Abstract:
A control system for portable control of a rotary-wing aircraft includes a portable, hand-held, control device executing a control application, the control device operating in a loaded mode when a load is attached to the rotary-wing aircraft and an unloaded mode when no load is attached to the rotary-wing aircraft, the control device presenting command icons in response to being in loaded mode and unloaded mode; a vehicle management system in the rotary-wing aircraft; a sensor package on the rotary-wing aircraft; and a communication system providing communications between the control device and the rotary-wing aircraft, vehicle management system and sensor package; wherein the control device communicates commands to the vehicle management system to implement loading and unloading of the rotary-wing aircraft.

Description:
BACKGROUND 
     The subject matter disclosed herein relates generally to remote control of rotary-wing aircraft, and more particularly to a portable control system for rotary-wing aircraft load management. 
     Often it is desirable to provide remote, portable control of an aircraft. Existing ground control stations for unmanned aircraft employ bulky ground control stations including humvees and man wearable equipment. These systems, for a re-supply operation, for example, require the pick-up zone and receiving zone operators to have dedicated systems. It would be beneficial to provide a ground control system using a more ubiquitous control interface to facilitate and simplify remote control of aircraft, and in particular rotary-wing aircraft load management. 
     SUMMARY 
     One embodiment includes a control system for portable control of a rotary-wing aircraft, the control system including a portable, hand-held, control device executing a control application, the control device operating in a loaded mode when a load is attached to the rotary-wing aircraft and an unloaded mode when no load is attached to the rotary-wing aircraft, the control device presenting command icons in response to being in loaded mode and unloaded mode; a vehicle management system in the rotary-wing aircraft; a sensor package on the rotary-wing aircraft; and a communication system providing communications between the control device and the rotary-wing aircraft, vehicle management system and sensor package; wherein the control device communicates commands to the vehicle management system to implement loading and unloading of the rotary-wing aircraft. 
     Other aspects, features, and techniques of the invention will become more apparent from the following description taken in conjunction with the drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Referring now to the drawings wherein like elements are numbered alike in the several Figures, in which: 
         FIG. 1  depicts a control system architecture in an exemplary embodiment; 
         FIG. 2  depicts a control system architecture in another exemplary embodiment; 
         FIG. 3  depicts a control system architecture in another exemplary embodiment; 
         FIG. 4  depicts a control system architecture in another exemplary embodiment; 
         FIG. 5  depicts a human-machine interface on a control device in an exemplary embodiment in a first mode; 
         FIG. 6  depicts a human-machine interface on a control device in an exemplary embodiment in a first mode; 
         FIGS. 7 and 7A  depict a human-machine interface on a control device in an exemplary embodiment in a hover stationary (HOV STA) mode; 
         FIG. 8  depicts a human-machine interface on a control device in an exemplary embodiment in a hover stationary mode; 
         FIGS. 9 and 9A  depict a human-machine interface on a control device in an exemplary embodiment in a hover manual (HOV MAN) mode, with no load attached; 
         FIGS. 10 and 10A  depict a human-machine interface on a control device in an exemplary embodiment in the hover manual (HOV MAN) mode with a load attached; 
         FIG. 11  depicts a human-machine interface on a control device in an exemplary embodiment in a ground mode; 
         FIG. 12  depicts a human-machine interface on a control device in an exemplary embodiment in a ground mode; 
         FIGS. 13 ,  13 A and  13 B depict a human-machine interface on a control device in an exemplary embodiment in a hover manual mode; 
         FIGS. 14 ,  14 A and  14 B depict human-machine interface on a control device in an exemplary embodiment in a hover manual mode; and 
         FIG. 15  is a diagram of operational states of the control device in exemplary embodiments. 
     
    
    
     DETAILED DESCRIPTION 
     Embodiments relate to systems and methods for providing control of rotary-wing aircraft, and in particular, to control of loading and unloading of loads to and from the rotary-wing aircraft.  FIG. 1  depicts a control system architecture in an exemplary embodiment. The control system includes a control device  10  for controlling a rotary-wing aircraft (e.g., helicopter)  100 . Control device  10  may be a portable, hand-held, microprocessor-based device having a display screen  12  that provides for a human-machine interface. The processor of control device  10  executes a control application to interface with rotary-wing aircraft  100 . Control device  10  also includes wireless communications functionality as described in detail herein. Exemplary devices that may serve as control device  10  include tablet computers, personal digital assistants, mobile phones, media players, etc. 
