JP2024520419A - Long line rotor devices, systems and methods - Google Patents

Abstract

The physical and logical components of the long-line rotor control system address the control of long-line rotor operations performed under a carrier, such as a fixed-wing aircraft. Control includes identifying, predicting, and reacting to estimated and predicted states of the carrier, the suspended load control system, and the long-lines. Identifying, predicting, and reacting to estimated and predicted states may include determining characteristics of state conditions over time and response times between state conditions. Responding may include controlling the carrier hoist, controlling the suspended load control system thrusters, and controlling or issuing flight control instructions to the carrier to avoid increasing response times or avoiding hazards.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application is a continuation of U.S. Patent Application No. 17/330,266, filed May 25, 2021, and is incorporated by reference herein.

This disclosure is directed to improved systems and methods, including apparatus, systems and methods for performing long-line rotor operations with improved control of the end-of-long-line load carried by a carrier, such as a fixed-wing aircraft.

In the 1950s, Lawrence Bradford Saint independently conceived, tested, and used longline rotor maneuvers while preaching in Ecuador. In longline rotor maneuvers, a fixed-wing aircraft orbits or circles a target location. Orbiting a location is accomplished by placing a mark on the windshield of the aircraft and flying the aircraft in a circle so that the mark remains over the target location. At an altitude of on the order of 1000-2000 feet or more, the aircraft puts out a longline. Gravity on the longline pulls it downward, and the aerodynamic forces on the longline decrease as the longline advances toward the target location. Thus, gravity and aerodynamic forces on the longline cause it to form a three-dimensional longline spiral. If the longline is long enough, the bottom or center of the longline spiral will be approximately centered at or above the target location. The aircraft can descend or ascend, descending or ascending the end of the longline relative to the target location. The number of coils in the longline may depend on the aircraft speed, the bank angle or turn radius of the aircraft, the length of the longline, the weight of the longline, the weight of the load on the longline, and the aerodynamic forces acting on the longline and load, such as the airspeed of the longline over its length, air pressure, the profile of the longline, etc. Longline techniques are used to lift or lower equipment ("load") at a destination location.

However, long-line rotor operation suffers from significant problems that have prevented its widespread use. For example, there is a variability in response time between changes in the aircraft's flight path and speed and the reaction by the load, which has been reported by the U.S. Air Force to vary from 30 seconds to several minutes. In addition, the load may experience a "yo-yo" or bobbing effect, which may cause the load's altitude to change rapidly and cause the load to collide with the ground or other objects. In addition, the aircraft may also experience high accelerations ("whiplash" effect) as it orbits the target location and transitions to a straight course, and/or the aircraft may not be able to follow the desired trajectory. In addition, accurate positioning of the load relative to the target location may be difficult to achieve. In addition, the aerodynamic forces on the long-line and on the load, including variable atmospheric conditions such as wind, may be constant, but may cause the center of rotation of the long-line relative to the center of rotation of the aircraft to change as the aircraft orbits the target location. Such problems have prevented the widespread use of long-line rotor operation.

As used herein, a "carrier" may refer to a fixed-wing aircraft, helicopter, or other airborne system capable of orbiting or "rotating" above and around a location, the location being within the atmosphere.

Carrier operators may use equipment to provide load control, including, for example, at or near the load using a powered fan to propel a thrust fluid and generate thrust. This type of equipment is referred to herein as a Slung Load Control System ("SLCS"). While SLCSs are known to be capable of controlling load yaw and providing limited range horizontal movement of the load, SLCSs themselves have been difficult to implement practically even beneath carriers such as helicopters and cranes, much less beneath fixed-wing aircraft performing long-line rotor operations. In addition, in long-line rotor operations, SLCSs add mass to the load, are thrust-limited, introduce additional cost and complexity, and limit deployment time. Although there may be insufficient information available from the actual design, manufacture, and use of SLCSs, their use in long-line rotor operations has not been successfully demonstrated, despite such interest.

In this specification, "long line" and "suspension cable" are synonymous.

As described herein, when transporting a load suspended by a carrier, observed motions of the carrier and suspended load include the following: vertical movement (bobbing) along the Y axis, (herein referred to as "vertical movement"), horizontal movement along one or both of the X and Z axes, and rotation or "yaw" about the Y axis. Vertical movement may be referred to as "bobbing" herein if it occurs periodically. Although roll (rotation about the X axis) and pitch (rotation about the Z axis) of the carrier and suspended load can occur, when the load is suspended by a cable and has no buoyancy, typical motions of the load are vertical, horizontal, and yaw. Vertical and horizontal movement of the load can be caused by the movement of the long lines, the elastic modulus of the long lines, the movement of the carrier transmitted to the load by the long lines, the lifting or lowering of the winch or hoist controlling the long lines, the thrust output by the load, the speed and momentum difference between the load and carrier, wind, shock, external forces, and linear and nonlinear interactions between these. Horizontal movement of the load may appear as lateral motion or as a conical swinging motion of the load around the location where the load is fixed to the carrier ("pendulum motion"). Swinging motion generally also includes a component of vertical motion and may be referred to as elliptical motion. The carrier and suspended load may also move in an arc, including an arc around the center of a circle, which may be referred to as "orbiting" and may also be understood as a form of horizontal movement. Orbiting by a suspended load may be difficult to distinguish from pendulum motion by a suspended load. The two are distinguished in that if the motion is around or at a fixed location between the carrier and load, the motion is likely to be pendulum motion, or if the motion is not around a fixed location between the carrier and load, the motion is likely to be orbital motion.

In long-line rotor operations, linear and nonlinear interactions between the carrier and the suspended load and the many forces acting on the carrier are known to cause many undesirable, unpredictable, and difficult-to-control movements of the load and/or carrier, such as yaw, bobbing, high acceleration forces, and imprecision in fine load positioning and altitude control. These undesirable consequences can cause delays, damage to equipment and objects, and mission failures, leading to injury or death to aircraft crew, personnel attached to the long-line, and people on the ground, thus preventing widespread use of long-line rotor operations.

In addition, some longline rotor operations involve obstacles such as buildings, bridges, surfaces, cliff walls, rocks, trees, power lines, overhangs, or other obstructions that may interfere with one or more of the carrier, the load, and/or the longline.

Methods, systems, and apparatus that enable SLCSs, hoists, and carriers to enhance control of loads in long-line rotor operations and to predict, identify, and/or respond to situations in which control of loads in long-line operations cannot be maintained within safety parameters may improve, facilitate, reduce risk, and/or increase the likelihood of use of SLCSs, carriers, loads, and other components in long-line rotor operations.

FIG. 1 illustrates a selective perspective view of a carrier, a longline, a suspended load control system ("SLCS"), and a load undergoing a longline operation, according to an embodiment. FIG. 2 illustrates a perspective detailed view of a carrier, a hoist, and a sensor set within the carrier suitable for performing long line operations, according to an embodiment. FIG. 3 illustrates a perspective detailed view of a SLCS and load secured to a longline in a longline operation, according to an embodiment. FIG. 4 illustrates a first perspective view of the carrier, the longline, the carrier's path, the center of track, and the location of the load and the SLCS, according to an embodiment. FIG. 5 illustrates a top view projection of the carriers, longlines, carrier paths, and load and SLCS locations of FIG. 4, according to an embodiment. FIG. 6 illustrates a second perspective view of the carrier, the longline, the carrier's path, and the location of the load and SLCS, according to an embodiment. FIG. 7 illustrates a top-projection view of the carriers, longlines, carrier paths, and load and SLCS locations of FIG. 6, according to an embodiment. FIG. 8 illustrates a schematic of operational components of a long line rotor control system, including a remote interface logic component and a hoist logic component, in accordance with an embodiment. FIG. 9 illustrates an operational module for a long line rotor system including multiple modes or command states, according to an embodiment. FIG. 10 illustrates a long line rotor data fusion and control module of a long line rotor control system, according to an embodiment. FIG. 11 illustrates a hoist for a long line rotor handling module, according to an embodiment. FIG. 12A illustrates a first perspective view of a remote interface for a long line rotor system, according to an embodiment. FIG. 12B illustrates a second perspective view of a remote interface for a long line rotor system, according to an embodiment. FIG. 13A illustrates a rear projection view showing a remote interface of the SLCS, according to an embodiment. FIG. 13B illustrates a perspective view of a remote interface of the SLCS of FIG. 13B, according to an embodiment. FIG. 13C illustrates a front projection view of a remote interface of the SLCS of FIG. 13B, according to an embodiment. FIG. 14 illustrates a third perspective view of the carrier, longline, carrier path, and location of loads and SLCS, according to an embodiment. FIG. 15 illustrates a top view projection of the carriers, long lines, carrier paths, and load and SLCS locations of FIG. 14, according to an embodiment.

In overview, the long-line rotor control system disclosed herein comprises physical components such as a carrier, a carrier hoist, a long-line or hanging cable ("long-line" or "hanging cable" may be used interchangeably), a suspended load control system ("SLCS"), and operational components discussed further herein. In overview, the long-line rotor control system further comprises logical components such as a long-line rotor operational module (also referred to as an "operation module"), a data fusion and control module for the long-line rotor, and a hoist for the long-line rotor operational module.

In overview, the physical and logical components of a long-line rotor control system address the control of long-line rotor operations performed under a transport aircraft, such as a fixed-wing aircraft. In overview, the control of the long-line rotor operations includes identifying, predicting, and reacting to estimated and predicted states of the components of the long-line rotor control system, such as in accordance with a system model. The system model may include, for example, a center or trajectory of the carrier, a center or trajectory of the suspended load control system, a destination location, a mass of the suspended load control system and load, a length of the long line, an inertia of the suspended load control system and load, a translation and rotation of the suspended load control system, an elevation above ground of the suspended load control system, a translation and rotation of the carrier, an elevation above ground of the carrier, an aerodynamic model of the long line, a gravity force on the long line, and disturbance estimates of wind and sea conditions and relative motion between the suspended load control system and the carrier, where the translation and rotation of the carrier includes at least one of bank angle, speed, or center of trajectory.

Some of the information processed in the system model may be described as "state information" and some as "parameter information" or "parameters." For example, parameters may include elements that can be actively changed by the long-line rotor system, such as the length of the long-line, the thrust and flight control settings of the carrier, and the thrust output of the EDF of the SLCS. For example, "state information" may include elements that are not actively changed by the long-line rotor system, such as the mass of the SLCS and the load, the moment of inertia of the SLCS and the load, the position and movement of the SLCS and the load, the position and movement of the carrier, and disturbances such as wind and sea conditions, and elements that respond to changes in parameters. Importantly, the parameter information, state information, and disturbance forces are not "hardwired" into the long-line rotor system as fixed values, but are dynamically determined by its logical components.

In overview, reacting to the estimated and predicted states of the components of the long-line rotor control system may include controlling the thrusters (also referred to as one or more fan arrays) of the SLCS, controlling the hoist of the carrier, or controlling or issuing flight control commands to the carrier to drive the SLCS toward or against the target, even though the SLCS is in motion or is subject to forces tending to move the SLCS away from the target. As discussed herein, the motion of the SLCS may include pendulum motion, yaw (rotation about a central axis of the SLCS), or horizontal or vertical movement. As discussed herein, the SLCS and payload may be subject to external perturbing forces, including linear and nonlinear interactions between the payload, the long-line, and the carrier, or wind. In addition to controlling the hoist of the carrier and/or controlling the carrier or issuing flight control commands to the carrier, the SLCS may control itself and the payload, for example, by dynamically exerting forces from the thrusters, fans, or propellers (e.g., high-powered electric ducted fans) of the SLCS. Thrusters, fans, propellers, and electric ducted fans ("EDFs") may be referred to herein as "thrusters" or "EDFs." Other thrust sources may be used, such as jets, compressed air, hydrogen peroxide thrusters, rockets, etc.

In summary, identifying, predicting, and reacting to estimated and predicted states of components of the long-line rotor control system includes determining characteristics of state conditions over time, as well as response times between carrier, hoist, and SLCS state conditions. In summary, estimating or predicting response times between carrier, hoist, and SLCS state conditions may include determining that estimated or predicted response times between carrier, hoist, and SLCS state conditions are not within a margin, such as a safety margin. If the response times move beyond the safety margin, the components of the long-line rotor control system may be in or exposed to a dangerous or unsafe condition, such as a bobbing or "yo-yo" effect, in which the SLCS and the load at the end of the long line may periodically change altitude in an unsafe and/or uncontrolled manner. In summary, identifying, predicting, and reacting to estimated and predicted states of components of the long-line rotor control system includes determining the occurrence of an unsafe condition or predicting an unsafe condition. In summary, the unsafe conditions may include collision with the ground or other objects and/or excessive acceleration, which may occur due to a bobbing or "whiplash" effect, such as may occur when the carrier switches from circling the target location to moving toward the destination.

In summary, the long-line rotor control system may respond to an estimated or predicted response time that is not within the margin and/or a dangerous condition by, for example, controlling the carrier hoist, controlling the SLCS thrusters, and/or controlling or issuing flight control instructions to the carrier to avoid increasing the response time or to avoid the danger. In summary, not increasing the response time may include maintaining or shortening the distance between the carrier and the SLCS, such as by stabilizing or shortening the length of the long-line sent out from the hoist. In summary, not increasing the response time may include maintaining or increasing the carrier altitude. In summary, not increasing the response time may include increasing the carrier speed. In summary, avoiding the dangerous condition may include controlling the SLCS thrusters to operate to avoid the danger and/or controlling the hoist to reduce the long-line length or increase the long-line length to reduce high acceleration, and/or controlling or issuing flight control instructions to the carrier to change the carrier's orbit center, the carrier's bank angle, altitude, or speed.

In overview, the SLCS, carrier, and carrier hoist in the long-line rotor system may include a sensor set. The sensor set may acquire data, which may be processed by the logic components of the long-line rotor system according to a system model. In the carrier and in the SLCS, the sensor set may include, for example, position sensors, orientation sensors, inertial sensors, proximity sensors, reference position sensors, suspension cable sensors, and thrust sensors. Such sensors may include cameras, accelerometers, gyroscopes, magnetometers, inclinometers, directional encoders, radio frequency relative bearing systems, gravity sensors, microelectromechanical systems ("MEMS") sensors, global positioning system ("GPS") sensors, lidar/radar sensors, machine vision sensors, range finders, ultrasonic proximity sensors, hoist sensors, and the like.

In overview, sensor information from a set of sensors may be processed by logic components of a long line rotor control system according to a system model to identify, predict, and react to estimated and predicted states of components of the long line rotor operating system, as discussed herein.

