Helicopter

• US 20110301784A1
• Filed: 08/26/2010
• Published: 12/08/2011
• Est. Priority Date: 08/26/2009
• Status: Active Grant

• Current Assignee: Geotech Environmental Equipment, Inc.
• Original Assignee: Geotech Environmental Equipment, Inc.
• Inventors: Oakley, John Robert, Heath, David Scott
• Granted Patent: US 9,456,185 B2
• Time in Patent Office: Days
• US Class Current: 701/2
• CPC Class Codes: B64C 27/04 Helicopters
• CPC Class Codes: B64C 27/57 automatic or condition responsive, e.g. responsive to rotor speed, torque or thrust
• CPC Class Codes: B64U 10/17 Helicopters flying platforms B64U10/13
• CPC Class Codes: B64U 20/65 Composite materials
• CPC Class Codes: B64U 2101/31 for surveillance
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: B64U 50/19 using electrically powered motors
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: G05D 1/0858 specially adapted for vertical take-off of aircraft
• CPC Class Codes: H04N 7/185 from a mobile camera, e.g. for remote control

Abstract

The present invention relates to a reduced scale industrial helicopter, with an integrated automatic flight control system, that includes core autopilot functions, GPS management, and full-function navigation systems. The autopilot technology includes rapid launch capability, real-time in-flight switching between one or more of a) remote control, b) autopilot-directed, c) ground station controlled, and d) home modes, and is upgradeable. The helicopter is used for high or low altitude surveillance, and can handle various payloads, including photographic missions. The helicopter may include onboard batteries and/or a unique battery unit disposed beneath the helicopter, and includes autonomous features such as automatic takeoff, automatic landing, safety return to home base, and predetermined mission plans.

Claims

1. A reduced scale helicopter comprising:

a chassis having two hinged side panels and a bottom panel;

a main rotor mounted on a rotor shaft disposed within said chassis;

a rotor head assembly mounted on said rotor shaft and including a plurality of main rotor blades;

a swash plate disposed on said rotor shaft, and connected to said rotor blades via a plurality of pushrods;

a plurality of control arms which connect said swash plate to said rotor shaft;

a plurality of connectors which connect said swash plate to an electrical panel which controls movements of the helicopter, said electrical panel being electrically connected to a plurality of indicators which show a user a flight status of the helicopter;

a tail boom extending rearward from said chassis, and having a tail rotor mounted on a tail rotor shaft;

a tail pitch rod connecting said tail rotor shaft and a plurality of tail rotor blades;

a plurality of battery shelves disposed on each of said hinged side panels of said chassis;

a plurality of batteries disposed on each of said plurality of battery shelves;

a payload connected to said chassis;

a plurality of landing gear disposed under said bottom panel of said chassis; and

an autopilot disposed within and mounted to said chassis by a plurality of boards secured by vibration mounts, said autopilot being electrically connected to said electrical panel;

wherein said autopilot receives wireless instructions, for helicopter control, from at least one of a first wireless communication transmitter/receiver disposed on the helicopter, said first wireless communication transmitter/receiver that transmits and receives wireless instructions from a ground station unit, or a second wireless transmitter/receiver disposed on the helicopter, that transmits and receives wireless instructions from a hand-held remote control unit.

2. The helicopter according to claim 1, further comprising:

a gear disposed on said rotor shaft and connected to a plurality of gears in a main motor, to spin said rotor shaft and said main rotor.

3. The helicopter according to claim 1, further comprising:

a removable tail boom, to which said tail rotor is connected.

4. The helicopter according to claim 3, further comprising:

a tail motor which drives said tail rotor, and which is connected to said tail rotor shaft.

5. The helicopter according'"'"'to claim 4, wherein said tail motor is mounted directly on said tail rotor and performs as said tail rotor shaft.

6. The helicopter according to claim 1, further comprising:

an auxiliary battery disposed at a tail portion proximate to said tail boom.

7. The helicopter according to claim 1, further comprising:

a plurality of connectors which connect said batteries to said electrical panel.

8. The helicopter according to claim 4, further comprising:

a main motor speed controller connected to said batteries, which conditions a power from said batteries and acts as an adjustable speed regulator for said main motor.

9. The helicopter according to claim 3, further comprising:

a magnetometer disposed on a supporting holder on said tail boom; and

a global positioning system (GPS) connected to said magnetometer;

wherein said GPS provides real-time positional information to said autopilot.

