RU213951U1 - DEVICE OF DEPLOYED EQUIPMENT FOR LIFTING - Google Patents

Abstract

The utility model relates to a device, system and method for controlling a lift in a vehicle and a mechanical system such as a suspended load control system.

A deployable equipment device for a vehicle, in which the vehicle is designed to carry the deployable equipment suspended on a cable to the vehicle, and the deployable equipment device contains a means for recharging the battery of the deployable equipment through an electrical interface between the deployable equipment and the docking station, a means for disconnecting the deployable equipment from an electrical interface; and means for the deployed equipment to execute the function or command at least in part using power from the battery of the deployed equipment.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is a conventional patent application and claims to take advantage of the filing dates of U.S. Provisional Application No. 62/876,721, filed July 21, 2019, and U.S. Provisional Application No. 62/931,666, filed November 6, 2019. , and includes their entity at that link.

FIELD OF TECHNOLOGY TO WHICH THE UTILITY MODEL RELATES

[0002] This disclosure is directed to improved systems and methods relating to an apparatus, system, and method for controlling an elevator in a vehicle and a mechanical system, such as a suspended load control system.

BACKGROUND OF THE INVENTION

[0003] People and/or objects, such as equipment ("loads"), can be transported from place to place in the form of a load suspended on a suspension cable from a helicopter, crane or fixed wing aircraft using a lifting system. Cranes, helicopters, and fixed-wing aircraft may be referred to here as "vehicles". When the transport operation is performed by a fixed wing aircraft, the transport operation can be performed by flying the fixed wing aircraft in a circle around the evacuation point, while the suspension cable forms a spiral with the center of the spiral transferred to the general area of the evacuation site by moving the center of flight in a circle flying along circle of a fixed-wing aircraft. Cargoes are usually not floating, although they may be. During vehicle operations, loads are exposed to winds and other external and internal forces that can cause the load to move in an unstable, unpredictable, undesirable and/or dangerous manner.

[0004] In hoist and external suspension operations, or in other cases when a suspended load is transported by a vehicle, the observed movement of suspended loads includes the following components: vertical movement (up and down movement) along the Y axis (herein referred to as "vertical movement"); horizontal movement along one or both of the X and Z axes; and roll or "yaw" about the y-axis. Roll (rotation about the x-axis) and pitch (rotation about the z-axis) can also occur, but if the load is suspended on a line and is not buoyant, the usual movements are vertical movement, horizontal movement and yaw . Vertical and horizontal movement can be caused by movement of the suspension cable, movement of the vehicle, winding or unwinding of the winch relative to the vehicle, movement of the load, differences in speed and momentum between the load and the vehicle, wind, including wind blows - propeller wake, the interaction between the load and the spiraling suspension cable and external forces. Horizontal movement can appear as a lateral movement or as a conical pendulum movement of the load, with the pendulum swinging point where the cable is attached to the vehicle ("pendulum movement"); pendulum motion generally also includes a vertical movement component and may also be referred to as elliptical motion. During evacuation operations conducted by fixed wing vehicles, the lower part of the spiraling suspension cable can only approximately find the desired evacuation point and the cargo to be evacuated may be subject to undesirable "yo-yo" (unstable condition) effects in which the lower part of the helix jumps up and down; yo-yo effects are also referred to here by the term "vertical movement".

[0005] Yaw, lateral movement, pendulum movement, and vertical movement hinder lifting operations, cause delays, injury, and can lead to death of flight crew, crane operators, and people on the ground. Yaw can cause dizziness and disorientation in humans and animals. Unwanted vertical movement may cause a load, which may include a person, to collide with the ground, collide with objects in the environment, or be subjected to unwanted acceleration. Yaw, lateral and pendulum movement, and vertical movement can also prevent the load from being lifted in or delivered to the location. For example, delivery of cargo to the deck of a ship may be difficult due to the pendulum motion or yaw of the cargo, even if the deck is stable and not as susceptible to roll, roll or pitch as it may be. For example, lifting a person on a stretcher into a helicopter or onto a helicopter stand can be hazardous if the stretcher yaws or oscillates as it is lifted into the helicopter. One or more components of the unwanted movement of the load may increase in amplitude and/or frequency and otherwise become more pronounced as the load is lifted into the vehicle and the suspension cable is shortened. Horizontal movement, vertical movement and pendulum movement of the load can also interact with the vehicle, causing dangerous jet or resonant movement in the vehicle.

[0006] In addition, some suspended load operations may include an obstacle such as a surface, rock wall, building, bridge, tree branch, overhang, or other obstacle that may interfere with one or more of the vehicle, load, and/ or hanging wire.

[0007] Vehicles are often operated or operated with multiple pieces of equipment. One such piece of equipment may be a vehicle lifting system. The lift system on the vehicle may be used to lift an object such as a person, stretcher, cargo or the like from the ground into the vehicle above; this may be referred to as a lifting operation. However, during the lifting operation, a variety of items of equipment may be used to assist or support the lifting operation, such as a suspended load control system ("SLCS"), a canopy-dropped helicopter accommodator ("junglepenetrator"), or a life cradle or rescue stretcher. When deployed, this equipment may require a mechanism such as a load hook to attach the equipment to the lifting system and suspension cable. In legacy lift operations, such mechanisms may require a helicopter crew member to physically connect the equipment to a suitable lift system component for the piece of equipment to be used during the operation.

[0008] Increases the mechanical and logical complexity of deployable equipment that can be attached to a suspension cable under a vehicle lift. For example, the deployable equipment may provide services to the payload and/or vehicle, such as SLCS, which may stabilize the payload against rotation or pendulum movement, or control the payload relative to the target. For example, it may be necessary to provide services to the deployed equipment, such as moving the deployed equipment along one or more of the X, Y, and Z axes, winding or shortening the overhead wire, lengthening or unwinding the overhead wire, recharging the batteries of the deployed equipment, and the like. Lack of integration between the deployed equipment and the lift and/or vehicle may require many of these services to be provided by one or more people, such as the vehicle's crew. The provision of such services may be inconvenient, distracting or dangerous for both the crew and other people in the vehicle and/or people on the ground. Lack of integration between deployable equipment and lifting systems can result in, for example, premature battery drain, equipment damage, environmental damage, injury, loss of life and mission failure, including failure to save lives.

[0009] Lack of integration between deployable equipment and hoist can occur during, for example, helicopter sling load missions, firefighting, crane operations, Navy ship-to-ship resupply missions, deep sea drilling, aircraft refueling operations in flight and recovery operations in a fixed wing aircraft. In this regard, there is a need for greater integration between deployed equipment and lifting systems.

BRIEF DESCRIPTION OF THE DRAWINGS

[0010] FIG. 1 illustrates a vehicle, hoist, deployable equipment, and payload in accordance with an embodiment.

[0011] FIG. 2 illustrates an elevator, a docking station for a deployable equipment, and a deployable equipment in a deployed state configuration in accordance with an embodiment.

[0012] FIG. 3 illustrates an elevator, a docking station for a deployable equipment, and a deployable equipment in a retracted state configuration in accordance with an embodiment.

[0013] FIG. 4 illustrates an elevator, a docking station for a deployable equipment, a reel, and an interface for a deployable equipment, in accordance with an embodiment.

[0014] FIG. 5 illustrates a first view of deployable equipment attached to a suspension cable, in accordance with an embodiment.

[0015] FIG. 6A illustrates a second view of the deployable equipment attached to the suspension line of FIG. 5 according to the embodiment.

[0016] FIG. 6B illustrates a second view of the deployable equipment in FIG. 5 without a suspension cable according to the embodiment.

[0017] FIG. 7A illustrates a view of a deployable equipment frame and tether attachment mechanism in accordance with an embodiment.

[0018] FIG. 7B illustrates a second view of the deployable equipment frame and tether attachment mechanism of FIG. 7A according to the embodiment.

[0019] FIG. 8A illustrates a view of a cable attachment mechanism attached to a suspension cable according to an embodiment.

[0020] FIG. 8B illustrates a detailed view of the cable attachment mechanism of FIG. 8A without a suspension cable according to the embodiment.

[0021] FIG. 8C illustrates a second view of the cable attachment mechanism in FIG. 8B according to the embodiment.

[0022] FIG. 9A illustrates a view of the components of a cable attachment mechanism according to an embodiment.

[0023] FIG. 9B illustrates a second view of the components of the cable attachment mechanism in FIG. 9A according to an embodiment.

[0024] FIG. 10 schematically illustrates the operating components of an elevator and deployable control system, including remote interface logic components and elevator logic components, in accordance with an embodiment.

[0025] FIG. 11 illustrates an operating module of a deployable equipment system including a plurality of command wait modes or states, in accordance with an embodiment.

[0026] FIG. 12 illustrates an elevator and deployable equipment data fusion and control module of a deployable equipment management system according to an embodiment.

[0027] FIG. 13 illustrates an operating hoist module with integrated deployable equipment in accordance with an embodiment.

[0028] FIG. 14A illustrates a remote interface view for an integrated lift and deployable equipment in accordance with an embodiment.

[0029] FIG. 14B illustrates a second view of the remote interface for the integrated lift and deployable equipment of FIG. 14A according to an embodiment.

[0030] FIG. 15A illustrates a rear view of an SLCS remote interface in accordance with an embodiment.

[0031] FIG. 15B illustrates a side view of a remote SLCS interface in accordance with an embodiment.

00[32] FIG. 15C illustrates a front view of a remote SLCS interface in accordance with an embodiment.

[0033] FIG. 16A illustrates a docking interface in an undocked state configuration according to an embodiment.

[0034] FIG. 16B illustrates a docking interface in a docked state configuration according to an embodiment.

[0035] FIG. 17A illustrates the connection to the end equipment of the suspension cable according to the embodiment.

[0036] FIG. 17B illustrates a deployable receptacle for a suspension wire end equipment in accordance with an embodiment.

DETAILED DESCRIPTION

[0037] In various embodiments, which are further described here, the combined elevator and deployable equipment provide for interaction between the deployable equipment and the elevator. For example, when integrated, the deployed equipment may receive distance, weight, and/or force data or information from the lift. For example, when integrated, the equipment being deployed may provide telemetry data or information to an elevator or other process. For example, when integrated, the deployed equipment can control the lift. For example, in integration, the deployable may control the elevator in order to achieve a goal, such as the target of the deployed equipment. For example, in integration, the deployable equipment can be deployed from the hoist and onto the overhead wire with no or minimal human interaction. For example, in integration, the deployed equipment may be docked to the lift with no or minimal human interaction. For example, in integration, the deployed equipment may receive communication services from the vehicle. For example, when integrated, the deployed equipment may receive electricity and/or battery recharge services from the vehicle.

[0038] For example, the system to be deployed may be an SLCS. The SLCS may be located at or near the location of a load suspended from a suspension cable under the hoist. The load may experience pendulum motion, rotation, or horizontal or vertical movement in response to vehicle movement, interaction between the load and suspension cable, and/or external disturbance. The SLCS can control the load by dynamically controlling the hoist, such as the drum in the hoist, to reel in or unwind the overhead wire. The SLCS can control the load by dynamic application of force from, for example, thrusters, fans, or propellers (eg, high power electric tunnel fans) of the SLCS. Thrusters, fans, propellers, and electric tunnel fans may be referred to here as "EDF". Other sources of propulsion may be used, such as jet engines, compressed air, hydrogen peroxide thrusters, rocket engines, and the like.