In summary, the physical and logical components of the long-line rotor control system can provide enhanced control of long-line rotor operations by identifying, predicting, and reacting to estimated and predicted states of the components of the long-line rotor control system to drive the end of the long-line toward or relative to a target or carrier, thereby avoiding potentially dangerous conditions where the response times between the state conditions of the carrier, hoist, and SLCS are not within safety margins, or estimated or predicted states that constitute hazardous conditions such as collisions with objects or excessive acceleration. Additionally, the disclosed long-line rotor control system can provide remotely measured data or information to the carrier, the carrier hoist, or another process.

As discussed herein, "control of a load" or "control of the SLCS" or "control of the end of a long line" should be understood to mean control of the SLCS, and thereby also control of a load that may be secured to the SLCS.

Long-line rotor control systems can provide advantages, for example, for fixed-wing long-line rotor lift-off operations and for in-flight inter-aircraft contact operations such as refueling operations.

Reference will now be made in detail to the description of the embodiments illustrated in the drawings. While the embodiments are described in connection with the drawings and associated description, there is no intent to limit the scope of the present invention to the embodiments disclosed herein. Instead, the intent is to cover all alternatives, modifications, and equivalents. In alternative embodiments, devices or combinations of the illustrated devices may be added or combined without limiting the scope of the present invention to the embodiments disclosed herein. For example, the embodiments presented below are primarily described in the context of fixed-wing lift operations. However, these embodiments are illustrative and in no way limit the disclosed technology to any particular application or platform.

The phrases "in one embodiment," "in various embodiments," and "in some embodiments" are used repeatedly. Such phrases do not necessarily refer to the same embodiment. The terms "comprising," "having," and "including" are synonymous unless the context dictates otherwise. As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural references unless the content clearly dictates otherwise. It should also be noted that the term "or" is generally synonymous with "and/or" or "and or," unless the content clearly dictates otherwise.

Figure 1 is a selective perspective view of a carrier 105, a longline 110, a suspended load control system ("SLCS") 130, and a load 120 performing a longline operation, according to an embodiment.

Carrier 105 may be, for example, a fixed wing aircraft, a helicopter, a drone, etc. Carrier 105 may orbit around or around a destination location. Carrier 105 may include hoist 201, sensor set 220 (discussed further in connection with FIG. 2), and communications, power, and/or control modules or systems that communicate with and power hoist 201 and/or SLCS 130.

The long lines 110 may extend from the hoist 201 of the carrier 105 under the influence of gravity and aerodynamic forces, forming a three-dimensional spiral, and descend to the SLCS 130 and the payload 120. The fairing 115 may smooth the airflow over the SLCS 130, such as when the SLCS 130 is released from or returned to the carrier 105 and when the carrier 105 is moving above its stall speed. The fairing 115 may include flight control surfaces (not shown) to control or stabilize the passage of the SLCS 130 through the air. The SLCS 130 is released from or returned to the carrier 105 when the carrier 105 is flying through the air at a speed above its stall speed, e.g., 115 mph (this is merely an example, and the stall speed depends on the type of aircraft), and may experience non-laminar airflow. The long lines 110 may be wrapped around or reeled into the hoist 201. The SLCS 130 may be secured to the longline 110 and released from the carrier 105. The payload 120 may be secured to the SLCS 130 and released from or returned to the carrier 105, or the payload 120 may be secured to the SLCS 130 at a destination location during operation of the longline rotor and picked up from the destination location, reeled in to the carrier 105, and delivered to another location on the ground, or released into the air with a parachute or the like.

The physical and logical components of the long-line rotor control system, which will be discussed further herein, include sensor set 220, SLCS 130 sensor set 320, and hoist sensor 205, operation module 900, long-line rotor data fusion and control module 1000, and long-line rotor hoist operation module 1100. One or more of these may be active or active before or after SLCS 130 is released from carrier 105. Axis 125 and axis 126 indicate that the physical and logical components are continuously estimating and predicting the state of SLCS 130, including its orientation, position, absolute and relative positioning (generally relative to carrier 105, including distance below carrier 105 and distance from ground, as indicated by axis 125), and the state of carrier 105, including its orientation, position, absolute and relative positioning (generally relative to SLCS 130, including distance above SLCS 130 and distance from ground, as indicated by axis 126).

SLCS 130 may include, for example, an SLCS, a sensor set, or other equipment. The other equipment may include electrical components including a computer processor, computer memory, signal processing, batteries, logic components, and actuators. Examples of such equipment are discussed herein in connection with the suspended load control logic component 801.

The SLCS 130 includes electrical components including a computer processor, computer memory, signal processing, logic components, power supplies and/or batteries, electronic speed controllers, microcontrollers, sensors, actuators, etc. The power source in the SLCS 130 may be a single power brick, such as Lithium Polymer (LiPo) cells, or an array of battery cells wired in series and/or parallel. The batteries may be removable for inspection and/or to replace discharged batteries with charged batteries. The batteries may be charged in place (i.e., without removal) via the nodes or a wireless charging system. The batteries may include one or more auxiliary batteries to provide stable power to the processor even when the fan unit thrusters draw relatively large amounts of power from the main battery. In an embodiment, the carrier from which the SLCS 130 is suspended may provide power to the SLCS 130 through lines extending to the longline. In an embodiment, the carrier may provide some power to the SLCS 130, although the SLCS 130 may obtain other power from an on-board power source. In various embodiments, the SLCS 130 may be powered by a combination of on-board and remote power sources. In many environments, all power for the SLCS 130 is on-board the SLCS 130, allowing for fully autonomous operation without reliance on the availability of an external power source or supply.

Within the computer memory or within logic embodied in circuitry within the SLCS 130 may be modules such as an operations module 900 and/or a long line rotor data fusion and control module 1000. The operations module 900 and/or the long line rotor data fusion and control module 1000 may provide services to and obtain services from the carrier 105, the hoist 201, the load 120, or another object or party, as discussed herein.

SLCS 130 may provide services to carrier 105, to hoist 201, to load 120, or to another object or participant. Services provided by SLCS 130 may include, for example, data acquisition, such as data acquisition for remote measurement or situational awareness, load control, such as load control services for load 120, communications, etc. SLCS 130 may require or benefit from services from carrier 105, from hoist 201, from load 120, or from another object or participant. Services to SLCS 130 may include, for example, data or information, communications, power, physical transformation, and docking with and deployment from a carrier.

Load 120 may include animate or inanimate objects, such as slings for carrying or transporting people, equipment, or objects, stretchers, containers for water or other liquids or gases, etc. Load 120 may be secured to a securing mechanism, such as a cable or hook, of longline 110 or SLCS 130. The weight or mass of load 120 may change during operations, such as when portions of the load are picked up, placed, or released.

As discussed herein, the physical and logical components of the long-line rotor control system can provide enhanced control of long-line rotor operations by identifying, predicting, and reacting to estimated and predicted states of the components of the long-line rotor control system to drive the end of the long-line toward or against a target, or against the carrier, to avoid estimated or predicted states, including hazardous conditions. As discussed herein, estimated or predicted states, including hazardous conditions, can include response times between carrier, hoist, and SLCS state conditions that are not within a safety margin, or can include hazardous conditions, such as a collision with an object or excessive acceleration. Additionally, the disclosed long-line rotor control system can provide remote data or information to the carrier, the carrier's hoist, or another process or party.

For example, when the SLCS 130 is released from the carrier 105, a logic component such as the operations module 900 may determine that the response time between the state conditions of the carrier, hoist, and SLCS is not within a safety margin and may control or direct the control to suspend control of the hoist 201, delay the release of the long line 110, or reel in the long line 110 until the response time returns to within the safety margin.

For example, when the SLCS 130 is released from the carrier 105 and a long line rotor maneuver is performed to pick up or drop off the payload 120, a logic component such as the operation module 900 can activate thrusters of the SLCS 130 to drive the SLCS 130 and the payload 120 toward a destination location, reduce or eliminate yaw or pendulum motion of the SLCS 130 and the payload 120, or assist in preventing the SLCS 130 and/or the payload 120 from colliding with an obstacle.

For example, after a long-line rotor maneuver is performed and the load 120 is picked up, a logic component such as the operations module 900 can actuate the hoist 201 to pay out the long-line 110 to avoid unacceptable acceleration of the SLCS 130 and/or the load 120, e.g., to avoid a whiplash effect, as the carrier 105 transitions from orbital flight to straight flight.

Figure 2 is a detailed perspective view showing a carrier, a hoist 201, a carrier sensor set 220, and a long line 110 suitable for performing long line operations according to an embodiment.

The sensor set 220 is illustrated as including a number of sensors 215 that may include, for example, position sensors, orientation sensors, inertial sensors, proximity sensors, and reference position sensors. Such sensors may include cameras, accelerometers, gyroscopes, magnetometers, inclinometers, directional encoders, radio frequency correlated bearing systems, gravity sensors, microelectromechanical system (MEMS) sensors, global positioning systems (GPS), lidar/radar, machine vision, range finders, and ultrasonic proximity sensors. If such sensors detect electromagnetic radiation, such as lidar, radar, or cameras, such sensors may be positioned to have a field of view that includes the area where the SLCS 130, the long lines 110, and the baggage are expected to be found, such as below and behind the carrier 105.

The hoist 201 may include a hoist sensor 205 and a reel 210. The reel 210 may include a reel or winch, an electric, hydraulic, or other motor to rotate the reel or winch, a brake to stop the rotation of the winch, a winding guide to guide the cable wound on or unwound from the winch, and the hoist sensor 205. A suspension cable such as the long line 110 may be wound around the winch. The hoist sensor 205 may include a cable length encoder, a reel torque encoder, and the like. The cable length encoder may encode or record the length of the cable unwound from the reel using physical, optical, hall sensors, and the like that measure the rotation of rollers on the reel or cable guide. The reel torque encoder may encode or record the force on the reel or winch, such as torque, under static conditions (e.g., when the winch is not rotating) and dynamic conditions (e.g., when the winch is rotating). The reel torque encoder may include, for example, a strain gauge, a scale, a mass or weight measuring device, a measurement of electrical or other force applied to rotate or hold the winch, etc. The reel torque encoder and/or the long line rotor hoist operation module 1100 may estimate or determine the mass of the load on the long line 110 based on the torque and/or based on static or dynamic conditions.

As described in connection with FIG. 1, axes 125 and 126 indicate that sensor set 220, sensor set 320, and/or hoist sensor 205 acquire sensor data and provide it to the logic component, which continuously estimates and predicts the orientation, position, absolute position, and relative position (generally including relative to each other, spacing, distance above ground, track center, and movement relative to track center) of such components, as well as the status of carrier 105 and SLCS 130, including the status of longline 110.

The hoist 201 may include electrical components including a computer processor, computer memory, signal processing, logic components, and actuators including the reel 210 and other actuators. Such components are also described herein with reference to the carrier and hoist logic components 880.

Included within the logic embodied in the computer memory or in the circuitry within the hoist 201 may be a long-line rotor hoist operation module 1100. The long-line rotor hoist operation module 1100 may include logic for operating the hoist 201 and interacting with other modules discussed herein. The long-line rotor hoist operation module 1100 may obtain data or information from hoist sensors 205, such as cable length encoders and/or reel torque encoders, and may provide this data or information to other components, such as the SLCS 130 and/or the carrier 105 and these modules. The long-line rotor hoist operation module 1100 may receive data, information, or instructions (including from the crew or flight or aircraft control within the carrier 105) from, for example, the operation module 900 and/or the long-line rotor data fusion and control module 1000 and/or the carrier 105. The long line rotor hoist operation module 1100 may execute instructions such as winding or unwinding the long line 110 and/or communicating with the SLCS 130. An example of logic for the long line hoist operation module 1100 is illustrated and described with reference to FIG. 11.

Hoist 201 may include a housing that functions as or contains components of hoist 201 to isolate the components within hoist 201 from the environment. Hoist 201 may be secured to the carrier, whether to an interior space of the carrier, to an exterior structure of the carrier, or the like, by a fastener, boom, arm, or the like that is directly or indirectly coupled to the carrier.

Figure 3 shows a detailed perspective view of the SLCS 130 and cargo 120 secured to the long line 110 according to an embodiment.

SLCS 130 is shown as including, for example, fan unit 325A and fan unit 325B. Fan unit 325A and fan unit 325B may be separately configured with one or more thrusters, such as EDFs. EDFs may also be referred to herein as "actuators."

The fan unit 325 may include a cowl that protects one or more EDFs. The cowl may be hardened to withstand impact with the environment. The cowl unit may be made of metal, plastic, composite materials including fiber-reinforced resin, and the like. The fan unit may include an inlet through which air is drawn and an outlet. The inlet may include one or more screens or filters to prevent ingress of objects into the EDF. The EDF in the fan unit may include multiple blades and one or more motors, such as an electric motor. The electric motor in the EDF may be sealed against dust, sand, water, and debris. Alternative thrust sources may be used in addition to or instead of the EDF, such as fans driven by combustion engines, such as compressed air, hydrogen peroxide jets or thrusters, liquid or solid rocket engines, jet engines, and the like.

For ease of discussion, the fan units on a first side of the SLCS may be referred to as a first fan unit group and the fan units on a second side as a second fan unit group. The fan units in each fan unit group propel a thrust fluid (such as air) in a fixed direction, e.g., fixed directions opposite each other (e.g., offset by 180 degrees). In other embodiments, a smaller or larger number of fan units and/or EDFs may be used in the SLCS. In other embodiments, the fan units and/or EDFs may be aligned other than offset by 180 degrees, e.g., offset by more or less than 180 degrees, with or without offset along other portions of the axis. Mechanical steering components may be included to dynamically reposition the fan units and/or EDFs within the fan units. As illustrated in FIG. 3, the fans, thrusters, or EDFs may be oriented vertically rather than horizontally.

The individual EDFs of the fan units can be separately actuated with different powers to generate thrust guidance or thrust vector control of the assembly of fan units. For example, the EDF of the first fan unit group can be actuated alone or in conjunction with the opposing EDF of the second fan unit group to generate a clockwise yaw (relative yaw when looking down on the top of the SLCS 130 in FIG. 3). The EDFs of both fan unit groups in the same direction may be actuated to generate a horizontal movement of the SLCS 130 or to generate a horizontal force that opposes the pendulum motion. Horizontal and rotational forces can be generated simultaneously. Induced thrust can be generated by the SLCS 130 and its operation module 900.

3 also illustrates rotary bearing 305. Rotary bearing 305 may be a rotary bearing or a coupling between longline 110, allowing load, SLCS 130, bumpers and hooks, and load 120 to rotate independently of longline 110. For example, the load may undergo rotation or be rotated by the SLCS, but the SLCS may be able to control the load via rotary bearing 305 without transmitting rotational forces to longline 110.