10. The helicopter according to claim 9, further comprising:

a liquid crystal display (LCD) screen mounted in said chassis, and connected to said electrical panel and said autopilot, to display a status of the helicopter to a user.

11. The helicopter according to claim 10, wherein said LCD screen displays at least one of a plurality of error codes including a status of said autopilot, a status of satellite reception and grade of satellite reception from said GPS, a percentage of power used by said batteries and remaining power available, an overall health of helicopter operating systems, revolutions per minute (RPM) of the main rotor, or a stability status of the helicopter.

12. The helicopter according to claim 10, further comprising:

a flight data card removably mounted in said chassis and connected to said electrical panel, LCD, and said autopilot, which records data collected from each flight of the helicopter.

13. The helicopter according to claim 1, wherein said payload is mounted at one of a front of the helicopter forward of said chassis, under said bottom panel of said chassis, or mounted hanging below the helicopter.

14. The helicopter according to claim 12, wherein said payload is front mounted and is a camera assembly.

15. The helicopter according to claim 13, wherein said camera assembly comprises:

two horizontal elements extended forward from and connected to the two hinged side panels, respectively, of the chassis;

a plate connecting the two horizontal elements for stabilization;

two vertical parallel plates extending downward from said two horizontal elements, and connected together by said shelf plate; and

a camera, gimbal-mounted to said shelf plate.

16. The helicopter according to claim 15, further comprising:

a wireless video transmitter, connected to said camera, which sends video and still photographs to one of said wireless transmitter/receiver at said computer at said ground station unit, or said wireless transmitter/receiver hand-held remote control unit.

17. The helicopter according to claim 15, wherein said camera is controlled by said wireless transmitter/receiver hand-held remote control unit.

18. The helicopter according to claim 1, wherein said plurality of boards comprises two horizontal boards located at a top and a bottom of a vertical board to which said electrical panel is mounted, said two horizontal boards being connected to said chassis by attachment mechanisms, said two horizontal boards and vibrations mounts which provide shock and vibration isolation in three axes, to said electrical panel.

19. The helicopter according to claim 9, wherein said autopilot is connected to said GPS, and receives satellite information that said autopilot uses to identify locations in latitude, longitude, altitude and velocity.

20. The helicopter according to claim 19, further comprising:

a battery unit disposed under said bottom panel of said chassis and connected thereto.

21. The helicopter according to claim 20, further comprising:

a battery rail system disposed on a top of said battery unit;

a chassis rail system disposed under said bottom panel of said chassis, which corresponds to said battery rail system and slidingly engages therewith; and

a lever disposed at one end of said battery unit, which locks and releases aid battery unit from said helicopter.

47. The helicopter according to claim 1, wherein said chassis is made of carbon fiber.

50. The helicopter according to claim 21, further comprising:

a locking mechanism disposed on said battery unit for locking said battery unit to said chassis.

54. The helicopter according to claim 1, further comprising:

a battery recharge unit disposed under said chassis of the helicopter.

22. A reduced scale helicopter comprising:

a chassis having two hinged side panels and a bottom panel;

a main rotor mounted on a rotor shaft disposed within said chassis;

a rotor head assembly mounted on said rotor shaft and including a plurality of main rotor blades;

a swash plate disposed on said rotor shaft, and connected to said rotor blades via a plurality of pushrods;

a plurality of control arms which connect said swash plate to said rotor shaft;

a plurality of connectors which connect said swash plate to an electrical panel which controls movements of the helicopter, said electrical panel being electrically connected to a plurality of indicators which show a user a flight status of the helicopter;

a tail boom extending rearward from said chassis, and having a tail rotor mounted on a tail rotor shaft;

a tail pitch rod connecting said tail rotor shaft and a plurality of tail rotor blades;

a payload connected to said chassis;

a plurality of landing gear disposed under said bottom panel of said chassis; and

an autopilot disposed within and mounted to said chassis by a plurality of boards secured by vibration mounts, said autopilot being electrically connected to said electrical panel;

a battery unit disposed under said bottom panel of said chassis; and

means for connecting said battery unit to said bottom panel.

23. The helicopter according to claim 22, wherein said connecting means comprises:

a battery rail system disposed on a top of said battery unit;

a chassis rail system disposed under said bottom panel of said chassis, which corresponds to said battery rail system and slidingly engages therewith; and

a lever disposed at one end of said battery unit, which locks and releases aid battery unit from said helicopter.

