Hoist system and process for sway control

An aircraft hoist system includes hoist equipment arranged in an aircraft, the hoist equipment including a motor, a cable, and a hook portion. The aircraft hoist system also includes at least one sensor configured to obtain measurements and a processor configured to analyze the measurements from the at least one sensor. The aircraft hoist system also includes the processor configured to determine motor control signals to control the motor based on an analysis of the measurements from the at least one sensor to reduce sway and/or oscillations of the cable while lifting a load. The aircraft hoist system also includes the processor configured to control the motor to lift the load with the cable based on the determined motor control signals.

FIELD OF THE DISCLOSURE

The disclosure relates to a hoist system for sway control. The disclosure further relates to a hoist process for sway control. The disclosure further relates to an airborne hoist system for sway control. The disclosure further relates to an airborne hoist process for sway control. The disclosure further relates to an aircraft mounted hoist system for sway control. The disclosure further relates to an aircraft mounted hoist process for sway control.

BACKGROUND

Helicopter hoist equipment typically includes a lifting device such as a hoist, which is attached to the helicopter, a hoist cable, and a hook located at a distal end of the hoist cable for direct or indirect attachment to a person, animal, and/or object (load) for rescue, transport, lift, and/or the like. The helicopter hoist equipment usually has a rotary drum for winding in and out the hoist cable that serves to lift or transport the load. A crew member in the helicopter typically controls the helicopter hoist equipment including raising and lowering of the hook.

The environment in which the helicopter or other aircraft operates as well as the lifting device and the load that is being lifted is highly dynamic and includes or is subjected to various forces, accelerations, movements, and/or the like. A common issue with this environment is that the load may sway or oscillate back and forth, side to side, or combination thereof below the helicopter presenting a risk to safe operation of the helicopter as well as presenting a safety issue for the load.

Accordingly, a system and process to control the sway of the load and an associated portion of the lifting device is needed to ensure safe operation of the aircraft and a safety of the load.

SUMMARY OF THE DISCLOSURE

The foregoing needs are met, to a great extent, by the disclosure, wherein in one aspect a hoist system and hoist process for sway control are provided. In one aspect, the disclosure is directed to a hoist system and hoist process for sway control that may be intended to modify existing human commands for hoist actuation and hoist movement in terms of scale input, and not directly actuate a hoist motor or movement otherwise. In one aspect, the disclosure is directed to a hoist system and hoist process for sway control that replaces the manual controls with an electronic interface. Further in this aspect, the movements of controls of the electronic interface are converted to electronic signals, the movements of the controls being provided by a user. Furthermore, the hoist system and/or the hoist process receives the electronic signals and determines how to operate the hoist system to provide an ordered response to the movements of the controls of the electronic interface.

In one aspect, the system and process of the disclosure is configured for mitigating oscillations when lifting a load. In one aspect, the system and process of the disclosure may be configured to implement sway control by the hoist system by speeding up and slowing down the lift velocity. In one aspect, the system and process of the disclosure may be configured to implement sway control by the hoist system by speeding up and slowing down the lift velocity during an arc of swaying motion. In one aspect, the system and process of the disclosure may be configured to slow the lift velocity at one point of the swing, and increase the lift velocity at another point of the swing. In one aspect, the system and process of the disclosure may be configured to slow the lift velocity at one end of the swing, and increase the lift velocity at another end of the swing. In this regard, the system and process of the disclosure may be configured to determine the position of the load and may make automatic adjustments to lift speed and the like thus reducing errors associated with human factors. In particular, the system and process of the disclosure may be configured with sensors on the hoist system and an electronic module or processor that processes outputs of the sensors and controls the hoist system accordingly. Additionally, the system and process of the disclosure may be configured to determine the position and/or the velocity of the load and may make automatic adjustments to lift acceleration and/or lift deceleration. Moreover, the system and process of the disclosure may be configured to determine the position, the velocity, and/or acceleration/deceleration of the load and may make automatic adjustments to lift position, lift velocity, and/or lift acceleration/deceleration.

In one aspect, the system and process of the disclosure is configured such that uncontrolled oscillations and spin may be mitigated via the use of an electronic control module incorporated within the hoist or standalone as mounted between pendant and pilot controls and the hoist or otherwise integrated within other systems. In one aspect, the system and process of the disclosure is configured such that oscillation may be mitigated by automatic adjustments to pay-in commands in order to remove human factors which may contribute to excessive oscillations. In one aspect, the system and process of the disclosure may be configured to include fleet angle sensors, speed sensors, load sensors, and/or the like providing output that may be used with algorithms for automatic speed adjustments during the oscillation swing for hook sway control. In one aspect, the system and process of the disclosure may be configured to have a modified operation for mission types which require immediate extraction. In this regard, the modified operation may allow for a greater amount of oscillation and/or a greater amount of sway to ensure a faster lift. In one aspect, the system and process of the disclosure may be configured to be selectively turned off for mission types which require immediate extraction. In one aspect, the system and process of the disclosure may be configured to mitigate uncontrollable spin by reducing a time an external load is statically positioned under the aircraft and susceptible to rotation effects from aircraft downwash. Current techniques for avoidance of spin and oscillation are manually controlled by pilot and operator. In one aspect, the system and process of the disclosure may allow for reduction in human factors and set-up for unmanned cable control for improved sway control, oscillation control, sway reduction, oscillation reduction, and/or the like.