SLCS 130 may include logic components such as a computer processor, memory, modules within the memory, etc. Within the computer memory or within logic embodied in circuitry within SLCS 130, there may be an operation module 900 and/or a long line rotor data fusion and control module 1000. An example of the operation module 900 is illustrated and discussed in connection with FIG. 9. An example of the long line rotor data fusion and control module 1000 is illustrated and discussed in connection with FIG. 10. In the examples discussed herein, the operation module 900 may estimate and predict the state of SLCS 130, the state of the carrier 105, and the state of the long line 110, and respond thereto to improve the performance of long line rotor operations, such as directing the thrusters of SLCS 130, directing the hoist 210, and/or directing the carrier 105 or its flight crew.

4 shows a first perspective view 400 of a carrier 105, a long line 410, a current and predicted path 435 of the carrier about an orbit center 440, and an optional load, of an SLCS 445, according to an embodiment. The orbit center 440 may not be a point, but may include uncertainties in measurements, such as, for example, the dimensions of the carrier 105, atmospheric conditions, uncertainties in position measurements, position, orientation, and movement of the carrier 105 along the current and predicted path 435. Within the orbit center 440, the SLCS 445 may be influenced by the thrusters of the SLCS 445, by the hoist 201, and by the current and predicted path 435, such as toward a destination location, as influenced by the physical and logical components of the long line rotor system discussed herein, such as, for example, sensor set 220, sensor set 320, hoist sensor 205, in conjunction with the operation module 900 and/or the data fusion and control module 1000 of the long line rotor. As discussed herein, such physical and logical components of the long-line rotor system discussed herein may improve the performance of long-line rotor operations and/or make the performance of long-line rotor operations safer according to the response times between the characteristics of the SLCS 445, the carrier 105, and the state of the long-line 410.

FIG. 5 illustrates a top view 500 of the carrier 105, longline 410, carrier current and projected path 435, track center 440, SLCS 445, and track radius 505 of FIG. 4, according to an embodiment. The track radius 505 indicates that the track radius 505, as well as the distance between the carrier and the SLCS, the length of the longline paid out from the hoist, and the height above ground of the SLCS may be determined or obtained for one or more of the carrier 105, SLCS 445, and longline, such as using sensor set 220 and sensor set 320 and hoist sensor 205. This information may be used in the system model to determine the number of coils and/or the geometry of the longline 410. The geometry of the longline 410 may be related to the response time between the characteristics of the SLCS, carrier, and longline states, which may be used to affect the relative position, movement, and orientation of the SLCS and the load relative to the target point. For example, the operational module 900 may determine that the response time is unsafe and that steps should be taken to minimize condition perturbations, such as because the relatively large number of coils in the long line 410 may result in long response times and potentially bobbing or "yo-yo" effects. As long as no response time warnings and/or potentially dangerous conditions exist, the SLCS 445 may be driven within the orbit center 440 to achieve fine control of the position, movement, and orientation of the SLCS 445.

Figure 6 shows a second perspective view 600 of the carrier 105, longline 610, carrier path 635, and the location of the SLCS (and any load) 645, according to an embodiment. The location of the SLCS 645 may be within the center (not numbered) of the carrier's track 635. Figure 7 shows a top projection 700 of the carrier 105, longline 610, carrier path 635, the location of the SLCS 645 of Figure 6, and the track radius 705 between the carrier 105 and the track center or location of the SLCS 645, according to an embodiment.

As discussed herein, the physical and logical components of the long-line rotor system discussed herein can improve the performance of long-line rotor operations and/or make the performance of long-line rotor operations safer according to the response times between the characteristics of the states of the SLCS 645, the carrier 105, and the long-line 610. The orbit radius 705 indicates that the orbit radius 705, as well as the distance between the carrier and the SLCS, the length of the long-line payed out from the hoist, and the height above ground of the SLCS can be determined or obtained for one or more of the carrier 105, the SLCS 645, and the long-line 610, such as using the sensor set 220 and/or the sensor set 320 and/or the hoist sensor 205. This information can be used in the system model to determine the number of coils or the geometry of the long-line 610. The geometry of the long-line 610 can be related to the response times between the characteristics of the states of the SLCS, the carrier, and the long-line, and can be used to affect the relative position, movement, and orientation of the SLCS and the load with respect to the target location. For example, the operational module 900 may determine that the response time is safe and that no action needs to be taken to minimize condition perturbations. This may be due, for example, to the relatively small number of coils in the long line 610, which may provide a faster response time and reduce the possibility of bobbing or "yo-yo" effects as compared to the long line 410. As long as no warning response time and/or hazardous conditions exist, the SLCS 645 may be driven within the orbit center to achieve fine control of the position, movement, and orientation of the SLCS 645.

Figure 8 shows a suspended load control logic component 801, a remote interface logic component 850, and a carrier and hoist logic component 880.

As shown in the embodiment of FIG. 8, the suspended load control logic component 801 may include a sensor set 805, an SLCS processor 820, an SLCS memory 825, an SLCS communication system 830, an SLCS output 815, and power management 840.

The sensor set 805 may include a position sensor 806, an orientation sensor 807, an inertial sensor 808, a proximity sensor 809, a reference position sensor 810, and a thrust sensor 811.

The SLCS processor 820 may be one or more processors, microcontrollers, and/or central processing units (CPUs). In some embodiments, the processor and microcontroller may be implemented on the same printed circuit board (PCB).

SLCS memory 825 may generally include random access memory ("RAM"), read-only memory ("ROM"), and persistent, non-transient mass storage devices such as disk drives or synchronous dynamic random-access memory (SDRAM).

The SLCS memory 825 may store program code for modules and/or software routines, such as, for example, the navigation system 826, the operation module 900, and the long line rotor data fusion and control module 1000, as well as data or information used by the modules and/or software routines, such as, for example, target data 827, and mode or command status information 828.

The SLCS memory 825 may also store an operating system. These software components may be loaded into the SLCS memory 825 from a non-transitory computer-readable storage medium using a drive mechanism associated with the non-transitory computer-readable storage medium, such as a floppy disk, tape, DVD/CD-ROM drive, memory card, or other similar storage medium. In some embodiments, the software components may additionally or instead be loaded via a mechanism other than a drive mechanism and computer-readable storage medium (e.g., via a network interface).

SLCS memory 825 may include a kernel, a kernel space, a user space, a user protected address space, and a data store. As previously described, SLCS memory 825 may store one or more processes or modules (i.e., one or more software applications that are running). A process may be stored in a user space. A process may include one or more other processes. One or more processes may generally be executed in parallel, i.e., as multiple processes and/or multiple threads.

The kernel may be configured to provide an interface between user processes and circuitry associated with processor 820. In other words, the kernel may be configured to manage access by processes to processor 820, the chipset, I/O ports, and peripheral devices. The kernel may include one or more drivers configured to manage and/or communicate with elements of the operational components of the deployable device (i.e., processor 820, the chipset, I/O ports, and peripheral devices).

The SLCS processor 820 may also include or communicate with the SLCS memory 825 or another data store via a bus and/or network interface.

Data groups used by modules or routines in SLCS memory 825 may be represented by cells of columns or values separated from other values in a defined structure in a digital document or file. Although referred to herein as individual records or entries, a record may contain multiple database entries. Database entries may be, represent, or encode numbers, numeric operators, binary values, logical values, text, string operators, references to other database entries, joins, conditional logic, tests, and the like.

The one or more deployable equipment communication systems 830 may include one or more wireless systems 831, such as wireless transceivers, and one or more wired systems 832. The SLCS output 815 includes thruster controls 816 via thruster controllers. The SLCS output 815 includes hoist controls 813 for controlling a hoist. The SLCS output 815 includes carrier controls 814, such as for controlling the carrier's flight control surfaces and actuators or for issuing flight control instructions to the carrier's crew. The power managing system 840 regulates and distributes the power supply, for example from batteries. One or more data connectors, data buses, and/or network interfaces may connect various internal systems and logic components of the SLCS 130.

Aspects of the system may be embodied in specialized or special computing devices or data processors that are specially programmed, configured, or constructed to execute one or more computer-executable instructions as described in detail herein. Aspects of the system may also be implemented in a distributed computing environment where tasks or modules are performed by remote processing devices linked through a communications network, such as a local area network (LAN), a wide area network (WAN), the Internet, or any radio frequency communications technology. Data from deployable devices may be very low bandwidth and not limited by frequency or communications protocol. In a distributed computing environment, modules may be located in both local and remote memory storage devices.

The suspended load control logic component 801 may cooperate with remote positioning units, remote interfaces, or target nodes ("remote interface units") and their logic components, such as remote interface logic component 850, and/or carrier and hoist logic components, such as carrier and hoist logic component 880, depending on the embodiment.

In an embodiment, the remote interface unit may be held by an operator or attached to a carrier by, for example, a magnet, a bolt, or any other attachment mechanism. In an embodiment, the remote interface unit may be dropped to the ground or attached to, for example, a life preserver or other flotation device, a rescuer, a load to be picked up, a location for a load to be transported, or a specific location on the operation.

In an embodiment, the remote interface logic component 850 can communicate input from an operator to the suspended load control logic component 801, such as command status and operational instructions to the operation module 1100 and/or to the hoist for the long line rotor operation module 1100. In an embodiment, the remote interface logic component 850 can communicate information or data from the carrier and hoist logic component 880, such as the status of the hoist, the length of the long line paid out, and the force or mass of the long line on the hoist, to the suspended load control logic component 801 and/or to the operator.

The remote interface logic component 850 can communicate with the suspended load control logic component 801 and/or the carrier and hoist logic component 880 via a communication system 870, which can be wireless 871 or wired 872. Output 860 from the remote interface logic component 850 can include information displayed on a screen 861, and audio 862. Input 865 to the remote interface logic component 850 for controlling the SLCS 130 or the hoist can include commands communicated through a touch screen 866, a joystick 867, a microphone, a camera, one or more buttons, and the like. In various embodiments, the remote interface logic component 850 can include one or more physical and/or logical devices that collectively provide the functionality described herein. An example embodiment of the remote interface logic component 850 is illustrated and described in Figures 12A, 12B, 13A, 13B, and 13C.

The remote interface logic component 850 may further include a processor 869 and memory 873, which may be similar to the processor 820 and memory 825. The memory 873 may include software or firmware code, instructions, or logic for one or more modules used by the remote positioning unit, such as a remote interface module 874. For example, the remote interface module 874 may provide an interface for controlling and controlling the remote interface, such as allowing the remote interface to be turned on and off, paired with an SLCS or hoist, inputting commands, etc.

In an embodiment, the remote interface logic component 850 may include a sensor set or beacon configured to communicate, such as wirelessly, with the suspended load control logic component 801, for example to provide a position reference. If the SLCS 130 is considered the primary sensor set, the location of the secondary sensor set may be within a platform or carrier from which the long line is suspended, and the location of the tertiary sensor set may be at a destination location (e.g., to provide location information of the destination location).

8 also shows carrier and hoist logic components 880. Carrier and hoist logic components 880 may be similar to processor 820 and memory 825 and may include processor 881 and memory 882. Memory 882 may include software or firmware code, instructions, or logic for one or more modules used by the hoist, such as the hoist for long line rotor operation module 1100. For example, the hoist for long line rotor operation module 1100 may pair the hoist with the SLCS carrier, output hoist sensor data to the SLCS, and receive and act on local and remote instructions, such as reeling in or unreeling the long line.

The carrier and hoist logic component 880 may communicate with the suspended load control logic component 801 via a communication system 890 comprising a wireless 891 or wired 892 transceiver. Outputs 885 from the carrier and hoist logic component 880 may include information or data from, for example, hoist sensors 884, such as, for example, cable length encoders, reel torque encoders, cable presence sensors (to sense the presence of the long line in the hoist), strain gauges, equipment temperature sensors, power sensors, etc. Inputs 886 to the carrier and hoist logic component 880 for controlling the hoist and/or carrier may include commands from the suspended load control logic component 801 and its modules, such as the operation module 900 and the data fusion and control module 1000 of the long line rotor. Inputs 886 to the carrier and hoist logic component 880 for controlling the hoist and/or carrier may also include commands from a human operator, which may be communicated via the remote interface logic component 850, such as, for example, a touch screen 866, a joystick 867, a microphone, a camera, one or more buttons, etc.

9 illustrates an operational module 900 of an SLCS, such as SLCS 130, including multiple modes or command states according to one embodiment. Instructions for, or embodying, operational module 900 may be stored, for example, in SLCS memory 825, and executed or performed, for example, by SLCS processor 820, as well as electrical circuitry, firmware, and other computer and logic hardware of deployable devices with which operational module 900 may interact.

At block 905, the SLCS may be installed in or out of the longline. When installed, the longline may be inserted into a channel in the SLCS. In an embodiment, the installation may be assisted or managed by the operations module 900. For example, the operations module 900 may be instructed to open a channel for the longline in the SLCS, or may open the channel. For example, the operations module 900 may sense the presence of the longline in the channel, such as with a sensor 805. For example, the operations module 900 may close the channel for the longline, such as through actuation of a clamp, or may be instructed to do so.

In block 910, the SLCS may be started, such as by pressing a button or lever on the SLCS. In conjunction with the button or lever that initializes the system, another button or lever may be pressed to cause an immediate system shutdown. The system may also be started or stopped remotely by an operator or process not directly adjacent to the system, such as by pressing a button or activating one or more remote interface logic components 850 that are wirelessly linked to the SLCS.

In block 915, the operation module 900 is started and/or initialized.

In block 920, the operational module 900 may receive one or more functional modes or command states selected by an operator or process and proceed to block 925. From block 920, the operational module 900 may proceed to one or both of decision block 925 and/or decision block 940.

In decision block 925, the operations module 900 may determine whether a response time message has been received, for example, from block 1050 of the long line rotor data fusion and control module 1000. The response time message may indicate that the response time between the carrier, hoist, and SLCS state conditions is not within a safety margin.

For example, when the SLCS is lowering, there should be a relationship between the length of the longline paid out from the hoist and the distance between the carrier and the SLCS. This relationship may start out as a 1:1 relationship between the length of the longline paid out and the distance between the carrier and the SLCS. However, as the longline is wound into the spiral, this relationship changes and as more of the longline is paid out by the hoist, the distance between the carrier and the SLCS increases at a slower rate, resulting in a longer response time between the state conditions of the carrier, the hoist, and the SLCS. For example, the response time may be longer for spiral 410, which includes more coils and has a lower apparent spring force than spiral 610. The longline rotor data fusion and control module 1000 may tolerate a certain amount and/or rate of change in the response time and may send a message to the operation module 900, which may be received at decision block 925, if the amount or rate of change in the response time exceeds a safety margin or threshold.

