JPH06211198A - Controlling method for aircraft washing device - Google Patents

Abstract

PURPOSE:To safely and positively wash a moving wing part by detecting the oscillating angle of an oscillation energizing means and by actuating a moving means when the detected oscillating angle has exceeded the previously established oscillating angle range and by controlling the detected oscillating angle to be within the previously established oscillating angle range. CONSTITUTION:In moving a carriage 8 to point (b) from point (a), a washing body 3 is located behind an edge part b' by L when the carriage 8 has arrived at point (b) with vertical fin rudder displaced. Namely, the washing body 3 is completely removed from the edge part b'. Meanwhile, an oscillating arm 5 stands still due to energized force by the oscillation energizing means 4 with the oscillating arm exceeded the previously established oscillating angle range. The arm 7 of the moving means. therefore, expands to return the oscillating arm 5 to neutral state. The arm 7 continues its expansion due to the absence of the vertical fin rudder 1a to generate the possibility of keeping the cover 3a, etc., of the washing body 3 contact with the vertical fin rudder 1a. Thus. the edge part point (b) is positively detected.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of controlling a cleaning device which reliably cleans a moving part (main wing aileron, horizontal tail elevator, vertical tail ladder, etc.) of an aircraft by changing its posture.

[0002]

2. Description of the Related Art A cleaning body (brush or the like) having a swinging urging means and a moving means for moving the cleaning body to an arbitrary position, and being arranged in a cleaning sharing area of an aircraft to be cleaned. When cleaning an object to be cleaned with a plurality of cleaning units that have been set, a device that contacts the object to be cleaned and teaches its position and automatically cleans the object based on the teaching data is known. Has been. (See, for example, JP-A-57-127482)

[0003]

The attitudes of moving parts such as the main wing aileron, horizontal tail wing elevator, and vertical tail rudder of an aircraft change with time due to the influence of its own weight and wind. When cleaning is performed with the rotor blade position changed in this way, the body to be cleaned is separated from the surface to be cleaned, leaving an unwashed portion, or conversely, the surface to be cleaned and the body to be cleaned are abnormally close to each other. This causes inconvenience such as damage to the cleaning surface. In order to prevent such a posture change of the rotor blade, it is necessary to constantly operate the auxiliary engine and operate the hydraulic system to maintain the posture, but this is extremely difficult in terms of fuel and personnel reduction. In addition to being uneconomical, it is difficult to operate the auxiliary engine because the exhaust port of the auxiliary engine is covered with a cover to prevent water from entering during cleaning.

It is an object of the present invention to safely and reliably clean a moving blade portion which cannot always maintain a fixed posture due to the influence of its own weight or wind when cleaning an aircraft or the like.

[0005]

The structure of the present invention for solving the problems of the prior art has a cleaning body having a swinging biasing means and a moving means for moving the cleaning body to an arbitrary position.
Further, each of the cleaning units is provided in the cleaning sharing area of the object to be cleaned, the object to be cleaned is brought into contact with the object to be cleaned and its position is taught, and the object to be cleaned is automatically cleaned by the teaching data. When the swing angle of the swing biasing means is detected and when the detected swing angle exceeds a preset swing angle range, the moving means is operated to set the detected swing angle to the preset swing angle. Control so that the angle is within the range, and calculate the cleaning length between the hinge and edge from the pre-teached position data of the hinge and edge of the rotor blade, and then calculate the cleaning length and cleaning. The moving length of the body is compared, and when the moving length exceeds or becomes the same as the cleaning length, the cleaning body separates from the surface to be cleaned, and the swing urging means and the cleaning body. Is configured to be rotatable When cleaning the moving blade portion, the tilt angle of the moving blade is calculated from the swing angle of the swing biasing means and the position data of the moving means, and the swing biasing means and the cleaning body are rotated based on the calculation result. In this way, the contact state between the surface to be cleaned and the cleaning object is adjusted.

