Helicopter external cargo hanging position measurement and monitoring early warning system and control method thereof

Abstract

The present application belongs to the technical field of safety monitoring of helicopter external sling operation, and discloses a system for measuring and monitoring and early warning the pose of external sling goods of a helicopter and a control method thereof, which comprises a front hook pose measuring assembly, a middle hook pose measuring assembly, a rear hook pose measuring assembly, a control box, a power-on switch, a sling mode selection switch, an on-board display warning system and a calibration device. The present application solves the problem that the external sling flight of a helicopter cannot be effectively monitored, and significantly improves the safety and task reliability of the helicopter sling operation.

Description

Technical Field

[0001] This invention belongs to the field of safety monitoring technology for helicopter sling operations, specifically relating to a helicopter external cargo position measurement, monitoring and early warning system and its control method. Background Technology

[0002] External sling load operations are an important method for helicopters to perform special transport missions and are widely used in military logistics, disaster relief, and other fields. Data shows that more than 10% of helicopter flight accidents are related to sling load operations, especially when the load-to-weight ratio (the ratio of the load to the helicopter's weight) exceeds 0.3, heavy load sling loads can have a significant impact on the helicopter's maneuverability and stability.

[0003] During actual flight, factors such as pilot operation and external airflow can cause the load to sway. If the cargo sway exceeds the design envelope, it will trigger residual oscillations in the helicopter. If not handled properly, this can easily lead to pilot-induced oscillations, seriously threatening flight safety. In addition, excessive swaying may also cause the cargo to detach from the hook.

[0004] Currently, helicopters commonly use sling swing monitoring devices based on radio frequency technology. However, this method has the following limitations: additional wireless positioning tags need to be installed on the sling, which is inconvenient to use; it is greatly affected by environmental interference, resulting in limited monitoring accuracy; and the wireless positioning tags are thrown along with the sling during deployment, which can easily cause damage and result in high operating costs. Therefore, developing a new monitoring and early warning system based on visual perception is of great practical significance. Summary of the Invention

[0005] Purpose of the invention: To address the inability to effectively monitor helicopter externally slinged cargo flights, this invention provides a helicopter externally slinged cargo position measurement and monitoring early warning system and its control method. This system enables real-time measurement of the swing angle and orientation of the cargo, while simultaneously monitoring and warning of the cargo's movement status and recording the entire process, significantly improving the safety and reliability of helicopter slinging operations.

[0006] To address the above-mentioned technical issues, the present invention provides the following technical solution:

[0007] In a first aspect, the present invention provides a helicopter externally slung cargo position measurement, monitoring and early warning system, comprising: Front hook pose measurement component, which is used to measure and monitor the swing state of the cargo suspended by the front hook; The intermediate hook pose measurement component is used to measure and monitor the swing state of the goods suspended by the intermediate hook; Rear hook pose measurement component, which is used to measure and monitor the swing state of the cargo suspended by the rear hook; The switch panel integrates a power-on switch and a hanging mode selection switch; The onboard display alarm system provides tiered alarms based on the different alarm levels of the suspended objects. The calibration equipment is used to input the spatial parameters of the front hook pose measurement component, the middle hook pose measurement component, and the rear hook pose measurement component into the control box, and to receive the calibration result data from the control box. The control box initially receives and records the spatial parameters of the pose measurement components of the calibration equipment. By collecting measurement component data, switch panel status data, helicopter altitude, helicopter speed, wheel load signals, and suspended weight, it calculates the status of the slings and the suspended object, as well as the shape of the suspended object, identifies the suspension scenario, and realizes early warning of cargo swing exceeding the envelope risk.

[0008] As a further technical solution of the present invention: the front hook pose measurement component includes a first measuring component, a second measuring component, and a first monitoring component; Both the first and second measuring components are used to measure the swing angle and azimuth angle of the object suspended by the front hook in real time, and transmit the video signal to the control box. The first monitoring component is used to monitor the movement of goods suspended by the front hook and transmit video signals to the control box.