In block 930, if decision block 925 is positive or equivalent, the operation module 900 may output a message to an operator, such as the carrier crew, the drone operator, or the destination location crew or personnel.

In block 935, the operation module 900 can enter a command state in which the long-line rotor system attempts to not increase or decrease response time. The operation module 900 may execute a function mode or command state by calling and executing the long-line rotor data fusion and control module 1000 as a subroutine or submodule to execute the function mode or command state and to end the function mode or command. For example, the command state may cause the long-line rotor data fusion and control module 1000 to maintain, slow increase, or decrease the distance between the carrier and the SLCS and the load. For example, the command state may cause the long-line rotor data fusion and control module 1000 to decrease the release rate of the long objects from the hoist, stop the payout of the long lines from the hoist, or have the hoist reel in the long lines, or control the carrier, or issue instructions to the carrier crew to maintain or increase the carrier altitude, or maintain or increase the carrier speed. For example, the command state may cause the long line rotor data fusion and control module 1000 to control the thrusters of the SLCS to not increase the distance between the carrier and the SLCS and payload. For example, the command state instructions may include a desired acceleration rate, a desired altitude of the SLCS, a desired heading of the SLCS, and a desired position of the SLCS.

At decision block 940, the operations module 900 can determine whether a hazard message has been received from block 1060 of the long line rotor data fusion and control module 1000. The hazard message may indicate that a collision with the ground or other object or excessive acceleration is predicted or has occurred. The excessive acceleration may occur due to bobbing or due to a "whiplash" effect (e.g., a whiplash effect that may occur as the carrier transitions from orbiting the destination location to traveling toward the destination).

If yes or equivalent at decision block 940, at block 945 the operation module 900 can enter a command state in which the long-line rotor system attempts to avoid the hazard. The operation module 900 can execute the function mode or command state by calling and executing the long-line rotor data fusion and control module 1000 as a subroutine or submodule to execute the function mode or command state and to exit the function mode or command. Avoiding the hazard can include the long-line rotor data fusion and control module 1000 issuing commands to control the thrusters of the SLCS to maneuver to avoid the hazard, such as when the hazard is a ground obstacle. Avoiding the hazard can include the long-line rotor data fusion and control module 1000 issuing commands to control the hoist to reduce the length of the long line to avoid impact with the ground. Avoiding the hazard can include the long-line rotor data fusion and control module 1000 issuing commands to control the hoist to increase the length of the long line to reduce high acceleration. Avoiding the hazard may include the long line rotor data fusion and control module 1000 controlling a carrier, such as a drone, or issuing flight control commands to a carrier crew to change the carrier's orbit center, the carrier's bank angle, altitude, or speed to avoid the hazard. For example, the command state instructions may include a desired acceleration, a desired altitude of the SLCS, a desired heading of the SLCS, a desired position of the SLCS, a position to which the SLCS should not move, etc.

Following block 935 and/or block 945, the operational module 900 may return to block 920 and allow a period of time to determine whether the response time has returned to an acceptable level or whether the unsafe condition no longer exists.

If the answer is negative or equivalent at decision block 925 and/or decision block 940, the operation module 900 may enter from the opening loop block 950 to the closing loop block 965. The operation module 900 may remain between the opening loop block 950 and the closing loop block 965 until an interrupt message is received. The interrupt message may include, for example, an end of command state or a problem message such as a response time message or a danger message.

In block 960, the operations module 900 may execute or call the long line rotor data fusion and control module 1000 as a subroutine or submodule to execute a function mode or command state. The function mode or command state may be selected by a human, such as using a remote interface, or may be selected by a process. The output of block 960, e.g., function mode or command state instructions, may include a desired acceleration, a desired altitude of the SLCS, a desired orientation of the SLCS, a desired position of the SLCS, a position to which the SLCS should not move, etc.

The system's functional modes or command states are as follows:

Idle mode 951: All internal systems of the SLCS are operational (e.g., the operations module 900 observes its movements and calculates control and other actions), but thrusters and hoists are shut off or maintain only idle speed or hoists at their current cable length, and no actions are taken to affect the movement of the load.

Mode 952 for maintaining relative position to the carrier: The maneuver module 900 activates the thrusters and/or hoists to stabilize the SLCS with respect to a destination location of the carrier or the carrier's orbit center. For example, when the SLCS is at the destination location, the maneuver module 900 activates the thrusters and/or hoists to allow the SLCS to reach the destination location despite drift that may otherwise occur. This can be accomplished, for example, by rotating the SLCS with one thruster in one thruster unit group, or opposing thrusters in two thruster unit groups, so that the SLCS is on course, and then applying thrust from two thrusters on the same side of the SLCS in the two thruster unit groups to propel the SLCS and payload along the course. For example, if the SLCS is suspended below a fixed-wing aircraft, the maneuver module 900 can activate the thrusters and hoists to remain at a relative altitude to the carrier to counteract the "yo-yo" effect and remain at the carrier's orbit center. The manipulation module 900 localizes the motion of the carrier, determines the elasticity or other behavior of the long-line, such as following the elastic modulus of the long-line, and/or determines the aerodynamic forces on the long-line, and performs the necessary corrective action with the thrusters and hoists to maintain the position of the SLCS and the load relative to the carrier. When the carrier's orbit center and destination location are moving slowly, the manipulation module 900 uses the thrusters and hoists to couple the velocity of the SLCS with the carrier so that the two entities move as one. When a disturbance occurs in the motion of the load or the SLCS, the manipulation module 900 provides thrust in a direction opposite to the direction of the disturbance or activates the hoists to counter the disturbance, eliminating swinging, a "yo-yo" effect caused by the elasticity of the long-line and/or aerodynamic forces on the long-line, or spiraling of the long-line (which may be caused by the carrier orbiting the load), or other undesirable motion.

Move to Position/Stop at Position Mode 955: The operations module 900 stabilizes the SLCS in a fixed position, countering the effects of weather, small movements of the carrier, or changes in the height of the SLCS relative to the carrier. This mode has the effect of disabling all movement. In this mode, an operator or another process can send a desired destination position to the SLCS via the remote interface logic component 850. This can be accomplished in at least the following ways:

Target Node Location 956: An operator may place a remote positioning unit, remote interface, or target at a desired drop-off or pick-up location. The remote positioning unit wirelessly communicates with the operations module 900 to indicate the desired location, and the operations module 900 responds by controlling the carrier or issuing flight instructions to the carrier to orbit the destination location and actuating thrusters and hoists to steer the SLCS and payload to the desired location. This mode may also maintain a desired tension on the longlines. The remote interface logic component 850 may receive and display the entity's location information.

User-specified location 957: An operator or process may use the remote interface logic component 850 to send a specified location (e.g., latitude and longitude coordinates, selection of a location on a map or in an image, etc.) to the operations module 900. The operations module 900 may control or direct the carrier to circle the target location to hold the SLCS and load at the specified location using the SLCS thrusters and/or hoist if the SLCS and load are already at the location. If the SLCS and load are not at the specified location, the operations module 900 may control or direct the carrier to circle the target location to maneuver the SLCS and load to the specified location using the SLCS thrusters and/or hoist. This mode may also maintain a desired tension on the longline. The operations module 900 may simultaneously send information or data to the remote interface logic component 850 regarding, for example, position, distance, altitude, and tension information on the longline for display or communication to an operator, process, or other.

Position-keeping mode 953: The operations module 900 resists all motion and attempts to maintain the current position of the SLCS independent of the carrier motion using thrusters and hoists. This mode has the effect of damping all motion of the SLCS. This mode has conditional responses related to the carrier speed, the carrier's orbital center, safety factors, and physical constraints. For example, this mode may only be able to hold the SLCS position for a relatively short period of time after the carrier changes orbital center.

Direct Control Mode 954: Joystick or other direct manipulation of thrusters, hoists, and carriers in three degrees of freedom (e.g., x-axis, y-axis, z-axis) as well as rotation. The manipulation module 900 is fully closed loop and does not require external controls during operation, but there are options for direct user control of thrusters, hoists, and carriers. The operator can directly control position, rotation, thruster power levels, longline length, tension on the longline, as well as directly control or command the carrier. Direct control or command of the carrier can be by direct control of the carrier or by selecting the carrier's orbit center or destination location.

Obstacle Avoidance 958: The operation module 900 identifies the path of the SLCS and the load, identifies objects in the path, determines possible positions, rotations, thruster power levels, and long line lengths to avoid the obstacles, and outputs instructions to the thrusters and/or hoists and/or carriers to avoid the obstacles. For example, the obstacle avoidance module 958 can receive and process sensor information such as: i) equalizing the distance between a sensor location, such as a fan unit, and an object, such as an obstacle, sensed in the environment; or ii) measuring or receiving the shape of the load, measuring the shape of an obstacle sensed in the environment, determining or receiving the position, orientation, and movement of the load, and arranging the load relative to the obstacle.

Positioning mode 959 for first and second locations: An operator or process can specify a first location (e.g., pick-up or drop-off location) to the operations module 900, for example, using the remote interface logic component 850, and the operator or process can further specify a second location, such as a carrier location, a location on the ground, and further specify a desired rate of change between the first and second locations. This can include, for example, moving the carrier's center of orbit. The operations module 900 actuates the SLCS's thrusters, hoists, controls the carrier, such as a drone, or issues flight control commands to the carrier to move the SLCS from the first location to the second location. The rate of change can be based on a percentage of the maximum rate of change that the operations module 900 can achieve, and may or may not be specified by the operator. This mode can also maintain a desired tension on the longline.

Block 965 may be terminated when an operator or process determines that the function mode or command state is complete, e.g., by obtaining a desired position, by a command from an operator or process to terminate the function mode or command state, or by an interrupt condition, e.g., a power loss.

In block 970, the operation module 900 may actuate the hoist to lift and carry the SLCS and load to the carrier or another designated location, and actuate the thrusters to rotate the SLCS to an orientation suitable for lifting to the carrier or other designated location. The operation module 900 may detect that the SLCS is in the hoist or at the designated location, detect the engagement of the hoist interlocking structure and the SLCS, and detect the engagement of the locking structure and the locking coupling of the interlocking structure. The operation module 900 may detect the engagement of the SLCS with the SLCS interface, and activate communications, power, and other services of the SLCS interface. If the SLCS includes foldable arms or other components, they may be folded. The thrusters and other components may be powered down. Cable retention components, such as clamps and fingers, may be released. The SLCS may be decoupled from the longline terminal equipment and/or the longline. The load may be removed from the load hook. The longline may be disconnected from the hoist ring on top of the SLCS. A storage cable or other fastener may be secured to the SLCS. The SLCS may be stored in a charger or elsewhere.

At end block 999, if not performed in block 970, the operational module 900 may be shut down by activation of a button or other control, such as on the SLCS 130, on an interactive display, or on a remote interface of the SLCS 130.

10 illustrates a long-line rotor data fusion and control module 1000 according to one embodiment. The instructions of the long-line rotor data fusion and control module 1000, or instructions embodying same, may be stored, for example, in SLCS memory 825, or in memory within a carrier's computer processor, and may be executed or performed, for example, by the SLCS processor 820 or a carrier's processor, including the electrical circuits, firmware, and other computer and logic hardware of the deployable equipment, the carrier and hoist logic components 880, and the remote interface logic components 850 with which the long-line rotor data fusion and control module 1000 may interact.

The long-line rotor data fusion and control module 1000 can operate in a closed iterative loop to determine in near real-time the position and motion of the SLCS and carrier, determine the state of the long-line, perform a set of calculations to determine the most desirable system response, and transmit one or more desired responses to the air propulsion system thruster array, the carrier hoist, and/or the carrier to control the long-line rotor operations. This process may occur continuously while there is power in the system.

The opening loop block 1005 through the closing loop block 1085 may repeat as long as the long line rotor data fusion and control module 1000 is active, such as when a function mode or command state is active (e.g., when called by the operation module 900).

In block 1010, the long line rotor data fusion and control module 1000 can perform data acquisition for SLCS, carrier, and hoist sensors, including (but not limited to) sensor sets for these elements, including cameras, accelerometers, gyroscopes, magnetometers, inclinometers, directional encoders, radio frequency relative orientation systems, gravity sensors, microelectromechanical system (MEMS) sensors, global positioning systems (GPS), lidar/radar, machine vision, range finders, ultrasonic proximity sensors (e.g., sensors in sensor set 805), and the like. As previously mentioned, the hoist sensors can provide information or data regarding the length of the long line, tension or torque on or in the hoist, mass on or in the hoist, and the like. However, this raw data or information may be subject to noise, out-of-range values, and other errors and uncertainties.

In block 1015, the long line rotor data fusion and control module 1000 may further filter the acquired data or information for out of range values, frequency vibrations, etc.

In block 1020, the long line rotor data fusion and control module 1000 may obtain a function mode or command state from the operation module 900, e.g., a user, process, or operator selected function mode or command state, e.g., from one or more of blocks 935, 945, and/or 955. The command state may include coordinates, altitude, desired rate, etc.

In block 1025, the long line rotor data fusion and control module 1000 may obtain previously estimated states, such as from block 1035.

In block 1030, the longline rotor data fusion and control module 1000 combines data or information from the sensors and hoist of block 1010 with the functional mode or command state from block 1020 and the previously estimated system model state from block 1025 in a system model, also described as data fusion or online state estimation and prediction. Block 1030 determines deviations from the currently measured state from the data or information from the sensors and hoist of block 1015 and the previously estimated state of block 1025. Block 1030 estimates the current state of the system, such as, for example, the position, location and orientation of the SLCS and carrier, the mass or weight of the SLCS and the load, the length of the longline, the distance between the carrier and the SLCS, the height above the ground of the SLCS, the aerodynamic forces on the longline, the distance between the carrier and the SLCS, the moment of inertia of the SLCS (and the load), etc.

Block 1030 further predicts the near future state of the system, e.g., position (including altitude), orientation, motion, environmental disturbances and influences, etc. This block compares the current state with previously predicted states and determines the deviation between the current state and the predicted state.

In the system model used in block 1030, the sensor data may be processed by the system model using a nonlinear flavor, such as a Kalman filter, for example an unscented Kalman filter ("UKF"), to predict the near future state of the system and estimate the current state of the system. The closed-loop iterative control methods implemented in this block may include fuzzy tuned proportional, integral, and derivative feedback controllers with two-way communication with advanced control methods including deep learning neural nets and future propagation Kalman filters, allowing real-time (or "online") system identification. Block 1030 may be able to estimate the current state or predict the near future state without data or information from the hoist and/or from the carrier and the sensor set therein. However, with data or information from the hoist and carrier, the state estimation and prediction of block 1030 may be improved.