     In the embodiment shown in  FIG. 1 , control device  10  communicates with rotary-wing aircraft  100  via a communication system  20 . Communication system  20  includes a wireless router  22  and wireless data link  24 . Wireless router  22  communicates back and forth with control device  10  using known wireless communications protocols. Communications may use packet-based, single channel communications techniques, such as 802.11 standards, also referred to as Wi-Fi. Wireless router  22  is in bidirectional communication with data link  24  via a network connection (e.g., Ethernet). Wireless data link  24  uploads and downloads data to and from rotary-wing aircraft  100  using known uplink/downlink technologies, such as C/L/S/K/Ku-band wireless data links. 
     The rotary-wing aircraft  100  includes a data link  102  in bidirectional communication with data link  24 . Data link  102  is coupled to a vehicle management system (VMS)  104  via a network connection (e.g., Ethernet) and a sensor package  103 . Sensor package  103  provides video or equivalent data to a main or parallel data link system. VMS  104  controls rotary-wing aircraft  100 . VMS  104  also collects flight status data from rotary-wing aircraft  100 . As described in further detail herein, flight status data from the VMS  104  is provided to control device  10 , and commands from control device  10  are provided to the VMS  104  to control the rotary-wing aircraft  100 . 
       FIG. 2  depicts a control system architecture in another exemplary embodiment. In the embodiment of  FIG. 2 , the control device communication system is implemented using a cellular network  30 . The rotary-wing aircraft  100  includes a cellular network modem  110  in communication with the VMS  104  via a network connection (e.g., Ethernet). In this embodiment, bidirectional communication between control device  10  and rotary-wing aircraft  100  occurs over cellular network  30 . 
       FIG. 3  depicts a control system architecture in another exemplary embodiment. In the embodiment of  FIG. 3 , the control device communication system is implemented using a data link  40  coupled directly to the control device  10  via a wired network connection (e.g., Ethernet). The rotary-wing aircraft  100  includes a data link  102  in bidirectional communication with data link  40 . Data link  102  is coupled to a Vehicle Management System (VMS)  104  and to a sensor package  103  via a network connection (e.g., Ethernet). 
       FIG. 4  depicts a control system architecture in another exemplary embodiment. In the embodiment of  FIG. 4 , the control device communication system is implemented using a wireless communication element of the control device  10  directly. The communication element may use packet-based, single channel communications techniques, such as 802.11 standards, also referred to as Wi-Fi. The rotary-wing aircraft  100  includes wireless router  120  using the same communications standard as the control device  10 . Wireless router  120  is in bidirectional communication with control device  10 . Wireless router  120  is coupled to a vehicle management system (VMS)  104  and to a sensor package  103  via a network connection (e.g., Ethernet). 
       FIG. 5  depicts a human-machine interface on a control device  10  in an exemplary embodiment in a receive aircraft mode of a first mode. The human-machine interface will include an available aircraft list  207  of those within range by selecting find aircraft icon  334 . The find aircraft icon  334  searches the area for local rotary-wing aircraft  100  and provides a selection of available aircraft to choose from (e.g., Bluetooth pairing). Upon selection of a rotary-wing aircraft  100  from the aircraft list  207 , the selection will be highlighted  209  and then either confirmed  211  or canceled  206  via the human-machine interface command icons  204 . Another method for aircraft acquisition is a push. In a push operation, an aircraft available notification appears when a rotary-winged aircraft  100  is within range or handoff from main operator of the aircraft is pushed to the control device  10 . The operator of the portable control device  10  would then confirm/accept the rotary-winged aircraft  100  to complete the push transaction. 