One general aspect includes an aircraft hoist system, including hoist equipment arranged in an aircraft, the hoist equipment including a motor, a cable, and a hook portion; at least one sensor configured to obtain measurements including at least one of following: a load measurement, a cable position movement measurement, a cable movement measurement, an aircraft movement measurement, and an airspeed measurement. The aircraft hoist system also includes a processor configured to analyze the measurements from the at least one sensor. The aircraft hoist system also includes the processor configured to determine motor control signals to control the motor based on an analysis of the measurements from the at least one sensor to reduce sway and/or oscillations of the cable while lifting a load. The aircraft hoist system also includes the processor configured to control the motor to lift the load with the cable based on the determined motor control signals, where the at least one sensor includes at least one of the following: a load measurement sensor, a cable movement measurement sensor, a cable position measurement sensor, an aircraft movement measurement sensor, and an airspeed measurement sensor. Other aspects include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.

One general aspect includes a method of controlling an aircraft hoist system, including implementing hoist equipment in an aircraft, the hoist equipment including a motor, a cable, and a hook portion; obtaining measurements from at least one sensor by measuring with the at least one sensor at least one of following: a load measurement, a cable position movement measurement, a cable movement measurement, an aircraft movement measurement, and an airspeed measurement. The method of controlling also includes analyzing the measurements with a processor from the at least one sensor. The method of controlling also includes determining motor control signals with the processor for controlling the motor based on an analysis of the measurements from the at least one sensor to reduce sway and/or oscillations of the cable while lifting a load. The method of controlling also includes controlling the motor with the processor to lift the load with the cable based on the determined motor control signals, where the at least one sensor includes at least one of the following: a load measurement sensor, a cable movement measurement sensor, a cable position measurement sensor, an aircraft movement measurement sensor, and an airspeed measurement sensor. Other aspects of this include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.

There has thus been outlined, rather broadly, certain aspects of the disclosure in order that the detailed description thereof herein may be better understood, and in order that the present contribution to the art may be better appreciated. There are, of course, additional aspects of the disclosure that will be described below and which will form the subject matter of the claims appended hereto.

Reference herein to an “aspect,” “example,” or similar formulations means that a particular feature, structure, operation or characteristic described in connection with the “aspect” or “example,” is included in at least one implementation in this description. Thus, the appearance of such phrases or formulations is this application may not necessarily all refer to the same example. Further, various particular features, structures, operations, or characteristics may be combined in any suitable manner in or more examples.

DETAILED DESCRIPTION

The disclosure will now be described with reference to the drawing figures, in which like reference numerals refer to like parts throughout. Aspects of the disclosure advantageously provide a hoist system and hoist process for sway control.

FIG.1shows a helicopter with an exemplary helicopter hoist system in accordance with aspects of the disclosure. In particular,FIG.1shows a helicopter100with a hoist system101, which may be used for search and rescue missions, transport missions, combat insertion missions, combat extraction missions, and/or the like. In certain aspects, the hoist system101may be implemented as a Helicopter Flight Rescue System (HFRS), a Helicopter External Transport System (HETS), and/or the like. As shown inFIG.1, the hoist system101may be positioned on an upper side of the aircraft, and may be attached directly or indirectly to the helicopter100. In other aspects, the hoist system101may be mounted to a bottom of the helicopter100, may be mounted to a side of the helicopter100, may be mounted internally to the helicopter100, and/or the like.

AlthoughFIG.1depicts a helicopter as the exemplary aircraft, the hoist system101and its associated principles/methodologies described herein, are not limited to helicopters, and may be applied to any airborne platform. For example, the hoist system101may be attached directly or indirectly to a cargo helicopter (not shown), such as mounted underneath an aircraft fuselage, mounted to a tilt rotor aircraft, aerial crane, flying crane and/or the like. The hoist system101may also be coupled to an autonomous or remote controlled aircraft, such as an unmanned aerial vehicle, unmanned aircraft system (UAV/UAS), a drone, fixed wing aircraft, and the like. Of course, the hoist system101may also be implemented in static configurations, non-aircraft based configurations, and/or the like.

Referring toFIG.1, the hoist system101may include a hook102and a cable104. The hook102may be positioned between the cable104and a hook portion106. That is, the hook102may be connected to the cable104at its upper end, and may be connected to the hook portion106(or another object) on its lower end. As appreciated by one skilled in the art with the benefit of this disclosure, the hook102may be connected directly or indirectly to the cable104and the hook portion106. For instance, as shown inFIG.1, a spring-interface device108may be connected between the cable104and the hook102. In other aspects, the cable104may be connected directly to the hook portion106. In other aspects, the cable104may be connected to the hook portion106through the spring-interface device108.

FIG.2illustrates an enlarged view of components of the helicopter hoist system shown inFIG.1. In particular,FIG.2illustrates an enlarged view of the hoist system101shown inFIG.1, with the cable104in a generally retracted position. The hoist system101may include a frame103on which the hoist equipment (i.e., the cable104, the hook102, the hook portion106, and/or a motor110). The hoist system101may include an electronic system114that may include a housing. The electronic system114may include lighting, lighting systems, lasers, laser systems, cameras, camera systems, communication systems, communication equipment, electronics and processing equipment, and/or the like.

