They are both conditional verbs, but "would help" is a conditional present and "would have helped" is a conditional perfect. As Alex correctly says, they are both used for hypothetical situations, or in the past, something that didn't actually happen. You are particularly likely to encounter them as the consequence of "if" clauses relating to those situations, such as in these examples:
- "If you came to visit [as you have not done so far], I would help you" -- this is about a present situation, extending into the future
- "If you had come to visit [as you did not], I would have helped you" -- this is about a situation and its consequence in the past
There is also a hybrid form, where the situation was in the past, but the consequence is still present:
- "If you had come to visit [as you did not], I would help you [now]"