[0039] The SLCS can manage itself and the cargo (here, the consideration of "cargo management" or "SLCS management" should be understood as referring to the management of the SLCS and thus as the management of the cargo, which can also be attached to the SLCS) by evaluating information about the current and near future status and information about SLCS and cargo parameters. The parameter information may include, for example, the mass of the SLCS and the load, the length of the cable, and the moment of inertia of the SLCS and the load. Status information may include, for example, the position, movement and rotation of the SLCS and load, movement and rotation of the vehicle, thrust from fans or other sources of thrust, and disturbances such as wind strength, sea conditions, and relative movement of the SLCS. and a helicopter. Parameter information, status information, and disturbing forces are not "built into" the SLCS, but are dynamically defined so that the SLCS changes its behavior to suit different operations and to suit the changing circumstances of a single operation.

[0040] When the SLCS or other deployable equipment can receive at least some of the parameter information or status information from the hoist, such as the length of the suspension cable or the mass of the SLCS and load, it may be able to better evaluate the parameter information and status information.

[0041] With this integrated state and disturbance model, the SLCS may be able to better control the load by dynamically applying force from, for example, the hoist, including the drum in the hoist, and/or the EDF at or near the load site.

[0042] For example, winding or unwinding a suspension cable from a hoist can be used to obtain a desired height for a suspended load, to obtain a desired rate of change in height for a suspended load (including to reduce or eliminate the "yo-yo" effect), to save the desired suspension cable tension, for deploying the deployable equipment, for folding the deployable equipment, or the like. When deployed equipment contains SLCS, the vectorized thrust generated by the EDF can be used to counteract yaw and pendulum motion, can be used to move cargo horizontally, such as to obtain a desired position or to avoid an obstacle, or to move cargo to an offset position relative to normal hanging position with the least energy or "fall line" under the point of attachment of the suspension cable to the vehicle, for example, under the shoulder that holds the suspension cable. In the present application, "position" is synonymous with "location" and includes spatial coordinates along the x, y and z axes.

[0043] SLCS can be used to control precise position and orientation, as well as its movement, independent of the vehicle. In the present application, "movement" includes movement along the x, y, and z axes, as well as rotation. When integrated with the lift, deployable equipment such as the SLCS can also use the lift to control the z-axis of the SLCS and the load in this case. The telemetry output from the SLCS can be used to provide feedback to the vehicle's crew or to processes performed by systems in the vehicle. For example, the cable length estimated by the SLCS, or the location of the SLCS and load relative to the target or relative to the vehicle, can be output to the crew that operates the hoist, or to the process that controls the hoist, or directly to the hoist.

[0044] Therefore, the combined hoist and deployable equipment can improve mission performance and safety, and can improve vehicle performance because the SLCS dynamically detects and manages suspension cable length, cable force, location and rotation of the SLCS and cargo separately from vehicle movement. and because the SLCS provides telemetry information that can be used during a suspended load operation.

[0045] When deployed and used, the combined hoist and deployable equipment may be independent of the platform from which the load is suspended (for example, the characteristics of its helicopter, fixed-wing aircraft, drone, crane, etc.), since they are independent and dynamically determine the hoist actions and/or thrust required to deploy or retract deployable equipment, to obtain the desired height, to obtain the desired change in height, to obtain the desired suspension cable tension, to stabilize the load, or to achieve other goals, such as guiding the load in the desired direction. This allows for the widespread adoption of integrated lift and deployable equipment regardless of vehicle type, reducing the cost and risk of the solution.

[0046] The combined hoist and deployable equipment can provide benefits for, for example, helicopter search and rescue, MEDEVAC, slung cargo operations, wildfire fighting helicopters, crane operations, construction slung cargo operations, civil firefighting and fixed-wing lift operations.

[0047] The control of the deployed equipment may require the determination of parameters such as tether length, mass of the deployed equipment and/or payload, and moment of inertia of the deployed equipment and/or payload, as well as state information such as the position, orientation, and/or movement of the deployed equipment. , vehicle and/or cargo, as well as potentially disturbing environmental conditions. A subset of parameter information or status information may be reported to another system; in such a message, such a subset of information may be referred to as "telemetry data" or "telemetry information". Control of the vehicle and/or components in the vehicle, such as winch or hoist, that can be used in relation to the deployed equipment can also be improved with status or telemetry information related to the deployed equipment, cargo and/or vehicle . Deployable equipment may be used in contexts in which the global positioning system (GPS) or other geolocation or radio navigation systems, or other positioning and orientation systems, including tether length or tether force, are unavailable, damaged, or subject to delays. Redundancy of status and telemetry information may also be desirable to increase reliability in the implementation of control systems and to reduce delays in providing telemetry information to such systems.

[0048] The control of deployed equipment differs from the control of other automated systems, such as cars and unmanned aerial vehicles, at least because the deployed equipment may need to dynamically and recursively evaluate parameter information and status information.

[0049] Disclosed here is one or more devices, systems, and/or methods for integrating an elevator and deployable equipment. the combined hoist and deployable equipment can receive certain parameter information from the hoist, such as rope length and hoist forces such as mass. In addition to receiving parameter information from the hoist, the deployed equipment may independently determine or evaluate parameter information and may independently determine or evaluate status information. The deployed equipment may provide some or all of the independently determined information in the form of telemetry data to one or more devices, systems and/or control methods that may be remote from the deployed equipment, including the elevator.

[0050] As further described herein, these devices, systems, and/or methods may combine information from the hoist, such as rope length and hoist forces, with machine vision information and with information from other sensors, such as from an inertial navigation system (" INS"), from lidar (possibly a combination of "light" and "radar" or an abbreviation for "light detection and ranging"), from ultrasonic proximity sensors, from cameras or other engine vision and from other sensor inputs discussed herein to determine the location of the deployed equipment relative to the vehicle, relative to the target location, or relative to another object. Information from the hoist may be provided by the hoist drum, such as a rope length encoder and/or a drum torque encoder. Machine vision information can be obtained by capturing images with cameras in the deployed equipment and detecting vehicle/or load objects in such images. When integrated with information from cameras, INS, lidar systems, localized relative parameter and status information (including distance under vehicle, height of deployed equipment, suspension cable forces, relative orientation and position of vehicle, cargo and/or deployed equipment, and individual vehicle and deployable direction vectors in a localized coordinate system) can be obtained with low latency and high reliability. When absolute parameter or status information is available, such as from GPS or other radio navigation system or absolute positioning, absolute and relative localized information can be integrated. The integration of elevator information, machine vision information, and information from an inertial navigation system, a lidar system, and/or an absolute positioning system can be performed using methods that include, for example, a Kalman filter such as a sigma-point Kalman filter ("UKF") , and the state model.

[0051] Detailed reference will now be made to the description of the embodiments illustrated in the drawings. Although the embodiments are described in connection with the drawings and related descriptions, it is not intended to limit the scope of protection to the embodiments disclosed herein. On the contrary, the intention is to cover all alternatives, modifications and equivalents. In alternative embodiments, additional devices or combinations of illustrated devices may be added or combined without limiting the scope of protection to the embodiments disclosed herein. For example, the embodiments set forth below are generally described in the context of a fixed wing lift operation, helicopter external load carrying, search and rescue operations, and/or crane operations. However, these embodiments are illustrative examples and in no way limit the disclosed technology to any particular application or platform.

[0052] The phrases "in one embodiment," "in various embodiments," "in some embodiments," and the like. are used repeatedly. Such phrases do not necessarily refer to the same embodiment. The terms "comprising", "having", and "including" are synonymous unless the context requires otherwise. As used in this specification and the appended claims, the singular forms include references to the plural unless the context clearly requires otherwise. It should also be noted that the term "or" is generally used in its meaning, which includes "and/or", unless the context clearly requires otherwise.

[0053] FIG. 1 schematically illustrates a hoist 101, a vehicle 105, a deployable equipment 110, a suspension line 115, and a payload 121.

[0054] The vehicle 105 may be, for example, a crane, a helicopter, a fixed wing aircraft, a drone, or the like. Vehicle 105 may include communication, power, and/or control modules or systems, for example, to communicate with lift 101 and/or deployable equipment 110 and/or provide power to lift 101 and/or deployable equipment 110'. Vehicle 105 may include structures to which lift 101 may be attached.

[0055] The hoist 101 is illustrated as comprising a hoist module 120, a drum 125, a cable length encoder 130, a drum torque encoder 135, and an interface 140 for deployable equipment.

[0056] The drum 125 may include a winch, a suspension cable such as a suspension cable 115 wound on or to be wound on the winch, an electric or hydraulic motor for rotating the winch, a brake for stopping the rotation of the winch, a winding guide for guiding the cable when it is is wound on or unwound from the winch, the cable length encoder 130 and the drum torque encoder 135. Rope length encoder 130 may measure or record the length of rope that is unwound from the winch, for example, through the use of physical, optical, or Hall sensors or the like, which measure the rotation of the winch and/or the rope guide roller. The drum torque encoder 135 can encode or record winch forces, such as winch torque, under both static conditions (eg, when the winch is not rotating) and dynamic conditions (eg, when the winch is rotating). The drum torque encoder 135 may include, for example, a load cell, a scale, a mass or weight measurement device, or the like. The drum torque encoder 135 and/or the hoist module 120 may estimate or determine the weight of the load on the cable 115 based on torque and/or based on static or dynamic conditions.

[0057] Elevator 101 may include electrical components including computer processors, computer memory, signal processing devices, logic components, and drives including drum 125 and other drives. Such components are also discussed here in relation to the logical components 1080 lift.

[0058] An elevator module 120 may reside in the computer memory or logic block implemented in the circuits in the elevator 101. Elevator module 120 may include logic to control elevator 101. Elevator module 120 may receive data or information from, for example, a cable length encoder 130 and drum torque encoder 135, and may provide this data or information to other components, such as a deployable equipment 110 and/or vehicle 105. Elevator module 120 may receive data, information, or instructions from, for example, deployable equipment module 145 and/or vehicle 105 (including the crew in vehicle 105). The elevator module 120 may execute instructions, such as reel in or unwind overhead wire 115, communicate with deployable equipment 110, and/or control or use interface 140 to deployable equipment. An example of the logic of the elevator module 120 is illustrated in FIG. 13 with an elevator operating module 1300 with integrated deployable equipment.

[0059] The interface 140 for the deployable equipment includes one or more interfaces for the deployable equipment 110, such as a communications interface, an electrical interface, or a docking interface. The communication interface may provide signaling communication with the deployed equipment, including using wireless or wired communications. The electrical interface may provide power to the deployed equipment or receive power from the deployed equipment. The docking interface may include a docking station for the equipment to be deployed; The deployable equipment docking station may include components, including physical structures and/or actuators, for securing the deployable equipment within, attaching to or detaching from the lift, or securing the deployable equipment within, attaching to or detaching from the vehicle.