The hoist system101may include a motor110. In one example, the motor110may be a brushless motor, which may provide smoother raising and lowering of the cable104. In another aspect, the motor110may include a high-performance variable-speed brushless permanent magnet rotary servomotor, with Universal AC or DC power input. In some aspects, the torque output may range between 5.6 Nm and 13.9 Nm. As appreciated by those skilled in the art, the torque range may vary and may be less than or more than 5.6 Nm and 13.9 Nm. In addition, any suitable motor or motors may be implemented as part of the hoist equipment. Additionally, the hoist system101may include a transmission, a rotary drum, and/or the like.

The electronic system114also may include a host of other electronic equipment, which are not shown inFIG.2, but are described in more detail below including communication systems, antenna, processing/control systems including image-processing systems, power-management systems, control systems, motor control systems, sensor systems, and/or the like.

FIG.3illustrates a path of a load being lifted to a helicopter without sway control. In particular,FIG.3illustrates the helicopter100lifting a load (not shown) that is attached to the cable104. In this regard,FIG.3illustrates the path302the load makes as it is lifted to the helicopter100without sway control. In this regard, the path302illustrates substantial sway and/or oscillation and the path302approaches and at times exceeds a 30° angle shown by line304as illustrated inFIG.3as the load is lifted from the ground360to the helicopter100. The operation illustrated inFIG.3presents a risk to safe operation of the helicopter100as well as presenting a safety issue for the load.

FIG.4illustrates a path of a load being lifted to a helicopter without sway control superimposed on a load being lifted to a helicopter with sway control in accordance with aspects of the disclosure. In particular,FIG.4illustrates the helicopter100lifting a load (not shown) on the cable104. In this regard,FIG.4illustrates the path302the load makes as it is lifted to the helicopter100without sway control as described above.FIG.4further illustrates a path402the load makes as it is lifted to the helicopter100with sway control implemented as described below. The operation illustrated inFIG.4utilizing sway control decreases a risk to safe operation of the helicopter100as well as increases a safety for the load.

FIG.5illustrates a block diagram illustrating select components of an example helicopter hoist system in accordance with aspects of the disclosure.

Load Measurement Sensors

The hoist system101may include one or more sensors to measure a load on the cable104, the hook portion106, and/or the hook102. In one aspect, the hoist system101may include a load cell306associated with the motor110, the frame103, and/or the like. In one aspect, the load cell306may be integrated in the hook102and/or the hook portion106. However, the one or more sensors to measure a load on the cable104, the hook portion106, and/or the hook102may be implemented using other sensor technology and/or arranged in other locations.

The load cell306may be implemented as a transducer that is used to create an electrical signal whose magnitude is directly proportional to or a function of the force being measured. The load cell306may be implemented as a hydraulic, a pneumatic, and/or a strain gauge load cell. The load cell306measures a force provided by the load. That is, the load cell306is positioned in a load path associated with the hook102, the hook portion106, and/or cable104. As appreciated by one skilled in the art after having the benefit of this disclosure, the load cell306can have any construction and be positioned in hook102, the hook portion106, along cable104(FIG.1) path, the motor110, the frame103, or the like in any suitable manner to acquire load data. In certain aspects, the load cell306may measure at least in part roll, pitch, and/or yaw associated with the aircraft and/or the hook102, the hook portion106, and/or cable104.

Cable Movement Measurement

The hoist system101may include one or more sensors to measure a movement of the cable104, the hook portion106, and/or the hook102with respect to the helicopter100. In one aspect, the hoist system101may include a position sensor308associated with the motor110, the frame103, the cable104, the hook portion106, the hook102, and/or the like. In one aspect, the hoist system101may associate the position sensor308with the motor110and measure movement the cable104or the like that may include swaying, oscillation, and/or the like. The position sensor308may be implemented as Capacitive transducer, Capacitive displacement sensor, Eddy-current sensor, Ultrasonic sensor, Grating sensor, Hall effect sensor, Inductive non-contact position sensors, Laser Doppler vibrometer (optical), Linear variable differential transformer (LVDT), Multi-axis displacement transducer, Photodiode array, Piezo-electric transducer (piezo-electric), Potentiometer, Proximity sensor (optical), Rotary encoder (angular), String potentiometer, string encoder, cable position transducer, Linear encoder, Rotary encoder, and/or the like.

In one aspect, the position sensor308may be integrated in the hook102and/or the hook portion106and may be implemented as an inertial measurement unit (IMU). In one aspect, the distance sensor320may be integrated in the hook102and/or the hook portion106and may be implemented as a location determination device implemented as global navigation satellite system (GNSS) receiver. In one aspect, the position sensor308may be integrated in the hook102and/or the hook portion106and measure swaying and/or oscillation of the hook102, the cable104, and/or the hook portion106.

