Brake pedal linkage system capable of sensing each other

Abstract

According to the brake pedal linkage system capable of sensing each other, pedal linkage is carried out without a mechanical structure, the complex structure of mechanical linkage can be avoided, and safety and reliability are improved. The brake pedal linkage system comprises a pedal processing circuit for performing driving control and signal processing on a left pedal and a right pedal of a main driver and a co-driver respectively, and the pedal processing circuit comprises a left pedal processing circuit and a right pedal processing circuit which are mutually independent in hardware. The left pedal processing circuit is connected with a left driving motor and a left angular displacement sensor which are respectively connected with left pedals of the main driver and the co-driver, and the right pedal processing circuit is connected with a right driving motor and a right angular displacement sensor which are respectively connected with right pedals of the main driver and the co-driver; the pedal processing circuit receives output signals of the angular displacement sensor on the corresponding side, processes the output signals and outputs a control instruction to the corresponding driving motor in the driving motors on the side based on a processing result.

Description

Technical Field

[0001] This application relates to technologies related to aircraft wheel brakes. More specifically, it relates to a perceptible brake pedal linkage system that enables the coordinated control of the foot pedals of an aircraft. Background Art

[0002] Currently, the main forms of operation and control of aircraft brake pedals are mainly two types. One is the brake pedal linkage form, and the other is the non-linkage form of brake pedals. Among them, in the brake pedal linkage form, the left foot pedal of the pilot in command is linked to the left foot pedal of the co-pilot, and the right foot pedal of the pilot in command is linked to the right foot pedal of the co-pilot. The non-linkage form of brake pedals is a form in which the pilot in command and the co-pilot independently control the brakes respectively, and there is no mutual perception between the pilot in command and the co-pilot. Compared with the non-linkage form of brake pedals, by making the brake pedals linked, the pilot in command and the co-pilot can well perceive whether a foot pedal braking force has been applied to each other, and have relatively good perception ability, so that it will not happen that one of the pilot in command and the co-pilot steps on the brake pedal while being unaware that the other has stepped on the brake pedal.

[0003] However, in the prior art, the brake pedal linkage system of an aircraft is very complex, heavy, and has poor safety.

[0004] For example, in Chinese Patent Application Publication No. CN 115798298A, a brake linkage foot pedal device is disclosed. The linkage mechanism of this brake linkage foot pedal device is a traditional mechanical structure connection device, which connects the pilot's foot pedal and the co-pilot's foot pedal through multiple linkages and bearings. In this brake linkage foot pedal device, there are too many mechanical bearings, and the risk of jamming is relatively high. At the same time, the linkage structure of the linkage mechanism is complex, and the maintenance difficulty is relatively large.

[0005] Therefore, there is an urgent need to find a perceptible brake pedal linkage system that can be achieved without a mechanical structure. Summary of the Invention

[0006] This application is made to solve the above-mentioned prior art problems. Its purpose is to provide a perceptible brake pedal linkage system that can perform pedal linkage without a mechanical structure, can avoid the complexity of the mechanical linkage structure, and improve safety and reliability.

[0007] To solve the above technical problems, the present application provides a brake pedal linkage system capable of mutual sensing, including: the left pedal and the right pedal of the main driver; the left pedal and the right pedal of the co-pilot; a pedal processing circuit for respectively driving and controlling and signal processing the left and right pedals of the main driver and the co-pilot, characterized in that the pedal processing circuit includes a left pedal processing circuit and a right pedal processing circuit that are hardware-independent of each other. The left pedal processing circuit is connected to a left drive motor and a left angular displacement sensor respectively connected to the left pedals of the main driver and the co-pilot. The right pedal processing circuit is connected to a right drive motor and a right angular displacement sensor respectively connected to the right pedals of the main driver and the co-pilot. The left pedal processing circuit and the right pedal processing circuit correspondingly receive the output signals of the left and right angular displacement sensors and process them, and output control commands to the corresponding drive motors in the left and right drive motors based on the processing results.

[0008] Preferably, the brake pedal linkage system is a brake pedal linkage system that performs pedal linkage without a mechanical structure.

[0009] More preferably, the brake pedal linkage system is an electronically controlled induction type brake pedal linkage system.

[0010] In addition, preferably, the left drive motors are two drive motors that respectively drive the left pedals of the main driver and the co-pilot, the right drive motors are another two drive motors that respectively drive the right pedals of the main driver and the co-pilot, the left angular displacement sensors are two angular displacement sensors that respectively measure the displacements of the left pedals of the main driver and the co-pilot, and the right angular displacement sensors are another two angular displacement sensors that respectively measure the displacements of the right pedals of the main driver and the co-pilot.

