Negative pressure sputum aspirator for helicopter air rescue and control method of negative pressure sputum aspirator

Abstract

The invention provides a negative pressure sputum aspirator for helicopter air rescue and a control method of the negative pressure sputum aspirator. The negative pressure sputum aspirator comprises a sputum storage bottle, a sputum suction pipe and a negative pressure suction device. The negative pressure sputum aspirator further comprises a pressure sensor used for monitoring the sputum suction pressure, a pressure adjusting device used for adjusting the sputum suction pressure and a limiting device used for fixing and limiting the insertion difficulty degree of the sputum suction pipe. The signal output end of the airplane bumping detector is connected with the bumping input end of the controller, and the airplane bumping detector is used for transmitting bumping information of the airplane to the controller; in the sputum suction process, when the airplane bumps, the controller controls the pressure regulating device to work according to a pressure signal of the pressure sensor so as to reduce the sputum suction pressure, and mucous membrane injury caused by sudden shaking when the airplane bumps is avoided; the controller controls the limiting device to work according to the bumping degree, the insertion difficulty degree of the sputum suction tube is adjusted, the target tube insertion depth is accurately reached, and the situation that due to sudden shaking, the sputum suction tube is inserted too deep, and a patient is accidentally injured is avoided.

Description

Technical Field

[0001] The present invention belongs to the field of medical technology, and particularly relates to a negative pressure sputum aspirator for helicopter air rescue and a control method thereof. Background Art

[0002] A negative pressure aspirator is a tool that creates a negative pressure state at the suction head through a certain method, and the substances outside the suction head are squeezed towards the suction head to complete the "suction" effect. The negative pressure suction device consists of a voltage regulator, a liquid collection bottle, a hose, etc. There are two hose interfaces on the liquid collection bottle, one connected to the negative pressure terminal and the other connected to the working cavity. When the negative pressure terminal is connected, negative air pressure will be generated in the liquid collection bottle, and this negative pressure will guide dirt (such as dirty blood, sputum, etc.) to flow into the liquid collection bottle through the other hose. For example, the negative pressure sputum aspirators disclosed in CN109125819A, CN114601985A, CN204501818U or CN206007664U.

[0003] During the process of helicopter air rescue, due to the influence of factors such as air flow, bumps, and noise during high-altitude flight, the negative pressure sputum aspirator needs to be manually adjusted. For example, air pressure changes and bumps will affect the accuracy of the sputum suction pressure of the negative pressure sputum aspirator and require manual calibration. Another example is that when the plane bumps, the suction negative pressure needs to be appropriately reduced to avoid mucosal damage to the patient caused by sudden shaking. Another example is that when the plane bumps, the insertion depth of the sputum suction tube needs to be limited to avoid accidental injury to the patient caused by the sputum suction tube being inserted too deep due to sudden shaking. However, affected by bumps, there is a risk of misoperation caused by shaking when manually adjusting the negative pressure sputum aspirator. Therefore, it is necessary to design a negative pressure sputum aspirator for helicopter air rescue.

[0004] After retrieval, no technical solutions similar to the present invention have been publicly disclosed. Summary of the Invention

[0005] To solve the technical problems existing in the prior art, the first aspect of the present invention is to provide a negative pressure sputum aspirator for helicopter air rescue. In the second aspect, based on the same inventive concept, the present invention also provides a control method based on the aforementioned negative pressure sputum aspirator for helicopter air rescue.

[0006] In an embodiment of the present invention, a negative pressure sputum aspirator for helicopter air rescue includes a sputum storage bottle for storing sputum, a sputum suction tube connected to the sputum inlet of the sputum storage bottle, and a negative pressure suction device for generating negative pressure connected to the negative pressure interface of the sputum storage bottle through a negative pressure tube; the negative pressure sputum aspirator further includes a pressure sensor for monitoring the sputum suction pressure, a pressure regulating device for adjusting the sputum suction pressure, and a limiting device for fixing and restricting the ease of insertion of the sputum suction tube; the signal output end of the pressure sensor is connected to the sputum suction pressure input end of the controller, and the sputum suction pressure control end of the controller is connected to the pressure regulating end of the pressure regulating device; the signal output end of the aircraft bump detector is connected to the bump input end of the controller for transmitting the bump information of the aircraft to the controller; during the sputum suction process, when the aircraft bumps, the controller controls the pressure regulating device to work to reduce the sputum suction pressure according to the pressure signal of the pressure sensor, and the controller controls the limiting device to work according to the bump degree to adjust the ease of insertion of the sputum suction tube so as to accurately reach the target intubation depth.