In block 1040, the long-line rotor data fusion and control module 1000 can determine characteristics and response times for changes in state conditions over time between the SLCS, carrier, and long-line state conditions (e.g., change in the length of the long-line, movement of the SLCS through absolute coordinate space over time, movement of the carrier through absolute coordinate space over time, change in the orientation (e.g., rotation) of the SLCS through absolute coordinate space over time), as well as response times for, for example, change in the length of the long-line moving in and out of the hoist and change in the position of the SLCS relative to the carrier, offsets of the relative position and orientation of the SLCS and carrier with respect to the destination location or center of orbit, distance traveled in an orbital period by the SLCS and carrier, change in distance traveled in an orbital period by the SLCS and carrier, height above ground of the SLCS, etc. Such characteristics can be determined by determining the integral of such state conditions over time.

In decision block 1045, the long-line rotor data fusion and control module 1000 may determine whether one or more of the state conditions of the SLCS, the carrier, and the long-line, the characteristics of the changes in the state conditions over time, and the response times between the state conditions are within acceptable margins. For example, when the SLCS is paid out from the carrier on the long-line by the hoist, aerodynamic forces on the long-line and the deployment of some or more of the coils wound in a three-dimensional spiral may change the response time between the change in the length of the long-line and the position of the SLCS relative to the carrier. For example, the long-line 410 of Figures 4 and 5 develops more coils in the three-dimensional spiral than the long-line 610 of Figures 6 and 7. This may be due to the difference in the speed of carrier 105 between Figures 4 and 5 versus Figures 6 and 7, the difference in the orbital distance between the lengths of long line 410 and long line 610, the difference in the aerodynamic forces acting on long line 410 and SLCS 440 and long line 610 and SLCS 640, or the difference in mass between SLCS 440 and SLCS 640.

In general, faster moving carriers that orbit a greater distance from the orbital center have longer longlines, experience greater aerodynamic forces (due to the thickness of the longline, etc.), and generate longlines with more coils in their three-dimensional spiral. In general, longlines with more coils in their three-dimensional spiral exhibit slower response times between the SLCS, carrier, and longline state characteristics over time. In general, slower response times are more likely to result in dangerous nonlinear instabilities between components of longline operation, such as "yo-yoing" and "bobbing." In general, the slower the response time between changes in the longline length and the position of the SLCS relative to the carrier, the more likely it is that the SLCS will whip or over-accelerate as the carrier deviates from its orbital path.

The system model can thereby be used to determine the state conditions of the components of the long line rotor system, the characteristics of the state conditions over time, and the response times between the state conditions, and the characteristics of the state conditions over time.

If the answer is no or equivalent at decision block 1045, at block 1050, the long line rotor data fusion and control module 1000 may send a message or equivalent to the operation module 900, for example at block 925, to indicate that the response time is not within a safety or other acceptable margin.

If yes or equivalent at decision block 1045, at decision block 1055, the long line rotor data fusion and control module 1000 may determine that a dangerous condition has occurred or may occur. The dangerous condition may include, for example, one or more of a collision with an object, such as the ground or another object in the environment, excessive acceleration, etc.

If yes or equivalent at decision block 1055, at block 1060, the long line rotor data fusion and control module 1000 may send a message or equivalent to, for example, the operational module 900 at block 935, indicating that an unsafe condition has occurred or may occur.

In block 1065, the long-line rotor data fusion and control module 1000 can incorporate state estimation and state prediction, as well as additional feedback from thrust and orientation mapping 1070 and power control 1080, and deviations between the current state and previously predicted states as informed by the user-selected or process-selected functional mode or command state 1025, and determine how the carrier should move, how the hoist should control the long-line, and how the SLCS should move to achieve the input of the functional mode or command state of block 1020, such as by outputting force from the thrusters, reeling or unreeling the long-line into or from the hoist, or controlling the carrier or issuing flight control commands.

In block 1070, the algorithm output is sent to a motion controller, from which the desired thrust response is sent via phase control to the electric ducted fan or thruster, to the hoist for output to the reel motor, and/or to the carrier, carrier thrust and flight control surfaces. The net thrust output is mapped in real time via encoders and load cells and then sent back to the hoist, carrier and thrust controller for closed loop control.

In block 1075, the longline rotor data fusion and control module 1000 maps how the SLCS should move to the carrier, hoist, and thrusters of the SLCS, and generates a mapping of the carrier, thrusters (or "fans"), and hoist to control the carrier, hoist, thrusters, and hoist to achieve the desired orientation, altitude, and thrust of the carrier and SLCS in longline operations.

In block 1080, the long line rotor data fusion and control module 1000 applies the mapping of the carrier, thrusters, and hoist to output control signals to the carrier or to the hoist, to the fans or thrusters (or electronic components controlling or controlled by them) to achieve the determined SLCS position, thrust, and orientation, exerting commanded control outputs, and implementing dynamic responses in the form of control of the carrier, thrust from the fans, and reeling or unreeling of the long line by the hoist.

In end block 1099, the long line rotor data fusion and control module 1000 may exit or return to a module that may have called it.

11 illustrates a hoist for long line rotor operation module 1100, according to one embodiment. Instructions for the hoist for long line rotor operation module 1100, or instructions embodying same, may be stored, for example, in hoist memory 882 and executed or carried out by hoist processor 881, as well as by the electrical circuits, firmware, and other computer and logic hardware of hoist, carrier, and hoist logic component 880, as well as remote interface logic component 850 with which the data fusion and control module for long line rotor 1000 may interact.

In block 1105, the long line rotor hoist operation module 1100 may obtain information or data from a hoist sensor, such as hoist sensor 884.

In block 1110, the long line rotor hoist operation module 1100 may pair with itself and its hoist, and/or with a remote device or process. Pairing may require authentication and authorization on one or both devices or processes.

In block 1115, the long line rotor hoist operation module 1100 may output hoist sensor data or information to a paired remote device or process.

In decision block 1120, it may be determined whether to act on local or remote commands. For example, the long line rotor hoist operation module 1100 may operate based on remote commands unless a local command is received, in which case a local override may be activated.

If the answer is no or equal at decision block 1120, the long line rotor hoist operation module 1100 may proceed to an opening loop block 1125. The long line rotor hoist operation module 1100 may iterate from the opening loop block 1125 to a closing loop block 1140.

In block 1130, the long line rotor hoist operations module 1100 may receive remote instructions, such as instructions from the operations module 900, from the long line rotor data fusion and control module 1000, and from a remote interface. The instructions may be, for example, instructions to pay out the long line, instructions to reel in the long line, or instructions to maintain tension or other force on the long line. The instructions may be to pay out or reel in a specified amount of cable, or to pay out or reel in until another instruction is received to stop. The instructions may specify a speed at which to operate the reel, or a maximum or minimum tension or other force to be achieved by the reel. The long line rotor hoist operations module 1100 may determine the minimum or maximum tension, speed, or force. The instructions may be to operate actuators on the hoist, such as actuators to deploy the SLCS from the hoist or actuators to secure the SLCS 130 to the hoist.

In block 1135, the long line hoist operation module 1100 can output controls to execute remote instructions, such as paying out the long line, reeling in the long line, and maintaining tension or other force on the long line.

In block 1145, which may follow a positive or equivalent determination in decision block 1320, the long line rotor hoist operation module 1100 may receive local commands, such as commands from the carrier crew or hoist interface, that are given priority over commands from other sources. The commands may be, for example, to pay out the long line, to reel in the long line, or to maintain tension or other force on the long line. The commands may be to pay out or reel in a specified amount of cable, or to pay out or reel in until another command to stop. The commands may specify a speed at which to operate the reel, or a maximum or minimum tension or other force to be achieved by the reel. The long line rotor hoist operation module 1100 may determine a minimum or maximum tension, speed, or force. The commands may be to operate actuators on the hoist, such as actuators to deploy the SLCS from the hoist or actuators to secure the SLCS to the hoist.

In block 1199, the long line rotor hoist operation module 1100 may terminate, shut down the hoist, and/or return to the process that invoked the hoist.

FIG. 12A shows a first view of a remote interface 1200 for a hoist and a SLCS, according to an embodiment. FIG. 12B shows a second view of the remote interface 1200 of FIG. 12A, according to an embodiment. The remote interface 1200 can enable control of or communication with the SLCS and/or the hoist. Specific types of controls are described in the examples below, but the function and/or type of the control device should not be limited thereto. For example, the switch may be replaced with a button or lever. The button may be a mechanically operated button or a virtual button. The control devices of the examples below can be replaced with alternative devices by one of ordinary skill in the art without undue experimentation or burden. In one embodiment, the remote interface 1200 can be a pendant-type hand-operated controller configured to control the operation of the SLCS, the hoist, and/or the carrier.

The types of controls available may be any necessary to operate the SLCS, carrier, and hoist, attached machinery systems, and/or payload before or after attachment to the longline and/or hoist. In some embodiments, a non-limiting set of controls may include a caution light 1202, an over-temperature warning light 1204, a deployed status light 1206, a deploy button 1208, a boom toggle switch 1210, a rotation control switch 1212, a hoist vertical control 1214, a status selection switch 1216, and data and power ports 1218.

As a non-limiting example, the attention light 1202 can provide a configurable warning of a potentially dangerous condition. The over-temperature warning light 1204 can provide a configurable warning indicating that the machine system is experiencing an over-temperature condition. The deployed status light 1206 can illuminate green when the SLCS is deployed, flash green when the SLCS is in a stowed position, or provide other similar indications of the status of the machine system. The deploy button 1208 can initiate the deployment process when pressed. After being initially pressed, the deploy button 1208 can remain pressed to indicate that the SLCS is deployed. If pressed again, it can return to an unpressed position to indicate that the SLCS is stowed. When the boom or arm attaches the hoist or hoist housing to the carrier, the boom toggle switch 1210 can move the boom from a stowed position to an active deployed position. The rotation control switch 1212 can directly control the orientation of the SLCS. This control can be dependent on the depression of a controller live trigger. The hoist vertical control 1214 can raise and lower the hoist cable and control the up and down movement of the hoist payload.

In one embodiment, the state selection switch 1216 can control the state or functioning mode of the SLCS. For example, the position of the switch can be used to select whether the SLCS is in a "stabilized" state, where fans are used to provide rotational or horizontal momentum to counter load motion and stabilize mode. The switch in another position is used to place the mechanical system in an "idle" state, where the SLCS is placed on the longline but takes no additional action.

In embodiments, data and power port 1218 may be a USB or equivalent connection port. A connection to this port may provide a path for the controller electronics to interface with other systems necessary to operate or monitor the hoist integrated system and/or the attached payload. As a non-limiting example, the port may receive power and communicate with a remote interface. Remote interface 1200 may have a wired or wireless data connection to the hoist logic component and the deployable device logic component. The logic of remote interface 1200 may be contained within remote interface 1200 in some embodiments, and remote interface 1200 may receive power from a proximal power system via power port 1218.

As shown in FIG. 12B, the controls provided on the bottom side of the remote interface 1400 may include a controller live trigger 1217 and a configurable second trigger 1219. The controller live trigger 1217 may be used as a safety mechanism to allow operation of certain control units only if the controller live trigger 1217 is pressed. For example, a rotary control switch is only operable if actuated simultaneously with pressing the controller live trigger 1217. The configurable second trigger 1219 may be provided to allow additional functionality or safety features to be implemented for certain deployable systems.

13A is a rear view of the SLCS remote pendant or remote interface 1300 according to an embodiment. FIG. 13B is a perspective view of the SLCS remote interface 1300 according to an embodiment. FIG. 13C is a front view of the SLCS remote interface 1300 according to an embodiment. Shown in these figures are, for example, the activation controller 1340, the on/off switch 1345, the state selector 1350, and the manual/rotary control 1351. The on/off switch 1345 can be used to turn the remote pendant 1300 on or off. The state selector 1350 can be used to select a command state of the operation module 900, as discussed in connection with FIG. 9. The activation controller 1340 can be used to activate or deactivate the operation module 1100 in or for the command state selected or indicated by the state selector 1350. Manual/rotate control 1351 can be used to manually activate a fan to rotate or move a load, or to raise or lower a hoist, for example, when state selector 1350 is used to select direct control mode.

14 shows a third perspective view 1400 of the carrier 105, long line 1435, path of the carrier 1410, and SLCS 1415 (and optionally cargo), and the moving destination location 1420, according to an embodiment. The SLCS 1415 may be in the orbit center (not numbered) of the carrier 105. FIG. 15 shows a top projection view 1500 of the carrier 105, long line 1435, path of the carrier 1410, SLCS 1415, and the moving destination location 1420 of FIG. 14, according to an embodiment. FIG. 14 and FIG. 15 show that the physics and logic components discussed herein can be used to periodically or continuously update the path of the carrier 1410 and to cause the SLCS 1415 to be commanded to output thrust from its thrusters to affect the fine position of the SLCS 1415 along the moving destination location, causing the SLCS 1415 to follow the moving destination location.

While specific embodiments have been illustrated and described herein, those skilled in the art will recognize that alternative and/or equivalent embodiments may be substituted for the specific embodiments illustrated and described without departing from the scope of the present disclosure. For example, although various embodiments have been described above in terms of helicopters, cranes, or fixed-wing carriers, other carriers may be used. This application is intended to cover any adaptations or variations of the embodiments discussed herein.

The following are non-limiting examples.

Example 1. An apparatus for controlling a load suspended from a carrier by a long line, comprising: a load control system including a fan array and a first set of sensors, wherein the load control system is fixed to an end of the long line, and the first set of sensors acquires first status information relating to a first position, movement, and orientation of the load control system; a carrier, comprising a hoist and a second set of sensors, wherein the hoist controls a length of the long line extending from the hoist to the load control system, and wherein the second set of sensors acquires second status information relating to a second position, movement, and orientation of the carrier, and the hoist acquires physical information relating to the long line extending from the hoist to the load control system; a carrier; and a computer processor and memory, wherein the memory includes a data fusion module and an operation module, wherein the data fusion module includes a system model representing the load control system, the carrier, and the long line, and the computer processor and memory include a data fusion module and an operation module, wherein the data fusion module includes ... The computer processor provides the system model with the first state information, the second state information, and physical information about the long line extending from the hoist to the baggage control system, the computer processor executes the data fusion model to determine the state of the baggage control system carrier and the long line, the characteristics of the state of the baggage control system carrier and the long line over time, and the response time between the characteristics of the state of the baggage control system carrier and the long line over time, and the computer processor executes an operation module to control the fan array and the hoist based on the state of the baggage control system carrier and the long line, the characteristics of the state of the baggage control system carrier and the long line over time, and the response time between the characteristics of the state of the baggage control system carrier and the long line over time, and output navigation instructions to the carrier to affect the position, movement, and orientation of the baggage control system relative to a target point.