Cable and/or Hook Distance Measurement

The hoist system101may include one or more sensors to measure a length or distance of the cable104, the hook portion106, and/or the hook102from the helicopter100. In one aspect, the hoist system101may include a distance sensor320associated with the motor110, the frame103, the cable104, the hook portion106, the hook102, and/or the like. In one aspect, the hoist system101may associate the distance sensor320with the motor110and measure rotations of the motor110to determine a length of the cable104or the like. In one aspect, the hoist system101may associate the distance sensor320with the motor110and determine a length of the cable104payout or the like. The distance sensor320may be implemented as Capacitive transducer, Capacitive displacement sensor, Eddy-current sensor, Ultrasonic sensor, Grating sensor, Hall effect sensor, Inductive non-contact position sensors, Laser Doppler vibrometer (optical), Linear variable differential transformer (LVDT), Multi-axis displacement transducer, Photodiode array, Piezo-electric transducer (piezo-electric), Potentiometer, Proximity sensor (optical), Rotary encoder (angular), String potentiometer, string encoder, cable position transducer, Linear encoder, Rotary encoder, and/or the like.

In one aspect, the distance sensor320may be integrated in the hook102and/or the hook portion106and may be implemented as an inertial measurement unit (IMU). In one aspect, the distance sensor320may be integrated in the hook102and/or the hook portion106and may be implemented as a location determination device implemented as global navigation satellite system (GNSS) receiver. In one aspect, the hoist system101may also include range-measuring equipment120(such as a laser-range finder) for determining the distance of the hook102from the helicopter100, and as well as the distance of objects or ground/water from helicopter100. In one aspect, the hoist system101may also include a cable-payout and direction detector122, which measures the distance the cable104is extended and a direction the cable104is moving (i.e., up or down).

Aircraft Movement Measurement

The hoist system101may include a movement sensor322to measure movement of the helicopter100. In one aspect, the movement sensor322may be implemented as an inertial measurement unit (IMU). In one aspect, the movement sensor322may be implemented as a location determination device implemented as global navigation satellite system (GNSS) receiver. In one aspect, the movement sensor322may be implemented as an inertial measurement unit (IMU) and a location determination device implemented as global navigation satellite system (GNSS) receiver. In other aspects, the hoist system101may receive movement information from the helicopter100.

Airspeed Measurement and Other Flight Dynamics Data

The hoist system101may determine an airspeed measurement of the helicopter100. In one aspect, the hoist system101may receive an airspeed measurement from the helicopter100. In one aspect, the airspeed measurement may be determined from a pitot-static system. The pitot-static system may include a system of pressure-sensitive instruments that determine an aircraft airspeed, Mach number, altitude, and/or altitude trend. Additionally, the hoist system101may measure other flight dynamics and/or receive other flight dynamics data from the helicopter100or another associated system. In this regard, the other flight dynamics data may include roll, roll rate, pitch, pitch rate, yaw, yaw rate, and/or the like data.

In some aspects, the hook102may include a control system310. The control system310may be configured to measure and transmit the load on the hook, altitude of the assembly above ground or water, position and/or directionality of the assembly, and/or other information utilizing sensors as described above or other types of sensors known to one of ordinary skill in the art. In some aspects, the load and sensor data may be stored in any suitable-memory-storage device within hook102. In one aspect, an antenna312together with the transceiver serves as a means for communicating wirelessly between the control system310and other systems located in helicopter100or elsewhere utilizing a communication channel as defined herein. A data port may also serve as a means for communicating with other computing devices including memory storage devices.

FIG.6illustrates a block diagram illustrating select components of an example helicopter hoist system in accordance with aspects of the disclosure. In particular,FIG.6is a block diagram illustrating select components of the hoist system101that facilitate the interoperability of the hoist system101. As shown inFIG.6, the hoist system101may include a control system609, which may control and monitor the hook102and other systems/devices associated with the hoist system101as described in the disclosure.

Although the control system609is illustrated as a discrete block, it is appreciated by those skilled in the art with the benefit of this disclosure, that the control system609may reside at various times across different components of the hoist system101. For instance, the control system609may be implemented and reside as a component of the hook102, may be also be implemented and reside in the electronic system114, across other devices remote from the hook102and the electronic system114, and/or the like.

Thus, in a general sense, those skilled in the art will recognize that the various control systems described in the hoist system101can be implemented individually or collectively by a wide range of electrical, mechanical, optical, processing (including hardware, software, firmware, and/or virtually any combination thereof), and various combinations of the foregoing.

Furthermore, various elements located in the hook102may communicate via antenna312in the hook102with components resident in the electronic system114or other component remote from the electronic system114, such as located in the helicopter100. An antenna611implemented with a transceiver associated with the hoist system101may provide a mechanism for transmitting and receiving data to/from the hook102, and other devices. Thus, even though the control system310is shown apart from the control system609, it is appreciated by those skilled in the art with the benefit of this disclosure that the control system310may form an integral part of the control system609for the hoist system101. In addition, although wireless communication via antennae is described, it is appreciated that wired communication may be used between the hook102and other elements of the hoist system101.

As depicted inFIG.6, the control system609represents any suitable computer device(s) having one or more processor(s)604and the ability to access the computer-readable media606to execute instructions or code that controls the hook102, as well as other devices associated with the hoist system101. The processor(s)604may be located in the electronic system114and may be embodied as any suitable electrical circuit, computing processor including special integrated circuits, ASICs, FPGAs, microcontrollers, processor, co-processor, microprocessor, controllers, or other processing means. The processor(s)604may also be embedded in the hook102.

