Rotorcraft 3D Spatial Perception for External Load Control
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Solution Overview
Problem
Conventional methods for controlling rotorcraft external loads are limited by the accuracy and location of measurement devices, which can influence the effectiveness of maintaining external loads in a desired disposition, especially under varying environmental forces like wind and ocean currents.
Innovation Solution
A 3D spatial perception system, potentially using LIDAR, acquires image data of the cable and external load to determine the cable angle and predict future angles, providing inputs to the rotorcraft's flight control system to maintain optimal load positioning and reduce the risk of damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional measurement devices are used to monitor cable angle, then the system is simple and easy to operate, but the measurement precision and accuracy are insufficient
Solution Approach 1:
The patent replaces conventional mechanical measurement devices with an optical-based 3D spatial perception system using LIDAR technology. This substitution enables precise cable angle measurement through electromagnetic radiation and optical processing, achieving high measurement accuracy while maintaining operational simplicity through automated image processing algorithms.
Solution Approach 2:
The patent introduces an intermediary processing layer that captures images of the cable and load, constructs 3D point clouds, and calculates cable angles through computational geometry. This intermediary system acts as a mediator between the physical cable angle and the control system, providing accurate measurements without direct mechanical contact with the cable.
2Measurement precision
If measurement location is not optimized, then the system is easier to implement, but the measurement effectiveness and true disposition accuracy are reduced
Solution Approach 1:
The patent transitions from conventional 2D or point-based measurement to full 3D spatial measurement by constructing three-dimensional point clouds from LIDAR data. This dimensional enhancement allows accurate determination of cable angle and load disposition in three-dimensional space, providing true spatial awareness without complicating the operational interface.
Solution Approach 2:
The 3D spatial perception system serves multiple functions: it captures cable angle, determines load disposition, monitors environmental forces, and provides feedback for control adjustments. This multi-functional approach achieves comprehensive measurement accuracy while consolidating what would otherwise require multiple separate measurement systems.
3Reliability
If real-time cable angle monitoring is implemented, then load control effectiveness is improved, but the use of energy and system complexity increase
Solution Approach 1:
The patent implements periodic imaging and angle calculation at strategically selected time points during rotorcraft operations. Rather than continuous monitoring, the system captures images at key moments when cable angle changes are most critical, reducing energy consumption while maintaining effective load control through timely feedback.
Solution Approach 2:
The system uses the rotorcraft's existing flight control computers and onboard sensors to process LIDAR data and calculate cable angles. By leveraging already-present computational resources and integrating with existing flight control systems, the patent minimizes additional energy requirements while achieving reliable real-time monitoring.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system enables precise and dynamic control of external loads, reducing the likelihood of load damage and cable deflection by providing accurate and real-time feedback to the flight control system, enhancing load positioning and reducing operational risks during operations like sonar dipping and towing.
Implementation Method 1
the 3D spatial perception system can include a Light Detection and Ranging (LIDAR) system
Implementation Method 2
Acquiring the image data can include emitting electromagnetic radiation having a wavelength between about 600 nanometers and about 1600 nanometers from the rotorcraft
Implementation Method 3
Acquiring the image data can include illuminating the cable and the load with an illuminator fixed relative to the rotorcraft, reflecting the illumination from the cable and load to the rotorcraft, and receiving reflected illumination at a sensor coupled to the rotorcraft
Data Source
AI summary
A method of determining cable angle includes acquiring image data of a cable and a load coupled to a rotorcraft using three-dimensional (3D) spatial perception system, constructing an image of the cable and load using the image data, and determining the angle of the cable relative to the external load at an interface of the cable and external load based on the image.