Systems and methods for controlling rotorcraft external loads

• US 9,879,986 B2
• Filed: 03/30/2016
• Issued: 01/30/2018
• Est. Priority Date: 03/30/2016
• Status: Active Grant

• Current Assignee: Sikorsky Aircraft Corporation (Martin Marietta Corporation)
• Original Assignee: Sikorsky Aircraft Corporation (Martin Marietta Corporation)
• Inventors: Carlson, Sean S., Polycarpe, Cauvin, Loussides, George N., Pitcher, Garrett
• Primary Examiner(s): CHANG, JON CARLTON
• Application Number:
  US15/085,157
• Publication Number:
  US 20170284795A1
• Time in Patent Office: 671 Days
• CPC Class Codes: B64C 17/00 Aircraft stabilisation not otherwise provided for
• CPC Class Codes: B64C 27/04 Helicopters
• CPC Class Codes: B64D 1/22 Taking-up articles from earth's surface
• CPC Class Codes: B64D 45/0005 Devices specially adapted to indicate the position of a movable element of the aircraft, e.g. landing gear
• CPC Class Codes: B64D 9/00 Equipment for handling freight; Equipment for facilitating passenger embarkation or the like emergency equipment B64D17/00, B64D19/00, B64D25/00; structures integral with fuselage to facilitate loading, fuselage floors specially adapted for freight, steps mounted on and retractable within aircraft B64C; ground installations B64F
• CPC Class Codes: G01B 11/26 for measuring angles or tapers; for testing the alignment of axes
• CPC Class Codes: G05D 1/0202 specially adapted to aircraft
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/20076 Probabilistic image processing
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/33 using feature-based methods

Abstract

A method of determining cable angle includes acquiring image data of a cable and a load coupled to a rotorcraft using three-dimensional (3D) spatial perception system, constructing an image of the cable and load using the image data, and determining the angle of the cable relative to the external load at an interface of the cable and external load based on the image.

Claims

1. A method of determining cable angle, comprising:

acquiring, by a three-dimensional (3D) spatial perception system carried by a rotorcraft, image data of a cable and an external load coupled to the rotorcraft by the cable; and

determining a cable angle defined between at least one of (a) the cable and the external load, and (b) the cable and the rotorcraft using the image data acquired by the 3D spatial perception system.

2. The method as recited in claim 1, wherein acquiring the image data comprises:

illuminating the cable and the external load with an illuminator fixed relative to the rotorcraft;

reflecting the illumination from the cable and the external load; and

receiving reflected illumination at a sensor coupled to the rotorcraft.

3. The method as recited in claim 1, wherein acquiring the image data includes emitting electromagnetic radiation from a Light Detection and Ranging (LIDAR) system having a wavelength between about 600 nanometers and about 1600 nanometers from the rotorcraft.

4. The method as recited in claim 1, further including constructing an image of the cable and the external load using the image data by constructing a three-dimensional point cloud of the cable, the external load, and the environs of the cable and the external load using a processor fixed relative to the rotorcraft.

5. The method as recited in claim 1, wherein the method further includes comparing the determined cable angle to a predetermined cable angle limit.

6. The method as recited in claim 1, further including receiving a rotorcraft state, and predicting a future cable angle using the determined cable angle and the rotorcraft state.

7. The method as recited in claim 1, further including providing an input to a flight control system of the rotorcraft based on the determined cable angle.

8. The method as recited in claim 1, further including:

receiving rotorcraft state data at a processor fixed relative to the rotorcraft; and

determining a flight control input for the rotorcraft using the rotorcraft state data and the determined cable angle.

9. The method as recited in claim 1, wherein the image data is a first image data set and the determined cable angle is a first determined cable angle, the method further including:

acquiring a second image data set of the cable and the external load;

constructing a second image of the cable and external load using the second image data set;

determining a second cable angle between the cable and the external load using the second image;

comparing the second cable angle with the first cable angle; and

predicting a future cable angle using the comparison of the second cable angle and the first cable angle.

10. A three-dimensional perception system for determining a cable angle, comprising:

a sensor;

a processor operatively connected to the sensor; and

a non-transitory machine-readable memory communicative with the processor and having instructions recorded thereon that, when read by the processor, cause the processor to;

acquire image data of a cable and an external load coupled to a rotorcraft;

construct an image of the cable and the external load using the image data; and

determine a cable angle defined between at least one of (a) the cable and the external load, and (b) the cable and the rotorcraft, based on the image.

11. The system as recited in claim 10, further including a Light Detection and Ranging (LIDAR) illuminator operatively connected to the processor and configured to illuminate the external load with illumination having a wavelength between about 600 nanometers and about 1600 nanometers.

12. The system as recited in claim 10, wherein the instructions recorded on the memory further cause the processor to:

illuminate the cable and the external load with an illuminator fixed relative to the rotorcraft;

reflect the illumination from the cable and the external load;

receive illumination reflected from the cable and the external load at the sensor; and

construct a three-dimensional point cloud of the cable, the external load, and the environs of the cable and external load using a processor fixed relative to the rotorcraft.

13. The system as recited in claim 10, wherein the instructions recorded on the memory further cause the processor to:

compare the determined cable angle to a predetermined cable angle limit;

predict a future cable angle using the determined cable angle; and

provide an input to a flight control system of the rotorcraft based on at least one of the determined cable angle, the comparison of the predetermined cable angle limit and the determined cable angle, and the predicted future cable angle.

14. The system as recited in claim 10, wherein the image data is a first image data set and the determined cable angle is a first determined cable angle, and wherein the instructions recorded on the memory further cause the processor to:

acquire a second image data set of the cable and the external load;

construct a second image of the cable and the external load using the second image data set;

determine a second cable angle defined between the cable and the external load using the second image;

compare the second cable angle with the first cable angle; and

predict a future cable angle using the comparison of the second cable angle and the first cable angle.

15. The system as recited in claim 10, wherein the instructions recorded on the memory further cause the processor to receive rotorcraft state data and determine a flight control input for the rotorcraft using the rotorcraft state data and the determined cable angle between at least one of (a) the cable and the external load, and (b) the cable and the rotorcraft.