Helicopter winch cable stabilizer
A stabilizing system for a winch cable has a winch cable deployed and suspended from a helicopter, a cargo support attached at a deployed end of the winch cable, an end effector attached to the winch cable, the end effector comprising thrusters directed in a plurality of directions orthogonal to a vertical axis of the winch cable, first control circuitry in the helicopter, and second control circuitry in the end effector. Thrust of individual thrusters is controlled through the first and second control circuitry maintaining the axis of the winch cable vertical, damping swinging of the cable.
1. A stabilizing system for a winch cable, comprising:
a winch cable deployed and suspended from a helicopter;
a cargo support attached at a deployed end of the winch cable;
an end effector attached to the winch cable, the end effector comprising a single housing having a top, bottom, multiple sides, a uniform depth and a width, the housing attached to the winch cable at a midpoint of the housing with the winch cable extending through the midpoint into the housing, wherein the multiple sides are of an equal distance from the midpoint, the housing including two or more thrusters within the housing, each of the thrusters positioned opposite one another across the midpoint thereby providing thrust orthogonal to the midpoint and orthogonal to a vertical axis of the winch cable;
first control circuitry in the helicopter; and
second control circuitry in the end effector;
wherein thrust of individual thrusters is controlled through the first and second control circuitry maintaining the axis of the winch cable vertical, damping swinging of the cable.
2. The stabilizing system of claim 1 wherein the end effector is attached above the cargo support.
3. The stabilizing system of claim 1 wherein the end effector is attached below the cargo support.
4. The system of claim 1 wherein thrusters comprise fans in directed ducts through the sides, the fans driven by electric motors.
5. The system of claim 4 comprising a rechargeable battery in the end effector powering the electric motors.
6. The system of claim 4 further comprising controllable louvres over faces of the directed ducts, the louvres rotatable about vertical axes to deflect air to a side, providing a torque around the axis of the winch cable, wherein the attitude of the louvres is controlled to dampen rotation of the cargo support around the axis of the winch cable.
7. The system of claim 4 further comprising anti-rotational thrusters and sensors in the second control circuitry in the end effector to sense rotational attitude and rotation, data from the sensors used to control thrust of the anti-rotational thrusters to dampen rotation of the cargo support around the axis of the winch cable.
8. The system of claim 1 further comprising power and control conductors joining the control circuitry in the helicopter with second control circuitry in the end effector, whereby the electric motors of the fans are powered through the power conductors from a power source in the helicopter, and the second control circuitry enables the first control circuitry to vary the rotational velocity of each electric motor.
9. The system of claim 1 further comprising first wireless communication circuitry in the helicopter and second wireless communication circuitry in the end effector, wherein control signals are transmitted from the first control circuitry in the helicopter to the second control circuitry in the end effector wirelessly.
10. The system of claim 1 further comprising an imaging device on an upper region of the end effector, focused on a specific point on the helicopter above the end effector, the imaging device sensing movement of the end effector horizontally relative to the fixed point on the helicopter, and providing the deviation information to the first control circuitry in the helicopter, which uses the deviation information in controlling the individual thrusters in a manner to minimize horizontal movement of the end effector relative to the helicopter.
11. A winch cable stabilizing method, comprising:
deploying and suspending a winch cable from a helicopter with a cargo support attached at a deployed end of the winch cable, and an end effector also attached to the winch cable, the end effector comprising a single housing having a top, bottom, multiple sides, a uniform depth and a width, the housing attached to the winch cable at a midpoint of the housing with the winch cable extending through the midpoint into the housing, wherein all of the multiple sides are of an equal distance from the midpoint, the housing including two or more thrusters directed in a plurality of directions orthogonal to the midpoint and a vertical axis of the winch cable; and
controlling thrust of individual thrusters of the end effector through first control circuitry in the helicopter and second control circuitry in the end effector, maintaining the axis of the winch cable vertical, damping swinging of the cable.
12. The stabilizing method of claim 11 comprising attaching the end effector to the winch cable below the cargo support.
13. The stabilizing method of claim 11 comprising attaching the end effector to the winch cable above the cargo support.
14. The stabilizing method of claim 11 wherein thrusters comprise fans mounted in directed ducts, one each in one of the multiple sides, the fans driven by electric motors, comprising controlling thrust by controlling the rotational velocity of the electric motors.
15. The stabilizing method of claim 14 comprising a rechargeable battery in the end effector, comprising powering the electric motors from the rechargeable battery.
16. The stabilizing method of claim 14 further comprising controllable louvres over faces of the directed ducts, the louvres rotatable about vertical axes to deflect air to a side, providing a torque around the axis of the winch cable, comprising dampening rotation by controlling the attitude of the louvres, dampening rotation of the cargo support around the axis of the winch cable.
17. The stabilizing method of claim 14 further comprising anti-rotational thrusters and sensors in the second control circuitry in the end effector sensing rotational attitude and rotation, comprising using data from the sensors to control thrust of the anti-rotational thrusters to dampen rotation of the cargo support around the axis of the winch cable.
18. The stabilizing method of claim 11 further comprising power and control conductors joining the control circuitry in the helicopter with second control circuitry in the end effector, whereby the electric motors of the fans are powered through the power conductors from a power source in the helicopter, comprising powering the electric motors and controlling the velocity of the electric motors via the control conductors.
19. The stabilizing method of claim 11 further comprising first wireless communication circuitry in the helicopter and second wireless communication circuitry in the end effector, comprising controlling the electric motors with signals transmitted from the helicopter to the end effector wirelessly.
20. The stabilizing method of claim 11 further comprising an imaging device on an upper region of the end effector, focused on a specific point on the helicopter above the end effector, the imaging device sensing movement of the end effector horizontally relative to the fixed point on the helicopter, and providing the deviation information to the first control circuitry in the helicopter, comprising controlling the individual thrusters according to the deviation information in a manner to minimize horizontal movement of the end effector relative to the helicopter.