016] When the control switch is in the "down" position, if the aircraft is in the landing state and no door locking signal is received, the door actuation system continues to lower the door until it reaches the preset maximum position.

[0017] Preferably, the aircraft state also includes a hovering state and a horizontal forward flight state.

[0018] Preferably, the method further comprises:

[0019] Obtain flight speed signal;

[0020] When the control switch is in the "down" position, if the aircraft is in a hovering state or a horizontal forward flight state and the flight speed is less than or equal to the preset speed, the door locking signal is received, and the locking actuation system executes and completes the unlocking action.

[0021] Preferably, the method further comprises:

[0022] When the control switch is in the "down" position, if the aircraft is in a hovering state or a horizontal forward flight state and the flight speed is less than or equal to the preset speed, and no door locking signal is received, the door actuation system continues to lower the door until it reaches the preset maximum position.

[0023] In a third aspect, the present application further provides a method for controlling an outward-opening cargo door of a helicopter, the method comprising:

[0024] When the control switch is in the "stowed" position, if the door is stowed, the locking actuation system executes and completes the locking action;

[0025] If the door is not retracted into place, the door actuation system will continue to retract the door until it is retracted into place.

[0026] Beneficial technical effects of this application:

[0027] The present invention can realize the electrified control of the cargo door, thus preventing the operator from opening the cargo door by mistake or without knowing the flight status and speed of the aircraft, thereby endangering the safety of personnel and the helicopter. The operation efficiency and safety are higher, and the invention can adapt to various ground / air cargo door opening mission requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a structural diagram of a control system for an outward-opening cargo door provided by an embodiment of the present invention;

[0029] Figure 2 is a flow chart of a method for controlling lowering a cargo door provided by an embodiment of the present invention;

[0030] Figure 3 is a flow chart of a method for controlling a stowed cargo door provided by an embodiment of the present invention;

[0031] Figure 4 It is a schematic diagram of the geometric relationship between the displacement of a linear position sensor and the opening and closing angle of a hatch provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] See also Figure 1-Figure 4 The present invention provides a helicopter outward-opening cargo door control device, comprising: a controller unit, a display unit, an operating unit, a locking actuation system, a door actuation system, a lock signaler, and a linear displacement sensor.

[0033] Among them, the controller unit is electrically connected to the display unit, the operating unit, the locking actuation system, the hatch door actuation system, the lock signaler, and the linear displacement sensor respectively; the display unit receives and displays in real time the locking mechanism status information and the cargo door opening angle status information fed back by the controller unit; the operating unit is provided with a control switch for operating the hatch door, and sends a cargo door operation instruction to the controller unit; the lock signaler is arranged at the locked position of the locking mechanism, monitors the locking status of the locking mechanism in real time and sends the locking information to the controller unit; the linear displacement sensor is arranged between the door frame and the cargo door, and when the cargo door is lowered or folded, the linear displacement sensor will produce a stroke change, and the linear displacement sensor will send the stroke change information to the controller unit in real time.

[0034] Among them, the controller unit is a small computer that receives operating instructions from the operating unit control switch, the switch signal of the lock signalizer, and the analog signal of the linear displacement sensor, and outputs electrical signal instructions for driving the cabin door and the locking mechanism to the cabin door actuation system and the locking actuation system respectively; the controller unit will receive the helicopter wheel-borne signal, flight mode and flight speed signal to assist in controlling the cargo door to prevent misoperation of the cargo door and adapt to different mission scenarios.

[0035] Among them, the controller unit receives the wheel-borne signal of the helicopter. When the current wheel-borne signal indicates that the aircraft is in a lift-off state, in response to the lowering operation instruction of the operating unit, the maximum lowering angle of the cargo door will be limited. Preferably, the limited maximum lowering angle of the cargo door can be to lower the door to a horizontal position to meet the air mission requirements (or arbitrarily set the air mission position).

[0036] Furthermore, the controller unit receives a wheel-borne signal from the helicopter. When the current wheel-borne signal indicates that the aircraft is in a landing state, in response to a lowering operation instruction from the operating unit, the opening angle of the cargo door will not be restricted until it is opened to the designed maximum position.

[0037] In an embodiment of the present application, the controller unit receives a helicopter flight mode and flight speed signal, and when the current mode is a hovering or horizontal forward flight mode and the flight speed is less than or equal to a preset speed M, the controller unit lowers the cargo door in response to a lowering operation instruction of the operating unit; when the current mode is a hovering or horizontal forward flight mode but the flight speed is greater than the preset speed M, the controller unit no longer responds to the lowering operation instruction of the operating unit; when the current mode is not a hovering or horizontal forward flight mode, the controller unit no longer responds to the lowering operation instruction of the operating unit; the controller unit automatically determines the authenticity of the currently input cargo door lowering instruction signal according to the current flight mode and speed status, thereby avoiding the accidental opening of the cargo door due to the operator's accidental touch or operation without understanding the flight status and flight speed of the aircraft, and improving the safety of opening the cargo door in the air.