[0007] The control method of the negative pressure sputum aspirator in the embodiment of the present invention is implemented based on the above-mentioned negative pressure sputum aspirator for helicopter air rescue, and includes the following steps: S1, obtaining the height, weight, age and gender of the patient, and the controller determines the target intubation depth of the sputum suction tube; S2, obtaining the bump degree of the aircraft in real time; S3, determining the tightness of the limiting device according to the bump degree of the aircraft, realizing intubation during the safe time interval and reaching the target depth and locking the limiting device; S4, during the sputum suction process, according to the real-time bump degree of the aircraft, the controller controls the pressure regulating device to work to adjust the sputum suction pressure according to the pressure signal of the pressure sensor.

[0008] Compared with the prior art, the beneficial effects of the relatively superior technical solution of the present invention include:

[0009] 1. By setting a pressure sensor and a pressure regulating device in the present invention, during the sputum suction process, when the aircraft bumps, the controller controls the pressure regulating device to work to reduce the sputum suction pressure according to the pressure signal of the pressure sensor, avoiding mucosal damage caused by sudden shaking when the aircraft bumps.

[0010] 2. By setting a limiting device in the present invention, the controller controls the limiting device to work according to the bump degree to adjust the ease of insertion of the sputum suction tube so as to accurately reach the target intubation depth. When the aircraft is flying smoothly, the restriction of the limiting device on the sputum suction tube is relatively loose, which does not affect the medical staff to adjust the intubation depth of the sputum suction tube; when the aircraft bumps, the limiting device tightens the restriction on the sputum suction tube, keeping the sputum suction tube at the target insertion depth and preventing it from being inserted deeper, avoiding accidental injury to the patient caused by sudden shaking resulting in the sputum suction tube being inserted too deep.

[0011] 3. The present invention sets a basic intubation depth while taking into account the patient's height, weight, age and gender to obtain a target intubation depth. Each patient has a different intubation depth to accurately determine the target intubation depth. It is no longer a one-size-fits-all approach, with adults, children and newborns being given a fixed intubation depth.

[0012] 4. The present invention determines the tightness of the control limit device according to the degree of turbulence of the aircraft. When the aircraft is running smoothly, the medical staff can push and pull the suction tube to adjust the intubation depth according to the actual situation of the patient; when the aircraft is not very stable, the limit device has a greater clamping force on the suction tube, and the clamping is tighter, the intubation operation will be slower and safer; when the aircraft is very bumpy, the limit device locks the suction tube, and the intubation depth of the suction tube is fixed and cannot be adjusted, thereby improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of a negative pressure sputum suction device for helicopter air rescue according to an embodiment.

[0014] Figure 2 It is a principle block diagram of the connection between the controller and various components in the embodiment.

[0015] The figure marks in the drawings of the specification include: sputum storage bottle 10, sputum inlet 11, negative pressure interface 12, three-way connector 13, sputum suction tube 20, negative pressure tube 30, negative pressure suction device 40, bottle rack 41, bracket 42, pressure sensor 50, pressure regulating device 60, limit device 70, limit ring 71, clamp 72, controller 80. DETAILED DESCRIPTION

[0016] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0017] Embodiment 1

[0018] This embodiment provides a negative pressure sputum suction device for helicopter air rescue, such as Figure 1 As shown, in a preferred embodiment, the negative pressure sputum suction device includes a sputum storage bottle 10 for storing sputum, a sputum suction tube 20 connected to the sputum inlet 11 of the sputum storage bottle 10, and a negative pressure suction device 40 for generating negative pressure connected to the negative pressure interface 12 of the sputum storage bottle 10 through a negative pressure tube 30. The negative pressure suction device 40 is an electric suction device. A bottle rack 41 is provided on the outer wall of the negative pressure suction device 40. The sputum storage bottle 10 is located in the bottle rack 41 for easy disassembly and assembly. It is a prior art to generate negative pressure through the negative pressure suction device 40 and suck the sputum into the sputum storage bottle 10 through the sputum suction tube 20, and its principle is not described in detail here.