[0009] As a further technical solution of the present invention: the intermediate hook pose measurement component includes a third measuring component, a fourth measuring component, and a second monitoring component; Both the third and fourth measuring components are used to measure the swing angle and azimuth angle of the object suspended by the intermediate hook in real time, and transmit the video signal to the control box. The second monitoring component is used to monitor the movement of the object suspended by the intermediate hook and transmit the video signal to the control box.

[0010] As a further technical solution of the present invention: the rear hook pose measurement component includes a fifth measurement component, a sixth measurement component and a third monitoring component; Both the fifth and sixth measuring components are used to measure the swing angle and azimuth angle of the cargo suspended by the rear hook in real time and transmit the video signal to the control box; The second monitoring component is used to monitor the movement of the object suspended by the rear hook and transmit the video signal to the control box.

[0011] As a further technical solution of the present invention: the measuring component is installed in front of and to the side of the front hook, middle hook and rear hook of the cargo, and a high-resolution vision sensor is used to collect images of the suspended object; The monitoring unit is installed near the hook of the externally suspended cargo and is equipped with a wide-angle camera to record the movement of the suspended object and the operation process.

[0012] As a further technical solution of the present invention: the power switch has two positions, "on" and "off"; when the power switch is in the "on" position, the helicopter power can be connected to the external cargo position measurement and monitoring early warning system, and when it is in the "off" position, the helicopter power can be disconnected from the external cargo position measurement and monitoring early warning system. The hanging mode selection switch has three positions: "single-point hanging mode", "two-point hanging mode" and "multi-point hanging mode".

[0013] As a further technical solution of the present invention: when only the middle hook is used to suspend goods, the switch needs to be set to the "single point suspension mode" position, the control signal is transmitted to the control box, and the control box is in the function mode of single point external suspension goods measurement and monitoring early warning system; When the front hook and rear hook are used to suspend goods, the switch must be set to the "two-point suspension mode" position. The control signal is transmitted to the control box, and the control box is in the function mode of the two-point external suspension goods position measurement, monitoring and early warning system. When the front hook, middle hook, and rear hook are each suspending goods, the switch must be set to the "multi-point suspension mode" position. The control signal is transmitted to the control box, and the control box is in the multi-point external suspension goods posture measurement and monitoring early warning system function mode.

[0014] As a further technical solution of the present invention: the on-board display alarm system includes display alarm, alarm light and voice alarm, and performs graded alarm according to different alarm levels of different hanging objects.

[0015] As a further technical solution of the present invention: the control box includes a target recognition and tracking module, a hanging scene recognition module, a hanging object measurement and monitoring module, a risk assessment and early warning module, an automatic calibration template and a hanging mode selection and processing module; The target recognition and tracking module, based on the detection of continuous closed regions of slings and suspended objects and the characteristics of image continuity and size invariance of target objects, achieves accurate recognition and tracking of suspended objects in complex backgrounds; at the same time, it can also recognize the outline state of suspended objects. The suspended scene recognition module identifies the suspended scene by analyzing video frame by frame and combining helicopter altitude, speed information, wheel-borne signals and the outline of the suspended object. The suspended object measurement and monitoring module, based on the slings and suspended objects identified by the target recognition and tracking module, calculates the swing angle and orientation of the externally suspended goods in real time and records the operation process video; The risk assessment and early warning module establishes a pre-set database, including typical suspended objects, suspended scenarios, and the suspended object's flight characteristics; combined with the suspended object's offset angle, motion acceleration, suspended outline, suspended weight, suspended scenario, and helicopter attitude angle data identified by the target recognition and tracking module, and referring to the typical suspended objects, suspended scenarios, and the suspended object's flight characteristics in the pre-set database, a risk level assessment model is established to achieve early warning of cargo swing exceeding the envelope risk; The automatic calibration template automatically calibrates the spatial parameters of each measuring component by using the coordinate information of each device input from the calibration equipment, thus solving the calibration problem of relative relationships after installation and ensuring the uniformity of the coordinate system of each measuring component. The hanging mode selection processing module adjusts the working quantity of the measuring and monitoring components and the operating mode of the hanging object measurement and monitoring module according to the hanging mode selected by the hanging mode selection switch.