The processor(s)604may be distributed in more than one computer system and over a network utilizing a transceiver operating on a communication channel as defined herein (not shown). Examples of the computer systems may include, but are not limited to, a server, personal computer, distributed computer systems, or other computing devices having access to processors and computer-readable medial. Further, although not shown, any number of system busses, communication and peripheral interfaces, input/output devices, and other devices may be included in the control system609(including the control system310), as appreciated by those skilled in the art.

Still referring toFIG.6, the computer-readable media606may include any suitable computer-storage media including volatile and non-volatile memory, and any combination thereof. For example, computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules, or other data. Computer storage media may further include, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transitory or non-transmission medium that can be used to store information for access by a computing device. In one aspect, the computer-readable media606stores a sway control process (Box700) as described below.

In other examples, the computer-readable media606may include communication media that may embody computer readable instructions, data structures, program modules, or other data in a modulated data signal, such as a carrier wave, or other transmission mechanism. In one aspect, the computer-readable media606may be implemented as a computer program product having instructions and configured to be executed by the control system609and/or the processor(s)604.

Further, the computer-readable media606may be local and/or offsite to computer systems (not shown). For instance, one or more portions of, or all of data or code stored in the computer-readable media606, may be accessed from a computer-storage medium local to and/or remote to the control system609, such as from a storage medium connected to a network.

Resident in the computer-readable media606may be one or more operating systems (not shown), and any number of other program applications or modules in the form of computer-executable instructions and/or logic which are executed on the processor(s)604to enable processing of data or other functionality.

Still referring toFIG.6, the control system609may be configured with a sensor-system-control module608that may be maintained in the computer-readable media606. In one example, the sensor-system-control module608may be implemented as code in the form of computer-readable instructions that execute on the processor(s)604. For purposes of illustration, programs and other executable-program modules are illustrated herein as discrete blocks, although it is recognized that such programs and components may reside at various times in different storage components. Further, such code may be implemented as one or more applications or modules, or may be integrated as components within a single application. Such code stored in the computer-readable media606may be implemented across one or more computers in a cloud computing environment, on a local device or system, or on a combination of both. The following discussion does not limit the implementation of code stored in the computer-readable media606to any particular device or environment.

The sensor-system-control module608may include components contained in the computer-readable media606. In one example, the sensor-system-control module608includes: a lighting module610, a position/load module612, and a display module614.

In one aspect, the position/load module612facilitates a mode of operation of the control system609in which the position/load module612monitors measurements made by the load measurement sensors such as the load cell306, the cable movement measurement sensors such as the distance sensor320, the cable-payout and direction detector122and/or the range-measuring equipment120, the aircraft movement measurement sensors such as the movement sensor322, airspeed measurement sensors, other flight dynamics sensors, and/or the like. In one aspect, the position/load module612facilitates a mode of operation of the control system609in which the position/load module612monitors measurements made by an inertial measurement unit (IMU) and/or global positioning unit (GPS) (collectively referred to herein as IMS/GPS602) located in the hook102and/or the electronic system114. The position/load module612may also record these measurements (i.e., data) generated by the IMS/GPS602, and transmit these measurements to the hoist system101as well as other monitoring devices, such as located in the helicopter100.

The IMS/GPS602may be in communication with the position/load module612and enable the control system609to monitor a location and/or relative motion of the hook102and/or the hook portion106in three-dimensional coordinate space relative to the helicopter.

Thus, the combination of one or more of the load measurement sensors such as the load cell306, the cable movement measurement sensors such as the distance sensor320, the cable-payout and direction detector122and/or the range-measuring equipment120, the aircraft movement measurement sensors such as the movement sensor322, airspeed measurement sensors, other flight dynamics sensors, the load cell306, the IMS/GPS602under control of the control system609(including control system310individually or in combination with system609as a whole), and the like allow for complete mapping of the hook102—and hook load—in 3D coordinate space and relative to the airframe (helicopter and/or hoist). With cable payout information, the hoist cable fleet angle and/or the like may also be calculated. This data may be used to understand the load conditions on the hoist and helicopter airframe. Put differently, the IMS/GPS602under control of the control system609(including the control system310individually or in combination with the system609as a whole) may allow for mapping of the position, velocity, sway, oscillation, acceleration, and/or the like of the hook102, the hook portion106, and/or the load relative to the ground and/or aircraft.

In addition, the IMS/GPS602under control of the control system609(including the control system310individually or in combination with the system609as a whole) may use the real-time load and acceleration data from the hook102to adjust the payout of the cable104(via hoist equipment such as the cable104, the hook102, and the motor110) to actively dampen vibrations imparted to the hoist equipment and aircraft, actively reduce sway to the hoist equipment and aircraft, actively reduce oscillation to the hoist equipment and aircraft, and/or the like.

Thus, this data allows for monitoring health and maintenance of the hoist system, and the number of hoist system cycles, and the ability to predict component wear and plan maintenance. For the helicopter, this data allows for complete dynamic load mapping for the structural design of helicopter hoist mounts/interfaces. Real-time dynamic load information supplied by the control system609also allows for active hoist mounts that optimize the load transfer and energy management between the hook and the helicopter, providing for reduced shock loads on hoist components, helicopter mounts, and any personnel or cargo on the hook. Optimizing the dynamic response of the helicopter and hoist as a system can provide inputs to helicopter-flight controls for an optimized response during load transfer and flight.