[0060] Deployable equipment 110 may include, for example, an SLCS, sensor package, or other equipment that may contain electrical components including computer processors, computer memory, signal processing devices, batteries, logic components, and drives. Examples of such equipment are discussed here in relation to the hoist and suspended load control system 1001. Examples of deployable equipment 110 discussed herein include SLCS, although deployable equipment 110 may not be limited to SLCS.

[0061] In computer memory or in logic implemented in circuits in deployable equipment 110, there may be a module 145 of the deployed equipment. Deployable equipment module 145 may provide services to and receive services from vehicle 105, lift 101, cargo 121, or other object or entity. For example, the deployable equipment module 145 may provide load management services, for example, when the deployable equipment module 145 is or includes a work module 1100 or a hoist and deployable equipment data fusion and control module 1200.

[0062] Deployable equipment 110 may provide services to vehicle 105, lift 101, load 121, or other object or entity. The services provided by deployable equipment 110 may include, for example, data acquisition, such as data acquisition for telemetry or situational awareness, and cargo management, such as cargo management services for cargo 121, communications, and the like. Deployable equipment 110 may require or use services from vehicle 105, lift 101, cargo 121, or another entity or entity. Services for deployable equipment 110 may include, for example, data or information, communications, power, physical movement, docking, and deployment to and from a vehicle.

[0063] Cargo 121 may contain an animate or inanimate object, such as a person, equipment, an external sling carrying or intended to transport an object, a stretcher, a container for water or other liquid or gas, or the like. The load 121 may be attached to the suspension cable 115, such as with a hook, or to another cable or attachment mechanism for the deployable equipment 110. The weight or mass of the load 121 may change during operation, such as when a portion of the load is being loaded, disembarked, or dropped.

[0064] FIG. 2 illustrates the elevator 205, the deployable docking station 202, the deployable equipment 201, and the suspension cable 210 in an deployed or partially deployed configuration.

[0065] Elevator 205 is illustrated as including a housing 206 that can act as or contain components for docking station 202; housing 206 can isolate the components inside the elevator 205 from the environment. The lift 205 may be attached to the vehicle either in the interior of the vehicle or on an external structure of the vehicle, or the like. using fasteners, boom, lever or the like connected directly or indirectly to the vehicle. Housing 206 may contain or include components for delivery or retrieval of deployable equipment and/or attached payload or cargo. For example, such components may include a motor, a motor controller such as an hoist module 120, a suspension wire 210, a winding spool or drum, wire anchors, wire guides, and the like.

[0066] Deployable equipment 201 is illustrated as including, for example, a fan assembly 220. Fan assembly 220 may include one or more thrusters such as an EDF. Deployable hardware 201 may include logical components such as computer processors, memory, and in-memory modules such as deployable hardware module 145. Such logical components may be used or controlled by deployed equipment 201 or modules thereof, eg, in a stand-alone or semi-autonomous manner and/or by humans or other equipment to provide services. In the example illustrated in FIG. 2, the deployable equipment 201 is an SLCS and can provide cargo and/or vehicle lift management services; the load and lift management services may include lift control 205. The modules for providing load and lift management services include a deployable operating module 1100 and a data fusion and lift and deployable equipment control module 1200.

[0067] The deployable equipment 201 is illustrated as including a deployable equipment docking interface 215. The docking interface 215 of the deployable equipment can be attached to or docked with the elevator docking interface 415 discussed here. Docking interface 215 of the deployable equipment may be an interface through which the deployable equipment provides or receives communication services, including through wireless and wired means, obtains power services, and/or through which physical connection or physical attachment services from the elevator 205 can be implemented. and/or vehicle.

[0068] The deployable equipment 201 is illustrated as including a tether attachment mechanism 225. The tether attachment mechanism 225 may be used to releasably attach the deployable equipment 201 to the tether 210. Examples of the tether attachment mechanism 225 are discussed here, for example, with respect to the tether attachment mechanism 701.

[0069] FIG. 3 illustrates the elevator 205 and deployable equipment 201 in a docked or retracted configuration.

[0070] FIG. 4 illustrates a hoist 205, housing 206, hoist docking interface 415, drum or drum housing 420 (“drum 420”), and suspension cable 210. Drum 420 may include a motor, a motor controller, suspension cable 210, a winding spool or drum, cable anchors. , cable guides, etc.

The elevator docking interface 415 may be an interface through which the elevator 205 can provide or receive deployable equipment services, such as communication services, including wireless and wired communications, power supply services, and/or physical connection or physical attachment services. Components of the elevator docking interface 415 may not be illustrated, such as components for physical connection or physical attachment services. Additional examples of components for physical connection or physical attachment services between the hoist and the deployed equipment are discussed further here, for example, in relation to the docking interface 1600 discussed with respect to FIG. 16. Drum 420 and elevator docking interface 415 may be controlled by logic implemented in computer memory or logic implemented in elevator circuits 205, an example of which is discussed and illustrated with respect to FIG. 13 and an elevator operating module 1300 with integrated deployable equipment.

[0071] In FIG. 5 illustrates a first view of a deployable equipment 500 attached to a suspension cable 210, in accordance with an embodiment. In the example illustrated in FIG. 5, deployable equipment 500 includes SLCS. The deployable equipment 500 includes a fan assembly 505, skids 530, a deployable equipment interface 518, a deployable equipment interface 517, a handle 515, a mounting mechanism 520, a deployable equipment housing 510, and a cable slot 525.

[0072] Deployable equipment 500 includes electrical components including computer processors, computer memory, signal processing devices, logic components, power supply and/or batteries, electronic speed controllers, microcontrollers, sensors, actuators, and the like. The power source in the deployed equipment 105 may be a single power supply or a set of battery cells wired in series and/or parallel, such as lithium polymer (LiPo) cells. Batteries may be removable for inspection and/or replacement of discharged and charged batteries. Batteries can be charged when installed (i.e. without having to be removed) using nodes or a wireless charging system. The batteries may include auxiliary battery(s) to provide continuous power to the processor even if the thrusters in the fan trays draw relatively large amounts of power from the main batteries. In embodiments, a vehicle from which the deployable equipment is suspended, such as a helicopter, crane, or fixed wing aircraft, may provide power through a line extending down the suspension cable into the deployable equipment. In embodiments, the vehicle may provide some power to the deployed equipment while the deployed equipment may receive other power from an onboard power source. In various embodiments, the equipment to be deployed may be powered by a combination of onboard and remote power. In many environments, all power for the deployed equipment is contained on board the deployed equipment, allowing for fully self-contained operation independent of the availability of external power supplies or delivery vehicles.

[0073] The actuators seen in FIG. 5 contain a fan assembly 505; a similar fan tray is on the other side of the equipment being deployed 500. As illustrated in this example, the fan tray 505 may contain two EDFs.

[0074] The fan units 505 may include a shroud that protects one or more EDFs. The casing can be hardened to withstand impact with the environment. The casing block can be made of metal, plastic, composite materials, including fiber reinforced resin, and the like. The fan units may include an air intake through which air can be drawn in and an exhaust. The air intake may contain one or more screens or filters to prevent certain objects from entering the EDF. The EDF in the fan assembly may comprise blades and a motor(s) such as an electric motor(s). The electric motors in the EDF can be sealed against dust, sand, water and debris. Alternative sources of propulsion can be used in addition to or instead of EDF, such as, for example, compressed air, hydrogen peroxide or thrusters, liquid or solid propellant rocket engines, fans driven by internal combustion engines such as jet engines, etc.

[0075] For ease of reference, the fan trays on the first side of the SLCS may be considered the first fan tray group, while the fan trays on the second side may be considered the second fan tray group. The fan units in each group of fan units drive the traction fluid (eg, air) in fixed directions, such as fixed directions opposite each other; for example, offset by 180 degrees. In other embodiments, fewer or more fan trays and/or EDFs may be used in the SLCS. In other embodiments, the fan trays and/or EDF may be aligned other than 180 degrees, eg, more or less than 180 degrees, with or without offset in one of the other axes. A mechanical control component may be included to dynamically change the position of the fan assembly and/or EDF within the fan assembly.

[0076] The EDFs in individual fan trays can be activated individually at different powers to create thrust vector deflection or thrust vector control of the fan tray assembly. For example, to perform clockwise yaw (relative to the top view of the top of the SLCS in FIG. 5), the EDF in the first group of fan trays can be activated by itself or in combination with the opposite EDF in the second group of fan trays. In order to achieve lateral movement of the SLCS 105 or to generate a lateral force opposite to the pendulum movement, the EDF can be activated in both groups of fan units with the same orientation. Simultaneous lateral force and rotational force can be generated. The vectored thrust can be generated by the deployable equipment module.

[0077] A memory or logic unit implemented in circuitry within deployable equipment 500 may contain a module of deployable equipment. Examples of the deployable equipment module are illustrated and discussed with respect to the operational module 1100 in FIG. 11 or the hoist and deployable data fusion and control module 1200 in FIG. 12. In the examples discussed here, the deployable equipment module may control the EDF in the fan assembly 505 to control the load, and the load may be secured above or below the deployable equipment 500.

[0078] Cable slot 525 can be used, potentially in connection with handle 515, to pass suspension cable 210 through deployable equipment 500, after which a cable attachment mechanism, such as cable attachment mechanism 701 (discussed here), can be used to secure deployable equipment 500 to or around the suspension cable 210.

[0079] The attachment mechanism 520 may be used, potentially in connection with the handle 515, to carry, hold, or attach the deployable equipment 500, such as during transport to a vehicle or secured inside a vehicle prior to deployment of the deployable equipment 500.

[0080] Deployable equipment interface 517 and deployable equipment interface 518 may be an interface through which deployable equipment 500 provides or receives communication services, including via wireless and wired means, and/or receives power services in a manner similar to deployable equipment docking interface 215 considered here.

[0081] In FIG. 6A is a front view of the deployable equipment 500, further showing shock absorber 605 and hook 230. Equipment such as shock absorber 605 and/or hook 230 may be referred to herein as "suspension cable end equipment" or "end equipment". Shock absorber 605 may be a block or shock absorber attached to the end of suspension cable 210. Hook 230 may be attached to, or may be part of, shock absorber 605. A swivel bearing or sleeve may allow shock absorber 605 to rotate separately from cable 210. A swivel bearing or sleeve may allow hook 230 to rotate separately from shock absorber 605. Deployable equipment 500 may be mounted on or attached to a hanging cable end equipment such as shock absorber 605, for example, by connecting to the end equipment of a suspension cable. An example of connection to a suspension cable end equipment is discussed with respect to connection to a suspension cable end equipment or flange 1705 in FIG. 17A. The end equipment of the suspension cable may include a socket for receiving or attaching the deployable equipment 500 to the end equipment of the suspension cable; an example of which is illustrated and discussed in relation to the deployable equipment receptacle on the suspension wire end equipment 1710 in FIG. 17b.

[0082] FIG. 6B illustrates the deployed equipment without suspension cable 210, shock absorber 605, and hook 230 for clarity.

[0083] FIG. 7A illustrates a front view of a deployable equipment frame 750 and tether attachment mechanism 701.

[0084] FIG. 7B illustrates an isometric view of the deployable frame 750 and tether attachment mechanism 701 of FIG. 7A.