       FIG. 6  depicts a human-machine interface on a control device  10  in an exemplary embodiment in an access code mode of the first mode. In the first mode, the user of control device  10  is attempting to obtain access to aircraft control. Control device  10  enters an access code mode. The human-machine interface includes a keyboard  333  for entering characters of the access password. The human-machine interface will include a text bar  335  that displays the password as entered via the keyboard  333 . After a rotary-wing aircraft  100  is chosen, and the password for the specific aircraft is entered, selection of the return icon or confirm  211  will send the password from the control device  10  to the rotary-winged aircraft  100  for verification. Referring to  FIG. 6 , selection of cancel icon  206  cancels access of the rotary-wing aircraft  100  by control device  10 . Acceptance by the rotary-winged aircraft  100  initiates second mode screen or if access denied, reverts back to find aircraft screen  FIG. 6  and provides incorrect password notification. As shown in  FIG. 6 , the command icons  204  also include the cancel icon  206  as well as the find aircraft icon  334 . 
       FIGS. 7 and 7A  depicts a human-machine interface on a control device  10  in an exemplary embodiment in a hover stationary mode. The mode depicted in  FIG. 7  is referred to as hover-stationary, meaning the rotary-wing aircraft  100  is hovering at a set location. The human-machine interface includes a status icon  200  indicating the current mode of control device  10  and rotary-wing aircraft  100 . Status information  202  may be presented, and include flight status information such as altitude, speed, heading, etc. This flight status information is communicated to control device  10  from VMS  104 . Command icons  204  are also presented in the human-machine interface. Upon selection of one of the command icons  204 , control device  10  issues commands to the rotary-wing aircraft  100  to execute an operation. Command icons  204  in  FIGS. 7 and 7A  include a cancel icon  206 , selection of which cancels current action of the rotary-wing aircraft  100  by control device  10 . Command icons  204  also include a hover manual icon  208 , selection of which places control device  10  and rotary-wing aircraft  100  into a mode for manually controlling the rotary-wing aircraft  100 . The command icons  204  also include an enroute icon  210 , selection of which causes the rotary-wing aircraft  100  to follow a preloaded flight plan, stored either in the VMS  104  or in the control device  10 . The commands icons  204  also include a land icon  201 , selection of which causes the rotary-wing aircraft  100  to autonomously execute a landing at its current lat/long. Command icons  204  may require a confirmation as described with reference to  FIG. 8  to proceed with the given commands. 
       FIG. 7A  shows additional command icons  204  and a slide feature to display hidden command icons. In all states, cancel  206  is a fixed icon and available at all times. The other three available icon spaces can be scrolled. In addition to land  201 , hover manual  208 , and enroute  210 , hover stationary provides video  203  and sensor  205  icons for additional functionality. The video  203  and sensor  205  icons obtain real-time streaming video or sensor data from the rotary-wing aircraft  100  to the control device  10  for situational awareness. The video  203  and sensor  205  modes are available in a number of modes, such as hover manual and ground, as described further herein. 
     Upon selection of land  201 , the control device  10  will ask for confirmation as shown in  FIG. 8 . The human machine interface will provide the option to confirm  211  or cancel  206  the last command. A confirm  211  will send the command to the rotary wing aircraft  100  for verification prior to execution. 
       FIGS. 9 and 9A  depict a human-machine interface on a control device  10  in an exemplary embodiment in the hover manual mode, entered upon selection of the hover manual icon  208  in  FIG. 7 . The command icons  204  are updated to reflect currently available operations. The hover manual mode is designated by status icon  200 . A number of flight control icons are presented. Altitude control icons include an up icon  212  and down icon  214  to control height of the rotary-wing aircraft  100 . Selection of the up icon  212  or down icon  214  may cause a change in altitude based on a number of feet per selection (e.g., 2 feet per click) or continuous transition at a predetermined rate for as long as it is held (with limits defined by the VMS  104 ). Position control icons include left icon  216 , right icon  218 , forward icon  220  and back icon  222 . Selection of the position control icons causes a change in position based on a number of feet per selection (e.g., 2 foot per click) or continuous transition at a predetermined rate for as long as it is held (maintain travel as icon is held). Heading control icons include rotational icons including clockwise rotation icon  224  and counter-clockwise rotation icon  226 . Selection of the rotational icons causes a change in heading, such as a number of degrees per selection or continuous yaw change at a predetermined rate. 