The dynamic response of the system may change based on cable length (i.e., pendulum effect on the cable), and the ability to optimize the helicopter system-level response with these sensor inputs may provide for improved flight control and stability during operations and cargo transfers.

FIG.7illustrates an exemplary sway control process on a load being lifted to a helicopter in accordance with aspects of the disclosure.

In particular,FIG.7illustrates a sway control process (Box700) as a collection of blocks in a logical flow graph, which represent a sequence of operations that can be implemented in hardware, software, or a combination thereof. In the context of software, the blocks may represent computer-executable instructions that, when executed by one or more processors, perform the recited operations. Generally, computer-executable instructions may include routines, programs, objects, components, data structures, and/or the like that perform particular functions or implement particular abstract data types. The order in which the operations are described is not intended to be construed as a limitation, and any number of the described blocks can be combined in any order and/or in parallel to implement the process. Also, one or more of the described blocks may be omitted without departing from the scope of the present disclosure. Additionally, it should be noted that the sway control process (Box700) is merely exemplary and may be modified consistent with the various aspects disclosed herein.

700Sway Control Process

In particular,FIG.7illustrates the sway control process (Box700). In one aspect, the sway control process (Box700) reduces sway of the cable104and the load. In one aspect, the sway control process (Box700) reduces oscillation of the cable104and the load. In one aspect, the sway control process (Box700) reduces sway and oscillation of the cable104and the load.

In one aspect, the sway control process (Box700) may be stored in the computer-readable media606. In one aspect, the sway control process (Box700) may be executed by the control system609. In one aspect, the sway control process (Box700) may be executed by the processor(s)604.

The sway control process (Box700) of the disclosure may include determining whether sway control is enabled (box702). Moreover, one or more proceeding or subsequent processes may also be implemented with determining whether sway control is enabled (box702) consistent with the disclosure. In one aspect, the sway control process (Box700) may be enabled or disabled by the pilot. In this regard, the pilot may include an input device such as a switch or the like to manually enable the sway control process (Box700) and/or disable the sway control process (Box700). In this regard, the sway control process (Box700) may be configured to be selectively turned off for mission types which require immediate extraction. In one aspect, the sway control process (Box700) may be configured to be automatically turned off for mission types which require immediate extraction. In one aspect, the sway control process (Box700) may be configured to be automatically turned on for mission types which require increased safety. In one aspect, the sway control process (Box700) may be configured to be automatically turned on or turned off based on information obtained through artificial intelligence.

The artificial intelligence as described herein may utilize any number of approaches including one or more of cybernetics and brain simulation, symbolic, cognitive simulation, logic-based, anti-logic, knowledge-based, sub-symbolic, embodied intelligence, computational intelligence and soft computing, machine learning and statistics, neural networks, and/or the like. In one aspect, the artificial intelligence may be implemented by the control system609, the processor(s)604, or the like. In one aspect, the artificial intelligence may include inputs from one or more of the load measurement sensors such as the load cell306, the cable movement measurement sensors such as the distance sensor320, the cable-payout and direction detector122and/or the range-measuring equipment120, the aircraft movement measurement Sensors Such as the Movement Sensor322, Airspeed Measurement Sensors, Other Flight dynamics sensors, and/or the like.

704Obtain Aircraft and Load Measurements

In one aspect, the sway control process (Box700) may obtain aircraft and load measurements (Box704). In one aspect, the sway control process (Box700) may obtain aircraft and load measurements (Box704) that include one or more of the outputs from the load measurement sensors such as the load cell306, the cable movement measurement sensors such as the distance sensor320, the cable-payout and direction detector122and/or the range-measuring equipment120, the aircraft movement measurement sensors such as the movement sensor322, the airspeed measurement sensors, other flight dynamics sensors, and/or the like.

705Receive Human Control Input

In one aspect, the sway control process (Box700) of the disclosure may include the hoist system101or other components operating to receive human control input (Box705). The human input may be from movements of controls of an electronic interface from the pilot and/or crew. The movements of the controls may be converted to electronic signals by the hoist system101. The human input may include an indication with respect to a lift direction, a lift velocity, and/or the like. In this regard, the hoist system101and the sway control process (Box700) may be configured to modify existing human commands for hoist actuation and hoist movement in terms of scale input, and not directly actuate a hoist motor or movement otherwise. In one aspect, the hoist system101may be configured to replace the manual controls with an electronic interface. Further in this aspect, the movements of controls of the electronic interface may be converted to electronic signals and the hoist system101and/or the sway control process (Box700) may determine how to operate the hoist system101to provide an ordered response to movements of the controls.

706Determine Appropriate Controls for Motor

In one aspect, the sway control process (Box700) may determine appropriate controls for the motor (Box706). In one aspect, the sway control process (Box700) may determine appropriate controls for the motor (Box706) based at least in part on the output from the sensors and the human input. In one aspect, the sway control process (Box700) may determine appropriate speed for the motor110currently lifting the load. In one aspect, the sway control process (Box700) may determine appropriate deceleration for the motor110currently lifting the load. In one aspect, the sway control process (Box700) may determine appropriate acceleration for the motor110currently lifting the load. In one aspect, the sway control process (Box700) may determine appropriate velocity or reeling speed for the motor110currently lifting the load.