[0085] FIG. 7A and FIG. 7B, the deployable frame 750 and tether attachment mechanism 701 may, for example, reside within or be attached to the housing 510 of the deployable equipment 500.

[0086] The cable attachment mechanism 701 can removably attach the deployable equipment, such as the deployable equipment 500, to the suspension cable, such as the suspension cable 210. The cable attachment mechanism 701 can further separate the rotation of the deployable equipment from the rotation of the suspension cable, such that the deployable equipment does not twist the suspension cable, which may be unsafe for the suspension cable, may damage it, or otherwise be undesirable for the suspension cable. The tether attachment mechanism 701 can further removably attach the deployable equipment to the final equipment of the suspension tether.

[0087] FIG. 7A and FIG. 7B illustrates the actuation mechanism 705, cable clamp housing 710, rotating sleeve 715, deployable equipment frame 750, cable slot in cable attachment mechanism 725, rotating sleeve flange, lever arm 720, catch 727, end equipment connection 730, and rods. 735 clutch-disengagement.

[0088] FIG. 8A illustrates a front view of the tether attachment mechanism 701 without the frame 750 for the deployable equipment and with the suspension tether 210 for clarity.

[0089] FIG. 8B illustrates a front view of the cable attachment mechanism 701 itself for the sake of clarity.

[0090] FIG. 8C illustrates a similarly shaped view of the cable attachment mechanism 701 itself for the sake of clarity.

[0091] FIG. 9A is a front view of the components of the cable attachment mechanism 701. In addition to the components illustrated and discussed with respect to other figures, FIG. 9A illustrates rope pins 915, fixed core 905, and bearings 910.

[0092] FIG. 9B illustrates a similarly shaped view of the components of the cable attachment mechanism 701.

[0093] Figures 7A-9B illustrate that the suspension cable can pass through the cable slot 525 and through the cable slot in the cable attachment mechanism 725 to the center of the cable attachment mechanism 701. The fingers 915 can be interlocked to hold and/or clamp the suspension cable in the center of the cable attachment mechanism 701 . Pins 915 may be engaged by a drive, such as an actuation mechanism 705 or other drive; such a drive may, for example, be electrical or human-actuated.

[0094] To prevent or reduce the transfer of rotational forces between the suspension cable and the deployable equipment, the deployable equipment may be attached to the deployable equipment frame 750, and the deployable equipment frame 750 may be attached to the rotating sleeve 715. The rotating sleeve 715 may encircle the stationary core 905 and rotate separately from it on bearings 910 or the like. The fixed core 905 may be removably attached to the terminal equipment of the suspension cable, for example, through the terminal equipment connection 730, lever arm 720, and catch 727. Embodiments of the terminal equipment connection 730 are discussed herein with respect to FIG. 17A, Fig. 17b. The end equipment connection 730, lever arm 720, and gripper 727 can be engaged or disengaged to contact and hold or release the end equipment via engagement/disengagement bars 735 or the like. Activation of the engagement/disengagement bars 735 may be by means of an actuator such as an actuation mechanism 705 or the like. The actuation mechanism 705 may be electrically powered, as in the case of an electric motor, linear actuator, or the like, may be hydraulically actuated, or may be human or manual actuated. The actuating mechanism 705 can simultaneously or individually engage or disengage the cable retaining pins 915, end equipment connection 730, lever arm 720, and catch 727 relative to suspension cable end equipment.

[0095] Thus, the tether attachment mechanism 705 can carry a mass of deployable equipment on the core of the tether attachment mechanism, where the core can be connected to a suspension cable end equipment, and the end equipment can impart a rotational force to the suspension cable. Despite holding the mass of the deployable on the end equipment, core bearings such as the 910 bearing allow the deployable to turn without transferring force or significant force, such as torque, to the suspension cable.

0096] With the features discussed here, the deployable equipment may be attached to the load, such as straps or cables, and may be able to turn the load or rotate with the load on a suspension cable. The swivel bearing or sleeve between the hook and the suspension cable may thereby allow the load, end equipment such as shock absorber and hook, and deployable equipment to rotate separately from the cable. For example, when the equipment to be deployed is an SLCS, the SLCS may be able to steer a load, such as a stretcher, while the load may be subjected to rotation, or the SLCS may be rotated without transferring a rotational force to the suspension cable.

[0097] With the features discussed herein, the deployable equipment can be held within a hoist, vehicle, or near the vehicle, and deployed on an overhead wire with minimal human or crew effort and with or with the help of the deployable equipment module.

[0098] With the elements discussed here, the deployable equipment and the deployable equipment module can receive data and information from the elevator and can improve the operation and operation of the deployable equipment.

[0099] With the elements discussed here, the deployable equipment and the deployable equipment module can control the elevator, for example, the elevator drum, to control the z-axis of the tip of the suspension cable. The z-axis control may be performed, for example, to control the height (lift) of a load, for example, relative to the vehicle, the ground, or a target. The z-axis control can be performed, for example, to control the tension of a suspension cable. The z-axis control can be performed, for example, to control the speed of raising or lowering the tip of the suspension cable.

[0100] In FIG. 10 illustrates an elevator and deployable logic system 1001, remote interface logic components 1050, and elevator logic components 1080.

[0101] As illustrated in the embodiment of FIG. 10, the elevator and deployable logical system 1001 may include a sensor unit 1005, a deployable processor 1020, a deployable memory 1025, a deployable communication system 1030, a deployable output 1015, and a power management 1040.

[0102] The sensor unit 1005 may include position sensors 1006, orientation sensors 1007, inertial sensors 1008, proximity sensors 1009, location reference sensors 1010, and thrust sensors 1011.

[0103] The processor 1020 of the deployed equipment may be one or more processors, microcontrollers, and/or central processing units (CPUs). In some embodiments, the processors and microcontrollers may be mounted on the same printed circuit board (PCB).

[0104] The memory 1025 of the deployed equipment may generally comprise random access memory ("RAM"), read-only memory ("ROM"), and a mass storage device such as a disk drive or SDRAM (synchronous dynamic random access memory). access).

[0105] Deployable equipment memory 1025 may store program code for software system modules and/or programs, such as, for example, navigation system 1026, deployable equipment operating module 1100, and elevator/deployable equipment data fusion and control module 1200, as well as data or information used by modules and/or programs of the software system, such as, for example, target data 1027 and command reception mode or status information 1028.

[0106] The deployable hardware memory 1025 may also store an operating system. These software components can be loaded from non-volatile computer-readable storage media into the memory 1025 of the deployed equipment using a drive mechanism associated with the non-volatile computer-readable storage media such as floppy disk, tape drive, DVD/CD drive. disc (CD-ROM), memory card, or other similar storage media. In some embodiments, software components may also or instead be loaded using a mechanism other than a drive mechanism and a computer-readable storage medium (eg, using a network interface).

[0107] Deployable hardware memory 1025 may also include a kernel, a kernel space, a user space, a secure user address space, and a data store. As noted, deployable hardware memory 1025 may store one or more processes or modules (ie, those running the software application(s)). Processes can be stored in user space. A process may include one or more other processes. One or more processes may run in general parallel, ie. in the form of a plurality of processes and/or a plurality of threads.

[0108] The kernel may be configured to provide an interface between user processes and circuitry associated with the processor 1020. In other words, the kernel may be configured to control access to the processor 1020, chipset, I/O ports, and peripherals using processes . The core may include one or more drivers configured to control and/or communicate with operating component elements of the deployed hardware (ie, processor 1020, chipsets, I/O ports, and peripherals).

[0109] Deployable equipment processor 1020 may also contain or communicate via a bus and/or network interface with deployable equipment memory 1025 or other data storage.

[0110] Groups of data used by modules or programs in memory 1025 of the deployed equipment may be represented by a cell in a column or a value separated from other values in a specific structure in a digital document or file. Although referred to here as individual records or values, records can contain more than one value in the database. Values in a database can be, represent, or encode numbers, numeric operators, binary values, booleans, text, string operators, references to other values in the database, unions, conditional logic, tests, and the like.

[0111] The communications system(s) 1030 of the deployed equipment may include a wireless system(s) 1031, such as a wireless transceiver, and a wired system(s) ) 1032. Deployable output 1015 includes thrust control 1016 with thruster controllers. The deployable equipment output 1015 includes an elevator control 1013 to control the elevator. Power management systems 1040 regulate and distribute power from, for example, batteries. One or more data link connectors, data buses, and/or network interfaces may connect various internal systems and logical components of the deployed equipment.

[0112] Aspects of the system may be embodied in a specialized or dedicated computing device or data processor that is specifically programmed, executed, or designed to execute one or more computer-executable instructions, explained in detail herein. Aspects of the system may also be applied in distributed computing environments where tasks or modules are performed by remote processing devices that are linked over a communications network such as a local area network (LAN), a wide area network (WAN), the Internet, or any radio frequency technology. The data from the deployed equipment may have very narrow bandwidth and may not be limited by the frequency or communication protocol. In a distributed computing environment, modules may be located in both local and remote storage devices.

[0113] The elevator and deployable equipment logic system 1001 may operate with a remote position unit, remote interface or target node ("remote interface unit") and its logic components, such as the remote interface logic components 1050, and/or with the elevator and logic components elevator, such as elevator logic components 1080, in accordance with one embodiment.

[0114] In embodiments, the remote interface unit may, for example, be held by an operator, or may be attached to the vehicle with magnets, bolts, or any other attachment mechanism. In an embodiment, the remote interface unit may be offloaded to a location on the ground, or attached to, for example, a life jacket or other flotation device, a lifeguard, cargo to be loaded, a cargo delivery location, or a work specific location.

[0115] In embodiments, the remote interface logic components 1050 may transmit input from an operator to the elevator and deployable equipment logic 1001, such as command receiving states and operating instructions to the elevator and deployable equipment operating module 1100. In embodiments, the remote interface logic components 1050 may communicate information or data from the lift logic components 1080 to the lift and deployable equipment logic system 1001 and/or the operator, such as the status of the lift, the length of the unwound suspension cable, the force or mass on the lift from the suspension cable, and etc.

[0116] The remote interface logic components 1050 may be connected to the lift and deployable equipment logic system 1001 and/or to the lift logic components 1080 via communication systems 1070, which may be wireless 1071 or wired 1072. Output 1060 from the remote interface 1050 may include information displayed on the screen 1061 and audio 1062. The input 1065 to the remote interface 1050 to control the deployed equipment or lift may include commands transmitted through the touch screen 1066, joystick 1067, microphone, camera, one or more buttons, or the like. .P. In various embodiments, remote interface 1050 may include one or more physical and/or logical devices that collectively provide the functionality described herein. An exemplary embodiment of remote interface 1050 is illustrated and discussed in FIG. 14A, FIG. 14B, FIG. 15A, FIG. 15B and FIG. 15C.

[0117] Remote interface logic components 1050 may further comprise a processor 1069 and memory 1073, which may be similar to processor 1020 and memory 1025. Memory 1073 may contain software or firmware code, instructions, or logic for one or more modules used by the remote positioner. unit, such as the remote interface module 1074. For example, the remote interface module 1074 may provide control and interface to the remote interface such as turning it on/off, pairing it with deployed equipment, entering instructions, or the like.