48. The helicopter according to claim 22, wherein said chassis is made of carbon fiber.

51. The helicopter according to claim 23, further comprising:

a locking mechanism disposed on said battery unit for locking said battery unit to said chassis.

55. The helicopter according to claim 22, further comprising:

a battery recharge unit disposed under said chassis of the helicopter.

24. A reduced scale helicopter assembly comprising:

a helicopter, including;

a chassis having two hinged side panels and a bottom panel;

a main rotor mounted on a rotor shaft disposed within said chassis;

a rotor head assembly mounted on said rotor shaft and including a plurality of main rotor blades;

a swash plate disposed on said rotor shaft, and connected to said rotor blades via a plurality of pushrods;

a plurality of control arms which connect said swash plate to said rotor shaft;

a plurality of connectors which connect said swash plate to an electrical panel which controls movements of the helicopter, said electrical panel being electrically connected to a plurality of indicators which show a user a flight status of the helicopter;

a tail boom extending rearward from said chassis, and having a tail rotor mounted on a tail rotor shaft;

a tail pitch rod connecting said tail rotor shaft and a plurality of tail rotor blades;

a plurality of battery shelves disposed on each of said hinged side panels of said chassis;

a plurality of batteries disposed on each of said plurality of battery shelves;

a payload connected to said chassis;

a plurality of landing gear disposed under said bottom panel of said chassis; and

an autopilot disposed within and mounted to said chassis by a plurality of boards secured by vibration mounts, said autopilot being electrically connected to said electrical panel;

wherein said autopilot receives wireless instructions, for helicopter control, from at least one of a first wireless communication transmitter/receiver disposed on the helicopter, said first wireless communication transmitter/receiver that transmits and receives wireless instructions from a ground station unit, or a second wireless transmitter/receiver disposed on the helicopter, that transmits and receives wireless instructions from a hand-held remote control unit; and

wherein said hand-held remote control unit includes;

a plurality of antennae for receipt of a video transmission from said payload from said second wireless communication transmitter/receiver;

a wireless video receiver/transmitter disposed in a housing for receiving said video transmission from said payload from said second wireless communication transmitter/receiver;

an LCD screen which displays said video transmission;

a remote control assembly, including a plurality of joy sticks, for control of the helicopter and said payload; and

a battery assembly which powers said hand-held remote control unit.

25. The helicopter assembly according to claim 24, wherein said ground station unit comprises:

a plurality of antennae for receipt of a video transmission from said payload from said first wireless communication transmitter/receiver;

a wireless video receiver/transmitter disposed in a housing for receiving said video transmission from said payload from said first wireless communication transmitter/receiver;

an LCD screen which displays said video transmission;

a battery assembly which powers said ground station unit;

a portable DVR;

an antenna/patch panel; and

a computer having a processor and memory, which runs a software program specific to helicopter control.

26. The helicopter assembly according to claim 24, wherein said payload is a camera, and said video transmission includes photographs.

27. The helicopter assembly according to claim 24, further comprising:

a second wireless communication data link which transmits and receives flight instructions to and from the helicopter for operation of said payload.

49. The helicopter according to claim 24, wherein said chassis is made of carbon fiber.

52. The helicopter assembly according to claim 25, wherein said payload is a camera, and said video transmission includes photographs.

53. The helicopter assembly according to claim 25, further comprising:

a second wireless communication data link which transmits and receives flight instructions to and from the helicopter for operation of said payload.

56. The helicopter according to claim 24, further comprising:

a battery recharge unit disposed under said chassis of the helicopter.

28. A method of operating a reduced scale helicopter comprising:

performing a pre-flight checklist;

issuing flight commands via a wireless video transmitter/receiver from one of a ground station unit or a hand-held remote control unit, to the helicopter, for helicopter control, including at least one of flight up, down, tail left, tail right, forward, backward, left sideways, or right sideways; and

operating a camera assembly using said wireless video transmitter/receiver which cooperates with a wireless communication transmitter/receiver on the helicopter, to perform camera functions in three axes, including pan and tilt, up and down, and spinning 360 degrees.

29. The method according to claim 28, wherein said operating step comprises:

automatically taking photographs in any direction, under at least one predetermined condition, including at least one of time, latitude, longitude, altitude, or helicopter attitude.

30. The method according to claim 28, wherein said operating step comprises:

automatically taking photographs under predetermined conditions, including at least one of a number of GPS specified points;

a number of waypoints;

an altitude of said one of said number of waypoints;

a specific latitude and longitude of said one of said GPS specified points or waypoints;

a forward velocity between any of said GPS specified points or said number of waypoints; and

a percentage overlap of said photographs to be taken.