[0019] As Figure 1 and Figure 2 shown, in the present invention, the negative pressure suction apparatus further includes a pressure sensor 50 for monitoring the suction pressure, a pressure regulating device 60 for adjusting the suction pressure, and a limiting device 70 for fixing and restricting the ease of insertion of the suction tube 20. The signal output end of the pressure sensor 50 is connected to the suction pressure input end of the controller 80 (the controller 80 can be installed on the negative pressure suction device 40), and the suction pressure control end of the controller 80 is connected to the pressure regulating end of the pressure regulating device 60; the signal output end of the aircraft bump detector (for example, detecting the acceleration signal by using an acceleration sensor and monitoring the acceleration of the aircraft by the acceleration sensor is prior art and will not be elaborated here) is connected to the bump input end of the controller 80 for transmitting the bump information of the aircraft to the controller 80.

[0020] During the suction process, when the aircraft bumps, the controller 80 controls the pressure regulating device 60 to work to reduce the suction pressure according to the actual suction pressure measured by the pressure sensor 50, for example, reducing the negative pressure attraction by 10%-15%, to avoid mucosal damage caused by sudden shaking when the aircraft bumps. The controller 80 controls the limiting device 70 to work according to the degree of bump to adjust the ease of insertion of the suction tube 20 to accurately reach the target intubation depth. For example, when the aircraft is flying smoothly, the limiting device 70 has a relatively loose restriction on the suction tube 20, and the medical staff can adjust the intubation depth of the suction tube 20 by pushing and pulling the suction tube 20 according to the actual situation of the patient; when the aircraft bumps, the limiting device 70 tightens the restriction on the suction tube 20, and the intubation operation will be slower, improving safety. The higher the degree of aircraft bump, the more difficult it is to insert the suction tube 20. When the aircraft bumps severely, the limiting device 70 locks the suction tube 20, and the suction tube 20 maintains the insertion depth to avoid accidental injury to the patient caused by the suction tube 20 being inserted too deep due to sudden shaking.

[0021] Preferably, a depth scale (not shown in the figure) is provided on the outer wall of the front part of the suction tube 20, which is convenient for the medical staff to more intuitively know the intubation depth of the suction tube 20.

[0022] As Figure 1As shown, in an embodiment of the present invention, the limiting device 70 includes a fixed limiting ring 71 sleeved outside the sputum suction tube 20, and a jaw 72 mounted on the limiting ring 71 that can be opened and closed. Specifically, the jaw 72 can be an electric jaw, such as the jaws disclosed in CN202010507350.2, CN202111653684.1, and CN202222400391.9. Among them, the limiting ring 71 can be fixedly installed on the bracket 42 and close to the patient's mouth, and the bracket 42 is fixed to the negative pressure suction device 40; alternatively, the bracket 42 can be omitted, and the limiting ring 71 is held by the medical staff outside the patient's lip, or a mouthpiece is provided on the limiting ring 71 for the patient to hold in the mouth.

[0023] The sputum suction tube 20 is clamped by the jaw 72, and the tightness of the jaw 72 clamping the sputum suction tube 20 is adjusted by adjusting the opening degree of the jaw 72; when the jaw 72 is in the unlocked state, the jaw 72 completely releases the sputum suction tube 20, and the sputum suction tube 20 can slide relative to the limiting ring 71. By pushing and pulling the sputum suction tube 20 relative to the limiting ring 71, the intubation depth of the sputum suction tube 20 is adjusted; when the jaw 72 is in the clamped state, the jaw 72 fixes the limiting ring 71 on the sputum suction tube 20 to limit the free sliding of the sputum suction tube 20. By adjusting the opening degree of the jaw 72 to adjust the clamping force, the tightness of the jaw 72 clamping the sputum suction tube 20 is controlled to adjust the ease of insertion of the sputum suction tube 20.

[0024] Preferably, the surface of the jaw 72 in contact with the outer wall of the sputum suction tube 20 is provided with a sponge layer, and the hardness of the sponge layer is much smaller than that of the sputum suction tube 20. When the jaw 72 clamps the sputum suction tube 20 through the sponge layer, the sputum suction tube 20 will not be pinched flat, and the sputum suction work of the sputum suction tube 20 is not affected. When adjusting the clamping force by adjusting the opening degree of the jaw 72, the jaw 72 increases or decreases the clamping force by compressing or relaxing the sponge layer to adjust the friction force applied to the sputum suction tube 20, so as to adjust the tightness of restricting the sputum suction tube 20, and further adjust the ease of insertion of the sputum suction tube 20.