[0118] In embodiments, remote interface logic components 1050 may comprise a set of sensors or a beacon capable of communicating, eg, wirelessly, with elevator logic 1001 and deployable equipment to provide, eg, position determination. If the deployable equipment and hoist are considered to be the location of the primary sensor package, then the location of the secondary sensor package may be the platform or vehicle from which the cable is suspended, and the location of the tertiary sensor package may be the desired location for the load (for example, to position for receiving or delivering cargo).

[0119] FIG. 10 also illustrates the logical components 1080 of the elevator. The logical components 1080 of the elevator may include a processor 1081 and a memory 1082, which may be similar to the processor 1020 and memory 1025. The memory 1082 may contain software or firmware code, instructions, or logic for one or more modules used by the elevator, such as an operating module 1300 hoist with integrated deployable equipment. For example, the elevator operating module 1300 with integrated deployable equipment can interface the elevator with the deployable equipment, can output elevator sensor data to the deployable equipment, and can receive and act on local and remote instructions, such as to deploy or retract the deployable equipment, or the like. P.

[0120] Logic components 1080 lift can be associated with the logic system 1001 lift and deployed equipment using a communication system 1091, which may include wireless 1091 or wired 1092 transceivers. The output 1085 from the hoist 1080 logic components may include information or data from, for example, hoist sensors 1084 such as, for example, a cable length encoder, a drum torque encoder, a cable presence sensor (to detect the presence of an overhead cable in the hoist) , load cells, equipment temperature sensors, power sensors, etc. An input 1086 to elevator logic components 1080 for elevator control may include commands from elevator and deployable equipment logic 1001 and its modules, such as deployable equipment operating module 1100 and elevator and deployable equipment data fusion and control module 1200. The input 1086 to elevator logic 1080 to control the elevator may also include commands from human operators, which can be transmitted through, for example, remote interface logic 1050 such as touch screen 1066, joystick 1067, microphone, camera, one or more buttons or the like.

[0121] In FIG. 11 illustrates a deployable equipment operating module 1100 including a plurality of command receiving modes or states, in accordance with one embodiment. Instructions for the operating module 1100 of the deployable equipment, or instructions that implement it, may be stored in, for example, the memory of the deployable equipment 1025 and may be executed, for example, by the processor of the deployable equipment 1020, as well as electrical circuits, firmware, and other computer and logic hardware. deployable equipment with which the deployable equipment work module 1100 can interact.

[0122] At block 1105, the deployable equipment may be installed in a hoist and/or on a suspension cable. When installed in a lift, with reference to FIG. 16A and FIG. 16B, the locking member 1605 may engage with the protrusion 1615 of the deployable equipment, or in other words, the first form of interlock is engaged with the second form of interlock with a design that allows one degree of freedom of movement between them. The locking member 1605 can lock one degree of freedom of movement to lock the first interlock and the second interlock together.

[0123] When installed in a hoist, the suspension cable may be inserted into the suspension cable slot in the deployed equipment. When inserted into the suspension cable slot, the suspension cable can pass freely through the open suspension cable slot. With reference to FIG. 17A and FIG. 17B, when deployed to a suspension cable, the flange 1705, for example, can engage with or be attached to the deployable equipment socket of the end equipment of the suspension cable 1710.

[0124] At block 1110, the deployable equipment may be started and the deployable equipment work module 1100 activated. In some embodiments, the implementation of the work module 1100 of the deployed equipment can be activated by the elevator or the work module of the elevator. In some embodiments, the implementation of the work module 1100 deployed equipment can be launched by pressing a button located on the deployed equipment. Next to a button that can start the system, another button can cause the system to shut down immediately when pressed. The system may also be started by an operator or process not directly adjacent to the system, such as a remote one. One or more external operators or processes, including but not limited to the lifeguard at the end of the line, can start the system at the push of a button on one or more remote interfaces 1050 that are wirelessly connected to the deployed equipment.

[0125] In embodiments, the installation process may be assisted or controlled by the operating module 1100 of the deployed equipment. For example, the deployable operating module 1100 may be instructed to open the suspension cable slot in the deployed equipment, or it may open the suspension cable slot in the deployed equipment. For example, the work module 1100 of the deployed equipment can detect the presence of a suspension cable in the gap, for example, using the sensors 1084 of the elevator. For example, the deployable equipment work module 1100 may close the suspension cable slot, or may be instructed to close the suspension cable slot, for example, by actuating fingers such as fingers 915. For example, the deployable equipment work module 1100 may press against the suspension cable. or it may be instructed to press against the suspension cable, for example by means of pins 915 or other clamp.

[0126] At block 1115, the deployable equipment operating module 1100 is active and accepting one or more command receiving function modes or states selected by the operator or process, and proceeds to block 1116, where the deployable equipment operating module 1100 is performing the command receiving functional mode or state, which may include calling and executing the hoist and deployable data fusion and control module 1200 as a subroutine or submodule to implement a function mode or command receiving state and to complete the function mode or command.

[0127] At block 1120 and the function mode or command receiving state, the deployable equipment operating module 1100 may execute or call the elevator and deployable equipment data fusion and control module 1200 as a subroutine or submodule to implement the functional mode or command receiving state.

[0128] The functional modes or states of receiving system commands are:

[0129] Idle mode 1121: All internal systems of the deployable are operational (e.g., the deployable's module monitors its movement and calculates control or other actions), but the thrusters and elevator are disabled, maintain idle speed only, or maintain the elevator at the current aspect ratio cable without performing an action to influence the movement of the load.

[0130] Vehicle attitude control mode 1122: The deployable equipment module activates the thrusters or hoist to stabilize the deployable equipment relative to the vehicle or suspension reference point under the vehicle. For example, when the deployable is suspended under the helicopter, the deployable equipment module may activate the thrusters and hoist to cause the deployable to remain directly below the helicopter at a location of least potential energy. For example, when a deployable is suspended under a fixed wing aircraft, the deployable equipment module may activate the thrusters and elevator to remain at an altitude relative to the vehicle so as to counteract the yo-yo effect and remain in the center of the vehicle's circular flight path. The deployable equipment module localizes vehicle movement, detects the elastic or other behavior of the suspension cable, and takes corrective actions with the thrusters and hoist necessary to dampen any other movement of the deployed equipment and cargo. If the vehicle is moving at low speed, the deployable equipment module will combine the speed of the deployable equipment with the vehicle using the thrusters and the hoist so that the two objects move in sync. When the load is disturbed or the deployable equipment moves, the deployable equipment module provides thrust or activates the hoist in the opposite direction of the disturbance to counteract the disturbance, wobble, yo-yo effects caused by the resilience of the suspension cable or spirals in the suspension cable (which can be caused by a vehicle flying in a circle with a load), or other undesirable movement.

[0131] Move to position/stop in position mode 1123: The deployable equipment module will stabilize the deployable equipment in a stationary position against weather effects, slight vehicle movements, or changes in the height of the deployable equipment relative to the vehicle. This mode has the effect of suppressing any movement. In this mode, an operator or other process can send the desired target position to the deployed equipment using the remote interface logic components 1050. This can be achieved in at least the following ways:

[0132] Position 1124 of the target node: the operator can place the remote position unit, remote interface or target at the desired location of the upload or download. The remote positioner will wirelessly communicate with the deployable module to indicate the desired position, and the deployable module will respond by activating the thrusters and hoist to maneuver to the desired location. This mode can additionally hold the desired suspension cable tension. Logical components 1050 remote interface can receive and display information about the location of objects.

[0133] User defined position 1125: An operator or process can use the remote interface logic 1050 to send a specific location (eg, latitude and longitude coordinates, select a location on a map or image, etc.) to the deployable equipment module. The deployable module will then, if already in position, use thrusters and/or a hoist to hold the deployable equipment and suspended payload in position or to steadily guide the deployable equipment and suspended payload to the desired location. This mode can additionally hold the desired suspension cable tension. The deployable equipment module can simultaneously send information or data to the remote interface logic 1050 related to, for example, position, distance, height, and suspension cable tension information for display or communication with an operator, process, or others.

[0134] Position hold mode 1126: The deployable equipment module will resist any movement and maintain an attempt to maintain the current location of the deployable equipment regardless of vehicle movement using thrusters and lift. This mode has the effect of dampening any movement of the deployed equipment. This mode has conditional responses relative to vehicle speed, safety factors and physical limitations respectively.

[0135] Direct control mode 1127: Joystick or other direct control of the thrusters and hoist with three degrees of freedom (eg, x, y, and z) and rotation. While the deployable equipment module may be a completely closed loop and may not require external control during operation, it is possible for direct user control of the thrusters and hoist. The operator can directly control the position, slew, thruster output level, suspension cable length or suspension cable tension.

[0136] Obstacle Avoidance 1128: The deployable equipment module identifies the path of the deployable equipment and cargo, identifies objects along the path, determines the position, turn, thruster output power level, and overhead cable length with which to bypass the obstacle, and issues instructions to the thrusters. traction and / or lift to bypass obstacles. For example, obstacle avoidance module 1128 may receive and process sensor information to i) align the distance between sensor locations, such as in fan trays, and objects, such as obstacles detected in the environment, or ii) measure or receive load geometry, measure the geometry of obstacles found in the environment, determine or take the position, orientation and movement of the load and overcome the obstacle with the load.

[0137] Position relative to first and second locations mode 1129: An operator or process may use, for example, remote interface logic components 1050 to determine a first position (eg, loading or unloading location) in a deployable equipment module; the operator or process may further determine the second location, such as vehicle location, ground location, etc., and may also determine the desired rate of change between the first and second locations. The deployable equipment module includes thrusters and an elevator to stabilize the deployable equipment relative to the first location and then includes thrusters and an elevator to move the deployable equipment from the first location to the second location. The rate of change may be based on a percentage of the maximum rate of change that the operating unit of the deployed equipment can achieve, as determined by the operator or otherwise. This mode can additionally hold the desired suspension cable tension.

[0138] At block 1130, the operator or process may end the functional mode or command receiving state, for example, by obtaining a desired location, for example, on command from the operator or process, for example, by losing power or the like.

[0139] At a block 1135, the deployable equipment module may actuate an elevator to bring the deployable equipment to the elevator and may activate thrusters to rotate the deployable equipment to a position compatible with retracting into the elevator. The deployable equipment module can detect when the deployable equipment is in the lift, detect the engagement of the interlocks of the lift and the deployed equipment, such as those illustrated in Figures 16A and 16B, and detect the engagement of the locking structures and the locking of the interlocks together. The deployable equipment module can detect the engagement of the deployable equipment with the interface for the lift deployable equipment and can activate communication, power, and other interface services for the deployable equipment. If the equipment being deployed includes foldable arms or other components, they may be bent. Thrust engines and other components may be disconnected from power. Rope retaining components such as clips or pins can be unhooked. The deployed equipment may be unhooked from the end equipment of the suspension line and/or from the suspension line. The load can be detached from the load hook. The suspension cable can be detached from the hoist ring at the top of the deployed equipment. A tether or other attachment may be attached to the deployed equipment. Deployable equipment can be stowed in a charger or other location.