31. The method according to claim 28, further comprising:

data storing in real-time, commands of a latitude, longitude, altitude, and X, Y, Z velocities of the helicopter.

32. The method according to claim 28, wherein said pre-flight checklist comprises:

performing a gimbal and video check of said camera assembly;

checking a battery assembly for appropriate power; and

checking at least one of remote control operations using joy sticks or checking a ground station unit and its software program, for proper operation.

33. A method of operating a reduced scale helicopter comprising:

commanding an automatic takeoff of the helicopter from a stationary hovering position, at a predetermined altitude, from one of a wireless hand-held remote control unit or a ground station unit;

issuing flight commands via a wireless video transmitter/receiver from one of a ground station unit or a hand-held remote control unit, to the helicopter, for helicopter control, including at least one of flight up, down, tail left, tail right, forward, backward, left sideways, or right sideways; and

data storing in real-time, commands of a latitude, longitude, altitude, and X, Y, Z velocities of the helicopter.

34. A method of operation a reduced scale helicopter comprising:

issuing flight commands via a wireless video transmitter/receiver from one of a ground station unit or a hand-held remote control unit, to the helicopter, for helicopter control, including at least one of flight up, down, tail left, tail right, forward, backward, left sideways, or right sideways;

data storing in real-time, commands of a latitude, longitude, altitude, and X, Y, Z velocities of the helicopter; and

commanding the helicopter to automatically land by maintaining a specified GPS position, a descent at a predetermined velocity, a landing on ground, and turning off of a main rotor and tail rotor of the helicopter.

35. A method of operation of a reduced scale helicopter comprising:

issuing flight commands via a wireless video transmitter/receiver from one of a ground station unit or a hand-held remote control unit, to the helicopter, for helicopter control, including at least one of flight up, down, tail left, tail right, forward, backward, left sideways, or right sideways;

data storing in real-time, commands of a latitude, longitude, altitude, and X, Y, Z velocities of the helicopter; and

commanding the helicopter to automatically fly without user input from said ground station unit or said hand-held remote control unit, from a predetermined first GPS waypoint to a predetermined second GPS waypoint, at a predetermined altitude, velocity, and GPS latitude and longitude;

wherein said commanding step includes instructing the helicopter to move from a hover position at said first GPS waypoint, to a predetermined attitude at said second GPS waypoint, said predetermined attitude including one of hover at said second GPS waypoint, or continuing on to a predetermined third GPS waypoint.

36. A method of operation a reduced scale helicopter comprising:

issuing flight commands via a wireless video transmitter/receiver from one of a ground station unit or a hand-held remote control unit, to the helicopter, for helicopter control, including at least one of flight up, down, tail left, tail right, forward, backward, left sideways, or right sideways;

data storing in real-time, commands of a latitude, longitude, altitude, and X, Y, Z velocities of the helicopter; and

commanding a safety return to a predetermined home GPS latitude and longitude, after one of a plurality of predetermined conditions is achieved, said predetermined conditions including reaching a predetermined lack of communication time between the helicopter and a user at said hand-held remote control unit or said ground station unit, achieving a predetermined remaining percentage of total power for operation of the helicopter, and achieving a predetermined helicopter health condition.

37. The method according to claim 36, wherein said predetermined helicopter health condition includes at least one of:

battery power drain or failure;

lack of telemetry connectivity;

increase in main or tail motor temperature;

or harsh environmental conditions.

38. A method of operation a reduced scale helicopter comprising:

issuing flight commands via a wireless video transmitter/receiver from one of a ground station unit or a hand-held remote control unit, to the helicopter, for helicopter control, including at least one of flight up, down, tail left, tail right, forward, backward, left sideways, or right sideways;

data storing in real-time, commands of a latitude, longitude, altitude, and X, Y, Z velocities of the helicopter; and

creating autonomous predetermined missions, including flight plans that include downloads of satellite terrain images with geo-referenced data, said flight plans including at least one of predetermined GPS coordinates and waypoints, velocities, helicopter movement between said waypoints, mission loading, mission interrupt, continue commands at a specific waypoint, automatic takeoff, or automatic landing.

39. The method according to claim 38, further comprising:

switching between autonomous predetermined missions and user control from said hand-held remote control unit or said ground station unit.

40. The method according to claim 38, further comprising:

commanding a safety return to a predetermined home GPS latitude and longitude.