[0006]

The cleaning body detects the swinging angle of the swinging biasing means and controls the swinging angle to a preset swinging angle even if the posture of the moving blade changes due to the influence of its own weight or wind. As described above, the moving means operates, the relative position of the surface to be cleaned and the cleaning object is always maintained in a normal state, and damage due to unwashed parts and abnormal approach is reasonably avoided, and safe and reliable cleaning is performed. .

[0007]

An embodiment of the method of the present invention will be described below with reference to the drawings. FIG. 1 is an explanatory view for explaining a control method of the present invention for a vertical tail ladder, FIG. 2 is an explanatory view showing a movement locus of a cleaning unit, and FIG. 3 is an explanatory view of a relationship between a vertical tail ladder and a cleaning body as seen from a side. FIG. 4 is an explanatory view of the relationship between the vertical tail ladder and the cleaning body as viewed from the rear.

FIG. 1 shows a state in which the vertical tail portion 1 is being washed. The teaching point in this state is the hinge portion a between the vertical stabilizer 1a and the vertical stabilizer 1.
And the edge b point of the vertical stabilizer ladder 1a. In a state where the vertical tail ladder 1a is not displaced, the cleaning body (brush) 3 of the cleaning unit 2 may proceed in accordance with the teaching point from point a to point b. However, as shown by the phantom line in the figure, the vertical tail ladder 1a has an angle α (25 ° to 30 °).
(°) When it is displaced, an uncleaned portion is formed on the vertical tail ladder 1a, or the cleaning body 3 approaches abnormally. In order to solve such an inconvenience, the following control is performed.

When the cleaning unit 2, that is, the cleaning body 3 moves in the direction of the arrow x, the balance between the urging force of the oscillating urging means 4 and the reaction force of the cleaning body 3 is lost, and the oscillating arm 5 moves the vertical tail ladder 1a. Swing in the direction of. This swing angle is detected by an angle detector 6 provided at the swing fulcrum O, and when this swing angle exceeds a preset swing angle θ ₁ , the arm 7 of the moving means expands and contracts. The moving arm 5 is returned within the range of the preset swing angle θ ₁ .

By repeating the expansion and contraction of the arm 7 while moving the carriage 8 from the point a to the point b, it becomes possible to wash the cleaning object without leaving the surface to be cleaned. In this way, the bogie 8 moves from the point a to the point b, but when the bogie 8 reaches the point b when the vertical tail ladder 1a is displaced to the posture shown by the phantom line as shown in FIG. The cleaning body 3 is located behind the edge portion b ′ by L. That is, the cleaning body 3 is completely disengaged from the edge portion b ′, but the swing arm 5 exceeds the range of the swing angle θ ₁ preset by the biasing force of the swing biasing means 4. Will be stationary. Therefore, the arm 7 of the moving means extends to return the swing arm 5 to the neutral state, but the arm 7 does not have the vertical tail rudder 1a.
Will continue to expand, and there is a possibility that the cover 3a of the cleaning body 3 will contact the vertical tail ladder 1a. Therefore, the point b at the edge is surely detected, and the arm 7
If is set to shrink, at the same time, a pseudo signal that "it has reached point b" is transmitted, and if it moves to the next point c,
It does not cause abnormal approach. Therefore, it is important to surely detect the edge b'point.

To surely detect the edge b'point, a
The actual cleaning length l ₁ is calculated from the teaching data of the point and the point b. Subsequently, the movement amount of the carriage 8 from the point a, the extension amount of the arm 7, and the displacement amount of the swing arm 5 are detected, and the cleaning body 3 calculates the movement length l ₂ , and l ₁ ≤l ₂ is satisfied. By providing the determination circuit that determines that the edge portion b ′ point is when the edge portion b ′ is present, the edge portion b ′ point can be reliably detected.

Further, as shown in FIG. 4, when the vertical tail ladder 1a is displaced as shown in FIG. 1, the edge portion b'point is inclined at an angle of θ ₂ with respect to the cleaning body 3. Therefore, the cleaning body 3 is in a one-sided contact state and uneven cleaning occurs. In order to eliminate this cleaning unevenness, the contact of the cleaning body 3 is corrected by turning the cleaning body 3 by an angle of θ ₂ . The correction means (1) detects the amount of movement of the carriage 8, the amount of extension of the arm 7, and the amount of displacement of the swing arm 5 in the process from point a to point b, and determines the displacement angle α of the vertical tail ladder 1a. calculate. (2) The angle θ ₂ is calculated from the calculated displacement angle α, and this θ ₂ is used as a correction amount for the contact state of the cleaning body 3, and the cleaning body 3 is swung by the swing arm 5 by θ ₂ .