[0140] At Done block 1199, if not done at block 1135, the deployable operating module 1100 may be disabled, for example, by actuating a button or other control on the deployed equipment, interactive display, or remote interface of the deployed equipment.

[0141] In FIG. 12 illustrates a data fusion and control module 1200 for the elevator and deployable equipment of the deployable equipment, in accordance with one embodiment. The instructions of the module 1200 for merging data and controlling the elevator and the deployed equipment, or instructions that implement it, may be stored in, for example, the memory of the deployed equipment 1025 and can be executed, for example, by the processor 1020 of the deployed equipment, including using electrical circuits, software hardware and other computer and logic hardware of the deployed equipment, elevator logic components 1080, and remote interface logic components 1050 with which the elevator and deployable equipment data fusion and control module 1200 can interact.

[0142] The hoist and deployable equipment data fusion and control module 1200 can operate in a closed iterative loop to understand its position and movement in near real time, perform a set of calculations to determine the most desired system response, and send the desired response(s) ii) to a set of thrusters of an air propulsion system and to a hoist to reduce the swing of the cable during operations and to control the z-axis of the deployed equipment and cargo. This process can be continuous as long as the system has power.

[0143] At block 1205, the hoist and deployable equipment data fusion and control module 1200 may perform data acquisition using sensors including (but not limited to) cameras, accelerometers, gyroscopes, magnetometer, inclinometer, encoder heading, radio frequency heading system. angle, gravity sensors, microelectromechanical systems (MEMS) sensors, global positioning system (GPS), lidar/radar, machine vision, rangefinders, ultrasonic proximity sensors (e.g. sensors of the sensor unit 1005), and using sensor data or information from the elevator. For example, the hoist may provide information or data relating to the length of the suspension cable, the tension or torque on the hoist or drum therein, the mass on the hoist or drum therein, or the like. This raw data or information, however, may be subject to noise, out-of-range values, and other errors and uncertainties. At block 1205, the hoist and deployable data fusion and control module 1200 may further filter the received data or information for out-of-range values, frequency fluctuations, and the like.

[0144] At block 1210, the elevator and deployable equipment data fusion and control module 1200 merges data or information from the sensors and the elevator at block 1205 with the previous state of the system model determined in the previous iteration of block 1210 in the system model, which is also described as data fusion or as online parameter evaluation and online state evaluation. Block 1210 determines the deviation of the currently measured state or parameter and the previously predicted state or parameter. This block estimates the current system parameters based on the data or information of block 1205 and predicts near future system parameters such as, for example, mass or weight, under-vehicle tether length or under-vehicle distance, and moment of inertia of deployed equipment (and payload). This block estimates the current state of the system based on the data or information of block 1205 and predicts the near future state of the system, such as, for example, position (including altitude), orientation, movement, environmental disturbances or influences, and the like. This block compares the current state or parameter with a previously predicted state or parameter and determines the deviation between the current state or parameter and the predicted state or parameter. The sensor data can be processed with a system model using, for example, non-linear forms such as a Kalman filter to predict the near future state and system parameters and to estimate the current state and system parameters. Closed-loop iterative control methods performed in this block may include proportional, integral, and differential fuzzy-tuning feedback controllers that have bi-directional communication with advanced control methods including deep learning neural networks and propagation Kalman filters. for the future, providing real-time (or "online") system identification. Block 1210 may be capable of estimating current or predicting proximate state or parameter items, such as distance under the vehicle, mass of deployed equipment and payload, position and movement, without data or information from the hoist. However, with data or information from the lifter, the estimation and prediction of the state and parameters can be improved.

[0145] In block 1217, the hoist and deployable equipment data fusion and control module 1200 receives a user, process, or operator-selected functional mode or command receiving state; for example, from block 1116 of the working module 1100 of the deployed equipment. It/it may contain coordinates, altitude, desired speeds, etc.

[0146] In block 1220, the hoist and deployable equipment data fusion and control module 1200 receives state and parameter estimation and state and parameter prediction 1210 and the deviation between the current state and parameters and the previously predicted state and parameters reported by the user-selected or process-selected functional mode or command receiving state 1217, as well as additional feedback from the thrust and attitude display 1225 and output control 1235, and decides how the deployable equipment should move to achieve the functional mode or enter the command received state in block 1217, for example, by outputting force from small engines traction or lift.

[0147] The algorithmic output is sent to the motion controllers, from which the desired thrust response will be sent to the electric tunnel fans by phase control and/or to the hoist for output to the drum motor. The net output thrust is displayed in real time through encoders and load cells, then sent back to the lift and controllers for closed loop control.

[0148] At block 1230, the elevator and deployable equipment data fusion and control module 1200 maps how the deployed equipment should move to fans, potential fan, elevator, and potential elevator output to create a fan and elevator mapping to control the thrusters and elevator to achieve a certain thrust, orientation and height of the deployed equipment.

[0149] At block 1235, the elevator and deployable equipment data fusion and control module 1200 uses the fan and elevator mapping to issue control signals to fans or thrusters, or to the elevator (or electronic components controlling or controlling them) to achieve a certain thrust and orientation of the deployed equipment by performing programmed output control and realizing dynamic response in the form of thrust from the fans, and winding or unwinding the suspension cable with the help of a hoist.

[0150] At Done block 1299, the elevator and deployable equipment data fusion and control module 1200 may be nearing completion or returning to the module that may have called it.

[0151] In FIG. 13 illustrates an elevator operating module 1300 with integrated deployable equipment, in accordance with one embodiment. The instructions for the elevator operating module 1300 with integrated deployable hardware, or instructions that implement it, may be stored in, for example, the elevator memory 1082 and may be executed, for example, by the elevator processor 1081, as well as electrical circuits, firmware, and other computer and logic hardware. elevator provisioning, elevator logic components 1080, and remote interface logic components 1050 with which the data fusion and management module 1200 can interact with the elevator and deployed equipment.

[0152] At block 1305, an elevator operating module 1300 with deployable equipment associated therewith may receive information or data from elevator sensors, such as elevator sensors 1084.

[0153] At a block 1310, an elevator operating module 1300 with integrated deployable equipment can interface itself and interface its elevator with a remote device or process. Pairing may require authentication and authorization in one or both devices or processes.

[0154] At block 1315, the elevator operating module 1300 with deployable equipment associated therewith may provide elevator sensor data or information to an associated remote device or process.

[0155] At decision block 1320, it may determine whether to act on local or remote instructions. For example, an elevator operating module 1300 with deployable equipment associated therewith may act in accordance with remote instructions if no local instructions are received, in which case a local override may be activated.

[0156] If a negative or equivalent result is obtained at decision block 1320, the elevator operating module 1300 with deployable equipment associated with it may proceed to block 1325 opening the loop. The elevator operating module 1300 with deployable equipment associated therewith may iterate between the open loop block 1325 and the loop close block 1340 .

[0157] At block 1330, the elevator operating module 1300 with the deployable equipment associated therewith may receive a remote instruction, such as an instruction from the deployable equipment operating module 1100, from a remote interface, or the like. The instruction may be, for example, an instruction to unwind the suspension cable, wind up the suspension cable, or maintain a tension or other force on the suspension cable. The instruction may be to unwind or reel in a certain amount of unwinding or rewinding cable until another stop instruction is received. The instruction may specify the speed at which the drum is to be operated and/or the maximum or minimum tension or other force that the drum is to achieve. The elevator operating module 1300, with its associated deployable equipment, may determine a minimum or maximum tension, speed, or force. The instruction may be to activate the lift actuators, such as actuators for deploying the deployable equipment from the lift or for attaching the deployable equipment to the lift.

[0158] At a block 1335, the elevator operating module 1300 with deployable equipment associated therewith may output a control signal to execute a remote instruction, such as unwind the suspension cable, wind the suspension cable, or maintain a tension or other force on the suspension cable, or the like.

[0159] At block 1345, which may follow the affirmative or equivalent decision at decision block 1320, the lift operating module 1300 with deployable equipment associated with it may receive a local instruction, such as an instruction from a vehicle crew or lift interface, assigned more than higher priority than instructions from another source. The instruction may be, for example, an instruction to unwind the suspension cable, wind up the suspension cable, or maintain a tension or other force on the suspension cable. The instruction may be to unwind or unwind a certain amount of unwinding or rewinding cable until another stop instruction is received. The instruction may specify the speed at which the drum is to be operated and/or the maximum or minimum tension or other force that the drum is to achieve. The elevator operating module 1300, with its associated deployable equipment, may determine a minimum or maximum tension, speed, or force. The instruction may be to activate the lift actuators, such as actuators for deploying the deployable equipment from the lift, or for attaching the deployable equipment to the lift.

[0160] At Done block 1299, the lift operating module 1300 with deployable equipment associated with it may be nearing completion, may shut down the lift, and/or may return to the process that may have caused it.

[0161] In FIG. 14A illustrates a first view of a remote interface 1400 for a lift and deployable equipment, in accordance with an embodiment. In FIG. 14B illustrates a second view of remote interface 1400 in FIG. 14A according to an embodiment. Remote interface 1400 may provide control or communication with the deployed equipment and/or lift. Specific types of controls are discussed in the examples below, but the functions and/or types of controls should not be limited to them. For example, a switch may be interchangeable with a button or lever. The button may be a mechanical button or a virtual button. The control devices in the examples below can be replaced with alternative devices by one skilled in the art without undue experimentation or expense. In an embodiment, the remote interface 1400 may be a manual overhead controller configured to control the operation of the deployed equipment and/or the lift.

[0162] The types of controls available can be any that are needed to control the deployed equipment and hoist, attached mechanical systems, and/or payload before or after attachment to the suspension cable and/or hoist. In some embodiments, a non-limiting set of controls may include an alarm indicator 1402, an overheat warning indicator 1404, a deployment status indicator 1406, a deployment button 1408, a boom lever switch 1410, a rotary control switch 1412, vertical elevator control 1414, a status selection switch 1416, and a port 1418 data and power.

[0163] As a non-limiting example, the alarm indicator 1402 may provide a configurable alert for potentially dangerous conditions. The overheat warning indicator 1404 may provide a configurable alert indicating that the mechanical system is experiencing an overheat condition. The deployment status indicator 1406 may glow green when the deployable equipment is deployed, may flash green when the deployable equipment is in the retracted position, or may provide other similar mechanical system status indications. The deploy button 1408, when pressed, can start the deployment process, for example, in an elevator module 1300 with integrated deployable equipment. The deploy button 1408 may remain pressed after the initial press to indicate that the deployable equipment has been deployed. When pressed again, it may return to its unpressed position to indicate that the deployable equipment has been retracted. If the boom or arm secures the lift or lift housing to the vehicle, the boom toggle switch 1410 may move the boom from a stored position to an active deployment position. The rotary control switch 1412 may provide direct control over the orientation of the deployed equipment. This control may depend on pressing the realtime start button of the controller. The vertical elevator control 1414 can raise or lower the elevator cable to control the up/down movement of the elevator payload.

[0164] In an embodiment, the state select switch 1416 may control the state or function of the deployed equipment. For example, a switch position can be used to select whether the deployed equipment is in a "stabilize" state, in which its fans are used to provide rotational or lateral momentum to counteract the movement of the load and stabilize the mode. A switch in another position can be used to put the mechanical system into a "standby" state, in which the deployable equipment is deployed on the suspension line but does not take any additional action.