[0038] Among them, the controller unit calculates the real-time information of the linear displacement sensor received, and converts it into the angle information of the door opening according to the geometric relationship between the sensor displacement and the door opening and closing angle; in some embodiments, the angle information of the door opening is converted into: the distance between the installation point of the linear displacement sensor on the cargo door and the projection of the door hinge axis on the fuselage symmetry plane is A, the distance between the installation point of the linear displacement sensor on the door frame and the projection of the door hinge axis on the fuselage symmetry plane is B, the length of the linear displacement sensor after the door is folded into place is L, and the linear displacement sensor detects that the extension distance reached after the door is opened at an angle α is ΔL, and the door opening angle α=arcos{[A2+B2-(L+ΔL)2] / 2AB}-arcos[(A2+B2-L2) / 2AB].

[0039] The controller unit calculates the real-time information of the received linear displacement sensor and converts it into the angle information of the hatch opening according to the geometric relationship between the sensor displacement and the hatch opening angle; the controller unit judges the continuity of the analog quantity fed back by the linear displacement sensor according to the hatch stowed position judgment criterion. The hatch stowed position judgment criterion can be "judged within N consecutive sampling frequencies, and the signal values ​​are all within the hatch stowed position setting interval, then the hatch is judged to be stowed in place", or "judged for the first time that the signal value is within the hatch stowed position setting interval, and after t seconds, it is judged again, and if it is judged to be in place M times in a row, then the hatch is judged to be stowed in place"; wherein, N≥2, M≥2.

[0040] In other embodiments of the present application, the door actuation system may be hydraulically actuated or motor actuated; if the door actuation system is hydraulically actuated, the electrical signal output by the controller unit controls the working state of the hydraulic solenoid valve, and the solenoid valve controls the reversing and connection and disconnection of the hydraulic actuator oil circuit to achieve the folding, holding or lowering of the door; if the door actuation system is motor actuated, the electrical signal output by the controller unit controls the working state of the motor, and the motor and transmission mechanism drive the door to move to achieve the folding, holding or lowering of the door.

[0041] Among them, the locking actuation system can be hydraulically actuated or motor actuated; if the locking actuation system is hydraulically actuated, the electrical signal output by the controller unit controls the working state of the hydraulic solenoid valve, and the solenoid valve controls the reversing and on-off of the hydraulic actuator oil circuit to achieve locking and unlocking of the locking mechanism; if the locking actuation system is motor actuated, the electrical signal output by the controller unit controls the working state of the motor, and the motor and transmission mechanism drive the locking and unlocking of the locking mechanism.

[0042] Furthermore, when the controller unit receives the door lowering signal from the operating unit, it first detects whether the currently received wheel-borne signal indicates that the aircraft is in the landing state or the lift-off state. If the received wheel-borne signal indicates that the aircraft is in the landing state, it responds to the door lowering signal from the operating unit and implements the ground door lowering procedure. If the received wheel-borne signal indicates that the aircraft is in the lift-off state, it further detects the currently received flight mode and flight speed signals.

[0043] The controller unit further detects the currently received flight mode and flight speed signals. If the current mode is a hovering or horizontal forward flight mode and the flight speed is less than or equal to the preset speed M, the controller unit responds to the lowering operation instruction of the operating unit and implements the air door lowering procedure; if the current mode is a hovering / horizontal forward flight mode but the flight speed is greater than the preset speed M or the current mode is a non-hovering / horizontal forward flight mode, the controller unit will no longer respond to the lowering operation instruction of the operating unit.

[0044] When implementing the ground lowering procedure, the controller unit first detects whether the signal received from the lock signaler is a cabin door locking signal; if the signal received is a cabin door locking signal, an unlocking command is sent to the locking actuation system, and the locking actuation system executes and completes the unlocking action; after the lock signaler detects that the locking mechanism has completed unlocking, it sends a cabin door unlocking signal to the controller unit, and the controller unit simultaneously sends the cabin door unlocking signal to the display unit, and an indication that the locking mechanism is unlocked appears on the display interface of the display unit; after receiving the unlocking signal sent by the lock signaler, the controller unit sends a cabin door lowering command to the cabin door actuation system.

[0045] When the controller unit implements the ground lowering procedure, it first detects whether the signal received from the lock signaler is a door locking signal; if it receives a door unlocking signal, it directly sends a door lowering command to the door actuation system.