     Command icons  204  are updated once the control device  10  enters hover manual mode. As shown in  FIGS. 9 and 9A , the command icons include cancel icon  206 , auto load icon  230 , lift load icon  232 , hover stationary icon  234 , video/sensor icons  203 / 205 . Other icons may be added if needed. The command icons  204  are generated dependent upon whether the rotary-wing aircraft  100  currently has an auto load system attached, is secured to a load, or is not secured to a load. Cancel  206  is always available. The other command icons  204  slide to show the commands that cannot fit in the default menu (e.g., three commands) and are as a result hidden (such as the video/sensor icons  203 / 205 ). The command icons in  FIGS. 9 and 9A  are presented when no load is detected by the VMS  104 . 
       FIGS. 9 and 9A  depict a human-machine interface on a control device in an exemplary embodiment in a hover manual mode, in which a load is not attached to the rotary-wing aircraft  100 . In  FIGS. 9 and 9A , selection of cancel icon  206  cancels control of the rotary-wing aircraft  100  by control device  10  and transitions the aircraft to hover stationary mode. Selection of hover stationary icon  234  causes the control device  10  to enter hover stationary mode, with rotary-wing aircraft  100  hovering at a fixed position. The auto load icon  230  causes the VMS  104  to execute a flight control process that automatically positions the rotary-wing aircraft  100  over a load. The load may be manually or automatically secured to rotary-wing aircraft  100 . Once the load is secured, the lift load icon  232  can be selected to cause the rotary-wing aircraft  100  to lift the load to a predetermined height and hover. This entire process can be done autonomously via the selection of the Auto Load icon  230  (i.e. autonomous load systems attached). Video/Sensor icon  203 / 205  initiates a subcategory of the current third mode. Video/Sensor icons  203 / 205  will access data from a sensor/video devices  103  on the rotary-winged aircraft  100  and display it on the human-machine interface of the control device  10 . 
       FIGS. 10 and 10A  depict a human-machine interface on a control device in an exemplary embodiment, in hover manual mode in which a load is attached to the rotary-wing aircraft  100 . As noted above, the command icons  204  are updated to reflect currently available operations, based on flight information received from the VMS  104 . The command icons  204  include cancel icon  206 , release load icon  240 , place load icon  242  and hover stationary icon  234 . Selection of cancel icon  206  cancels control of the rotary-wing aircraft  100  by control device  10 . Selection of hover stationary icon  234  causes the rotary-wing aircraft  100  to enter hover stationary mode, with rotary-wing aircraft  100  hovering at a fixed position. Selection of the place load icon  242  causes the rotary-wing aircraft  100  to rest the load on the ground. Selection of the release load icon  240  causes the rotary-wing aircraft  100  to lower the load to the ground at the current aircraft position and release the load from the rotary-wing aircraft  100  (e.g., release a sling attachment, open hook, open auto load device) whereas place load  242  lowers the load to the ground at the current aircraft position, but does not release the load. Video/sensor icons  203 / 205  will access video or sensor data from sensor/video devices on the rotary-winged aircraft  100  and display it on the human-machine interface of the control device  10 . 
       FIG. 11  depicts a human machine interface on a control device  10  in an exemplary embodiment in a ground mode. The command icons  204  displayed across the bottom of the human machine interface include cancel  206 , take off  213 , video  203  and sensor  205 . Video  203  and sensor  205  commands activate an onboard video/sensor devices  103  on the rotary-wing aircraft  100  and transmit the data to the control device  10  where it is displayed for the operator. Take off  213  will send a command to the aircraft to transition from ground mode to hover stationary. Selection of cancel icon  206  cancels control of the rotary-wing aircraft  100  by control device  10 . 
     Upon selection of takeoff  213 , the control device  10  will ask for confirmation as shown in  FIG. 12 . The human machine interface will provide the option to confirm  211  or reject  206  the last command. A confirm  211  will send the takeoff command to the aircraft for verification by the VSM  104  prior to commanding the rotary-wing aircraft to transition from ground mode to hover stationary at a predetermined altitude. 