[0165] In an embodiment, data and power port 1418 may be a USB port or an equivalent connection port. Connection to this port may provide a path for the controller electronics to interface with any other systems necessary to control and monitor the elevator integration systems and/or attached payloads. As a non-limiting example, the port may be powered and associated with a remote interface. The remote interface 1400 may have a wired or wireless data connection to the elevator logic components and to the deployment equipment logic components. The logic unit for remote interface 1400 may, in some embodiments, be contained within remote interface 1400, which may still be powered by a nearby power system via power port 1418.

[0166] As illustrated in FIG. 14B, the controls mounted on the underside of the remote interface 1400 may include a controller real-time trigger button 1417 and a configurable second trigger button 1419. The controller live start button 1417 can be used as a security mechanism to allow certain actions of the control unit only when the controller real time start button 1417 is pressed. For example, the rotary control switch may only work if it is activated at the same time as pressing the real time start button 1417 of the controller. A reconfigurable second trigger button 1419 may be provided to provide additional functionality or security measures for the particular system being deployed.

[0167] FIG. 15A illustrates a rear view of a remote pendant or remote deployable equipment interface 1500, in accordance with an embodiment. In FIG. 15B illustrates a side view of a deployable equipment remote interface 1500 in accordance with an embodiment. In FIG. 15C illustrates a front view of a deployable equipment remote interface 1500 in accordance with an embodiment. These figures illustrate, for example, an activation controller 1540, an on/off switch 1545, a state selection switch 1550, and a manual/rotary control 1551. The on/off switch 1545 can be used to turn the remote pendant 1500 on or off. The state selector 1550 may be used to select the command reception state of the deployable equipment operating module 1100, as may be considered with respect to FIG. 11. The activation controller 1540 may be used to turn on or off the operating module 1100 in or relative to the command receiving state selected or indicated by the state selection switch 1550. The manual/rotary control 1551 may be used to turn on the fans manually to rotate or move a load, or to raise or lower the hoist when the state select switch 1550 has been used to select direct control mode 1127, for example.

[0168] Thus, the deployable equipment tether attachment mechanism can carry the mass of the deployable equipment on the core of the tether attachment mechanism, wherein the core can be connected to a suspension cable terminal equipment and in which the terminal equipment can impart a rotational force to the suspension cable. Despite holding the mass of the deployable equipment on the final equipment, the core bearings allow the deployable equipment to turn without transferring force or significant force, such as torque, to the suspension cable.

[0169] Thus, the deployable equipment may be attached to the load, for example, by straps or cables, and may be able to turn the load or turn with the load on a suspension cable. The swivel bearing or sleeve between the hook and the suspension cable may thereby allow the load, end equipment such as shock absorber and hook, and deployable equipment to rotate separately from the cable. For example, when the equipment to be deployed is an SLCS, the SLCS may be able to steer a load, such as a stretcher, while the load may be subjected to rotation, or the SLCS may be rotated without transferring a rotational force to the suspension cable.

[0170] In this way, the deployable equipment can be held within the elevator, the vehicle, or near the vehicle, and deployed on a suspension cable with minimal human or crew effort and with or with the help of the deployable equipment module.

[0171] Thereby, the deployable equipment, the deployable equipment module, and the hoist module can control the hoist, such as the hoist drum, to control the z-axis of the suspension cable end.

[0172] The z-axis control may be performed, for example, to control the height of the load, for example, relative to the vehicle, the ground, or the target. The z-axis control can be performed, for example, to control the tension of a suspension cable. The z-axis control can be performed, for example, to control the speed of raising or lowering the tip of the suspension cable.

[0173] While specific embodiments have been illustrated and described herein, those skilled in the art should understand that alternative and/or equivalent embodiments may be used in place of the specific embodiments shown and described without departing from the scope of protection of the present disclosure. For example, while various embodiments have been described above with respect to the view of a helicopter, crane, or fixed wing vehicle, other vehicles may be used. This application is intended to cover any modifications or changes to the embodiments discussed here.

[0174] The following are non-limiting examples:

[0175] Example 1. A lift and deployable equipment system for a vehicle, wherein the vehicle is designed to carry a load suspended from a cable to the vehicle, and in which the lift and deployable equipment system comprises: a lift to be installed on the vehicle, a docking station for the deployable equipment, wherein the hoist comprises a cable drum and at least one of a cable length encoder or a force encoder on the drum, the docking station comprises an interface for the deployable equipment, and the deployable equipment, the deployable equipment comprises a computer processor and a memory, the memory comprising a deployable equipment module that, when executed by the computer processor, receives at least one of the rope length from the rope length encoder or the drum force from the drum force encoder and controls at least one of the deployable equipment ovation, drum or docking station based at least in part on this.

[0176] Example 2. The lift and deployable equipment system according to Example 1, in which the deployable equipment comprises a suspended load control device, in which the suspended load control device comprises a thruster and a sensor unit, the deployable equipment module is a load control module that, when executing by the computer processor, estimates or predicts a state or parameter of the suspended load control device based on at least one of sensor data from the sensor unit, rope length, or drum force.

[0177] Example 3. The lift and deployable equipment system of Example 2, wherein the suspended load control device state comprises at least one of position, orientation, or motion, and wherein the suspended load control device parameter comprises at least one of cable length or the distance under the vehicle, the mass or force on the drum, and the moment of inertia of the suspended load control device.

[0178] Example 4. The lift and deployable equipment system according to example 3, in which the position contains at least one of the x-axis, y-axis and x-axis coordinates, and the orientation contains an orientation relative to the normal orientation of the suspended load control device and the movement contains along at least one of rotation, pendulum movement, or movement from the first position to the second position.

[0179] Example 5 The hoist and deployable equipment system of Example 2, wherein the load control module is configured to control at least one of the thruster or drum to influence a near future state or parameter of the suspended load control device.

[0180] Example 6. The hoist and deployable equipment system according to example 2, in which the estimated state or parameter contains the height or z-coordinate of the suspended load control device and in which the load control module is designed to control the drum to influence the near future state or parameter the suspended load control device, wherein the near future state or parameter contains the height or z-coordinate of the suspended load control device.

[0181] Example 7 The hoist and deployable equipment system of Example 6 wherein the load control module is configured to control the drum to influence the near future state or parameter of the suspended load control device to either maintain the load control device at height or change the height of the device cargo management.

[0182] Example 8 The lift and deployable equipment system of Example 7, wherein changing the height of the load control device comprises loading or unloading the load control device at a location.

[0183] Example 9. The lift and deployable equipment system according to example 6, wherein the vehicle comprises one of a helicopter, a crane, or a fixed wing aircraft, and wherein the control of the drum to influence the near future state or parameter of the suspended load control device comprises reeling in or unwinding out. cable from the drum.

[0184] Example 10. The hoist and deployable equipment system of Example 2, wherein the load control module is configured to estimate or predict a state or parameter by combining at least one of sensor data from a sensor package, rope length, or drum force through a non-linear filter and is intended to determine the deviation between a previously predicted state or parameter and a currently measured state or parameter.

[0185] Example 11. The lift and deployable equipment system of Example 10, wherein the load control module is configured to further predict a near future state or parameter based on a currently measured state or parameter with feedback from at least one of the functional mode or the status of receiving commands from the work module, displaying thrust and orientation, or displaying the fan.

[0186] Example 12. The elevator and deployable equipment system according to example 10, in which the operating mode or command receiving state comprises at least one of waiting, maintaining a relative position or position relative to a vehicle, maintaining a relative position or position relative to a target position, maintaining relative position or position relative to a position on the ground, moving to a position, moving between a first position and a second position, maintaining a position, avoiding obstacles, or direct control.

[0187] Example 13 The lift and deployable equipment system of Example 1, wherein the interface for the deployable equipment comprises at least one of a communications interface, an electrical interface, or a docking interface.

[0188] Example 14 The hoist and deployable equipment system of Example 13, wherein the communication interface is configured to provide signal communication to the deployable equipment, wherein the electrical interface is configured to provide power to the deployable equipment, and wherein the docking interface is configured to attach the deployable equipment to docking station.

[0189] Example 15 The hoist and deployable equipment system of Example 1, wherein the tether includes terminal equipment, and wherein the terminal equipment comprises a deployable equipment site, the deployable equipment site for attaching the deployable equipment to the top of the terminal equipment.

[0190] Example 16 The hoist and deployable equipment system of Example 15, wherein the end equipment comprises at least one of a cable hook or shock absorber.

[0191] Example 17 The hoist and deployable equipment system of Example 1, wherein the deployable equipment comprises at least one of a cable retainer or cable end equipment connection.

[0192] Example 18 The hoist and deployable equipment system of Example 17, wherein the cable latch is for securing the deployable equipment to or around the cable, and wherein the connection to the cable end equipment is for attaching the deployable equipment to the cable end equipment.

[0193] Example 19 The hoist and deployable equipment system of Example 17, wherein the connection to the tether end equipment comprises at least one of a removable grip or a swivel rotating bearing, the swivel bearing being configured to allow the deployable equipment to rotate without transferring torque from the deployed rope equipment.

[0194] Example 20 The hoist and deployable equipment system of Example 17, wherein the cable latch comprises a cable slot and cable slot plug, and wherein the deployable equipment module is configured to engage or disengage the cable channel plug.

[0195] Example 21 The lift and deployable equipment system of Example 1, wherein the docking station control comprises engaging the docking station with the deployable equipment or uncoupling the docking station from the deployable equipment.

[0196] Example 22. A computer-implemented method for carrying a deployable equipment suspended from a tether to a vehicle hoist, comprising: using the processor and memory of the deployable equipment, at least one of the tether length or hoist force from the deployable is obtained equipment and control at least one of the deployable equipment, cargo, hoist or hoist docking station at least in part based on at least one of the cable length or the force on the hoist.

[0197] Example 23. The method of Example 22, wherein the hoist comprises a cable reel and at least one of a cable length encoder or a reel force encoder, the hoist force being measured by a reel force encoder, and the method further includes determining the rope length from the rope length encoder and determining or obtaining at least one of the mass of the load and the mass of the deployed equipment from the encoder of the force on the drum.

[0198] Example 24. The method of Example 22, wherein the deployable equipment comprises a suspended load control device, wherein the suspended load control device comprises at least one of a thruster and a sensor package, and the method further includes: using the processor and memory of the deployed equipment, the state or parameter of the deployed equipment is estimated or predicted based on at least one of the sensor data from the sensor unit, the length of the cable, or the force on the lift.

[0199] Example 25. The method according to example 24, in which at the stage of estimating or predicting a state or parameter, combine at least one of the sensor data from the sensor package, the length of the cable or the force on the hoist through a non-linear filter and determine the deviation between the previously predicted state or parameter and the currently measured state or parameter.

[0200] Example 26. The method of Example 24, further comprising controlling at least one of the thruster and drum according to an estimated or predicted state or parameter to influence a near future state or parameter of the deployed equipment.