Example 2. The apparatus of Example 1, wherein the load includes at least one of a suspended load control system or a load secured to a suspended load control system.

Example 3. The apparatus of Example 1, in which the response time exceeds a threshold and, in response, the operations module determines a target point that minimizes perturbations in the state of the baggage control system carrier and the long lines, and perturbations in the characteristics of the state of the baggage control system carrier and the long lines over time.

Example 4. The apparatus of Example 3, wherein the operation module further outputs at least one of navigation commands to the carrier to indicate the rotor path of the carrier, to indicate the speed of the carrier, or to indicate the center of orbit of the carrier, to minimize perturbations in the state of the baggage control system carrier and the long lines, and in the characteristics of the state of the baggage control system carrier and the long lines over time.

Example 5. The apparatus of Example 3, wherein the operational module further minimizes perturbations in the state of the load control system carrier and the long line, and perturbations in the characteristics of the state of the load control system carrier and the long line over time, using instructions to control the hoist to hold the length of the long line extending from the hoist to the load control system stationary.

Example 6. The apparatus of Example 1, wherein the data fusion module further predicts an unsafe state of the load control system and determines a target point for avoiding the unsafe state.

Example 7. The device of Example 6, wherein the dangerous state of the load control system is at least one of a collision with an object or excessive acceleration.

Example 8. The apparatus of Example 7, wherein the dangerous condition of the load control system is a collision with an object, and the operation module controls the fan array to apply a torque or horizontal force to the load control system to avoid the object.

Example 9. The apparatus of Example 8, wherein the manipulation module further applies a torque to obtain an orientation and then applies a horizontal force to move the load control system to avoid the object.

Example 10. The apparatus of Example 7, in which the dangerous condition of the load control system is excessive acceleration, and the operation module controls the hoist to reduce the excessive acceleration.

Example 11. The apparatus of Example 10, wherein the operating module controls the hoist to extend a long line to reduce excessive acceleration.

Example 12. The apparatus of Example 1, wherein the system model includes at least one of the following: center or trajectory of the carrier, center or trajectory of the suspended load control system, destination location, mass of the suspended load control system and load, length of the long line, inertia of the suspended load control system and load, translation and rotation of the suspended load control system, height of the suspended load control system above ground, translation and rotation of the carrier, height of the carrier above ground, aerodynamic model of the long line, gravity on the long line, and disturbance estimates of wind and sea conditions and relative motion between the suspended load control system and the carrier.

Example 13. The device of Example 12, in which the target location moves over time.

Example 14. The apparatus of Example 12, wherein the carrier's center of orbit is greater than the destination location, and the operations module outputs navigation instructions to the carrier to control the fan array and hoist and to affect the position, movement, and orientation of the load control system relative to the destination point within the carrier's center of orbit.

Example 15. The apparatus of Example 1, wherein the physical information about the long line includes at least one of the length of the long line extending from the hoist to the load control system, the tension or torque applied from the long line to the hoist, or the mass applied from the long line to the hoist.

Example 16. The apparatus of Example 1, wherein the state of the load control system carrier and the long line includes the position, orientation, and movement of the carrier and the position, orientation, and movement of the load control system, and the operation module estimates and predicts the state of the load control system carrier and the long line based on the first state information and the second state information, and estimating and predicting the state of the load control system carrier and the long line based on the first state information and the second state information is the operation module combining the first state information and the second state information from the first sensor set and the second sensor set in a nonlinear filter according to a system model having feedback from at least one of the operation module's functional mode or command state, thrust and orientation mapping, or carrier-fan array and hoist mapping, based on the first state information and the second state information.

Example 17. The device of Example 16, wherein the nonlinear filter comprises an unscented Kalman filter.

Example 18. A method of controlling a load suspended from a carrier by a long line, the method comprising: a load control system with a computer processor and memory, the load control system comprising a fan array and a first set of sensors, the load control system comprising a carrier with a hoist and a second set of sensors fixed to an end of the long line and controlling a length of the long line extending from the hoist to the load control system, a system model in the memory representing the load control system, the carrier, and the long line, the computer processor obtaining from the first set of sensors first state information relating to a first position, movement, and orientation of the load control system, the computer processor obtaining from the second set of sensors second state information relating to a second position, movement, and orientation of the carrier, the computer processor obtaining from the hoist physical information relating to the long line extending from the hoist to the load control system, A computer processor provides a system model with the first state information, the second state information, and physical information regarding the long line extending from the hoist to the luggage control system, the computer processor determines a state of the luggage control system carrier and the long line, a characteristic of the state of the luggage control system carrier and the long line over time, and a response time between the characteristic of the state of the luggage control system carrier and the long line over time, and the computer processor controls the fan array and the hoist based on the state of the luggage control system carrier and the long line, the characteristic of the state of the luggage control system carrier and the long line over time, and the response time between the characteristic of the state of the luggage control system carrier and the long line over time, and outputs navigation instructions to the carrier that affect the position, movement, and orientation of the luggage control system relative to a target point.

Example 19. The method of example 18, wherein the load includes at least one of a suspended load control system or a load secured to a suspended load control system.

Example 20. The method of example 18, wherein the computer processor further determines that the response time exceeds a threshold and, in response thereto, determines the target point to minimize perturbations in the state of the baggage control system carrier and the long lines, and perturbations in the characteristics of the state of the baggage control system carrier and the long lines over time.

Example 21. The method of example 20, wherein the computer processor further outputs navigation instructions to the carrier to at least one of: indicate the rotor path of the carrier, indicate the speed of the carrier, or indicate the center of orbit of the carrier to minimize perturbations in the state of the load control system carrier and the long lines, and in the characteristics of the state of the load control system carrier and the long lines over time.

Example 22. The method of example 20, wherein the computer processor further controls the hoist to keep a length of the long line extending from the hoist to the load control system stationary, thereby minimizing perturbations in the state of the load control system carrier and the long line, and perturbations in the characteristics of the state of the load control system carrier and the long line over time.

Example 23. The method of example 18, wherein the computer processor further predicts an unsafe condition of the load control system and determines a target point to avoid the unsafe condition.

Example 24. The method of example 23, wherein the unsafe condition of the load control system is at least one of a collision with an object or excessive acceleration.

Example 25. The method of example 24, wherein the dangerous condition of the load control system is a collision with an object, and the computer processor further controls the fan array to apply a torque or horizontal force to the load control system to avoid the object.

Example 26. The method of example 25, wherein the computer processor further applies a torque to obtain an orientation and then applies a horizontal force to move the load control system to avoid the object.

Example 27. The method of example 24, wherein the unsafe condition of the load control system is excessive acceleration, and the computer processor controls the hoist to reduce the excessive acceleration.

Example 28. The method of example 27, wherein the computer processor further controls the hoist to release the long line to reduce excessive acceleration.

Example 29. The method of Example 18, wherein the system model includes at least one of the following: center or trajectory of the carrier, center or trajectory of the suspended load control system, destination location, mass of the suspended load control system and load, length of the long line, inertia of the suspended load control system and load, translation and rotation of the suspended load control system, height of the suspended load control system above ground, translation and rotation of the carrier, height of the carrier above ground, aerodynamic model of the long line, gravity on the long line, and disturbance estimates of wind and sea conditions and relative motion between the suspended load control system and the carrier.

Example 30. The method of Example 29, wherein the target location moves over time.

Example 31. The method of example 29, wherein the carrier's center of orbit is greater than the destination location, and the computer processor outputs navigation instructions to the carrier to further control the fan array and hoist and to affect the position, movement and orientation of the load control system relative to the destination point within the carrier's center of orbit.

Example 32. The method of example 18, wherein the physical information about the long line includes at least one of the length of the long line extending from the hoist to the load control system, the tension or torque exerted by the long line on the hoist, or the mass exerted by the long line on the hoist.

Example 33. The method of example 18, wherein the state of the load control system carrier and the long lines includes a position, orientation, and movement of the carrier and a position, orientation, and movement of the load control system, and the computer processor further estimates and predicts the state of the load control system carrier and the long lines based on the first state information and the second state information, wherein estimating and predicting the state of the load control system carrier and the long lines based on the first state information and the second state information includes combining the first state information and the second state information from the first sensor set and the second sensor set in a nonlinear filter according to a system model having feedback from at least one of a functional mode or command state, a thrust and orientation mapping, or a carrier-fan array and hoist mapping.

Example 34. The method of example 33, wherein the nonlinear filter includes an unscented Kalman filter.

Example 35. A computer device for controlling a load suspended from a carrier by a long line, comprising a load control system, a carrier, a computer processor, and a memory, wherein the load control system comprises a fan array, a first set of sensors, and a means for fixing the load control system to an end of the long line, the carrier comprises a hoist and a second set of sensors, the hoist comprises a means for controlling a length of the long line extending from the hoist to the load control system, the memory comprises a system model, the system model represents the load control system, the carrier, and the long line, the computer processor comprises a means for acquiring from the first set of sensors first state information relating to a first position, movement, and orientation of the load control system, the computer processor further comprises a means for acquiring from the second set of sensors second state information relating to a second position, movement, and orientation of the carrier, the computer processor further comprises a means for acquiring from the hoist, a means for acquiring from the second set of sensors second state information relating to a second position, movement, and orientation of the carrier, the computer processor further comprises a means for acquiring from the hoist, a means for acquiring from the hoist, a means for acquiring from the long line extending from the hoist to the load control system The computer processor further comprises means for acquiring physical information relating to the first state information, the second state information, and physical information relating to the long line extending from the hoist to the luggage control system, and the computer processor further comprises means for determining a state of the luggage control system carrier and the long line, a characteristic of the state of the luggage control system carrier and the long line over time, and a response time between the characteristic of the state of the luggage control system carrier and the long line over time, and the computer processor further comprises means for outputting navigation instructions to the carrier to control the fan array and the hoist and to affect the position, movement, and orientation of the luggage control system relative to a target point, based on the state of the luggage control system carrier and the long line, the characteristic of the state of the luggage control system, the carrier, and the long line over time, and the response time between the characteristic of the state of the luggage control system carrier and the long line over time.

Example 36. The apparatus of Example 35, wherein the load includes at least one of a suspended load control system or a load secured to a suspended load control system.

Example 37. The apparatus of Example 35, wherein the computer processor further comprises means for determining when the response time exceeds a threshold, and means for determining a target point in response thereto to minimize perturbations in the state of the baggage control system carrier and the long line, and perturbations in the characteristics of the state of the baggage control system carrier and the long line over time.

Example 38. The apparatus of Example 37, wherein the computer processor further includes means for outputting navigation instructions to the carrier to at least one of: direct the rotor path of the carrier, direct the speed of the carrier, or direct the center of orbit of the carrier to minimize perturbations in the state of the baggage control system carrier and the long lines, and the characteristics of the state of the baggage control system carrier and the long lines over time.

Example 39. The apparatus of Example 37, wherein the computer processor further comprises means for minimizing perturbations in the state of the load control system carrier and the long line, and perturbations in the characteristics of the state of the load control system carrier and the long line over time, by controlling the hoist to keep the length of the long line extending from the hoist to the load control system stationary.

Example 40. The apparatus of Example 35, wherein the computer processor further includes means for predicting an unsafe condition of the load control system and means for determining a target point for avoiding the unsafe condition.

Example 41. The device of Example 40, wherein the dangerous condition of the load control system is at least one of a collision with an object or excessive acceleration.

Example 42. The apparatus of Example 41, wherein the dangerous condition of the load control system is a collision with an object, and the computer processor further includes means for controlling the fan array to apply a torque or horizontal force to the load control system to avoid the object.

Example 43. The apparatus of Example 42, wherein the computer processor further comprises means for applying a torque to obtain an orientation and then applying a horizontal force to move the load control system to avoid the object.

Example 44. The apparatus of Example 41, wherein the unsafe condition of the load control system is excessive acceleration, and the computer processor further comprises means for controlling the hoist to reduce the excessive acceleration.

Example 45. The apparatus of Example 44, wherein the computer processor further includes means for controlling the hoist to release the long line to reduce excessive acceleration.

Example 46. The apparatus of Example 35, wherein the system model includes at least one of the following: center or trajectory of the carrier, center or trajectory of the suspended load control system, destination location, mass of the suspended load control system and load, length of the long line, inertia of the suspended load control system and load, movement and rotation of the suspended load control system, height of the load control system above ground, movement and rotation of the carrier, height of the carrier above ground, aerodynamic model of the long line, gravity on the long line, wind and sea conditions, and disturbance estimates of the relative motion between the load control system and the carrier.

Example 47. The device of Example 46, in which the target location moves over time.

Example 48. The apparatus of Example 46, wherein the carrier's center of orbit is greater than the destination location, and the computer processor further comprises means for controlling the fan array and hoist, and means for outputting navigation instructions to the carrier to affect the position, movement, and orientation of the load control system relative to a destination point within the carrier's center of orbit.

Example 49. The apparatus of Example 35, wherein the physical information about the long line includes at least one of the length of the long line extending from the hoist to the load control system, the tension or torque applied from the long line to the hoist, or the mass applied from the long line to the hoist.

Example 50. The apparatus of Example 35, wherein the state of the load control system carrier and the long line includes the position, orientation, and movement of the carrier and the position, orientation, and movement of the load control system, and the computer processor further comprises means for estimating and predicting the state of the load control system carrier and the long line based on the first state information and the second state information, wherein the means for estimating and predicting the state of the load control system carrier and the long line based on the first state information and the second state information comprises means for combining the first state information and the second state information from the first sensor set and the second sensor set in a nonlinear filter according to a system model having feedback from at least one of a functional mode or command state, a thrust and orientation mapping, or a mapping of the carrier, fan array, and hoist.

Example 51. The device of example 50, wherein the nonlinear filter includes an unscented Kalman filter.

Example 52. One or more computer readable media include instructions for causing a computing device to control a load suspended from a carrier by a long line, in response to execution of instructions by a computer processor of a computing device, the computing device including a load control system having a fan array and a first set of sensors and fixed to an end of the long line, the carrier including a hoist that controls a length of the long line extending from the hoist to the load control system, and the carrier including a second set of sensors, the instructions including a system model, the system model representing the load control system, the carrier, and the long line, the instructions including a system model for causing the computing device to obtain from the first set of sensors first state information relating to a first position, movement, and orientation of the load control system, and from the second set of sensors second state information relating to a second position, movement, and orientation of the carrier, and from the hoist. , acquiring physical information about the long line extending from the hoist to the luggage control system, providing a system model with first state information, second state information, and physical information about the long line extending from the hoist to the luggage control system, determining a state of the luggage control system carrier and the long line, a characteristic of the state of the luggage control system carrier and the long line over time, and a response time between the characteristic of the state of the luggage control system carrier and the long line over time based thereon, controlling the fan array and the hoist based on the state of the luggage control system carrier and the long line, the characteristic of the state of the luggage control system carrier and the long line over time, and the response time between the characteristic of the state of the luggage control system carrier and the long line over time, and outputting navigation instructions to the carrier to affect the position, movement, and attitude of the luggage control system relative to a target point.