       FIGS. 13 ,  13 A and  13 B depict a human-machine interface on a control device  10  in an exemplary embodiment in the hover manual mode, entered upon the selection of the video icon  203  in  FIGS. 9A  or  10 A. This embodiment uses the same method of control as the embodiment in  FIG. 9  and  FIG. 10  with the exception that there is a real time video underlay on the human-machine interface. 
       FIGS. 14 ,  14 A and  14 B depict a human-machine interface on a control device  10  in an exemplary embodiment in the hover manual mode. The command icons  204  remain the same as in the respective modes in  FIG. 9A  and  FIG. 10A , however, position control in this embodiment is inputted into the control device  10  by clicking the desired location on screen  12  via the downward looking camera video underlay  236 . Altitude and heading commands are inputted the same way as in  FIG. 9  and  FIG. 10 , using the up  212  and down  214  icons. 
       FIG. 15  depicts operational states of the rotary-wing aircraft  100  and control device  10  in exemplary embodiments. Rotary-wing aircraft  100  may be manned or un-manned when control device  10  is issuing control commands to rotary-wing aircraft  100 . 
     At  300 , control device  10  receives a list of available aircraft. This list may be pulled by control device  10  or pushed to control device  10  by local aircraft requesting control. At  302 , the control device  10  may query a user for an access code to ensure that only authorized users control the rotary-wing aircraft  100 . Upon establishing communications between the control device  10  and the VMS  104  to receive aircraft  300  and entering the appropriate access code  302 , the control device  10  is set to hover stationary mode  322 , ground stationary mode  408 , or enroute  304  (which will automatically transfer to hover stationary at the completion of the current flight plan leg) at  400  to reflect the actual mode of the rotary-wing aircraft  100 . 
     From hover stationary  322 , the user can enter various modes, including enroute  304 , hover manual  306 , or ground mode  408 . Enroute mode  304  causes the rotary-wing aircraft  100  to follow a preloaded flight plan, which is implemented by VMS  104 . Ground mode  408  causes the rotary-wing aircraft  100  to land and enter ground mode  408 . The hover manual mode  306  allows the user to control altitude, position and heading of the rotary-wing aircraft  100  using the icons described above. Hover stationary  322  also allows user to display sensor/video data at  409 . 
     Hover manual mode  306  also includes two command sets, unloaded  308  and loaded  310 . In the unloaded mode  308 , the control device  10  may be used to auto-load  312  or lift load  314 . Other unloaded mode operations include but are not limited to selecting a load  336 , centering over a load  338  and hooking the load  340 . 
     In the loaded mode, the control device  10  may be used to place a load  318 , release a load  320  and return to hover stationary  322 . Other loaded mode operations include, but are not limited to, auto release of a load  328 , release a sling  330  and dropping load at a point  332 . 
     Hover manual mode  306  also allows transition back to hover stationary  322  or entry of flight control commands at  316 . Hover manual  306  allows a user to display sensor/video data  409  in video underlay mode  324  and allows entry of flight heading by selecting points on the video underlay in a point and go mode  326 , as described above with reference to  FIG. 14 . 
     Control device  10  is designed to provide a control device operator with fewer, dedicated commands that can be operated on a small, control device. Additionally, the high level of autonomy on the rotary-wing aircraft enables a more simplistic human-machine interface, not currently used today on fielded systems. The control device  10  has applications for military, civilian and commercial applications. With the widespread use of smart devices (e.g., by military personnel), embodiments offer the opportunity to utilize these smart devices to host control applications for rotary-wing aircraft in a myriad of applications. 
     The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. While the description of the present invention has been presented for purposes of illustration and description, it is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications, variations, alterations, substitutions, or equivalent arrangement not hereto described will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the invention. Additionally, while various embodiment of the invention have been described, it is to be understood that aspects of the invention may include only some of the described embodiments. Accordingly, the invention is not to be seen as limited by the foregoing description, but is only limited by the scope of the appended claims.