[0016] Secondly, the present invention provides a control method for a helicopter externally slung cargo position measurement, monitoring and early warning system, which includes the following steps: The system is installed, calibrated, and debugged. Through calibration equipment, the control box completes the spatial position calibration of the measuring and monitoring components. The helicopter is on the ground and has completed preparations for external slinging to the ground; the suspended object and sling cables are connected to the onboard slinging equipment. Power on the system using the power switch, select the hanging mode using the hanging mode selection switch, and the system will start a self-test to ensure that all components are working properly. After the self-test is completed, the system will start working. The helicopter takes off, hovers, and lifts cargo, performing hovering and hoisting operations, while the helicopter's status is checked. During this process, the measuring components acquire real-time images of the sling and the suspended object, and the monitoring components acquire real-time images of the suspended object. The control box's target recognition and tracking module, based on the straight-line characteristics of the suspended sling, the continuity of its pattern with the suspended object, and its dimensional invariance, combined with wheel-mounted signals, helicopter altitude, speed, and attitude angle signals, achieves accurate identification and tracking of the suspended object. The control box's hoisting scene recognition module, based on the outline of the suspended object and its weight data, calculates and matches typical suspended object and hoisting scene data from a pre-set database. As the helicopter flies forward with cargo slinged over it, the risk assessment and early warning module in the control box, based on data processed by the cargo measurement and monitoring module, combined with data such as the cargo offset angle and acceleration calculated by the cargo measurement and monitoring module, and the cargo outline, weight, and scenario identified by the target recognition and tracking module, assesses the cargo sway risk in real time according to a preset risk level assessment model. When the cargo sway angle approaches or exceeds the design envelope, an early warning signal is issued promptly, prompting the pilot to take appropriate measures through cockpit displays, warning lights, and voice alarms. The helicopter hoists the cargo to the drop point and drops it; the monitoring components closely monitor the status of the cargo and record the drop process.

[0017] In summary, the beneficial effects of the present invention are as follows: 1. This invention uses visual technology to achieve real-time attitude measurement and monitoring of cargo externally slung from helicopters, providing pilots with more accurate flight operation references, effectively improving the attitude stability of slung flight, enhancing the safety of emergency drop operations, and is of great significance to promoting the improvement of the safety level of helicopter slung operations.

[0018] 2. This invention improves the safety of helicopter slinging operations and avoids safety hazards such as cargo deviating from flight or becoming detached.

[0019] 3. This invention solves the problems of inconvenience and high cost of existing suspension swing detection devices based on radio frequency technology.

[0020] 4. This invention constructs a multi-dimensional safety early warning system, providing pilots with accurate operational references and significantly improving mission reliability.

[0021] 5. This invention constructs a helicopter slinging operation scenario recognition system and, based on the weight and shape of the identified sling, classifies the slings and assesses their risk level.

[0022] 6. The system of the present invention has strong scalability and the number and position of measuring components can be adjusted according to different task requirements.

[0023] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0024] Figure 1 This is an architecture diagram of a helicopter external cargo position measurement, monitoring and early warning system according to the present invention.

[0025] Figure 2 This is a schematic diagram of the installation of the pose measurement component of the present invention.

[0026] Figure 3 This is a schematic diagram of the single-point suspended monitoring mode of the present invention.

[0027] Figure 4 This is a schematic diagram of the multi-point suspended monitoring mode of the present invention.

[0028] Figure 5 This is a schematic diagram of the dual-point suspended monitoring mode of the present invention.

[0029] Figure 6 This is a flowchart illustrating the workflow of the helicopter external cargo position measurement, monitoring, and early warning system of the present invention. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions in the embodiments of this invention will be described in more detail below with reference to the accompanying drawings.

[0031] In the accompanying drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, of the embodiments of the present invention.

[0032] The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0033] The following is in conjunction with the appendix Figures 1-6 The embodiments of the present invention will be described in detail below.

[0034] Example 1 This invention discloses a helicopter external cargo position measurement and monitoring early warning system, which realizes real-time measurement of the swing angle and orientation of the external cargo, and monitors and warns of the cargo movement status and records its working process, significantly improving the safety and mission reliability of helicopter slinging operations.