[0011] More preferably, both the left and right angular displacement sensors are dual-margin angular displacement sensors that can send two independent displacement signals indicating the displacement amount when the pedal is depressed to each other.

[0012] More preferably, the left pedal processing circuit and the right pedal processing circuit can respectively execute BIT monitoring and signal processing logic for the two independent displacement signals of the dual-margin angular displacement sensor on the corresponding side to determine the effective displacement signal adopted by the angular displacement sensor on that side, and execute drive signal determination logic to determine the specific drive amount for which drive motor on that side.

[0013] More preferably, in the BIT monitoring and signal processing logic, the validity of the two independent displacement signals of each angular displacement sensor is judged; when both the two independent displacement signals are valid signals, the average value of the two displacement signals is output as the valid displacement signal adopted for the angular displacement sensor; when only one of the two independent displacement signals is a valid signal, the valid signal is output as the valid displacement signal adopted for the angular displacement sensor; when there is no valid signal in the two independent displacement signals, the valid signal is output as the valid displacement signal adopted for the angular displacement sensor, and it is judged that the displacement signal output by the angular displacement sensor is an invalid signal.

[0014] More preferably, in the drive signal determination logic, if any one of the two angular displacement sensors on one side of the main driver and the co-driver outputs an invalid signal, the drive motor corresponding to the other pedal is driven based on the displacement signal that is a valid signal, and when the signals output by the two angular displacement sensors on one side of the main driver and the co-driver are both valid signals, a judgment is made as to which of the two signals output by each of the two angular displacement sensors is larger, and for the drive motor corresponding to the angular displacement sensor that outputs a smaller signal, a drive signal equivalent to the absolute value of the difference between the displacement signals of the two is output.

[0015] According to the above structure, it is possible to avoid the mutual perception of the pedal mechanism of the main driver and the co-driver in the prior art by means of mechanical linkage, and one of the main driver and the co-driver can sense the stepping of the brake pedal of the other party by means of electronic control. In addition, the brake pedal linkage system of the present application occupies a small space in installation and layout, and is independent of each other in hardware, which improves maintainability, and can also reduce the failure rate of the pedal or non-instruction of the pedal brake caused by mechanical blocking of the main driver's brake pedal and the co-driver's brake pedal during the mutual linkage process.

[0016] In addition, according to the structure as described above, since the angular displacement sensor is a dual-redundancy angular displacement sensor, it can provide signal transmission redundancy to avoid incorrect linkage of the entire brake pedal linkage system due to failure to transmit a certain signal correctly, thereby improving the reliability of the system.

[0017] In addition, configured as described above, it is possible to judge by comparing the effective output signals of the angular displacement sensors on either the driver's side or the co-driver's side, and perform a further compensation action on the drive motor corresponding to the angular displacement sensor with the smaller effective output signal. Thus, for example, in the case where the amounts of depression of the brake pedal by the driver and the co-driver are different in the same scenario, the driver with the smaller depression amount can perceive the depression action of the other driver with the larger depression amount through the compensation action of the system, thereby enhancing the linkage of the two drivers' flight operations and ensuring the safety of aircraft driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a system architecture diagram of the brake pedal linkage system of the present application.

[0019] Figure 2 is Figure 1 a signal transmission diagram of the pedal processing circuit (such as the left pedal processing circuit) in the brake pedal linkage system shown.

[0020] Figure 3 is Figure 2 a logic diagram of the BIT monitoring and signal processing logic of a sensor signal in the pedal processing circuit shown.

[0021] Figure 4 is Figure 2 a BIT monitoring and signal processing logic of another sensor signal in the pedal processing circuit shown.

[0022] Figure 5 is Figure 2 a logic diagram of the drive signal determination logic in the pedal processing circuit shown. (SYMBOL DESCRIPTION)

[0023] 100 Brake pedal linkage system; 110 Pedal processing circuit; 110L Left pedal processing circuit; 110R Right pedal processing circuit; 111-1 BIT monitoring and signal processing logic; 111-2 BIT monitoring and signal processing logic; 112 Drive signal determination logic; 121 Both sides of the brake pedals of the driver; 121L Left brake pedal of the driver; 121R Right brake pedal of the driver; 122 Both sides of the brake pedals of the co-driver; 122L Left brake pedal of the co-driver; 122R Right brake pedal of the co-driver; The drive motor on the left side of 130L; The drive motor on the right side of 130R; The drive motor for the left footrest of the main driver at 131L; The drive motor for the right footrest of the main driver at 131R; The drive motor for the left footrest of the co-pilot at 132L; The drive motor for the right footrest of the co-pilot at 132R; The angular displacement sensor on the left side of 140L; The angular displacement sensor on the right side of 140R; The angular displacement sensor for the left footrest of the main driver at 141L; The drive motor for the right footrest of the main driver at 141R; The angular displacement sensor for the left footrest of the co-pilot at 142L; The drive motor for the right footrest of the co-pilot at 142R; Displacement signal a1; Displacement signal b1; Displacement signal a2; Displacement signal b2; Valid displacement signal 1; Valid displacement signal 2. Detailed implementation mode