Example 53. The computer-readable medium of Example 52, wherein the load includes at least one of a suspended load control system or a load secured to a suspended load control system.

Example 54. The computer-readable medium of Example 52, further comprising instructions to cause the computer device to determine that the response time exceeds a threshold and, in response, to determine a target point to minimize perturbations in the status of the baggage control system carrier and the long lines and perturbations in the characteristics of the status of the baggage control system carrier and the long lines over time.

Example 55. The computer-readable medium of Example 54, wherein the instructions further cause the computer device to output at least one of navigation instructions to the carrier, to indicate a rotor path of the carrier, to indicate a speed of the carrier, or to indicate a center of orbit of the carrier, to minimize perturbations in the state of the baggage control system carrier and the long lines, and in the characteristics of the state of the baggage control system carrier and the long lines over time.

Example 56. The computer-readable medium of Example 54, wherein the instructions further cause the computer device to minimize perturbations in the state of the load control system carrier and the long line, and perturbations in the characteristics of the state of the load control system carrier and the long line over time, by controlling the hoist to keep a length of the long line extending from the hoist to the load control system stationary.

Example 57. The computer-readable medium of Example 52, wherein the instructions further cause the computer device to predict an unsafe condition of the load control system and determine a target point to avoid the unsafe condition.

The computer-readable medium of Example 57, wherein the dangerous condition of the load control system is at least one of a collision with an object or excessive acceleration.

Example 59. The computer-readable medium of Example 58, wherein the dangerous condition of the load control system is a collision with an object, and the instructions further cause the computing device to control the fan array to apply a torque or horizontal force to the load control system to avoid the object.

Example 60. The computer-readable medium of example 59, further comprising instructions for causing the computing device to apply a torque to obtain an orientation and then apply a horizontal force to move the load control system to avoid the object.

Example 61. The computer-readable medium of example 58, wherein the unsafe condition of the load control system is excessive acceleration, and the instructions further control the hoist to reduce the excessive acceleration.

Example 62. The computer-readable medium of example 61, wherein the instructions further control the hoist to pay out the long line to reduce excessive acceleration.

Example 63. The computer readable medium of Example 52, wherein the system model includes at least one of the following: center or trajectory of the carrier, center or trajectory of the suspended load control system, destination location, mass of the suspended load control system and load, length of the long line, inertia of the suspended load control system and load, movement and rotation of the suspended load control system, height of the suspended load control system above ground, movement and rotation of the carrier, height of the carrier above ground, aerodynamic model of the long line, gravity on the long line, wind and sea conditions, and disturbance estimates of the relative motion of the suspended load control system and the carrier.

Example 64. The computer-readable medium of Example 63, in which the target location moves over time.

Example 65. The computer-readable medium of Example 63, wherein the carrier's center of orbit is greater than the destination location, and the instructions further cause the computer device to control the fan array and hoist and output navigation instructions to the carrier that affect the position, movement, and orientation of the load control system relative to the destination location within the carrier's center of orbit.

Example 66. The computer-readable medium of Example 52, wherein the physical information about the long line includes at least one of the length of the long line extending from the hoist to the load control system, the tension or torque applied from the long line to the hoist, or the mass applied from the long line to the hoist.

Example 67. The computer-readable medium of Example 52, wherein the state of the load control system carrier and the long lines includes a position, orientation, and movement of the carrier and a position, orientation, and movement of the load control system, and the instructions further include causing the computer device to estimate and predict the state of the load control system carrier and the long lines based on the first state information and the second state information, wherein estimating and predicting the state of the load control system carrier and the long lines based on the first state information and the second state information includes combining the first state information and the second state information from the first sensor set and the second sensor set in a nonlinear filter according to a system model having feedback from at least one of a functional mode or command state, a thrust and orientation mapping, or a carrier-fan array and hoist mapping.

Example 68. The computer-readable medium of Example 67, wherein the nonlinear filter comprises an unscented Kalman filter.

Claims (88)