[0035] This invention patent is a helicopter external cargo position and attitude measurement and monitoring early warning system based on multiple sling modes, mainly including front hook position and attitude measurement component 1, middle hook position and attitude measurement component 2, rear hook position and attitude measurement component 3, control box 4, power switch 5, sling mode selection switch 6, on-board display and alarm system 7, and calibration equipment 8.

[0036] The front hook pose measurement component 1 includes a first measuring component 11, a second measuring component 12, and a first monitoring component 13.

[0037] The intermediate hook pose measurement component 2 includes a third measuring component 21, a fourth measuring component 22, and a second monitoring component 23.

[0038] The rear hook pose measurement component 3 includes a fifth measuring component 31, a sixth measuring component 32, and a third monitoring component 33.

[0039] The onboard alarm system includes a display alarm 71, an alarm light 72, and a voice alarm 73.

[0040] The front hook pose measurement component 1 is used to measure and monitor the swing state of the cargo suspended by the front hook.

[0041] The intermediate hook pose measurement component 2 is used to measure and monitor the swing state of the goods suspended by the intermediate hook.

[0042] The rear hook pose measurement component 3 is used to measure and monitor the swing state of the cargo suspended by the rear hook.

[0043] The first measuring component 11 and the second measuring component 12 in the front hook posture measuring assembly 1 are used to measure the swing angle and azimuth angle of the object suspended by the front hook in real time and transmit the video signal to the control box 4.

[0044] The first monitoring component 13 in the front hook pose measurement component 1 is used to monitor the movement status of the goods suspended by the front hook and transmit the video signal to the control box 4.

[0045] The third measuring component 21 and the fourth measuring component 22 in the intermediate hook pose measurement assembly 2 are used to measure the swing angle and azimuth angle of the object suspended by the intermediate hook in real time and transmit the video signal to the control box 4.

[0046] The second monitoring component 23 in the intermediate hook pose measurement component 2 is used to monitor the movement state of the object suspended by the intermediate hook and transmit the video signal to the control box 4.

[0047] The fifth measuring component 31 and the sixth measuring component 32 in the rear hook pose measurement assembly 3 are used to measure the swing angle and azimuth angle of the cargo suspended by the rear hook in real time and transmit the video signal to the control box 4.

[0048] The third monitoring component 33 in the rear hook pose measurement component 3 is used to monitor the movement state of the object suspended by the rear hook and transmit the video signal to the control box 4.

[0049] The measuring components are installed in front of and to the side of the cargo hooks (front hook, middle hook, and rear hook) and use a high-resolution vision sensor to acquire images of the suspended objects.

[0050] The monitoring component is installed near the hook of the externally suspended cargo and is equipped with a wide-angle camera to record the movement of the suspended object and the operation process.

[0051] The power switch 5 has two positions: "on" and "off". When the switch is in the "on" position, it connects the helicopter power supply to the externally suspended cargo position measurement and monitoring early warning system. When it is in the "off" position, it disconnects the helicopter power supply to the externally suspended cargo position measurement and monitoring early warning system.

[0052] The suspension mode selection switch 6 has three positions: "single-point suspension mode", "two-point suspension mode" and "multi-point suspension mode".

[0053] When only the middle hook is used to suspend goods, the switch needs to be set to the "single-point suspension mode" position. The control signal is transmitted to the control box 4, and the control box 4 is in the function mode of single-point external suspension goods measurement, monitoring and early warning system.

[0054] When the front hook and rear hook are used to suspend goods, the switch must be set to the "two-point suspension mode" position. The control signal is transmitted to the control box 4, and the control box 4 is in the function mode of the two-point external suspension goods position measurement and monitoring early warning system.

[0055] When the front hook, middle hook, and rear hook are each suspending goods, the switch must be set to the "multi-point suspension mode" position. The control signal is transmitted to the control box 4, and the control box 4 is in the multi-point external suspension goods posture measurement and monitoring early warning system function mode.

[0056] The onboard display alarm system 7 includes display alarm 71, alarm light 72, and voice alarm 73, and provides graded alarms based on different alarm levels of the suspended objects.

