CN113867242B - Unmanned cabin door automatic control system and unmanned cabin door automatic opening and closing method - Google Patents
Unmanned cabin door automatic control system and unmanned cabin door automatic opening and closing method Download PDFInfo
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- CN113867242B CN113867242B CN202111109652.5A CN202111109652A CN113867242B CN 113867242 B CN113867242 B CN 113867242B CN 202111109652 A CN202111109652 A CN 202111109652A CN 113867242 B CN113867242 B CN 113867242B
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- 230000001360 synchronised effect Effects 0.000 description 3
- 239000013585 weight reducing agent Substances 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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Abstract
The invention provides an automatic control system of an unmanned cabin door, which comprises a master control module, a control box module electrically connected with the master control module, a power output module, a power steering module, a guide rail movement module, a front electromagnetic lock module and a rear electromagnetic lock module, wherein the power output module, the power steering module and the guide rail movement module are used for realizing opening and closing of a cabin door, the front electromagnetic lock module and the rear electromagnetic lock module are used for realizing locking of the cabin door, the front electromagnetic lock module and the rear electromagnetic lock module release locking of the cabin door and a machine body when the cabin door is opened and closed, and the cabin door is locked again after opening and closing actions are completed; wherein, the master control module, the control box module and the power take-off module are arranged in the machine body. The invention also provides a method for automatically opening and closing the unmanned cabin door by adopting the control system, which solves the problems of cabin door deformation and overload increase of the control system load caused by mechanical locking in the prior art, and improves the automation level of opening and closing the unmanned cabin door.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle cabin door opening and closing control, in particular to an unmanned aerial vehicle cabin door automatic control system and an unmanned aerial vehicle cabin door automatic opening and closing method.
Background
The unmanned cabin door is driven by a linear motion device to realize opening and closing at present, the linear motion device usually adopts a motor as power, and the driving mode comprises a steel wire rope driving mode, a gear rack driving mode, a screw rod driving mode, a chain driving mode, a synchronous belt driving mode and other design schemes, wherein the gear rack driving mode and the screw rod driving mode have high repeated positioning precision and can bear high load, but have high requirements on installation and matching, the steel wire rope, the chain and the synchronous belt driving mode are relatively simple, the repeated positioning precision is general, and the unmanned cabin door can be compatible with a certain deformation amount generated by external factors; under the conditions of light load and low positioning precision requirement, the scheme of a motor-driven synchronous toothed belt is more common, such as actual cases of an automobile electric middle door, an automatic induction door and the like.
The existing cabin door control system is easy to cause cabin door deformation and heavy cabin door load increase caused by the fact that a mechanical locking structure is adopted in the cabin door opening and closing process, and the cabin door is easy to deform and heavy in the running process.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an automatic control system of an unmanned cabin door, which solves the problems of cabin door deformation caused by mechanical locking and excessive cabin door weight increase of a control system load in the prior art.
According to the embodiment of the invention, the automatic control system of the unmanned cabin door comprises a master control module, a control box module, a power output module, a power steering module, a guide rail movement module, a front electromagnetic lock module and a rear electromagnetic lock module, wherein the master control module is electrically connected with the master control module; wherein, the master control module, the control box module and the power take-off module are installed in the fuselage, the power steering module is installed in the hatch door, the guide rail movement module is located between the power take-off module and the power steering module, and the front electromagnetic lock module and the rear electromagnetic lock module are respectively installed on the front side and the rear side of the hatch door.
In the embodiment, the master control module is the master control system of the unmanned aerial vehicle, and the control box module is connected with the master control module, so that the cabin door can be automatically opened and closed in the aircraft cockpit, and meanwhile, the cabin door is locked by adopting the electromagnetic lock module and the rear electromagnetic lock module, so that the stability of the cabin door in an opened and closed state is ensured; the main control module, the control box module and the power output module are arranged in the machine body, so that the influence of the outside is avoided, and the power output module contributes to weight reduction.
Further, a manual release module for unlocking the hatch lock is included.
Further, the baud rate adopted by the control box module is 100Kb/s,32 bit is adopted, and the interface adopts a circular electric connector.
Further, the manual release module includes a keyed cylinder arrangement.
Further, the load power supply of the control box module is a 28VDC direct current power supply of the unmanned aerial vehicle.