[0201] Example 27. The method of Example 26, further comprising predicting a near future state or parameter based on a currently measured state or parameter with feedback from at least one of the operating mode or command receiving state of the operating module, thrust and orientation display, or fan display.

[0202] Example 28. The method of Example 27, wherein the command receiving operating mode or state comprises at least one of waiting, maintaining a relative position or position relative to a vehicle, maintaining a relative position or position relative to a target position, maintaining a relative position or position regarding a position on the ground, moving to a position, moving between a first position and a second position, holding a position, avoiding an obstacle, or direct control.

[0203] Example 29. The method of Example 27, wherein the state or parameter comprises a height or z-coordinate, and wherein the method further includes controlling the drum to influence a near future state or parameter of the suspended load control device, wherein the near future state or parameter comprises the height or z-coordinate of the suspended load control device.

[0204] Example 30. The method according to example 27, in which, in the step of controlling the drum, to influence the near future state or parameter of the suspended load control device, the cable is unwound or reeled on the drum, and in which the operating mode or command receiving state includes maintaining the control device load at height or change the height of the load control device.

[0205] Example 31. The method according to example 22, in which the elevator contains a docking station for deployable equipment.

[0206] Example 32. The method of Example 31, wherein the docking station comprises at least one of a communications interface for a deployable equipment, an electrical interface for a deployable equipment, and a docking interface for a deployable equipment, and the method further includes, by means of the interface The links provide signal communication with the deployed equipment, through the electrical interface for the deployed equipment, provide power to the deployed equipment and, using the docking interface, attach the deployed equipment to the docking station.

[0207] Example 33. The method of Example 22, wherein the tether comprises a terminal equipment, and wherein the terminal equipment comprises a location for the deployable equipment, and the method further includes attaching the deployable equipment to the top of the terminal equipment in place for the deployable equipment.

[0208] Example 34. The method according to example 33, in which the final equipment contains at least one of the cable hook or shock absorber.

[0209] Example 35. The method of Example 22, wherein the deployable equipment comprises at least one of a cable latch or connection to a cable terminal equipment, and the method further includes securing the deployable equipment to or around the cable with the latch wireline or attach the deployable equipment to the wireline terminal equipment by means of a connection to the wireline terminal equipment.

[0210] Example 36. The method of Example 35, wherein the connection to the tether end equipment comprises at least one of a removable grip or a rotating bearing, and the method further includes controlling the orientation of the deployable equipment without transferring a rotational force from the deployable equipment. cable with a rotating bearing.

[0211] Example 37 The method of Example 35, wherein the cable retainer comprises a cable slot and a cable channel plug, and the method further includes engaging or disengaging the cable channel plug.

[0212] Example 38. The method according to example 22, in which, at the step of controlling the docking station, the docking station is coupled to the deployable equipment or the docking station is unhooked from the deployed equipment.

[0213] Example 39. An elevator and deployable equipment device for a vehicle, in which the vehicle is designed to carry a deployable equipment suspended on a cable to the vehicle, and the elevator and deployable equipment device includes a means for installing a lift on the vehicle, the lift includes a drum for the cable and at least one of the means for determining the length of the cable or the means for determining the force on the drum, the means for docking the deployable equipment, the means for docking contains a means for interface with the deployed equipment, and the deployable equipment, and the deployable equipment contains a means for receiving at least one tether length or reel force; and means for controlling at least one of the deployable equipment, reel, or docking station at least in part based on tether length or reel force.

[0214] Example 40. A vehicle lift and deployable equipment apparatus according to Example 39, wherein the deployable equipment further comprises a deployable equipment control means, the deployable equipment control means comprising means for at least one of a thruster and a sensor package, and further comprises a means for estimating or predicting the state or parameter of the deployed equipment based on at least one of the sensor data from the sensor unit, the length of the cable or the force on the drum.

[0215] Example 41 A vehicle lift and deployable device according to Example 40, wherein the state comprises at least one of position, orientation, or movement.

[0216] Example 42. An elevator and deployable equipment device for a vehicle according to example 40, further comprising means for controlling at least one of a thruster or a drum according to a predicted or estimated state or parameter to influence the near future state or parameter of the deployable equipment.

[0217] Example 43. The hoist and deployable equipment device for a vehicle according to example 40, further comprising means for estimating or predicting a state or parameter by combining at least one of sensor data from a sensor package, cable length, or drum force through a non-linear filter, and means for determining a deviation between a previously predicted state or parameter and a currently measured state or parameter.

[0218] Example 44. The vehicle lift and deployable equipment apparatus of Example 43, further comprising means for predicting a near future state or parameter based on a currently measured state or parameter with feedback from at least one of the operating mode or receiving state operating module commands, thrust and orientation display, or fan display.

[0219] Example 45. The lift and deployable equipment for a vehicle according to example 44, in which the functional mode or state of receiving commands contains at least one of waiting, maintaining a relative position or position relative to the vehicle, maintaining a relative position or position relative to the target position, maintaining a relative position or position relative to a position on the ground, moving to a position, moving between a first position and a second position, maintaining a position, avoiding obstacles, or direct control.

[0220] Example 46. A vehicle lift and deployable equipment apparatus according to Example 39, wherein the means for interface with the deployable equipment comprises at least one of means for providing signal communication with the deployed equipment, means for providing power to the deployable equipment, and means for securing the deployed equipment. equipment to the docking station.

[0221] Example 47 A vehicle lift and deployable device according to Example 39, wherein the tether includes means for terminal equipment, and wherein the terminal equipment comprises means for attaching the deployable equipment to the top of the terminal equipment.

[0222] Example 48 A vehicle lift and deployable equipment apparatus according to Example 47, wherein the target equipment means comprises at least one of a rope hook means or a shock absorber means.

[0223] Example 49 A vehicle lift and deployable equipment apparatus according to Example 39, wherein the deployable equipment comprises at least one of means for a cable retainer or means for connecting to a cable end equipment.

[0224] Example 50. The hoist and deployable equipment for a vehicle according to example 49, in which the means for fixing the cable contains means for attaching the deployable equipment to or around the cable and in which the means for connecting to the final equipment of the cable contains means for attaching the deployable equipment to cable end equipment.

[0225] Example 51. The hoist and deployable equipment for a vehicle according to example 49, in which the means for connecting to the terminal equipment of the cable contains at least one of the means for removably gripping or means for allowing rotation of the deployable equipment without transferring rotational force from the deployable equipment on a rope.

[0226] Example 52 The hoist and deployable equipment for a vehicle according to Example 49, wherein the cable retainer means comprises a cable channel means and a cable channel plug means and a cable channel plug engagement or disengagement means.

[0227] Example 53 A vehicle lift and deployable device according to Example 39, wherein the docking station control means includes means for engaging the docking station with the deployable equipment or means for disengaging the docking station from the deployable equipment.

[0228] Example 54. One or more computer-readable media containing instructions that cause a computing device, in response to execution of instructions by the processor of the device's computer, to obtain at least one of the cable length between the vehicle lift and the deployable equipment on the cable or the forces on the elevator from the deployable equipment and control at least one of the deployable equipment, the elevator drum or the elevator docking station based at least in part on at least one of the cable length or the force on the elevator.

[0229] Example 55. Computer-readable media according to example 54, wherein the instructions further cause the computing device to evaluate or predict a state or parameter of deployed equipment by combining at least one of sensor data from a sensor package, cable length, or drum force through a non-linear filter and determine the deviation between the previously predicted state or parameter and the currently measured state or parameter.

[0230] Example 56. Computer-readable media according to example 55, wherein the instructions further cause the computer device to control at least one of the thruster or drum according to an estimated or predicted state or parameter to influence the near future state or parameter of the suspended load control device .

[0231] Example 57. The computer-readable media of Example 55, wherein the instructions further cause the computing device to predict a near future state or parameter based on a currently measured state or parameter with feedback from at least one of the command receiving functional mode or state operating module, draft and orientation display, or fan display.

[0232] Example 58. Computer-readable media according to example 57, in which the operating mode or command receiving state comprises at least one of waiting, maintaining relative position or position relative to the vehicle, maintaining relative position or position relative to target position, maintaining relative position or position relative to a location on the ground, moving to a location, moving between a first location and a second location, holding a position, avoiding obstacles, or direct control.

[0233] Example 59. Computer-readable media according to example 57, in which the functional mode or command receiving state causes instructions to cause the computing device to hold the deployable equipment at a height or change the height of the deployable equipment by unwinding or winding a cable onto a drum.

[0234] Example 60 The computer-readable media of Example 54, wherein the instructions further cause the computing device to provide at least one of the following: provide signal communication to the deployable equipment, provide power to the deployable equipment, and attach the deployable equipment to the deployable equipment docking station.

[0235] Example 61 The computer-readable media of Example 54, wherein the instructions further cause the computing device to mount the deployable equipment to the top of the terminal equipment at the deployable equipment site, wherein the tether comprises the terminal equipment and the terminal equipment comprises the deployable equipment site.

[0236] Example 62 The computer-readable media of Example 61, wherein the end equipment comprises at least one of a cable hook or shock absorber.

[0237] Example 63. The computer-readable media of Example 54, wherein the instructions further cause the computing device to at least one of the following: secure the deployable equipment to or around the tether with a tether retainer, or secure the deployable equipment to the terminal equipment of the tether with a connection with cable end equipment.

[0238] Example 64 The computer-readable media of Example 63, wherein the instructions further cause the computer device to control the orientation of the deployable equipment without transferring rotational force from the deployable equipment to the tether via a pivot bearing.

[0239] Example 65 The computer-readable media of Example 63, wherein the instructions further cause the computing device to engage or disengage the cable channel plug.

[0240] Example 66. The computer-readable media of Example 54, wherein the instructions further cause the computing device to couple the docking station to the deployable equipment, or to detach the docking station from the deployable equipment.

Claims (5)

1. A deployable equipment device for a vehicle, in which the vehicle is designed to carry the deployable equipment suspended on a cable to the vehicle, and the deployable equipment device contains a means for recharging the battery of the deployable equipment through an electrical interface between the deployable equipment and the docking station, a means for disconnecting the deployable equipment equipment from the electrical interface; and means for the deployed equipment to perform the function at least in part using power from the battery of the deployed equipment. 2. The apparatus of claim 1, wherein the deployed equipment comprises a thruster and a sensor unit, and wherein the means for performing the function at least partially using battery power from the deployed equipment comprises means for estimating and predicting the state and parameter of the deployed equipment based on sensor data from the sensor package and, in response to this, the thruster control means to influence the rotation of the deployed equipment. 3. The device according to claim 2, in which the means for estimating and predicting the state and parameter of the deployed equipment based on sensor data from the sensor unit contains a means for predicting the near future state and parameter based on the currently measured state and parameter with feedback from the functional operating mode module. 4. The device according to claim 2, in which the means for estimating and predicting the state and parameter of the suspended load control device based on sensor data includes means for combining sensor data from the sensor unit in the filter and determining the deviation between the previously predicted state and parameter and the currently measured state and parameter. 5. The apparatus of claim 1, wherein the means for performing the function using at least in part the battery power of the deployable equipment further comprises means for engaging the deployable equipment with the vehicle docking station and means for disengaging the deployable equipment from the vehicle docking station.

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