[0057] The calibration device 8 is used to input the spatial parameters of the front hook, middle hook, rear hook, first measuring component 11, second measuring component 12, first monitoring component 13, third measuring component 21, fourth measuring component 22, second monitoring component 23, fifth measuring component 31, sixth measuring component 32, and third monitoring component 33 of the cargo into the control box 4, and to receive the calibration result data from the control box.

[0058] The control box 4 includes a target recognition and tracking module, a hanging scene recognition module, a hanging object measurement and monitoring module, a risk assessment and early warning module, an automatic calibration template, and a hanging mode selection and processing module.

[0059] The target recognition and tracking module, based on the detection of continuous closed regions of slings and suspended objects, and the characteristics of image continuity and size invariance of target objects, achieves accurate recognition and tracking of suspended objects in complex backgrounds. It can also identify the contour state of the suspended objects.

[0060] The suspended scene recognition module identifies the suspended scene by analyzing video frame by frame and combining helicopter altitude, speed information, wheel-borne signals and the outline of the suspended object. The suspended object measurement and monitoring module calculates the swing angle and orientation of the externally suspended goods in real time based on the slings and suspended objects identified by the target recognition and tracking module, and records the operation process video.

[0061] The risk assessment and early warning module establishes a pre-set database, including typical suspended objects, suspended scenarios, and the suspended object's flight characteristics; combined with the suspended object's offset angle, motion acceleration, suspended outline, suspended weight, suspended scenario, and helicopter attitude angle data identified by the target recognition and tracking module, and referring to the typical suspended objects, suspended scenarios, and the suspended object's flight characteristics in the pre-set database, a risk level assessment model is established to achieve early warning of cargo swing exceeding the envelope risk; The automatic calibration template automatically calibrates the spatial parameters of each measuring component by using the coordinate information of each device input by the calibration device 8, thus solving the calibration problem of relative relationships after installation and ensuring the uniformity of the coordinate system of each measuring component.

[0062] The hanging mode selection processing module adjusts the working quantity of the measuring and monitoring components and the operating mode of the hanging object measurement and monitoring module according to the hanging mode selected by the hanging mode selection switch 6.

[0063] Example 2 This invention discloses a control method for a helicopter externally slung cargo position measurement, monitoring, and early warning system, which includes the following steps: The system is installed, calibrated, and debugged. Through calibration equipment, the control box completes the spatial position calibration of the measuring and monitoring components. The helicopter is on the ground and has completed preparations for external slinging to the ground; the suspended object and sling cables are connected to the onboard slinging equipment. Power on the system using the power switch, select the hanging mode using the hanging mode selection switch, and the system will start a self-test to ensure that all components are working properly. After the self-test is completed, the system will start working. The helicopter takes off, hovers, and lifts cargo to conduct a status check of the hovering and sling-mounted helicopter. During this time, the measuring components acquire real-time images of the sling and the suspended object, while the monitoring components acquire real-time images of the suspended object. The target recognition and tracking module in the control box, based on the straight-line characteristics of the suspended sling, the continuity of its pattern with the suspended object, and its dimensional invariance, combined with wheel load signals, helicopter altitude, speed, and attitude angle signals, achieves accurate identification and tracking of the suspended object. The sling scene recognition module in the control box, based on the outline of the suspended object and its weight data, calculates and matches typical suspended object and sling scene data from a pre-set database. As the helicopter flies with cargo slinged on, the risk assessment and early warning module of the control box, based on data processed by the cargo measurement and monitoring module, combined with data such as the cargo offset angle and acceleration calculated by the cargo measurement and monitoring module, and the cargo outline, weight, and scenario identified by the target recognition and tracking module, assesses the cargo sway risk in real time according to a preset risk level assessment model. When the cargo sway angle approaches or exceeds the design envelope, an early warning signal is issued in a timely manner, prompting the pilot to take appropriate measures, such as adjusting flight attitude or speed, through cockpit displays, warning lights, and voice alarms, to ensure flight safety.

[0064] The helicopter hoists the cargo to the drop point and drops it; the monitoring components closely monitor the status of the cargo and record the drop process.