[0024] Hereinafter, with reference to Figures 1 to 5 , the mutually perceivable brake pedal linkage system 100 of the present application as an embodiment will be described. Among them, Figure 1 is the system architecture diagram of the brake pedal linkage system 100 of the present application, Figure 2 is Figure 1 the signal transmission diagram of the pedal processing circuit 110 (such as the left pedal processing circuit 110L) in the brake pedal linkage system 100 shown, Figure 3 and Figure 4 is Figure 2 the logic diagram of the BIT monitoring and signal processing logic of the sensor signals in the pedal processing circuit 110 shown, Figure 5 is Figure 2 the logic diagram of the drive signal logic in the pedal processing circuit 110 shown.

[0025] The mutually perceivable brake pedal linkage system 100 of the present application is a brake pedal linkage system that performs pedal linkage without a mechanical structure. As a typical example, an electronically controlled induction type brake pedal linkage system 100 is listed.

[0026] The brake pedal linkage system 100 of the present application includes the two side pedals 121 of the main driver (i.e., the left pedal 121L of the main driver and the right pedal 121R of the main driver) and the two side pedals 122 of the co-driver (i.e., the left pedal 122L of the co-driver and the right pedal 122R of the co-driver), and includes pedal processing circuits 110 (i.e., the left pedal processing circuit 110L and the right pedal processing circuit 110R) for respectively driving and controlling and signal processing of the left side pedals (i.e., the left pedal 121L of the main driver and the left pedal 122L of the co-driver) and the right side pedals (i.e., the right pedal 121R of the main driver and the right pedal 122R of the co-driver). The left pedal processing circuit 110L and the right pedal processing circuit 110R are hardware-independent of each other.

[0027] More specifically, the left pedal processing circuit 110L is connected to the left driving motors 130L (the driving motor 131L for the left pedal of the main driver and the driving motor 132L for the left pedal of the co-driver) and the left angular displacement sensors 140L (the angular displacement sensor 141L for the left pedal of the main driver and the angular displacement sensor 142L for the left pedal of the co-driver) respectively connected to the left side pedals (i.e., the left pedal 121L of the main driver and the left pedal 122L of the co-driver), and the right pedal processing circuit 110R is connected to the right driving motors 130R (the driving motor 131R for the right pedal of the main driver and the driving motor 132R for the right pedal of the co-driver) and the right angular displacement sensors 140R (the angular displacement sensor 141R for the right pedal of the main driver and the angular displacement sensor 142R for the right pedal of the co-driver) respectively connected to the right side pedals (i.e., the right pedal 121R of the main driver and the right pedal 122R of the co-driver).

[0028] The driving motor 131L for the left pedal of the main driver is used to drive the left pedal 121L of the main driver to move, the driving motor 132L for the left pedal of the co-driver is used to drive the left pedal 122L of the co-driver to move, the driving motor 131R for the right pedal of the main driver is used to drive the right pedal 121R of the main driver to move, and the driving motor 132R for the right pedal of the co-driver is used to drive the right pedal 122R of the co-driver to move.

[0029] The angular displacement sensor 141L for the left pedal of the main driver is used to measure the displacement of the left pedal 121L of the main driver, the angular displacement sensor 142L for the left pedal of the co-driver is used to measure the displacement of the left pedal 122L of the co-driver, the angular displacement sensor 141R for the right pedal of the main driver is used to measure the displacement of the right pedal 121R of the main driver, and the angular displacement sensor 142R for the right pedal of the co-driver is used to measure the displacement of the right pedal 122R of the co-driver.