[0025] In another embodiment, the limiting device 70 does not clamp the sputum suction tube 20 through the jaw 72, but sucks the sputum suction tube 20 through a negative pressure suction cup. The negative pressure suction cup has an arc-shaped groove with an upper end opening that matches the outer wall of the sputum suction tube 20. The sputum suction tube 20 is located in the arc-shaped groove, which is convenient for taking and placing. By adjusting the suction force of the negative pressure suction cup on the sputum suction tube 20, the tightness of restricting the sputum suction tube 20 is adjusted, and further the ease of insertion of the sputum suction tube 20 is adjusted.

[0026] In the present invention, the middle of the limiting ring 71 has a through hole. The outer wall of the sputum suction tube 20 is loosely fitted with the inner wall of the through hole and can move therein. On the one hand, the limiting ring 71 positions the sputum suction tube 20, ensuring that the sputum suction tube 20 reaches the target intubation depth. On the other hand, the limiting ring 71 also plays a role in limiting and guiding the sputum suction tube 20, preventing the sputum suction tube 20 from detaching from the clamping jaw 72 / negative pressure suction cup when the clamping jaw 72 / negative pressure suction cup releases the sputum suction tube 20.

[0027] In the present invention, the pressure regulating device 60 is provided between the negative pressure interface 12 of the sputum storage bottle 10 and the negative pressure tube 30, or on the negative pressure tube 30. The pressure regulating device 60 is a pressure reducing valve. Adjusting the sputum suction negative pressure through a pressure reducing valve is a prior art. For example, as disclosed in CN201420818222.X and CN202210174017.3, the sputum suction negative pressure is adjusted by setting a pressure reducing valve.

[0028] In another preferred embodiment of the present invention, a three-way joint 13 is connected to the sputum inlet 11. The other two interfaces of the three-way joint 13 away from the sputum inlet 11 are respectively connected to the sputum suction tube 20 and the pressure sensor 50. By externally connecting the sputum suction tube 20 and the pressure sensor 50 through the three-way joint 13, it is convenient to disassemble and assemble the sputum suction tube 20. Moreover, the pressure sensor 50 is arranged adjacent to the sputum suction tube 20, directly reading the actual negative pressure of the sputum suction tube 20, which is more accurate.

[0029] Further preferably, the negative pressure suction device 40 can automatically suck and has an intermittent suction mode; and / or the negative pressure suction device 40 has a foot switch. By operating the foot switch, suction can be started or paused to achieve intermittent suction. When the plane is bumping, the intermittent suction mode is used to reduce the stimulation of continuous negative pressure on the airway.

[0030] In another preferred embodiment, the negative pressure sputum suction device can be powered by an on-board power supply. The negative pressure sputum suction device is also provided with a backup battery. The power supply output control end of the controller 80 is connected to the on-board power supply and the backup battery. Usually, the negative pressure sputum suction device is powered by the on-board power supply. When the plane bumps, the controller 80 switches to the backup battery for power supply. In the present invention, the on-board power supply and the backup battery are connected simultaneously to prevent voltage fluctuations when the plane bumps.

[0031] Embodiment 2

[0032] This embodiment provides a control method for a negative pressure sputum suction device, which is implemented based on the negative pressure sputum suction device for helicopter air rescue in Embodiment 1, and includes the following steps:

[0033] S1, obtain the height of the patient (which can be obtained by measurement or according to the image captured by the camera), weight (which can be obtained by a weighing sensor), age (when the real age of the patient is available, the real age is used; when the real age is not available, an estimate is made), and gender. The controller 80 determines the target intubation depth of the sputum suction tube 20.

[0034] S2, obtain the turbulence degree of the aircraft in real time.

[0035] S3, determine the tightness of the control limiting device 70 according to the turbulence degree of the aircraft, so as to realize intubation within a safe time interval, reach the target depth and lock the limiting device 70.

[0036] S4, during the sputum suction process, according to the real-time turbulence degree of the aircraft, the controller 80 controls the pressure regulating device 60 to work and adjust the sputum suction pressure according to the pressure signal of the pressure sensor 50.