[0065] 1. System Installation Phase Ground staff install the externally suspended cargo position measurement and monitoring early warning system. The calibration device 8 is connected to the control box 4, and the spatial parameters of the front hook, middle hook, rear hook, first measuring component 11, second measuring component 12, first monitoring component 13, third measuring component 21, fourth measuring component 22, second monitoring component 23, fifth measuring component 31, sixth measuring component 32, and third monitoring component 33 of the cargo are input to the control box 4 through the calibration device 8, so as to complete the spatial position calibration of the externally suspended cargo position measurement and monitoring early warning system.

[0066] 2. Pre-flight preparation phase Ground crew members attach the externally slinged cargo to the helicopter's external sling hook using slings according to the prescribed procedure. After ensuring a secure connection, they turn on the power switch 5 to the "ON" position and start the system. The sling mode is selected via the sling mode selection switch 6. The system first automatically calibrates the module based on the selected sling mode and the initial displacement information of the cargo hook to calibrate the spatial parameters of the measuring components. All measuring components, monitoring components, and control box 4 simultaneously perform self-checks to ensure normal operation. At the same time, the target recognition and tracking module begins initial identification and locking of the slinged cargo.

[0067] When the hanging mode selection switch 6 selects the single-point hanging mode, the measuring components (third measuring component 21, fourth measuring component 22) and the monitoring component (second monitoring component 23) perform spatial parameter calibration and self-test simultaneously, while other measuring components and monitoring components do not work.

[0068] When the hanging mode selection switch 6 selects the dual-point hanging mode, the measuring components (first measuring component 11, second measuring component 12, fifth measuring component 31, sixth measuring component 32) and the monitoring components (first monitoring component 13, third monitoring component 33) perform spatial parameter calibration and self-test simultaneously, while other measuring components and monitoring components do not work.

[0069] When the hanging mode selection switch 6 selects the hanging mode as multi-point hanging, the measuring components (first measuring component 11, second measuring component 12, third measuring component 21, fourth measuring component 22, fifth measuring component 31, and sixth measuring component 32) and the monitoring components (first monitoring component 13, second monitoring component 23, and third monitoring component 33) perform spatial parameter calibration and self-test simultaneously, while other measuring and monitoring components do not operate.

[0070] 3. During hoisting flight The helicopter takes off, hovers, and lifts cargo, performing hovering and hoisting operations, while the helicopter's status is checked. During this time, the measuring components acquire real-time images of the sling and the suspended object, and the monitoring components acquire real-time images of the suspended object. The target recognition and tracking module in control box 4, based on the straight-line characteristics of the suspended sling, the continuity of the suspended object's pattern, and its dimensional invariance, combined with wheel load signals, helicopter altitude signals, and helicopter speed signals, achieves accurate identification and tracking of the suspended object. The hoisting scene recognition module in control box 4, based on the continuity of the suspended object's pattern and its weight data, calculates and matches typical suspended object and hoisting scene data from a pre-set database. During the helicopter's forward flight with cargo, the measuring components acquire images of the suspended object in real time, and the target recognition and tracking module accurately identifies and tracks the object. The suspended object measurement and monitoring module in control box 4 continuously calculates its swing angle and azimuth angle. Based on the data processed by the suspended object measurement and monitoring module, combined with the suspended object's offset angle, acceleration, and data such as the suspended outline, weight, and scenario identified by the target recognition and tracking module, the risk assessment and early warning module of control box 4 assesses the cargo swing risk in real time according to a preset risk level assessment model. When the cargo swing angle approaches or exceeds the design envelope, an early warning signal is issued in a timely manner, prompting the pilot to take appropriate measures, such as adjusting flight attitude or speed, through the cockpit display alarm 71, alarm light 72, and voice alarm 73, to ensure flight safety.

[0071] Meanwhile, the monitoring component acquires images of the suspended object in real time and records the operation process. The image data is then transmitted to the display alarm 71 via the suspended object measurement and monitoring module for real-time display on the machine.

[0072] 4. Hanging and Deployment Stage As the aircraft approaches the drop point, the monitoring unit closely monitors the status of the suspended object and records the drop process. The pilot uses the monitoring footage displayed in Alarm 71 and the data (hovering altitude) provided by the system to help determine the optimal timing for the drop.