According to an embodiment of the present invention, the present invention further provides a method for automatically opening and closing an unmanned cabin door using the above automatic control system, the method comprising the steps of:
the master control module outputs a switching value signal, the direct current power supply module arranged in the control box module receives the switching value signal and acts to enable the control box module to be in an electrified state, the control box module is electrified for self-checking at the moment, a starting qualified signal is sent to the master control module after the self-checking is correct, the master control module sends out an instruction of executing door opening or door closing after receiving the starting qualified signal,
when the door is opened: the main control module sends out a door opening command to the control box module again, the control box module self-checks to judge whether the cabin door is in a limit closing state, if the cabin door is in the limit closing state, the motor opening command is executed, otherwise, a cabin door fault signal is generated to the main control module,
when the opening instruction is executed, the front electromagnetic lock module and the rear electromagnetic lock module are electrically operated to release the locking of the cabin door and the machine body, the power output module outputs power to drive the guide rail movement module to act through the power steering module so as to realize the opening of the cabin door, the power output module does not output power after the cabin door is opened, and the front electromagnetic lock module and the rear electromagnetic lock module are locked again so that the cabin door and the machine body keep a door opening state;
when the door is closed: the master control module sends a door closing instruction to the control box module, the control box module self-checks to judge whether the cabin door is in a limit opening state, if the cabin door is in the limit opening state, the motor closing instruction is executed, otherwise, a cabin door fault signal is generated to the master control module,
when the door closing instruction is executed, the front electromagnetic lock module and the rear electromagnetic lock module are electrically operated to release the locking of the cabin door and the machine body, the power output module outputs power to drive the guide rail movement module to act through the power steering module so as to realize the closing of the cabin door, the power output module does not output power after the cabin door is closed, and the front electromagnetic lock module and the rear electromagnetic lock module are locked again so that the cabin door and the machine body are kept in a closed state.
Further, after the main control module receives the cabin door fault signal, the front electromagnetic lock module and the rear electromagnetic lock module are electrically operated to release the locking of the cabin door and the machine body, the power output module outputs power, the cabin door is opened or closed after 0.5-0.8 s, the power output module does not output power after the cabin door is opened or closed, the front electromagnetic lock module and the rear electromagnetic lock module are locked again, so that the cabin door and the machine body are kept in a closed state, at the moment, the control box module sends a fault elimination signal to the main control module, and otherwise, the control box module sends a fault elimination signal to the main control module.
Further, when the cabin door is powered off, the locking of the cabin door and the machine body is released through the manual release module, and then the opening and closing of the cabin door are realized through the handle on the cabin door.
Compared with the prior art, the invention has the following beneficial effects:
the control system provided by the invention adopts the electromagnetic lock module (comprising the front electromagnetic lock module and the rear electromagnetic lock module) to lock the cabin door and the machine body, plays a certain role in weight reduction, and meanwhile, the modularized structure enables the main control module, the control box module and the power output module to be arranged in the machine body, so that the influence of the outside is avoided, and meanwhile, the weight reduction is also contributed; the control system can realize the opening and closing control of the cabin door in the unmanned aerial vehicle cabin, and improves the automation level of the opening and closing of the cabin door.
Detailed Description
The technical scheme of the invention is further described below by referring to examples.
The embodiment provides an automatic control system of an unmanned cabin door, which comprises a master control module, a control box module electrically connected with the master control module, a power output module, a power steering module, a guide rail movement module, a front electromagnetic lock module and a rear electromagnetic lock module, wherein the power output module, the power steering module and the guide rail movement module are used for realizing opening and closing of a cabin door, the front electromagnetic lock module and the rear electromagnetic lock module are used for realizing locking of the cabin door, and the front electromagnetic lock module and the rear electromagnetic lock module release locking of the cabin door and a machine body when the cabin door is opened and closed, and the cabin door is locked again after opening and closing actions are completed; wherein, total accuse module, control box module and power take off module are installed in the fuselage, and power steering module installs in the hatch door, and guide rail movement module is located between power take off module and the power steering module, and preceding electromagnetic lock module and back electromagnetic lock mould are installed respectively in the front and back both sides of hatch door, can make the both sides of hatch door all locked, improves the stability when the hatch door is in the open-close state.
In the above embodiment, the master control module, that is, the master control system of the unmanned aerial vehicle itself, is generally located in the cockpit of the unmanned aerial vehicle, so as to implement automatic opening and closing of the cabin door in the cockpit of the aircraft; the control box module adopts the baud rate of 100Kb/s, the 32 bit is adopted, the interface adopts a circular electric connector, and meanwhile, the load power supply of the control box module is a 28VDC direct current power supply of the unmanned aerial vehicle.
The control system of this embodiment adopts electromagnetic lock module and back electromagnetic lock module to lock the hatch door simultaneously, has guaranteed the hatch door stability when the open-close state, and wherein total accuse module, control box module and power take off module install in the fuselage, avoid receiving external influence, also make contributions to reducing weight simultaneously.