In the above-mentioned embodiment, the method of controlling the vertical tail ladder is explained, but the same control means can be applied to the main wing aileron and the horizontal tail elevator, and therefore it is not limited to the embodiment.

[0014]

As described above, according to the structure of the present invention, the following effects can be obtained. (A) With the auxiliary engine stopped, the cleaning body detects the swinging angle of the biasing means and controls the swinging angle to a preset swinging angle, no matter how the blade attitude is changed. Since the moving means operates, the relative positional relationship between the surface to be cleaned and the cleaning object is always maintained, troubles due to uneven cleaning and abnormal approach can be avoided, and safe and reliable automatic cleaning can be achieved. (B) The posture displacement state of the rotor blade is calculated and detected, and the contact angle of the cleaning body with the surface to be cleaned is adjusted according to the amount of inclination of the surface to be cleaned. A certain surface to be cleaned can be uniformly cleaned. (C) Even if the moving blade portion is displaced and the position of the edge portion is changed, the edge portion is surely detected and the cleaning body is separated from the surface to be cleaned, which is extremely safe.

[Brief description of drawings]

FIG. 1 is an explanatory diagram for explaining a control method of the present invention for a vertical stabilizer ladder.

FIG. 2 is an explanatory diagram showing a movement trajectory of a cleaning unit.

FIG. 3 is an explanatory diagram showing a side view of a relationship between a vertical tail ladder and a cleaning body.

FIG. 4 is an explanatory diagram showing a relationship between a vertical tail ladder and a cleaning body as viewed from the rear.

[Explanation of symbols]

 1 Vertical Tail 1a Vertical Tail Ladder 2 Cleaning Unit 3 Cleaning Body 3a Cover 4 Swing Energizing Means 5 Swing Arm 6 Angle Detector 7 Arm 8 Cart

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Ken Sato 3-1-1 Higashikawasaki-cho, Chuo-ku, Kobe City Kawasaki Saki Heavy Industries, Ltd. Kobe factory (72) Tomokatsu Soga 1 Gotasaka, Hodogaya-ku, Yokohama, Kanagawa Prefecture Chome 42-9 (72) Inventor Akira Takeishi 1-6-3 Haneda Airport, Ota-ku, Tokyo Japan Airlines Co., Ltd. (72) Inventor Misao Hayashi 1-3-6 Haneda Airport, Ota-ku, Tokyo Inside the airline company

Claims (3)

[Claims] 1. A cleaning body having a cleaning body having rocking urging means and a moving means for moving the cleaning body to an arbitrary position, and a cleaning unit provided in each cleaning sharing area of the cleaning target body, Is contacted with the object to be cleaned to teach its position, and when the object to be cleaned is automatically cleaned by the teaching data, the rocking angle of the rocking urging means is detected, and the detected rocking angle is detected. Is above a preset swing angle range, the moving means is actuated to control the detected swing angle to fall within the preset swing angle range. Control method. 2. A cleaning length between the hinge part and the edge part is calculated from pre-teached position data of the hinge part and the edge part of the moving blade part, and the cleaning length and the moving length of the cleaning body are moving. The method for controlling an aircraft cleaning device according to claim 1, wherein the cleaning body is separated from the surface to be cleaned when the moving length exceeds or becomes the same as the cleaning length. 3. The swing urging means and the cleaning body are configured to be rotatable, and when cleaning the moving blade portion, the inclination angle of the moving blade is determined from the swing angle of the swing urging means and the position data of the moving means. And calculate
3. The control of the aircraft cleaning device according to claim 1, wherein the contact state between the surface to be cleaned and the cleaning body is adjusted by rotating the swinging biasing means and the cleaning body based on the calculation result. Method.