[0073] After deployment, the system continues to briefly monitor the movement of the suspended object to ensure the cargo is safely removed from the helicopter, while also recording relevant data after deployment.

[0074] Thus, the objective of this invention has been achieved.

[0075] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A helicopter externally slung cargo position measurement, monitoring, and early warning system, characterized in that, include: Front hook pose measurement component, which is used to measure and monitor the swing state of the cargo suspended by the front hook; The intermediate hook pose measurement component is used to measure and monitor the swing state of the goods suspended by the intermediate hook; Rear hook pose measurement component, which is used to measure and monitor the swing state of the cargo suspended by the rear hook; The switch panel integrates a power-on switch and a hanging mode selection switch; The onboard display alarm system provides tiered alarms based on the different alarm levels of the suspended objects. The calibration equipment is used to input the spatial parameters of the front hook pose measurement component, the middle hook pose measurement component, and the rear hook pose measurement component into the control box, and to receive the calibration result data from the control box. The control box initially receives and records the spatial parameters of the pose measurement components of the calibration equipment. By collecting measurement component data, switch panel status data, helicopter altitude, helicopter speed, wheel load signals, helicopter attitude angle, and suspended weight, it calculates the status of the slings and the suspended object, as well as the shape of the suspended object, identifies the suspension scenario, and realizes early warning of cargo swing exceeding the envelope line risk.

2. The helicopter external cargo position measurement, monitoring and early warning system according to claim 1, characterized in that, The front hook pose measurement component includes a first measuring component, a second measuring component, and a first monitoring component; Both the first and second measuring components are used to measure the swing angle and azimuth angle of the object suspended by the front hook in real time, and transmit the video signal to the control box. The first monitoring component is used to monitor the movement of goods suspended by the front hook and transmit video signals to the control box.

3. The helicopter external cargo position measurement, monitoring and early warning system according to claim 1, characterized in that, The intermediate hook pose measurement component includes a third measuring component, a fourth measuring component, and a second monitoring component; Both the third and fourth measuring components are used to measure the swing angle and azimuth angle of the object suspended by the intermediate hook in real time, and transmit the video signal to the control box. The second monitoring component is used to monitor the movement of the object suspended by the intermediate hook and transmit the video signal to the control box.

4. The helicopter external cargo position measurement, monitoring and early warning system according to claim 1, characterized in that, The rear hook pose measurement component includes a fifth measuring component, a sixth measuring component, and a third monitoring component; Both the fifth and sixth measuring components are used to measure the swing angle and azimuth angle of the cargo suspended by the rear hook in real time and transmit the video signal to the control box; The second monitoring component is used to monitor the movement of the object suspended by the rear hook and transmit the video signal to the control box.

5. The helicopter external cargo position measurement, monitoring and early warning system according to claim 1, characterized in that, The measuring components are installed in front of and to the side of the front hook, middle hook, and rear hook of the cargo, and use high-resolution vision sensors to acquire images of the suspended objects; The monitoring unit is installed near the hook of the externally suspended cargo and is equipped with a wide-angle camera to record the movement of the suspended object and the operation process.

6. The helicopter external cargo position measurement, monitoring and early warning system according to claim 1, characterized in that, The power switch has two positions: "on" and "off". When the power switch is in the "on" position, the helicopter power is connected to the external cargo position measurement and monitoring early warning system. When the power switch is in the "off" position, the helicopter power is disconnected from the external cargo position measurement and monitoring early warning system. The hanging mode selection switch has three positions: "single-point hanging mode", "two-point hanging mode" and "multi-point hanging mode".

7. The helicopter external cargo position measurement, monitoring and early warning system according to claim 6, characterized in that, When only the middle hook is used to suspend goods, the switch must be set to the "single-point suspension mode" position. The control signal is transmitted to the control box, and the control box is in the function mode of single-point external suspension goods measurement, monitoring and early warning system. When the front hook and rear hook are used to suspend goods, the switch must be set to the "two-point suspension mode" position. The control signal is transmitted to the control box, and the control box is in the function mode of the two-point external suspension goods position measurement, monitoring and early warning system. When the front hook, middle hook, and rear hook are each suspending goods, the switch must be set to the "multi-point suspension mode" position. The control signal is transmitted to the control box, and the control box is in the multi-point external suspension goods posture measurement and monitoring early warning system function mode.