[0037] In the present invention, the method for obtaining the height, weight, age and gender of the patient and for the controller to determine the target intubation depth of the sputum suction tube is as follows:

[0038] D = D0 + ω1H + ω2W + ω3A + ω4X

[0039] where D is the target intubation depth, D0 is the basic intubation depth, which can be obtained by taking the average value of multiple persons through statistics. Generally, it is 22 cm for adults and 12 cm for children. ω1, ω2, ω3 and ω4 are adjustment coefficients, which are determined through experiments. Experiments should be conducted separately for adults and children. H, W, A and X are the height, weight, age and gender of the patient respectively.

[0040] In the present invention, the method for obtaining the turbulence degree of the aircraft in real time is as follows:

[0041]

[0042] where a(t) is the real-time acceleration of the aircraft, α1 and α2 are adjustment coefficients for the flight altitude and turbulence disturbance (periodic disturbance during turbulence), which can be determined through experiments. h(t) is the current flight altitude, H max is the maximum flight altitude, and ω and φ are the frequency and phase of the turbulence disturbance signal respectively.

[0043] In the present invention, when the turbulence degree of the aircraft is below the low threshold, no adjustment is made to the tightness of the limiting device 70. When the turbulence degree of the aircraft is above the high threshold, the limiting device 70 locks the sputum suction tube and it cannot move. When the turbulence degree of the aircraft is between the low threshold and the high threshold, the tightness of the control limiting device is determined according to the turbulence degree of the aircraft. The specific method is as follows:

[0044]

[0045] where k1 and k2 are adjustment coefficients for controlling the tightness of the limiting device,

[0046] β1 is the non-linear exponential coefficient of the acceleration of the aircraft during turbulence with respect to the tightness degree,

[0047] sigmoid is a Sigmoid function that controls the smoothness of the force applied by the limit device 70.

[0048] a0 is the low acceleration threshold of the aircraft, which determines when to start the nonlinear tension adjustment.

[0049] η is the proportional adjustment factor for the target intubation depth of the suction tube, which can be determined through experiments.

[0050] d(t) is the actual insertion depth of the suction tube.

[0051] The present invention determines the tightness of the control limit device according to the degree of turbulence of the aircraft. In actual operation, when the aircraft runs smoothly (the degree of turbulence of the aircraft is below a low threshold), the limit device 70 does not limit the suction tube 20, and the medical staff can push and pull the suction tube 20 to adjust the intubation depth according to the actual situation of the patient; when the aircraft is very bumpy (the degree of turbulence of the aircraft is above a high threshold), the limit device 70 locks the suction tube 20 and cannot move, and the intubation depth of the suction tube 20 is fixed and cannot be adjusted; when the aircraft is not very stable (the degree of turbulence of the aircraft is between a low threshold and a high threshold), the tightness of the control limit device 70 is determined according to the degree of turbulence of the aircraft, and the clamping force of the suction tube 20 is adjusted. The greater the degree of turbulence of the aircraft, the tighter the clamping, and the intubation operation will be slower, thereby improving safety.

[0052] Specifically, a pressure sensor can be arranged on the inner side of the clamping claw 72 of the limiting device 70 or in the negative pressure suction cup to detect the clamping force or negative pressure adsorption force on the suction tube 20, so as to determine the clamping degree of the suction tube 20. The specific corresponding relationship between the clamping force, negative pressure adsorption force and clamping degree can be determined in advance through experiments.

[0053] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A negative pressure sputum aspirator for helicopter air rescue, comprising a sputum storage bottle for storing sputum, a sputum suction tube connected to the sputum inlet of the sputum storage bottle, and a negative pressure suction device for generating negative pressure connected to the negative pressure interface of the sputum storage bottle through a negative pressure tube, characterized in that ； The negative pressure sputum aspirator further includes a pressure sensor for monitoring the sputum aspiration pressure, a pressure regulating device for adjusting the sputum aspiration pressure, and a limiting device for fixing and restricting the ease of insertion of the sputum suction tube; The signal output end of the pressure sensor is connected to the sputum aspiration pressure input end of the controller, and the sputum aspiration pressure control end of the controller is connected to the pressure regulating end of the pressure regulating device; The signal output end of the aircraft bump detector is connected to the bump input end of the controller, and is used to transmit the bump information of the aircraft to the controller; During the sputum aspiration process, when the aircraft bumps, the controller controls the pressure regulating device to work to reduce the sputum aspiration pressure according to the pressure signal of the pressure sensor, and the controller controls the limiting device to work according to the bump degree to adjust the ease of insertion of the sputum suction tube, so as to accurately reach the target intubation depth.