In order to enable the opening and closing of the hatch door outside the unmanned cabin door also in the event of a power failure, the automatic control system further comprises a manual release module for unlocking the locking of the hatch door, which comprises a keyed lock cylinder device, which prevents the non-crew from opening the hatch locking system when parking on the ground.
In another embodiment, a method for automatically opening and closing an unmanned cabin door by adopting the automatic control system is provided, and the method comprises the following steps:
the control box module is powered on and self-checks, the self-checking is carried out, a starting qualified signal is sent to the control box module, the control box module receives the starting qualified signal and sends a door opening or closing command, wherein if the control box module does not receive the qualified signal, the control box module judges that the control system is powered on, initializes and self-checks to be faulty, and then ground maintenance can be carried out;
when the door is opened: the main control module sends out a door opening command to the control box module again, the control box module self-checks to judge whether the cabin door is in a limit closing state, if the cabin door is in the limit closing state, the motor opening command is executed, otherwise, a cabin door fault signal is generated to the main control module,
when the opening instruction is executed, the front electromagnetic lock module and the rear electromagnetic lock module are electrically operated to release the locking of the cabin door and the machine body, the power output module outputs power to drive the guide rail movement module to act through the power steering module so as to realize the opening of the cabin door, the power output module does not output power after the cabin door is opened, and the front electromagnetic lock module and the rear electromagnetic lock module are locked again so that the cabin door and the machine body keep a door opening state;
when the door is closed: the master control module sends a door closing instruction to the control box module, the control box module self-checks to judge whether the cabin door is in a limit opening state, if the cabin door is in the limit opening state, the motor closing instruction is executed, otherwise, a cabin door fault signal is generated to the master control module,
when the door closing instruction is executed, the front electromagnetic lock module and the rear electromagnetic lock module are electrically operated to release the locking of the cabin door and the machine body, the power output module outputs power to drive the guide rail movement module to act through the power steering module so as to realize the closing of the cabin door, the power output module does not output power after the cabin door is closed, and the front electromagnetic lock module and the rear electromagnetic lock module are locked again so that the cabin door and the machine body are kept in a closed state.
The instructions in this embodiment include those listed in the following table (the control system in this embodiment controls either the left or right side doors alone, the following table taking the left side door as an example):
after the cabin door fault signal is received by the master control module, the control system firstly executes a door opening or closing instruction, namely, the front electromagnetic lock module and the rear electromagnetic lock module are electrically operated to release locking of the cabin door and the machine body, the power output module outputs power, the cabin door is opened or closed after 0.5-0.8 s, the power output module does not output power after the cabin door is opened or closed, the front electromagnetic lock module and the rear electromagnetic lock module are locked again, so that the cabin door and the machine body are kept in a closed state, at the moment, the control box module sends a fault elimination signal to the master control module, and otherwise, the control box module sends a fault elimination signal to the master control module.
Preferably, when the door is de-energized, the door is released from locking with the fuselage by a manual release module, and then the door is opened and closed by a handle on the door.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.
Claims (7)
1. The automatic opening and closing method for the unmanned cabin door is characterized by comprising the following steps of:
the master control module outputs a switching value signal, the direct current power supply module arranged in the control box module receives the switching value signal and acts to enable the control box module to be in an electrified state, the control box module is electrified for self-checking at the moment, a starting qualified signal is sent to the master control module after the self-checking is correct, the master control module sends out an instruction of executing door opening or door closing after receiving the starting qualified signal,
when the door is opened: the main control module sends out a door opening command to the control box module again, the control box module self-checks to judge whether the cabin door is in a limit closing state, if the cabin door is in the limit closing state, the motor opening command is executed, otherwise, a cabin door fault signal is generated to the main control module,
when the opening instruction is executed, the front electromagnetic lock module and the rear electromagnetic lock module are electrically operated to release the locking of the cabin door and the machine body, the power output module outputs power to drive the guide rail movement module to act through the power steering module so as to realize the opening of the cabin door, the power output module does not output power after the cabin door is opened, and the front electromagnetic lock module and the rear electromagnetic lock module are locked again so that the cabin door and the machine body keep a door opening state;
when the door is closed: the master control module sends a door closing instruction to the control box module, the control box module self-checks to judge whether the cabin door is in a limit opening state, if the cabin door is in the limit opening state, the motor closing instruction is executed, otherwise, a cabin door fault signal is generated to the master control module,
when the door closing instruction is executed, the front electromagnetic lock module and the rear electromagnetic lock module are electrically operated to release the locking of the cabin door and the machine body, the power output module outputs power to drive the guide rail movement module to act through the power steering module so as to realize the closing of the cabin door, the power output module does not output power after the cabin door is closed, and the front electromagnetic lock module and the rear electromagnetic lock module are locked again so that the cabin door and the machine body are kept in a closed state.