8. The helicopter external cargo position measurement, monitoring and early warning system according to claim 1, characterized in that, The onboard display alarm system includes display alarms, alarm lights, and voice alarms, and provides tiered alarms based on different alarm levels for different suspended objects.

9. The helicopter external cargo position measurement, monitoring and early warning system according to claim 1, characterized in that, The control box includes a target recognition and tracking module, a hanging scene recognition module, a hanging object measurement and monitoring module, a risk assessment and early warning module, an automatic calibration template, and a hanging mode selection and processing module. The target recognition and tracking module, based on the detection of continuous closed regions of slings and suspended objects and the characteristics of image continuity and size invariance of target objects, achieves accurate recognition and tracking of suspended objects in complex backgrounds; at the same time, it can also recognize the outline state of suspended objects. The suspended scene recognition module identifies the suspended scene by analyzing the video frame by frame and based on the outline of the suspended object, combined with the helicopter's altitude, speed information, and wheel-mounted signals. The suspended object measurement and monitoring module, based on the slings and suspended objects identified by the target recognition and tracking module, calculates the swing angle and orientation of the externally suspended goods in real time and records the operation process video; The risk assessment and early warning module establishes a pre-set database, including typical suspended objects, suspended scenarios, and the suspended object's flight characteristics; combined with the suspended object's offset angle, motion acceleration, suspended outline, suspended weight, suspended scenario, and helicopter attitude angle data identified by the target recognition and tracking module, and referring to the typical suspended objects, suspended scenarios, and the suspended object's flight characteristics in the pre-set database, a risk level assessment model is established to achieve early warning of cargo swing exceeding the envelope risk; The automatic calibration template automatically calibrates the spatial parameters of each measuring component by using the coordinate information of each device input from the calibration equipment, thus solving the calibration problem of relative relationships after installation and ensuring the uniformity of the coordinate system of each measuring component. The hanging mode selection processing module adjusts the working quantity of the measuring and monitoring components and the operating mode of the hanging object measurement and monitoring module according to the hanging mode selected by the hanging mode selection switch.

10. A control method for a helicopter externally slung cargo position measurement, monitoring, and early warning system, characterized in that, Includes the following steps: The system is installed, calibrated, and debugged. Through calibration equipment, the control box completes the spatial position calibration of the measuring and monitoring components. The helicopter is on the ground and has completed preparations for external slinging to the ground; the suspended object and sling cables are connected to the onboard slinging equipment. Power on the system using the power switch, select the hanging mode using the hanging mode selection switch, and the system will start a self-test to ensure that all components are working properly. After the self-test is completed, the system will start working. The helicopter takes off, hovers, and lifts cargo, performing hovering and hoisting operations, while the helicopter's status is checked. During this process, the measuring components acquire real-time images of the sling and the suspended object, and the monitoring components acquire real-time images of the suspended object. The control box's target recognition and tracking module, based on the straight-line characteristics of the suspended sling, the continuity of its pattern with the suspended object, and its dimensional invariance, combined with wheel-mounted signals, helicopter altitude, speed, and attitude angle signals, achieves accurate identification and tracking of the suspended object. The control box's hoisting scene recognition module, based on the outline of the suspended object and its weight data, calculates and matches typical suspended object and hoisting scene data from a pre-set database. As the helicopter flies forward with cargo slinged over it, the risk assessment and early warning module in the control box, based on data processed by the cargo measurement and monitoring module, combined with data such as the cargo offset angle and acceleration calculated by the cargo measurement and monitoring module, and the cargo outline, weight, and scenario identified by the target recognition and tracking module, assesses the cargo sway risk in real time according to a preset risk level assessment model. When the cargo sway angle approaches or exceeds the design envelope, an early warning signal is issued promptly, prompting the pilot to take appropriate measures through cockpit displays, warning lights, and voice alarms. The helicopter hoists the cargo to the drop point and then drops the cargo. The monitoring unit closely monitors the status of the suspended object and records images of the deployment process.

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