41. A computer-readable medium comprising software for instructing a computer system over a network, to operated a reduced scale helicopter, comprising the steps of:

performing a pre-flight checklist;

issuing flight commands via a wireless video transmitter/receiver from one of a ground station unit or a hand-held remote control unit, to the helicopter, for helicopter control, including at least one of flight up, down, tail left, tail right, forward, backward, left sideways, or right sideways; and

operating a camera assembly using said wireless video transmitter/receiver which cooperates with a wireless communication transmitter/receiver on the helicopter, to perform camera functions in three axes, including pan and tilt, up and down, and spinning 360 degrees.

42. A computer-readable medium comprising software for instructing a computer system over a network, to operated a reduced scale helicopter, comprising the steps of:

commanding an automatic takeoff of the helicopter from a stationary hovering position, at a predetermined altitude, from one of a wireless hand-held remote control unit or a ground station unit;

issuing flight commands via a wireless video transmitter/receiver from one of a ground station unit or a hand-held remote control unit, to the helicopter, for helicopter control, including at least one of flight up, down, tail left, tail right, forward, backward, left sideways, or right sideways; and

data storing in real-time, commands of a latitude, longitude, altitude, and X, Y, Z velocities of the helicopter.

43. A computer-readable medium comprising software for instructing a computer system over a network, to operated a reduced scale helicopter, comprising the steps of:

issuing flight commands via a wireless video transmitter/receiver from one of a ground station unit or a hand-held remote control unit, to the helicopter, for helicopter control, including at least one of flight up, down, tail left, tail right, forward, backward, left sideways, or right sideways;

data storing in real-time, commands of a latitude, longitude, altitude, and X, Y, Z velocities of the helicopter; and

commanding the helicopter to automatically land by maintaining a specified GPS position, a descent at a predetermined velocity, a landing on ground, and turning off of a main rotor and tail rotor of the helicopter.

44. A computer-readable medium comprising software for instructing a computer system over a network, to operated a reduced scale helicopter, comprising the steps of:

issuing flight commands via a wireless video transmitter/receiver from one of a ground station unit or a hand-held remote control unit, to the helicopter, for helicopter control, including at least one of flight up, down, tail left, tail right, forward, backward, left sideways, or right sideways;

data storing in real-time, commands of a latitude, longitude, altitude, and X, Y, Z velocities of the helicopter; and

commanding the helicopter to automatically fly without user input from said ground station unit or said hand-held remote control unit, from a predetermined first GPS waypoint to a predetermined second GPS waypoint, at a predetermined altitude, velocity, and GPS latitude and longitude;

wherein said commanding step includes instructing the helicopter to move from a hover position at said first GPS waypoint, to a predetermined attitude at said second GPS waypoint, said predetermined attitude including one of hover at said second GPS waypoint, or continuing on to a predetermined third GPS waypoint.

45. A computer-readable medium comprising software for instructing a computer system over a network, to operated a reduced scale helicopter, comprising the steps of:

issuing flight commands via a wireless video transmitter/receiver from one of a ground station unit or a hand-held remote control unit, to the helicopter, for helicopter control, including at least one of flight up, down, tail left, tail right, forward, backward, left sideways, or right sideways;

data storing in real-time, commands of a latitude, longitude, altitude, and X, Y, Z velocities of the helicopter; and

commanding a safety return to a predetermined home GPS latitude and longitude, after one of a plurality of predetermined conditions is achieved, said predetermined conditions including reaching a predetermined lack of communication time between the helicopter and a user at said hand-held remote control unit or said ground station unit, achieving a predetermined remaining percentage of total power for operation of the helicopter, and achieving a predetermined helicopter health condition.

46. A computer-readable medium comprising software for instructing a computer system over a network, to operated a reduced scale helicopter, comprising the steps of:

issuing flight commands via a wireless video transmitter/receiver from one of a ground station unit or a hand-held remote control unit, to the helicopter, for helicopter control, including at least one of flight up, down, tail left, tail right, forward, backward, left sideways, or right sideways;

data storing in real-time, commands of a latitude, longitude, altitude, and X, Y, Z velocities of the helicopter; and

creating autonomous predetermined missions, including flight plans that include downloads of satellite terrain images with geo-referenced data, said flight plans including at least one of predetermined GPS coordinates and waypoints, velocities, helicopter movement between said waypoints, mission loading, mission interrupt, continue commands at a specific waypoint, automatic takeoff, or automatic landing.