[0030] In the description of this application, when not distinguishing between the main driver and the co-driver, the drive motor 131L for the left pedal of the main driver and the drive motor 132L for the left pedal of the co-driver can be collectively referred to as the drive motor 130L on the left side. The drive motor 131R for the right pedal of the main driver and the drive motor 132R for the right pedal of the co-driver can be collectively referred to as the drive motor 130R on the right side. And when further not distinguishing between the left side and the right side, it can be simply referred to as the drive motor 130. Similarly, when not distinguishing between the main driver and the co-driver, the angular displacement sensor 141L for the left pedal of the main driver and the angular displacement sensor 142L for the left pedal of the co-driver can be collectively referred to as the angular displacement sensor 140L on the left side. The angular displacement sensor 141R for the right pedal of the main driver and the angular displacement sensor 142R for the right pedal of the co-driver can be collectively referred to as the angular displacement sensor 140R on the right side. And when further not distinguishing between the left side and the right side, it can be simply referred to as the angular displacement sensor 140.

[0031] The pedal processing circuit 110 receives the output signals of each angular displacement sensor 140, processes them, and outputs a control instruction (rotation instruction) to the corresponding drive motor 130 based on the processing result.

[0032] Here, taking the left pedal processing circuit 110L as an example, the processing process of determining the displacement signal from the sensor 140L on the left side as the control signal for moving the drive motor 130L on the left side will be described. Except that the input source of the displacement signal and the output object of the control signal are different, the processing process of the right pedal processing circuit 110R is substantially the same as that of the left pedal processing circuit 110L. Therefore, it will not be elaborated here.

[0033] The angular displacement sensor 140 of this application is a dual-margin angular displacement sensor that can send independent dual-margin signals.

[0034] Here, as Figure 2 shown, the angular displacement sensor 141L for the left pedal of the main driver sends two independent displacement signals sign a1 and sign b1 indicating the displacement amount of the left pedal 121L of the main driver being stepped on by the main driver, and the angular displacement sensor 142L for the left pedal of the co-driver sends two independent displacement signals sign a2 and sign b2 indicating the displacement amount of the left pedal 122L of the co-driver being stepped on by the co-driver.

[0035] In addition, as Figure 2As shown in the figure, the left pedal processing circuit 110 respectively executes BIT monitoring and signal processing logics 111-1 and 111-2 for two independent displacement signals sign a1, sign b1, sign a2, and sign b2 from the angular displacement sensor 141L for the left pedal of the main driver and the angular displacement sensor 142L for the left pedal of the co-driver, to determine the effective displacement signals sign 1 and sign2 adopted for the angular displacement sensor 141L for the left pedal of the main driver and the angular displacement sensor 142L for the left pedal of the co-driver, and executes the drive signal determination logic 112 to determine the drive amount (control instruction, rotation instruction) for the drive motor on the left side (the drive motor 131L for the left pedal of the main driver or the drive motor 132L for the left pedal of the co-driver).

[0036] Here, the BIT monitoring and signal processing logic 111-1 will be used as an example for explanation.

[0037] Specifically, in the BIT monitoring and signal processing logic 111-1, as Figure 3 shown it is judged whether the two input independent displacement signals sign a1 and sign b1 respectively exceed the preset range. Among them, this preset range is used to judge the validity of the displacement signal. Exceeding this preset range is true "=True", that is, the displacement signal is a valid signal, otherwise it is false "= False", that is, the displacement signal is an invalid signal.

[0038] When both of the two displacement signals sign a1 and sign b2 are true "=True", at this time, the average value of the two displacement signals (that is, (sign a1 + sign b1) / 2) is output as the effective displacement signal sign 1 adopted for the angular displacement sensor 141L for the left pedal of the main driver. If one of the two displacement signals sign a1 and sign b2 is true "= True" and the other is false "=False", then the displacement signal of the valid signal (that is, signa1 or sign b1) is output as the effective displacement signal sign 1 adopted for the angular displacement sensor 141L for the left pedal of the main driver. In addition, when both of the two displacement signals sign a1 and signb2 are false "=False", it is judged that the displacement signal sign 1 output by the angular displacement sensor 141L for the left pedal of the main driver is an invalid signal. This situation may be either a slight unconscious step on the pedal by the main driver or the failure of the left pedal 121L of the main driver.

[0039] In addition, as Figure 4As shown, the BIT monitoring and signal processing logic 111-2 outputs, with the same processing logic as the BIT monitoring and signal processing logic 111-1, a valid displacement signal sign 2 for the angular displacement sensor 142L for the left footrest of the co-pilot, or determines that the valid displacement signal sign 2 output by the angular displacement sensor 142L for the left footrest of the co-pilot is an invalid signal.

[0040] In the subsequent drive signal determination logic 112, if both the displacement signal sign 1 and the displacement signal sign 2 are invalid signals, it is also necessary to further determine whether to give corresponding prompts and warnings on the panel in combination with other operating parameters of the aircraft.