2. The method for automatically opening and closing the unmanned cabin door according to claim 1, wherein after the main control module receives a cabin door fault signal, the front electromagnetic lock module and the rear electromagnetic lock module electrically operate to release locking of the cabin door and the cabin body, the power output module outputs power, the cabin door is opened or closed after 0.5-0.8 s, the power output module does not output power after the cabin door is opened or closed, the front electromagnetic lock module and the rear electromagnetic lock module are locked again to enable the cabin door and the cabin body to be kept in a closed state, at the moment, the control box module sends a fault elimination signal to the main control module, and otherwise, the control box module sends a fault elimination signal to the main control module.
3. A method for automatic opening and closing of an unmanned cabin door according to claim 2, wherein when the door is de-energized, the door is released from locking with the fuselage by a manual release module and then the door is opened and closed by a handle on the door.
4. The method for automatically opening and closing the unmanned cabin door according to claim 1, wherein the power output module, the power steering module and the guide rail movement module are used for realizing the opening and closing of the cabin door, the front electromagnetic lock module and the rear electromagnetic lock module are used for realizing the locking of the cabin door, the front electromagnetic lock module and the rear electromagnetic lock module release the locking of the cabin door and the machine body when the cabin door is opened and closed, and the cabin door is locked again after the opening and closing action of the cabin door is completed; wherein, the master control module, the control box module and the power take-off module are arranged in the machine body.
5. The method for automatically opening and closing the unmanned cabin door according to claim 1, wherein the baud rate adopted by the control box module is 100Kb/s, the 32 bit is, and the interface adopts a circular electric connector.
6. A method of automatically opening and closing an unmanned cabin door as in claim 3, wherein a manual release module is used to unlock the door lock.
7. A method for automatically opening and closing an unmanned cabin door as in claim 1, wherein the load power source of the control box module is a 28VDC dc power source of the unmanned aircraft.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111109652.5A CN113867242B (en) | 2021-09-22 | 2021-09-22 | Unmanned cabin door automatic control system and unmanned cabin door automatic opening and closing method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111109652.5A CN113867242B (en) | 2021-09-22 | 2021-09-22 | Unmanned cabin door automatic control system and unmanned cabin door automatic opening and closing method |
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| Publication Number | Publication Date |
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| CN113867242A CN113867242A (en) | 2021-12-31 |
| CN113867242B true CN113867242B (en) | 2023-06-27 |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118292719A (en) * | 2023-01-03 | 2024-07-05 | 玉环天润航空机械制造有限公司 | Unmanned cabin door control system with troubleshooting function and unmanned cabin door system |
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| EP2907748A1 (en) * | 2014-02-17 | 2015-08-19 | BAE Systems PLC | Aircraft or aircraft section comprising a bay, and method of operating the same |
| CN106368517A (en) * | 2016-09-19 | 2017-02-01 | 中国航空工业集团公司沈阳飞机设计研究所 | Cabin door electromagnetic lock for aviation |
| CN107654158A (en) * | 2017-10-17 | 2018-02-02 | 西安飞机工业（集团）有限责任公司 | A kind of aircraft door electric control system |
| CN112065206A (en) * | 2020-09-12 | 2020-12-11 | 西安爱生技术集团公司 | Fixed wing unmanned aerial vehicle task hatch door drive control system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3683138B1 (en) * | 2019-01-16 | 2021-04-28 | AIRBUS HELICOPTERS DEUTSCHLAND GmbH | A door locking system with a rapid release mechanism |
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- 2021-09-22 CN CN202111109652.5A patent/CN113867242B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2907748A1 (en) * | 2014-02-17 | 2015-08-19 | BAE Systems PLC | Aircraft or aircraft section comprising a bay, and method of operating the same |
| CN106368517A (en) * | 2016-09-19 | 2017-02-01 | 中国航空工业集团公司沈阳飞机设计研究所 | Cabin door electromagnetic lock for aviation |
| CN107654158A (en) * | 2017-10-17 | 2018-02-02 | 西安飞机工业（集团）有限责任公司 | A kind of aircraft door electric control system |
| CN112065206A (en) * | 2020-09-12 | 2020-12-11 | 西安爱生技术集团公司 | Fixed wing unmanned aerial vehicle task hatch door drive control system |
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