[0046] The door actuation system executes the lowering operation after receiving the command to lower the door. The linear displacement sensor feeds back the travel information generated by lowering the door to the controller unit in real time. The controller unit calculates and converts the real-time information of the linear displacement sensor into the angle information of the door opening and sends it to the display unit. The display unit displays the opening angle information of the door in real time on its display interface. The door actuation system continues to lower the door until it opens to the preset maximum position. The controller unit sends a stop command to the door actuation system, and the door actuation system stops working, completing the operation of lowering the door.

[0047] When the controller unit implements the aerial lowering procedure, the hatch can only be lowered to the maximum restricted angle, and the rest is the same as the ground lowering procedure. When the controller unit receives the hatch door retraction signal from the operating unit, it sends a hatch door retraction command to the hatch door actuation system. After receiving the command, the hatch door actuation system performs the retraction operation. The linear displacement sensor feeds back the travel information generated by retracting the hatch door to the controller unit in real time. The controller unit calculates the real-time information of the linear displacement sensor and converts it into hatch door opening angle information and sends it to the display unit. The display unit displays the hatch door opening angle information in real time on its display interface. The hatch door actuation system continues to retract the hatch door, and the controller The unit makes continuous judgments on the information fed back in real time by the linear displacement sensor according to the logical judgment criteria until it is determined that the cabin door is folded into place, at which time the controller unit sends a locking command to the locking actuation system, and the locking actuation system executes and completes the locking action; after the lock signaler detects that the locking mechanism has completed locking, it sends a cabin door locking signal to the controller unit; after the controller unit receives the cabin door locking signal, it sends a cabin door locking signal to the display unit, and the display interface of the display unit eliminates the indication that the locking mechanism is unlocked; after the controller unit receives the cabin door locking signal, it sends a stop command to the cabin door actuation system, and the cabin door actuation system stops working, completing the cabin door folding operation.

Claims

1. A helicopter outward-opening cargo door control device, characterized in that: The device includes a controller unit, and a display unit, an operation unit, a locking actuation system, a door actuation system, a lock signaler, and a linear displacement sensor connected to the controller unit; Wherein, the display unit is used to receive and display in real time the locking mechanism status information and cargo door opening angle status information fed back by the controller unit; The operating unit is provided with a control switch for operating the hatch, and the operating unit is capable of sending a cargo hatch operating instruction to the controller unit; The lock signaler is arranged at the locking position of the locking mechanism, and is used to monitor the locking state of the locking mechanism in real time and send the locking information to the controller unit; The linear displacement sensor is arranged between the door frame and the cargo door. When the cargo door is lowered or retracted, the linear displacement sensor will produce a stroke change. The linear displacement sensor sends the stroke change information to the controller unit in real time.

2. The device according to claim 1, characterized in that The controller unit is used to receive the operation instructions from the control switch of the operating unit, the switch signal of the lock signal device, and the analog signal of the linear displacement sensor, and output electrical signal instructions for driving the cabin door and the locking mechanism to the cabin door actuation system and the locking actuation system respectively.

3. The device according to claim 2, characterized in that The controller unit is also used to receive helicopter wheel-borne signals, flight mode and flight speed signals, and assist in controlling the cargo door.

4. A method for controlling a helicopter outward-opening cargo door, characterized in that: The method comprises: Acquire a wheel-load signal; wherein the wheel-load signal represents the state of the aircraft, and the state of the aircraft includes a landing state; When the control switch is in the "down" position, if the aircraft is in the landing state, upon receiving the door locking signal, the locking actuation system executes and completes the unlocking action; When the control switch is in the "down" position, if the aircraft is in the landing state and no door locking signal is received, the door actuation system continues to lower the door until it reaches the preset maximum position.

5. The method according to claim 4, characterized in that The aircraft state also includes a hovering state and a horizontal forward flight state.

6. The method according to claim 5, characterized in that The method further comprises: Obtain flight speed signal; When the control switch is in the "down" position, if the aircraft is in a hovering state or a horizontal forward flight state and the flight speed is less than or equal to the preset speed, the door locking signal is received, and the locking actuation system executes and completes the unlocking action.

7. The method according to claim 6, characterized in that The method further comprises: When the control switch is in the "down" position, if the aircraft is in a hovering state or a horizontal forward flight state and the flight speed is less than or equal to the preset speed, and no door locking signal is received, the door actuation system continues to lower the door until it reaches the preset maximum position.

8. A method for controlling a helicopter outward-opening cargo door, characterized in that: The method comprises: When the control switch is in the "stowed" position, if the door is stowed, the locking actuation system executes and completes the locking action; If the door is not retracted into place, the door actuation system will continue to retract the door until it is retracted into place.

Images