[0041] When either the displacement signal sign 1 or the displacement signal sign 2 is an invalid signal, Based on the displacement signal that is a valid signal (e.g., the left footrest 121L of the pilot), the drive motor 130 corresponding to the other footrest (e.g., the left footrest of the co-pilot) is driven.

[0042] When both the displacement signal sign 1 and the displacement signal sign 2 are valid signals, then as Figure 5 shown, a judgment is made on which of the displacement signal sign 1 and the displacement signal sign 2 is larger. If the displacement signal sign 1 for the left footrest 121L of the pilot is greater than or equal to the displacement signal sign 2 for the left footrest 122L of the co-pilot, a drive signal (= sign 1 – sign 2) is output to the drive motor 132L for the left footrest of the co-pilot; otherwise, a drive signal (= sign 2 – sign 1) is output to the drive motor 131L for the left footrest of the pilot.

[0043] Although the embodiments of the present application have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present application. The scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A brake pedal linkage system capable of mutual perception, comprising: The left and right pedals for the main driver; The co-pilot's left and right footrests; The pedal processing circuit performs drive control and signal processing for the left and right pedals of the main driver and the co-driver respectively. It is characterized in that The pedal processing circuit includes a left pedal processing circuit and a right pedal processing circuit which are independent of each other in hardware. The left pedal processing circuit is connected to the left drive motor and the left angular displacement sensor respectively connected to the left pedals of the main driver and the co-driver. The right pedal processing circuit is connected to the right driving motor and the right angular displacement sensor respectively connected to the right pedals of the main driver and the co-driver. The left pedal processing circuit and the right pedal processing circuit receive the output signals of the left and right angular displacement sensors respectively, process them, and output control instructions to the corresponding drive motors in the left and right drive motors based on the processing results.

2. The mutually responsive brake pedal linkage system according to claim 1, characterized in that: The brake pedal linkage system is a brake pedal linkage system that performs pedal linkage without using a mechanical structure.

3. The mutually responsive brake pedal linkage system according to claim 2, characterized in that: The brake pedal linkage system is an electronically controlled inductive brake pedal linkage system.

4. The mutually responsive brake pedal linkage system according to claims 1 to 3, characterized in that: The left side drive motors are used to drive the left side pedals of the main driver and the co-driver respectively. The right drive motor is another two drive motors that drive the right pedals of the main driver and the co-driver respectively. The angular displacement sensors on the left are two angular displacement sensors that measure the displacement of the left pedals of the driver and the co-driver respectively. The angular displacement sensors on the right are another two angular displacement sensors that measure the displacement of the right pedals of the main driver and the co-driver respectively.

5. The mutually responsive brake pedal linkage system according to claim 4, characterized in that: The left and right angular displacement sensors are dual margin angular displacement sensors capable of sending two independent displacement signals to each other indicating the displacement amount by which the pedal is depressed.

6. The mutually responsive brake pedal linkage system according to claim 5, characterized in that: The left pedal processing circuit and the right pedal processing circuit can respectively execute BIT monitoring and signal processing logic for the two independent displacement signals from the dual-margin angular displacement sensors on the corresponding side to determine the effective displacement signal adopted by the angular displacement sensor on that side, and execute the drive signal determination logic to determine the specific drive amount of which one of the drive motors on that side.

7. The mutually responsive brake pedal linkage system according to claim 6, characterized in that: In the BI T monitoring and signal processing logic, the validity of the two independent displacement signals of each angular displacement sensor is judged. When the two independent displacement signals are both valid signals, the average value of the two displacement signals is output as the valid displacement signal used for the angular displacement sensor. When only one of the two independent displacement signals is a valid signal, the valid signal is output as the valid displacement signal adopted for the angular displacement sensor. When there is no valid signal in the two independent displacement signals, the valid signal is output as the valid displacement signal adopted for the angular displacement sensor. It is determined that the displacement signal output by the angular displacement sensor is an invalid signal.

8. The mutually responsive brake pedal linkage system according to claim 7, characterized in that: In the drive signal determination logic, if any one of the two angular displacement sensors on one side of the main driver and the co-driver outputs an invalid signal, the drive motor corresponding to the other pedal is driven based on the displacement signal that is a valid signal, and when the signals output by the two angular displacement sensors on one side of the main driver and the co-driver are both valid signals, a judgment is made as to which of the two signals output by each of the two angular displacement sensors is larger, and for the drive motor corresponding to the angular displacement sensor that outputs a smaller signal, a drive signal equivalent to the absolute value of the difference between the displacement signals of the two is output.

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