In one aspect, the sway control process (Box700) may determine the appropriate control for the motor110currently lifting the load based on an algorithm operating as a function of the aircraft and load measurements obtained in box704. In certain aspects, the algorithm may be expressed within a finite amount of space and time and in a well-defined formal language for calculating a function of the motor control. In certain aspects, the algorithm may start from an initial state and initial input of the aircraft and load measurements obtained in box704. In certain aspects, the algorithm may implement a computation that, when executed, proceeds through a finite number of well-defined successive states, eventually producing control signals for controlling the motor110. In one aspect, the sway control process (Box700) may determine the appropriate control for the motor110currently lifting the load based on artificial intelligence as a function of the aircraft and load measurements obtained in box704. In some aspects, the hoist system101and/or the sway control process (Box700) may compare commanded inputs vs calculated controls for the motor110. In one aspect, the hoist system101and/or the sway control process (Box700) may utilize a comparator.

In one aspect, the sway control process (Box700) may augment and/or actuate the motor110(box708). In this regard, the sway control process (Box700) may actuate the motor110based on the appropriate controls determined in box706. In particular, the sway control process (Box700) may actuate the motor110by sending control signals to the motor110to lift the load to reduce sway, to reduce oscillation, with a reduced sway, and/or reduced oscillation to ensure safe operation of the aircraft and safe lifting of the load.

FIG.8illustrates an exemplary application of sway control on a load being lifted to a helicopter in accordance with aspects of the disclosure.

In particular,FIG.8illustrates an exemplary load path802that a load may take while being lifted by the hoist system101of the helicopter100. As noted inFIG.8, the load path802is swaying or oscillating under the helicopter100in comparison to a vertical center804. The swaying or oscillating motion of the load may be due to the highly dynamic environment that includes or is subjected to various forces, movements, and/or the like.

While the load is being lifted to the helicopter100, the hoist system101may obtain aircraft and load measurements that include one or more of the outputs from the load measurement sensors such as the load cell306, the cable movement measurement sensors such as the distance sensor320, the cable-payout and direction detector122and/or the range-measuring equipment120, the aircraft movement measurement sensors such as the movement sensor322, the airspeed measurement sensors, other flight dynamics sensors, and/or the like.

The hoist system101may determine appropriate controls for the motor110based at least in part on the output from the sensors and the human input. In one aspect, the sway control process (Box700) may determine appropriate speed for the motor110currently lifting the load. In one aspect, the hoist system101may determine appropriate deceleration for the motor110currently lifting the load. In one aspect, the hoist system101may determine appropriate acceleration for the motor110currently lifting the load. In one aspect, the hoist system101may adjust reeling speed.

In one aspect, the hoist system101may determine the appropriate control for the motor110currently lifting the load based on the algorithm or the artificial intelligence as a function of the aircraft and load measurements received and the human input.

In one aspect, the hoist system101may actuate the motor110by sending control signals to the motor110to lift the load to reduce sway, to reduce oscillation, with a reduced sway, and/or reduced oscillation to ensure safe operation of the aircraft and safe lifting of the load.

In one aspect, when the hoist system101determines that the load is being subjected to sway and/or oscillation, the hoist system101may command the motor110to adjust the lift velocity of the load. The amount of adjustment to the motor110may be determined based on the algorithm or the artificial intelligence as a function of the aircraft and load measurements received as described herein. In particular, the hoist system101may actuate the motor110by sending control signals to the motor110to lift the load to reduce sway, to reduce oscillation, with a reduced sway, and/or reduced oscillation to ensure safe operation of the aircraft and safe lifting of the load.

In a particular exemplary aspect, when the hoist system101determines that the load is swinging toward806the vertical center804, the hoist system101may command the motor110to accelerate the lift velocity808(as indicated by the dashed line) of the load. Thereafter, when the hoist system101determines that the load is swinging away810from the vertical center804, the hoist system101may command the motor110to decelerate the lift velocity812(as indicated by the dotted line) of the load. The amount of acceleration, deceleration, and velocity of the lift provided by the motor110may be determined based on the algorithm or the artificial intelligence as a function of the aircraft and load measurements received as described herein. In particular, the hoist system101may actuate the motor110by sending control signals to the motor110to lift the load to reduce sway, to reduce oscillation, with a reduced sway, and/or reduced oscillation to ensure safe operation of the aircraft and safe lifting of the load. However, the disclosure is not limited to this exemplary aspect. In particular, the hoist system101may actuate the motor110to control lift velocity, acceleration, deceleration, and/or the like in response to an algorithm that may be more complex and the adjustments may be made at extremes of an arc of oscillation, a center of an arc of oscillation, and/or at locations between the extremes and center.

FIG.9illustrates a free body diagram of the helicopter hoist system according to an aspect of the disclosure. In particular,FIG.9illustrates exemplary dynamic factors that are utilized by the hoist system101and the sway control process (Box700) to reduce sway and/or oscillation. The dynamic factors include one or more of a Velocity of helicopter—VHELICOPTER, an Acceleration of helicopter—aHELICOPTER, a Velocity of air/wind—Vair/wind, a Cable angle—ΘCABLE, a Rate of change of cable angle—dΘCABLE/dt, a Length of cable—LCABLE, a First velocity of cable—VCABLE, 1, a Second velocity of cable—VCABLE, 2, a First acceleration of cable—aCABLE, 1, a Second acceleration of cable—aCABLE, 2, and a Mass of load—MLOAD. Each of the dynamic factors being obtained by one or more sensors described in the disclosure. Thereafter, the sway control process (Box700) operates based on one or more these dynamic factors obtained by the one or more sensors as described herein.

