Other contributors have said "Did TS' ai lun invented the helecopter?" is the same question as "Did TS' ai lun invent the helicopter?" If you believe that these are not asking the same thing and should be answered differently, click here
Leonardo Da Vinci invented the first most closed helicopter ideal model. But it wasn't stable at all. Later, it was improved by many other inventors
Igor Sikorsky, 1942. There were some similar...