2. The negative pressure sputum aspirator for helicopter air rescue according to claim 1, characterized in that The limiting device includes a fixed limiting ring sleeved outside the sputum suction tube, and a clamping jaw / negative pressure suction cup installed on the limiting ring. The sputum suction tube is clamped by the clamping jaw / sucked by the negative pressure suction cup, and the tightness of the sputum suction tube is adjusted by adjusting the opening degree of the clamping jaw / the suction force of the negative pressure suction cup.

3. The negative pressure sputum aspirator for helicopter air rescue according to claim 1, characterized in that, The pressure regulating device is arranged between the negative pressure interface of the sputum storage bottle and the negative pressure tube, or is arranged on the negative pressure tube.

4. The negative pressure sputum aspirator for helicopter air rescue according to claim 1, wherein The pressure regulating device is a pressure reducing valve.

5. The negative pressure sputum aspirator for helicopter air rescue according to claim 1, wherein, A three-way joint is connected at the sputum inlet, and the other two interfaces of the three-way joint far from the sputum inlet are respectively connected to the sputum suction tube and the pressure sensor.

6. The negative pressure sputum aspirator for helicopter air rescue according to any one of claims 1-5, characterized in that The negative pressure suction device can automatically suck and has an intermittent suction mode; And / or the negative pressure suction device has a foot switch, and the suction is started or paused by operating the foot switch to realize intermittent suction.

7. The negative pressure sputum aspirator for helicopter air rescue according to any one of claims 1-5, characterized in that, The negative pressure sputum aspirator can be powered by an on-board power supply, and the negative pressure sputum aspirator is also provided with a backup battery. The power supply output control end of the controller is connected to the on-board power supply and the backup battery. During the sputum aspiration process, when the aircraft bumps, the controller switches to the backup battery for power supply.

8. A control method for a negative pressure sputum aspirator, based on the negative pressure sputum aspirator for helicopter air rescue according to any one of claims 1-7, characterized in that, Including the following steps: S1. Obtain the height, weight, age and gender of the patient, and the controller determines the target intubation depth of the sputum suction tube; S2. Obtain the bump degree of the aircraft in real time; S3. Determine the tightness of the control limiting device according to the bump degree of the aircraft, and realize intubation within a safe time interval and reach the target depth and lock the limiting device; S4. During the sputum aspiration process, according to the real-time bump degree of the aircraft, the controller controls the pressure regulating device to work to adjust the sputum aspiration pressure according to the pressure signal of the pressure sensor.

9. The control method according to claim 8, wherein The method for obtaining the height, weight, age and gender of the patient and the controller determining the target intubation depth of the sputum suction tube is: D = D0 + ω1H + ω2W + ω3A + ω4X Wherein, D is the target intubation depth, D0 is the basic intubation depth, ω1, ω2, ω3 and ω4 are adjustment coefficients, and H, W, A and X are the height, weight, age and gender of the patient respectively.

10. The control method according to claim 8, wherein The method for obtaining the bump degree of the aircraft in real time is: Among them, a(t) is the real-time acceleration of the aircraft, α1 and α2 are adjustment coefficients for flight altitude and bump disturbance, h(t) is the current flight altitude, and H max is the maximum flight altitude, ω and φ are the frequency and phase of the bump disturbance signal respectively; The method for determining the tightness of the control limiting device according to the bump degree of the aircraft is: Wherein, k1 and k2 are adjustment coefficients for controlling the tightness of the limiting device, β1 is the non-linear exponential coefficient of the acceleration of the aircraft during bumping on the tightness degree, sigmoid is the Sigmoid function, which controls the smoothness of the force applied by the limiting device, a0 is the low threshold of the aircraft's acceleration, which determines when to start the non-linear slack adjustment, η is the proportional adjustment factor of the target intubation depth of the suction tube, d(t) is the actual intubation depth of the suction tube.

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