A device for controlling a load suspended from a carrier by a long line, comprising:
a load control system comprising a fan array and a first set of sensors, the load control system adapted to be fixed to an end of the long line, the first set of sensors acquiring first status information relating to a first position, movement and orientation of the load control system;
the carrier comprising a hoist and a second set of sensors;
the hoist controls a length of the long line extending from the hoist to the load control system;
the second set of sensors acquires second state information relating to a second position, movement and orientation of the carrier;
a carrier for acquiring physical information about the long line extending from the hoist to the load control system;
A computer processor and memory,
The memory comprises a data fusion module and a manipulation module;
the data fusion module comprises a system model representing the load control system, the carrier, and the long line;
the computer processor providing the system model with the first state information, the second state information, and the physical information regarding the long line extending from the hoist to the load control system;
the computer processor executes the data fusion module to determine states of the baggage control system, the carriers and the long lines, characteristics of the states of the baggage control system, the carriers and the long lines over time, and response times between the characteristics of the states of the baggage control system, the carriers and the long lines over time;
a computer processor and memory for executing the operational module to control the fan array and the hoist based on the status of the load control system, the carrier and the long line, characteristics of the status of the load control system, the carrier and the long line over time, and response times between the characteristics of the status of the load control system, the carrier and the long line over time, and output navigation instructions to the carrier that affect the position, movement, and orientation of the load control system relative to a target point;
An apparatus comprising: The apparatus of claim 1, wherein the load includes at least one of the suspended load control system or a load secured to the suspended load control system. The apparatus of claim 1, wherein the response time exceeds a threshold and, in response, the operations module determines the target point that minimizes perturbations in the states of the baggage control system, the carrier, and the long line, and perturbations in the characteristics of the states of the baggage control system, the carrier, and the long line over time. The apparatus of claim 3, wherein the operation module further outputs the navigation instructions to the carrier for at least one of directing the rotor path of the carrier, directing the speed of the carrier, or directing the center of orbit of the carrier to minimize perturbations in the state of the baggage control system, the carrier, and the long line, and in the characteristics of the state of the baggage control system, the carrier, and the long line over time. The apparatus of claim 3, wherein the operational module further minimizes perturbations in the state of the load control system, the carrier, and the long line, and in the characteristics of the state of the load control system, the carrier, and the long line over time, using instructions to control the hoist to hold the length of the long line extending from the hoist to the load control system stationary. The apparatus of claim 1, wherein the data fusion module further predicts an unsafe condition of the load control system and determines the target point to avoid the unsafe condition. The device of claim 6, wherein the unsafe condition of the load control system is at least one of a collision with an object or excessive acceleration. The apparatus of claim 7, wherein the dangerous condition of the load control system is the collision with an object, and the operational module further controls the fan array to apply a torque or horizontal force to the load control system to avoid the object. The apparatus of claim 8, wherein the manipulation module further applies the torque to obtain an orientation and then applies the horizontal force to move the load control system to avoid the object. The apparatus of claim 7, wherein the unsafe condition of the load control system is the excessive acceleration, and the operation module further controls the hoist to reduce the excessive acceleration. The apparatus of claim 10, wherein the operation module controls the hoist to pay out the long line to reduce the excessive acceleration. The apparatus of claim 1, wherein the system model comprises at least one of the center or trajectory of the carrier, the center or trajectory of the suspended load control system, a destination location, the mass of the suspended load control system and the load, the length of the long line, the inertia of the suspended load control system and the load, the translation and rotation of the suspended load control system, the height of the suspended load control system above ground, the translation and rotation of the carrier, the height of the carrier above ground, an aerodynamic model of the long line, the gravitational force on the long line, and disturbance estimates of wind and sea conditions and relative motion between the suspended load control system and the carrier. The device of claim 12, wherein the destination location moves over time. The apparatus of claim 12, wherein the carrier's center of orbit is greater than the destination location, and the operations module outputs navigation instructions to the carrier to control the fan array and the hoist and to affect the position, movement, and orientation of the load control system relative to the destination point within the carrier's center of orbit. The apparatus of claim 1, wherein the physical information about the long line includes at least one of the length of the long line extending from the hoist to the load control system, the tension or torque applied from the long line to the hoist, or the mass applied from the long line to the hoist. the state of the baggage control system, the carrier, and the long line includes the position, orientation, and movement of the carrier, and the position, orientation, and movement of the baggage control system;
the operations module estimates and predicts the status of the load control system, the carrier, and the long line based on the first status information and the second status information;
2. The apparatus of claim 1, wherein estimating and predicting the state of the load control system, the carrier and the long line based on the first state information and the second state information comprises the operations module combining the first state information and the second state information from the first set of sensors and the second set of sensors in a nonlinear filter according to a system model having feedback from at least one of the operations module's functional mode or command state, thrust and orientation mapping, or carrier-fan array and hoist mapping. The apparatus of claim 16, wherein the nonlinear filter comprises an unscented Kalman filter. 1. A method of controlling a load suspended from a carrier by a longline, comprising the steps of:
a load control system with a computer processor and memory, the load control system comprising a fan array and a first set of sensors, the load control system being secured to an end of the long line; the carrier with a hoist and a second set of sensors, the hoist controlling a length of the long line extending from the hoist to the load control system; the carrier; and a system model in the memory representing the load control system, the carrier and the long line;
the computer processor obtains from the first set of sensors first state information relating to a first position, movement and orientation of the load control system;
the computer processor obtains second state information relating to a second position, movement and orientation of the carrier from the second set of sensors;
the computer processor obtains from the hoist physical information regarding the long line extending from the hoist to the load control system;
the computer processor providing the system model with the first state information, the second state information, and the physical information regarding the long line extending from the hoist to the load control system;
the computer processor determines states of the load control system, the carriers and the long lines, characteristics of the states of the load control system, the carriers and the long lines over time, and response times between the characteristics of the states of the load control system, the carriers and the long lines over time;
The method, wherein based on the states of the luggage control system, the carrier and the long line, characteristics of the states of the luggage control system, the carrier and the long line over time, and response times between the characteristics of the states of the luggage control system, the carrier and the long line over time, the computer processor outputs navigation instructions to the carrier that control the fan array and the hoist and affect the position, movement and orientation of the luggage control system relative to a target point. The method of claim 18, wherein the load includes at least one of the suspended load control system or a load secured to the suspended load control system. The method of claim 18, further comprising: the computer processor determining that the response time exceeds a threshold and, in response thereto, determining the target point that minimizes perturbations in the state of the baggage control system, the carrier, and the long line, and perturbations in the characteristics of the state of the baggage control system, the carrier, and the long line over time. 21. The method of claim 20, wherein the computer processor further outputs the navigation instructions to the carrier for at least one of indicating the rotor path of the carrier, indicating the speed of the carrier, or indicating the center of orbit of the carrier to minimize perturbations in the state of the baggage control system, the carrier, and the long line, and in the characteristics of the state of the baggage control system, the carrier, and the long line over time. 21. The method of claim 20, wherein the computer processor further minimizes perturbations in the state of the load control system, the carrier, and the long line, and perturbations in the characteristics of the state of the load control system, the carrier, and the long line over time by controlling the hoist to keep stationary a length of the long line extending from the hoist to the load control system. The method of claim 18, wherein the computer processor further predicts an unsafe condition of the load control system and determines the destination point to avoid the unsafe condition. 24. The method of claim 23, wherein the unsafe condition of the load control system is at least one of a collision with an object or excessive acceleration. 25. The method of claim 24, wherein the unsafe condition of the load control system is a collision with an object, and the computer processor further controls the fan array to apply a torque or horizontal force to the load control system to avoid the object. 26. The method of claim 25, wherein the computer processor further applies the torque to obtain an orientation and then applies the horizontal force to move the load control system to avoid the object. 25. The method of claim 24, wherein the unsafe condition of the load control system is the excessive acceleration, and the computer processor controls the hoist to reduce the excessive acceleration. 28. The method of claim 27, wherein the computer processor further controls the hoist to release the long line to reduce the excessive acceleration. 19. The method of claim 18, wherein the system model comprises at least one of the center or trajectory of the carrier, the center or trajectory of the suspended load control system, a destination location, the mass of the suspended load control system and the load, the length of the long line, the inertia of the suspended load control system and the load, the translation and rotation of the suspended load control system, the height of the suspended load control system above ground, the translation and rotation of the carrier, the height of the carrier above ground, an aerodynamic model of the long line, gravity on the long line, wind and sea conditions, and a disturbance estimate of the relative motion between the suspended load control system and the carrier. The method of claim 29, wherein the destination location moves over time. The method of claim 29, wherein the carrier's center of orbit is greater than the destination location, and the computer processor outputs navigation instructions to the carrier to further control the fan array and the hoist and to affect the position, movement and orientation of the load control system relative to the destination point within the carrier's center of orbit. The method of claim 18, wherein the physical information about the long line includes at least one of the length of the long line extending from the hoist to the load control system, the tension or torque on the hoist from the long line, or the mass on the hoist from the long line. the state of the load control system, the carrier, and the long line includes the position, orientation, and movement of the carrier, and the position, orientation, and movement of the load control system;
the computer processor further estimates and predicts the status of the load control system, the carrier, and the long line based on the first status information and the second status information;
20. The method of claim 18, wherein estimating and predicting a state of the load control system, the carrier and the long line based on the first state information and the second state information comprises combining the first state information and the second state information from the first set of sensors and the second set of sensors in a nonlinear filter according to a system model with feedback from at least one of a functional mode or command state, a thrust and orientation mapping, or a carrier-fan array and hoist mapping. The method of claim 33, wherein the nonlinear filter comprises an unscented Kalman filter. A computer device for controlling a load suspended from a carrier by a long line, the computer device comprising: a load control system, a carrier, a computer processor and a memory;
the load control system comprising a fan array, a first set of sensors, and means for fastening the load control system to a distal end of the long line;
the carrier includes a hoist and a second set of sensors;
the hoist includes means for controlling a length of the long line extending from the hoist to the load control system;
the memory comprises a system model;
the system model represents the load control system, the carrier, and the longline;
the computer processor includes means for obtaining first state information relating to a first position, movement, and orientation of the load control system from the first set of sensors;
the computer processor further comprising means for obtaining second state information relating to a second position, movement and orientation of the carrier from the second set of sensors;
the computer processor further comprises means for obtaining, from the hoist, physical information regarding the long line extending from the hoist to the load control system;
the computer processor further comprising means for providing to the system model the first status information, the second status information, and the physical information relating to the long line extending from the hoist to the load control system;
the computer processor further comprising means for determining a state of the load control system, the carrier and the long line, a characteristic of the state of the load control system, the carrier and the long line over time, and a response time between the characteristic of the state of the load control system, the carrier and the long line over time;
The computer apparatus further comprises means for controlling the fan array and the hoist and outputting navigation instructions to the carrier that affect the position, movement and orientation of the luggage control system relative to a target point, the computer processor based on the status of the luggage control system, the carrier and the long line, characteristics of the status of the luggage control system, the carrier and the long line over time, and response times between the characteristics of the status of the luggage control system, the carrier and the long line over time. The apparatus of claim 35, wherein the load includes at least one of the suspended load control system or a load secured to the suspended load control system. The apparatus of claim 35, wherein the computer processor further comprises means for determining when the response time exceeds a threshold, and means for determining, in response thereto, the target point that minimizes perturbations in the state of the baggage control system, the carrier, and the long line, and perturbations in the characteristics of the state of the baggage control system, the carrier, and the long line over time. The apparatus of claim 37, wherein the computer processor further comprises means for outputting at least one of navigation instructions to the carrier, which instructions include: directing a rotor path of the carrier, directing a speed of the carrier, or directing a center of orbit of the carrier, to minimize perturbations of the state of the baggage control system, the carrier, and the long line, and perturbations of the characteristics of the state of the baggage control system, the carrier, and the long line over time. The apparatus of claim 37, further comprising means for minimizing perturbations in the state of the load control system, the carrier and the long line, and in the characteristics of the state of the load control system, the carrier and the long line over time by controlling the hoist to keep the length of the long line extending from the hoist to the load control system stationary. The apparatus of claim 35, wherein the computer processor further comprises means for predicting an unsafe condition of the load control system and means for determining the destination point to avoid the unsafe condition. The apparatus of claim 40, wherein the unsafe condition of the load control system is at least one of a collision with an object or excessive acceleration. The apparatus of claim 41, wherein the dangerous condition of the load control system is a collision with an object, and the computer processor further comprises means for controlling the fan array to apply a torque or horizontal force to the load control system to avoid the object. The apparatus of claim 42, wherein the computer processor further comprises means for applying the torque to obtain an orientation and then applying the horizontal force to move the load control system to avoid the object. The apparatus of claim 41, wherein the unsafe condition of the load control system is the excessive acceleration, and the computer processor further comprises means for controlling the hoist to reduce the excessive acceleration. The apparatus of claim 44, wherein the computer processor further comprises means for controlling the hoist to pay out the long line to reduce the excessive acceleration. 36. The apparatus of claim 35, wherein the system model comprises at least one of the center or trajectory of the carrier, the center or trajectory of the suspended load control system, a destination location, the mass of the suspended load control system and the load, the length of the long line, the inertia of the suspended load control system and the load, the translation and rotation of the suspended load control system, the height of the suspended load control system above ground, the translation and rotation of the carrier, the height of the carrier above ground, an aerodynamic model of the long line, the gravitational force on the long line, and disturbance estimates of wind and sea conditions and relative motion between the suspended load control system and the carrier. The device of claim 46, wherein the destination location moves over time. The apparatus of claim 46, wherein the carrier's center of orbit is greater than the destination location, and the computer processor further comprises means for controlling the fan array and the hoist, and means for outputting navigation instructions to the carrier to affect the position, movement, and orientation of the load control system relative to the destination point within the carrier's center of orbit. The apparatus of claim 35, wherein the physical information about the long line includes at least one of the length of the long line extending from the hoist to the load control system, the tension or torque on the hoist from the long line, or the mass on the hoist from the long line. the state of the baggage control system, the carrier, and the long line includes the position, orientation, and movement of the carrier, and the position, orientation, and movement of the baggage control system;
the computer processor further comprises means for estimating and predicting a status of the load control system, the carrier, and the long line based on the first status information and the second status information;
36. The apparatus of claim 35, wherein the means for estimating and predicting a state of the load control system, the carrier and the long line based on the first state information and the second state information comprises means for combining the first state information and the second state information from the first set of sensors and the second set of sensors in a nonlinear filter according to a system model having feedback from at least one of a functional mode or command state, a thrust and orientation mapping, or a carrier-fan array and hoist mapping. The apparatus of claim 50, wherein the nonlinear filter comprises an unscented Kalman filter. one or more computer readable media containing instructions that, in response to execution of the instructions by a computer processor of a computing device, cause the computing device to control a load suspended from a carrier by a longline,
a load control system comprising a fan array and a first set of sensors, the load control system being fixed to an end of the long line;
a carrier including a hoist and a second set of sensors, the hoist controlling a length of the long line extending from the hoist to the load control system;
The instructions include a system model;
the system model represents the load control system, the carrier, and the longline;
The instructions cause the computing device to obtain from the first set of sensors first status information relating to a first position, movement, and orientation of the load control system, obtain from the second set of sensors second status information relating to a second position, movement, and orientation of the carrier, and obtain from the hoist physical information relating to the long line extending from the hoist to the load control system;
providing the system model with the first status information, the second status information, and the physical information relating to the long line extending from the hoist to the load control system;
Based on the results, determining the status of the baggage control system, the carrier and the long line, characteristics of the status of the baggage control system, the carrier and the long line over time, and a response time between the characteristics of the status of the baggage control system, the carrier and the long line over time;
One or more computer readable media for controlling the fan array and the hoist based on the status of the luggage control system, the carrier and the long line, characteristics of the status of the luggage control system, the carrier and the long line over time, and response times between the characteristics of the status of the luggage control system, the carrier and the long line over time, and outputting navigation instructions to the carrier that affect the position, movement and orientation of the luggage control system relative to a target point. The computer-readable medium of claim 52, wherein the load includes at least one of the suspended load control system or a load secured to the suspended load control system. 53. The computer-readable medium of claim 52, wherein the instructions further cause the computer device to determine that the response time exceeds a threshold and, in response, determine the target point that minimizes perturbations in the status of the baggage control system, the carrier, and the long line, and perturbations in the characteristics of the status of the baggage control system, the carrier, and the long line over time. 55. The computer-readable medium of claim 54, wherein the instructions further cause the computer device to output at least one of navigation instructions to the carrier to indicate a rotor path of the carrier, to indicate a speed of the carrier, or to indicate a center of orbit of the carrier, in order to minimize perturbations in the state of the baggage control system, the carrier, and the long line, and in the characteristics of the state of the baggage control system, the carrier, and the long line over time. 55. The computer readable medium of claim 54, wherein the instructions further cause the computer device to minimize perturbations in the state of the load control system, the carrier, and the long line, and perturbations in the characteristics of the state of the load control system, the carrier, and the long line over time by controlling the hoist to stationary a length of the long line extending from the hoist to the load control system. The computer-readable medium of claim 52, wherein the instructions further cause the computer device to predict an unsafe condition in the load control system and determine a destination point to avoid the unsafe condition. The computer-readable medium of claim 57, wherein the unsafe condition of the load control system is at least one of a collision with an object or excessive acceleration. The computer-readable medium of claim 58, wherein the unsafe condition of the load control system is a collision with an object, and the instructions further cause the computing device to control the fan array to apply a torque or horizontal force to the load control system to avoid the object. The computer-readable medium of claim 59, wherein the instructions further cause the computing device to apply the torque to obtain an orientation and then apply the horizontal force to move the load control system to avoid the object. The computer-readable medium of claim 58, wherein the unsafe condition of the load control system is the excessive acceleration, and the instructions further control the hoist to reduce the excessive acceleration. The computer-readable medium of claim 61, wherein the instructions further control the hoist to release the long line to reduce the excessive acceleration. 53. The computer readable medium of claim 52, wherein the system model includes at least one of the center or trajectory of the carrier, the center or trajectory of the suspended load control system, a destination location, the mass of the suspended load control system and the load, the length of the long line, the inertia of the suspended load control system and the load, the translation and rotation of the suspended load control system, the height of the suspended load control system above ground, the translation and rotation of the carrier, the height of the carrier above ground, an aerodynamic model of the long line, the gravitational force on the long line, and disturbance estimates of wind and sea conditions and relative motion between the suspended load control system and the carrier. The computer-readable medium of claim 63, wherein the destination location moves over time. The computer-readable medium of claim 63, wherein the carrier's center of orbit is greater than the destination location, and the instructions further cause the computing device to control the fan array and the hoist and output navigation instructions to the carrier that affect the position, movement, and orientation of the load control system relative to the destination point within the carrier's center of orbit. The computer-readable medium of claim 52, wherein the physical information about the long line includes at least one of the length of the long line extending from the hoist to the load control system, the tension or torque on the hoist from the long line, or the mass on the hoist from the long line. the state of the baggage control system, the carrier, and the long line includes the position, orientation, and movement of the carrier, and the position, orientation, and movement of the baggage control system;
The instructions further cause the computer device to estimate and predict a status of the load control system, the carrier, and the long line based on the first status information and the second status information;
53. The luggage control system of claim 52, wherein estimating and predicting a state of the luggage control system, the carrier and the long line based on the first state information and the second state information includes combining the first state information and the second state information from the first set of sensors and the second set of sensors in a nonlinear filter according to a system model with feedback from at least one of functional modes or command states, thrust and orientation mapping, or carrier-fan array and hoist mapping. The computer-readable medium of claim 67, wherein the nonlinear filter comprises an unscented Kalman filter. 1. An apparatus for controlling a load suspended from a carrier by a long line, the apparatus comprising:
a load control system comprising a fan array and a first set of sensors configured to obtain first state information relating to a first position, a first movement, and a first orientation of the load control system;
a hoist and a second set of sensors fixed to the carrier, the hoist controlling a length of the long line extending from the hoist to the load control system and acquiring physical information regarding the long line extending from the hoist to the load control system, the second set of sensors acquiring second status information regarding a second position, movement and orientation of the carrier;
A computer processor and memory,
the memory includes a data fusion module and an operations module, the data fusion module including a system model representing the load control system, the carrier, and the long line;
An apparatus comprising a computer processor and memory, wherein the computer processor executes the data fusion module to determine characteristics of states of the luggage control system, the carrier and the long line over time, determines a response time between the characteristics of states of the luggage control system, the carrier and the long line over time, and executes the operation module to control the fan array and the hoist based at least in part on the response time between the characteristics of states of the luggage control system, the carrier and the long line, and outputs navigation instructions to the carrier to affect one or more of a first position, a first movement, and a first orientation of the luggage control system relative to a target point. The apparatus of claim 69, wherein if the response time exceeds a threshold, the operations module determines an action to minimize perturbations in the status of the load control system, the carrier, and the long line. The apparatus of claim 70, wherein the operations module further minimizes perturbations of the state of the load control system, the carrier, and the long line using instructions to control the hoist to hold the length of the long line extending from the hoist to the load control system stationary. The apparatus of claim 69, wherein the data fusion module predicts an unsafe condition in the load control system and avoids the unsafe condition. The apparatus of claim 72, wherein the unsafe condition of the load control system includes at least one of a collision with an object or excessive acceleration. The apparatus of claim 72, wherein the dangerous condition of the load control system is a collision with an object, and the operational module controls the fan array to apply a torque or horizontal force to the load control system to avoid the object. The apparatus of claim 72, wherein the unsafe condition of the load control system is excessive acceleration, and the operational module controls the hoist to minimize the excessive acceleration. 1. A method of controlling a load suspended from a carrier by a longline, comprising the steps of:
obtaining first status information relating to a first position, a first movement, and a first orientation of a load control system from a first set of sensors, the load control system comprising a first set of sensors and a fan array, the load control system being suspended from the carrier by the long lines;
acquiring physical information about the long line extending from a hoist of the carrier to the load control system;
acquiring second state information relating to a second position, movement and orientation of the carrier from a second set of sensors;
determining a characteristic of a state of the load control system, the carrier, and the long line over time using a system model representing the load control system, the carrier, and the long line;
determining a response time between the load control system, the carrier and the long line conditions over time;
controlling the fan array and the hoist based at least in part on a response time between the load control system and a characteristic of a condition of the carrier and the long line over time;
and outputting navigation instructions to the carrier to affect one or more of a first position, a first movement, and a first orientation of the load control system relative to a destination point. The method of claim 76, further comprising: determining when the response time exceeds a threshold; and determining an action to minimize perturbations in the conditions of the load control system, the carrier, and the long line. The method of claim 77, further comprising issuing a command to or controlling the hoist to stationary the length of the long line extending from the hoist to the load control system. The method of claim 79, further comprising predicting an unsafe condition of the load control system and avoiding the unsafe condition. 80. The method of claim 79, wherein the unsafe condition of the load control system includes at least one of a collision with an object or excessive acceleration. 80. The method of claim 79, wherein the unsafe condition of the load control system is a collision with an object, and further comprising controlling the fan array to apply a torque or horizontal force to the load control system to avoid the object. 80. The method of claim 79, wherein the unsafe condition of the load control system is excessive acceleration, and further comprising controlling the hoist to minimize the excessive acceleration. One or more computer readable media,
instructions for causing the computer device to control a load suspended from the carrier by the longline in response to execution of the instructions by a processor of the computer device;
The instructions further cause the computing device to obtain first state information related to a first position, a first movement, and a first orientation of the computing device from a first set of sensors;
wherein the computing device includes the first sensor set and a fan array and is suspended from the carrier by the long lines;
acquiring physical information about the long line extending from a hoist of the carrier to the computer device;
obtaining second state information relating to a second position, movement and orientation of the carrier from a second set of sensors;
determining a characteristic of the load control system, the carrier, and the long line over time;
determining a response time between the load control system, the carrier and the long line conditions over time;
A computer-readable medium for controlling the fan array and the hoist based at least in part on the response time between the load control system, the carrier and the characteristics of the status of the long line over time, and causing the carrier to output navigation instructions to affect one or more of a first position, a first movement, and a first orientation of the computing device relative to a target point. The computer-readable medium of claim 83, wherein the instructions further cause the computer device to determine that the response time exceeds a threshold and determine an action to minimize perturbations in the status of the baggage control system, the carrier, and the long line. The computer readable medium of claim 84, wherein the instructions further cause the computer device to issue commands to or control the hoist to stationary the length of the long line extending from the hoist to the load control system. The computer-readable medium of claim 84, wherein the instructions further cause the computer device to predict an unsafe condition of the load control system and a means to avoid the unsafe condition. The computer-readable medium of claim 86, wherein the hazardous condition of the load control system is a collision with an object, and the instructions further cause the computer device to control the fan array to apply a torque or horizontal force to avoid the object. The computer-readable medium of claim 86, wherein the unsafe condition of the load control system is excessive acceleration, and the instructions further cause the computer device to control the hoist to minimize the excessive acceleration.

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