Accordingly, the disclosure has set forth a system and process to control the sway of the load and an associated portion of the lifting device to ensure safe operation of the aircraft and a safety of the load. In particular, the system and process of the disclosure limits uncontrolled oscillations and spin via the use of an electronic control module. Furthermore, the system and process of the disclosure has disclosed that oscillation may be mitigated by automatic adjustments to pay-in commands in order to remove human factors which may contribute to excessive oscillations.

Additionally, the various aspects of the disclosure are configured to ensure compliance with Federal Aviation Regulations (FARs) for external cargo operations. In particular, the various aspects of the disclosure are configured to ensure compliance with FARs for both “Human External Cargo” (HEC) and “Non Human External Cargo” (NHEC) including 14 C.F.R. 29.865 and in addition or in substitution of listed objects (load), which could be hoisted by aspects of the disclosure.

As may be appreciated by those skilled in the art, the illustrated structure is a logical structure and not a physical one. Accordingly, the illustrated modules can be implemented by employing various hardware and software components. In addition, two or more of the logical components can be implemented as a single module that provides functionality for both components. In one aspect, the components are implemented as software program modules.

The disclosure may be implemented in any type of computing devices, such as, e.g., a desktop computer, personal computer, a laptop/mobile computer, a personal data assistant (PDA), a mobile phone, a tablet computer, cloud computing device, and the like, with wired/wireless communications capabilities via the communication channels.

Further in accordance with various aspects of the disclosure, the methods described herein are intended for operation with dedicated hardware implementations including, but not limited to, PCs, PDAs, semiconductors, application specific integrated circuits (ASIC), programmable logic arrays, cloud computing devices, and other hardware devices constructed to implement the methods described herein.

Additionally, the various aspects of the disclosure may be implemented in a non-generic computer implementation. Moreover, the various aspects of the disclosure set forth herein improve the functioning of the system as is apparent from the disclosure hereof. Furthermore, the various aspects of the disclosure involve computer hardware that it specifically programmed to solve the complex problem addressed by the disclosure. Accordingly, the various aspects of the disclosure improve the functioning of the system overall in its specific implementation to perform the process set forth by the disclosure and as defined by the claims.

Aspects of the disclosure may be implemented in any type of computing devices, such as, e.g., a desktop computer, personal computer, a laptop/mobile computer, a personal data assistant (PDA), a mobile phone, a tablet computer, cloud computing device, and the like, with wired/wireless communications capabilities via the communication channels.

According to an example, the global navigation satellite system (GNSS) may include a device and/or system that may estimate its location based, at least in part, on signals received from space vehicles (SVs). In particular, such a device and/or system may obtain “pseudorange” measurements including approximations of distances between associated SVs and a navigation satellite receiver. In a particular example, such a pseudorange may be determined at a receiver that is capable of processing signals from one or more SVs as part of a Satellite Positioning System (SPS). Such an SPS may comprise, for example, a Global Positioning System (GPS), Galileo, Glonass, to name a few, or any SPS developed in the future. To determine its location, a satellite navigation receiver may obtain pseudorange measurements to three or more satellites as well as their positions at time of transmitting. Knowing the SV orbital parameters, these positions can be calculated for any point in time. A pseudorange measurement may then be determined based, at least in part, on the time a signal travels from an SV to the receiver, multiplied by the speed of light. While techniques described herein may be provided as implementations of location determination in GPS and/or Galileo types of SPS as specific illustrations according to particular examples, it should be understood that these techniques may also apply to other types of SPS, and that claimed subject matter is not limited in this respect.

Aspects of the disclosure may include communication channels that may be any type of wired or wireless electronic communications network, such as, e.g., a wired/wireless local area network (LAN), a wired/wireless personal area network (PAN), a wired/wireless home area network (HAN), a wired/wireless wide area network (WAN), a campus network, a metropolitan network, an enterprise private network, a virtual private network (VPN), an internetwork, a backbone network (BBN), a global area network (GAN), the Internet, an intranet, an extranet, an overlay network, Near field communication (NFC), a cellular telephone network, a Personal Communications Service (PCS), using known protocols such as the Global System for Mobile Communications (GSM), CDMA (Code-Division Multiple Access), GSM/EDGE and UMTS/HSPA network technologies, Long Term Evolution (LTE), 5G (5th generation mobile networks or 5th generation wireless systems), WiMAX, HSPA+, W-CDMA (Wideband Code-Division Multiple Access), CDMA2000 (also known as C2K or IMT Multi-Carrier (IMT-MC)), Wireless Fidelity (W-Fi), Bluetooth, and/or the like, and/or a combination of two or more thereof. The NFC standards cover communications protocols and data exchange formats, and are based on existing radio-frequency identification (RFID) standards including ISO/IEC 14443 and FeliCa. The standards include ISO/IEC 18092[3] and those defined by the NFC Forum